Ignition Robotics - Gazebo

Posted on Edited on In

It seems Gazebo is NOW a part of Ignition Robotics??? Please take a look at my Ignition Robotics Bitbucket Issue What's the realationship between ign-gazebo and gazebo? And, today, let's build IgnitionRobotics from source.

How to Build IgnitionRobotics

Use Branch gz11

NOTE: In order to have the LATEST version built, please make sure you always give the priority to branch gz11 rather than branch default.

For instance ign-cmake:

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git clone https://bitbucket.org/ignitionrobotics/ign-cmake/src/gz11/

Important Things

Two things to emphasize before building. 1. To have all the packages at Ignition Robotics Development Libraries successfully built, we need to build all libraries in a particular sequence. 2. Some required 3rd-party libraries are additionally installed while building Ignition Robotics Development Libraries, including:

  • gdal
  • DART
  • OpenSceneGraph
  • Ogre2
  • vrpn
  • OSVR: Please make sure unifiedvideoinertialtracker is excluded from building for now. 
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    #add_subdirectory(unifiedvideoinertialtracker)
  • folly: required by unifiedvideoinertialtracker, which requires boost built by C++14. For now, this is excluded from building.

Build Ignition Robotics

Now, let's start building Ignition Robotics Development Libraries.

  1. ign-cmake: BUILD_TESTING OFF
  2. ign-math: ruby-dev needs to be installed FIRST
  3. ign-common: libgts needs to be installed FIRST
  4. ign-tools
  5. ign-msgs
  6. ign-transport: CXX_FLAGS=-I/usr/include/c++/7 and comment out line #35 of file test_config.h. 
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    //#include <filesystem> // line 35
  7. ign-rendering: Modify CMakeLists.txt line 62, ogre to ogre2
  8. ign-plugin
  9. ign-gui
  10. ign-fuel-tools
  11. SDFormat8: C++8 is required for building
  12. ign-physics: Since I'm using dart 7.0, please figure out some trivial bugs about DartLoader in file DARTDoublePendulum.cc.
  13. ign-sensors
  14. ign-gazebo
  15. gazebo: Going to be deprecated soon 
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    -- BUILD WARNINGS
    -- Oculus Rift support will be disabled.
    -- END BUILD WARNINGS

Some Bugs Proposed by Me

Some Tests

ign-rendering via Ogre2 Test

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21:31:15: Starting .../IgnitionRobotics/Ogre2Demo...
[Wrn] [ColladaLoader.cc:2070] Triangle input semantic: 'COLOR' is currently not supported
[Msg] Loading plugin [ignition-rendering1-ogre2]
===============================
  TAB - Switch render engines  
  ESC - Exit                   
===============================
Selected visual at position: 309 294: pump
Selected visual at position: 458 307: sphere
Selected visual at position: 515 327: pump
Selected visual at position: 447 365: pump
Selected visual at position: 497 427: plane
Selected visual at position: 197 328: cylinder
Selected visual at position: 241 394: cylinder
Selected visual at position: 130 340: duck
Selected visual at position: 419 444: duck
No visual found at position: 503 296
Selected visual at position: 505 350: pump
Selected visual at position: 412 326: pump
Selected visual at position: 385 230: duck
Selected visual at position: 361 264: box
Selected visual at position: 396 270: sphere
Selected visual at position: 322 335: pump
Selected visual at position: 359 352: plane
Selected visual at position: 539 422: plane
Selected visual at position: 406 366: pump
Selected visual at position: 431 374: pump
Selected visual at position: 510 422: cylinder
Ogre2 Demo

ign-gazebo Performance Test

Matching Entity

ign-gazebo Integration Test