Make a directory to checkout code, cd to it then:
wget http://gt-ros-pkg.googlecode.com/git/rcommander/trf_rcommander.rosinstall rosinstall . trf_rcommander.rosinstall rosinstall . /opt/ros/fuerte/
Follow instructions from the last step and insert the state that looks like this "source /home/ishwarya/svn/trf_rcommander/setup.bash" (substitute with your own) into your .bashrc file. After that, type the same command in your terminal (or open up a new one):
Do the same thing on the robot.
After ssh'ing into the robot, make sure that you have claimed the robot (robot claim) and started it (robot start). Then (ssh username@c1 if on basestation or laptop):
rosrun trf_learn rcommander_trf.py
roslaunch trf_learn trf_rcommander.launch