Prerequisites

Webots

Webots can be installed from deb package or by snap:

snap install webots

WEBOTS_HOME variable must be set as installation directory. This can be achieved by adding following line in .bashrc file.

export WEBOTS_HOME=/snap/webots/14/usr/share/webots/

If Webots was installed manually path will be different. In order for the change to take effect, terminal must be restarted. ROS package for interfacing with Webots simulation can be installed via package manager.

sudo apt-get install ros-<ROS_VERSION>-webots-ros

CGAL

CGAL can be downloaded with package manager

sudo apt-get install libcgal-dev

ROS packages

Navigation stack

Download with package manager.

sudo apt-get install ros-<ROS_VERSION>-navigation

Robot localization

Download with package manager

sudo apt-get install ros-<ROS_VERSION>-robot-localization