View source for Installing Gazebo 8 with ROS Kinetic

[[Category:IMS-robotics]]
== Installing ROS Kinetic and Gazebo 8 on Ubuntu 16.04 ==


=== Install ROS Kinetic ===

http://wiki.ros.org/kinetic/Installation/Ubuntu

1. Configure Ubuntu to allow "restricted", "universe" and "multiverse" repositories. Detailed instructions: 
   
https://help.ubuntu.com/community/Repositories/Ubuntu

2. Setup sources.list

* sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' 

3. Set up keys

* sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116 

4. Update package index

* sudo apt-get update 

5. Install ROS Kinetic

* sudo apt-get install ros-kinetic-desktop-full 

6. Initialize rosdep

* sudo rosdep init 

* rosdep update 

7. Add /opt/ros/kinetic/setup.bash to ".bashrc". The command has to be for every user planning to use ROS

* sudo echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc 

8. Rosinstall

* sudo apt-get install python-rosinstall 


=== Setup ROS Catkin workspace ===

http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment

1. Open a new terminal. Create folder for workspace

* mkdir -p ~/catkin_ws/src 

2. "Build" the empty workspace

* cd ~/catkin_ws/ 

* catkin_make 

3. Add ~/catkin_ws/devel/setup.bash to ".bashrc". The command has to be run with every user planning to use ROS

* sudo echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc 


=== Install Gazebo 8 ===

http://gazebosim.org/tutorials/?tut=ros_wrapper_versions

http://gazebosim.org/tutorials?tut=install_ubuntu

1. Open a new terminal. Uninstall Gazebo 7

* sudo apt-get remove gazebo7 

2. Install Gazebo 8 

* curl -ssL http://get.gazebosim.org | sh 

3. Install ROS Gazebo 8 packages

* sudo apt-get install ros-kinetic-gazebo8-ros-pkgs 

* sudo apt-get install ros-kinetic-gazebo8-ros-control 

* sudo apt install ros-kinetic-gazebo8-ros 

4. Try running Gazebo, launching for the first time will take a little longer than usual

* gazebo 



== Installing ROS Kinetic and Gazebo 8 (Before ros Gazebo8 packages were added to the repository) ==


*Install ROS Kinetic full installation 

[http://wiki.ros.org/kinetic/Installation/Ubuntu http://wiki.ros.org/kinetic/Installation/Ubuntu]

*Uninstall Gazebo 7

*Install Gazebo 8

[http://gazebosim.org/tutorials?tut=install_ubuntu http://gazebosim.org/tutorials?tut=install_ubuntu]

' curl -ssL http://get.gazebosim.org | sh '

*Clone gazebo_ros_pkgs to catkin_ws/src

[https://github.com/ros-simulation/gazebo_ros_pkgs gazebo_ros_pkgs https://github.com/ros-simulation/gazebo_ros_pkgs gazebo_ros_pkgs ]

*try to catkin_make
I got about 3 errors of missing dependencies one a time and installed them with ' sudo apt-get install ros-kinetic-<package_name> ' 
Some "_" needed to be "-" for installing, '''use tab-completion to finish typing'''. Install each package and repeat until successful.

after successfully catkin_make'ing the package the installation should be done.





*Error building keyboard_reader package
"error: ros/ros.h: No such file or directory"
Solved by adding the line " include_directories(${catkin_INCLUDE_DIRS}) " to package CMakeLists.txt 

[https://github.com/ros-interactive-manipulation/sql_database/issues/8 https://github.com/ros-interactive-manipulation/sql_database/issues/8]


*teleop_twist_keyboard
after installing teleop_twist_keyboard with ' sudo apt-get install ros-kinetic-teleop-twist-keyboard ' the package did not publish /cmd_vel. When uinstalled and built from source worked as expected.

[http://wiki.ros.org/teleop_twist_keyboard http://wiki.ros.org/teleop_twist_keyboard]