#navigation_step

##Instalation

1. Install youBot ROS packages

   $ sudo apt-get install ros-indigo-navigation $ sudo apt-get install ros-indigo-youbot-description ros-indigo-youbot-driver-ros-interface

2. Install v-rep (http://www.v-rep.eu/) into i.e. /opt/v-rep

3. Clone this repository into your catkin workspace

4. Clone vrep_youbot_plugin from https://github.com/Ram2301/vrep_youbot_plugin.git

5. Copy vrep_common and vrep_plugin ros packages from v-rep directory to your catkin workspace

   $ cp -r /opt/v-rep/programming/ros_packages/vrep_plugin ~/catkin_ws/src/ $ cp -r /opt/v-rep/programming/ros_packages/vrep_common ~/catkin_ws/src/

6. Compile

   $ catkin_make

7. Copy the compiled libraries libv_repExtyouBot.so, libv_repExtRos.so and libv_repExtyouBot.so into your /opt/v-rep directory

##Usage

1. Start ros

   $ roscore

2. Start v-rep

   $ cd /opt/v-rep && ./vrep.sh

3. Open a scene in v-rep and run a BNT.launch file

---

$ sudo add-apt-repository ppa:ubuntu-toolchain-r/test
$ sudo apt-get update
$ sudo apt-get install gcc-6 g++-6
$ sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-6 60 --slave /usr/bin/g++ g++ /usr/bin/g++-6