Building Gazebo from source

Gazebo is the backbone of Revolve kit. The current version of Gazebo that we support is Gazebo 10. Here we explain the build instructions for Ubuntu and Mac OS X.

Common

1. Install the dependencies. See the specifics of your OS below: Ubuntu, Fedora or Mac OS X

2. Download the project

   git clone https://github.com/ci-group/gazebo.git -b gazebo10-revolve

3. Install Gazebo on your machine:

   cd gazebo
   mkdir build && cd build
   cmake .. -DENABLE_SSE4=1 \
            -DCMAKE_INSTALL_PREFIX=~/installed/gazebo_debug
   make -j4
   make install

   If you don't want to use the debug symbols, run cmake like this:

   cmake .. -DENABLE_SSE4=1 \
            -DCMAKE_BUILD_TYPE=Release \
            -DCMAKE_INSTALL_PREFIX=~/installed/gazebo

4. To test if the simulator is working correctly, follow the OS specific instructions.

[ Ubuntu . Fedora . Mac OS X ]

Build Gazebo on Ubuntu

1. Make sure you have removed the Ubuntu pre-compiled binaries before installing from source:

   sudo apt-get remove '.*gazebo.*' \
                       '.*sdformat.*' \
                       '.*ignition-math.*' \
                       '.*ignition-msgs.*' \
                       '.*ignition-transport.*'

2. Install OSRF simulation dependancies:

   sudo apt-get install libignition-cmake-dev \
                        libignition-common-dev \
                        libignition-math4-dev \
                        libignition-msgs-dev \
                        libignition-tools1-dev \
                        libignition-transport4-dev \
                        libsdformat6-dev \
                        libsimbody-dev

3. Test if the installation was successful. You can do this in two ways.

• First, if you run gzserver in verbose mode:

  export PATH=~/installed/gazebo_debug/bin:$PATH
  export LD_LIBRARY_PATH=~/installed/gazebo_debug/lib64
  gzserver --verbose

  The result of this command should be:

  Gazebo multi-robot simulator, version 10.1.0
  Copyright (C) 2012-2015 Open Source Robotics Foundation.
  Released under the Apache 2 License.
  http://gazebosim.org
  
  [Msg] Waiting for master.
  [Msg] Connected to gazebo master @ http://127.0.0.1:11345
  [Msg] Publicized address: 192.168.1.72

• Second, if gzserver works as expected you can run gazebo:

  export PATH=~/installed/gazebo_debug/bin:$PATH
  export LD_LIBRARY_PATH=~/installed/gazebo_debug/lib64
  gazebo

  The result of this command should be:

---

See next: Installation instructions for Revolve

---

Build Gazebo on Fedora

TODO

Build Gazebo on Mac OS X

In a clean Mac OS X installation you can install pre-compiled versions of all dependencies:

1. If not already available, install Homebrew:

   ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"

2. Install XQuartz, which provides X11 support and is required by Gazebo and OGRE.

3. For 10.8 and earlier, install Xcode command-line tools by downloading them from Apple. For 10.9 and later, the system should prompt you to install them when you install Homebrew in step 1, otherwise install it with:

   xcode-select --install

4. Install OSRF simulation dependancies:

   brew tap osrf/simulation
   brew install ignition-cmake0 \
                ignition-common1 \
                ignition-math4 \
                ignition-msgs1 \
                ignition-tools \
                ignition-transport4 \
                sdformat6 \
                simbody \
                qt5 \
                qwt \
                ogre1.9 \
                tinyxml2 \
                bullet

   For optional dependencies:

   # Model editor's schematic view
   brew install graphviz
   # TODO others?

5. Link gettext library to /usr/include since some of the dependencies may not link properly:

   brew link --force gettext

   NOTE: If not linked, this type of error occurs during a build-time:

   ld: library not found for -lintl clang: error: linker command failed with exit code 1 (use -v to see invocation)

6. Download Gazebo

   git clone https://github.com/ci-group/gazebo.git -b gazebo10-revolve

7. Patch Gazebo If you installed dartsim, the compilation will give some errors in the Eigen library. To fix it you need to apply these two patches:

   curl 'https://bitbucket.org/osrf/gazebo/commits/5ba948b87faf98eb038fc3488e88a07bc4bd9df9/raw' | patch -p1
   curl 'https://bitbucket.org/osrf/gazebo/commits/c7b7f62f76722d57e768b1d2b4c8371841bf856c/raw' | patch -p1

8. Install Gazebo on your machine:

   cd gazebo
   mkdir build && cd build
   cmake .. -DENABLE_SSE4=1 \    ~/projects/gazebo/build
        -DCMAKE_INSTALL_PREFIX=~/installed/gazebo_debug \
        -DQWT_WIN_INCLUDE_DIR=/usr/local/lib/qwt.framework/Headers \
        -DQWT_WIN_LIBRARY_DIR=/usr/local/lib/qwt.framework \
        -DQt5_DIR=/usr/local/Cellar/qt/5.13.0/lib/cmake/Qt5/ \
        -DPKG_CONFIG_PATH=/usr/local/opt/tinyxml2/lib/pkgconfig:/usr/local/opt/ogre1.9/lib/pkgconfig:/usr/local/opt/zmq/lib/pkgconfig:/usr/local/lib/pkgconfig/
   make -j4
   make install

   and check if the right version is installed

   export PATH=~/installed/gazebo_debug/bin:$PATH
   export DYLD_LIBRARY_PATH=~/installed/gazebo_debug/lib/
   
   gazebo --version

   The result of this command should be:

   Gazebo multi-robot simulator, version 10.1.0
   Copyright (C) 2012 Open Source Robotics Foundation.
   Released under the Apache 2 License.
   http://gazebosim.org

9. Test if the installation was successful. You can do this in two ways.

• First, if you run gzserver in verbose mode:

  export PATH=~/installed/gazebo_debug/bin:$PATH
  export DYLD_LIBRARY_PATH=~/installed/gazebo_debug/lib/
  
  gzserver --verbose

  The result of this command should be:

  Gazebo multi-robot simulator, version 10.1.0
  Copyright (C) 2012-2015 Open Source Robotics Foundation.
  Released under the Apache 2 License.
  http://gazebosim.org
  
  [Msg] Waiting for master.
  [Msg] Connected to gazebo master @ http://127.0.0.1:11345
  [Msg] Publicized address: 192.168.1.72

• Second, if gzserver works as expected you can run gazebo:

  export PATH=~/installed/gazebo_debug/bin:$PATH
  export DYLD_LIBRARY_PATH=~/installed/gazebo_debug/lib/
  
  gazebo

  The result of this command should be:

---

See next: Installation instructions for Revolve

---