This is exercise for robot-programming.
$ source /opt/ros/indigo/setup.bash
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws
$ wstool init src
$ wstool set robot-programming https://github.com/jsk-enshu/robot-programming --git -t src
$ wstool set dynamixel_urdf https://github.com/jsk-enshu/dynamixel_urdf --git -t src
$ wstool update -t src
$ rosdep update
$ rosdep install --from-paths src --ignore-src -y -r
$ catkin build
$ echo 'source ~/catkin_ws/devel/setup.bash' >> ~/.bashrc ## bashrcについか
See online manual for Euslisp models and interfaces.
PDF files are also available from here