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1. 安装ROS(indigo/Ubuntu 14.04). [安装步骤](http://wiki.ros.org/indigo/Installation/Ubuntu) 1. 安装ROS(indigo/Ubuntu 14.04). [安装步骤](http://wiki.ros.org/indigo/Installation/Ubuntu)
2. 配置好开发环境. [配置方法](http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment) 2. 配置好开发环境. [配置方法](http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment)
3. 获取源码: 3. 安装依赖项:
```
sudo apt-get install ros-indigo-joy
sudo apt-get install ros-indigo-hector-mapping
sudo apt-get install ros-indigo-gmapping
sudo apt-get install ros-indigo-map-server
sudo apt-get install ros-indigo-navigation
sudo apt-get install ros-indigo-move-base
sudo apt-get install ros-indigo-amcl
sudo apt-get install gstreamer0.10-pocketsphinx
sudo apt-get install gstreamer0.10-gconf
sudo apt-get install ros-indigo-pocketsphinx
sudo apt-get install ros-indigo-audio-common
sudo apt-get install libasound2
sudo apt-get install ros-indigo-sound-play
```
4. 获取源码:
``` ```
cd ~/catkin_ws/src/ cd ~/catkin_ws/src/
git clone https://github.com/6-robot/wpb_home.git git clone https://github.com/6-robot/wpb_home.git
``` ```
4. 设置设备权限 5. 设置设备权限
``` ```
roscd wpb_home_bringup roscd wpb_home_bringup
cd scripts cd scripts
chmod +x create_udev_rules.sh chmod +x create_udev_rules.sh
./create_udev_rules.sh ./create_udev_rules.sh
``` ```
5. 编译 6. 编译
``` ```
cd ~/catkin_ws cd ~/catkin_ws
catkin_make catkin_make
``` ```
6. 开始享用 :) 7. 欢迎享用 :)
## 平台介绍 ## 平台介绍
启智（ROS版）是[北京六部工坊科技有限公司](http://www.6-robot.com)为ROS机器人算法开发量身打造的一款机器人硬件平台，拥有硬件里程计、激光测距雷达、立体视觉相机和语音输入和立体声输出等一整套部件，完美适配ROS的TF、Navigation、Actionlib和Pluginlib子系统，是深入学习ROS和高级机器人算法验证开发的理想平台。 启智（ROS版）是[北京六部工坊科技有限公司](http://www.6-robot.com)为ROS机器人算法开发量身打造的一款机器人硬件平台，拥有硬件里程计、激光测距雷达、立体视觉相机和语音输入和立体声输出等一整套部件，完美适配ROS的TF、Navigation、Actionlib和Pluginlib子系统，是深入学习ROS和高级机器人算法验证开发的理想平台。