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Installing optional dependencies on Debian Linux
Ice from sourceEven though there is a Debian package for Ice, sometimes you may want to build Ice from source. Some of the possible reasons:
These instructions have been updated to Ice-3.3. They may need to be modified for earlier versions. Following the instructions below will install Ice to the default location Download source from download page.
Make sure that the Ice binaries and executables are in the path. You may want to add this snippet to your export ICE_HOME=/opt/Ice-[VERSION] export PATH=$ICE_HOME/bin:$PATH export LD_LIBRARY_PATH=$ICE_HOME/lib:$LD_LIBRARY_PATH NOTE: Software below is strictly optional. To ensure that Orca knows about these new packages you will have to re-run cmake and make in Orca once the new packages have been installed. You will also have to remove the cmake cache before rerunning cmake. $ cd [ORCA_SRC] $ rm CMakeCache.txt $ cmake . $ make # make install DoxygenDoxygen is a tool to produce documentation from source code. It can be easily installed as a package. The standard version can build all Orca documentation except for the Slice interfaces and objects. You may also want to install the # apt-get install doxygen graphviz QtQt is a cross-platform GUI framework. Minimum version required 4.2.0 (latest tested: 4.3.4) # apt-get install libqt4-dev qt4-doc qt4-dev-tools PkgConfigSome components require # apt-get install pkg-config Player/Stage using Debian packagePlayer/Stage are now part of Debian Testing. You can install the packages like that: # apt-get install robot-player stage libplayercore-dev libplayerc++-dev This will install the libraries in For a quick start: $ robot-player /usr/share/stage/worlds/simple.cfg In case of a problem see our short section on Troubleshooting Player or consult Player mailing lists. GazeboGazebo is part of the Player/Stage project. It is an open-source 3D multiple robot simulator with dynamics. These notes were tested with Player 2.0.3, Gazebo 0.7.0, and Open Dynamics Engine 0.7. Note that Gazebo's documentation is not very well maintained at the moment and it has a number of bugs which are not always trivial to fix. Please see the Gazebo mailing list and Gazebo manual pages for more help. Make sure that you have installed Player/Stage first (Player/Stage from source or Player/Stage using Debian package). Start with Gazebo/ODE dependencies. # apt-get install swig python-wxtools libxml2-dev libglu1-mesa-dev libglut3-dev autoconf automake1.9 python2.4-dev libtool Note that there may be a few other dependencies which aren't included here. You will also have to download and compile Open Dynamics Engine which is Gazebo's physics engine. It is recommended to use the latest release (tested with 0.8). Since Gazebo expects $ unzip ode-src-<versoin>.zip $ cd ode-<version> $ sh autogen.sh (if you are using a snapshot version) $ ./configure --enable-double-precision --enable-release --with-trimesh=opcode $ make # make install # ln -s /usr/local/lib/libode.so /usr/lib/libode.so There are a few optional components for Gazebo. It is recommended to install these, in order to get full Gazebo functionality. # apt-get install lib3ds-dev proj libgdal1-1.3.1-dev Get the latest release of Gazebo (tested with 0.7.0). Tell gazebo where to find player stuff. $ export PKG_CONFIG_PATH=/opt/player-[VERSION]/lib/pkgconfig/:$PKG_CONFIG_PATH Run automake tools (automake version>=1.6, autconf version>=2.53), compile, and install. It is recommended to install Gazebo in the /opt directory. $ tar zxvf gazebo-<version>.tar.gz $ cd gazebo-<version> $ ./bootstrap $ ./configure --prefix=/opt/gazebo-<version> $ make # make install Append the following to your export GAZEBO_HOME=/opt/gazebo-<version> export PATH=$GAZEBO_HOME/bin:$PATH export LD_LIBRARY_PATH=$GAZEBO_HOME/lib:$LD_LIBRARY_PATH export PYTHONPATH=$GAZEBO_HOME/lib/python2.4/site-packages/:$PYTHONPATH export CPATH=$GAZEBO_HOME/include:$CPATH For a quick start: $ wxgazebo [GAZEBO_SRC]/worlds/example.world If you get an error, please proceed to Using Orca with Player/Gazebo simulator. You might also want to consult the Gazebo mailing lists and manuals for additional help. Player/Stage from sourcePlayer/Stage is an open-source device server and simulator. These notes were tested with Player 2.0.3 and Stage 2.0.3. Start with Player/Stage dependencies. # apt-get install libglib2.0-dev libgtk2.0-dev libltdl3-dev libjpeg-dev Download and unpack player and stage distros. We recommend installing both player and stage to some place other than the default $ cd player-[VERSION] $ ./configure --prefix=/opt/player-[VERSION] $ make # make install If you get an error like this make[3]: *** No rule to make target `../libplayercore/libplayererror.la', needed by `libplayercore.la'. Stop. try compiling one job a time: $ make -j1 Now compile Stage. Tell pkgconfig how to find player stuff. $ export PKG_CONFIG_PATH=/opt/player-[VERSION]/lib/pkgconfig/:$PKG_CONFIG_PATH $ cd stage-[VERSION] $ ./configure --prefix=/opt/stage-[VERSION] $ make # make install Append the following to your export PLAYER_HOME=/opt/player-[VERSION] export PATH=$PLAYER_HOME/bin:$PATH export LD_LIBRARY_PATH=$PLAYER_HOME/lib:$LD_LIBRARY_PATH export PKG_CONFIG_PATH=$PLAYER_HOME/lib/pkgconfig/:$PKG_CONFIG_PATH export STAGE_HOME=/opt/stage-[VERSION] export LD_LIBRARY_PATH=$STAGE_HOME/lib:$LD_LIBRARY_PATH For a quick start: $ player [STAGE_SRC]/worlds/simple.cfg Troubleshooting PlayerIf you experience a crash like this: err: unable to open color database /usr/X11R6/lib/X11/rgb.txt : No such file or directory (stage.c stg_lookup_color) Segmentation fault (core dumped) You can solve it adding a symbolic link to your # ln -s /etc/X11/rgb.txt /usr/X11R6/lib/X11/rgb.txt |
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