I am posting my own "personal" notes on how to install gazebo player and stage here - so i can find it later. Hope this helps anybody else who wants to use these programs. I am currently using Merkat in 64 bit version... But have also tested this approach on a 32 bit machine and it works.
EDIT (20/4-11 and 21/4-11) Pre-Installation
Before gazebo - and only gazebo - can be used two programs has to be installed. One of these can be installed from the normal "Ubuntu Software Center" and one has to be compiled from source. The two programs are called "Object-oriented Graphics Rendering Engine" (OGRE) and "Open Dynamics Engine" (ODE).
Ogre can be installed from the "Ubuntu Software Center" or by pasting the code shown below into a terminal. The three packages are called "ogre-tools", "libceguiogrerenderer-1.6.4" and "libogremain-1.6.4". I am actually not sure if the first two ones are needed, but they are installed on the machine I am using now and gazebo works...
Code for pasting into terminal:
Now ogre has been installed.
sudo apt-get install libogremain-1.6.4 ogre-tools libceguiogrerenderer-1.6.4
Open Dynamics Engine (ODE) also has to be installed. This program can not be found in the "Ubuntu Software Center" and has to be compiled from source.
This is not hard and a good guide can be found here: http://playerstage.sourceforge.net/wiki/Install_ubuntu
But what it says is also copied here:
download ode-0.11.1 source code archive: http://sourceforge.net/projects/opende/files/
extract archive and enter directory
Dont ask me what the ldconfig command does but after doing this i got gazebo to run... (I haven't tested it without typing ldconfig)
./configure --with-trimesh=opcode --enable-new-trimesh --disable-demos --enable-shared --with-arch=nocona --enable-release --enable-malloc --enable-ou --disable-asserts --with-pic
sudo make install
the latter of these three makes it possible to write a c++ program that connects to gazebo...
adding all of the three (player/stage/gazebo) to ubuntu software center:
from this page:
read it and you get redirected to:
Now all three programs can be found in the software center. However "player" and "stage" are called "robot-player" and "robot-stage" since other programs already have names of "player" and "stage". For "gazebo" this is not the case...
EDIT (20/4-11): in the software center search for "robot-player" and press the "show 61 technical items" to find player
Instead of finding all the programs in the "Ubuntu Software Center" the code below can be copied into a terminal:
Code for installing gazebo:
Code for installing stage:
sudo apt-get install gazebo gazebo-doc gazebo-data libgazebo0
Code for installing player:
sudo apt-get install stage stage-player-plugin libstage3
to launch player the code is therefore:
sudo apt-get install robot-player libplayerinterface3 libplayerjpeg3 libplayerwkb3 libplayerc3 libplayerc++3 libplayerdrivers3 libplayertcp3 libplayercore3 libplayercommon3 libpmap0 liblodo0
To start stage you can enter the code below in a terminal:
This code has been modified from here http://playerstage.sourceforge.net/d...yer/start.html
Using player with stage
If you used the above command for starting stage you can now control the robot from player. This can be done by entering the code below in a terminal:
In the window that opens from this command you can click devices->position2d->command. Now you can drag the red target marker and make the robot move.
robot-playerv --position2d --laser
This command is also a modification from http://playerstage.sourceforge.net/d...yer/start.html
EDIT 22/5-11 Using gazebo
To start a gazebo simulation use the code below:
when this simulation is started there should be two robots, rolling down some slides.
Using player with gazebo
Inspired by : http://playerstage.sourceforge.net/wiki/Gazebo:Tutorialsioneer2dx_moving
The same way as player can be used with stage, it can be used with gazebo.
create a *.cfg file as shown below:
Lets assume you named this file "gazebo.cfg"
provides [ "simulation:0" ]
# load the named file into the simulator
this script should be run after the gazebo simulation has started.
After this "gazebo.cfg" file has been run in a terminal you should type:
And you should be able to control the robot like with stage, but unnfortunately this does not work. i am working on how to get it to work...
robot-playerv -h localhost
Gazebo multi-robot simulator, version 0.10.0
Part of the Player/Stage Project [http://playerstage.sourceforge.net].
Copyright (C) 2003 Nate Koenig, Andrew Howard, and contributors.
Released under the GNU General Public License.
Unable to find the file ~/.gazeborc. Using default paths. This may cause OGRE to fail.
terminate called after throwing an instance of 'Ogre::InvalidParametersException'
what(): OGRE EXCEPTION(2:InvalidParametersException): Sky dome material 'Gazebo/CloudySky' not found. in SceneManager::setSkyDome at OgreSceneManager.cpp (line 1801)
The fix is is copied from here:
You have to create a file named ".gazeborc" in home directory. I have created this file using root permissions and gazebo works. I am not sure you normal login have permission to create a file in this directory. To create this file using root permissions press "alt+f2" and type "gksudo nautilus" and enter password. You have now opened a file browser window using root permissions. Go to you home directory eg. if you name is "NAME" go to "home->NAME" and create the file - remember the "." before the rest of the file name. (This is how hidden files are named in linux...)
but since ubuntu does not have the "local" folder change to:
(Substitute YOUROWNNAME with you name on the machine)
and wow gazebo runs. You can test it using this code:
EDIT (20/4-11) the pioneer2dx.world file is not installed by default. You will need to install the "gazebo-doc" stuff. (AKA: 3d multiple robot simulator with dynamics-documentation)
This error is caused by a some call to a "demonstration" of a plugin controller in the file "simple.world" which the file simple.cfg points too/ opens. If the line "ctrl wander" ( line 48 ) is omitted in the file simple.world it works... sort of.
* Part of the Player/Stage/Gazebo Project [http://playerstage.sourceforge.net].
* Copyright (C) 2000 - 2009 Brian Gerkey, Richard Vaughan, Andrew Howard,
* Nate Koenig, and contributors. Released under the GNU General Public License.
* Player comes with ABSOLUTELY NO WARRANTY. This is free software, and you
* are welcome to redistribute it under certain conditions; see COPYING
* for details.
Stage driver plugin init
** Stage plugin v4.0.0 **
* Part of the Player Project [http://playerstage.sourceforge.net]
* Copyright 2000-2009 Richard Vaughan, Brian Gerkey and contributors.
* Released under the GNU General Public License v2.
Stage plugin: 6665.simulation.0 is a Stage world
[Loading /usr/share/stage/worlds/simple.world][Include pioneer.inc][Include map.inc][Include sick.inc]f: /usr/share/stage/worlds/simple.world
Libtool error: file not found. Can't open your plugin controller. Quitting
err: Failed to open "wander". Check that it can be found by searching the directories in your STAGEPATH environment variable, or the current directory if STAGEPATH is not set.]
libtool error #2
The uninstallation process has to be done in the reversed order.
removing player can be done from the "Ubuntu Software Center" (it is called "robot-player") or by pasting the code below into a terminal.
Now player has been removed.
sudo apt-get remove robot-player libplayerinterface3 libplayerjpeg3 libplayerwkb3 libplayerc3 libplayerc++3 libplayerdrivers3 libplayertcp3 libplayercore3 libplayercommon3 libpmap0 liblodo0
First delete the file .gazeborc you have created in you home directory. This is only possible with root permissions so: "alt+f2"-> enter "gksudo nautilus", browse to the file and delete it.
Gazebo can now be removed by using the "Ubuntu Software Center" or by entering the code below into a terminal:
if you have used the code above it is recommended to check if any other gazebo files are installed using the "Ubuntu Software Center".
sudo apt-get remove gazebo gazebo-doc gazebo-data libgazebo0
Now gazebo has been removed.
Stage can also be removed from the "Ubuntu Software Center" (it is called "robot-stage") or by pasting the code below into a terminal:
Now stage has been removed.
sudo apt-get remove stage stage-player-plugin libstage3
OGRE can be removed from the "Ubuntu Software Center" or by pasting this code into a terminal:
sudo apt-get remove libogremain-1.6.4 ogre-tools libceguiogrerenderer-1.6.4
In gazebo joints (or hinges) can only be created in the model files and not the world files.
It seems like gazebo can import files from the free 3d CAD program "Blender" - which can be installed from the "Ubuntu software center". (Or rather blender can export in a format that gazebo can read). See this link: http://playerstage.sourceforge.net/d...rial_mesh.html
Blender can import files from google sketchup see this link : http://www.katsbits.com/tutorials/bl...kmz-models.php
When installing google sketchup see this thread about how to do that: http://ubuntuforums.org/showthread.php?t=1573182
There are apereantly two ways to talk to gazebo while it is running. one of these is directly through the "gazebo.h" file found in "usr/include/gazebo". In this file all public functions should be declared.
see this also:
EDIT: I will keep reediting this post everytime i make a new "baby step" towards the final goal of having all three running on my system. I any moderaters see a problem with this please post here.