run four ssh terminals to trina: cd ~/iml-internal/Ebolabot python Common/system_state_service.py ./MotionServer_physical ./ControllerDispatcher source ~/UBIROS_prototype_code/build/devel/setup.bash roslaunch gentle_ros gentle_ros_launcher1.launch (if this doesnt work, run this and try again) sudo udevadm control --reload && sudo udevadm trigger

run one ssh -X terminal to trina: source ~/TrinaPointAndClick/devel/setup.bash roslaunch TrinaPointAndClick TrinaPointAndClickUI.launch

on desktop: cd ~/iml-internal/Ebolabot source ~/TrinaPointAndClick/build/devel/setup.bash ./TaskGUIDemo