purchased the specialty cable from: https://www.amazon.
The next step is to install and configure software on
the SBC. Begin by installing ROS Kinetic Kame and Ubuntu
Xental by referring to the detailed steps in the following
section as well as documentation located at http://wiki.ros.
org/ROS/Installation. For interfacing with the Roomba and
Xbox Kinect, we’ll also need Turtlebot drivers installed.
At this stage, we’ll need to test and refine our robot.
Start by making the robot move by using the keyboard,
and then move on to developing a script that will make
everything work together and autonomously follow a
Let’s take a closer look at how to put together a robot
that can follow its own set of rules.
Installing Ubuntu and ROS
on an SBC
Before building the TS-7970 into a robot, it will need
to have all the Linux and ROS library software installed
and configured. None of the robot peripherals need to be
connected to the SBC before beginning this process.
If you need any help with the initial setup of a TS-7970,
you can refer to the Getting Started Guide at https://
To start this project, we’ll need to write a microSD card
with the TS-7970’s Ubuntu Xental image. Insert the microSD
card in the SBC, plug in power, and continue to the setup of
Ubuntu and ROS.
Use the login “root” with no password to access the
root user. Or, use the login “ubuntu” with the password
“ubuntu” to login as a user.
Add a new user for your robot:
Enter the password and hit enter.
Reenter the password and fill in the values specified.
Add the user to sudoer file:
usermod -aG sudo robo
Change the user to “robo:”
To set up a wired Ethernet connection, simply plug the
Ethernet cable into the RJ45 connector, open your console,
ifconfig eth0 up
Installation of ROS
Set up your sources.list to get the sources from which
ROS packages can be obtained:
sudo sh -c ‘echo “deb http://packages.ros.org/ros/ubuntu
$(lsb_release -sc) main” > /etc/apt/ sources.list.d/ros-latest.
Set up your source authentication keys to allow package
sudo apt-key adv --keyserver hkp://
ha.pool.sks-keyservers.net: 80 --recv-key
Make sure your Ubuntu package index is up-to-date
so that there won’t be any hiccups due to tool version
sudo apt-get update
As mentioned earlier, there are many different libraries
and tools in ROS. The “Desktop-Full Install” included with the
ROS Kinetic Kame image includes four default configurations
to get you started. You can also install ROS packages
Desktop Install: Includes ROS, rqt, rviz, robot-generic libraries, 2D/3D simulators, navigation, and 2D/3D
sudo apt-get install ros-kinetic-desktop-full
Individual Package: You can also install a specific ROS
package (replace underscores with dashes of the package
sudo apt-get install ros-kinetic-PACKAGE
sudo apt-get install ros-kinetic-slam-gmapping
To find available packages, use:
apt-cache search ros-kinetic
In our example, we’ll install all packages with the
Before you can use ROS, you will need to initialize
rosdep; rosdep enables you to easily install system
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