Usually, we issue a Virtual Machine (VM) with ROS preinstalled for each ROS release. This time, we decided to issue two VMs for ROS Indigo: a 32 bits version and a 64 bits one. Depending on the amount of resources you are willing to allocate to the virtual machine, you pick one version or the other. The 32bits variant requires only 1GB RAM and 1 CPU core. The 64 bits VM targets hosts with more resources. It is set to use 3GB RAM and 2 CPU cores.
Both VMs are provided with VirtualBox extension pack pre-installed too. This enables copy/paste as well as drag’n drop both bidirectional. So, you can share clipboard and easily exchange files between the VM to the host OS. The summary of the VM settings are provided by Table 1 below. Note that all these parameters and others can be changed in the settings of your VM once you have installed it from one of the .OVA archives we provide. Please share with the ROS community settings that best worked for you.
The VMs have preinstalled the ROS desktop-full configuration. Beside ROS core libraries, they include rqt the Qt-based framework for GUI development for ROS, rviz the 3D visualization tool for ROS, robot-generic libraries, 2D/3D perception libraries, navigation libraries as well as 2D and 3D simulators. Speaking of 3D simulator, this configuration includes version 2 of Gazebo which is the recommended version for Ubuntu 14.04. Nevertheless, there are instructions if you need to upgrade to Gazebo 3 series.
The installation of the .ova file is can be done using the “import appliance…” menu of VirtualBox, as we have explained for previous ROS virtualizations. Remember that the .ova file complies with the Open Virtualization Format (OVF), thus it can be used with other virtualization tools such as VmWare.
We set Unbuntu to automatically log in with the unique admin user account:
- login: viki
- password: viki
The login is a reference to the V.I.K.I character from the I, Robot movie. It stands for Virtual Interactive Kinetic Intelligence, which is the AI that controls the building of the international robot company: United States Robots (U.S.R). To remain compatible with our tutorial on ROS networking, we have named of the machine C3PO after the famous humanoid robot from Star Wars.