### We recoomand the /home/<user_home>/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/doosan-robotics/doosan-robot
rosdep install --from-paths doosan-robot --ignore-src --rosdistro kinetic -r -y
cd ~/catkin_ws
catkin_make
source ./devel/setup.bash

sudo apt-get install ros-kinetic-rqt* ros-kinetic-moveit* ros-kinetic-industrial-core ros-kinetic-gazebo-ros-control ros-kinetic-joint-state-controller ros-kinetic-effort-controllers ros-kinetic-position-controllers ros-kinetic-ros-controllers ros-kinetic-ros-control ros-kinetic-serial

sudo apt-get install ros-kinetic-lms1xx ros-kinetic-interactive-marker-twist-server ros-kinetic-twist-mux ros-kinetic-imu-tools ros-kinetic-controller-manager ros-kinetic-robot-localization

roslaunch dsr_launcher single_robot_gazebo.launch mode:=virtual

roslaunch dsr_launcher single_robot_gazebo.launch mode:=real host:=192.168.127.100 port:=12345

roslaunch dsr_description m0609.launch    
roslaunch dsr_description m1013.launch color:=blue # Change Color
roslaunch dsr_description m1509.launch gripper:=robotiq_2f # insert robotiq gripper
roslaunch dsr_description m0617.launch color:=blue gripper:=robotiq_2f # change color & insert robotiq gripper
roslaunch dsr_description a0509.launch 

roslaunch moveit_config_m0609 m0609.launch
roslaunch moveit_config_m0617 m0617.launch
roslaunch moveit_config_m1013 m1013.launch color:=blue
roslaunch moveit_config_m1509 m1509.launch
roslaunch moveit_config_a0509 a0509.launch

roslaunch dsr_control dsr_moveit.launch
roslaunch dsr_control dsr_moveit.launch model:=m0609 mode:=virtual
roslaunch dsr_control dsr_moveit.launch model:=m0617 mode:=virtual
roslaunch dsr_control dsr_moveit.launch model:=m1013 mode:=virtual
roslaunch dsr_control dsr_moveit.launch model:=m1509 mode:=virtual
roslaunch dsr_control dsr_moveit.launch model:=a0509 mode:=virtual

sudo apt-get install ros-kinetic-moveit-commander

roslaunch dsr_control dsr_moveit.launch model:=m1013
In another terminal 
ROS_NAMESPACE=/dsr01m1013 rosrun moveit_commander moveit_commander_cmdline.py robot_description:=/dsr01m1013/robot_description   

> use arm 
> goal0 = [0 0 0 0 0 0]        # save the home position to variable "goal0"
> goal1 = [0 0 1.57 0 1.57 0]  # save the target position to varialbe "goal1" / radian
> go goal1                     # plan & excute (the robot is going to move target position)
> go goal0                     # paln & excute (the robot is going to move home position)

roslaunch dsr_launcher single_robot_rviz.launch host:=127.0.0.1 port:=12345 mode:=virtual model:=m1013 color:=blue gripper:=none mobile:=none
roslaunch dsr_launcher single_robot_gazebo.launch host:=192.168.127.100
roslaunch dsr_launcher single_robot_rviz_gazebo.launch gripper:=robotiq_2f mobile:=husky
roslaunch dsr_launcher multi_robot_rviz.launch
roslaunch dsr_launcher multi_robot_gazebo.launch model:=m0609
roslaunch dsr_launcher multi_robot_rviz_gazebo.launch

<launch>
  - single robot in rviz : 
  roslaunch dsr_launcher single_robot_rviz.launch model:=m1013 color:=white
  - single robot in gazebo : 
  roslaunch dsr_launcher single_robot_gazebo.launch model:=m1013 color:=blue
  - single robot in rviz + gazebo : 
  roslaunch dsr_launcher single_robot_rviz_gazebo.launch model:=m1013 color:=white
<run application node>
  rosrun dsr_example_py single_robot_simple.py dsr01 m1013
<ex>
  roslaunch dsr_launcher single_robot_rviz_gazebo.launch model:=m1013 color:=white
  rosrun dsr_example_py single_robot_simple.py

<launch>
  - multi robot in rviz : 
  roslaunch dsr_launcher multi_robot_rviz.launch
  - multi robot in gazebo : 
  roslaunch dsr_launcher multi_robot_gazebo.launch
  - multi robot in rviz + gazebo : 
  roslaunch dsr_launcher multi_robot_rviz_gazebo.launch
<run application node>
  rosrun dsr_example_py multi_robot_simple.py
<ex>
    roslaunch dsr_launcher multi_robot_rviz_gazebo.launch
    rosrun dsr_example_py multi_robot.py  

roslaunch dsr_launcher single_robot_rviz.launch gripper:=robotiq_2f

<run application node>
  rosrun dsr_example_py pick_and_place.py

rosrun serial_example_node serial_example_node ttyUSB0 115200
rostopic echo /serial_read
rostopic pub /serial_write std_msgs/String 'data: 100'

roslaunch dsr_launcher single_robot_rviz.launch mobile:=husky

<run application node>
  rosrun dsr_example_py single_robot_mobile.py

roslaunch dsr_launcher multi_robot_rviz.launch mobile:=husky

<run application node>
  rosrun dsr_example_py multi_robot_mobile.py  

roslaunch dsr_launcher single_robot_rviz_gazebo.launch
rosrun dsr_example_py single_robot_simple.py

  <include file="$(find dsr_gazebo)/launch/dsr_base.launch">
    <arg name="ns" value="dsr01"/> # Robot ID
    <arg name="model" value="m1013"/> # Robot Model
    <arg name="host" value="192.168.127.100"/> # Robot IP
    <arg name="port" value="12345"/> # Robot Port
    <arg name="mode" value="virtual"/> # Robot Controller Mode 
    # Position & Posture in Gazebo
    <arg name="x" value="2"/>
    <arg name="y" value="-4"/>
    <arg name="yaw" value="0.7"/>
  </include>
  <include file="$(find dsr_gazebo)/launch/dsr_base.launch">
    <arg name="ns" value="dsr02"/> # Secondary Robot ID
    <arg name="model" value="m1013"/> # Secondary Robot Model
    <arg name="host" value="192.168.127.102"/> # Secondary Robot IP
    <arg name="port" value="12346"/> # Robot Port
    <arg name="mode" value="virtual"/> # Secondary Robot Controller Mode
    # Secondary Position & Posture in Gazebo
    <arg name="x" value="2"/>
    <arg name="y" value="-4"/>
    <arg name="yaw" value="0.7"/>
  </include>

roslaunch dsr_launcher test.launch
rostopic pub /dsr01m1013/joint_position_controller/command std_msgs/Float64MultiArray "layout:
  dim:
  - label: ''
    size: 0
    stride: 0
    data_offset: 0
data: [10, 10, 40, 10, 60, 10]"

rosservice call /dsr/set_joint_move "jointAngle: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
jointVelocity: [50.0, 0.0, 0.0, 0.0, 0.0, 0.0]
jointAcceleration: [50.0, 0.0, 0.0, 0.0, 0.0, 0.0]
radius: 0.0"