HOW_TO_INSTALL_REEM_SIMULATION.txt

This document resumes how to install REEM hydro simulation as of 12 January 2014.

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Install ROS HYDRO for Ubuntu 12.04 (recommended)
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Instructions: http://wiki.ros.org/hydro/Installation/Ubuntu

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu precise main" > /etc/apt/sources.list.d/ros-latest.list'
wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get install ros-hydro-desktop-full
sudo rosdep init
rosdep update
echo "source /opt/ros/hydro/setup.bash" >> ~/.bashrc
source ~/.bashrc
sudo apt-get install python-rosinstall


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Install MOVEIT!
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Instructions: http://moveit.ros.org/install/

sudo apt-get install ros-hydro-moveit-full
sudo apt-get install ros-hydro-moveit-full-pr2


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Set workspace
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Instructions: http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace

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Install REEM SIMULATION
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cd ~/catkin_ws/src
wstool init .
wstool merge https://raw2.github.com/pal-robotics/pal-ros-pkg/master/reem-sim-hydro.rosinstall
wstool up
cd ..
rosdep install --from-paths src --ignore-src --rosdistro hydro -y
catkin_make
source devel/setup.sh
export USE_RGBD_SENSOR=true

This last variable is to enable the RGBD sensor (Asus Xtion) over the head of REEM.

If you need object detection/grasping stuff:
(Do it only if you know why you do it)
wstool merge https://raw.github.com/reem-utils/rockin_snippets/master/reem-perception-grasping.rosinstall