Install ROS on your host machine
Having ROS on your host machine has many advantages. First of all, it allows you to communicate with nodes running on your Rover, so it is easier to introspect ROS network. Also, it lets you run nodes on your computer, so you can launch part of the node network in your host machine such as graphical interfaces and visualisation tools.
There is a couple of ROS installation options depending on your system:
ROS repository contains prebuild packages for ubuntu and debian systems. Kinetic distribution is available for Ubuntu Xenial (16.04 LTS) and Debian Jessie. Melodic requires Ubuntu Bionic (18.04 LTS) or Debian Stretch.
If your distribution is not ubuntu or debian based, you will probably need to install from source. The steps are very similar to installing on Turtle Rover:
Windows Subsystem for Linuxfeature is enabled by opening
PowerShellas Administrator and running:
Enable-WindowsOptionalFeature -Online -FeatureName Microsoft-Windows-Subsystem-Linux
Reboot when prompted
To run graphical applications, you need to install X server on Windows. We recommend using VcXsrv. Install it and run with default configuration except for
Native OpenGLwhich should be unchecked (otherwise,
rvizmay fail to launch)
In your ubuntu session, type:
echo "export DISPLAY=:0" >> ~/.bashrc
Now, to test it, run
roscoreon one session and
You will need an USB drive with at least 8GB storage capacity. To flash the image you can follow the same instructions as when flashing TurtleOS to SD card:
Now boot your computer from USB drive. Choose the first option in
GRUB menu. User should be automatically logged and desktop environment should appear.
Open terminal (
Ctrl+Shift+tshortcut) and type:
When asked for password, type
ubuntu. This script will extend your root partition to fill the whole drive.