Installing Gazebo

Gazebo is an open-source 3D robotics simulator. This guide we will outline the steps for installing and running Gazebo.

Prerequisites

Ubuntu

Follow the instructions to setup Ubuntu with WSL here under 'docker'.

Gazebo 9

1. Install Gazebo (version 9 last tested) using Ubuntu.

2. Install Gazebo dev libaries.

   sudo apt-get install libgazebo9-dev

VcXsrv Windows X Server

VcXsrv allows you to run a graphical GUI from Ubuntu WSL.

Download and install VcXsrv here.

Running NUbots simulation

1. Clone this repo.

   git clone https://github.com/NUbots/Gazebo.git

2. Install the plugin.

   cd gazebo
   sudo bash ./install_plugin.sh

   Ensure your firewall is disabled for Ubuntu before continuing.

3. Setup WSL to connect with VcXsrv server.

   export GAZEBO_IP=127.0.0.1
   export DISPLAY=$(cat /etc/resolv.conf | grep nameserver | awk '{print $2}'):0
   export LIBGL_ALWAYS_INDIRECT=0

4. Run XLaunch (VcXsrv server).

5. Change the Display number to 0.

   

6. Leave all settings default except for 'Native opengl' and 'Disable access control'

   

7. Run the plugin.

   sudo bash ./run_plugin.sh

You are now ready to simulate!