Ubuntu installation

In order to run the public simulation of TIAGo it is preferable to get a fresh installation of Ubuntu 14.04.5 LTS as follows

wget http://releases.ubuntu.com/14.04/ubuntu-14.04.5-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.

Specific system dependencies installation

We need to install the libopencv-nonfree-dev library which will be used in the tutorials for educational purposes. Open a terminal an run the following instructions

sudo add-apt-repository --yes ppa:xqms/opencv-nonfree
sudo apt-get update
sudo apt-get install libopencv-nonfree-dev

ROS installation

Set up ROS packages sources

In order to install the required ROS packages for running TIAGo's simulation first, as explained in ROS Indigo installation, it is required to include packages.ros.org in the debian sources:

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-key adv --keyserver hkp://ha.pool.sks-keyservers.net --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

In case of getting a gpg: keyserver timed out error try the following:

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

ROS packages installation

install use the following instruction

sudo apt-get update
sudo apt-get install git python-rosinstall ros-indigo-desktop-full python-catkin-tools ros-indigo-joint-state-controller ros-indigo-twist-mux ros-indigo-ompl ros-indigo-controller-manager ros-indigo-moveit-core ros-indigo-moveit-ros-perception ros-indigo-moveit-ros-move-group ros-indigo-moveit-kinematics ros-indigo-moveit-ros-planning-interface ros-indigo-moveit-simple-controller-manager ros-indigo-moveit-planners-ompl ros-indigo-joy ros-indigo-joy-teleop ros-indigo-teleop-tools ros-indigo-control-toolbox ros-indigo-sound-play ros-indigo-navigation ros-indigo-eband-local-planner ros-indigo-depthimage-to-laserscan  ros-indigo-openslam-gmapping ros-indigo-gmapping ros-indigo-moveit-commander ros-indigo-geometry-experimental

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

```
source /opt/ros/indigo/setup.bash
```