Pyro Player/Stage Installation
These 2 packages are optional, but supported in Pyro:
You will need to download and install the following 4 packages:
GSL - The GNU Scientific Library, at least version 1.3
libRTK - Robot Toolkit Library, 2.3.0
Player - Player robot interface, 1.5
Stage - Stage robot simulator, 1.3.4
There are also copies of these files at http://emergent.brynmawr.edu/pyrobot/tars/ in case Sourceforge is unavailable.
Note that you if you are just doing an installation on a robot, then you probably only really need GSL, libRTK, and Player. If you are doing an install on a desktop, then you will probably want Stage and Gazebo too.
You will need to build these in the order shown above. Here is a brief guide:
The dollar sign is the shell prompt.
As root, build and install ODE, and Gazebo:
$ export PKG_CONFIG_PATH=/usr/lib/pkgconfig/:/usr/local/lib/pkgconfig/ $ tar xvzf ode-0.039.tgz $ cd ode-0.039 $ make configure $ make ode-lib $ cp -r include/ode /usr/local/include/ $ cp lib/libode.a /usr/local/lib/ $ cd .. $ tar xfz gazebo-src-0.4.0.tar.gz $ cd gazebo-src-0.4.0 $ ./configure $ make $ make install
You might need some packages. Under Fedora, for example, you might have to:
yum install freeglut-devel
Next, we are ready for the rest of Player/Stage:
$ tar xfz gsl-1.3.tar.gz $ cd gsl-1.3 $ ./configure $ make $ make install $ cd .. $ tar xfz librtk-2.2.0.tar.gz $ cd librtk-2.2.0 $ ./configure # default goes into /usr/local $ make install $ cd .. $ tar xfz player-src-1.5.tgz $ cd player-src-1.5 $ ./configure # default goes into /usr/local $ make install $ cd .. $ tar xfz stage-src-1.3.4.tgz $ cd stage-src-1.3.2 $ ./configure # default goes into /usr/local $ make install
This will put the items in /usr/local/bin/, /usr/local/share/, etc.
Pyro will expect player and stage to be in the above locations (specifically /usr/local/share/stage/worlds/).
Make sure that player and stage are in the path by making sure that /usr/local/bin is in your path. You may have to:
$ export PATH=$PATH:/usr/local/bin
To test the install:
$ stage /usr/local/share/stage/worlds/everything.world & $ playerv -h localhost -p 6665 $ playerv -h localhost -p 6666
Please follow the respective directions for installing ODE and Gazebo.
If you get an error that says libgsl.so can't be found then you should make sure that /usr/local/lib is in your LD_LIBRARY_PATH or:
$ cat >> /etc/ld.so.conf /usr/local/lib ^d $ ldconfig
(That is, stick /usr/local/lib on the end of /etc/ld.so.conf and then run ldconfig).