Installing Boxer Software

Note

To get started with the Boxer, make sure you have a working ROS installation set up on your computer. The physical Boxer robot comes ROS pre-configured, but if you are working on your own computer you may need to follow the instructions on the ROS wiki to get set up.

Add Clearpath Debian Package Repository

Before you can install the Boxer packages, you need to configure Ubuntu’s APT package manager to add Clearpath’s package server. You can do this by running the following commands in the terminal:

  1. First install the authentication key for the packages.clearpathrobotics.com repository:

wget https://packages.clearpathrobotics.com/public.key -O - | sudo apt-key add -

  1. Add the debian sources for the repository:

sudo sh -c 'echo "deb https://packages.clearpathrobotics.com/stable/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/clearpath-latest.list'

  1. Update your computer’s package cache:

sudo apt-get update

Installing the Packages

Now that your computer is configured to use Clearpath’s deb repository, you can install the Boxer packages needed for this tutorial by running the following command:

sudo apt-get install ros-kinetic-boxer-desktop

If you plan on simulating Boxer in Gazebo, you must also run

sudo apt-get install ros-kinetic-boxer-simulator

Installing from Source

Note

As of the time of writing these repositiories are not available publicly yet. They will eventually be public, but for now the only option to install Boxer’s software is via Ubuntu’s package manager.