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ROS Groovy with Gazebo standalone

asked 2013-02-07 16:05:01 -0500

jys gravatar image

@nkoenig has mentioned that in my previous question that I can use standalone Gazebo with ROS Groovy..

So, I am curious how it can be done because I want to use the latest version of Gazebo.. In ROS, I have been launching PR2 in Gazebo by

roslaunch pr2_gazebo pr2_emptyworld.launch

If I want to do the same with Gazebo standalone, how can I have the same thing happen? Obviously, first I launch Gazebo by simply

gazebo

And then, how do I bring up PR2 and ROS?

Thanks!

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answered 2013-02-07 18:30:16 -0500

hsu gravatar image

updated 2013-02-07 18:45:47 -0500

EXPERIMENTAL

Checkout this simulator_gazebo hydro branch. Despite the branch name, build against groovy.

sudo apt-get install ros-groovy-urdfdom*

Next, checkout gazebo deprecated_parser_sdf_1.2_support branch and compile. This has actually been merged with the latest default tip of gazebo. Set install target to /usr.

cmake -DCMAKE_MODULE_PATH=/opt/ros/groovy/share -DCMAKE_INSTALL_PREFIX=/usr ..

Lastly, go to the simulator_gazebo groovy overlay, and do a rosmake.

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Thanks for tip, I will also try it.

ZdenekM gravatar imageZdenekM ( 2013-06-24 07:14:48 -0500 )edit
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Asked: 2013-02-07 16:05:01 -0500

Seen: 334 times

Last updated: Feb 07 '13