Player/Stage 安装官方指南｜Player 2.1.1 / Stage 3.0.* (official release)

Created: 07.14.2008
Last updated: 08.02.2008
Old version of this document here.
Translated: 03.08.2009

Installation on Fedora 9 

提示：这是基于Fedora 9平台的安装过程；如果在Fedora 8下安装，则stage 3.0.0版本比3.0.1更兼容

First of all 

首先需要一个合适的linux发行版：如Fedora 8/9/10; Ubuntu 8.04, Debian等, 来安装Player
Robotics Interface及Stage 2.5D Mobile Robotics Simulator.接下来的步骤是在Fedora 9系统下的安装过程。
参考Personal Fedora 9 Installation Guide来安装配置好Fedora 9 (另外参考 greattips for F9),同时需要添加
“Development Support”以便编译Player/Stage及其依赖软件包。

提示：为了安装方便，最好配置好YUM及其源。

Prerequisites

上述步骤完成后依然需要安装几个没有被默认安装的软件包：

• libtool-ltdl-devel-1.5.24-6.fc9.i386.rpm - The GNU Portable Library Tool development package

• cmake-2.4.8-2.fc9.i386.rpm
  - CMake is used to control the software compilation process using
  simple platform and compiler independent configuration files (only for Stage).

• fltk-1.1.8-1.fc9.i386.rpm
  - FLTK is a cross-platform C++ GUI toolkit (only for Stage).

• fltk-devel-1.1.8-1.fc9.i386.rpm
  - Development package of the FLTK (only for Stage).

通过Yum来安装:
$ yum install libtool-ltdl-devel
$ yum install cmake
$ yum install fltk fltk-devel

另外，Player需要libboost_thread.so，这个库没有随着libboost-devel默认安装上，要创建一个symbolic link:
$ ln -s /usr/lib/libboost_thread-mt.so /usr/lib/libboost_thread.so

还有些可选的prerequisites:

• gsl-1.10.tar.gz -GNU Scientific Library for acml driver

• opencv-1.0.0.tar.gz- Real time computer vision

• libraw1394-1.3.0-7.fc9.i386.rpm- Library providing low-level IEEE-1394 access for camera1394 driver

• libraw1394-devel-1.3.0-7.fc9.i386.rpm -Development libs for libraw1394

• libavc1394-0.5.3-2.fc9.i386.rpm - Audio/Video Control library for IEEE-1394 devices for camera1394 driver

• libavc1394-devel-0.5.3-2.fc9.i386.rpm- Development libs for libavc1394

• libdc1394-2.0.2-1.fc9.i386.rpm

• libdc1394-devel-2.0.2-1.fc9.i386.rpm

• libjpeg-6b-41.fc9.i386*- A library for manipulating JPEG image format files for cameracompress driver

• libjpeg-devel-6b-41.fc9.i386* - Development tools for libjpeg

• <linux/joystick.h>* -The Linux joystick support for linuxjoystick driver

       (*) already installed with the above Fedora 9 configuration

在安装以下各包时，都有两种方式：源码包安装和Yum install *.rpm。为方便起见，尽量通过Yum安装:
$ yum install gsl gsl-devel
$ yum install opencv opencv-devel
$ yum install libraw1394 libraw1394-devel
$ yum install libavc1394 libavc1394-devel
$ yum install libdc1394 libdc1394-devel

Python bindings for Player/Stage (最好选上):
$mkdir -p /usr/local/lib/python2.5/
$ cd /usr/local/lib/python2.5/$ ln -s /usr/lib/python2.5/site-packages

设置环境变量：将以下语句添加到 /etc/bashrc文件中：
export PATH=/usr/local/bin:$PATH
export CPATH=/usr/local/include:$CPATH
export LIBRARY_PATH=/usr/local/lib:$LIBRARY_PATH
export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATHexport PKG_CONFIG_PATH=/usr/local/lib/pkgconfig:$PKG_CONFIG_PATH

For Python bindings:
export PYTHONPATH=/usr/local/lib/python2.5/site-packages:$PYTHONPATH

提示：尽量选择安装所有的prerequisites。比如，libavc1394, libdc1394, libraw1394是支持IEEE1394摄像头的驱动。
如果没有安装，则无法通过player来驱动IEEE1394摄像头。

Install Player 2.1.1 as root（需要root权限）

安装命令:
$ tar xvzf player-2.1.1.tar.gz
$ cd player-2.1.1
$ ./configure
$ make$ make install

完成后打开一个.cfg文件测试一下:
$ player /usr/local/share/player/config/pioneer.cfg
输出为:
[root@localhost ~]# player /usr/local/share/player/config/pioneer.cfg
Player v.2.1.1

* Part of the Player/Stage/Gazebo Project [http://playerstage.sourceforge.net].
* Copyright (C) 2000 - 2006 Brian Gerkey, Richard Vaughan, Andrew Howard,
* Nate Koenig, and contributors. Released under the GNU General Public License.
* Player comes with ABSOLUTELY NO WARRANTY.  This is free software, and you
* are welcome to redistribute it under certain conditions; see COPYING
* for details.
     Listening on ports: 6665 

Install Stage 3.0.1 as root（需要root权限）

安装命令：
$ tar xvzf Stage-3.0.1-Source.tar.gz
$ cd Stage-3.0.1-Source
$ cmake .
$ make
$ make install

运行命令:
$ stage worlds/fasr.world

Stage perspective view