Currently source-based installation is provided.
First of all open a terminal and create an empty workspace:
mkdir ~/tiago_public_ws cd ~/tiago_public_ws
Download the file tiago_public.rosinstall. Copy the rosinstall file in ~/tiago_public_ws. Then run the following instruction in order to clone all the required repositories within the workspace:
rosinstall src /opt/ros/kinetic tiago_public.rosinstall
Set up rosdep
sudo rosdep init rosdep update
Then you may run the following instruction to make sure that all dependencies referenced in the workspace are installed
rosdep install --from-paths src --ignore-src --rosdistro kinetic --skip-keys="opencv2 opencv2-nonfree pal_laser_filters speed_limit sensor_to_cloud hokuyo_node libdw-dev"
Then, you may proceed building the workspace:
source /opt/ros/kinetic/setup.bash catkin build
Once you compiled all packages and sourced the environment (source devel/setup.bash) it's all ready to go.