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:

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 file, but was already present in /usr/lib, so we just added a link from to Same problem for /usr/X11R6/lib/libXt*.

cd /usr/lib
ln -s
ln -s

1.5.3. Pyro

If you have a CVS account:

First time:

cd /usr/local/
cvs -d co pyro 


cd /usr/local/pyro
cvs -d update -d

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

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:

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


  1. sudo apt-get install libgdal1-dev libgdal1


  1. wget

  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/


  1. sudo apt-get install libxml2-dev

  2. sudo ln -s

  3. wget

  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


sudo apt-get install libgtk2.0-dev
cd librtk-src-2.3.0
sudo make install


tar xvfz player-src-1.5.tar.gz
cd player-src-1.5/
./configure               # make sure that PKG_CONFIG_PATH is set
sudo make install


tar xvfz stage-src-1.3.4.tar.gz
cd stage-src-1.3.4
sudo make install

1.8. RobocupSoccer

sudo apt-get install libxaw7-dev
tar xvfz rcsoccersim-9.3.7.tar.gz
cd rcsoccersim-9.3.7
sudo make install