Gazebo Fuel_tools: Installation

Overview

Instructions to install Gazebo Fuel Tools on all the platforms supported.

Binary Install

Ubuntu Linux

Setup your computer to accept software from packages.osrfoundation.org:

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'

Setup keys:

wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -

Install Gazebo Fuel Tools:

sudo apt-get update

sudo apt-get install libgz-fuel-tools4-dev

Mac OS X

Gazebo Fuel Tools and several of its dependencies can be compiled on OS X with Homebrew using the osrf/simulation tap. Gazebo Fuel Tools can be installed on Mac OS X 10.11 (El Capitan) or higher. Installation on older versions requires changing the default standard library and rebuilding dependencies due to the use of c++11. For purposes of this documentation, I will assume OS X 10.11 or greater is in use. Here are the instructions:

Install homebrew, which should also prompt you to install the XCode command-line tools:

ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"

Run the following commands:

brew tap osrf/simulation

brew install gz-fuel-tools4

Windows

Install Conda package management system. Miniconda suffices.

Create if necessary, and activate a Conda environment:

conda create -n gz-ws

conda activate gz-ws

Install:

conda install libgz-fuel-tools<#> --channel conda-forge

Be sure to replace <#> with a number value, such as 4 or 5, depending on which version you need.

Source Install

Ubuntu Linux

For compiling the latest version of Gazebo Fuel Tools you will need an Ubuntu distribution equal to 16.04 (Xenial) or newer.

Make sure you have removed the Ubuntu pre-compiled binaries before installing from source:

sudo apt-get remove libgz-fuel-tools4-dev

Install prerequisites. A clean Ubuntu system will need:

sudo apt-get install git cmake pkg-config python ruby-ronn libgz-cmake2-dev libgz-common3-dev libgz-msgs5-dev libgz-tools-dev libzip-dev libjsoncpp-dev libcurl4-openssl-dev libyaml-dev

Clone the repository into a directory and go into it:

git clone https://github.com/gazbosim/gz-fuel-tools /tmp/gz-fuel-tools

cd /tmp/gz-fuel-tools

Create a build directory and go there:

mkdir build

cd build

Configure Gazebo Fuel Tools (choose either method a or b below):

A. Release mode: This will generate optimized code, but will not have debug symbols. Use this mode if you don't need to use GDB.
cmake ../

Note: You can use a custom install path to make it easier to switch between source and debian installs:
cmake -DCMAKE_INSTALL_PREFIX=/home/$USER/local ../
B. Debug mode: This will generate code with debug symbols. Gazebo Fuel Tools will run slower, but you'll be able to use GDB.
cmake -DCMAKE_BUILD_TYPE=Debug ../

The output from cmake ../ may generate a number of errors and warnings about missing packages. You must install the missing packages that have errors and re-run cmake ../. Make sure all the build errors are resolved before continuing (they should be there from the earlier step in which you installed prerequisites).

Make note of your install path, which is output from cmake and should look something like:

-- Install prefix: /home/$USER/local

Build Gazebo Fuel Tools:

make -j4

Install Gazebo Fuel Tools:

sudo make install

If you decide to install the library in a local directory you'll need to modify your LD_LIBRARY_PATH:

echo "export LD_LIBRARY_PATH=<install_path>/local/lib:$LD_LIBRARY_PATH" >> ~/.bashrc

Uninstalling Source Install

If you need to uninstall Gazebo Fuel Tools or switch back to a debian-based install when you currently have installed the library from source, navigate to your source code directory's build folders and run make uninstall:

cd /tmp/gz-fuel-tools/build

sudo make uninstall

Windows

Prerequisites

First, follow the gz-cmake tutorial for installing Conda, Visual Studio, CMake, etc., prerequisites, and creating a Conda environment.

Navigate to condabin if necessary to use the conda command (i.e., if Conda is not in your PATH environment variable. You can find the location of condabin in Anaconda Prompt, where conda).

Create if necessary, and activate a Conda environment:

conda create -n gz-ws

conda activate gz-ws

Install dependencies:

conda install jsoncpp libzip --channel conda-forge

Install Gazebo dependencies:

You can view available versions and their dependencies:

conda search libgz-fuel-tools* --channel conda-forge --info

Install Gazebo dependencies, replacing <#> with the desired versions:

conda install libgz-cmake<#> libgz-common<#> libgz-msgs<#> libgz-tools<#> --channel conda-forge

Building from source

Activate the Conda environment created in the prerequisites:
conda activate gz-ws
Navigate to where you would like to build the library, and clone the repository.
# Optionally, append `-b gz-fuel-tools#` (replace # with a number) to check out a specific version

git clone https://github.com/gazebosim/gz-fuel-tools.git
Configure and build
cd gz-fuel-tools

mkdir build

cd build

cmake .. -DBUILD_TESTING=OFF # Optionally, -DCMAKE_INSTALL_PREFIX=path\to\install

cmake --build . --config Release
Optionally, install. You wil likely need to run a terminal with admin privileges for this call to succeed.
cmake --install . --config Release