Ubuntu installation

In order to run the public simulation of PMB-2 it is preferable to get a fresh installation of Ubuntu 14.04.5 LTS as follows

wget http://releases.ubuntu.com/14.04/ubuntu-14.04.5-desktop-amd64.iso

Use this ISO to install a fresh Ubuntu OS in your development computer. Afterwards, you can proceed installing ROS as explained in the next section.

Specific system dependencies installation

We need to install the libopencv-nonfree-dev library which will be used in the tutorials for educational purposes. Open a terminal an run the following instructions

sudo add-apt-repository --yes ppa:xqms/opencv-nonfree
sudo apt-get update
sudo apt-get install libopencv-nonfree-dev

ROS installation

Set up ROS packages sources

In order to install the required ROS packages for running PMB-2's simulation first, as explained in ROS Indigo installation, it is required to include packages.ros.org in the debian sources:

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

The set up the required keys to access the debian sources:

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

In case of getting a gpg: keyserver timed out error try the following:

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

ROS packages installation

install use the following instruction

sudo apt-get update
sudo apt-get install git python-rosinstall ros-indigo-desktop-full python-catkin-tools ros-indigo-joint-state-controller ros-indigo-twist-mux ros-indigo-ompl ros-indigo-controller-manager ros-indigo-moveit-core ros-indigo-moveit-ros-perception ros-indigo-moveit-ros-move-group ros-indigo-moveit-kinematics ros-indigo-moveit-ros-planning-interface ros-indigo-moveit-simple-controller-manager ros-indigo-moveit-planners-ompl ros-indigo-joy ros-indigo-joy-teleop ros-indigo-teleop-tools ros-indigo-control-toolbox ros-indigo-sound-play ros-indigo-navigation ros-indigo-eband-local-planner ros-indigo-depthimage-to-laserscan  ros-indigo-openslam-gmapping ros-indigo-gmapping ros-indigo-moveit-commander ros-indigo-geometry-experimental

Append the following command to ~/.bashrc to allow any console to use the catkin commands

```
source /opt/ros/indigo/setup.bash
```