Robot Lab(Spring 2009)/Player-Stage-Gazebo

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Contents

Installation

My suggestion is installing everything in an Ubuntu VM. Full documentation for Player, Stage and Gazebo can be found here.

Ubuntu

  1. Player: sudo apt-get install robot-player
  2. Stage: sudo apt-get install stage

Mac OS X

  1. Install MacPorts
  2. Player: sudo port install playerstage-player
  3. Stage: sudo port install playerstage-stage

Windows XP/Vista or Other

  1. Visit Player/Stage Source Forge page
  2. Follow the instructions listed in the manual section

OR you can download the RoboDeb VM. This will only install the Player client libraries (no player server, stage or gazebo pre-installed).

  1. Download and install VMWare Player.
  2. Download the RoboDeb VMWare Image.
  3. Launch the image inside the VMWare player.

Gazebo

You will need these prerequisites, plus Boost (libboost-dev).

  1. Follow the instructions here to install.
  2. Install quirks you will probably run into:
    1. Add #include <cstring> to server/gui/StatusBar.cc
    2. Run sudo scons install twice to install without errors.

Configuration

Example files discussed in class can be found Media:Psg-config.zip.

Client Files

Example files discussed in class and included in the Player install can be found Media:Psg-examples.zip.

Compiling/Running

For example, lets say you have a program called program.cc

Compile: g++ -o program `pkg-config --cflags playerc++` program.cc `pkg-config --libs playerc++`

Run Player: player simple.cfg

Run program: ./program

Common Problems

No command 'player' found...

No command 'player' found, did you mean:
  Command 'kplayer' from package 'kplayer' (multiverse)
  Command 'qplayer' from package 'qdvdauthor' (multiverse)
  Command 'splayer' from package 'somaplayer' (universe)
  Command 'mplayer' from package 'mplayer-nogui' (multiverse)
  Command 'prayer' from package 'prayer' (universe)
player: command not found

This is what happens in Ubuntu if you try to execute a program that does not exist. The name of the executable is 'robot-player'.

/usr/X11R6/lib/X11/rgb.txt does not exist

This file does exist, just not where Player is expecting it. Try making a symlink at this location.

mkdir -p /usr/X11R6/lib/X11
cd !$
ln -s /usr/share/X11/rgb.txt

If you don't have rgb.txt in that directory on your machine try using locate rgb.txt to find it.