Installing ROS Diamondback turtlebot-robot variant on BeagleBoard xM running Ubuntu 11.04 from Source

This is a work in progress and is only meant to supplement the existing TurtleBot tutorials.

Install Ubuntu packages on BeagleBoard xM

sudo apt-get install build-essential python-yaml cmake subversion wget python-setuptools mercurial

Install rosinstall

sudo easy_install -U rosinstall

Install ROS diamondback variant turtlebot-robot:

rosinstall ~/ros "http://packages.ros.org/cgi-bin/gen_rosinstall.py?rosdistro=diamondback&variant=turtlebot-robot&overlay=no"

Set up your environment.

echo "source ~/ros/setup.bash" >> ~/.bashrc

Use rosmake to build the various ROS and TurtleBot packages:

I am still working on the best way the make all the necessary packages.

You may want to install the following Ubuntu packages in advance:

sudo apt-get install python-serial libglut3-dev libcppunit-dev graphviz libxext-dev python-sip-dev libcurl4-openssl-dev unzip libxml2-dev python-wxgtk2.8 libqhull-dev libhdf5-serial-dev joystick libusb-1.0-0-dev flex autoconf libusb-dev automake bluez bison python-bluez libgtk2.0-dev libbluetooth-dev

Missing packages from Ubuntu natty arm repositories:

The openni-dev, ps-engine (I'm sure that there are others) packages are not currently available from Ubuntu natty arm repositories. Without these packages the Kinect does not work but you can drive the TurtleBot around using the keyboard or joystick.