## Install ROS

### Versions

Ubuntu 16.04
ROS lunar
Install libarmadillo-dev package
sudo ln -s /usr/include/armadillo /usr/include/armadillo.h

Follow instructions on http://wiki.ros.org/lunar/Installation/Ubuntu

Follow instructions to create package on http://wiki.ros.org/ROS/Tutorials/CreatingPackage

We use RosWorkspace/ as the ROS workspace directory and RosWorkspace/src/torcs2 as the package directory example.

Generate sources via EMAMRosCpp
Copy sources into created package src directory (RosWorkspace/src/torcs2/src)

Find string:
# add_executable(${PROJECT_NAME}_node src/torcs2_node.cpp)
in the RosWorkspace/src/torcs2/CMakeLists.txt file, uncomment and change to:
add_executable(${PROJECT_NAME} src/torcs2.cpp)

Find and uncomment in the same file:
target_link_libraries(${PROJECT_NAME}_node
  ${catkin_LIBRARIES}
)

and remove _node suffix to have:
target_link_libraries(${PROJECT_NAME}
  ${catkin_LIBRARIES}
)

Run catkin_make and catkin_make install as described in tutorial.
Check that package is now available:
rospack list | grep torcs

Run node with the package:
rosrun torcs torcs

Have fun!