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=.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)