Hello,

I thought it might be useful for other people to share my notes on ROS installation under a Debian box. In my case, I am running "Wheezy" version (testing).

The following steps are to be followed in addition to the official installation steps in:

http://www.ros.org/wiki/fuerte/Installation/Debian

Dependencies to be installed:

aptitude install libogre-dev python-sip-dev libprotobuf-dev protobuf-compiler nvidia-cg-toolkit libprotoc-dev libprotobuf-dev protobuf-compiler libassimp-dev python-qt4-dev

The nvidia-cg-toolkit package must be installed even if your system does not have a NVidia graphics card.

I am not sure on the difference, but ROS looks for the file libflann_cpp-gd.so and Debian packages do not have this library. Just making a soft link seems to solve the issue:

cd /usr/lib/ ln -s libflanncpp.so libflanncpp-gd.so

Install PCL from:

https://github.com/wg-debs/pcl

I recommend using checkinstall instead of doing "make install".

Edit the following files and delete PCL dependencies:

emacs ~/workspace/ros/navigation/costmap_2d/manifest.xml

emacs ~/workspace/ros/simulatorgazebo/gazeboplugins/manifest.xml

emacs ~/workspace/ros/navigation/baselocalplanner/manifest.xml

emacs ~/workspace/ros/imagepipeline/depthimage_proc/manifest.xml

emacs ~/workspace/ros/imagepipeline/depthimage_proc/manifest.xml

Edit the following file and delete protobuf dependency:

emacs ~/workspace/ros/simulator_gazebo/gazebo/manifest.xml

There is a bug in Debian boost versions in versions 1.48 and 1.49 . To compile reviz, edit:

emacs ~/workspace/ros/visualization/rviz/CMakeLists.txt

And add this declaration:

adddefinitions(-DBOOSTTTHASOPERATORHPPINCLUDED)

And that's all!

Now, you should be able to rosmake -a

Regards