Installing the simulation suite

Here we provide instructions for Ubuntu Linux, and Mac OS operating systems. If you run into any difficulties, please feel free to contact us.

Ubuntu Linux

Build instructions for Ubuntu 16.04

This part of manual is for Ubuntu 14.04.2 (Trusty) or newer, but probably will work without problems on other Debian based distributions. First, make sure that the Ubuntu pre-compiled binaries are removed.

sudo apt-get purge '.*gazebo.*' '.*sdformat.*' '.*ignition-math.*'

Install prerequisites. A clean system will need:

wget https://bitbucket.org/osrf/release-tools/raw/default/jenkins-scripts/lib/dependencies_archive.sh -O /tmp/dependencies.sh
ROS_DISTRO=dummy . /tmp/dependencies.sh
sudo apt-get install $(sed 's:\\ ::g' <<< $GAZEBO_BASE_DEPENDENCIES) $(sed 's:\\ ::g' <<< $BASE_DEPENDENCIES)
sudo apt-get install python

pip install virtualenv

If DART http://dartsim.github.io/ is planed to be used, you can install it with: (not to be confused with http://dartlang.org)

# Only needed on Trusty. Ubuntu packages since 
sudo apt-add-repository ppa:libccd-debs
sudo apt-add-repository ppa:fcl-debs

# Main repository
sudo apt-add-repository ppa:dartsim
sudo apt-get update
sudo apt-get install libdart-core5-dev

For other optional dependencies:

sudo apt-get install ruby-ronn
sudo apt-get install robot-player-dev*

SDFormat and Gazebo depend on the ignition math library.

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

Gazebo depends on the SDFormat package.

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

Mac OS

First, if not already available, install Homebrew:

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

Install XQuartz, which provides X11 support and is required by Gazebo and OGRE. XQuartz is available on http://www.xquartz.org/

NOTE: If you want the Dart engine enabled, follow these commands: (These steps needs to be verified)

# Add dartsim/dart tap so formulae of dart and the dependencies will be found
brew tap dartsim/dart
# Also add homebrew/science tap for libccd formula and flann formula
brew tap homebrew/science

# Install brew (core only)
brew install dartsim5 --core-only

After that, run the following commands:

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

pip install virtualenv

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

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

brew update
brew upgrade

NOTE: If this type of error occurred during build-time:

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

gettext is not linked in /usr/include, so the following command will solve the problem:

brew link --force gettext

Compiling Revolve Software Suite on Mac/Linux.

Before cloning repositories, make new empty directory, eg. @~/projects/revolve-simulator@ and clone repos there:

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

export SIM_HOME=`pwd`

git clone https://github.com/ci-group/gazebo.git -b gazebo6-revolve
git clone https://github.com/ci-group/revolve.git
git clone https://github.com/ci-group/tol-revolve.git
git clone https://github.com/ci-group/revolve-brain.git

Building and installing Gazebo

Cloning Gazebo repository may take a while. Next step is to checkout to @gazebo6-revolve@ branch.

cd $SIM_HOME/gazebo

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

NOTE: After installation, if gazebo could not be found, -DCMAKE_INSTALL_PREFIX=/usr should be added to cmake command and then make -j4 install again. When this is done gazebo command should be able to run in a terminal and get the default world.

NOTE: If you get an error compiling the video section of gazebo, apply this patch

https://bitbucket.org/osrf/gazebo/commits/df5f96a6695f8dbe8d05bb885aed2913a09170b9

Building and installing Revolve

Next up is compiling Revolve. Go into the @revolve@ directory and do:

cd $SIM_HOME/revolve
mkdir -p build && cd build
cmake ../cpp \
      -DCMAKE_BUILD_TYPE="Release" \
      -DLOCAL_BUILD_DIR=1 
make -j4

NOTE: The LOCAL_BUILD_DIR=1 enables a dirty hack that makes the build directory look like an include path until I get the installation sorted out. Assuming Gazebo and all dependencies are correctly installed this should compile Revolve without issue. If it can't find gazebo try installing Gazebo again with the install prefix as mentioned above.

Building and installing TOL-Revolve

The next step is compiling TOL-Revolve. Go into that directory, and:

cd $SIM_HOME/tol-revolve
mkdir -p build && cd build
cmake ../cpp \
      -DCMAKE_BUILD_TYPE="Release" \
      -DREVOLVE_BUILD_PATH="`pwd`/../../revolve/build" 
make -j4

Set the path to your value of course. This should compile the ToL resources. To test whether all is working as expected, go into the tol/tools directory and run ./runbenchmark. Although this loads an empty world, it should display "World plugin loaded" if the ToL plug-in is successfully compiled and loaded.

The final steps is to get the Python dependencies for tol-revolve ready so we can run that. For this you need virtualenv; I've no idea how to install that on Mac but it shouldn't be difficult (brew install virtualenv or something might work). Then:

cd $SIM_HOME/tol-revolve
virtualenv .venv
. .venv/bin/activate
pip install -r requirements.txt

Oh, if virtualenv installs a different version than Python 2.x by default you'll have to change that. It's 2.7.6 for me atm.