Monday, December 14, 2009

Gazebo with Ubuntu



Gazebo is an open source 3D robot simulator with compatibility with the Player/Stage project. (Another great simulator is OpenRAVE, and of course our very own set of robot simulators, EyeSim, SubSim and AutoSim, and USARsim).

For an introduction to Gazebo these two presentations give a good start: a player tutorial, and a gazebo tutorial.

Getting Gazebo running is a bit complex, but this is what I did: (Using Ubuntu)
  1. Download gazebo 0.8pre3
  2. apt-get install the following:
    libois-dev
    libode0-dev
    libogre-dev
    libfltk1.1-dev
    libxml2
    libxml2-dev
    scons
    libboost
    libboost-signals-dev


  3. export PATH=/usr/local/bin:$PATH
    export CPATH=/usr/local/include:$CPATH
    export LIBRARY_PATH=/usr/local/lib:$LIBRARY_PATH
    export PKG_CONFIG_PATH=/usr/local/lib/pkgconfig:$PKG_CONFIG_PATH
    export LD_LIBRARY_PATH = /usr/local/lib:$LD_LIBRARY_PATH
    

  4. Now type:
    sudo scons install
I had to do it about three times before it worked, if you get any error messages, just google them. I tried 0.9 first with no luck. (Some issue with free image). Brock Woolf modified these instructions to get Gazebo working with Ubuntu 9.10 Jaunty