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1. Install Ubuntu 13.04 64bit

Download and install the ISO from here.

2. Install ROS Hydro

2.1 Setup Sources

sudo sh -c 'echo "deb raring main" \
> /etc/apt/sources.list.d/ros-latest.list'
wget -O - | sudo apt-key add -

2.2 Installation

Make sure everything is up to date.

sudo apt-get update
sudo apt-get upgrade

Install all needed packages.

sudo apt-get install \
`wget -O - | cat -`

Initialize rosdep to easily install system dependencies.

sudo rosdep init
rosdep update

3. System Setup

3.1 Set USB permits

sudo groupadd lego
sudo usermod -a -G lego `id -u -n`
echo 'SUBSYSTEM=="usb", ATTRS{idVendor}=="0694", GROUP="lego", MODE="0660"
SUBSYSTEM=="usb", ATTRS{idVendor}=="1962", GROUP="lego", MODE="0660"' \
| sudo tee /etc/udev/rules.d/99-lego.rules
sudo restart udev

Now log out and log back in to finish. A more detailed version of these instructions are at NXT-Python.

3.2 Setup OpenNI + NITE

The OpenNI framework is an open source SDK used for the development of 3D sensing middleware libraries and applications. In order to setup this library type

cd ~/Downloads
tar -xjvf NITE-Bin-Linux-x64-v1.5.2.21.tar.bz2
cd NITE-Bin-Dev-Linux-x64-v1.5.2.21
sudo ./
sudo ./

3.3 Setup libhid

libhid is a user-space HID access library written in C. We use it to control a connected Robovie-X. In order to setup this library install the deb packages you can find here or type

sudo apt-get install libusb-dev
cd ~/Downloads
wget --tries=10
tar xzf libhid-0.2.16.tar.gz
cd libhid-0.2.16
./configure --enable-werror=no
sudo make install
sudo ldconfig

3.4 Setup ROS

Now we create two separate workspaces to use both catkin and rosbuild. See this tutorial for a more complete explanation.

source /opt/ros/hydro/setup.bash
mkdir -p ~/Workspace/ros/catkin_ws/src
cd ~/Workspace/ros/catkin_ws
catkin_make --force-cmake
mkdir -p ~/Workspace/ros/rosbuild_ws
rosws init ~/Workspace/ros/rosbuild_ws ~/Workspace/ros/catkin_ws/devel
echo "source ~/Workspace/ros/rosbuild_ws/setup.bash" >> ~/.bashrc

4. Programming tools

4.1 Eclipse

The Eclipse package we're going to install is an IDE for C/C++ developers with Mylyn integration.

Download Eclipse from this link or check for the latest version (actually is Kepler) at

We first need Java (Oracle or OpenJDK is the same).

If it is not installed, i.e

java -version

raises some errors, type

sudo apt-get purge openjdk*
sudo add-apt-repository ppa:webupd8team/java
sudo apt-get update
sudo apt-get install oracle-jdk7-installer

if you have this problem:

Download done.
Removing outdated cached downloads...
sha256sum mismatch jdk-7u51-linux-x64.tar.gz
Oracle JDK 7 is NOT installed.
dpkg: error processing oracle-java7-installer (--configure):
 subprocess installed post-installation script returned error exit status 1
Setting up gsfonts-x11 (0.22) ...
Errors were encountered while processing:
E: Sub-process /usr/bin/dpkg returned an error code (1)

you might solve by using the following procedure:

  1. Download the JDK here.
  2. Then go to /var/cache/oracle-jdk7-installer/
  3. In that dir remove jdk-7u51-linux-x64.tar.gz and paste the version downloaded from Oracle website.
  4. Try sudo apt-get install oracle-java7-installer again.. this time should work fine!

Then, you install Eclipse

cd ~/Downloads
tar -xzf eclipse-cpp-*
sudo mv eclipse /opt
sudo chown -R root:root /opt/eclipse

Finally setup Ubuntu/Unity.

sudo ln -s /opt/eclipse/eclipse /usr/local/bin
echo '[Desktop Entry]
Exec=bash -i -c "eclipse"
Comment=Integrated Development Environment
Categories=Development;IDE' | sudo tee /usr/share/applications/eclipse.desktop

To completely remove Eclipse use the following commands.

sudo rm -rf /opt/eclipse
sudo rm -f /usr/local/bin/eclipse
sudo rm -f /usr/share/applications/eclipse.desktop

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