To install the robot_pose_publisher package, you can choose to either install from source, or from the Ubuntu package:

Source

To install from source, execute the following:

•    1 cd /path/to/your/catkin/workspace/src
     2 git clone https://github.com/WPI-RAIL/robot_pose_publisher.git -b groovy-devel
     3 cd ../
     4 catkin_make install
  

Ubuntu Package

To install the Ubuntu package, execute the following:

• sudo apt-get install ros-groovy-robot-pose-publisher