Installation Instructions Junior Simulation Windows

Installation Instructions

The optimal chain is not defined yet, so at the end only a subset of these packages will be used. We are researching at the workweek in Cambridge for instance the following the following chains:

• Scratch -> ROS -> Gazebo
• Blocky -> Python -> ROS -> Webots
• Matlab Live Script -> ROS -> Gazebo

Other operating systems

These are the instructions for Windows. Unfortunately there are no instructions for the Mac. There are instructions for the recommended platform: Linux.

Webots

https://cyberbotics.com/#download (Windows / Mac / Linux)

Webots provides the ability to interface through:

• C -> Webots
• MatLab -> Webots
• Python -> ROS -> Webots
• Blockly -> ROS -> Webots (limited Blockly -> ROS support)
• Blockly -> Python -> Webots

Matlab

RoboCup teams can get a license by sending a request for complimentary software to the sponsor of RoboCup MathWorks.

ROS for Windows

It is possible to ROS for Windows, but the support for the GUI tools is limited. The instructions on the ROS wiki also work for ROS Kinetic.

• Check if you have recent version of Windows 10. If you are in doubt, which version is installed go to Settings -> System -> About and check that you have at least Version 1703.
• In Powershell, Enable-WindowsOptionalFeature by following these instructions.
• Download Ubuntu as App from the Microsoft Store.

If you receive Ubuntu 18.04, then Gazebo the combination 18.04 - ROS Melodic - Gazebo 9.x is probably your best choice (but not yet tested). So, in that case continue to follow the instructions of Jan Bernlöhr, which are based on ROS Melodic.

Install ROS Kinetic

• Open the Ubuntu App, which will give you a bash-terminal.
• Type in this terminal the following commands
• 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 -y ros-kinetic-desktop-full
• sudo apt-get install rosbash
• sudo rosdep init
• rosdep update
• source /opt/ros/kinetic/setup.bash

Gazebo 7.x

Continue with the installation of the latest production version of Gazebo (gazebo7 is part of ROS Kinetic):

• 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 -
• sudo apt-get update
• sudo apt-get install ros-kinetic-gazebo-ros-pkgs

Gazebo for Windows

Instead of installing it in Ubuntu for Windows, one could also install Gazebo natively on Windows. Note that this requires 30 Gb free space and that the instructions are not completely worked out.

• Start with installing GTK via the vcpkg option.

• vcpkg will install several packages, one of them is glib_x64-windows. Add the glib_x64-windows\bin to your PATH (Advanced system Settings -> Environment Variables).

• With those packages, you can make pkg-config, which is used by the cmake scripts.

• Follow the instructions at http://gazebosim.org/tutorials?tut=install_on_windows

• Instead of Qt 4.8, download http://packages.osrfoundation.org/win32/deps/qt-opensource-windows-x86-msvc2015_64-5.7.0.zip

• For protobuf 2.6, download http://packages.osrfoundation.org/win32/deps/protobuf-2.6.0-cmake3.5-win64-vc12.zip

• The essential step is editing/calling the configure.bat script in gazebo. In this configure.bat script all locations of all libraries are indicated. Once called, the script will summarize a number of BUILD WARNINGS and BUILD ERRORS. The BUILD ERRORS are the open issues to be resolved.

An example of such BUILD ERROR summary:

-- BUILD ERRORS: These must be resolved before compiling.
-- Missing: Unable to find libfreeimage
-- Missing: SDF version >=6. Required for reading and writing SDF files.
-- Boost not found. Please install thread system filesystem program_options regex iostreams date_time boost version 1.40.0 or higher.
-- Missing libdl: Required for plugins.
-- Missing libdl: Required for plugins.
-- Missing: Ignition msgs1 library (libignition-msgs-dev).
-- Missing: Ignition math (libignition-math4-dev)
-- Missing: Ignition Transport (libignition-transport4-dev)
-- Missing: libqwt-dev. Required for plotting.
-- END BUILD ERRORS