sudo apt-get install ros-${ROS_DISTRO}-desktop-full

sudo apt-get install python-wstool python-catkin-tools
mkdir -p ~/ros/${ROS_DISTRO}
cd ~/ros/${ROS_DISTRO}
wstool init src
catkin init
catkin build
source ~/ros/${ROS_DISTRO}/devel/setup.bash

source ~/ros/indigo/devel/setup.bash

cd ~/ros/${ROS_DISTRO}/src
wstool set aero-ros-pkg https://github.com/seed-solutions/aero-ros-pkg.git --git
wstool up aero-ros-pkg
cd ~/ros/${ROS_DISTRO}
rosdep install -y -r --from-paths src --ignore-src

cd aero-ros-pkg
catkin build aero_description
soure ~/.bashrc

roscd aero_description
./setup.sh typeF  # including catkin build aero_startup
source ~/.bashrc

roslaunch aero_startup aero_bringup.launch

rosrun rviz rviz

catkin build aero_samples

rosrun aero_samples minimum_sample_node

rostopic pub /lifter_controller/command trajectory_msgs/JointTrajectory "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: ''
joint_names:
- 'ankle_joint'
- 'knee_joint'
points:
- positions: [0.5, -0.5]
  velocities: [0, 0]
  accelerations: [0, 0]
  effort: [0, 0]
  time_from_start: {secs: 3, nsecs: 0}"

## Open
rosservice call /aero_hand_controller "{hand: $(python -c 'import aero_startup.srv; print aero_startup.srv.HandControlRequest.HAND_RIGHT'), command: $(python -c 'import aero_startup.srv; print aero_startup.srv.HandControlRequest.COMMAND_UNGRASP'), power: 0, time_sec: 0}"

## Grasp
rosservice call /aero_hand_controller "{hand: $(python -c 'import aero_startup.srv; print aero_startup.srv.HandControlRequest.HAND_RIGHT'), command: $(python -c 'import aero_startup.srv; print aero_startup.srv.HandControlRequest.COMMAND_GRASP'), power: 0, time_sec: 1.0}"

## Angle
rosservice call /aero_hand_controller "{hand: $(python -c 'import aero_startup.srv; print aero_startup.srv.HandControlRequest.HAND_RIGHT'), command: $(python -c 'import aero_startup.srv; print aero_startup.srv.HandControlRequest.COMMAND_GRASP_ANGLE'), power: 0, time_sec: 1.0, larm_angle: 0.5, rarm_angle: 0.5}"

docker build -f Dockerfile.kinetic --tag ros:aero_kinetic --build-arg RUN_TESTS=true .

roslaunch aero_startup wheel_with_static_map.launch