Driver Pack Installation or Upgrade Instructions

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

   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.

      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:

      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

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

      2. To download on Ubuntu 16.04:

         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.

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

   4. Source the new workspace:

      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.

Upgrading:

1. Upgrading your driver pack is very similar to first-time installation but with fewer steps. First you will need to remove the existing workspace to avoid conflicts:

   cd ~
   rm -rf as_drivers/

2. Now you only need to follow steps 2a, 2b, and 2c in the installation instructions above.

Related articles

• Page:
  Delphi ESR
• Page:
  Populate CAN Hardware and Circuit IDs
• Page:
  Driver Pack Installation or Upgrade Instructions
• Page:
  Neobotix USBoard
• Page:
  PACMod System (v1 and v2 only)