# Best way to install another stack (phidgets)

I want to use a phidget interfacekit 8/8/8 with ROS on a Raspberry Pi. But it's not clear to me what best way to do this is, could someone clearify this or point me to a page with clear information? Given the limited space on the Pi I don't want to check out an entire svn if possible.

I want to install the phidget library. There are two libraries?

EDIT: I used the new overlay method but now I still got a problem. When running: rosrun phidgets_ros interface_kit.py I got this error: rospkg.common.ResourceNotFound: phidgetspp_c_api The problem is that I can't install the phidgetspp_c_api. When installing I got an error with the certificate:

 Command failed: 'hg clone "https://phidget.foote-ros-pkg.googlecode.com/hg" /home/lennart/fuerte_workspace/phidgetspp_c_api'
errcode: 255:
[/vcstools]

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Wow. You found a really old tutorial :)

Have a look at the ROS Overlay page, in particular the section about adding stacks using roslocate.

Essentially, to add new stacks you first create an overlay. Then you either create and merge your own rosinstall file that contains the stacks you want to install, use roslocate or check out the stacks manually into a 'sandbox' directory that is in your ROS_PACKAGE_PATH.

Edit: I guess the problem is that your computer doesn't know about the required googlecode certificate and rejects to check it out. Try checking it out manually (I assume that you created a sandbox directory as shown on the wiki page):

cd ~/fuerte_workspace/sandbox


After that it should be available in the workspace already.

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The certificate error is related to phidget being a subrepository of foote-ros-pkg, which is not covered by the googlecode certificate. The following URL works correctly:

The indexer should probably be changed to point to this URL instead.

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This post is a wiki. Anyone with karma >75 is welcome to improve it.

Usually, when a script is executed, it is run in a separate terminal. when the script gets over, the control is returned into the parent terminal. Sourcing means, executing a script in the current terminal. Source setup.bash (setup being at the specified location) means your bash (the terminal where you are typing all the commands on), will 'source' the setup.bash. Setup.bash is the script that let's you use all the ros commands etc After each install, you need to re-source the script to let all your bash commands know, that the environment have changed.

I am a learner, new to ros as well, don't know much. What i do know is, that sourcing the specified script after doing a ros install and before doing a rosmake is what get's it to work.

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