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We haven't been testing drcsim + ROS Groovy on Ubuntu 12.04, and we don't make binary installation packages for that configuration, but building from source should work.

Start by following the instructions for compiling from source on Ubuntu, replacing each occurrence of fuerte with groovy as you go.

If you encounter problems, please report them. And if/when you are successful, please update the instructions for future users who want to do the same thing; e.g., with a note to say that replacing fuerte with groovy is sufficient, or if necessary, with a separate section that details the groovy-specific process.

We haven't been testing drcsim + ROS Groovy on Ubuntu 12.04, and we don't make binary installation packages for that configuration, but building from source should work.

Start by following the instructions for compiling from source on Ubuntu, replacing each occurrence of fuerte with groovy as you go.

If you encounter problems, please report them. And if/when you are successful, please update the instructions for future users who want to do the same thing; e.g., with a note to say that replacing fuerte with groovy is sufficient, or if necessary, with a separate section that details the groovy-specific process.

Update, responding to error output: Most of that console output is normal, but gazebo is definitely dying:

Warning [gazebo_main.cc:62] escalating to SIGKILL on client
[gazebo-2] process has finished cleanly

My first guess is that there's a problem with your GPU drivers. What kind of GPU do you have? Do tools like glxgears work properly?

Try launching gazebo on its own, without the drcsim launch file (assuming here that you installed to /usr):

. /usr/share/gazebo/setup.sh
gazebo

Can you insert models into the world, manipulate the user camera, etc.?