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This guide describes how to install FroboMind based on ROS Fuerte and Ubuntu Desktop 12.04 LTS. If you want to install another version please visit the FroboMind installation page.

1. Installing Linux

The first step of installing FroboMind is to install Linux on your computer.

The following information is for PC systems only. If you want to install FroboMind on another platform please see Overo.

The current development of the FroboMind implementation in ROS is based on Ubuntu Desktop 12.04 LTS (Precise Pangolin).

You can find an ISO image for USB drive or CD installation at:

2. Installing ROS

The next step is to install ROS on top of your Linux installation.

ROS is an abbreviation for Robot Operating System which provides libraries and tools to help software developers create robot applications. It provides hardware abstraction, device drivers, libraries, visualizers, message-passing, package management, and more.

For information about how to install ROS on Ubuntu please go to this page:

3. Installing Git

Run this command to install git which is used to clone the FroboMind repository to your computer:

sudo apt-get install git-core git-gui gitk

Make sure your name and email address is registered correctly in the repository (replace using your own name and email address):

git config --global "Firstname Lastname"
git config --global ""

4. Setting up a GitHub account

The FroboMind software repository is located at To install FroboMind you must therefore:

  1. Create an account at GitHub
  2. Follow this guide to set up SSH keys for establishing a secure connection between your computer and GitHub

If you are new to Git and GitHub you might want to look at our How to use Git and GitHub page.

5. Installing dependencies

Now you need to install packages and other software required by FroboMind. The commands listed here assumes that you are using Ubuntu or Debian.

Run this command to install Python ROS support which is used in the decision making layer:

sudo apt-get install python-rosinstall

Run this command to install Bluetooth support which is used in fmCSP for serial communication via bluetooth:

sudo apt-get install libbluetooth-dev

Run this command to install an open source Kalman Filter library used by some modules in fmProcessors:

mkdir -p ~/frobomind-temp/kfilter
cd ~/frobomind-temp/kfilter
wget -O
cd kalman
sudo make install
cd ..
rm -rf ~/frobomind-temp

Run this command to install joystick drivers which are used for Wiimote control:

sudo apt-get install ros-fuerte-joystick-drivers

Run these commands to install the SICK LMS lidar kernel module:

mkdir -p ~/frobomind-temp/ros-deps
cd ~/frobomind-temp/ros-deps 
git clone 
cd libLMS1xx
mkdir build
cd build
sudo make install
cd ~/
rm -rf ~/frobomind-temp

6. Prepare your local repository

Create a new ROS workspace and enter the workspace directory:

rosws init ~/fuerte /opt/ros/fuerte
cd ~/fuerte

Source ~/fuerte/setup.bash every time a terminal is started in the future.

echo source ~/fuerte/setup.bash >> ~/.bashrc

Install the Wiimote package in the ROS workspace:

roslocate info wiimote | rosws merge -
rosws update wiimote

7. Installing FroboMind

The rest of this guide assumes that you would like to install a copy of FroboMind on your computer for your own use only. If you wish to use Git and GitHub for version control among a group of developers (or robots) or you would like to contribute software back to the FroboMind repository, you must switch to the FroboMind contribution repository guide at this point. If you are new to Git and GitHub you might want to look at our How to use Git and GitHub page.

If you have read the above paragraph and want to continue with this guide, go to your ROS workspace:

cd ~/fuerte

Create your own FroboMind repository by cloning the FroboMind repository at GitHub:

git clone

Add FroboMind to your ROS workspace (answer y when you are asked to add the new FroboMind element):

rosws set FroboMind

Read the configuration into your current shell:

source setup.bash

Enter the directory of your FroboMind repository:

roscd FroboMind

Run this command to build FroboMind. Please verify that ROS expands FroboMind into individual packages:

rosmake FroboMind

7. Updating FroboMind

If you after the installation of FroboMind would like to update your version with all changes made at the FroboMind repository at GitHub please run the following commands.

Go to the FroboMind repository directory:

roscd FroboMind

Fetch updates from the FroboMind repository at GitHub:

git fetch
git rebase origin/master

You can visualize and browse the version history by running:


Typical problems

If you see this error when trying to clone the FroboMind repository:

$ git clone
Cloning into FroboMind...
Permission denied (publickey).

It means you need to Follow this guide to set up SSH keys before successfully cloning the repository.