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{{{#!wiki tip
'''This tutorial is based on Ubuntu 14.04'''

If you are using a different distro,please refer to ROS [[ROS/Installation|installations]] page.
}}}

== Installation of ROS ==

In order to continue you should complete ros installation
[[indigo/Installation/Ubuntu|tutorials]].

After creating your [[ROS/Tutorials/CreatingPackage|workspace]], You will able to follow the sections below.

=== Installation of necessary packages ===

To complete this part, you'll need to download 3 packages. There are two methods for installing the necessary packages one is using git and other is via apt-get command.

We advise to use apt-get command in order to install the packages.

==== Using apt-get command ====

Just use the following command to download and install all three mrp2 packages at once.
{{{
$ sudo apt-get install ros-indigo-mrp2-common ros-indigo-mrp2-desktop ros-indigo-mrp2-simulator
}}}

And you are good to move forward to our next [[Robots/MRP2/indigo/Tutorials/Installation/Network setup|tutorial]].


==== Using Git ====
First, you should cd to your workspace:
{{{
$ cd <YOUR CATKIN WORKSPACE PATH>/src
}}}

For example;

{{{
$ cd ~/catkin_ws/src
}}}

Be sure; `git` is installed correctly on your system; If it is not, just type;

{{{
$ sudo apt-get update && sudo apt-get install git
}}}

Now, you are able to get necessary repositories from github. For that, run these commands one 
by one in your workspace:

{{{
$ git clone https://github.com/milvusrobotics/mrp2_common.git
$ git clone https://github.com/milvusrobotics/mrp2_simulator.git
$ git clone https://github.com/milvusrobotics/mrp2_desktop.git
}}}

Now you need to compile them. But first, You must install dependencies of these packages 
via:

{{{
$ rosdep install --from-paths src --ignore-src --rosdistro=indigo -y
}}}

Finally, you can call `catkin_make` command. Just change directory to one level up -- top of 
your catkin workspace -- and call it:

{{{
$ cd .. && catkin_make
}}}

Next step will be soucing your setup.bash:

{{{
$ source <YOUR CATKIN WORKSPACE PATH>/devel/setup.bash
}}}

A better solution is "'''sourcing your workspace'''" to your `.bashrc` file, it is described in ROS Tutorials, just run the following command by replacing `<YOUR CATKIN WORKSPACE PATH>` with your workspace path:

{{{
$ echo "source <YOUR CATKIN WORKSPACE PATH>/devel/setup.bash" >> ~/.bashrc
}}}

However, These repositories can be improved or changed by [[MilvusRobotics|Milvus Robotics]]. If `catkin_make` gives an error, You always can ask your questions with a mrp2 tag on http://answers.ros.org/