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How to install Gazebo 0.9 on Ubuntu Linux 10.04

Below are step by step instructions on how to install Gazebo 0.9 on Ubuntu Linux 10.04 (32bit). These have been tested on multiple systems on a fresh Ubuntu install. They also work in VirtualBox.


Installing Dependencies

  • open Synaptic Package Manager (in menu System/Administration)
  • automatically mark all necessary packages by opening each of the 4 provided package lists ("*.markings") in the menu File/Read Markings ...
  • click "apply" in order to install everything


Just for information: "ubuntu-building.markings" contains build-essentials, cmake, libtool, etc. "ubuntu-player-ode.markings" contains dependencies of player-3.0.1 and ode 0.11.1., including libboost etc. "ubuntu-player-extra.markings" contains additional dependencies of player-3.0.1 in order to support more drivers. "ubuntu-gazebo.markings" contains dependencies of gazebo, including OGRE 1.6.4 and GDAL - Geospatial Data Abstraction Library.

Building Player(3.0.1)

$ mkdir build
$ cd build
$ cmake ../
$ make
$ sudo make install
$ cd /usr/local/include/player-3.0
$ sudo ln -s libplayerinterface libplayerxdr
$ sudo ldconfig

(these last 3 lines fix a problem encountered later when building gazebo)


Building ODE physics engine (0.11.1)

$ ./configure --with-trimesh=opcode --enable-new-trimesh --disable-demos --enable-shared --with-arch=nocona --enable-release --enable-malloc --enable-ou --disable-asserts --with-pic
$ make
$ sudo make install
$ sudo ldconfig


Building Gazebo (0.9)

$ mkdir build
$ cd build
$ cmake ../
$ make
$ sudo make install
$ sudo ldconfig
$ sudo gedit ~/.gazeborc
  • Change ogrePath from /OGRE to /usr/lib/OGRE, and save and close window.


Testing Gazebo

  • enter gazebo source directory
$ cd worlds
$ gazebo pioneer2at.world
  • You should see a pioneer robot on a grass surface.


Troubleshooting

Problems encountered so far, when starting gazebo:

"X_CreateGC: BadDrawable (invalid Pixmap or Window parameter)"

Solution: Use system with sufficient 3d acceleration support. Install NVIDIA/ATI graphics card drivers for full 3d graphics support, or guest extensions when using VirtualBox.

"OpenGL Warning: Failed to connect to host. Make sure 3D acceleration is enabled for this VM"

Solution: Ignore. (enabling 3D acceleration in VirtualBox causes gazebo to not work at all!)

"bt_audio_service_open: connect() failed: Connection refused (111)"

Solution: Just ignore, or uninstall package "bluez-alsa"

$ sudo apt-get purge bluez-alsa
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