TXT-1 Gazebo-0.7

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Figure 1. Three TXT-1 Robots Modeled in Gazebo-0.7

1 The Installation Guide for Gazebo-0.7 under Fedora Core 7
2 Preconditions
3 Two Ways to Install Gazebo-0.7
- 3.1 Install from YUM
- 3.2 Install from Source Packages
4 References

The Installation Guide for Gazebo-0.7 under Fedora Core 7

First either Gazebo-0.7 or Fedora Core 7 is out-dated. However, this article can be a good reference for learning about the old version of Gazebo.

Preconditions

In the MARHES lab, we have a desktop computer with Fedora 7 linux system has the Gazebo-0.7 installed. The hardware and software specifications are listed here:

System		Fedora Core 7
Kernel Version		Kernel-2.6.23-17-88.fc7
		Kernel-devel-2.6.23-17-88.fc7
		Kernel-headers-2.6.23-17-88.fc7
GCC/G++ Version		4.1.2/4.1.2
CPU		Intel Pentium 4 2.8GHz, 1024K L2 Cache
Memory		1GB
Display Card		NVIDIA GeForce FX5200
Display Driver		NVIDIA-Linux86-173.14.18

Two Ways to Install Gazebo-0.7

Install from YUM

Using the YUM tool of Fedora, we can install Player-2.0.4/Stage-2.0.3 /Gazebo-0.7 quickly. The operations are:

1. Refer [1], use YUM to install mesa-GL, FreeGlut, mesa-GLU:
2. Add the YUM source by copying following text to file /etc/yum.repos.d/pyrobot.repo

     [pyrobot]  
            name=Python Robotics  
            baseurl=http://pyrorobotics.org/pyro/fedora/$releasever/$basearch  
            gpgkey=http://pyrorobotics.org/pyro/fedora/RPM-GPG-KEY-dblank  
            enabled=1  
            gpgcheck=1

and then type (root permission is required)

   #yum install player stage gazebo

you will see the packages information:

====================================================

Package

Arch

Version

Repository

Size

====================================================

Installing:
gazebo	i386	0.7.0-f7	pyrobot	2.5 M
player	i386	2.0.4-f7	pyrobot	1.9 M
stage	i386	2.0.3-f7	pyrobot	321 k
Installing for dependencies:
freeglut	i386	2.4.0-11.fc7	fedora	142 k
freeglut-devel	i386	2.4.0-11.fc7	fedora	13 k
gazebo-ode	i386	0.6-f7	pyrobot	2.6 M
gsl	i386	1.8-3.fc7	fedora	761 k
libtool-ltdl	i386	1.5.22-11.fc7	fedora	38 k
wxBase	i386	2.8.7-2.fc7	updates	681 k
wxGTK	i386	2.8.7-2.fc7	updates	3.8 M
wxGTK	i386	2.8.3-2.fc7	fedora	4.3 M
wxGTK-gl	i386	2.8.7-2.fc7	updates	31 k
wxPython	i386	2.8.7.1-4.fc7	updates	11 M
Transaction Summary

====================================================

However, I think, the YUM sources do not very well in checking all the dependencies of the Gazebo, so even all the above process are done without any errors, the Gazebo may possibly not work well.

Install from Source Packages

1. INSTALL dependencies

Refer [1] and [2], the dependencies consist of

    
          * giflib3g-dev  
          * lib3ds-dev  
          * libatk1.0-0  
          * libcfitsio-dev  
          * libgeos-dev  
          * libhdf4g-dev  
          * libjasper-1.701-dev  
          * libnetcdf++3  
          * libpq-dev  
          * libxerces26-dev  
          * netcdfg-dev  
          * python-gdal

Technical Notes:

<1> The above listed packages are used under Ubuntu-Dapper-6.06. so under Fedora 7, we have to find the corresponding ones using YUM tool or binary packages.
<2> More packages needed also: GSL， SDL， GDAL, SWIG, lib3ds, ODE

I used YUM to install GSL and SDL; and use binary packages to install the GDAL, SWIG, lib3ds, ODE since the Gazebo's configure file could not recognize the four ones I installed by YUM. And please refer [1] for the versions used for above packages.

The Gazebo-0.7 relies on the wxPython to display the GUI. Therefore, the following process illustrates how to install and configure the wxPython.

2. INSTALL wxWidgets/wxGTK

The basis of wxPython is wxWidgets/wxGTK. I use wxWidgets-2.8.10. Refer the documents [3] and [4] from the official website of wxPython, the process is:

  
        [root@TxT1-Server wxGTK-2.8.10]#  cd wxGTK-2.8.10
        [root@TxT1-Server wxGTK-2.8.10]#  mkdri bld
        [root@TxT1-Server wxGTK-2.8.10]# cd bld
        [root@TxT1-Server bld]# ../configure --prefix=/opt/wx/2.8   \
                                             --with-gtk   \
                                             --with-gnomeprint \
                                             --with-opengl  \
                                             --enable-debug \
                                             --enable-geometry \
                                             --enable-graphics_ctx \
                                             --enable-sound --with-sdl \
                                             --enable-mediactrl \
                                             --enable-display \
                                             --disable-debugreport \
                                             --enable-unicode \
                                             --with-libjpeg=builtin \
                                             --with-libpng=builtin \
                                             --with-libtiff=builtin

then we can write a simple script to accomplish the make and make install

    [root@TxT1-Server bld]#vim make-sh

the script file contains:

  
        #!/bin/sh  
        make $*  
        make -C contrib/src/gizmos $*  
        make -C contrib/src/stc $*

And do not forget to set the file permission:

  
        [root@TxT1-Server bld]#chmod u+x make-sh
        [root@TxT1-Server bld]#./make-sh
        [root@TxT1-Server bld]# ./make-sh install

If all the work has been done smoothly, the next tip is about the configuration file for the dynamic linker /etc/ld.so.conf:

      [root@TxT1-Server bld]# vim /etc/ld.so.conf

and add context "/usr/local/lib", then run command

      [root@TxT1-Server bld]# /sbin/ldconfig

3. INSTALL wxPython-2.8.*

I use wxPython-2.8.7.1, it can be found here. I unzip the file at folder "/opt", and enter its directory named "wxPython":

   cd /opt/wxPython-src-2.8.7.1/wxPython
         [root@TxT1-Server wxPython]# python2.5 setup.py build_ext --inplace --debug WX_CONFIG=/opt/wx/2.8/bin/wx-config  BUILD_GLCANVAS=0

you may see the information:

   
         WARNING: WXWIN not set in environment. Assuming '..'  
         Preparing CORE...  
         Preparing STC...  
         Preparing GIZMOS...  
         running build_ext  
         running build_ext  
         running build_ext

Once the above process finishes, do not forget to set the environment variables:

          export LD_LIBRARY_PATH =/ opt / wx / 2.8 / lib:$LD_LIBRARY_PATH
           export PYTHONPATH =/ opt/wx /2.8/ wxPython:$PYTHONPATH  
           export PYTHONPATH=/usr/local/lib/python2.5/site-packages :$PYTHONPATH

4. INSTALL Gazebo-0.7

Finally, we can install Gazebo-0.7 from source package now. What we should do is to enter the directory of the package and run ./configure , make && make install .

5. BUG

Even there was no error message while the installation of Gazebo-0.7, the following error may possibly happen when running command "wxgazebo":

 \Python25\Lib\site-packages\wx-2.8-msw-unicode\wxPython\_misc.py", line 456, in <module>  
      wxDateTime_GetNumberOfDaysinYear = wx._misc.DateTime_GetNumberOfDaysinYear  
  AttributeError: 'module' object has no attribute'DateTime_GetNumberOfDaysinYear'

The solution is obtained from [5] and [6]: Go to [6], download "_misc.py" and "_core.py" files to replace the existed ones:

   
         #  cp _misc.py /usr/lib/python2.5/site-packages/wx-2.8-gtk2-unicode/wxPython/
         #  cp _core.py /usr/lib/python2.5/site-packages/wx-2.8-gtk2-unicode/wxPython/

Now we can run the "wxgazebo"" command and see how the the simulator looks like in Figure 2: