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Player 2.0.4 / Gazebo 0.7.0

Installation on Fedora 7

First of all

You must have a suitable Linux distribution running into your computer in order to install Player Robotics Interface and Gazebo 3D Robotics Simulator. The following are the steps you might follow to install Player and Stage on a Fedora 7 machine. It will work on similar distributions with similar configuration. Follow the first 2 steps in Personal Fedora 7 Installation Guide to install Fedora 7 correctly, and add Development Support during installation in order to be able to compile and install Player/Stage and their prerequisites.

Gazebo relies on a number of third-party libraries that make installation a little bit tricky. If things go wrong, please check the Problem-solving section and the archives of the Gazebo mailing list. Please read the instructions below carefully before reporting posting to the mailing list.

Preparing your system

The the GUI component of Gazebo requires third-party packages that may not be installed on your system; if you plan to use the GUI, install these packages before proceeding:

Firstly, install the following OpenGL rpm packages if they are not present in your system (to chech them use $ rpm -qa <package-name>). Use Yum for the installation ($ yum install <package-name>).

• mesa-libGL: open-source implementation of the OpenGL specification
• mesa-libGL-devel: mesa-libGL development package
• mesa-libGLU: open-source implementation of the OpenGL Utility (GLU) library
• mesa-libGLU-devel: mesa-libGLU development package
• freeglut: completely OpenSourced alternative to the OpenGL Utility Toolkit (GLUT) library
• freeglut-devel: freeglut development package

Secondly, Gazebo render engine requires hardware 3D acceleration. In order to be able to run the GUI, you will need a suitable graphic card (ATI or nVIDIA) with hardware 3D acceleration. Please follow these instructions to setup the proper driver for your card:

nVIDIA: Personal Fedora 7 Installation Guide: Install Nvidia's driver

The following paths are not searched by default, leading to problems when compiling and linking some source packages. We therefore recommend that you configure your system with some additional paths (added to your etc/.bashrc script, for example):

The first line sets the executable path; the second sets the path for C and C++ header files; the third line sets the library search path. You will also need to set two more paths:

The first line sets the pkg-config path (a neat utility for managing source dependencies); the second line is for Python extensions (the version number must match the version of Python you have installed; type "python -V" if in doubt).

Then, install the following:

Install wxPython-src-2.8.4.0.tar.bz2 (from source)

or from fedora rpm repository

If your python packages are installed in /usr/lib/, then you could do this:

That will allow the packages that put items in the default Python location to do so, but they will still end up in the right place.

Install ode-0.7 download from http://ode.org

Install GDAL, download it from http:/www.remotesensing.org/gdal

or from fedora rpm repository

Install GNU Scientific Library, download it from http:/www.gnu.org/software/gsl

or from fedora rpm repository

Install lib3ds. This allows the "skins" to work in Gazebo. Download from it http:/lib3ds.sourceforge.net/

Install OpenCV. The Open Computer Vision project is used in Player. Download it from sourceforge.net/projects/opencvlibrary/

or from fedora rpm repository

Install Player 2.0.4 official release (CVS Player not work!)

        First: Player prerequisites

Installing Gazebo

Download it from here

Running Gazebo

As of version 0.5, the Gazebo server no longer has a built in GUI (it runs entirely from the command line). Thus, for example, one can use:

Output:

This will run the simulator, but displays no windows. This mode of operation is particularly useful for doing batch experiments or running the server on a remote machine. Users wishing for visual feedback and/or interaction with the running simulator can use the supplied GUI application:

Player & Gazebo together

TODO