Install Instructions for Gazebo 6.5

Gazebo is a general-purpose robotic simulator, capable of simulating populations of robots in outdoor and indoor environments. Revolve is using a custom-altered Gazebo 6.5 version and it requires installing or building from the source several dependencies.

[ Ubuntu (prerequisites) . Mac OS X (prerequisites) ]

Install prerequisites on Ubuntu

Note: These prerequisites are base on Ubuntu Xenial 16.04.5 LTS. If you have a different version, fix accordingly.

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.*'

Install the basic dependencies:

sudo apt-get update
sudo apt-get install build-essential \
                     cmake           \
                     cppcheck        \
                     xsltproc        \
                     python          \
                     mercurial

Install the required dependencies for Gazebo:

sudo apt-get install libogre-1.9-dev              \
                     libbullet-dev                \
                     python-dev                   \
                     python-protobuf              \
                     libprotoc-dev                \
                     libprotobuf-dev              \
                     libfreeimage-dev             \
                     protobuf-compiler            \
                     libboost-thread-dev          \
                     libboost-signals-dev         \
                     libboost-system-dev          \
                     libboost-filesystem-dev      \
                     libboost-program-options-dev \
                     libboost-regex-dev           \
                     libboost-iostreams-dev       \
                     freeglut3-dev                \
                     libqt4-dev                   \
                     libcurl4-openssl-dev         \
                     libtar-dev                   \
                     libtbb-dev                   \
                     libgts-dev                   \
                     ruby                         \
                     uuid-dev                     \
                     libswscale-dev               \
                     libavformat-dev              \
                     libavcodec-dev               \
                     libgraphviz-dev              \
                     libhdf5-dev                  \
                     libopenal-dev                \
                     pkg-config

Install Ignition Math v2 from the OSRF repository:

hg clone https://bitbucket.org/ignitionrobotics/ign-math /tmp/ign-math
cd /tmp/ign-math
hg up ign-math2
mkdir build && cd build
cmake .. -DCMAKE_INSTALL_PREFIX=/usr
make -j4
sudo make install

Install SDFormat v3.1.1 dependancy:

cd /tmp
wget http://osrf-distributions.s3.amazonaws.com/sdformat/releases/sdformat-3.1.1.tar.bz2
tar -xaf /tmp/sdformat-3.1.1.tar.bz2
cd /tmp/sdformat-3.1.1
mkdir -p build && cd build
cmake .. -DCMAKE_BUILD_TYPE="Release" \
         -DCMAKE_INSTALL_PREFIX=/usr
make -j4
sudo make install

See next: Installation instructions for newer Gazebo (Linux)

Install Gazebo on Ubuntu

For the reasons of simplicity of navigating between the projects, we will make a joint directory for the Gazebo and Revolve and refer to it under the variable $SIM_HOME. Otherwise, it is not necessary to keep the Gazebo source after the successful installation.

mkdir -p ~/projects/revolve-simulator
cd ~/projects/revolve-simulator

export SIM_HOME=`pwd`

Clone the Gazebo 6.5 project locally:

cd $SIM_HOME
git clone https://github.com/ci-group/gazebo.git -b gazebo6-revolve

Disable gz target on Ubuntu (on other distros it works just fine), it won't compile for some weird reason.

Note: This is only for the Linux build; Mac OS X does not run into the same issue.

cd $SIM_HOME/gazebo
echo >tools/CMakeLists.txt 'include ( ${QT_USE_FILE} )
 add_definitions(${QT_DEFINITIONS})

 include_directories(
   ${tinyxml_INCLUDE_DIRS}
   ${PROTOBUF_INCLUDE_DIR}
   ${SDFormat_INCLUDE_DIRS}
 )

 link_directories(
   ${CCD_LIBRARY_DIRS}
   ${SDFormat_LIBRARY_DIRS}
   ${tinyxml_LIBRARY_DIRS}
 )

 if (HAVE_BULLET)
   link_directories(${BULLET_LIBRARY_DIRS})
 endif()

 if (HAVE_DART)
   link_directories(${DARTCore_LIBRARY_DIRS})
 endif()

 if (CURL_FOUND)
   include_directories(${CURL_INCLUDEDIR})
   link_directories(${CURL_LIBDIR})
   if (WIN32)
     add_definitions(-DCURL_STATICLIB)
   endif()
 endif()


 set (test_sources
   gz_log_TEST.cc
   gz_TEST.cc
 )

 gz_build_tests(${test_sources})

 install (PROGRAMS gzprop DESTINATION ${BIN_INSTALL_DIR})

 if (NOT WIN32)
   manpage(gzprop 1)
 endif()
'

Build the project:

cd $SIM_HOME/gazebo
mkdir -p build && cd build
cmake .. -DCMAKE_BUILD_TYPE="Release" \
         -DCMAKE_INSTALL_PREFIX=/usr \
         -DENABLE_SSE4=True \
         -DENABLE_TESTS_COMPILATION:BOOL=False
make -j4

Install Gazebo on your machine:
```
sudo make install
```
Test if the installation was successful. You can do this in two ways.

First, if you run gzserver in verbose mode:

gzserver --verbose

The result of this command should be:

Gazebo multi-robot simulator, version 6.5.1
Copyright (C) 2012-2015 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Msg] transport::init() host:0
[Msg] transport::init() hostlocalhost:11345
[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:
```
gazebo
```
The result of this command should be:

Note: After installing Gazebo, you can remove its source code directory to free up disk space.

See next: Installation requirements for Revolve

Install prerequisites on Mac OS X

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

If not already available, install Homebrew:

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

Install XQuartz, which provides X11 support and is required by Gazebo and OGRE.
For 10.8 and earlier, install Xcode command-line tools by downloading them from Apple. For 10.9 and later, they should prompt you to install them when you install Homebrew in step 1.
```
xcode-select --install
```

Install most of the dependencies using brew:

brew install boost \
             bullet \
             cmake \
             doxygen \
             ffmpeg \
             freeimage \
             gdal \
             git \
             gsl \
             gts \
             hg \
             libtar \
             protobuf protobuf-c \
             python \
             tbb \
             tinyxml \
             yaml-cpp

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)

Install Qt:

brew tap cartr/qt4
brew tap-pin cartr/qt4
brew install cartr/qt4/qt --without-webkit

Install OSRF simulation dependancies:

brew tap osrf/simulation
brew install ignition-math2 \
             ogre \
             sdformat3 \
             simbody

Install Python virtual environment:
```
pip install virtualenv
```
Make sure all packages are up-to-date:
```
brew update
brew upgrade
```

See next: Installation instructions for newer Gazebo (Mac OS X)

Install Gazebo on Mac OS X