These instructions assume that you are comfortable with ROS and the catkin build system. Please familiarize yourself using the ROS and catkin tutorials.
The ROS Hydro installation is source-based, please follow the instructions here to obtain it. Clone the following repositories into your catkin workspace:
git clone https://github.com/pal-robotics/pmb2_robot git clone https://github.com/pal-robotics/pmb2_simulation
Run this command from the root of your workspace to make sure that all dependencies are installed.
rosdep install --from-paths src --ignore-src --rosdistro hydro
This robot has working sonars in simulation using our range sensor plugin, which is not in the official plugins of ROS Hydro. If you wish to use the sonars in simulation you can do so by acquiring it from github like so:
git clone https://github.com/pal-robotics-forks/gazebo_ros_pkgs --branch add_range_sensor_plugin_hydro_backport
Once you compiled all packages (catkin_make), and sourced the environment (source devel/setup.bash) it's all ready to go.