These are the Linux installation instructions, OS X users should go here.
- SWIG (Simplified Wrapper and Interface Generator).
The default install path for many source packages (Gazebo included) is:
/usr/local /usr/local/bin /usr/local/include /usr/local/lib
In some Linux distributions, however, these paths are not searched by default, leading to problems when compiling and linking some packages. We therefore recommend that you configure your system with some additional paths (added to your .bashrc script, for example):
export PATH=/usr/local/bin:$PATH export CPATH=/usr/local/include:$CPATH export LIBRARY_PATH=/usr/local/lib:$LIBRARY_PATH
The first line sets the executable path; the second sets the path for C and C++ header files; the third line sets the library search path. You will also need to set two more paths:
export PKG_CONFIG_PATH=/usr/local/lib/pkgconfig:$PKG_CONFIG_PATH export PYTHONPATH=/usr/local/lib/python2.3/site-packages:$PYTHONPATH
The first line sets the pkg-config path (a neat utility for mananging 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).minimal installations to get a basic version of Gazebo up and running. More advanced users may wish to consult one of the following:
- Minimal installation
- Full installation (with OPCODE support)
- Local installation (does not require root access)
- Install ODE 0.5: Note that the
$ tar xvzf ode-0.5.tgz $ cd ode-0.5 $ make configure $ make ode-lib $ su $ cp -r include/ode /usr/local/include/ $ cp lib/libode.a /usr/local/lib/ $ exit
ranlibstep is only necessary for OS X installations. If in doubt, you should also read the INSTALL file that comes with the ODE distribution (but don't necessarily believe everything it tells you).
- Install Gazebo: Note the final output of the configure script: it will tell you what will be built, and where it will be installed. Once you are satisfied, build and install the package:
$ tar xvzf gazebo-<version>.tar.gz $ cd gazebo-<version> $ ./configure
$ make $ su $ make install $ exit
Gazebo is now ready to run; try:
$ gazebo /usr/local/share/gazebo/worlds/example1.world
This will start the server in console mode (no GUI). Assuming you have all the GUI dependencies installed, you can run in graphical mode using:
$ wxgazebo /usr/local/share/gazebo/worlds/example1.world
- Install (or re-install) ODE with OPCODE enabled; this requires some editing of the ODE configuration files: Open the file
$ tar xvzf ode-0.5.tgz $ cd ode-0.5
config/user-settings, and change the default
[srcdir]is the fully qualified path to the ODE source distribution. I.e., if the original ODE tarball is in
/home/[username]/tmp, this should read
/home/[username]/tmp/ode-0.5/OPCODE/. Note that the comments for this section of the settings file are bogus; ignore them. Finish installing ODE:
$ make configure $ make ode-lib $ su $ cp -r include/ode /usr/local/include/ $ cp lib/libode.a /usr/local/lib/ $ exit
- Install (or re-install) Gazebo Pay close attention output of the configure script and make sure the Terrain and Road models will be built. Once you are satisfied, finish the installation:
$ tar xvzf gazebo-src-<version>.tar.gz $ cd gazebo-src-<version> $ ./configure
$ make $ su $ make install $ exit
To test the terrain model, try:
$ gazebo /usr/local/share/gazebo/worlds/terrain.world
The GDAL package is available in many Linux distros (including Gentoo), and can be installed in the standard fashion. If the package is not available, it must be built from source, as follows.
- Download the Geospatial Data Abstraction Library (GDAL): The GDAL installer may not set up require links for dynamic libraries, so you may have to do this yourself. For example, if GDAL-1.1 is installed in /usr/local/lib:
$ tar xvzg gdal-1.2.1.tar.gz $ cd gdal-1.2.1 $ ./configure --without-python $ make $ su $ make install $ exitDepending on your system configuration, you may also need to adjust your library path so that the linker can find the newly installed files.
$ su $ ln -s /usr/local/lib/libgdal.1.1.so /usr/local/lib/libgdal.so $ ldconfig $ exit
$ su $ echo /usr/local/lib >> /etc/ld.so.conf $ ldconfig $ exit
- Pick a spot for "local" installs; for me it is "/home/[username]/local". The install scripts will create relevant subdirs under this, such as:
/home/[username]/local/bin /home/[username]/local/include /home/[username]/local/lib
- Set up the necessary compiler paths in your .bashrc (or whatever) script; e.g.: 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.
export PATH=~/local/bin:$PATH export CPATH=~/local/include:$CPATH export LIBRARY_PATH=~/local/lib:$LIBRARY_PATH
- Set up some additional paths in your .bashrc (or whatever): The first line sets the pkg-config path (for applications using pkg-config, which will be everything in the Player/Stage/Gazebo project pretty soon); the second line is for Python extensions (the version number should match the version of Python you have installed; type "python -V" if in doubt).
export PKG_CONFIG_PATH=~/local/lib/pkgconfig:$PKG_CONFIG_PATH export PYTHONPATH=~/local/lib/python2.3/site-packages:$PYTHONPATH
- (Optional) Install ODE locally:
$ tar xvzf ode-0.5.tgz $ cd ode-0.5 $ make configure $ make ode-lib $ cp -r include/ode /home/[username]/local/include/ $ cp lib/libode.a /home/[username]/local/lib/
- Build Gazebo using the "--prefix" argument: Note the final output of the configure script: it should tell you that Gazebo will be installed in your home directory.
$ ./configure --prefix=/home/[username]/local
- Build and install the package:
$ make $ make install
Everything should now work seamlessly, and your locally installed packages will be used in preference to any system-wide defaults.
configurescript will let you know what libraries are missing, from which you can figure out what additional packages need to be installed.
All of the packages below should be available with your distribution (this includes OS X, either from Apple, or via Fink).
- GL, GLU, GLUT