- Install one of the Ubuntu 18.04 desktop distribution (I use xubuntu).
- Install ros-melodic-desktop-full (http://wiki.ros.org/melodic/Installation):
    $ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
    $ sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
    $ sudo apt update
    $ sudo apt install ros-melodic-desktop-full
- Setup ROS environment:
    $ sudo rosdep init
    $ rosdep update
    $ echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
    $ source /opt/ros/melodic/setup.bash
- Install dependencies:
    $ sudo apt-get install python-wstool python-catkin-tools \
                           protobuf-compiler libgoogle-glog-dev liblapacke-dev \
                           ros-melodic-octomap-ros ros-melodic-ompl \
                           ros-melodic-mavros ros-melodic-joy \
                           ros-melodic-mavlink
- Fetch and compile ROS-packages
    $ mkdir -p ws/src
    $ wget https://pastebin.com/raw/ShFhLrMZ -O ws/src/.rosinstall
    $ wstool update -t ws/src
    $ catkin build --workspace ws rotors_simulator mav_voxblox_planning
- Run Scenario
    $ source ws/devel/setup.bash
    $ roslaunch mav_local_planner firefly_sim.launch