Installation Requirements for Gazebo

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 . Mac OS X ]

Install prerequisites on Ubuntu

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

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 the basic dependencies:

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

3. 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

4. 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

5. 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

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See next: Installation instructions for Gazebo (Linux)

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Install prerequisites 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, they should prompt you to install them when you install Homebrew in step 1.

   xcode-select --install

4. 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

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. Install Qt:

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

7. Install OSRF simulation dependancies:

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

8. Install Python virtual environment:

   pip install virtualenv

9. Make sure all packages are up-to-date:

   brew update
   brew upgrade

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

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