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5.1.2 apt Installation and Upgrade

This section introduces how to install TogetheROS.Bot using apt on RDK and X86 platforms.

RDK Platform​

Prerequisites

  • Completed the work in Environment Preparation
  • Ubuntu system is installed on RDK
  • RDK can access the internet normally
  • RDK supports remote ssh
📋 System Version Confirmation and Download

Before installing TogetheROS, you need to confirm the system version and download the latest image. For system image download, please refer to: Download Resources Summary

📋 System Version Confirmation and Download

Before installing TogetheROS, you need to confirm the system version and download the latest image. For system image download, please refer to: Download Resources Summary

📋 System Version Confirmation and Download

Before installing TogetheROS, you need to confirm the system version and download the latest image. For system image download, please refer to: Download Resources Summary

📋 System Version Confirmation and Download

Before installing TogetheROS, you need to confirm the system version and download the latest image. For system image download, please refer to: Download Resources Summary

Please note for RDK X3 platform:

Note
  • 2.x version tros.b only supports 2.x version system images. 1.x version tros.b only supports 1.x version systems.
  • If you are using a 1.x version system image, you need to upgrade from Environment Preparation to 2.x version.
  • For system and tros.b version checking methods and detailed instructions, please refer to FAQs.
Dependency1.x tros.b2.x tros.b
1.x System Image√x
2.x System Imagex√

Installing tros.b​

Note: The RDK IP used here is 10.64.61.241. Replace with your own RDK IP during installation.

Log in to RDK:

ssh root@10.64.61.241

Install tros.b package:

sudo apt update
sudo apt install tros
sudo apt update
sudo apt install tros-humble
sudo apt update
sudo apt install tros-jazzy
Note
  • If the sudo apt update command fails or reports an error, please refer to the FAQ section Q10: How to handle apt update command failure or error? for resolution.
  • If after running the install command you see E: Unmet dependencies. Try 'apt --fix-broken install' with no packages (or specify a solution)., first run apt --fix-broken install to install related dependencies, then install tros.b.
Note
  • If the sudo apt update command fails or reports an error, please refer to the FAQ section Q10: How to handle apt update command failure or error? for resolution.
  • If after running the install command you see E: Unmet dependencies. Try 'apt --fix-broken install' with no packages (or specify a solution)., first run apt --fix-broken install to install related dependencies, then install tros.b.
Note
  • If the sudo apt update command fails or reports an error, please refer to the FAQ section Q6: How to handle apt update command failure or error? for resolution.
  • If after running the install command you see E: Unmet dependencies. Try 'apt --fix-broken install' with no packages (or specify a solution)., first run apt --fix-broken install to install related dependencies, then install tros.b.
Note
  • If the sudo apt update command fails or reports an error, please refer to the FAQ section Q6: How to handle apt update command failure or error? for resolution.
  • If after running the install command you see E: Unmet dependencies. Try 'apt --fix-broken install' with no packages (or specify a solution)., first run apt --fix-broken install to install related dependencies, then install tros.b.

After installation, check files in the /opt directory

root@ubuntu:/userdata# ls /opt/
hobot  tros

You can see tros.b is installed in the /opt directory.

Upgrading tros.b​

Using RDK installation as an example, the X86 Ubuntu upgrade method is the same as RDK.

Log in to RDK

ssh root@10.64.61.241

Upgrade tros.b deb package

sudo apt update
sudo apt upgrade
Note

If the sudo apt update command fails or reports an error, please refer to the FAQ section Q10: How to handle apt update command failure or error? for resolution.

Note

If the sudo apt update command fails or reports an error, please refer to the FAQ section Q10: How to handle apt update command failure or error? for resolution.

Note

If the sudo apt update command fails or reports an error, please refer to the FAQ section Q6: How to handle apt update command failure or error? for resolution.

Note

If the sudo apt update command fails or reports an error, please refer to the FAQ section Q6: How to handle apt update command failure or error? for resolution.

Check Current tros.b Version​

root@ubuntu:~# apt show tros
Package: tros
Version: 2.0.0-20230523223852
Maintainer: kairui.wang <kairui.wang@d-robotics.cc>
Installed-Size: unknown
Depends: hobot-models-basic, tros-ros-base, tros-ai-msgs, tros-audio-control, tros-audio-msg, tros-audio-tracking, tros-body-tracking, tros-dnn-benchmark-example, tros-dnn-node, tros-dnn-node-example, tros-dnn-node-sample, tros-elevation-net, tros-gesture-control, tros-hand-gesture-detection, tros-hand-lmk-detection, tros-hbm-img-msgs, tros-hobot-app-xrrobot-body-tracking, tros-hobot-app-xrrobot-gesture-control, tros-hobot-codec, tros-hobot-cv, tros-hobot-falldown-detection, tros-hobot-hdmi, tros-hobot-image-publisher, tros-hobot-mot, tros-hobot-usb-cam, tros-image-subscribe-example, tros-img-msgs, tros-imu-sensor, tros-line-follower-model, tros-line-follower-perception, tros-mipi-cam, tros-mono2d-body-detection, tros-mono2d-trash-detection, tros-mono3d-indoor-detection, tros-parking-perception, tros-parking-search, tros-rgbd-sensor, tros-websocket, tros-xrrobot, tros-xrrobot-msgs
Download-Size: 980 B
APT-Manual-Installed: yes
APT-Sources: http://archive.d-robotics.cc/ubuntu-rdk focal/main arm64 Packages
Description: TogetheROS Bot

You can see the current tros.b version has been upgraded to 2.0.0.

root@ubuntu:~# apt show tros-humble
Package: tros-humble
Version: 2.2.0-jammy.20240410.221258
Priority: optional
Section: misc
Maintainer: zhuo <zhuo.wang@d-robotics.cc>
Installed-Size: 44.0 kB
Depends: hobot-models-basic, tros-humble-ai-msgs, tros-humble-audio-control, tros-humble-audio-msg, tros-humble-audio-tracking, tros-humble-base, tros-humble-body-tracking, tros-humble-dnn-benchmark-example, tros-humble-dnn-node, tros-humble-dnn-node-example, tros-humble-dnn-node-sample, tros-humble-elevation-net, tros-humble-gesture-control, tros-humble-hand-gesture-detection, tros-humble-hand-lmk-detection, tros-humble-hbm-img-msgs, tros-humble-hobot-audio, tros-humble-hobot-chatbot, tros-humble-hobot-codec, tros-humble-hobot-cv, tros-humble-hobot-falldown-detection, tros-humble-hobot-hdmi, tros-humble-hobot-image-publisher, tros-humble-hobot-llm, tros-humble-hobot-mot, tros-humble-hobot-shm, tros-humble-hobot-tts, tros-humble-hobot-usb-cam, tros-humble-hobot-vio, tros-humble-hobot-visualization, tros-humble-img-msgs, tros-humble-imu-sensor, tros-humble-line-follower-model, tros-humble-line-follower-perception, tros-humble-mipi-cam, tros-humble-mono2d-body-detection, tros-humble-mono2d-trash-detection, tros-humble-mono3d-indoor-detection, tros-humble-parking-perception, tros-humble-parking-search, tros-humble-rgbd-sensor, tros-humble-websocket, tros-humble-ros-workspace
Download-Size: 5,546 B
APT-Manual-Installed: yes
APT-Sources: http://archive.d-robotics.cc/ubuntu-rdk jammy/main arm64 Packages
Description: TogetheROS Bot

You can see the current tros.b version has been upgraded to 2.2.0.

root@ubuntu:~# apt show tros-jazzy
Package: tros-jazzy
Version: 2.5.0-noble.20251202.080038
Priority: optional
Section: misc
Maintainer: zhuo <zhuo.wang@d-robotics.cc>
Installed-Size: 44.0 kB
Depends: hobot-models-basic, tros-jazzy-ai-msgs, tros-jazzy-audio-control, tros-jazzy-audio-msg, tros-jazzy-audio-tracking, tros-jazzy-base, tros-jazzy-body-tracking, tros-jazzy-dnn-benchmark-example, tros-jazzy-dnn-node, tros-jazzy-dnn-node-example, tros-jazzy-dnn-node-sample, tros-jazzy-elevation-net, tros-jazzy-gesture-control, tros-jazzy-hand-gesture-detection, tros-jazzy-hand-lmk-detection, tros-jazzy-hbm-img-msgs, tros-humble-hobot-audio, tros-jazzy-hobot-chatbot, tros-jazzy-hobot-codec, tros-jazzy-hobot-cv, tros-jazzy-hobot-falldown-detection, tros-jazzy-hobot-hdmi, tros-jazzy-hobot-image-publisher, tros-jazzy-hobot-llm, tros-jazzy-hobot-mot, tros-jazzy-hobot-shm, tros-jazzy-hobot-tts, tros-jazzy-hobot-usb-cam, tros-jazzy-hobot-vio, tros-humble-hobot-visualization, tros-jazzy-img-msgs, tros-jazzy-imu-sensor, tros-jazzy-line-follower-model, tros-humble-line-follower-perception, tros-jazzy-mipi-cam, tros-jazzy-mono2d-body-detection, tros-jazzy-mono2d-trash-detection, tros-jazzy-mono3d-indoor-detection, tros-jazzy-parking-perception, tros-jazzy-parking-search, tros-jazzy-rgbd-sensor, tros-jazzy-websocket, tros-jazzy-ros-workspace
Download-Size: 5,546 B
APT-Manual-Installed: yes
APT-Sources: http://archive.d-robotics.cc/ubuntu-rdk-s600 noble/main arm64 Packages
Description: TogetheROS Bot

You can see the current tros.b version has been upgraded to 2.5.0.

Note
  • The version number Version displayed in the query is the actually installed tros.b version, which may differ from the version number Version shown in this example.
  • For tros.b release version information, see Release Notes.

X86 Platform​

Prerequisites:

  1. Set locale and enable universe repository

    sudo apt update && sudo apt install locales
    sudo locale-gen en_US en_US.UTF-8
    sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
    export LANG=en_US.UTF-8

    sudo apt install software-properties-common
    sudo add-apt-repository universe

  2. Download gpg key file and add source list:

    sudo apt update && sudo apt install curl

    sudo curl -sSL http://archive.d-robotics.cc/keys/sunrise.gpg -o /usr/share/keyrings/sunrise.gpg
    echo "deb [arch=amd64 signed-by=/usr/share/keyrings/sunrise.gpg] http://archive.d-robotics.cc/ubuntu-rdk-sim focal main" | sudo    tee /etc/apt/sources.list.d/sunrise.list > /dev/null

    sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

  3. Update source information and install tros.b:

    sudo apt update
    sudo apt install tros
caution
  • If your X86 platform has 1.x version tros.b installed, please first use the command sudo apt remove tros to remove it before installing 2.x version tros.b.
  • For how to check tros.b version number, please refer to FAQs.
caution
  • If your X86 platform has 1.x version tros.b installed, please first use the command sudo apt remove tros to remove it before installing 2.x version tros.b.
  • For how to check tros.b version number, please refer to FAQs.
caution
  • If your X86 platform has 1.x version tros.b installed, please first use the command sudo apt remove tros to remove it before installing 2.x version tros.b.
  • For how to check tros.b version number, please refer to FAQs.
caution
  • If your X86 platform has 1.x version tros.b installed, please first use the command sudo apt remove tros to remove it before installing 2.x version tros.b.
  • For how to check tros.b version number, please refer to FAQs.
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