Install Directly on Host

This tutorial will walk you through the setup required to make a host machine ready to build and run the Dave simulations. Note that:

• your host will need to satisfy the minimum System Requirements, and
• the steps below assume you are running Ubuntu 20.04.

Install all dependencies

Upgrade to the latest packages:

sudo apt update
sudo apt full-upgrade

Install required tools:

sudo apt install -y build-essential cmake cppcheck curl git gnupg libeigen3-dev libgles2-mesa-dev lsb-release pkg-config protobuf-compiler python3-dbg python3-pip python3-venv qtbase5-dev ruby software-properties-common sudo wget

Install required ROS and Gazebo Packages

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros1-latest.list'
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-keys C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt update
DIST=noetic
GAZ=gazebo11
sudo apt install -y \
${GAZ} \
lib${GAZ}-dev \
python3-catkin-tools \
python3-rosdep \
python3-rosinstall \
python3-rosinstall-generator \
python3-vcstool \
libignition-math2 \
ros-${DIST}-gazebo-plugins \
ros-${DIST}-gazebo-ros \
ros-${DIST}-gazebo-ros-control \
ros-${DIST}-gazebo-ros-pkgs \
ros-${DIST}-effort-controllers \
ros-${DIST}-geographic-info \
ros-${DIST}-hector-gazebo-plugins \
ros-${DIST}-joint-state-controller \
ros-${DIST}-joint-state-publisher \
ros-${DIST}-joy \
ros-${DIST}-joy-teleop \
ros-${DIST}-key-teleop \
ros-${DIST}-move-base \
ros-${DIST}-robot-localization \
ros-${DIST}-robot-state-publisher \
ros-${DIST}-ros-base \
ros-${DIST}-rqt \
ros-${DIST}-rqt-common-plugins \
ros-${DIST}-rqt-robot-plugins \
ros-${DIST}-rviz \
ros-${DIST}-teleop-tools \
ros-${DIST}-teleop-twist-joy \
ros-${DIST}-teleop-twist-keyboard \
ros-${DIST}-tf2-geometry-msgs \
ros-${DIST}-tf2-tools \
ros-${DIST}-velodyne-gazebo-plugins \
ros-${DIST}-velodyne-simulator \
ros-${DIST}-xacro

Note that the manipulator arm requires the ros-melodic-effort_controllers and glider_hybrid_whoi repository requires the 'ros-melodic-hector-gazebo-plugins'

Set up .bashrc for working with ROS Noetic:

source /opt/ros/noetic/setup.bash

Verify Gazebo setup

Run Gazebo to verify that it starts:

gazebo

Verify that a supported version of gazebo is installed with

gazebo --version

which should yield something like...

Gazebo multi-robot simulator, version 9.19.0

Next: Get the Source Code