And this will actually result in:
- working Gazebo
- working rviz, rqt
- working roscore
Not bad? So, let us go:
(if in doubt OR you have an error on the way – see Slackware 14.1 and the tricks used there)
wget https://github.com/sbopkg/sbopkg/releases/download/0.38.1/sbopkg-0.38.1-noarch-1_wsr.tgz installpkg sbopkg-0.38.1-noarch-1_wsr.tgz sbopkg -i "pip ffmpeg x264"
umm… those two are important, really! … for a working youtube 🙂
This time I start with a gazebo:
hg clone https://bitbucket.org/osrf/sdformat cd sdformat/ mkdir build && cd build && make && make install
Ohh, missing packages. So fetch some:
pip install psutil sbopkg -i tinyxml sbopkg -i tinyxml2
Btw. this works perfectly now:
sbopkg -i ogre
And zmq:
git clone https://github.com/zeromq/libzmq cd libzmq/ mkdir build && cd build && cmake ../ && make && make install
Now get ready for ign-transport:
hg clone https://bitbucket.org/ignitionrobotics/ign-math cd ign-math/ mkdir build && cd build && cmake ../ && make && make install cd ../.. hg clone https://bitbucket.org/ignitionrobotics/ign-tools cd ign-tools/ mkdir build && cd build && cmake ../ && make && make install cd ../.. hg clone https://bitbucket.org/ignitionrobotics/ign-msgs cd ign-msgs/ mkdir build && cd build && cmake ../ && make && make install sbopkg -i protobuf hg clone https://bitbucket.org/ignitionrobotics/ign-transport cd ign-transport/ mkdir build && cd build && cmake ../ && make && make install cd ../.. wget https://archive.org/download/zeromq-3.2.5/zeromq-3.2.5.tar.gz tar -xzf zeromq-3.2.5.tar.gz cd zeromq-3.2.5 ./configure && make && make install
I was a bit confused, so I re-did:
cd ../libzmq/ cd build make install
just in case… oh, and:
git clone https://github.com/zeromq/cppzmq cd cppzmq/ cp *.hpp /usr/local/include/
Now do the sdformat
cd sdformat/ cd build && cmake ../ && make -j4 && make install
Yeah, -j4, I lost my patience (and started watching youtube on a laptop, so I can max out all cores)
Ok, what Gazebo needs? If I remember correctly from 14.1:
sbopkg -i hdf5 wget https://github.com/flexible-collision-library/fcl/archive/0.4.0.tar.gz tar -xzf 0.4.0.tar.gz cd fcl-0.4.0/ mkdir build && cd build/ && cmake ../
Ok, what am I missing?
sbopkg -i libccd cd ../.. git clone https://github.com/danfis/libccd cd libccd mkdir build && cd build && cmake ../ && make -j4 && make install
Ok, let us redo the fcl:
cd ../../fcl-0.4.0/ cd build && cmake ../ && make -j4 && make install
Hmm, simbody time?
git clone https://github.com/simbody/simbody cd simbody/ mkdir build && cd build && cmake ../
Daaaaaamn
sbopkg -i blas sbopkg -i lapack
Should be fine now:
cmake ../ && make && make -j4 && make install
What else for gazebo?
sbopkg -i FreeImage sbopkg -i tbb wget http://pocoproject.org/releases/poco-1.7.5/poco-1.7.5.tar.gz tar -xzf poco-1.7.5.tar.gz cd poco-1.7.5 ./configure && make -j4 && make install
And the final few:
sbopkg -i libtar sbopkg -i qwt
Now the correct version of transport:
hg clone -b ign-transport1 https://bitbucket.org/ignitionrobotics/ign-transport cd ign-transport mkdir build && cd build && cmake ../ && make -j4 && make install
And gazebo itself:
hg clone https://bitbucket.org/osrf/gazebo cd gazebo mkdir build && cd build && cmake ../ && make -j4 && make install
should be alright.
You may wanna do an ldconfig somewhere here, I got weird noises from libraries at my first try of building gazebo:
ldconfig
Ok, now for ROS:
git clone https://github.com/google/googletest cd googletest/ mkdir build && cd build && cmake ../ && make -j4 && make install
On Slack 14.2 you don’t need to do funky stuff to get PyQt5 in place for python2:
wget http://www.slackware.com/~alien/slackbuilds/qt5/pkg64/14.2/qt5-5.6.1_1-x86_64-1alien.txz installpkg qt5-5.6.1_1-x86_64-1alien.txz sbopkg -i PyQt5
(did I do qt5-webkit? I don’t know…)
Pyside and shiboken: (strangely I did pyside1… is it even really needed?!)
git clone https://github.com/pyside/shiboken
cd shiboken/
mkdir build && cd build/ && cmake ../ && make -j4 && make install
cd ../..
git clone https://github.com/pyside/pyside
cd pyside/
mkdir build && cd build && cmake ../ && make -j4 && make install
Now prepare a folder for ros:
(be sure to do as root) pip install -U rosdep rosinstall_generator wstool rosinstall rosdep init
Now I will try not to get greedy too soon, let me try to install basic ROS-comm only version:
rosinstall_generator ros_comm --rosdistro kinetic --deps --wet-only --tar > kinetic-ros_comm-wet.rosinstall wstool init -j1 src kinetic-ros_comm-wet.rosinstall
./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release
and in case you get stuck for example at roscore:
./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --from-pkg roscore
Prepare for the test:
mkdir ros-test1 cd ros-test1 source ~/ros_random/ros_comm/devel_isolated/setup.bash catkin_init_workspace
No defusedxml? Whoah?
pip install defusedxml pip install netifaces
Trying out:
bash-4.3$ roscore ... logging to /home/anil/.ros/log/882c6006-7bea-11e6-b2c2-20cf303cf4e3/roslaunch-inverse-11065.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is
seems good? Ok, communication is up and running, gazebo works, so time to try the ROS desktop edition.
Ros desktop (recommended), in short: start with obvious requirements:
sbopkg -i qhull wget http://www.cs.ubc.ca/research/flann/uploads/FLANN/flann-1.8.4-src.zip unzip flann-1.8.4-src.zip cd flann-1.8.4-src mkdir build && cd build && cmake ../ && make && make install sbopkg -i VTK it clone https://github.com/PointCloudLibrary/pcl cd pcl mkdir build && cd build && cmake ../ && make -j4 && make install
And try:
rosinstall_generator desktop --rosdistro kinetic --deps --wet-only --tar > kinetic-desktop-wet.rosinstall wstool init -j1 src kinetic-desktop-wet.rosinstall
./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release
and in case you get stuck for example at roscore:
./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --from-pkg roscore
Ha! Got it! Got stuck AND made it through in a correct way!
when building qt_gui_cpp you get an error:
/usr/share/sip/PyQt5/QtCore/qregularexpression.sip:26:32: fatal error: qregularexpression.h: No such file or directory compilation terminated.
It is caused by calling qmake instead of qmake-qt5 in … guess what! src/python_qt_binding
Yeah, didn’t see that one coming!
Inside the src/python_qt_binding/cmake/sip_configure.py there is:
env['QT_SELECT'] = '5'
qtconfig = subprocess.check_output(
['qmake', '-query'], env=env, universal_newlines=True)
a hard call to qmake with no version checking? that’s a scary fucked up code…
Substitue qmake with qmake-qt5 for now (duct tape fix)
qtconfig = subprocess.check_output(
['qmake-qt5', '-query'], env=env, universal_newlines=True)
You now have to redo a couple of packages that rely on python_qt_binding (grep -r -l “python_qt_binding” src/):
python_qt_binding qt_gui qt_gui_cpp qt_dotgraph qt_gui_py_common joint_state_publisher rqt_gui rviz ...
and so on, most of them haven’t been started yet, the rest – delete them from build_isolated and go again from the start to be sure.
Oh, and I checked – that’s the only file that calls qmake directly, the rest configures properly.
Btw. don’t forget about:
sbopkg -i opencollada sbopkg -i collada-dom
Just in case, if you get:
src/robot_model/collada_parser/src/collada_parser.cpp:45:17: fatal error: dae.h: No such file or directory
you added opencollada and collada-dom after compile error from collada-parser? Delete build_isolated/collada_parser and do it again – will work this time.
pip install numpy
(crickets)
rviz/yaml_config_reader.cpp:36:27: fatal error: yaml-cpp/node.h: No such file or directory
Hmm, he doesn’t shout it too clearly, but I don’t have this one:
sbopkg -i yaml-cpp
and delete build_isolated/rviz before retrying
Oh, I’m done? Time to be brave:
running rviz or rqt:
This application failed to start because it could not find or load the Qt platform plugin "xcb" in "". Available platform plugins are: eglfs, linuxfb, minimal, minimalegl, offscreen, xcb. Reinstalling the application may fix this problem.
so?
hmm:
locate libqxcb.s cd /usr/lib64/qt5/plugins/platforms ldd libqxcb.so
oh:
libxkbcommon-x11.so.0 => not found
libxkbcommon.so.0 => not found
so let me correct the mistake:
sbopkg -i xkbcommon
and to be sure:
ldd libqxcb.so | grep "not found"
seems ok now, back to testing:
FULL TEST:
1st console:
mkdir ros-test-desktop1 cd ros-test-desktop1 source ~/ros_random/ros_desktop/devel_isolated/setup.bash catkin_init_workspace roscore
OUTPUT:
... logging to /home/anil/.ros/log/b5bceaea-7c9e-11e6-9641-20cf303cf4e3/roslaunch-inverse-14848.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is
2nd console:
cd ros-test-desktop1 source ~/ros_random/ros_desktop/devel_isolated/setup.bash rviz
OUTPUT:
[ INFO] [1474093245.233130188]: rviz version 1.12.1 [ INFO] [1474093245.233739559]: compiled against Qt version 5.6.1 [ INFO] [1474093245.233759902]: compiled against OGRE version 1.9.0 (Ghadamon) libpng warning: iCCP: known incorrect sRGB profile libpng warning: iCCP: known incorrect sRGB profile [ INFO] [1474093246.550553427]: Stereo is NOT SUPPORTED [ INFO] [1474093246.550776178]: OpenGl version: 4.5 (GLSL 4.5). libpng warning: iCCP: known incorrect sRGB profile
and a beautiful window with GUI! rqt works too, gazebo shows up properly… that was a busy 5-day run and lots of coffee!
Have fun repeating it, if you are brave enough 🙂
Thanks! I got tripped up on the qregularexpression.h part on Fedora and managed to get past it with this.