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PyroInstallationDebian


1. Pyro Installation: Debian

Instructions for installing Pyro under Debian. This assumes at least Pyro version 3.3.2.

Yannick Brosseau has created Debian packages (.deb) of Player, Stage, and librtk (and is planning Gazebo). You can find his packages at:

http://scientist.dyndns.org/debianrobot

These instructions do not incorporate those .deb packages yet.

1.1. Numeric

sudo apt-get install python-numeric

1.2. SWIG

sudo apt-get install swig

1.3. PIL

sudo apt-get install python-imaging
sudo apt-get install python-imaging-tk

1.4. Tkinter

sudo apt-get install python2.3-tk
sudo apt-get install tix8.1

1.5. Pyro

1.5.1. Video for linux support

apt-get install libjpeg62 libjpeg62-dev

/!\ TODO: edited V4L.cpp and V4L.h, comment out competing V4L macros

1.5.2. Khepera simulator

There wasn't a proper libXm.so file, but libXm.so.2 was already present in /usr/lib, so we just added a link from libXm.so to libXm.so.2. Same problem for /usr/X11R6/lib/libXt*.

cd /usr/lib
ln -s libXm.so.2 libXm.so
ln -s libXt.so.6 libXt.so

1.5.3. Pyro

If you have a CVS account:

First time:

cd /usr/local/
cvs -d anonymous@bubo.brynmawr.edu:/home/CVS co pyro 

Thereafter:

cd /usr/local/pyro
cvs -d anonymous@bubo.brynmawr.edu:/home/CVS update -d

Otherwise, if you don't have a CVS account:

wget http://dangermouse.brynmawr.edu/pyrobot/tars/pyro-latest.tgz
tar xfz pyro-latest.tgz
cd pyro

Then make it:

sudo make
accepted most defaults (n on BT848 option, y on rest)

You can get an updated Pyro tar ball, and drop it on top of an older Pyro version. Just remake it.

1.6. Gazebo

(!) UPDATE: Don't build them, use apt-get. Follow these directions: http://scientist.dyndns.org/debianrobot

export PKG_CONFIG_PATH=/usr/lib/pkgconfig/:/usr/local/lib/pkgconfig/

GDAL:

  1. sudo apt-get install libgdal1-dev libgdal1

ODE:

  1. wget http://emergent.brynmawr.edu/pyrobot/tars/ode-0.039.tgz

  2. tar xvzf ode-0.039.tgz

  3. cd ode-0.039

  4. edited the last line of the file ode-0.039/config/user-settings to be:

  5. OPCODE:

    1. cd OPCODE

    2. make

    3. sudo mkdir /usr/local/include/opcode

    4. sudo cp *.h /usr/local/include/opcode/

    5. sudo mkdir /usr/local/include/opcode/Ice

    6. sudo cp Ice/*.h /usr/local/include/opcode/Ice

    7. sudo cp libopcode.a /usr/local/lib/

    8. cd ..

  6. make configure

  7. make ode-lib

  8. sudo cp -r include/ode /usr/local/include/

  9. sudo cp lib/libode.a /usr/local/lib/

Gazebo:

  1. sudo apt-get install libxml2-dev

  2. sudo ln -s libXmu.so.6 libXmu.so

  3. wget http://emergent.brynmawr.edu/pyrobot/tars/gazebo-src-0.4.0.tar.gz

  4. tar xfz gazebo-src-0.4.0.tar.gz

  5. cd gazebo-src-0.4.0

  6. ./configure

  7. make

  8. sudo make install

1.7. Player

sudo apt-get install libgsl0 gsl-bin

libRTK:

sudo apt-get install libgtk2.0-dev
wget http://emergent.brynmawr.edu/pyrobot/tars/librtk-src-2.3.0.tar.gz
cd librtk-src-2.3.0
./configure
make
sudo make install

Player:

wget http://emergent.brynmawr.edu/pyrobot/tars/player-src-1.5.tar.gz
tar xvfz player-src-1.5.tar.gz
cd player-src-1.5/
./configure               # make sure that PKG_CONFIG_PATH is set
make
sudo make install

Stage:

wget http://emergent.brynmawr.edu/pyrobot/tars/stage-src-1.3.4.tar.gz
tar xvfz stage-src-1.3.4.tar.gz
cd stage-src-1.3.4
./configure
make
sudo make install

1.8. RobocupSoccer

sudo apt-get install libxaw7-dev
wget http://dangermouse.brynmawr.edu/pyrobot/tars/rcsoccersim-9.3.7.tar.gz
tar xvfz rcsoccersim-9.3.7.tar.gz
cd rcsoccersim-9.3.7
./configure
make
sudo make install