.. getting_started-kinetic.rst

================
ROS Kinetic Kame
================

------
System
------

#. Install the following software

   * `Ubuntu-16.04 desktop <https://tutorials.ubuntu.com/tutorial/tutorial-install-ubuntu-desktop-1604>`_
   * `ROS Kinetic <http://wiki.ros.org/kinetic/Installation/Ubuntu>`_
   * `COBOTTA driver for Linux <https://www.denso-wave.com/en/robot/download/application/cobotta_driver_for_linux.html>`_


#. Install the following dependencies

   * ros-kinetic-moveit
   * ros-kinetic-controller-manager
   * ros-kinetic-position-controllers
   * ros-kinetic-joint-state-controller
   * ros-kinetic-joint-trajectory-controller
   * ros-kinetic-joint-limits-interface
   * ros-kinetic-transmission-interface

   ::

      $ sudo apt install ros-kinetic-moveit \
                         ros-kinetic-controller-manager \
			 ros-kinetic-position-controllers \
			 ros-kinetic-joint-state-controller \
			 ros-kinetic-joint-trajectory-controller \
			 ros-kinetic-joint-limits-interface \
			 ros-kinetic-transmission-interface

-----
Build
-----
#. Download the source code

   ::

      $ mkdir -p ~/catkin_ws/src
      $ cd ~/catkin_ws/src
      $ git clone -b kinetic-devel https://github.com/DENSORobot/denso_cobotta_ros.git

#. Build

   ::

      $ cd ~/catkin_ws
      $ source /opt/ros/kinetic/setup.bash
      $ catkin_make
      $ source ~/catkin_ws/devel/setup.bash

#. Start

   See :doc:`Quickstart on MoveIt! </quickstart_on_moveit>`.