$ sudo apt-get install libxml2-dev libraw1394-dev libncurses5-dev qtcreator swig flite sox espeak cmake-curses-gui cmake-qt-gui libopencv-dev git subversion gfortran libcppunit-dev
$ sudo apt-get install qt5-default
$ sudo apt-get install python-catkin-tools
$ source /opt/ros/kinetic/setup.bash
$ mkdir -p ~/catkin_ws/src  
  #Change [catkin_ws] to whatever name you want
$ cd ~/catkin_ws/
$ catkin init #This creates a hidden .catkin_tools directory in the specified workspace.
$ cd ~/catkin_ws/src
$ git clone https://github.com/jhu-cisst/cisst-saw --recursive
$ cd ~/catkin_ws
$ catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release 
  # At this point you might see there things that are still missing from the package "build", "devel". These things would be built in the next step.
$ catkin build #This might take a while
$ source devel/setup.bash
$ cd ~/catkin_ws/src
$ git clone https://github.com/jhu-dvrk/dvrk-ros
$ git clone https://github.com/jhu-dvrk/dvrk-gravity-compensation
$ cd ~/catkin_ws
$ catkin build
$ cd src 
$ git clone https://github.com/biorobotics/Medical-DVRK-AR.git
$ cd ~/catkin_ws
$ catkin build

your_workspace/
  build/
  devel/
  logs/
  src/
    cisst-saw/
    dvrk-gravity-compensation/
    dvrk-ros/
    Medical-DVRK-AR/
      config/
      data/
      launch/
      src/
      srv/
       :
      [blablablabla]
       :

$ roscore 

$ source ~/your_workspace/devel/setup.bash
$ roslaunch medical_dvrk_ar dvrk_arm_rviz.launch arm:=PSM1

$ rosrun medical_dvrk_ar blaser_sim.py -j ~/your_workspace/src/Medical-DVRK-AR/config/blaser_SIMULATED.json