Fedora 7安装Gazebo-0.7.0 [player/stage/gazebo]

系统平台：Fedora 7, linux 2.6.21-1.3194

gcc & g++: 4.1.2

 

相比之于Gazebo-0.8，0.7版的Gazebo没有OGRE的专业图像引擎在画质渲染上的支持，所以在画质上，比0.8版的逊色不少。通过对比可明显看出基于OGRE的gazebo的阴影效果几乎达到了专业3D游戏中的水准：

Gazebo-0.7.0截图

Gazebo-0.8pre3 截图

 

一、YUM

Fedora 7下可以使用Yum来安装Player 2.0.4/Stage 2.0.3/Gazebo-0.7.0.如[7]中所述方法：

1.按[8]文前半部分，yum 安装mesa-GL FreeGlut, mesa-GLU

2. 编辑yum源：

    把以下文本复制到文件/etc/yum.repos.d/pyrobot.repo 中：

[pyrobot]name=Python Roboticsbaseurl=http://pyrorobotics.org/pyro/fedora/$releasever/$basearchgpgkey=http://pyrorobotics.org/pyro/fedora/RPM-GPG-KEY-dblankenabled=1gpgcheck=1

然后执行命令

# yum install player stage gazebo

============================================================================= Package Arch Version Repository Size =============================================================================Installing: gazebo i386 0.7.0-f7 pyrobot 2.5 M player i386 2.0.4-f7 pyrobot 1.9 M stage i386 2.0.3-f7 pyrobot 321 kInstalling for dependencies: freeglut i386 2.4.0-11.fc7 fedora 142 k freeglut-devel i386 2.4.0-11.fc7 fedora 13 k gazebo-ode i386 0.6-f7 pyrobot 2.6 M gsl i386 1.8-3.fc7 fedora 761 k libtool-ltdl i386 1.5.22-11.fc7 fedora 38 k wxBase i386 2.8.7-2.fc7 updates 681 k wxGTK i386 2.8.7-2.fc7 updates 3.8 M wxGTK i386 2.8.3-2.fc7 fedora 4.3 M wxGTK-gl i386 2.8.7-2.fc7 updates 31 k wxPython i386 2.8.7.1-4.fc7 updates 11 MTransaction Summary=============================================================================

 

二、源码包

参考[7]和[8]，需要依次安装的包为：

* giflib3g-dev * lib3ds-dev * libatk1.0-0 * libcfitsio-dev * libgeos-dev * libhdf4g-dev * libjasper-1.701-dev * libnetcdf++3 * libpq-dev * libxerces26-dev * netcdfg-dev * python-gdal

以上的包是Ubuntu-6.06下的，在fedora7下要找对应的devel packages用yum安装。

但是，仅仅安装上面的是不够的。还需要安装GSL， SDL， GDAL, SWIG, lib3ds, ODE.前两个包我通过yum安装，后四个通过源码包安装。（通过yum装好后，gazebo在configure时不识别）

所用版本及过程参考[8]：gdal-1.4.2, swig-1.3.30, lib3ds-1.2, ode-0.5 (0.7也可)

由于Gazebo-0.7.0是基于wxPython来显示其GUI的，所以安装的重点在于安装wxPython.[3],[4],[5]是官方网站的详细安装过程，[9]为中文的简要安装流程。

1. 安装wxWidgets/wxGTK

wxPython依赖于wxWidgets，所以第一步是从源码包编译安装wxWidgets. 这里我选择下载安装wxGTK-2.8.10.过程如下：

[root@TxT1-Server wxGTK-2.8.10]#  cd wxGTK-2.8.10
[root@TxT1-Server wxGTK-2.8.10]#  mkdri bld
[root@TxT1-Server wxGTK-2.8.10]# cd bld
[root@TxT1-Server bld]# ../configure --prefix=/opt/wx/2.8   /
                 --with-gtk   /
                 --with-gnomeprint /
                 --with-opengl  /
                 --enable-debug /
                 --enable-geometry /
                 --enable-graphics_ctx /
                 --enable-sound --with-sdl /
                 --enable-mediactrl /
                 --enable-display /
                 --disable-debugreport /
                 --enable-unicode /
                 --with-libjpeg=builtin /
                 --with-libpng=builtin /
                 --with-libtiff=builtin

编写一个脚本来完成make及make install

[root@TxT1-Server bld]#vim make-sh

#!/bin/shmake $*make -C contrib/src/gizmos $*make -C contrib/src/stc $*

[root@TxT1-Server bld]#chmod u+x make-sh

[root@TxT1-Server bld]#./make-sh

[root@TxT1-Server bld]# ./make-sh install

完成后再修改文件:/etc/ld.so.conf

[root@TxT1-Server bld]# vim /etc/ld.so.conf

添加"/usr/local/lib"

然后终端中执行命令：

[root@TxT1-Server bld]# /sbin/ldconfig

2. 下载安装wxPython-2.8.*

我用的是wxPython-2.8.7.1，下载地址为：http://sourceforge.net/project/showfiles.php?group_id=10718

解压后进入它的wxPython目录：
[root@TxT1-Server bld]#cd /opt/wxPython-src-2.8.7.1/wxPython

[root@TxT1-Server wxPython]# python2.5 setup.py build_ext --inplace --debug WX_CONFIG=/opt/wx/2.8/bin/wx-config  BUILD_GLCANVAS=0
WARNING: WXWIN not set in environment. Assuming '..'Preparing CORE...Preparing STC...Preparing GIZMOS...running build_extrunning build_extrunning build_ext

 完成后设置环境变量：

export LD_LIBRARY_PATH=/opt/wx/2.8/lib:$LD_LIBRARY_PATH
export PYTHONPATH=/opt/wx/2.8/wxPython:$PYTHONPATH

3. 编译安装Gazebo-0.7.0

首先设置环境变量：

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

然后进入gazebo的源码包目录：

./configure

make && make install

 

4 Bug：

即使gazebo在安装过程中没有报错，但在运行wxgazebo pioneer2at.world命令时仍然有错误：

/Python25/Lib/site-packages/wx-2.8-msw-unicode/wxPython/_misc.py",line 456, in <module> wxDateTime_GetNumberOfDaysinYear =wx._misc.DateTime_GetNumberOfDaysinYearAttributeError: 'module' object has no attribute'DateTime_GetNumberOfDaysinYear'

参考[1]，[2]，解决办法就是到[2]下载_misc.py和_core.py两个文件替换现有的相应文件：

#  cp _misc.py /usr/lib/python2.5/site-packages/wx-2.8-gtk2-unicode/wxPython/
#  cp _core.py /usr/lib/python2.5/site-packages/wx-2.8-gtk2-unicode/wxPython/

5. 运行wxgazebo命令打开world文件：

#wxgazebo pioneer2at.world

References:

[1] http://www.nabble.com/New-here-and-having-issues-td17974470.html
[2] http://svn.wxwidgets.org/viewvc/wx?view=rev&revision=51122

[3] http://www.wxpython.org/INSTALL.html
[4] http://wxpython.org/builddoc.php
[5] http://www.wxpython.org/BUILD.html
[6] http://www.nabble.com/Problems-building-wxpython-2.8.9.1-from-source-on-RHEL5-with-python-2.4-td20364109.html

[7] http://playerstage.sourceforge.net/wiki/Download

[8] http://irobotics.org/gazebo.html

[9] 安装wxPython