Ubuntu installation
In order to run the public simulation of PMB-2 it is preferable to get a fresh installation of Ubuntu 16.04.4 LTS as follows
wget http://releases.ubuntu.com/16.04/ubuntu-16.04.5-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.
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 Kinetic 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-kinetic-desktop-full python-catkin-tools ros-kinetic-joint-state-controller ros-kinetic-twist-mux ros-kinetic-ompl ros-kinetic-controller-manager ros-kinetic-moveit-core ros-kinetic-moveit-ros-perception ros-kinetic-moveit-ros-move-group ros-kinetic-moveit-kinematics ros-kinetic-moveit-ros-planning-interface ros-kinetic-moveit-simple-controller-manager ros-kinetic-moveit-planners-ompl ros-kinetic-joy ros-kinetic-joy-teleop ros-kinetic-teleop-tools ros-kinetic-control-toolbox ros-kinetic-sound-play ros-kinetic-navigation ros-kinetic-eband-local-planner ros-kinetic-depthimage-to-laserscan ros-kinetic-openslam-gmapping ros-kinetic-gmapping ros-kinetic-moveit-commander
Append the following command to ~/.bashrc to allow any console to use the catkin commands
source /opt/ros/kinetic/setup.bash
