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vvv-school / vvv17

Resources for VVV17 School 🏫
https://vvv-school.github.io/vvv17
GNU General Public License v3.0
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[Dynamics course] Update to VM and instructions #32

Closed francesco-romano closed 7 years ago

francesco-romano commented 7 years ago

Dear @vvv-school/vvv17-students

some more actions are needed to run the tutorials and assignments (especially the smoke-tests on your local machine) of the dynamics course.

The following environment variables were not "complete" in the VM and instructions, so please update as in the following. Substitute the following lines in your .bashrc_dev file:

export GAZEBO_PLUGIN_PATH=${ROBOT_CODE}/codyco-superbuild/build/install/lib
export GAZEBO_MODEL_PATH=${ROBOT_CODE}/codyco-superbuild/build/install/share/gazebo/models

with 

source /usr/share/gazebo/setup.sh
export GAZEBO_PLUGIN_PATH=${ROBOT_CODE}/codyco-superbuild/build/install/lib
export GAZEBO_MODEL_PATH=${ROBOT_CODE}/codyco-superbuild/build/install/share/gazebo/models
export GAZEBO_RESOURCE_PATH=${GAZEBO_RESOURCE_PATH}:${ROBOT_CODE}/codyco-superbuild/build/install/share/gazebo/worlds

(See this commit)

Also substitute the following line

export MATLABPATH=${ROBOT_CODE}/codyco-superbuild/build/install/mex:${ROBOT_CODE}/codyco-superbuild/build/install/share/WB-Toolbox:${ROBOT_CODE}/codyco-superbuild/build/install/share/WB-Toolbox/images

with

export MATLABPATH=${ROBOT_CODE}/codyco-superbuild/build/install/mex:${ROBOT_CODE}/codyco-superbuild/build/install/share/WB-Toolbox:${ROBOT_CODE}/codyco-superbuild/build/install/share/WB-Toolbox/images:${ROBOT_INSTALL}/simmodels

(See this commit)

Unfortunately, Matlab has some issues with libraries, i.e. it embeds some system libraries and this can conflict with other libraries. You may need to run the following commands (thus hiding the MATLAB library)

sudo mv /usr/local/MATLAB/R2016b/sys/os/glnxa64/libstdc++.so.6.0.20 /usr/local/MATLAB/R2016b/sys/os/glnxa64/libstdc++.so.6.0.20.bak

Finally some updates have been done to the gazebo models so you may have to update the codyco-superbuild: 

$ cd ${ROBOT_CODE}/codyco-superbuild/build
$ make update-all
$ make

Hopefully this is enough to run gazebo and the demos.

gmmarconi commented 7 years ago

Note: the file to edit is .bashrc-dev inside the home folder.