** NOTAS INTALACION PRELIMINAR**
TODOS LOS git clone se hacen en src

** ETAPA Y ROS Y CATKIN_WS **

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

wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | sudo apt-key add -

sudo apt-get update

sudo apt-get install -y libgl1-mesa-dev-lts-utopic

sudo apt-get install -y ros-indigo-desktop-full

apt-cache search ros-indigo

sudo rosdep init

rosdep update

echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc

source ~/.bashrc

source /opt/ros/indigo/setup.bash

sudo apt-get install python-rosinstall

source /opt/ros/hydro/setup.bash

cd

mkdir -p ~/catkin_ws/src

cd ~/catkin_ws/src

catkin_init_workspace

cd ~/catkin_ws/

catkin_make

** -->REINICIO PC **
sudo reboot

** ETAPA GAZEBO2 **
sudo apt-get install -y gazebo2

Actualizar a 2.2.5 (de otro modo no funciona)
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu trusty main" > /etc/apt/sources.list.d/gazebo-latest.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -

Ejecutar y ver si hay errores
gazebo

Dar permisos a todos los niveles en la carpeta .gazebo del home
sudo nautilus
(click derecho sobre la carpeta .gazebo, y cmabiar permisos a la carpeta y sus hijos)

Copiar los modelos a .gazebo/models solo los siguientes (si no están ya):
-camera
-pioner2dx
-sun
-ground

NO COPIAR NADA MAS (de otro modo hay duplicado de modelos y no irá)

** -->reinicia **
sudo reboot

** ETAPA PAQUETES ROS-GAZEBO **
rosdep update
rosdep check --from-paths . --ignore-src --rosdistro indigo
rosdep install --from-paths . --ignore-src --rosdistro indigo -y

sudo apt-get install ros-indigo-gazebo-ros-pkgs ros-indigo-gazebo-ros-control

sudo apt-get install git

cd ~/catkin_ws/src

git clone https://github.com/ros-simulation/gazebo_ros_pkgs.git -b indigo-devel

rosdep update
rosdep update
rosdep check --from-paths . --ignore-src --rosdistro indigo
rosdep install --from-paths . --ignore-src --rosdistro indigo -y

catkin_make -j1

** ETAPA PAQUETES ROS-visp **

cd ~/Catkin_ws/src

sudo apt-get install ros-indigo-visp

git clone https://github.com/lagadic/vision_visp.git

cd ~/catkin_ws

catkin_make

cd ~/Catkin_ws/src

git clone https://github.com/lagadic/visp_ros.git

cd ~/catkin_ws
catkin_make

** ETAPA PAQUETES JOY-control mando (opcional) **

sudo apt-get install ros-indigo-joystick-drivers

cd ~/Catkin_ws/src
rospack find joy
rosdep install joy

cd ~/catkin_ws
catkin_make

** INSTALACION DEL TELEOP **
He modificado y añadido el paquete en el propio repertorio.

** ETAPA COMPILACION DEL REPERTORIO **

cd ~/Catkin_ws/src
git clone https://michaelsolerbea@git.code.sf.net/p/siu042michaelsolerpablogil/code siu042michaelsolerpablogil-code
cd ~/catkin_ws
catkin_make

** EXPORT Y **
** CONFIGURACION FINAL DEL bashrc **
---Escribe esto al final del fichero:

sudo gedit ~/.bashrc
source /opt/ros/indigo/setup.bash
source /home/<<<<user>>>>/catkin_ws/devel/setup.sh
export GAZEBO_MODEL_PATH=/home/<<<<user>>>>/catkin_ws/src/siu042michaelsolerpablogil-code/gazebo_world/</user></user>

---En la terminal escribir
source ~/.bashrc

** DEPENDENCIES **
1.gazebo_ros_pkgs
http://gazebosim.org/tutorials?tut=ros_installing&cat=connect_ros
cd ~/catkin_ws/src
git clone https://github.com/ros-simulation/gazebo_ros_pkgs.git -b indigo-devel

2.vision_visp
cd ~/catkin_ws/src
git clone https://github.com/lagadic/vision_visp.git

3.joy
cd ~/catkin_ws/src

** INSTALATION **

1.Go to yout catkin_ws
$ cd ~/catkin_ws

2.Clone the repository with:
$ git clone <...>

3.Compile the packages
$ catkin_make

** auto_Launch_TeleopJoy.py **
Is a file that generates different tab in your console with different ros process.
In this example it launches all the nodes that are used in teleoperation with joystick.

** PACKAGES **
-basic_motion
Is used for operting the robot from scripting in ROS.
-gazebo_ros_demos
Demo package from the official site.
-gazebo_ros_pkgs
It is needed for integrating gazebo and ROS.
-p2os
Experimental package with urdf models for pioneer2dx and pioneer3dx.
-vision_visp
Package for vision, with real-time auto-tracking examples
-xbox_controller
Package that aims the remote control of the gazebo model in ROS using a joystick.

** TURORIALS **
Check our wiki and follow the tutorials.

Latest example:

roscore
roslaunch robotmovil_gazebo robotmovil.launch
rosrun image_view image_view image:=/robotmovil/camera/image_raw
rosrun joy joy_node
rosrun xbox_controller xbox_2.py