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This page contains relevant information about how to port the existing ROS packages to a new station.


  1. Ubuntu or a Linux based distribution
  2. ROS Indigo 14.04
  3. Make sure that all the packages needed to develop Baxter programs are there such as: baxter_simulator, baxter_interface, baxter, baxter_description etc.


If the required Baxter packages are not installed go to the following link to install them.



Step-by-step guide

  1. Create a ROS workspace
  2. Copy or move the existing packages into your workspace (inside the src folder)
  3. Go to the base of your package and run the catkin_make command
  4. If all goes well you have successfully managed to port the ROS packages to a new station if not see the What might go wrong section?

What might go wrong ?

1. Compilation errors with packages from the NOT_REQUIRED_FOR_DEMO

NOT_REQUIRED_FOR_DEMO contains code that is written during development which might suffer frequent modifications. 

Two alternatives to solve it: 

  1. simply delete the folder with all its contents and resume the make process, as the contents of this folder are available in the repository.
  2. create CATKIN_IGNORE file inside the package folder (e.g. touch /path/to/package/CATKIN_IGNORE)

2. Error: xdot package not found

How to solve it: sudo apt-get install ros-indigo-xdot

3. Problems with the sensor driver

How to solve it: sudo apt-get install ros-indigo-openni2-*

4. Problems with the communication

Make sure that the time step of you laptot and the robot are the same.

5. Problems with the USB channel of the sensor

A simple solution is to plug out and the plug in the sensor one more time.

6. Problems with the Py-Modubus module

Install the the module using pip or the following command sudo pip install pymodbus

or you can install it from the  following github address.

7. Errors during catkin_make

Due to the fact that the ROS packages are built on a thread based manner different issues might appear. One common error

is the fact that some packages are built while their dependencies are not yet ready, which results in errors.

A simple solution is to repeat the catkin_make command several times or to run the catkin_make -j1 which will build the

packages using a single thread, it will take longer but will do the job.

8. OpenCv or PCL not found during catkin_make

If porting the existing stack to a new computer several packages, tools might be missing, OpenCV,PCL included, which is why the errors during building are raised.

You can install them with the following command sudo apt-get install ros-indigo-perception

9. ROSLint package not found during catkin_make

The rviz_stream package depends on the ROSLint package. According to the official wiki the ROSLint represents "CMake lint commands for ROS packages. The lint commands perform static checking of Python

or C++ source code for errors and standards compliance." You can install it using sudo apt-get install ros-indigo-roslint