Installation Instructions

To install ROS Indigo open a terminal window and run the commands

sudo apt-get update
sudo apt-get install ros-indigo-desktop-full

Note: if you already have another full version of ROS installed, the full desktop indigo install will require the removal of multiple existing packages in order resolve dependencies. This includes your current version of Gazebo and related packages.

Next, we need to create a directory for a catkin workspace in order to build any new packages, initialize it as a catkin workspace, and build the workspace.

mkdir -p pomdp_experiment_ws/src
cd pomdp_experiment_ws/src/
catkin_init_workspace
cd ..
catkin_build

The workspace can now be sourced to append the proper paths to ROS environment variables.

source devel/setup.bash

It is helpful-especially if you have multiple versions of ROS on your system-to add the following lines to your .bashrc file. This makes setting the proper ROS distribution much less time-consuming.

set_indigo () {
    export ROBOT=$HOSTNAME
    source /opt/ros/indigo/setup.bash
    source ~/pomdp_experiment_ws/devel/setup.bash
    export ROS_PACKAGE_PATH=/home/user/pomdp_experiment_ws/src:/opt/ros/indigo/share:/opt/ros/indigo/stacks:/home/user/rosbuild_ws/vicon/ros