The gazebo simulator included in ROS is very powerful but also computionally demanding. To improve the performance on your systems we will use a lightweight setup for our tutorial.

In your manipulation-repo, create a new ROS package called iai_seminar_manipulation_environment. If you forgot how to create a pkg, peek here.

Remove the mainpage.dox as we won't use it. Instead you will document your packages on your wikipage. So, add a link to your wiki page in the manifest-file of the package.

Make a first local commit to your git-repo. In general, we recommend you to commit locally very often. A good rule of thumb is to have one commit per feature.

Also, please do not commit files that have been generated or built, i.e. anything from the directories bin or build or msg_gen etc, because these will be regenerated with every new compilation.