# Revision history [back]

### ARIAC Installation Instructions

Hello! I'm trying to install the ARIAC simulator on ROS Kinetic + Gazebo 7 + Ubuntu 16.04, both installed from apt. The installation instructions suggest binaries, but I didn't see any indication of where to obtain them, so I attempted to compile from source. I ran into a protobuf conflict between the protobuf version used to compile the Gazebo 7 apt package and the version required for tensorflow, and tried recompiling the Gazebo protobuf to match. Unfortunately, I think that introduced more problems:

[ 73%] Building CXX object ariac/gear_example/CMakeFiles/gear_example_node.dir/src/gear_example_node.cpp.o
from /home/rstory/Repositories/catkin_ws/src/ariac/osrf_gear/src/PopulationPlugin.cc:28:
/usr/include/gazebo-7/gazebo/physics/Entity.hh:277:31: error: ‘ConstPosePtr’ has not been declared
private: void OnPoseMsg(ConstPosePtr &_msg);
^
In file included from /usr/include/gazebo-7/gazebo/physics/Collision.hh:33:0,
from /home/rstory/Repositories/catkin_ws/src/ariac/osrf_gear/src/VacuumGripperPlugin.cc:29:
/usr/include/gazebo-7/gazebo/physics/Entity.hh:277:31: error: ‘ConstPosePtr’ has not been declared
private: void OnPoseMsg(ConstPosePtr &_msg);
^
In file included from /usr/include/gazebo-7/gazebo/physics/Model.hh:34:0,
from /usr/include/gazebo-7/gazebo/physics/Actor.hh:24,
from /usr/include/gazebo-7/gazebo/physics/physics.hh:2,
from /home/rstory/Repositories/catkin_ws/src/ariac/osrf_gear/src/ProximityRayPlugin.cc:21:
/usr/include/gazebo-7/gazebo/physics/Entity.hh:277:31: error: ‘ConstPosePtr’ has not been declared
private: void OnPoseMsg(ConstPosePtr &_msg);


I assume that if I want to use a version of protobuf that supports tensorflow I'll have to recompile Gazebo from source. Does Gazebo support Protobuf 3.0?

Better still would be instructions on how to obtain to ARIAC binaries so I didn't have to try to sort out the protobuf mismatch.

Thanks