This page will guide you through installing the Gazebo Environment for Agile Robotics (GEAR) 2019 on your machine.
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.
You should see 18.04 Bionic Beaver in that file.
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
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
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
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
Now that you have ariac installed, see the Interacting With Gear tutorial for how to use it.