=== Getting CRAM to Run on Your System ===

  * If you don't have the latest version of ROS, install it!

    sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu SYSTEM main" > /etc/apt/sources.list.d/ros-latest.list'

where ''SYSTEM'' is the name of your system, e.g. ''precise''
    wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
    sudo apt-get update
    sudo apt-get install ros-hydro-desktop
    sudo apt-get install python-rosinstall
    sudo apt-get install python-wstool
    sudo rosdep init
    rosdep update
For troubleshooting use [[http://wiki.ros.org/hydro/Installation/Ubuntu]]

  * Set up your ROS environment. Until all the CRAM packages get catkinized, you will need both catkin and rosbuild workspaces (need more details: check [[software:cram:install:environment|here]]).

  * Go to your catkin workspace and use wstool to pull roslisp related packages from GIT: roslisp_common, roslisp_repl

    cd ~/workspace/catkin/src
    wstool init
    wstool set roslisp_NAME --git https://github.com/ros/roslisp_NAME.git
where NAME: common, repl

    wstool update
    rospack profile

  * Catkin_make all the packages

    cd ..
    catkin_make

  * Install the packages with rosdep

    rosdep install roslisp_common
    rosdep install roslisp_repl

  * Make sure rosdep installed the debian packages sbcl, rosemacs-el and slime for you

    sudo apt-get install PACK

where PACK: ''sbcl, rosemacs-el, slime''

  * Go to your rosbuild workspace and use wstool to pull CRAM stacks from GIT: cram_core, cram_highlevel, cram_physics, cram_pr2, cram_gazebo

    cd ~/workspace/rosbuild
    wstool set cram_NAME --git https://github.com/cram-code/cram_NAME.git
    wstool update
    rospack profile
    source setup.bash

where NAME: ''core, highlevel, physics, pr2, gazebo''

  * Rosmake and install all the CRAM packages

    roscd cram_NAME
    rosmake
    rosdep install cram_NAME

  * Before you open emacs you might want to configure it, at least set up the clipboard properly to enable copy/paste from/to other apps. Some useful stuff can be found in [[https://github.com/moesenle/emacs-config/blob/master/init.el|this config]] from github.

  * Open your emacs and enjoy the repl animation ;)

    rosrun roslisp_repl roslisp_repl &

  * Compile CRAM packages you need in Lisp

    ,
    r-l-s
    cram_NAME
    RET
where NAME is e.g. ''language''.

  * Read [[http://www.paulgraham.com/onlisptext.html|The Book]]