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setup.md

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Overall desired setup

  1. Ubuntu 16.04.4 LTS (Xenial Xerus)
  2. Gazebo 9.6.2
  3. DART 6.6.0
  4. ROS Kinetic Kame desktop
  5. gazebo_ros_pks for Gazebo-ROS bridge

Libraries

libccd - Collision between convex surfaces

Version: 2.0-1 (Stable)

Package: libccd-dev

Install with apt:

sudo apt install libccd-dev

Installed to: /usr/local/include/fcl

FCL - Flexible Collision Library

Version: 0.5 (Stable)

Dependencies:

  1. libccd
  2. Boost (Optional: required for building tests)

Install from source:

cd ~/workspace &&
git clone https://github.com/flexible-collision-library/fcl/ &&
cd fcl/ &&
git checkout fcl-0.5 &&
mkdir build &&
cd build &&
cmake .. &&
make -j8 &&
sudo make install

Installed to:

  1. Headers: /usr/local/include/fcl/
  2. Binaries: /usr/local/lib/

SDF

Version: 6.0.0

Package: libsdformat6-dev

Install with apt:

sudo apt install libsdformat6-dev

Programs

DART - Physics simulator

Version: 6.6.2

Dependencies:

  1. FCL
  2. Boost
  3. Eigen3

Install from source:

sudo apt remove libdart* &&
sudo apt install build-essential cmake pkg-config git &&
sudo apt install libeigen3-dev libassimp-dev libccd-dev libfcl-dev libboost-regex-dev libboost-system-dev &&
sudo apt install libopenscenegraph-dev &&
cd ~/workspace &&
git clone https://github.com/dartsim/dart &&
cd dart/ &&
git checkout tags/v6.6.2 &&
mkdir build &&
cd build &&
cmake .. &&
make -j8 &&
sudo make install

Installed to:

  1. Headers: /usr/local/include/dart/
  2. Binaries: /usr/local/lib/

GAZEBO

Version: 9.4.1

Dependencies:

  1. Too many to count; Thankfully they provide an installer script for them.
  2. DART (Optional)

Install from source:

# Setup OSRF keys
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 - &&
# Dependencies
ROS_DISTRO=kinetic &&
BASE_DEPS="build-essential \ cmake \ debhelper \ mesa-utils \ cppcheck \ xsltproc \ python-lxml \ python-psutil \ python \ bc \ netcat-openbsd \ gnupg2 \ net-tools \ locales" &&
GAZEBO_BASE_DEPS="libfreeimage-dev \ libprotoc-dev \ libprotobuf-dev \ protobuf-compiler \ freeglut3-dev \ libcurl4-openssl-dev \ libtinyxml-dev \ libtar-dev \ libtbb-dev \ libogre-1.9-dev \ libxml2-dev \ pkg-config \ qtbase5-dev \ libqwt-qt5-dev \ libltdl-dev \ libgts-dev \ libboost-thread-dev \ libboost-signals-dev \ libboost-system-dev \ libboost-filesystem-dev \ libboost-program-options-dev \ libboost-regex-dev \ libboost-iostreams-dev \ libbullet-dev \ libsimbody-dev \ \ libignition-transport3-dev \ libignition-math3-dev \ libignition-msgs0-dev \ libtinyxml2-dev \ libignition-msgs-dev \ libignition-transport4-dev" &&
sudo apt install $(sed 's:\\ ::g' <<< $BASE_DEPS) $(sed 's:\\ ::g' <<< $GAZEBO_BASE_DEPS) &&
# Build
cd ~/workspace/ &&
hg clone https://bitbucket.org/osrf/gazebo &&
cd gazebo &&
hg checkout gazebo9_9.4.1 &&
mkdir build &&
cd build &&
cmake .. &&
make -j8 &&
sudo make install &&
# Fix bug
echo '/usr/local/lib' | sudo tee /etc/ld.so.conf.d/gazebo. &&
sudo ldconfig

Installed to:

  1. Headers: /usr/local/include/gazebo-9/
  2. Binaries: /usr/local/lib/gazebo-9/
  3. Resources: /usr/local/share/gazebo-9/

ROS

Version: Kinetic Kame desktop

Install with apt:

# Setup sources.list and keys
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 421C365BD9FF1F717815A3895523BAEEB01FA116
sudo apt update
sudo apt install ros-kinetic-desktop

DO NOT install desktop FULL version! This will ruin the whole process!

gazebo_ros_pkgs

Branch: kinetic-devel

Dependencies:

  1. (Not sure since also compiled Baxter)

Install from source:

# Dependencies
sudo apt install ros-kinetic-hardware-interface ros-kinetic-polled-camera ros-kinetic-control-toolbox ros-kinetic-controller-manager ros-kinetic-transmission-interface ros-kinetic-camera-info-manager ros-kinetic-joint-limits-interface &&
# Build from source
cd catkin_ws/src &&
git clone https://github.com/ros-simulation/gazebo_ros_pkgs.git -b kinetic-devel &&
cd .. &&
catkin_make