1) Install youBot ROS packages e.g.
$ sudo apt-get install ros-indigo-youbot-driver-ros-interface
2) Install v-rep (http://www.v-rep.eu/) into i.e. /opt/v-rep
3) Clone the repository into your catkin workspace
4) Copy vrep_common and vrep_plugin ros packages to your catkin workspace
$ cp -r /opt/v-rep/programming/ros_packages/vrep_plugin ~/catkin_ws/src/
$ cp -r /opt/v-rep/programming/ros_packages/vrep_common ~/catkin_ws/src/
5) Compile
$ catkin_make
6) Copy the compiled libraries libv_repExtyouBot.so and libv_repExtRos.so into your /opt/v-rep directory
$ sudo cp ~/catkin_ws/devel/lib/libv_repExt* /opt/v-rep
1) Start ros
$ roscore
2) Load v-rep bringup launchfile
$ roslaunch vrep_youbot_plugin vrep_youbot.launch
3) Start v-rep
$ /opt/v-rep/v-rep.sh
4) Load the scene file in v-rep (.../vrep_youbot_plugin/scenes/...)
5) Start the simulation
Note: the simulation must be running before you can control the youBot!
1) You can run the test scripts (test/test_joint_position.sh, test_gripper_position.sh, test_base.sh) in order to check if your are able to control the v-rep youBot using ROS
Have fun!