This is exercise for robot-programming.
$ source /opt/ros/hydro/setup.bash
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws
$ wstool init src
$ wstool set robot-programming https://github.com/jsk-enshu/robot-programming --git -t src -v 1.0.2
$ wstool update robot-programming -t src
$ rosdep update
$ rosdep install --from-paths src -y -r
$ catkin_make
$ source ~/catkin_ws/devel/setup.bash ## 毎回ターミナルを開く度にこれを行うこと!!
See online manual for Euslisp models and interfaces.
PDF files are also available from here