gazebo version confict? : make posix_sitl_default gazebo problem

[wkyoun]

When I finished installing ROS Indigo, I noticed that it already came with Gazebo(version2.2.6).

I tried to directly install the 6.0 Gazebo,

but, it was not possible because it looks like 6.0 version and 2.2.6 version conflict with each other.

Actually, I have tried to install gazebo as described in

http://gazebosim.org/tutorials?tut=install_ubuntu&ver=6.0&cat=install

but, it says that : E: Unable to correct problems, you have held broken package

It looks like that I have Gazebo(version2.2.6) cause this problem

(gazebo which command indicate that I have Gazebo(version2.2.6)

How can I remove Gazebo(version2.2.6) came with ROS indigo?

I don't know how to remove Gazebo(version2.2.6) and install gazebo > 6.0 in order to

run make posix_sitl_default gazebo as described in http://dev.px4.io/simulation-gazebo.html

My situation is as follows:

wkyoun@wkyoun-XPS-13-9343:~$ sudo apt-get install gazebo6

[sudo] password for wkyoun: 
Reading package lists... Done
Building dependency tree       
Reading state information... Done
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:

The following packages have unmet dependencies:
 gazebo6 : Depends: libgazebo6 (= 6.5.1-1~trusty) but it is not going to be installed
           Depends: libsdformat3 but it is not going to be installed
           Depends: gazebo6-common (= 6.5.1-1~trusty) but it is not going to be installed
           Recommends: gazebo6-plugin-base
E: Unable to correct problems, you have held broken packages.

Also, I tried to run Gazebo as described in

http://dev.px4.io/simulation-gazebo.html

but the error is found:

wkyoun@wkyoun-XPS-13-9343:~/Firmware$ make posix_sitl_default gazebo

make -C /home/wkyoun/Firmware/build_posix_sitl_default -j4 --no-print-directory gazebo
[  2%] Built target df_driver_framework
[  3%] Built target git_matrix
[  3%] Built target git_genmsg
[  4%] Built target git_gencpp
[  4%] Built target prebuild_targets
[  4%] Built target git_mavlink
[  5%] Built target generate_topic_listener
[  6%] Built target xml_gen
[  6%] Built target git_driverframework
[  6%] Built target mixer_gen
[  7%] [  7%] Built target msg_gen
Built target git_jmavsim
[  7%] Built target git_gazebo
[  7%] Built target git_uavcan
[  7%] Built target platforms__common
[  8%] Built target drivers__boards__sitl
[  8%] Built target drivers__pwm_out_sim
[ 11%] Built target platforms__posix__px4_layer
[ 15%] Built target drivers__device
[ 15%] [ 15%] Built target platforms__posix__drivers__gpssim
Built target platforms__posix__drivers__adcsim
[ 16%] [ 23%] Built target platforms__posix__drivers__tonealrmsim
Built target platforms__posix__work_queue
[ 24%] [ 25%] Built target platforms__posix__drivers__accelsim
Built target platforms__posix__drivers__ledsim
[ 26%] Built target platforms__posix__drivers__airspeedsim
[ 27%] Built target platforms__posix__drivers__barosim
[ 27%] Built target platforms__posix__drivers__rgbledsim
[ 27%] Built target systemcmds__param
[ 27%] Built target platforms__posix__drivers__gyrosim
[ 27%] Built target systemcmds__esc_calib
[ 28%] Built target systemcmds__mixer
[ 29%] Built target systemcmds__ver
[ 29%] Built target systemcmds__reboot
[ 30%] Built target systemcmds__topic_listener
[ 31%] Built target systemcmds__perf
[ 32%] Built target modules__param
[ 32%] Built target modules__sensors
[ 37%] Built target modules__uORB
[ 40%] Built target modules__systemlib__mixer
[ 41%] Built target modules__attitude_estimator_ekf
[ 42%] Built target modules__simulator
[ 43%] Built target modules__attitude_estimator_q
[ 48%] Built target modules__mavlink
[ 49%] Built target modules__ekf_att_pos_estimator
[ 51%] [ 54%] Built target modules__position_estimator_inav
Built target modules__vtol_att_control
[ 55%] Built target modules__mc_att_control
[ 55%] Built target modules__mc_pos_control
[ 61%] Built target modules__navigator
[ 63%] Built target modules__mc_pos_control_multiplatform
[ 65%] [ 67%] [ 69%] Built target modules__fw_att_control
Built target modules__land_detector
Built target modules__mc_att_control_multiplatform
[ 70%] Built target modules__dataman
[ 71%] Built target lib__mathlib
[ 72%] Built target lib__external_lgpl
[ 75%] Built target lib__ecl
[ 77%] [ 78%] Built target modules__controllib
[ 79%] Built target modules__sdlog2
Built target lib__conversion
[ 85%] Built target modules__commander
[ 85%] [ 85%] Built target lib__mathlib__math__filter
Built target lib__geo
[ 86%] Built target lib__geo_lookup
[ 87%] Built target lib__launchdetection
[ 88%] [ 88%] Built target lib__runway_takeoff
Built target lib__terrain_estimation
[ 90%] Built target modules__fw_pos_control_l1
[ 98%] Built target modules__systemlib
[100%] Built target mainapp
SITL ARGS
rc_script: posix-configs/SITL/init/rcS
debugger: none
program: gazebo
model: none
build_path: /home/wkyoun/Firmware/build_posix_sitl_default
empty model, setting iris as default
-- Boost version: 1.54.0
-- Found the following Boost libraries:
--   system
--   thread
-- checking for module 'gazebo>=6.0'
--   package 'gazebo>=6.0' not found
CMake Error at /usr/share/cmake-3.2/Modules/FindPkgConfig.cmake:344 (message):
  A required package was not found
Call Stack (most recent call first):
  /usr/share/cmake-3.2/Modules/FindPkgConfig.cmake:506 (_pkg_check_modules_internal)
  CMakeLists.txt:7 (pkg_check_modules)

-- Configuring incomplete, errors occurred!
See also "/home/wkyoun/Firmware/Tools/sitl_gazebo/Build/CMakeFiles/CMakeOutput.log".
make[4]: *** [src/firmware/posix/CMakeFiles/gazebo] Error 1
make[3]: *** [src/firmware/posix/CMakeFiles/gazebo.dir/all] Error 2
make[2]: *** [src/firmware/posix/CMakeFiles/gazebo.dir/rule] Error 2
make[1]: *** [gazebo] Error 2
make: *** [posix_sitl_default] Error 2

[devbharat]

I think you can solve this by removing all ros-gazebo* packages with apt-get remove. Then, install gazebo6 as the gazebosim documentation says, and then build other remaining ros-gazebo packages (like gazebo_msgs) in a catkin workspace from source.

[wkyoun]

@devbharat
Thank you for your reply

It was solved, but still another error is found as following:

I don't know why: please let me know?

wkyoun@wkyoun-XPS-13-9343:~/Firmware$ make posix_sitl_default gazebo

 make -C /home/wkyoun/Firmware/build_posix_sitl_default -j4 --no-print-directory gazebo
 [  2%] Built target df_driver_framework
 [  2%] [  3%] Built target git_genmsg
 Built target git_gencpp
 [  4%] Built target git_matrix
 [  4%] [  4%] Built target prebuild_targets
 Built target git_mavlink
 [  5%] Built target generate_topic_listener
 [  6%] Built target xml_gen
 [  6%] Built target git_driverframework
 [  6%] Built target mixer_gen
 [  7%] [  7%] Built target msg_gen
 Built target git_jmavsim
 [  7%] [  7%] Built target git_gazebo
 Built target git_uavcan
 [  7%] Built target platforms__common
 [  7%] [  8%] Built target drivers__pwm_out_sim
 Built target drivers__boards__sitl
 [ 11%] [ 15%] Built target platforms__posix__px4_layer
 Built target drivers__device
 [ 15%] Built target platforms__posix__drivers__adcsim
 [ 16%] [ 23%] Built target platforms__posix__drivers__tonealrmsim
 Built target platforms__posix__work_queue
 [ 23%] Built target platforms__posix__drivers__gpssim
 [ 25%] [ 25%] [ 26%] Built target platforms__posix__drivers__barosim
 Built target platforms__posix__drivers__accelsim
 Built target platforms__posix__drivers__airspeedsim
 [ 27%] Built target platforms__posix__drivers__ledsim
 [ 27%] [ 27%] [ 27%] Built target platforms__posix__drivers__gyrosim
 Built target systemcmds__param
 Built target platforms__posix__drivers__rgbledsim
 [ 27%] Built target systemcmds__esc_calib
 [ 28%] Built target systemcmds__mixer
 [ 28%] Built target systemcmds__reboot
 [ 29%] [ 30%] Built target systemcmds__ver
 Built target systemcmds__topic_listener
 [ 31%] Built target systemcmds__perf
 [ 32%] Built target modules__param
 [ 32%] Built target modules__sensors
 [ 37%] Built target modules__uORB
 [ 40%] Built target modules__systemlib__mixer
 [ 41%] Built target modules__attitude_estimator_ekf
 [ 42%] Built target modules__attitude_estimator_q
 [ 43%] Built target modules__simulator
 [ 44%] [ 49%] Built target modules__ekf_att_pos_estimator
 Built target modules__mavlink
 [ 51%] Built target modules__position_estimator_inav
 [ 54%] Built target modules__vtol_att_control
 [ 55%] Built target modules__mc_att_control
 [ 55%] Built target modules__mc_pos_control
 [ 61%] Built target modules__navigator
 [ 63%] Built target modules__mc_pos_control_multiplatform
 [ 65%] Built target modules__land_detector
 [ 67%] [ 69%] [ 70%] Built target modules__fw_att_control
 Built target modules__dataman
 Built target modules__mc_att_control_multiplatform
 [ 71%] Built target lib__external_lgpl
 [ 72%] Built target lib__mathlib
 [ 75%] [ 76%] Built target modules__sdlog2
 Built target lib__ecl
 [ 78%] Built target modules__controllib
 [ 79%] Built target lib__conversion
 [ 79%] Built target lib__mathlib__math__filter
 [ 85%] Built target modules__commander
 [ 86%] Built target lib__geo_lookup
 [ 86%] Built target lib__geo
 [ 87%] Built target lib__launchdetection
 [ 87%] [ 88%] Built target lib__terrain_estimation
 Built target lib__runway_takeoff
 [ 96%] Built target modules__systemlib
 [ 98%] Built target modules__fw_pos_control_l1
 [100%] Built target mainapp
 SITL ARGS
 rc_script: posix-configs/SITL/init/rcS
 debugger: none
 program: gazebo
 model: none
 build_path: /home/wkyoun/Firmware/build_posix_sitl_default
 empty model, setting iris as default
 -- Boost version: 1.54.0
 -- Found the following Boost libraries:
 --   system
 --   thread
 -- Configuring done
 -- Generating done
 -- Build files have been written to: /home/wkyoun/Firmware/Tools/sitl_gazebo/Build
 make[5]: warning: -jN forced in submake: disabling jobserver mode.
 make[7]: *** No rule to make target `../msgs/PROTOBUF_PROTOC_EXECUTABLE-NOTFOUND', needed by `msgs/MotorSpeed.pb.cc'.  Stop.
 make[6]: *** [msgs/CMakeFiles/mav_msgs.dir/all] Error 2
 make[6]: *** Waiting for unfinished jobs....
 [  3%] Built target hello_world
 make[5]: *** [all] Error 2
 make[4]: *** [src/firmware/posix/CMakeFiles/gazebo] Error 2
 make[3]: *** [src/firmware/posix/CMakeFiles/gazebo.dir/all] Error 2
 make[2]: *** [src/firmware/posix/CMakeFiles/gazebo.dir/rule] Error 2
 make[1]: *** [gazebo] Error 2
 make: *** [posix_sitl_default] Error 2

[sanderux]

on ubuntu install libgazebo6-dev Change the CmakeList.txt to add include path /usr/lib/OGRE

[wkyoun]

@sanderux Thank you for your help. I was able to install libgazebo6-dev

But, I don't know where to put path /usr/lib/OGRE in CmakeList.txt.

Would you please let me know more specifically where to put the path(/usr/lib/OGRE in CmakeList.txt.)?

(https://github.com/PX4/Firmware/blob/master/CMakeLists.txt)

(Is it right file to fix?)

And also there are any /usr/lib/OGRE directory but /usr/lib/OGRE-1.8.0 in my system

Last thing,

How can you infer from above error message that libgazebo6-dev and pat(/usr/lib/OGRE)h might cause the problem?

I cannot see any description related to libgazebo6-dev and path(/usr/lib/OGRE).

[sanderux]

http://packages.ubuntu.com/libgazebo6-dev is there, check your repo's the OGRE path is not documented, you wil find that problem when you passed this one

[julianoes]

I believe I had to install this on Ubuntu 15.10:

sudo apt-get install libogre-1.9-dev

[sanderux]

the include path should be added here: https://github.com/PX4/sitl_gazebo/blob/master/CMakeLists.txt#L23

[marianobianchi]

I had the same problem. I could run "make posix_sitl_default gazebo" when included "find_package(Protobuf REQUIRED)" in line 24 from https://github.com/PX4/sitl_gazebo/blob/master/CMakeLists.txt.

I''m running Ubuntu 16.04 and ROS Kinetic.

Why is this issue closed if it isn't already solved?

[vinhk]

@won13y Were you able to have that issue fix? I am having the same issue. Please help