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| gazebo:install [2017/07/10 10:45] – VM typos | gazebo:install [2023/03/06 10:31] (current) – external edit 127.0.0.1 |
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| ===== Ubuntu 14.04 ===== | Check your version of Ubuntu using: |
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| ====== ROS Indigo Igloo Preinstalled Virtual Machine ====== | <code=bash> lsb_release -a </code> |
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| | These instructions assume that you are using a **catkin workspace**, which you should definitely get familiar with [[http://wiki.ros.org/catkin/Tutorials | here]]). Focus on tutorials 1-3 for now. |
| | |
| | ===== Ubuntu 16.04 Flavors ===== |
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| | ==== ROS Kinetic Kame New Install ==== |
| | |
| | One big advantage of running ROS Kinetic Kame on Ubuntu 16.04 is that Kinetic comes with Gazebo 7.0 as part of the **full** ROS installation, so you don’t have to worry about installing 7.5 from source. |
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| | === Setting up the basics === |
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| | <code=bash> sudo apt-get update </code> |
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| | === Installing ROS (Kinetic Kame) === |
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| | See the guide [[http://wiki.ros.org/kinetic/Installation/Ubuntu | here]] if you would prefer the **basic** installation of ROS Kinetic Kame for Ubuntu 16.04. |
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| | <code=bash> sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' </code> |
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| | <code=bash> sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116 </code> |
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| | <code=bash> sudo apt-get update </code> |
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| | <code=bash> sudo apt-get install ros-kinetic-desktop-full </code> |
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| | <code=bash> sudo rosdep init </code> |
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| | <code=bash> rosdep update </code> |
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| | <code=bash> echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc </code> |
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| | <code=bash> source ~/.bashrc </code> |
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| | <code=bash> sudo apt-get install python-rosinstall </code> |
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| | === Setting up catkin workspace (Kinetic Kame) === |
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| | Following the tutorial [[http://wiki.ros.org/catkin/Tutorials/create_a_workspace | here.]] |
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| | <code=bash> source /opt/ros/kinetic/setup.bash </code> |
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| | <code=bash> mkdir -p ~/catkin_ws/src </code> |
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| | <code=bash> cd ~/catkin_ws/ </code> |
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| | <code=bash> catkin_make </code> |
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| | <code=bash> source devel/setup.bash </code> |
| | |
| | === Installing Gazebo 7.0 === |
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| | <code=bash> sudo apt-get install ros-kinetic-turtlebot-gazebo </code> |
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| | === Installing miscellaneous packages you may need === |
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| | <code=bash> sudo apt-get install ros-kinetic-turtlebot-teleop </code> |
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| | |
| | ===== Ubuntu 14.04 Flavors ===== |
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| | The ROS Indigo Igloo, Gazebo and Turtlebot combination is relatively stable and seems to have the most support. |
| | |
| | ==== ROS Indigo Igloo Preinstalled Virtual Machine ==== |
| |
| If you are going to use a virtual machine, there is one ready for download that already has ROS and Gazebo installed. | If you are going to use a virtual machine, there is one ready for download that already has ROS and Gazebo installed. |
| Instructions can be found [[http://nootrix.com/software/ros-indigo-virtual-machine/ | here]]. | Instructions can be found [[http://nootrix.com/software/ros-indigo-virtual-machine/ | here]]. |
| |
| The actual download can be found [[http://nootrix.com/downloads/#RosVM | here]]. | The actual download can be found [[http://nootrix.com/downloads/#RosVM | here]]. (Download the 64 bit version if you have enough RAM). |
| | |
| | ==== ROS Indigo Igloo New Install ==== |
| | |
| | Below are the instructions for a **full** installation of ROS Indigo Igloo, Gazebo and Turtlebot on a 14.04 flavor of Ubuntu. |
| | |
| | === Setting up the basics === |
| | |
| | <code=bash> sudo apt-get update </code> |
| | |
| | Install the synaptic package manager |
| | <code=bash> sudo apt-get synaptic </code> |
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| | Download “Muon Discover” from the app store |
| | |
| | === Installing ROS (Indigo Igloo) === |
| | |
| | See the guide [[http://wiki.ros.org/indigo/Installation/Ubuntu| here]] if you would prefer the **basic** installation of ROS Indigo Igloo for Ubuntu 14.04. |
| | |
| | === Setting up catkin workspace (Indigo Igloo) === |
| | |
| | Following the tutorial [[http://wiki.ros.org/catkin/Tutorials/create_a_workspace | here.]] |
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| | <code=bash> source /opt/ros/indigo/setup.bash </code> |
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| | <code=bash> mkdir -p ~/catkin_ws/src </code> |
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| | <code=bash> cd ~/catkin_ws/src </code> |
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| | <code=bash> cd ~/catkin_ws/ </code> |
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| | <code=bash> catkin_make </code> |
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| | <code=bash> source devel/setup.bash </code> |
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| | === Installing Gazebo 7.5 === |
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| | Following the links [[http://gazebosim.org/tutorials?tut=ros_wrapper_versions#UsingaspecificGazeboversionwithROS | here]] and [[http://gazebosim.org/tutorials?tut=ros_wrapper_versions | here.]] |
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| | <code=bash> sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' </code> |
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| | <code=bash> sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116 </code> |
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| | <code=bash> sudo apt-get update </code> |
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| | <code=bash> sudo apt-get install ros-indigo-desktop-full ros-indigo-turtlebot-simulator ros-indigo-turtlebot-teleop </code> |
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| | <code=bash> sudo rosdep init </code> |
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| | <code=bash> rosdep update </code> |
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| | <code=bash> sudo apt-get install python-rosinstall </code> |
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| | <code=bash> //sudo apt-get remove '.*gazebo.*' '.*sdformat.*' '.*ignition-math.*' '.*ignition-msgs.*' '.*ignition-transport.*' </code> |
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| | <code=bash> sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' </code> |
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| | <code=bash> wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - </code> |
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| | <code=bash> sudo apt-get update </code> |
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| | <code=bash> export ROS_DISTRO=indigo </code> |
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| | <code=bash> sudo apt-get install ros-$ROS_DISTRO-gazebo7-ros-pkgs </code> |
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| | <code=bash> sudo apt-get install python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential </code> |
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| | <code=bash> rosinstall_generator turtlebot_simulator --rosdistro indigo --deps --exclude RPP kobuki_gazebo_plugins > gazebo.rosinstall </code> |
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| | <code=bash> wstool init -j10 src gazebo.rosinstall </code> |
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| | <code=bash> rosdep install --from-paths src --ignore-src </code> |
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| | <code=bash> catkin_make </code> |
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| | |
| | ==== ROS Indigo Igloo Already Installed ==== |
| | |
| | Below are the instructions for installing the Turtlebot and Gazebo on a 14.04 flavor of Ubuntu with ROS Indigo. |
| | |
| | The procedure below only includes dependencies that are not immediately apparent from compiler error messages. You will likely need to install others packages/dependencies, but you should be able to figure out what they are from the messages. |
| | |
| | <code=bash>sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' </code> |
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| | <code=bash>wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - </code> |
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| | <code=bash>sudo apt-get update</code> |
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| | <code=bash>sudo apt-get install ros-$ROS_DISTRO-gazebo7-ros-pkgs pyqt4-dev-tools</code> |
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| Download the 64 bit version of you have enough RAM. | <code=bash>cd {your catkin workspace}/src</code> |
| |
| ====== Gazebo Installation on 14.04 Flavors ====== | <code=bash>git clone https://github.com/turtlebot/turtlebot_simulator.git -b indigo</code> |
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| Below are the instructions for installing the turtlebot and gazebo on a 14.04 flavor of Ubuntu with ROS Indigo. This combination seems to have the most support and is relatively stable. Don't miss the 'pyqt4-dev-tools', several others have. | <code=bash>git clone https://github.gatech.edu/ivabots/kobuki_desktop.git -b indigo</code> |
| |
| The instructions also assume that you are using a **catkin workspace**, which you definitely should get familiar with (see these [[http://wiki.ros.org/catkin/Tutorials | tutorials]]). Tutorials 1-3 are very useful for the time being; don't worry about Tutorial 4. | <code=bash>cd ..</code> |
| |
| The procedure below only includes dependencies that are not immediately apparent from compiler error messages. You will likely need to install others packages/dependencies, but should be able to figure out what they are from the messages. Here goes: | <code=bash>catkin_make</code> |
| <code=bash> | |
| sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' | |
| wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - | |
| sudo apt-get update | |
| sudo apt-get install ros-$ROS_DISTRO-gazebo7-ros-pkgs pyqt4-dev-tools | |
| cd {your catkin workspace}/src | |
| git clone https://github.com/turtlebot/turtlebot_simulator.git -b indigo | |
| git clone https://github.gatech.edu/ivabots/kobuki_desktop.git -b indigo | |
| cd .. | |
| catkin_make | |
| </code> | |
| |
| ------------------------ | ------------------------ |
