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Install, Configure, Uninstall
Supported Operating System: Ubuntu 16.04
Supported Simulation Environment: Gazebo 8
Since XBotControl comes with built-in ROS support, you should first install and configure ROS kinetic as described here http://wiki.ros.org/kinetic/Installation/Ubuntu
In particular do not forget the configuration step:
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
Download the release version you want to install from https://github.com/ADVRHumanoids/XBotControl/releases
For example, if I want to install XBotControl X.Y.Z you will do the following:
wget https://github.com/ADVRHumanoids/XBotControl/releases/download/vX.Y.Z/XBotControl_X.Y-Z.deb
sudo apt-get install gdebi # utility that lets you install local deb packages resolving and installing its dependencies.
sudo gdebi XBotControl_X.Y-Z.deb
First of all source the XBot setup.bash
. /opt/xbot/build/install/share/xbot/setup.bash
You can check that the sourcing has effect in your bash terminal by echoing the $XBOT_ROOT env variable.
echo $XBOT_ROOT
The answer should be:
/opt/xbot/build/install/share/xbot
You can also choose to put the source command in your .bashrc:
echo ". /opt/xbot/build/install/share/xbot/setup.bash" >> ~/.bashrc
. ~/.bashrc
Later on you can set YOUR_CONFIG_YAML (e.g. /home/embedded/configs/my_robot.yaml): this is going to be used in the following XBotCore executions.
set_xbot_config YOUR_CONFIG_YAML
sudo dpkg -P xbotcontrol
- Install Gazebo 8 on Ubuntu 16.04 after the above described installation
sudo apt-get remove gazebo7*
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 http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get install gazebo8 libgazebo8-dev ros-kinetic-gazebo8-*
- if you have linking issues with the latest version of orocos_kdl, a temporary fix is the following:
sudo ln -s /opt/ros/kinetic/lib/liborocos-kdl.so.1.3.2 /opt/ros/kinetic/lib/liborocos-kdl.so.1.3.0