Install ubuntu 14.04 LTS with auto-install updates enabled.

sudo apt-get update

sudo apt-get upgrade

Install ros indigo (instructions from: http://wiki.ros.org/indigo/Installation/Ubuntu)

• sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
• sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net --recv-key 0xB01FA116
• sudo apt-get update
• sudo apt-get install ros-indigo-desktop-full
• echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
• source ~/.bashrc
• type "roscore" in terminal to confirm ros installation is working properly, ctl+c to kill it

Setup a catkin workspace (instructions from http://wiki.ros.org/catkin/Tutorials/create_a_workspace)

• mkdir -p ~/catkin_ws/src
• cd ~/catkin_ws/src
• catkin_init_workspace
• cd ~/catkin_ws
• catkin_make
• source devel/setup.bash
• echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc

Install ROS packages we use

• sudo apt-get install ros-indigo-husky-*
• sudo apt-get install ros-indigo-urg-*
• sudo apt-get install ros-indigo-teleop-*
• sudo apt-get install ros-indigo-rospy-*
• sudo apt-get install git
• sudo apt-get install ros-indigo-trac-ik*
• sudo apt-get install ros-indigo-smach*
• sudo dpkg -i libassimp3_3.0~dfsg-2_amd64.deb
• sudo apt-get install ros-indigo-moveit-python ros-indigo-moveit-commander
• sudo apt-get install xdot
• sudo apt-get install ros-indigo-moveit*
• sudo apt-get install ros-indigo-velodyn*
• sudo apt-get install ros-indigo-usb-cam

Install our packages

• cd ~/catkin_ws/src
• git clone https://github.com/johodges/mbzirc_c2_auto
• cd ~/catkin_ws/src/mbzirc_c2_auto/mbzirc_c2_auto/bin
• sudo chmod +x *.py
• sudo cp ~/catkin_ws/src/mbzirc_c2_auto/mbzirc_c2_auto/sick_lms1xx.urdf.xacro /opt/ros/indigo/share/lms1xx/urdf
• sudo cp ~/catkin_ws/src/mbzirc_c2_auto/mbzirc_c2_auto/xdot.py /opt/ros/indigo/lib/python2.7/dist-packages/xdot/xdot.py
• cd ~/catkin_ws
• catkin_make
• source devel/setup.bash

Modifying the panel

• Changing color: modify lines 29-41 in: mbzirc_c2_auto/mbzirc_c2_auto/gazebo_models/models/panel/model.sdf
• Changing position/orientation: modify x, y, Y in: mbzirc_c2_auto/mbzirc_c2_auto/bin/panel.sh

Running with SMACH:

• roslaunch mbzirc_c2_auto ch2-smach.launch