The Neurorobotics Platform (NRP) is a subproject of the Human Brain Project (HBP), funded by the European Commission (EC). It is distributed as open source under the terms of the GNU Public License version 2, which you can find a copy of in each of our repositories.

Visit our website!

You also might want to browse the Neurorobotics Platform's guide book to discover its features.

What is this repository for?

This is the meta-repository for the Neurorobotics Platform. It provides the guide to installation of the Platform from source code.

Who do I talk to?

To report a bug or request a new feature, please use our Jira issue tracker.

To get support from the developer team, post on our forum.

In case you need to contact us for another purpose, please use the contact form.

Source code full NRP installation

Supported OS

This installation doc has been tested on Ubuntu 14.04 and Ubuntu 16.04. If using a different distribution, you will have to adapt the dependencies without support from us. Installations on virtual machines
are often failing due to bad support of gpu drivers, but you can configure NRP to use CPU-rendering instead. This will slow it down, but should work.

Latest Ubuntu 16.04 updates (as of March 2019) may break python paths

When installing a fresh Ubuntu 16.04, do not select the automatically update checkbox before installation starts. This leads to broken python paths that are hardly recoverable.

2017.12.13 note : If Nest build fails

We changed the version of Nest to 2.12. This version uses a different build system. We tried to have an as smooth as possible update process, but the update_nrp script might have trouble building Nest.
In that case, the easiest is to save your local Nest changes (don't stash, really copy then somewhere else), and to reclone the repo and redo the build steps.

    cd $HBP
    rm -rf nest-simulator
    git clone

Then just either relaunch "update_nrp build all" or run the Nest build steps manually on your freshly cloned repo.


Apt and pip are not good friends. If you installed many dist-packages using sudo pip install, you should consider uninstalling them and using the deb packages provided by Ubuntu instead, even if the versions are late. Indeed, the deb packages are tested by Ubuntu and work together. They are the reference. Anything else is installed locally at build time.
So, practically, you should have a $HOME/.local/lib/python2.7/dist-packages containing ONLY Nest related stuff: nest, PyNest, Topology and ConnPlotter. If you have other packages, that exist as deb packages, you are strongly advised to pip uninstall them and apt-get install the deb versions instead.
In particular, pip should be the official Ubuntu one, and not be pip installed.

pip uninstall pip
sudo apt-get install python-pip

PLEASE: see known issues and troubleshooting and the end of the page!

This documentation helps you install a fully local neurorobotics platform. You can of course choose to install all the backend stuff on one computer and the frontend on your laptop for example also, but this is not described here.
Very important: in this setup, NRP is installed in your user space (no root install).

NRP Installation

1. Initial set up

  1. Create a folder in you home which will contain required 3rd-party software

    mkdir $HOME/.local
  2. Create a new directory where you will install all the source code for NRP. We suggest $HOME/Documents/NRP. This directory will be referred to in the rest of this document as $HBP.
    Add the $HBP environment variable to your bashrc.
    Add the $NRP_INSTALL_MODE variable to your bashrc which will make sure you use the publicly accessible code and build process.

    # add the following to your $HOME/.bashrc file
    export HBP=$HOME/Documents/NRP  # Or whatever installation path you chose
    export NRP_INSTALL_MODE=user  # skip this variable if you are a core NRP developer and want the developer branches of the repos

    Source your .bashrc

    source $HOME/.bashrc
  3. Apt prerequisites

    sudo apt-get install cmake git build-essential doxygen python-dev python-h5py python-lxml autogen automake libtool build-essential autoconf libltdl7-dev libreadline6-dev libncurses5-dev libgsl0-dev python-all-dev python-numpy python-scipy python-matplotlib ipython ipython-notebook libxslt1-dev zlib1g-dev python-opencv ruby libtar-dev libprotoc-dev protobuf-compiler imagemagick libtinyxml2-dev git python-virtualenv libffi-dev uwsgi-plugin-python python-pip git
  4. Clone the user-scripts repository. This repository includes some helper scripts to ease the installation.

    mkdir -p $HBP
    cd $HBP
    git clone --branch=master
  5. Use the clone-all-repos script from user-scripts to clone all necessary repos at once. The $HBP variable need to be set for this script to work successfully!

    cd $HBP/user-scripts
  6. Set up your environment automatically by adding the following two lines at the Bottom of your .bashrc

    . $HBP/user-scripts/nrp_variables
    . $HBP/user-scripts/nrp_aliases

    Note: Generally, if you want to change any of the variables for any reason, then override the variables in your .bashrc and do not alter the nrp_variables file.

    Warning: If your PYTHONPATH is not empty, your bashrc will now print a warning that the Platform might not run properly. You might want to ignore that. But if you experience
    problems with the Platform later, consider erasing PYTHONPATH in your .bashrc before loading nrp_variables.

    Then source you bashrc. Note that you will get some expected errors after sourcing the bashrc if you're doing a fresh install. This is due to some missing files that will be instantiated during the installation process.

    source $HOME/.bashrc

2. Install ROS

Note: if you already installed ROS for your Ubuntu from apt-get, then you can skip this section.

  1. Add GPG key of ROS to apt

    sudo wget -O - | sudo apt-key add -
  2. Add apt repository for ROS

    # On Ubuntu 14.04 trusty
    sudo apt-add-repository "deb trusty main"
    # OR
    # On Ubuntu 16.04 xenial
    sudo apt-add-repository "deb xenial main"
  3. Update repositories

    sudo apt-get update
  4. Install ROS Indigo for Ubuntu 14 or ROS Kinetic for Ubuntu 16. Indigo has issues on Ubuntu 16 for our platform. Kinetic has not been tested on Ubuntu 14.

    # On Ubuntu 14.04 trusty
    sudo apt-get install ros-indigo-desktop-full
    sudo apt-get install ros-indigo-web-video-server
    sudo apt-get install ros-indigo-control-toolbox ros-indigo-controller-manager ros-indigo-transmission-interface ros-indigo-joint-limits-interface ros-indigo-rosauth
    # OR
    # On Ubuntu 16.04 xenial
    sudo apt-get install ros-kinetic-desktop-full
    sudo apt-get install ros-kinetic-web-video-server
    sudo apt-get install ros-kinetic-control-toolbox ros-kinetic-controller-manager ros-kinetic-transmission-interface ros-kinetic-joint-limits-interface ros-kinetic-rosauth ros-kinetic-smach-ros python-rospkg

    Possible bug: If you upgraded from Ubuntu 14.04 to 16.04 you might experience the following error when installing ROS:

    dpkg: error processing package ros-kinetic-desktop-full (--configure):
    dependency problems - leaving unconfigured
    Processing triggers for libc-bin (2.23-0ubuntu3) ...
    Errors were encountered while processing:

    This issue can be solved by purging all libopenni packages:

    $ sudo apt-get purge libopenni*

    And then try installing ROS again. The libopenni packages will be automatically reinstalled.

3. Gazebo prerequisites

  1. First, if you have Gazebo 6 already installed, remove it first. (Remove any other version of Gazebo that you would have installed by yourself)

    # With ROS Indigo (Ubuntu 14.04 trusty)
    sudo apt-get remove --purge gazebo6* ros-indigo-gazebo6-msgs ros-indigo-gazebo6-plugins ros-indigo-gazebo6-ros ros-indigo-gazebo6-ros-control ros-indigo-gazebo6-ros-pkgs
    # OR
    # With ROS Kinetic (Ubuntu 16.04 xenial)
    sudo apt-get remove --purge gazebo6* ros-kinetic-gazebo6-msgs ros-kinetic-gazebo6-plugins ros-kinetic-gazebo6-ros ros-kinetic-gazebo6-ros-control ros-kinetic-gazebo6-ros-pkgs

    Test that roscore is still functioning. If not, consider reinstalling ROS Indigo by first removing it with apt-get remove --purge ros-indigo* and following the above paragraph again.

  2. Add GPG key of Gazebo to apt

    sudo wget -O - | sudo apt-key add -
  3. Add apt repository for Gazebo

    # On Ubuntu 14.04 trusty
    sudo apt-add-repository "deb trusty main"
    # OR
    # On Ubuntu 16.04 xenial
    sudo apt-add-repository "deb xenial main"
  4. Update repositories

    sudo apt-get update
  5. Install build dependencies

    sudo apt-get install libignition-math2-dev libignition-transport-dev libignition-transport0-dev
  6. Reomve previous bullet physics engine

    Remove previous bullet packages with apt-get remove (libbullet, ...).

  7. Install Gazebo dependencies

    You may require additional libraries to compile gazebo with all its options:

    sudo apt-get install libsimbody-dev libgts-dev libgdal-dev ruby-ronn xsltproc graphviz-dev

    Warning: Check that $HOME/.local/lib/x86_64-linux-gnu/cmake/gazebo is in your $CMAKE_PREFIX_PATH. If not, you might have forgotten to add nrp_variables in your .bashrc.
    Further, make sure that $HOME/.local/lib/x86_64-linux-gnu/pkgconfig is in your $PKG_CONFIG_PATH. Otherwise, you will see errors that later builds will claim they did not find the HBP Gazebo features.

    Warning: If you are updating from a previous Ubuntu 14 install, delete old libraries that will not be overwritten and can accidentally be linked to:
    rm -rf $HOME/.local/lib/x86_64-linux-gnu

    Warning: When you will build the whole NRP later, if gazebo build fails because you miss a number of libs (see end summary from cmake output), just apt-get the required ones, from the "BUILD_ERRORS" in the cmake step.

    Note: Check that $GAZEBO_MODEL_PATH for example exists. If not, you might have forgotten to add nrp_variables in your .bashrc.

4. NEST prerequisites

  1. Remove any previous system level installations of PyNN

    sudo apt-get remove --purge python-pynn
  2. Install the GSL developer package

    sudo apt-get install libgsl0-dev
  3. Install Yacc (for the MPI layer)

    sudo apt-get install bison byacc

5. Gzweb prerequisites

  1. First make sure that build dependencies are installed.

    sudo apt-get install libgts-dev libjansson-dev
  2. Install nvm (Node Version Manager) and nodejs v0.10 and v7

    Install nvm (steps below taken from

    curl -o- | bash
    source ~/.bashrc # or reopen your shells

    Install node versions

    nvm install 0.10
    nvm install 8
    nvm alias default 8
  3. Install bower

    npm install -g bower

6. NRP prerequisites

  1. Configure NRP

    Go to user-scripts and run the configure scipts. This will set up Makefiles and default config files.

    cd $HBP/user-scripts
    ./configure_nrp 2>/dev/null # you don't have to answer the questions so far, just wait 5 seconds

    Note : If you get errors, like missing directories or files, this is fine, they will be fixed later in the process. Just ignore them and proceed.

  2. Install dependencies

    Install these dependencies:

    sudo apt-get install python-pip python-virtualenv
    # remove standard swagger packages (we use custom ones from NRP dependencies)
    # remove the apt versions of these swagger packages too
    sudo pip uninstall swagger flask-swagger flask-restful-swagger
    # install some deps needed for then backend (scipy deps)
    sudo apt-get install libblas-dev liblapack-dev libhdf5-dev gfortran

7. Install Nginx

Nginx is a web server, just like apache, that is very modular and in our case serves all the traffic, adding an authentication layer. It acts as a port forwarder. The backend services that run on 5000 will be mapped on port 8080 to the outside, the assets will be served on 8040, the rosbridge websocket mapped on 9091, as well as the gzbridge websocket.

  1. list existing nginx packages (apt list --installed | grep nginx) and remove if any

  2. Install nginx-extras and lua-cjson

    sudo apt-get install nginx-extras lua-cjson

    Your setup should be finished with this step. The configuration of nginx is done automatically in a later step of the 100% install. Though, if you experience issues after you finish all the steps, go to the troubleshooting section below.

8. Frontend prerequisites

If you run into problems, see the Troubleshooting section at the end of the page.

  1. Install dependencies:

    cd $HBP # your NRP directory
    cd ExDFrontend
    sudo apt-get install ruby-compass
    sudo gem install compass
  2. Install grunt:

    npm install -g grunt-cli
    npm install -g grunt

9. Build NRP

  1. Open a fresh terminal to be certain to have the proper environment and run the configure_nrp script in user-scripts

    cd $HBP/user-scripts
    ./configure_nrp  # don't answer N to the question about creating a local database (if you answer nothing, it assumes Y)

    This script copies the configuration files of nginx, ExDFrontend, CLE as well as the gzserver & gzbridge scripts to the correct locations. It also modifies the raw config files to include the correct paths and usernames.

  2. Build the Platform at once:

    ./update_nrp build all

    This will take time since all the python dependencies will be downloaded and numpy takes a while to build. If the script does not fail, then you are done.
    If the build fails, go to the troubleshooting sections in the relevant sections below.

  3. Virtual machines ONLY: if you are installing on a virtual machine, or your GPU is not supported for any reason, you may use CPU rendering, which is slower, but always works. Just execute:

    ./rendering_mode cpu

    To switch back to GPU rendering, execute:

    ./rendering_mode gpu

Running the Platform

Make sure nginx is running fine (restart it : it should output [ OK ] ) and watch the error_log.


Then start the NRP backend by using either


You can then connect with your browser:

You will be prompted for credentials: default user is "nrpuser/password". Clone an experiment.

If you want to see experiments that are in "development" maturity (your own for example), add the "?dev" parameter to the url:

Stopping the Platform

To stop the Platform and kill all processes:

  • press CTRL+C in the terminal where you entered "cle-start" and type


Updating the Platform

This is very easy! Just go to user-scripts and run

    ./update_nrp update all

And open a fresh terminal to start your Platform as usual.
If you don't provide the optional all argument, only the core python repos will be updated, which is a much shorter build, but might miss changes in 3rd party
software like gazebo. So we would recommend that you just use this argument and get a lunch break while it builds.

Update error?

The update_nrp script will exit on error if you have local changes in the repos. So if you do not want to risk a failure after one hour of build, we recommend that you make sure your repos in $HBP are clean or changes are stashed or committed.


Troubleshoot Gazebo

gzserver segfault on start

gzserver: /usr/include/boost/thread/pthread/recursive_mutex.hpp:101: boost::recursive_mutex::~recursive_mutex(): Assertion `!pthread_mutex_destroy(&m)' failed.

Solution: Try to launch the gzserver binary with no argument.
If it runs, it probably means that you made something wrong when compiling GazeboRosPackages.
Make sure that you didn't source another catkin workspace before you built GazeboRosPackages.

gazebo cmake error (happened with AMD GPU):

CMake Error at cmake/CheckDRIDisplay.cmake:54 (STRING):
string sub-command FIND requires 3 or 4 parameters.
Call Stack (most recent call first):
CMakeLists.txt:154 (include)

--! valid dri display not found (no glxinfo or pyopengl)

Solution: install mesa-utils (glxinfo)

gazebo cmake error (missing tinyxml2): install libtinyxml2-dev.

You likely have a conflicting version of ros-indigo-libccd installed (from other ros packages such as MoveIt).
Solution: edit cmake/SearchForStuff.cmake and replace "pkg_check_modules(CCD ccd>=1.4)" with "SET(CCD_FOUND FALSE)"
delete your build directory, rerun cmake, and build as usual

Troubleshoot Nest

Come back here after NRP build if you experience issues with Nest.

Possible Bug

NEST creates broken symbolic links in $HOME/.local/lib/python2.7/dist-packages/PyNEST.egg-info and $HOME/.local/lib/python2.7/dist-packages/ConnPlotter.egg-info
Either delete the symlinks or fix them. In case you delete them, make sure to escape the * in the delete command or you'll delete the actual library.
Ex: $ sudo rm PyNEST\*.egg-info ConnPlotter\*.egg-info

Warning: If you see an error like: error: command 'x86_64-linux-gnu-gcc' failed with exit status 1
and then further up is : cannot open shared object file: No such file or directory
Check if you have libhdf5-dev installed. If not, install it.
Then check that /usr/lib/x86_64-linux-gnu is in your $LD_LIBRARY_PATH (should if you correctly include $HBP/user-scripts/nrp_variables in your .bashrc).

Build failing

If the build is completely failing (this might happen if Nest is being updated from 2.10 to 2.12), then save your local Nest changes (don't stash, really copy them
somewhere else), reclone the repo and redo the build steps.

cd $HBP
rm -rf nest-simulator
git clone https://$

Troubleshoot Gazebo Plugins (GazeboRosPackages)

Come back here if the NRP build fails on GazeboRosPackages.

Warning: To avoid compiling against gazebo2 embedded with ros-indigo-desktop-full, make sure you prepend CMAKE_PREFIX_PATH so it points to NRP's gazebo-config.cmake in $HOME/.local/... (check that $CMAKE_PREFIX_PATH contains $HOME/.local/lib/x86_64-linux-gnu/cmake/gazebo/, which should be the case if you included nrp_variables in your bashrc).

Warning: If GazeboRosPackages build fails, it might be that the ROS setup file has not be sourced. If you added nrp_variables correctly in your bashrc, this should not be the case.
Else, open a fresh terminal, and check that $ROS_MASTER_URI is set. If not you can manually source the setup and redo the catkin_make.

source /opt/ros/indigo/setup.bash # for Ubuntu 14
source /opt/ros/kinetic/setup.bash # for Ubuntu 16

Note: On Ubuntu 16 building may complain about some missing ROS modules. Just install the missing modules with apt-get install and re-build. i.e

sudo apt-get install ros-<version(kinetic or indigo)>-<missing package name>

Troubleshoot compiling gzweb

Come back here if NRP build fails on gzweb.

To make sure that gzweb is compiled with proper Gazebo version, prepend the correct path to package configuration:

export PKG_CONFIG_PATH=$HOME/.local/lib/x86_64-linux-gnu/pkgconfig:$PKG_CONFIG_PATH

If you get node-gyp errors ("File not found"), try deleting $HOME/.npm and re-running deploy script.

You may encounter:

/usr/bin/env: node: No such file or directory
There are node-gyp build errors, exiting.

This is fixed by a symbolic link: ln -s `which nodejs` $HOME/.local/bin/node

You may also encounter core dump or segmentation faults depending on your graphics card and configuration. Install the proprietary drivers (not the default driver) on your system and reboot.

You can see more possible problems and solutions here:

Troubleshoot Nginx

If you are having issues with nginx configuration that could mean that your nginx version is too recent.
Try running

nginx -t -c $HOME/.local/etc/nginx/nginx.conf

In case the output of '' is something like 'unknown directive "more_set_headers"', try replacing the following lines in $HOME/.local/etc/nginx/conf.d/gzweb.conf

    location / {
    #more_set_headers 'Access-Control-Allow-Origin: $cors_origin';
    #more_set_headers 'Access-Control-Allow-Methods: $cors_methods';
    #more_set_headers 'Access-Control-Allow-Headers: $cors_headers';
    #more_set_headers 'Access-Control-Expose-Headers: Content-Length';

    add_header 'Access-Control-Allow-Origin' '$cors_origin' 'always';
    add_header 'Access-Control-Allow-Methods' '$cors_methods' 'always';
    add_header 'Access-Control-Allow-Headers' '$cors_headers' 'always';
    add_header 'Access-Control-Expose-Headers' 'Content-Length' 'always';

and in nrp-services.conf

    location / {
            #more_set_headers 'Access-Control-Allow-Origin: $cors_origin';
            #more_set_headers 'Access-Control-Allow-Methods: $cors_methods';
            #more_set_headers 'Access-Control-Allow-Headers: $cors_headers';

            add_header 'Access-Control-Allow-Origin' '$cors_origin' 'always';
            add_header 'Access-Control-Allow-Methods' '$cors_methods' 'always';
            add_header 'Access-Control-Allow-Headers' '$cors_headers' 'always';

    location /api {
            #more_set_headers 'Access-Control-Allow-Origin: $cors_origin';
            #more_set_headers 'Access-Control-Allow-Methods: $cors_methods';
            #more_set_headers 'Access-Control-Allow-Headers: $cors_headers';

            add_header 'Access-Control-Allow-Origin' '$cors_origin' 'always';
            add_header 'Access-Control-Allow-Methods' '$cors_methods' 'always';
            add_header 'Access-Control-Allow-Headers' '$cors_headers' 'always';

nginx may complain that /<assets_root>/sdk does not exist. If so, just create an empty directory. No idea what is it for...

Use nginx -t -c $HOME/.local/etc/nginx/nginx.conf to get debug info if $HOME/.local/etc/init.d/nginx restart" returns [fail].

Troubleshoot ExDFrontend

Come back here if NRP build fails on ExDFrontend or cle-frontend fails to run.

  • Error when running npm install.
    If you see the following error:

    sh: node command not found

    you could try installing the package nodejs-legacy instead of nodejs:

    sudo apt-get install nodejs-legacy
  • Error when running grunt serve.
    On Ubuntu 14.04.1 LTS it may be the case that the following error appears after having executed the steps above:

        user@machine:~/src/ExDFrontend$ grunt serve
        Loading "autoprefixer.js" tasks...ERROR
        >> Error: Cannot find module 'postcss'
        Loading "connect.js" tasks...ERROR
        >> Error: Cannot find module 'cookie-signature'
        Loading "imagemin.js" tasks...ERROR
        >> Error: Cannot find module 'imagemin-pngquant'
        Loading "grunt-karma.js" tasks...ERROR
        >> Error: Cannot find module ''
        Loading "publish.js" tasks...ERROR
        >> Error: Cannot find module 'npmi'
        Running "serve" task
        Warning: Task "autoprefixer" not found. Use --force to continue.

    This can be solved by installing some packages (again) manually:

        npm install npmi
        npm install
        npm install di
        npm install log4js
        npm install lodash
        npm install postcss
        npm install cookie-signature
        npm install useragent
        npm install chokidar
        npm install connect
        npm install bytes
        npm install debug
        npm install send
        npm install imagemin-pngquant
        npm install caniuse-db
        npm install batch
        npm install negotiator
        npm install express
        npm install q
  • If you get this kind of JavaScript error, as reported in this post on the HBP forum, you may want to deactivate AdBlocker.

        Failed to instantiate module exdFrontendApp
        Error: [$injector:modulerr] Failed to instantiate module exdFrontendApp
        due to:
        [$injector:modulerr] Failed to instantiate module due to:
        [$injector:nomod] Module '' is not
        available! You either misspelled the module name or forgot to load it.
        If registering a module ensure that you specify the dependencies as the
        second argument.$injector/nomod?
        module/<@h ttp://

Other troubles

ImportError: No module named _internal

This error comes when pip is updated with pip itself and has version >= 9. Solve it by uninstalling pipped pip and reinstalling Ubuntu's official one:

pip uninstall pip
sudo apt-get install python-pip
pip -V

You should get

pip 8.1.1 from /usr/lib/python2.7/dist-packages (python 2.7)

Original forum post about this is

File not found error on building brainvisualizer

If you get this kind of error and the build breaks in brainvosualizer:

npm ERR! enoent ENOENT: no such file or directory, rename '/home/vonarnim/Documents/NRP/brainvisualizer/node_modules/npm/node_modules/ansistyles' -> '/home/vonarnim/Documents/NRP/brainvisualizer/node_modules/npm/node_modules/.ansistyles.DELETE'

then the solution is to manually remove the node_modules directory and rebuild

cd $HBP/brainvisualizer
rm -rf node_modules
cd $HBP/user-scripts
./update_nrp build # resumes build (without third party that were successfully built before)

git is complaning about changed package.json files that it has to stash

Just type enter to stash them and forget about the issue. It is known and we will fix it but it is not harmful to your build.

undefined symbol: ompi_mpi_logical8 OR No module named pyNN.nest

If cle-start fails with the following error:

Error starting the simulation. (service [/ros_cle_simulation/create_new_simulation] responded with an error:
error processing request: /home/florian/.opt/platform_venv/lib/python2.7/site-packages/mpi4py/ undefined symbol: ompi_mpi_logical8) (host: localhost)

or this related error:

ImportError: No module named pyNN.nest

then you have a problem with your PYTHONPATH. Most probably your PYTHONPATH is containing /usr/lib/python2.7/dist-packages before the NRP paths. Try to erase it in your .bashrc
before loading nrp_variables.

. $HBP/user-scripts/nrp_variables

If this does not help, the following (not very nice) solution has been reported. Before cle-start:

source $HBP_VIRTUAL_ENV/bin/activate

which "forces" the platform_venv directory to the front of the Python search path.

cannot import name config

After launching an experiment, it might fail saying cannot import name config.

    pip install config

502 error because of retina

If cle-start fails with 502, possibly the pyretina is missing. Check the install commands of "retina" in the $HBP/user-scripts/nrp_functions script. Try execute them by hand.

Nginx is not starting during system boot? Add the following lines to /etc/rc.local:

if [ -f $HOME/.local/etc/init.d/nginx ]; then
    $HOME/.local/etc/init.d/nginx restart

general access problems

-> file not accessible? 404? Check that the whole path to the file is readable and/or writable to you.

not loading experiment list

-> cors problems? Install CORS in your browser (google that)

-> nginx: sudo killall and service restart

python DictError about some dictionary word missing

-> you probably run a local version of Flask. Check in /usr/local/lib/python2.7/dist-packages. There should be ONLY Nest related stuff. If there are pip pacakges, please remove them, especially Flask, SQLAlchemy, Werkzeug, itsdangerous and rerun $HOME/user-scripts/update_nrp build.

problems with gzweb deploy-*.sh

-> splits with mesh, do not put/use mesh in model names...

-> server crashes with error "Unable to find local grunt" or other nodejs package related error

cd $HBP/ExDFrontend
npm install

'cle-start' / 'cle-rosbridge' complains about missing rosauth.srv

sudo apt-get install ros-indigo-rosauth

'cle-start' / 'cle-rosbridge' can't find package rosbridge_server. Add the following to .bashrc

export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:</path/to/GazeboRosPackages>/src

'cle-start': backend can't find modules (e.g. ImportError: No module named flask_restful_swagger)

There was an error during make devinstall when running $HOME/user-scripts/update_nrp build. Then run "make devinstall" in ExDBackend as follows:

make devinstall > devinstall-log.txt 2>&1

to see what happened. In the case of flask_restful_swagger, it might help to

  • rename ExDBackend/hbp-flask-restful-swagger-master temporarily
  • rerun make devinstall

Don't forget to restore ExDBackend/hbp-flask-restful-swagger-master to its original name afterwards.

'cle-start': Failed to execute request http://localhost:8080/experiment. ERROR: Error: Error: connect ECONNREFUSED

Nginx is not running or not running correctly. Double check nginx is running and that there is no errors in the nginx logs.

Gazebo6 general problems or compiling GazeboRosPackages

to make sure there are no dependencies problems:

sudo apt-get purge gazebo4 # or 2 or 6
sudo apt-get remove gazebo4 # or 2 or 6
sudo apt-get install ros-indigo-desktop-full

then clean build directories and rebuild:

cd $HBP/GazeboRosPackages/
rm -rf build

it might be necessary to do

catkin_make --force-cmake

Building GazeboRosPackages failed for me with Gazebo installed from package repositories. (gazebo.physics.Joint::SetMappedRotationAxis not found) If that happens, remove gazebo packages and compile from EPFL sources as above.

If building Gazebo fails with the message

Linking CXX shared library
/usr/bin/ld: /usr/local/lib/libavcodec.a(allcodecs.o): relocation R_X86_64_32 against `ff_h263_vaapi_hwaccel' can not be used when making a shared object; recompile with -fPIC
/usr/local/lib/libavcodec.a: error adding symbols: Bad value
collect2: error: ld returned 1 exit status

You can prevent it from building with ffmpeg support by editing $HBP/gazebo/cmake/SearchForStuff.cmake. In line 391 change HAVE_FFMPEG TRUE to HAVE_FFMPEG FALSE. This will cause it to always assume that ffmpeg is not installed. Alternatively, you could compile ffmpeg from sources and create dynamic libraries instead of the static ones hat are installed from the package management.

If a similar error comes up later during the compile referencing BulletPhysics, try recompiling Bullet:
First, delete the old Bullet files: Bullet does not provide a make uninstall target, so we need to do it manually. In the build folder, run

sudo xargs rm < install_manifest.txt

This will remove all files installed by make install. Then recompile and give the flag -DBUILD_SHARED_LIBS=true to cmake. This will build dynamically linked libraries. If you do this, make sure both $HOME/.local/lib and $HOME/.local/lib/x86_64-linux-gnu is on your LD_LIBRARY_PATH. The recommended way of adding it is creating the file /etc/ with the content


and running sudo ldconfig

If an error similar to this comes up

gazebo/physics/ undefined reference
to `gazebo::sensors::SensorManager::SensorsInitialized()

check your version of cmake, if it is version 3, try and downgrade it to version 2 and see if it helps


apt list --installed | grep cmake # check the version of cmake
sudo apt-get install cmake= cmake-data= # or just downgrade to a previous version

ImportError: No module named pyretina

Follow the tutorial here: Install Retina.

Toolbar buttons icons (play/stop) show up as strange characters

This issue is due to missing fonts and outdated dependencies. (see NRRPLT-2472)

  • Clear browser cache and close the browser
  • Update ruby (tested with 1.9.3p484)
  • run "sudo gem install compass"

Robot is not moving even though spike monitor works, no errors

Run catkin_make in GazeboRosPackages.