HOWTO Install MORSE w/ Depth camera support for ROS Fuerte

HOWTO.bash

# HOWTO Install MORSE w/ Depth camera support for ROS Fuerte

sudo apt-get install ros-fuerte-desktop-full python-rosinstall python-rosdep cmake

cd ~/work

wget http://python.org/ftp/python/3.3.0/Python-3.3.0.tgz
tar -xzvf Python-3.3.0.tgz
cd Python-3.3.0
./configure
make
sudo make install

cd ~/work

wget http://pypi.python.org/packages/source/d/distribute/distribute-0.6.32.tar.gz
tar -xzvf distribute-0.6.32.tar.gz
cd distribute-0.6.32
sudo python3 setup.py install

cd ~/work

git clone git://github.com/ros/rospkg.git
cd rospkg
sudo python3 setup.py install

cd ~/work

wget http://pyyaml.org/download/pyyaml/PyYAML-3.10.tar.gz
tar -xzvf PyYAML-3.10.tar.gz
cd PyYAML-3.10
sudo python3 setup.py install

cd ~/work

wget -q http://download.blender.org/release/Blender2.65/blender-2.65-linux-glibc211-i686.tar.bz2
tar jxf blender-2.65-linux-glibc211-i686.tar.bz2

export MORSE_BLENDER=$(pwd)/blender-2.65-linux-glibc211-i686/blender

# cd ~/work
# git clone git://github.com/laas/morse.git
# Install MORSE, assuming your up-to-date copy is in ~/work/morse
(cd ~/work/morse && rm -rf build && mkdir build && cd build && cmake -DPYMORSE_SUPPORT=ON -DBUILD_ROS_SUPPORT=ON -DPYTHON_EXECUTABLE=/usr/local/bin/python3.3 .. && make && sudo make install)

# Apply the ROS patch for memoryview (improve performance)
#patch -Np0 < ~/work/morse/patches/ros_memoryview.diff 
# add env.properties(ros_memoryview_patched=True) at the end of your script

# source /opt/ros/fuerte/setup.bash

morse edit /usr/local/share/morse/examples/scenarii/ros_depth.py
roscore
rostopic pub -1 /ATRV/Motion geometry_msgs/Twist "{linear: {x: 1}, angular: {z: 1}}"
rosrun tf static_transform_publisher 0 0 0 0 0 0 /base_footprint /ATRV/CameraDepth 100
rosrun rviz rviz