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--- up_board_setup [2017/01/05 18:51] – [Step 3: Provide Kernel Source Access and Install Latest RealSense Patches] jadintredup
+++ up_board_setup [2017/01/05 20:01] (current) – [Step 5: Verify Functionality by Launching a Nodelet] jadintredup
@@ Line 37: / Line 37: @@
 sudo reboot
 uname -r
-</code>\\
+</code>
 ----
 ==== Step 3: Provide Kernel Source Access and Install Latest RealSense Patches ====
@@ Line 47: / Line 47: @@
 </code>
-Now we can move onto installing ROS with RealSense support.
+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 ====