# Installation

### Required

  1. Install the ROS. [Instructions for ROS indigo on Ubuntu 14.04](http://wiki.ros.org/indigo/Installation/Ubuntu).

  2. [Setup your ROS environment](http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment).

  3. Build catkin workspace for [jsk_apc](https://github.com/start-jsk/jsk_apc):

`sh $ mkdir -p ~/ros/ws_jsk_apc/src && cd ~/ros/ws_jsk_apc/src $ wstool init . https://raw.githubusercontent.com/start-jsk/jsk_apc/master/fc.rosinstall $ cd .. $ rosdep install -y -r --from-paths . $ sudo apt-get install python-catkin-tools ros-indigo-jsk-tools $ catkin build $ source devel/setup.bash `

  • Edit /etc/hosts:

` 133.11.216.224 baxter 011310P0014.local `

  • Add below in your ~/.bashrc:

``` $ rossetmaster baxter.jsk.imi.i.u-tokyo.ac.jp $ rossetip

$ # we recommend below setup (see http://jsk-docs.readthedocs.org/en/latest/jsk_common/doc/jsk_tools/cltools/setup_env_for_ros.html) $ echo “”” rossetip rosdefault “”” >> ~/.bashrc $ rossetdefault baxter # set ROS_MASTER_URI as http://baxter:11311 ```

### Optional

Setup Kinect2

Please follow [Instructions at code-iai/iai_kinect2](https://github.com/code-iai/iai_kinect2#install), however, maybe you have error with the master branch. In that case, please use [this rosinstall](https://github.com/start-jsk/jsk_apc/blob/master/jsk_2016_01_baxter_apc/kinect2.rosinstall).

Setup SSH

Write below in ~/.ssh/config:

``` Host baxter

HostName baxter.jsk.imi.i.u-tokyo.ac.jp User ruser # password: rethink

```