Gazebo is the backbone of Revolve kit. The current version of Gazebo that we support is Gazebo 10&11. Here we explain the installation instructions for Ubuntu and Mac OS X.

[ Ubuntu . Fedora . Mac OS X ]

1. Make sure you have removed the Ubuntu pre-compiled binaries before installing from source:

   sudo apt-get remove '.*gazebo.*' \
                       '.*sdformat.*' \
                       '.*ignition-math.*' \
                       '.*ignition-msgs.*' \
                       '.*ignition-transport.*'

2. Install OSRF simulation dependancies:

   sudo apt-get install libignition-cmake-dev \
                        libignition-common-dev \
                        libignition-math4-dev \
                        libignition-msgs-dev \
                        libignition-common-dev \
                        libignition-transport4-dev \
                        libsdformat6-dev \
                        libsimbody-dev

3. Install Gazebo on your machine:

   sudo apt-get install libgazebo11-dev gazebo11

4. Test if the installation was successful. You can do this in two ways.

• First, if you run gzserver in verbose mode:

  gzserver --verbose

  The result of this command should be:

  Gazebo multi-robot simulator, version 11.0
  Copyright (C) 2012-2015 Open Source Robotics Foundation.
  Released under the Apache 2 License.
  http://gazebosim.org
  
  [Msg] Waiting for master.
  [Msg] Connected to gazebo master @ http://127.0.0.1:11345
  [Msg] Publicized address: 192.168.1.72

  When an [Err] Error in REST message appears, update the server url in the ~/.ignition/fuel/config.yaml file from "https://api.ignitionfuel.org" to "https://api.ignitionrobotics.org"

• Second, if gzserver works as expected you can run gazebo:

  gazebo

  Note for VMWare:

  export SVGA_VGPU10=0
  echo "export SVGA_VGPU10=0" >> ~/.profile

  The result of this command should be:

See next: Installation instructions for Revolve

TODO

In a clean Mac OS X installation you can install pre-compiled versions of all dependencies:

1. If not already available, install Homebrew:

   /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install.sh)"

2. Install XQuartz, which provides X11 support and is required by Gazebo and OGRE.

3. For 10.8 and earlier, install Xcode command-line tools by downloading them from Apple. For 10.9 and later, the system should prompt you to install them when you install Homebrew in step 1, otherwise install it with:

   xcode-select --install

4. Install OSRF simulation dependancies:

   brew tap osrf/simulation
   brew install ignition-cmake0 \
                ignition-common1 \
                ignition-math4 \
                ignition-msgs1 \
                ignition-tools \
                ignition-transport4 \
                sdformat6 \
                simbody

5. Install Gazebo on your machine:

   brew install gazebo11 

   When the library libBulletSoftBody can not be found, then use:

   brew install gazebo11 --build-from-source

   and check if the right version is installed

   gazebo --version

   The result of this command should be:

   Gazebo multi-robot simulator, version 11.3.0
   Copyright (C) 2012 Open Source Robotics Foundation.
   Released under the Apache 2 License.
   http://gazebosim.org
   

   Troubleshooting DifferentialCPG issue with installing gazebo v11: you have to change line at line 446 of revolve/cpprevolve/revolve/gazebo/brains/DifferentialCPG.cpp (std::random_shuffle(one_dimension.begin(), one_dimension.end() );) to

   std::random_device rd;
   std::mt19937 g(rd());
   std::shuffle(one_dimension.begin(), one_dimension.end(), g);

6. Test if the installation was successful. You can do this in two ways.

• First, if you run gzserver in verbose mode:

  gzserver --verbose

  The result of this command should be:

  Gazebo multi-robot simulator, version 11.3.0
  Copyright (C) 2012 Open Source Robotics Foundation.
  Released under the Apache 2 License.
  http://gazebosim.org
  
  
  [[Msg] Waiting for master.
  [Msg] Connected to gazebo master @ http://127.0.0.1:11345
  [Msg] Publicized address: 192.168.2.219
  

  When an [Err] Error in REST message appears, update the server url in the ~/.ignition/fuel/config.yaml file from "https://api.ignitionfuel.org" to "https://api.ignitionrobotics.org"
• Second, if gzserver works as expected you can run gazebo:

  gazebo

  The result of this command should be:

See next: Installation instructions for Revolve