Differences

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--- up_board_setup [2017/01/04 18:23] – jadintredup
+++ up_board_setup [2017/01/05 20:01] (current) – [Step 5: Verify Functionality by Launching a Nodelet] jadintredup
@@ Line 33: / Line 33: @@
 </code>
-Reboot the system to ensure you are running the new kernel and then use the uname command to verify. Text similar to '4.4.0.2-upboard.'
+Reboot the system to ensure you are running the new kernel and then use the uname command to verify. Output text should be similar to '4.4.0.2-upboard.'
 <code>
 sudo reboot
 uname -r
-</code>\\
+</code>
 ----
 ==== Step 3: Provide Kernel Source Access and Install Latest RealSense Patches ====
-Since the release of the UPboard Kernel there have been numerous patches made to enable more RealSense functionality. Before installing ROS and the associate RealSense packages, it is necessary to provide access to the kernel source packages. Use the following command to update the apt's source files.
+Since the release of the UPboard Kernel there have been numerous patches made to enable more RealSense functionality. Before installing ROS and the associated RealSense packages, it is necessary to provide access to the kernel source packages. Use the following command to update the apt's source files.
 <code>
 wget -q -O - \
@@ Line 46: / Line 46: @@
 | sudo /bin/bash
 </code>
+Now we can move onto installing ROS with RealSense support.\\
+----
+==== Step 4: Install ROS Kinetic Distribution ====
+The board used in the Development kit only support Linux distributions and so we can not use the official RealSense SDK, as it is only supported for Windows systems. Instead, we use ROS, as it has packages for RealSense compatibility and is an easy method to interface with robotic platforms.\\
+Launch a terminal shell and run the following commands to add the ROS repository to Ubuntu and update the package lists.
+<code>
+sudo add-spt-repository http://packages.ros.org/ros/ubuntu
+sudo apt-key adv --keyserver hkp://ha.pool.sks-keyserver.net \
+     --recv-key 0xB01FA116
+sudo apt update
+</code>
+Now run these commands to install the base ROS software and RealSense packages
+<code>
+sudo apt -y install ros-kinetic-desktop-full python-rosinstall ros-kinetic-realsense-camera
+sudo rosdep init
+rosdep update
+echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
+source ~/.bashrc
+</code>
+Adding setup.bash to the .bashrc file ensures that the ROS framework is available in the active environment. The ros-kinetic-librealsense package adds patches to the kernel that can not take effect until the system has been rebooted. Run a reboot command then ensure the UPboard kernel is still in place.
+<code>
+sudo reboot
+uname -r
+</code>
+----
+==== Step 5: Verify Functionality by Launching a Nodelet ====