5. Setup external viewer

External viewer

1. Use Ubuntu 16.04 on a machine connected to a monitor/projector.
   

2. Install ROS:

2.1 Open "software updates" and check 'restricted' 'universe' 'multiuniverse'.

2.2 Open terminal and type:

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

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

2.4 update writing:
sudo apt-get update

2.5 install binaries:
sudo apt-get install ros-kinetic-desktop-full

2.6 initialize writing:
sudo rosdep init
and then
rosdep update

2.7 now type:
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
and then
source ~/.bashrc
source /opt/ros/kinetic/setup.bash

2.8 install other stuffs:
sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential

2.9 create workspace:
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make

2.10 type:
source devel/setup.bash

2.11 now setup ERWHI roscore (substitute with your machine name):
cd ..
sudo nano .bashrc
go to the end and write:
export ROS_MASTER_URI=http://erwhi.local:11311
export ROS_HOSTNAME=<machine>.local
then press CTRL+X press y and then ENTER

2.12 close terminal

2.13 Run Erwhi as shown in wiki (point 4)

2.14 Open terminal on your machine

2.15 type rviz

2.16 open rviz file from your desktop (pick from erwhi robot running rviz, should be default option then save as on an usb drive)