How to bypass the ros-gazebo rosmake/makefile magic?

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Hi,

I'd recommend the following steps:

1. leave the debian installs (things inside /opt/ros/fuerte/* untouched) and work off of an overlay by following the steps below. If you have already changed files inside of /opt/ros/fuerte/*, you might want to consider reinstalling affected packages by

   sudo apt-get install --reinstall ros-fuerte-simulator-gazebo
   

2. create a workspace directory and cd into it

    mkdir ~/workspace
    cd ~/workspace
   

3. checkout simulatorgazebo stack.

   svn co https://code.ros.org/svn/ros-pkg/stacks/simulatorgazebo/branches/simulatorgazebo-1.6 simulatorgazebo
   

4. let ros know you want to use this stack instead of the one inside /opt/ros/fuerte/... and refresh rospack

   export ROSPACKAGEPATH=~/workspace:$ROSPACKAGEPATH
   rospack profile
   

5. build simulator_gazebo. Note that gazebo is pulled in from mercurial repo and built (see Makefile.gazebo.hg).

   rosmake simulator_gazebo
   

6. to make changes to gazebo, go inside the mercurial checkout inside simulator_gazebo/gazebo/build/gazebo-hg/.

Note that above is compiled against a ''fuerte''-branch inside of gazebo repository, it's a snapshot back at revision gazebo-1.0.2. I've been testing it with gazebo-1.2.0 release candidate, if you want to test that branch out, get the sdf_1.2 branch

svn co https://code.ros.org/svn/ros-pkg/stacks/simulator_gazebo/branches/sdf_1.2 simulator_gazebo

But this is not yet completely stable. And to run pr2 simulation, you might also want to checkout pr2_common along with it due to changes in SDF:

svn co https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_common/branches/sdf_1.2 pr2_common

as well as pr2_simulator

svn co https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_simulator/trunk pr2_simulator

into your workspace.