DRC/Install/3.0


 * 1) Install/maintain DRC Simulator version 3.0


 * 1) Rationale

Starting with version 3.1 the DRC Simulator has suffered some improvements and migrations which highly affect users of precise/fuerte version. drcsim-3.1 will change the ROS supported version to Groovy since Fuerte is now deprecated officially.


 * 1) Keep using 3.0 version


 * 1) Install drcsim-3.0 from scratch


 * 1) Clean up current installed packages ####

The system should be free of new packages build on top of gazebo-current (2.0.0) to be sure:

sudo apt-get remove gazebo-current osrf-common sandia-hand ros-$ROS_DISTRO-gazebo-msgs


 * 1) Dependencies ####

Next chapter will cover the installation of drcsim-3.0.0 software usind directly deb packages and dpkg, which will not handle dependencies. This is fine since packages are installed and not configured and we will fix the missing deps in the last chapter "Installing all missing dependencies".


 * 1) Installation ####

drcsim-3.0 including all its dependencies can be installed using .debs packages. Gazebo is currently in version 2.0.0 which is not compatible with drcsim-3.0 so you will also need to install it from debs:

# Install gazebo-1.9.1-2, standard way sudo apt-get install gazebo

# Note that instructions are for precise and amd64, please use your current configuration # Remember that prior to drcsim-3.1, in this 3.0 instructions, precise is still working on fuerte. # You may have to manually install fuerte dependencies:

sudo apt-get install ros-fuerte-pr2-mechanism ros-fuerte-std-msgs ros-fuerte-common-msgs ros-fuerte-image-common ros-fuerte-geometry ros-fuerte-pr2-controllers ros-fuerte-geometry-experimental ros-fuerte-robot-model-visualization ros-fuerte-image-pipeline ros-fuerte-image-transport-plugins

# Don't worry about error messages concerning dependencies, will be fixed later, run all the commands anyway.

# ros-gazebo-pkgs 2.3.1 cd /tmp/ wget http://gazebosim.org/assets/distributions/ros-groovy-gazebo-msgs_2.3.1-0precise_amd64.deb sudo dpkg -i ros-groovy-gazebo-msgs_2.3.1-0precise_amd64.deb wget http://gazebosim.org/assets/distributions/ros-groovy-gazebo-plugins_2.3.1-1precise_amd64.deb sudo dpkg -i ros-groovy-gazebo-plugins_2.3.1-1precise_amd64.deb wget http://gazebosim.org/assets/distributions/ros-groovy-gazebo-ros_2.3.1-1precise_amd64.deb sudo dpkg -i ros-groovy-gazebo-ros_2.3.1-1precise_amd64.deb

# osrf-common 1.0.6 wget http://gazebosim.org/assets/distributions/osrf-common_1.0.6-1~precise_amd64.deb sudo dpkg -i osrf-common_1.0.6-1~precise_amd64.deb

# sandia-hand 5.1.16 wget http://gazebosim.org/assets/distributions/sandia-hand_5.1.16-1~precise_amd64.deb sudo dpkg -i sandia-hand_5.1.16-1~precise_amd64.deb

# drcsim-3.0 wget http://gazebosim.org/assets/distributions/drcsim_3.0.0-1~precise_amd64.deb sudo dpkg -i drcsim_3.0.0-1~precise_amd64.deb

If you want to keep using these versions and do not want apt-get to update things please read the following chapter.


 * 1) Avoid updates that break drcsim-3.0

For current working installations of drcsim-3.0 or recent installation from these same instructions, updates can be avoided by using the following commands:

sudo apt-mark hold gazebo-current ros-groovy-gazebo-msgs ros-groovy-gazebo-plugins ros-groovy-gazebo-ros osrf-common sandia-hand drcsim


 * 1) Installing all missing dependencies

Reaching this point, you have installed all the needed packages but they are not available until you install all missing dependencies. It is an easy step.

Remember that you had to run the previous apt-mark command prior to do this.

sudo apt-get install -f