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Instructions for installing/upgrading the AutonomouStuff Binary Driver Pack.

AS Ubuntu Drivers Repository

1. sudo apt update && sudo apt install apt-transport-https
2. sudo sh -c 'echo "deb [trusted=yes] https://s3.amazonaws.com/autonomoustuff-repo/ $(lsb_release -sc) main" > /etc/apt/sources.list.d/autonomoustuff-public.list'
3. sudo apt update
4. Once you've updated apt, you can install any of the ROS binary drivers with:
   1. sudo apt install ros-$ROS_DISTRO-<driver_name>
   2. Where <driver_name> is replaced with the ROS package name of the driver (e.g. delphi-esr, mobileye-560-660, neobotix-usboard, etc).
5. When you run sudo apt update and sudo apt upgrade, new versions of the drivers will be downloaded and installed automatically.
6. The following command will install all available drivers from AutonomouStuff (see note below about kvaser_interface):
   1. sudo apt install ros-$ROS_DISTRO-kvaser-interface ros-$ROS_DISTRO-delphi-esr ros-$ROS_DISTRO-delphi-srr ros-$ROS_DISTRO-kartech-linear-actuator ros-$ROS_DISTRO-mobileye-560-660 ros-$ROS_DISTRO-neobotix-usboard ros-$ROS_DISTRO-ibeo-lux ros-$ROS_DISTRO-ibeo-scala
   2. If PACMod is needed: sudo apt-get install ros-$ROS_DISTRO-pacmod ros-$ROS_DISTRO-pacmod3 ros-$ROS_DISTRO-pacmod-game-control

Installation:

1. Download and install Kvaser linuxcan (SDK) (NOTE: This step is only required on releases before v2.0.0 unless you plan to use Kvaser linuxcan instead of SocketCAN):
   1. Download from the Kvaser Downloads page.
      1. For Ubuntu 14.04 (Trusty Tahr), download version 5.14.0.
      2. For Ubuntu 16.04 (Xenial Xerus), download the latest version.

   2. The file linuxcan.tar.gz should end up in your ~/Downloads directory. If you downloaded to another location, modify the commands below accordingly.

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      cd /usr/src sudo mv ~/Downloads/linuxcan.tar.gz . sudo tar xvf linuxcan.tar.gz cd linuxcan sudo make sudo make install

      If you have a Kvaser PCIe card, you will also need to do the following:

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      gksudo gedit /etc/modules

      Add pciefd on a new line at the end of this file then save and close.

   3. Reboot your machine.
2. Download and install prerequisites and the Driver Pack.

   1. The driver pack relies on the can_msgs package for underlying communication.

      
      

      1. To download on Ubuntu 14.04: Note: may need to run out

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         sudo apt-get install ros-indigo-can-msgs

         
         

      2. To download on Ubuntu 16.04:

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         sudo apt install ros-kinetic-can-msgs

         
         

   2. You will need to get the download link for the Driver Pack from AutonomouStuff support. If you have purchased hardware that requires an AutonomouStuff binary ROS driver and you did not receive the Binary Driver Pack, please contact support@autonomoustuff.com.

   3. Once downloaded, it is assumed that the file will be in your ~/Downloads directory. If you downloaded to another location, modify the commands below accordingly.

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      cd ~ mv ~/Downloads/as_drivers_*.tar.gz . tar xvf as_drivers_*.tar.gz

      
      

   4. Source the new workspace:

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      echo "source ~/as_drivers/install/setup.bash" >> ~/.bashrc source ~/.bashrc

      
      

3. Configure other workspaces to work with the Driver Pack.
   1. If you have other ROS workspaces, you will need to make the as_drivers workspace the lowest level in your workspace chain. For more information on workspace chaining, see this article on the ROS Wiki.

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