Okay. I made a thing. Here's how to make it work.
Install ROS.
Make a workspace
in WS/src - copy this repo. It is setup as a ROS package.
THAT MEANS WE CAN DO COOL THINGS
add
'source PATH/TO/WS/devel/setup.bash' to your .bashrc
run 'catkin_make'
everything should build and compile and you can launch this by normal rosrun commands