2. Installation

These installation instructions are designed to work with Ubuntu 12.04, 14.04, and 16.04 distributions and the ROS Fuerte, Groovy, Hydro, Indigo, Jade, and Kinetic releases. A configuration script (config.sh), located in the root directory of the MultiSense driver installation, is used to switch between the rosbuild and catkin build systems. Running the script with a "–h" option will display the full command line usage.

2.1. ROS Fuerte

To get started, add ROS to the machine’s apt sources and set up the ROS package-signing keys by following the installation instructions for ROS Fuerte here: http://www.ros.org/wiki/fuerte/Installation/Ubuntu

Next install all the ROS dependencies and basic tools needed for the MultiSense S7 sensor:

sudo apt-get update
sudo apt-get install ros-fuerte-desktop-full
sudo apt-get install mercurial python-rosinstall build-essential cmake

Next check out the source code for the MultiSense sensor by executing the following commands:

source /opt/ros/fuerte/setup.bash
rosws init PATH_TO_SOURCE /opt/ros/fuerte/
source PATH_TO_SOURCE/setup.bash
rosws set multisense --hg https://bitbucket.org/crl/multisense_ros
rosws update multisense

Where PATH_TO_SOURCE should be replaced by the name of the local installation directory (like ~/multisense_ros_driver). If the directory does not exist it will be automatically created.

By default the ROS driver comes configured to build under catkin. To configure the driver to build using rosbuild execute the following command:

PATH_TO_SOURCE/multisense/config.sh rosbuild

Finally the entire repository should be built by invoking rosmake: where PATH_TO_SOURCE is again replaced by the name of the local install directory.

source PATH_TO_SOURCE/setup.bash
rosmake multisense

To update the MultiSense ROS driver to the newest Bitbucket release, execute the following commands:

source PATH_TO_SOURCE/setup.bash
rosws update multisense
rosmake multisense --pre-clean

2.2. ROS Groovy

To get started, add ROS to the machine’s apt sources and set up the ROS package-signing keys by following the installation instructions for ROS Groovy here: http://wiki.ros.org/groovy/Installation/Ubuntu

Next install all the ROS dependencies and basic tools needed for the MultiSense S7 sensor:

sudo apt-get update
sudo apt-get install ros-groovy-desktop-full
sudo apt-get install mercurial python-rosinstall build-essential cmake

Next create a catkin workspace and check out the source code for the MultiSense sensor by executing the following commands:

mkdir -p PATH_TO_SOURCE/src
cd PATH_TO_SOURCE/src
source /opt/ros/groovy/setup.bash
catkin_init_workspace .
hg clone https://bitbucket.org/crl/multisense_ros multisense

Where PATH_TO_SOURCE should be replaced by the name of the local installation directory (like ~/multisense_ros_driver).

Finally the entire repository should be built by invoking catkin_make, where PATH_TO_SOURCE is again replaced by the name of the local install directory.

cd PATH_TO_SOURCE
catkin_make

To update the MultiSense ROS driver to the newest Bitbucket release, execute the following commands:

cd PATH_TO_SOURCE/src/multisense
hg pull
hg up
cd PATH_TO_SOURCE
rm -r build && rm -r devel
catkin_make

2.3. ROS Hydro

To get started, add ROS to the machine’s apt sources and set up the ROS package-signing keys by following the installation instructions for ROS Hydro here: http://wiki.ros.org/hydro/Installation/Ubuntu

For ROS Hydro we support two methods of installing the driver, via a binary (pre-built) package OR via source compilation.

2.3.1. ROS Hydro Binary Installation

After installing ROS Hydro (see ROS Hydro), run this command to install the pre-built version of our driver:

sudo apt-get install ros-hydro-multisense

Once this is installed and the main /opt/ros/hydro/setup.bash configuration script is sourced, the standard ROS launch/run commands will work.

2.3.2. ROS Hydro Source Installation

If you do not want install the pre-built binary driver (see ROS Hydro Binary Installation), you can instead install the driver from source.

First, install all the ROS dependencies and basic tools needed for the MultiSense S7 sensor:

sudo apt-get update
sudo apt-get install ros-hydro-desktop-full
sudo apt-get install mercurial python-rosinstall build-essential cmake

Next, create a catkin workspace and check out the source code for the MultiSense sensor by executing the following commands:

mkdir -p PATH_TO_SOURCE/src
cd PATH_TO_SOURCE/src
source /opt/ros/hydro/setup.bash
catkin_init_workspace .
hg clone https://bitbucket.org/crl/multisense_ros multisense

Where PATH_TO_SOURCE should be replaced by the name of the local installation directory (like ~/multisense_ros_driver).

Finally the entire repository should be built by invoking catkin_make, where PATH_TO_SOURCE is again replaced by the name of the local install directory.

cd PATH_TO_SOURCE
catkin_make

To update the MultiSense ROS driver to the newest Bitbucket release, execute the following commands:

cd PATH_TO_SOURCE/src/multisense
hg pull
hg up
cd PATH_TO_SOURCE
rm -r build && rm -r devel
catkin_make

2.4. ROS Indigo

To get started, add ROS to the machine’s apt sources and set up the ROS package-signing keys by following the installation instructions for ROS Indigo here: http://wiki.ros.org/indigo/Installation/Ubuntu

For ROS Indigo we support two methods of installing the driver, via a binary (pre-built) package OR via source compilation.

2.4.1. ROS Indigo Binary Installation

After installing ROS Indigo (see ROS Indigo), run this command to install the pre-built version of our driver:

sudo apt-get install ros-indigo-multisense

Once this is installed and the main /opt/ros/indigo/setup.bash configuration script is sourced, the standard ROS launch/run commands will work.

2.4.2. ROS Indigo Source Installation

If you do not want install the pre-built binary driver (see ROS Indigo Binary Installation), you can instead install the driver from source.

First, install all the ROS dependencies and basic tools needed for the MultiSense S7 sensor:

sudo apt-get update
sudo apt-get install ros-indigo-desktop-full
sudo apt-get install mercurial python-rosinstall build-essential cmake

Next, create a catkin workspace and check out the source code for the MultiSense sensor by executing the following commands:

mkdir -p PATH_TO_SOURCE/src
cd PATH_TO_SOURCE/src
source /opt/ros/indigo/setup.bash
catkin_init_workspace .
hg clone https://bitbucket.org/crl/multisense_ros multisense

Where PATH_TO_SOURCE should be replaced by the name of the local installation directory (like ~/multisense_ros_driver).

Finally the entire repository should be built by invoking catkin_make, where PATH_TO_SOURCE is again replaced by the name of the local install directory.

cd PATH_TO_SOURCE
catkin_make

To update the MultiSense ROS driver to the newest Bitbucket release, execute the following commands:

cd PATH_TO_SOURCE/src/multisense
hg pull
hg up
cd PATH_TO_SOURCE
rm -r build && rm -r devel
catkin_make

2.5. ROS Jade

To get started, add ROS to the machine’s apt sources and set up the ROS package-signing keys by following the installation instructions for ROS Jade here: http://wiki.ros.org/jade/Installation/Ubuntu

For ROS Jade we support two methods of installing the driver, via a binary (pre-built) package OR via source compilation.

2.5.1. ROS Jade Binary Installation

After installing ROS Jade (see ROS Jade), run this command to install the pre-built version of our driver:

sudo apt-get install ros-jade-multisense

Once this is installed and the main /opt/ros/jade/setup.bash configuration script is sourced, the standard ROS launch/run commands will work.

2.5.2. ROS Jade Source Installation

If you do not want install the pre-built binary driver (see ROS Jade Binary Installation), you can instead install the driver from source.

First, install all the ROS dependencies and basic tools needed for the MultiSense S7 sensor:

sudo apt-get update
sudo apt-get install ros-jade-desktop-full
sudo apt-get install mercurial python-rosinstall build-essential cmake

Next, create a catkin workspace and check out the source code for the MultiSense sensor by executing the following commands:

mkdir -p PATH_TO_SOURCE/src
cd PATH_TO_SOURCE/src
source /opt/ros/jade/setup.bash
catkin_init_workspace .
hg clone https://bitbucket.org/crl/multisense_ros multisense

Where PATH_TO_SOURCE should be replaced by the name of the local installation directory (like ~/multisense_ros_driver).

Finally the entire repository should be built by invoking catkin_make, where PATH_TO_SOURCE is again replaced by the name of the local install directory.

cd PATH_TO_SOURCE
catkin_make

To update the MultiSense ROS driver to the newest Bitbucket release, execute the following commands:

cd PATH_TO_SOURCE/src/multisense
hg pull
hg up
cd PATH_TO_SOURCE
rm -r build && rm -r devel
catkin_make

2.6. ROS Kinetic

To get started, add ROS to the machine’s apt sources and set up the ROS package-signing keys by following the installation instructions for ROS Kinetic here: http://wiki.ros.org/kinetic/Installation/Ubuntu

For ROS Kinetic we support two methods of installing the driver, via a binary (pre-built) package OR via source compilation.

2.6.1. ROS Kinetic Binary Installation

After installing ROS Kinetic (see ROS Kinetic), run this command to install the pre-built version of our driver:

sudo apt-get install ros-kinetic-multisense

Once this is installed and the main /opt/ros/kinetic/setup.bash configuration script is sourced, the standard ROS launch/run commands will work.

2.6.2. ROS Kinetic Source Installation

If you do not want install the pre-built binary driver (see ROS Kinetic Binary Installation), you can instead install the driver from source.

First, install all the ROS dependencies and basic tools needed for the MultiSense S7 sensor:

sudo apt-get update
sudo apt-get install ros-kinetic-desktop-full
sudo apt-get install mercurial python-rosinstall build-essential cmake

Next, create a catkin workspace and check out the source code for the MultiSense sensor by executing the following commands:

mkdir -p PATH_TO_SOURCE/src
cd PATH_TO_SOURCE/src
source /opt/ros/kinetic/setup.bash
catkin_init_workspace .
hg clone https://bitbucket.org/crl/multisense_ros multisense

Where PATH_TO_SOURCE should be replaced by the name of the local installation directory (like ~/multisense_ros_driver).

Finally the entire repository should be built by invoking catkin_make, where PATH_TO_SOURCE is again replaced by the name of the local install directory.

cd PATH_TO_SOURCE
catkin_make

To update the MultiSense ROS driver to the newest Bitbucket release, execute the following commands:

cd PATH_TO_SOURCE/src/multisense
hg pull
hg up
cd PATH_TO_SOURCE
rm -r build && rm -r devel
catkin_make

2.7. Driver Layout

The MultiSense driver contains five ROS packages:

multisense_bringup

This is the set of launch files and configuration files used to start the ROS driver, as well as configuration scripts and other configuration files.

multisense_cal_check

This package provides software for evaluating the quality of the laser calibration stored in the MultiSense-SL non-volatile memory.

Note this package only supports MultiSense SL units.

multisense_description

This package contains the http://ros.org/wiki/urdf robot description XML file and associated meshes that represent the sensor head, sensor placement and kinematic structure of a MultiSense S7 sensor.

multisense_lib

This is the library that implements the wire protocol for communication with the MultiSense S7 sensor.

multisense_ros

This package contains the actual ROS drivers for the MultiSense S7. Individual drivers are included for the Camera and IMU subsystems.