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

Is there some documentation about how to build Gazebo for ROS after trying to apply some patches? I do need bumper sensors, which are still broken in 1.6.16 on Gazebo for ROS Fuerte.

The known patch was promised for 1.6.17, but this has not been released (as of 02/Oct/2012)...

A normal rosbuild either does nothing, or first downloads and then unpacks the "magic" tarballs with ROS-compatible Gazebo checkouts, which in turn overwrites any patches applied to the source tree...

Is the following correct?

1 install ros-fuerte-simulator-gazebo package

2 remove any existing ROS_NOBUILD 3 rosmake --pre-clean
(which downloads the magic tarball, unpacks, compiles everything) 4 cd to the actual gazebo source tree 5 edit some source files, apply patches, etc. 6 make 7 make install 8 cd to simulator_gazebo; touch ROS_NOBUILD

I am (trying to) use Gazebo on ROS Fuerte with the Shadow hand model. The latest available release version is 1.6.12, with

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

Is there some documentation about how to build Gazebo for ROS after trying to apply some patches? I do need bumper sensors, which are still broken in 1.6.16 on Gazebo for ROS Fuerte.

The known patch was promised for 1.6.17, but this has not been released (as of 02/Oct/2012)...

A normal rosbuild either does nothing, or first downloads and then unpacks the "magic" tarballs with ROS-compatible Gazebo checkouts, which in turn overwrites any patches applied to the source tree...

Is the following correct?

1

  1. install ros-fuerte-simulator-gazebo package

    2

  2. remove any existing ROS_NOBUILD 3 ROS_NOBUILD

  3. rosmake --pre-clean
    (which downloads the magic tarball, unpacks, compiles everything) 4 everything)

  4. cd to the actual gazebo source tree 5 tree

  5. edit some source files, apply patches, etc. 6 make 7 etc.

  6. make

  7. make install 8 install

  8. cd to simulator_gazebo; touch ROS_NOBUILD

I am (trying to) use Gazebo on ROS Fuerte with the Shadow hand model. The latest available release version is 1.6.12, with