Instructions for installing/upgrading the AutonomouStuff Binary Driver Pack.

AS Ubuntu Drivers Repository

sudo apt update && sudo apt install apt-transport-https
sudo sh -c 'echo "deb [trusted=yes] https://s3.amazonaws.com/autonomoustuff-repo/ $(lsb_release -sc) main" > /etc/apt/sources.list.d/autonomoustuff-public.list'
sudo apt update
Once you've updated apt, you can install any of the ROS binary drivers with:
1. sudo apt install ros-$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).
When you run sudo apt update and sudo apt upgrade, new versions of the drivers will be downloaded and installed automatically.
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

kvaser_interface

The kvaser_interface driver is available in the above repo but is not a requirement for any of the drivers. In addition, the kvaser_interface driver requires the Linuxcan SDK in order to run. To install the Linuxcan SDK, see Populate CAN Hardware and Circuit IDs.

Deprecated Instructions

The installation instructions below are provided only for historical purposes and for non-Ubuntu environments. The repository instructions above are highly preferred.

Installation:

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.
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
```
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.

Note: Do not catkin_make or catkin build this workspace once installed. This will remove all of the binary drivers from the workspace and only build the open-source packages into the install space.

Upgrading:

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

Note: Do not catkin_make or catkin build this workspace once installed. This will remove all of the binary drivers from the workspace and only build the open-source packages into the install space.

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)

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