If you do not have a ROS Workspace set up, then follow the instructions at http://www.ros.org/wiki/ROS/Tutorials/InstallingandConfiguringROSEnvironment to create one. Otherwise, continue to step 2.
Make sure arm_navigation and common_msgs are installed:
sudo apt-get install ros-fuerte-arm-navigation ros-fuerte-common-msgs
If you want to view the tests, also make sure that the following items are installed: simulator_gazebo, pr2_mechanism, pr2_simulator, pr2_kinematics, pr2_arm_navigation:
sudo apt-get install ros-fuerte-simulator-gazebo ros-fuerte-pr2-mechanism ros-fuerte-pr2-simulator ros-fuerte-pr2-kinematics ros-fuerte-pr2-arm-navigation
Alternatively, if you are not on Oneiric, then you can install the pr2 items at once along with some other pr2 stacks:
sudo apt-get install ros-fuerte-simulator-gazebo ros-fuerte-pr2-desktop
If you do not want to view the tests and not all of the above stacks are installed, then comment out the following dependencies in the manifest.xml file:
pr2_mechanism_msgs, gazebo_msgs
Inside your ROS Workspace directory, create a directory called lightning.
Inside the lightning directory, run the following command:
svn checkout svn://svn.code.sf.net/p/lightningros/code/trunk .
Do not forget to include the period at the end of the command.
As a sanity check, run the following command:
roscd lightning
This should make lightning directory the current working directory if it is not already the current working directory. If you get the error roscd: No such package 'lightning', then check that your ROS Workspace directory is in the ROS_PACKAGE_PATH environment variable.
Make the lightning package:
rosmake lightning
Lightning is now ready for use.
Wiki: Home
Wiki: Running Lightning Tests
Wiki: Using Lightning
