3.1 Installation

1. Install ROS Kinetic

Follow guide for ROS Kinetic at http://wiki.ros.org/kinetic/Installation/Ubuntu

2. Install MoveIT!

sudo apt-get install ros-kinetic-moveit

3. Install ROS-Industrial

sudo apt-get install ros-kinetic-industrial-core

4. Create a catkin workspace

(See http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment )

5. Download needed repositories into CATKIN_WS/src

   1. Need patches to the RSI driver thats not in the offical kuka_experimental repo

   git clone https://github.com/itk-thrivaldi/kuka_experimental.git

   2. URDF and other needed packages

   git clone https://github.com/itk-thrivaldi/thrivaldi_common.git

   3. Optional

   1. Install the KUKAVARPROXY driver package
   
   ```git clone https://github.com/itk-thrivaldi/kuka_kvp_hw_interface.git```
   
   2. Use the bio_ik kinematic solver from TAMS-group
   
      1. Install the bio-ik 
   
      ```git clone https://github.com/TAMS-Group/bio_ik.git```
   
      2. Check out the bio_ik branch of the support packages
   
      From the thrivaldi-common dir: ```git checkout bio-ik```
   

6. Install missing dependencies

Run rosdep from CATKIN_WS/src

rosdep install --from-paths ./ --ignore-src --rosdistro kinetic -y

7. Compile packages

run catkin_make from CATKIN_WS

8. Test

roslaunch robotlab_moveit_config moveit_planning_execution_rsi.launch sim:=true