= Ubuntu installation =
In order to run the public simulation of TIAGo OMNI Base it is preferable to get a fresh installation of Ubuntu 20.04.5 LTS as follows

 . {{{
wget http://releases.ubuntu.com/20.04/ubuntu-20.04.5-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 TIAGo OMNI Base simulation first, as explained in [[http://wiki.ros.org/noetic/Installation/Ubuntu|ROS Noetic installation]], it is required to include packages.ros.org in the debian sources:

 . {{{
sudo apt update
sudo apt install lsb-release # if you haven't already installed lsb-release
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 install curl gnupg # if you haven't already installed curl or gnupg
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
}}}

== ROS packages installation ==
install use the following instruction

 . {{{
sudo apt-get update
sudo apt-get install git wget python3-rosinstall ros-noetic-desktop-full python3-catkin-tools python3-rosdep python-is-python3
}}}

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

 . {{{
source /opt/ros/noetic/setup.bash
}}}

== 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 ~/omni_base_public_ws
cd ~/omni_base_public_ws
}}}

Then run the following instruction in order to download the [[https://raw.githubusercontent.com/pal-robotics/pal_mobile_base_docker/noetic-devel/common_public-noetic.rosinstall|common_public-noetic.rosinstall]], [[https://raw.githubusercontent.com/pal-robotics/omni_base_tutorials/noetic-devel/omni_base_public-noetic.rosinstall|omni_base_public-noetic.rosinstall]] and clone all the required repositories within the workspace:

 . {{{
wget https://raw.githubusercontent.com/pal-robotics/pal_mobile_base_docker/noetic-devel/common_public-noetic.rosinstall
wget https://raw.githubusercontent.com/pal-robotics/omni_base_tutorials/noetic-devel/omni_base_public-noetic.rosinstall
rosinstall src /opt/ros/noetic common_public-noetic.rosinstall
rosinstall src /opt/ros/noetic omni_base_public-noetic.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 -y --from-paths src --ignore-src --rosdistro noetic --skip-keys "omni_drive_controller urdf_test pal_filters speed_limit_node hokuyo_node pal_loc_measure pal_map_manager"
}}}

Then, you may proceed building the workspace:

 . {{{
source /opt/ros/noetic/setup.bash
catkin build -DCATKIN_ENABLE_TESTING=0 -j $(expr `nproc` / 2)
}}}

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