Installing Husky software from source

NOTE: This hasn't been tested on an actual Husky but the nodes run (and complain about not finding a Husky). This is necessary for running the husky from the sabre lite since you can't apt-get install all its dependencies.

1. Create a catkin workspace
   $ mkdir -p ~/catkin_sw/src
$ cd ~/catkin_ws/src
$ catkin_init_workspace
2. create .rosinstall file in ~/catkin_ws and put this in file:
   - git: { local-name: clearpath_base, uri: 'https://github.com/clearpathrobotics/clearpath_base.git', version: hydro-devel }
   - git: { local-name: husky_base, uri: 'https://github.com/husky/husky_base.git', version: hydro-devel }
   - git: { local-name: husky_bringup, uri: 'https://github.com/husky/husky_bringup.git', version: hydro-devel }
   - git: { local-name: husky_description, uri: 'https://github.com/husky/husky_description.git', version: hydro-devel }
   - git: { local-name: husky_teleop, uri: 'https://github.com/husky/husky_teleop.git', version: hydro-devel }
   - git: { local-name: robot_upstart, uri: 'https://github.com/clearpathrobotics/robot_upstart.git', version: hydro-devel }
   - git: {local-name: src/um6, uri: 'https://github.com/ros-drivers/um6.git', version: hydro-devel}
   
3. Make the source
   $ cd ~/catkin_ws
$ wstool init src .rosinstall
$ catkin_make
$ catkin_make install
$ rosdep install --from-paths src --ignore-src --rosdistro hydro -y
$ source install/setup.sh
   
4. Test it works using Husky instructions http://wiki.ros.org/Robots/Husky