Pyro Player/Stage Installation

These 2 packages are optional, but supported in Pyro:

1.  ODE - Open Dynamics Engine, 0.039
2.  Gazebo - Gazebo robot simulator, 0.4.0

You will need to download and install the following 4 packages:

1.  GSL - The GNU Scientific Library, at least version 1.3
2.  libRTK - Robot Toolkit Library, 2.3.0
3.  Player - Player robot interface, 1.5
4.  Stage - Stage robot simulator, 1.3.4

There are also copies of these files at emergent.brynmawr.edu/pyrobot/tars/ in case Sourceforge is unavailable.

Note that you if you are just doing an installation on a robot, then you probably only really need GSL, libRTK, and Player. If you are doing an install on a desktop, then you will probably want Stage and Gazebo too.

You will need to build these in the order shown above. Here is a brief guide: The dollar sign is the shell prompt.

As root, build and install ODE, and Gazebo:

$ export PKG_CONFIG_PATH=/usr/lib/pkgconfig/:/usr/local/lib/pkgconfig/
$ tar xvzf ode-0.039.tgz
$ cd ode-0.039
$ make configure
$ make ode-lib
$ cp -r include/ode /usr/local/include/
$ cp lib/libode.a /usr/local/lib/
$ cd ..
$ tar xfz gazebo-src-0.4.0.tar.gz
$ cd gazebo-src-0.4.0
$ ./configure
$ make
$ make install

You might need some packages. Under Fedora, for example, you might have to:

yum install freeglut-devel

Next, we are ready for the rest of Player/Stage:

$ tar xfz gsl-1.3.tar.gz
$ cd gsl-1.3
$ ./configure
$ make
$ make install
$ cd ..
$ tar xfz librtk-2.2.0.tar.gz
$ cd librtk-2.2.0
$ ./configure                        # default goes into /usr/local
$ make install
$ cd ..
$ tar xfz player-src-1.5.tgz
$ cd player-src-1.5
$ ./configure                        # default goes into /usr/local
$ make install
$ cd ..
$ tar xfz stage-src-1.3.4.tgz
$ cd stage-src-1.3.2
$ ./configure                        # default goes into /usr/local
$ make install

This will put the items in /usr/local/bin/, /usr/local/share/, etc.

Pyro will expect player and stage to be in the above locations (specifically /usr/local/share/stage/worlds/).

Make sure that player and stage are in the path by making sure that /usr/local/bin is in your path. You may have to:

$ export PATH=$PATH:/usr/local/bin

To test the install:

$ stage /usr/local/share/stage/worlds/everything.world &
$ playerv -h localhost -p 6665
$ playerv -h localhost -p 6666

Please follow the respective directions for installing ODE and Gazebo.

Trouble Shooting

If you get an error that says libgsl.so can't be found then you should make sure that /usr/local/lib is in your LD_LIBRARY_PATH or:

$ cat >> /etc/ld.so.conf
/usr/local/lib

^d
$ ldconfig

(That is, stick /usr/local/lib on the end of /etc/ld.so.conf and then run ldconfig).