Setup ROS

Setting up ROS Hydro

After installing Gazebo it's ROS's time. Instructions follow:

• sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu precise main" > /etc/apt/sources.list.d/ros-latest.list'
• wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
• sudo apt-get update
• sudo apt-get install ros-hydro-desktop
• sudo rosdep init
• rosdep update
• sudo apt-get install python-rosinstall
• sudo apt-get install ros-hydro-smach*

Cool! Also add in your .bashrc the following: source /opt/ros/hydro/setup.bash

Finally add more catkin functionalities : sudo apt-get install cmake python-catkin-pkg python-empy python-nose python-setuptools libgtest-dev build-essential

Adding gazebo ROS pkgs

The gazebo_ros_pkgs must be added from source and not from the binaries! To do so follow the instructions below:

mkdir -p ~/catkin_ws/src

cd ~/catkin_ws/src

catkin_init_workspace

cd ~/catkin_ws

catkin_make

echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc

cd ~/catkin_ws/src

git clone https://github.com/etsardou/gazebo_ros_pkgs.git

cd gazebo_ros_pkgs

git checkout spawn-relative-pose-fix

rosdep update

rosdep install --from-paths . --ignore-src --rosdistro hydro -y

cd ~/catkin_ws/

catkin_make