This documentation describes how to set up a workspace for trying to compile Gazebo on Windows. It does not actually work yet.
It is recommended to have at least 30 Gigabytes of disk space to host Gazebo sources together with all the dependencies and compilation artifacts.
At this moment, compilation has been tested on Windows 7 and 8.1 and is supported when using Visual Studio 2013. Patches for other versions are welcome.
This installation procedure uses pre-compiled binaries in a local workspace. To
make things easier, use a MinGW shell for your editing work (such as the Git Bash Shell with Mercurial), and only use the
cmd for configuring and building. You might also need to
disable the Windows firewall.
Make a directory to work in, e.g.:
mkdir gz-ws cd gz-ws
Download the following dependencies into that directory:
Unzip each of them in gz-ws.
Also download Qt 4.8, using the link below, and unzip it into
Install cmake, make sure to select the "Add CMake to system path for all users" option in the install dialog box
Install Ruby 1.9 or greater. During the install process make sure add Ruby to your system paths.
Clone Ignition Math, Sdformat, and Gazebo:
hg clone https://bitbucket.org/ignitionrobotics/ign-math hg clone https://bitbucket.org/osrf/sdformat hg clone https://bitbucket.org/osrf/gazebo
Open a regular Windows shell (Start->Run->"cmd"->enter), and load your compiler setup by copying and pasting the following line:
"C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC\vcvarsall.bat" x86_amd64
In a Windows shell, configure and build Ignition Math
cd ign-math mkdir build cd build # if you want debug, run ..\configure Debug ..\configure Release nmake nmake install
You should now have an installation of Ignition Math in gz-ws/ign-math/build/install/Release.
In the same Windows shell, configure and build Sdformat
cd ..\..\sdformat mkdir build cd build # if you want debug, run ..\configure Debug ..\configure nmake nmake install
You should now have an installation of Sdformat in gz-ws/sdformat/build/install/Release or gz-ws/sdformat/build/install/Debug.
In the same Windows shell, configure and build Gazebo:
cd ..\..\gazebo mkdir build cd build # if you want debug, run ..\configure Debug ..\configure nmake gzclient nmake gzserver nmake install
Once this all works you should now have an installation of Gazebo in gz-ws/gazebo/build/install/Release or gz-ws/gazebo/build/install/Debug.
Adjust all paths to load dll
if in Debug
cd gz-ws\gazebo\build ..\win_addpath.bat Debug
if in Release
cd gz-ws\gazebo\build ..\win_addpath.bat Release
Create an ogre plugins.cfg file
If in Debug: Copy in the following into
plugins.cfg and replace MYUSERNAME with your actual username
# Define plugin folder PluginFolder=C:\Users\MYUSERNAME\gz-ws\ogre_src_v1-8-1-vc12-x64-release-debug\build\install\Debug\bin\Debug # Define plugins Plugin=RenderSystem_GL_d Plugin=Plugin_ParticleFX_d Plugin=Plugin_BSPSceneManager_d Plugin=Plugin_PCZSceneManager_d Plugin=Plugin_OctreeZone_d Plugin=Plugin_OctreeSceneManager_d
If in Release: Copy in the following into
# Define plugin folder PluginFolder=C:\Users\MYUSERNAME\gz-ws\ogre_src_v1-8-1-vc12-x64-release-debug\build\install\Release\bin\Release # Define plugins Plugin=RenderSystem_GL Plugin=Plugin_ParticleFX Plugin=Plugin_BSPSceneManager Plugin=Plugin_PCZSceneManager Plugin=Plugin_OctreeZone Plugin=Plugin_OctreeSceneManager
Copy this file into the
copy plugins.cfg gui\
Just in case that you need to debug problems on Gazebo
If you run into issues, use --verbose to get more information.
If you run into issues, use --verbose to get more information. A known issue is that it does not run on VirtualBox 3.4, with Ubuntu 15.04 Host. The current theory is that it does not support off-screen frame buffering. It has been confirmed to work on VMWare Player with windws 7 guest and Ubuntu 14.04 Host. More details will be added as testing continues.
Compile OIS in Visual Studio Use the project in Win32/ folder
Place OIS headers and libs into
ogre-...\Dependencies\include ogre-...\Dependencies\lib ogre-...\Dependencies\bin
Patch configure.bat inside ogre-1.8 to use
Compile as usual
Run the demo browser using:
# copy OIS_*.dll into the bin directory ogre-...\build\bin\SampleBrowser.exe