Installing Required Software¶
Once you have configured apt and rosdep, you can install the IndoorNav libraries and their dependencies on your robot by running:
sudo apt-get install ros-$ROS_DISTRO-cpr-indoornav-ROBOT
where ROBOT is replaced with the model of Clearpath robot you are installing:
dingo for Dingo-O or Dingo-D,
husky for Husky A200,
jackal for Jackal J100, or
ridgeback for Ridgeback
This will automatically install the required launch files and dependencies.
Once the packages are installed, run the following to configure the IndoorNav software:
rosrun cpr_indoornav setup
This script will install additional necessary packages, configure
apache2 to act
as a proxy server to the IndoorNav backpack, configure SSH credentials to allow
ROS to launch nodes on the backpack PC automatically, and configure the networking
between the main PC and backpack to ensure the hostnames and IP addresses are
configured correctly. The
setup script is interactive; you will be prompted to enter
your password more than once and select options from multiple menus.
Once you have finished running the setup script, reboot the robot to finish.
For more details on the networking configuration the
script performs, please see Configuring the Network Bridge.