Check your version of Ubuntu using:

<code=bash> lsb_release -a </code>

These instructions assume that you are using a **catkin workspace**, which you should definitely get familiar with [[http://wiki.ros.org/catkin/Tutorials | here]]). Focus on tutorials 1-3 for now.

===== Ubuntu 16.04 Flavors =====

==== ROS Kinetic Kame New Install ====

One big advantage of running ROS Kinetic Kame on Ubuntu 16.04 is that Kinetic comes with Gazebo 7.0 as part of the **full** ROS installation, so you don’t have to worry about installing 7.5 from source.

=== Setting up the basics ===

<code=bash> sudo apt-get update </code>

=== Installing ROS (Kinetic Kame) ===

See the guide [[http://wiki.ros.org/kinetic/Installation/Ubuntu | here]] if you would prefer the **basic** installation of ROS Kinetic Kame for Ubuntu 16.04.

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

<code=bash> sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116 </code>

<code=bash> sudo apt-get update </code>

<code=bash> sudo apt-get install ros-kinetic-desktop-full </code>

<code=bash> sudo rosdep init </code>

<code=bash> rosdep update </code>

<code=bash> echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc </code>

<code=bash> source ~/.bashrc </code>

<code=bash> sudo apt-get install python-rosinstall </code>

=== Setting up catkin workspace (Kinetic Kame) ===

Following the tutorial [[http://wiki.ros.org/catkin/Tutorials/create_a_workspace | here.]]

<code=bash> source /opt/ros/kinetic/setup.bash </code>

<code=bash> mkdir -p ~/catkin_ws/src </code>

<code=bash> cd ~/catkin_ws/ </code>

<code=bash> catkin_make </code>

<code=bash> source devel/setup.bash </code>

=== Installing Gazebo 7.0 ===

<code=bash> sudo apt-get install ros-kinetic-turtlebot-gazebo </code>

=== Installing miscellaneous packages you may need ===

<code=bash> sudo apt-get install ros-kinetic-turtlebot-teleop </code>



===== Ubuntu 14.04 Flavors =====

The ROS Indigo Igloo, Gazebo and Turtlebot combination is relatively stable and seems to have the most support.

==== ROS Indigo Igloo Preinstalled Virtual Machine ====

If you are going to use a virtual machine, there is one ready for download that already has ROS and Gazebo installed.

Instructions can be found [[http://nootrix.com/software/ros-indigo-virtual-machine/ | here]].

The actual download can be found [[http://nootrix.com/downloads/#RosVM | here]]. (Download the 64 bit version if you have enough RAM).

==== ROS Indigo Igloo New Install ====

Below are the instructions for a **full** installation of ROS Indigo Igloo, Gazebo and Turtlebot on a 14.04 flavor of Ubuntu.

=== Setting up the basics ===

<code=bash> sudo apt-get update </code>

Install the synaptic package manager
<code=bash> sudo apt-get synaptic </code>

Download “Muon Discover” from the app store

=== Installing ROS (Indigo Igloo) ===

See the guide [[http://wiki.ros.org/indigo/Installation/Ubuntu| here]] if you would prefer the **basic** installation of ROS Indigo Igloo for Ubuntu 14.04.

=== Setting up catkin workspace (Indigo Igloo) ===

Following the tutorial [[http://wiki.ros.org/catkin/Tutorials/create_a_workspace | here.]]

<code=bash> source /opt/ros/indigo/setup.bash </code>

<code=bash> mkdir -p ~/catkin_ws/src </code>

<code=bash> cd ~/catkin_ws/src </code>

<code=bash> cd ~/catkin_ws/ </code>

<code=bash> catkin_make </code>

<code=bash> source devel/setup.bash </code>

=== Installing Gazebo 7.5 ===

Following the links [[http://gazebosim.org/tutorials?tut=ros_wrapper_versions#UsingaspecificGazeboversionwithROS | here]] and [[http://gazebosim.org/tutorials?tut=ros_wrapper_versions | here.]]

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

<code=bash> sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116 </code>

<code=bash> sudo apt-get update </code>

<code=bash> sudo apt-get install ros-indigo-desktop-full ros-indigo-turtlebot-simulator ros-indigo-turtlebot-teleop </code>

<code=bash> sudo rosdep init </code>

<code=bash> rosdep update </code>

<code=bash> sudo apt-get install python-rosinstall </code>

<code=bash> //sudo apt-get remove '.*gazebo.*' '.*sdformat.*' '.*ignition-math.*' '.*ignition-msgs.*' '.*ignition-transport.*' </code>

<code=bash> sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' </code>

<code=bash> wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - </code>

<code=bash> sudo apt-get update </code>

<code=bash> export ROS_DISTRO=indigo </code>

<code=bash> sudo apt-get install ros-$ROS_DISTRO-gazebo7-ros-pkgs </code>

<code=bash> sudo apt-get install python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential </code>

<code=bash> rosinstall_generator turtlebot_simulator --rosdistro indigo --deps --exclude RPP kobuki_gazebo_plugins > gazebo.rosinstall </code>

<code=bash> wstool init -j10 src gazebo.rosinstall </code>

<code=bash> rosdep install --from-paths src --ignore-src </code>

<code=bash> catkin_make </code>


==== ROS Indigo Igloo Already Installed ====

Below are the instructions for installing the Turtlebot and Gazebo on a 14.04 flavor of Ubuntu with ROS Indigo.

The procedure below only includes dependencies that are not immediately apparent from compiler error messages. You will likely need to install others packages/dependencies, but you should be able to figure out what they are from the messages.

<code=bash>sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' </code>

<code=bash>wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - </code>

<code=bash>sudo apt-get update</code>

<code=bash>sudo apt-get install ros-$ROS_DISTRO-gazebo7-ros-pkgs pyqt4-dev-tools</code>

<code=bash>cd {your catkin workspace}/src</code>

<code=bash>git clone https://github.com/turtlebot/turtlebot_simulator.git -b indigo</code>

<code=bash>git clone https://github.gatech.edu/ivabots/kobuki_desktop.git -b indigo</code>

<code=bash>cd ..</code>

<code=bash>catkin_make</code>

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