Gazebo9SystemSetupInstall

Catkin workspace setup for Gazebo9 (Legacy)

Note: You will need the gazebo9 branch of this repository which is now deprecated.

1. Setup and install dependencies:

    sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
    sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
    sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
    wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
    sudo apt-get update
    sudo apt-get install build-essential cmake libbluetooth-dev libgoogle-glog-dev libcwiid-dev libignition-common-dev libignition-math4-dev libspnav-dev libusb-dev lsb-release mercurial pkg-config python gazebo9 libgazebo9-dev ros-melodic-desktop-full ros-melodic-joystick-drivers ros-melodic-pointcloud-to-laserscan ros-melodic-robot-localization ros-melodic-spacenav-node ros-melodic-tf2-sensor-msgs ros-melodic-twist-mux ros-melodic-velodyne-simulator python3-numpy python3-empy
   

2. Update all ROS and Gazebo packages, in case you have some of them already preinstalled:

    sudo apt-get upgrade
   

3. Create a catkin workspace, and clone the SubT software:

    # Setup the workspace
    mkdir -p ~/subt_ws/src && cd ~/subt_ws/src
   
    # Download needed software
    hg clone https://bitbucket.org/osrf/subt -b gazebo9
   

4. Install the rotors package.

    cd ~/subt_ws
    wget https://s3.amazonaws.com/osrf-distributions/subt_robot_examples/releases/subt_robot_examples_latest.tgz
    tar xvf subt_robot_examples_latest.tgz
   

5. Build the workspace.

    # Source ROS distro's setup.bash
    source /opt/ros/melodic/setup.bash
   
    # Build and install into workspace
    cd ~/subt_ws/
    catkin_make install
   
    # Build tests (optional)
    catkin_make tests
   

6. Run a practice environment.

    # Source SubT setup file
    source ~/subt_ws/install/setup.bash
   
    # Test installation
    roslaunch subt_gazebo competition.launch
   

7. Run the tests

    # Run tests
    catkin_make test
   

8. Since the setup file has to be sourced for every new terminal, it is convenient to place it in your .bashrc file

    echo "source ~/subt_ws/install/setup.bash" >> ~/.bashrc
   

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