Installing

There are two ways to install the Robot Customizer ROS package on your robot’s computer and/or on your computer, both of which are covered in this section.

Installing the Debian Package

Add Clearpath Debian Package Repository

Before you can install the Robot Customizer ROS package, you need to configure Ubuntu’s APT package manager to add Clearpath’s package server:

  1. Install the authentication key for the packages.clearpathrobotics.com repository. In terminal, run:

wget https://packages.clearpathrobotics.com/public.key -O - | sudo apt-key add -

  1. Add the debian sources for the repository. In terminal, run:

sudo sh -c 'echo "deb https://packages.clearpathrobotics.com/stable/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/clearpath-latest.list'

  1. Update the computer’s package cache. In terminal, run:

sudo apt-get update

Installing Debian Package

  1. You should now be able to install the Robot Customizer ROS package. In terminal, run:

sudo apt-get install ros-noetic-cpr-robot-customizer

Installing from Source

The Robot Customizer ROS package is available on GitHub, and can be compiled and installed from source if desired:

  1. Create a workspace directory. In terminal, run:

mkdir -p ~/catkin_ws/src

  1. Clone the Robot Customizer repository into your workspace directory. In terminal, run:

cd ~/catkin_ws_ws/src
git clone -b noetic-devel https://github.com/clearpathrobotics/cpr_robot_customizer
cd ..

  1. Install additional dependencies. In terminal, run:

rosdep install --from-paths src --ignore-src --rosdistro=$ROS_DISTRO -r -y

  1. Build the workspace. In terminal, run:

catkin_make

  1. You can now source your workspace to make use of the Robot Customizer ROS package you just built. In terminal, run:

source devel/setup.bash