3. Installing ROS Packages

To install and build a package, go to catkin workspace:
$ cd ~/catkin_ws/src
$ git clone -b <branch> <address>
$ cd ~/catkin_ws then $ catkin_make
Everytime a package is installed, make sure to install dependencies, go to catkin workspace:
$ rosdep install --from-paths src --ignore-src -r -y

To check the port number of hardware:
$dmesg or lsusb
To give permission to a hardware port:
$ sudo chmod 666 /dev/tty<USB# or ACM#>

rosserial
$ roscore
$ rosrun rosserial_python serial_node.py _port:=/dev/tty<USB# or ACM#> _baud:=115200

urg_node
$ roslaunch urg_node urg_lidar.launch
The getID program can be used to get information about a hokuyo laser scanner:
$ rosrun urg_node getID /dev/tty<USB# or ACM#>

differential-drive
Use diff_tf.py, modify its parameters according to robot.

GITHUB LINKS:
rosserial: https://github.com/ros-drivers/rosserial.git
urg_node: https://github.com/ros-drivers/urg_node.git
realsense-ros : https://github.com/IntelRealSense/realsense-ros.git
realsense dev kit: https://github.com/IntelRealSense/librealsense/blob/development/doc/distribution_linux.md
differential-drive: https://github.com/jfstepha/differential-drive
teleop-twist-keyboard: https://github.com/ros-teleop/teleop_twist_keyboard.git
navigation: https://github.com/ros-planning/navigation
gmapping: https://github.com/ros-perception/slam_gmapping
sensor fusion: https://github.com/ros-planning/robot_pose_ekf, https://github.com/weihsinc/robot_localization
ros-realtime-image-stitching: https://github.com/sumitbinnani/ros-realtime-image-stitching
hugin panorama: http://wiki.ros.org/hugin_panorama
stereo image proc: http://wiki.ros.org/stereo_image_proc
run ROS on startup: http://wiki.ros.org/robot_upstart