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How to build citysim with Gazebo?

asked 2017-11-09 10:18:00 -0600

jokla gravatar image


I would like to try citysim. I have ubuntu 16.04 and ROS Kinetic. As suggested in the post, I am trying to build from source the citysim branch of Gazebo.

I followed the instructions on the page Install Gazebo from source (Ubuntu and Mac): I removed the Ubuntu pre-compiled binaries and Installed the Required Dependencies specifying ROS=kinetic as following:

wget https://bitbucket.org/osrf/release-tools/raw/default/jenkins-scripts/lib/dependencies_archive.sh -O /tmp/dependencies.sh ROS_DISTRO=kinetic . /tmp/dependencies.sh

After I tried to build Gazebo but I notice that ign-msgs1 is needed. I then tried to build ign-msgs1 from this branch .

When I try to build ign-msgs1 I get the following error:

-- BUILD ERRORS: These must be resolved before compiling.
--     Missing: Ignition math4 library.

Should I also build math4 library from source? Should I uninstall the dependencies that I uninstall with

sudo apt-get install $(sed 's:\\ ::g' <<< $BASE_DEPENDENCIES) $(sed 's:\\ ::g' <<< $GAZEBO_BASE_DEPENDENCIES)``


Is there any guide to follow to install citysim? Is the simulation compatible with ROS (Can I control the car via ROS messages)?

Thank you in advance!

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answered 2017-11-13 16:43:46 -0600

We're currently in the process of porting Gazebo's citysim branch to default so the new features are released with Gazebo 9 in January 2018. This means that until then, things will be constantly changing and it may be tricky at times to get all features working together.

It depends on the features you're interested in, if it is the city world and its models, it works even with Gazebo 7 or 8. All you need to do is setting GAZEBO_MODEL_PATH so it finds the models:

cd /path/to/citysim
gazebo --verbose worlds/simple_city.world

All the world objects, cars and human actors should be there, but you'll get a lot of errors about plugins not found.

Some plugins can be compiled against Gazebo 8, so if you're really interested on them, you could copy the code and build them from source. I haven't tested, but these should build against Gazebo 8:

Other plugins and Gazebo features will need to be ported to Gazebo, this is their latest status:

Regarding your question about controlling the Prius with ROS, you may want to check out the car_demo repository.

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Asked: 2017-11-09 10:18:00 -0600

Seen: 58 times

Last updated: Nov 13