Kinetic ROS and Gazebo 9

Background

  1. Default Gazebo version of Kinetic ROS is 7.
  2. However, for setting up more complex world, we can create actors. This is not compatible to Gazebo 7.
  3. I want to directly reinstall via 'Setting up ROS Kinetic and Gazebo 8 or 9'.

Troubleshooting problems

When catkin_make turtlebot3_simulation, it always lead to many errors, such as

  1. ImportError: dynamic module does not define module export function (PyInit__tf2)
  2. libapr-1.so.0: undefined reference to 'uuid_generate@UUID_1.0'
  3. make problem: No rule to make target /usr/lib/x86_64-linux-gnu/libpcl_common.so

These are due to the conflicts between ros and anaconda, and uncomplete installation of kinetic ros and gazebo 9.

Solutions

  1. Uninstall ros and its relevant packages.
    2. 
sudo apt-get remove ros*
sudo apt list --installed | grep gazebo
sudo apt-get remove gazebo*
sudo apt-get remove ros-kinetic-gazebo*
sudo apt autoremove
  2. Uninstall acaconda3 on ubuntu. 
    3. 
rm -rf ~/anaconda3
# delete parts in .bashrc as well
conda install anaconda-clean
anaconda-clean
anaconda-clean --yes
  3. Use default pip and python.
    4. 
sudo apt-get install virtualenv
virtualenv -p /usr/bin/python3 testenv
source ~/testenv/bin/activate
pip install rospkg
  4. Re-install kinetic ros and gazebo 9.
    5. 
sudo apt-get install ros-kinetic-ros-base # don't install desktop, it will lead to gazebo 7 again.
sudo apt-get install ros-kinetic-gazebo9-ros-pkgs ros-kinetic-gazebo9-ros-control ros-kinetic-gazebo9*
sudo apt-get install ros-kinetic-catkin
sudo apt-get install rviz
sudo apt-get install ros-kinetic-controller-manager ros-kinetic-joint-state-controller ros-kinetic-joint-trajectory-controller ros-kinetic-rqt ros-kinetic-rqt-controller-manager ros-kinetic-rqt-joint-trajectory-controller ros-kinetic-ros-control ros-kinetic-rqt-gui
sudo apt-get install ros-kinetic-rqt-plot ros-kinetic-rqt-graph ros-kinetic-rqt-rviz ros-kinetic-rqt-tf-tree
sudo apt-get install ros-kinetic-gazebo9-ros ros-kinetic-kdl-conversions ros-kinetic-kdl-parser ros-kinetic-forward-command-controller ros-kinetic-tf-conversions ros-kinetic-xacro ros-kinetic-joint-state-publisher ros-kinetic-robot-state-publisher
sudo apt-get install ros-kinetic-ros-control ros-kinetic-ros-controllers
  5. One more step to make sure kinetic ros and gazebo 9 are compatible. 
    6. 
sudo apt-get install libeigen3-dev ros-kinetic-image-view ros-kinetic-parrot-arsdk libprotobuf-dev libprotoc-dev ros-kinetic-joy-teleop ros-kinetic-nav-msgs ros-kinetic-mav-msgs libyaml-cpp-dev ros-kinetic-nodelet ros-kinetic-mav-planning-msgs ros-kinetic-urdf ros-kinetic-image-transport ros-kinetic-roslint ros-kinetic-angles ros-kinetic-cv-bridge ros-kinetic-tf2-geometry-msgs ros-kinetic-xacro ffmpeg libavcodec-dev libavformat-dev libavutil-dev libswscale-dev ros-kinetic-camera-info-manager ros-kinetic-cmake-modules ros-kinetic-gazebo-msgs ros-kinetic-mavros-msgs ros-kinetic-control-toolbox ros-kinetic-mav-msgs ros-kinetic-libmavconn ros-kinetic-mavros ros-kinetic-octomap-msgs ros-kinetic-geographic-msgs ros-kinetic-mavlink ros-kinetic-mavros-extras ros-kinetic-mav-planning-msgs ros-kinetic-joy
cd ~
mkdir -p ros-kinetic-gazebo9-pkgs
cd ros-kinetic-gazebo9-pkgs
git clone -b feature/ros-kinetic-gazebo9-pkgs https://github.com/gsilano/BebopS.git
cd BebopS
chmod 777 gazebo9.sh
./gazebo9.sh
cd ~
sudo rm -rf ros-kinetic-gazebo9-pkgs # delete the folder after the installation

References

  1. Gazebo Actors
  2. Setting up ROS Kinetic and Gazebo 8 or 9
  3. ImportError: dynamic module does not define module export function (PyInit__tf2)
  4. 解决libapr-1.so.0：对‘uuid_generate@UUID_1.0’未定义的引用
  5. How I completely remove all ros from my system?
  6. Installing & Uninstalling Anaconda3 on Ubuntu
  7. catkin_make failed (turtlebot3, turtlebot3_msgs)
  8. Github -- gsilano/BebopS