MRC/Tutorials/Setting up the PICO simulator

Gazebo

We will use the robot simulator [Gazebo] to simulate the PICO robot and its environment. This includes simulation of the physics and sensors of the robot. To install Gazebo:

1. Open a terminal (ctrl-alt-t)
2. Setup your computer to accept software from packages.osrfoundation.org:

   sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu precise main" > /etc/apt/sources.list.d/gazebo-latest.list'

3. Retrieve and install the keys for the Gazebo repositories:

   wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -

4. Update apt-get and install Gazebo.

   sudo apt-get update

   sudo apt-get install gazebo

5. Initialize.

   gzserver

   Wait until you get a message like Publicized address: ....

You can try if your Gazebo installation was successfull by either executing a gazebo client on a seperate terminal (i.e., while gzserver is running):

gzclient

Or by running the server and client at the same time with one command:

gazebo