Common packages of the RB-Sherpa: URDF description of the RB-Sherpa, platform messages and other files for simulation.
Configuration and launch files to load omni_drive_controller.
Install external dependencies:
git clone -b calibration_devel https://github.com/fmauch/universal_robot.git
Also you need to install dependencies, you need to execute:
sudo dpkg -i libraries/ros-kinetic-robotnik-msgs_1.0.0-0xenial_amd64.deb
sudo dpkg -i libraries/ros-kinetic-rcomponent_1.1.0-0xenial_amd64.deb
sudo dpkg -i libraries/ros-kinetic-ackermann-drive-controller_0.0.0-0xenial_amd64.deb
sudo dpkg -i libraries/ros-kinetic-omni-drive-controller_0.0.0-0xenial_amd64.deb
sudo dpkg -i libraries/ros-kinetic-robotnik-twist2ackermann_0.0.0-0xenial_amd64.deb
The urdf, meshes, and other elements needed in the description are contained here.