ROS Tutorial

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Revision as of 09:16, 5 October 2010 by SimoneCeriani (Talk | contribs)

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Step by step tutorial


  • Install Ubuntu 10.04 (this is the supported ubuntu version at September 2010) as native OS or inside a virtual machine (tested on VirtualBox -
  • Add ROS apt repositories and add ROS PGP keys to your system:
sudo sh -c 'echo "deb lucid main" > /etc/apt/sources.list.d/ros-latest.list'
wget -O - | sudo apt-key add -
sudo apt-get update
  • Install ros-cturtle-base
sudo apt-get install ros-cturtle-base


  • In order to automatically add ROS environment variables when opening a termina, add ROS script to bash resource file:
echo "source /opt/ros/cturtle/" >> ~/.bashrc
. ~/.bashrc

Setup a folder for your folder for ros experiment

  • add this line

to your '.bashrc' file,


  • rosed command use as default the vim editor. If you want to set your favorite editor (in the example emacs), add
export EDITOR='emacs -nw'
System update problems
  • If you try to update your system with
sudo apt-get update
sudo apt-get upgrade

and you obtain a message like:

The following packages have been kept back:

Try to use

sudo aptitude update
sudo aptitude upgrade

Aptitute manage dependancies better than apt-get, so you should be able to update your system properly


- ROS website:

- ROS Cturtle installation instructions:

- VirtualBox: