Installation

1. Install ROS' wstool and catkin tools:

Either

sudo apt install python-wstool
sudo apt install python-catkin-tools

or

sudo pip install -U wstool
sudo pip install -U catkin_tools

2. Create and initialize ROS/Catkin workspace

Source your ROS installation

source /opt/ros/kinetic/setup.bash

create folder for workspace

mkdir gopigo_ws
cd gopigo_ws

Download the repository file containing all catkin packages and their location.

For GoPiGo only:

wget https://raw.githubusercontent.com/ros-gopigo/rosinstall-repo/master/ros-gopigo.rosinstall

For GoPiGo with raspicam:

wget https://raw.githubusercontent.com/ros-gopigo/rosinstall-repo/master/ros-gopigo-video.rosinstall

This will install the raspicam node and its dependencies that are not included in the ROS variant 'robot'.

You should now see the ros-gopigo.rosinstall or ros-gopigo-video.rosinstall file within your directory gopigo_ws.

3. Download all packages in the workspace

wstool init src ros-gopigo.rosinstall

or

wstool init src ros-gopigo-video.rosinstall

respectively.

4. Fetch remaining system dependencies

rosdep install --from-paths src --ignore-src --rosdistro kinetic -y -r --os=debian:jessie

5. Build packages

catkin build

6. Enable workspace and have fun

source devel/setup.bash