MANUAL_INSTALLATION

## Install ROS packages

### Clone mobiman
git clone git@github.com:RIVeR-Lab/mobiman.git

### Clone ocs2
git clone git@github.com:RIVeR-Lab/ocs2.git
cd ocs2/
git checkout noetic-akmandor-v6
cd ..

### Clone pinocchio
git clone --recurse-submodules https://github.com/RIVeR-Lab/pinocchio.git
cd pinocchio/
git checkout noetic-akmandor
cd ..

### Clone hpp-fcl
git clone --recurse-submodules https://github.com/leggedrobotics/hpp-fcl.git

### Clone ocs2_robotic_assets
git clone https://github.com/leggedrobotics/ocs2_robotic_assets.git

### Clone jackal
git clone git@github.com:RIVeR-Lab/jackal.git
cd jackal/
git checkout noetic-akmandor
cd ..

### Clone universal_robot
git clone git@github.com:RIVeR-Lab/universal_robot.git
cd universal_robot/
git checkout noetic-akmandor
cd ..

### Clone kinova-ros
git clone git@github.com:RIVeR-Lab/kinova-ros.git
cd kinova-ros
git checkout noetic-akmandor
cd ..

### Clone geometry2
git clone git@github.com:RIVeR-Lab/geometry2.git
cd geometry2/
git checkout noetic-akmandor
cd ..

### Clone pedsim_ros
git clone git@github.com:RIVeR-Lab/pedsim_ros.git
cd pedsim_ros
git submodule update --init --recursive
git checkout noetic-akmandor
cd ..

### Clone coveyor_demo
git clone --recurse-submodules https://github.com/rokokoo/conveyor_demo.git

### Clone octomap_rviz_plugins
#git clone git@github.com:OctoMap/octomap_rviz_plugins.git

### Clone pointcloud_to_laserscan
#git clone git@github.com:ros-perception/pointcloud_to_laserscan.git

## Install to fix ocs_doc compilation error
#pip install Sphinx==1.8.5
#pip install sphinxcontrib-spelling==4.2.1
#pip install sphinxcontrib-bibtex==0.4.2
#pip install breathe==4.13.0
#pip install sphinx_rtd_theme

## Install dependencies
sudo apt install ros-noetic-octomap*
sudo apt install ros-noetic-pointcloud-to-laserscan
sudo apt-get install nlohmann-json3-dev
sudo apt install liburdfdom-dev liboctomap-dev libassimp-dev libglpk-dev
sudo apt install ros-noetic-pybind11-catkin
sudo apt install python3-catkin-tools
sudo apt install doxygen doxygen-latex
sudo apt-get install ros-noetic-rqt-multiplot
sudo apt install ros-noetic-moveit
rosdep install --from-paths src --ignore-src -r -y

## Change catkin config
catkin config --extend /opt/ros/noetic
catkin config -DCMAKE_BUILD_TYPE=Release