ROS distribution which is ROS Kinect Kame on
Ubuntu 16.04 LTS. I’ll also give you the instructions
to set ROS Indigo on Ubuntu 14.04 LTS.
You can either install Ubuntu on a real PC or
VirtualBox (if you want to work from Windows).
Here are the procedures to set up Ubuntu 16.04
LTS and ROS Kinect Kame:
• Download Ubuntu 16.04 LTS from
desktop-amd64.iso; burn it to a disc or write it to a
USB drive using unetbootin (https://unetboot
in.github.io) to install it to a PC. You can also install
Ubuntu on VirtualBox ( https://www.virtual
box.org/wiki/Downloads). The complete Ubuntu
installation tutorials are available at www.ubuntu
.com/download/desktop/install-ubuntu-desktop.Note that in the VirtualBox setting, the
video memory should be high, and you should install the
VirtualBox Guest Add-ons after the Ubuntu installation.
cd ~/rosserial_ws/src //Switch to src folder
• Next, install ROS on Ubuntu. For detailed instructions
on how to install ROS Kinect on Ubuntu 16.04 from the
ROS website, go to http://wiki.ros.org/kinetic/
Installation/Ubuntu. If you are interested in ROS Indigo,
please use http://wiki.ros.org/indigo/Installation/
Ubuntu instead. Also note, instead of Ubuntu 16.04, you
need 14.04 LTS to install ROS Indigo.
catkin_init_workspace //This will initialize a catkin
git clone https://github.com/ros-drivers/rosserial
//Cloning latest source code of serial package in src
cd ~/rosserial_ws //Change into workspace folder
catkin_make //Command to build the entire
• You will need the ROS-Kinetic-Full desktop installation
for this project.
Once the ROS installation is complete, run the roscore
command to check that everything is working fine. A
screenshot of this command is shown in Figure 2.
Installing the Rosserial Interface
Package on Ubuntu
2. The catkin_make command will build all the
packages inside the workspace and it generates additional
folders like ‘build’ and ‘devel.’ The build folder contains
build logs and the devel folder contains shell scripts and
generated executables. For making this package visible to
the ROS environment, you have to source one of the shell
scripts in the devel. The following command will do this job:
After setting ROS on Ubuntu, we have to install
rosserial packages in ROS. Installing a package can be done
in two ways:
SERVO 11.2016 31
Figure 2. Running roscore.
echo “source ~/rosserial_ws/devel/setup.bash””>>
$ source ~/.bashrc
Congratulations!! You are done with the source
installation of rosserial packages!! If you are trying to install
using apt-get, you can use this command:
1. Installation through apt-get which will install pre-built
sudo apt-get install ros-kinectic-rosserial
2. Installation through compiling source code.
The easiest way to install packages is using apt-get but in
the latest ROS versions, most of the packages may not be
available as binaries. In that case, we can create a ROS work
space and download the source packages and install it. Here’s
the procedure to build a rosserial package in ROS Kinect:
Note: If it fails, please switch to the source installation.
If you are working with ROS-Indigo, you can directly install
it using the following command:
sudo apt-get install ros-indigo-rosserial
1. On your terminal, create an empty folder for the
ROS workspace. You can give it any name; I am using
Setting the Arduino IDE and ROS
mkdir -p ~/rosserial_ws/src
//Creating a folder called rosserial_ws, and src folder
//inside the workspace folder
In this section, we are going to set the Arduino IDE on
Ubuntu 16.04. Arduinos can be easily programmed using
their simple IDE. This IDE can be downloaded from the
Arduino website and is available for popular OS platforms.