## page was copied from Robots/PMB-2/indigo_install
== Source-based installation ==
Currently source-based installation is provided.

{{{#!wiki caution
These instructions assume that you are comfortable with ROS and the catkin build system. Please familiarize yourself using the [[ROS/Tutorials|ROS]] and [[catkin/Tutorials|catkin]] tutorials.
}}}
First of all open a terminal and create an empty workspace:

 . {{{
mkdir ~/pmb2_public_ws
cd ~/pmb2_public_ws
}}}

Download the [[https://raw.githubusercontent.com/pal-robotics/pmb2_tutorials/kinetic-devel/pmb2_public.rosinstall|pmb2_public.rosinstall]] and copy it in ~/pmb2_public_ws. Then run the following instruction in order to clone all the required repositories within the workspace:

 . {{{
cd ~/pmb2_public_ws
rosinstall src /opt/ros/kinetic pmb2_public.rosinstall
}}}

Then run this command to make sure that all dependencies are installed.

 . {{{
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 "pal_gazebo_plugins speed_limit_node sensor_to_cloud pmb2_rgbd_sensors pal_vo_server pal_karto pal_usb_utils pal_local_planner pal_filters hokuyo_node rrbot_launch robot_pose pal_pcl rviz_plugin_covariance pal-orbbec-openni2 slam_toolbox"
}}}

Then, you may proceed building the workspace:

 . {{{
source /opt/ros/kinetic/setup.bash
catkin build
}}}

Once you compiled all packages and source the environment ('''source ~/pmb2_public_ws/devel/setup.bash''') and it's all ready to go.