• 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 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 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 The Book