Installing Introduction

This page will guide you through installing the Gazebo Environment for Agile Robotics (GEAR) 2019 on your machine.

Prerequisites

Ubuntu Bionic

GEAR requires a machine running Ubuntu Bionic (18.04). If you're running Ubuntu, but not sure which version then run the following command to find out.

cat /etc/os-release

You should see 18.04 Bionic Beaver in that file.

Gazebo 9

GeAR uses Gazebo 9 to simulate the environment. Follow these instructions to install it.

Note, if you see a crash complaining about missing a symbol in an ignition library, run this to fix it

sudo apt update
sudo apt upgrade libignition-math4

ROS Melodic

GEAR uses ROS Melodic. Here are instructions to install ROS Melodic.

Gazebo ROS Packages

GEAR uses a custom version of gazebo_ros_pkgs. If you are using depth cameras or want to test the sensor blackout agility challenge then you must build this from source. If you aren't using depth cameras or testing the sensor blackout challenge, then feel free to skip this step. Otherwise, clone the customized version into your catkin workspace.

git clone https://github.com/osrf/ariac-gazebo_ros_pkgs -b ariac-network-melodic

Then build your workspace as usual.

Uninstall Prerelease Repo

Skip this step if you never installed a prerelease version of GEAR. If you previously installed a prerelease of ariac3 and would only like to use stable versions of the software, then remove it by doing the following:

sudo rm /etc/apt/sources.list.d/gazebo-prerelease.list
sudo apt-get remove ariac3
sudo apt-get clean
sudo apt-get update

Installing GEAR

Run these instructions to install the latest stable version of GEAR

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable bionic main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt-get install ariac3

Source the ROS folder again after installing ariac3

source /opt/ros/melodic/setup.bash

Run this command to jump into the sample environment.

roslaunch osrf_gear sample_environment.launch

You should see a Gazebo window with the 2019 workcell.

Staying up to Date

Announcements about releases will be posted here. When a new release of GEAR is available, run this to install it.

sudo apt-get update
sudo apt-get upgrade ariac3

Next Steps

Now that you have ariac installed, see the Interacting With Gear tutorial for how to use it.