The instructions below have been tested with Ubuntu 10.10 , player svn, gearbox svn and Stage 3.2.2

Note: These instructions are for Installing Player on your laptop for working with Stage and a Real robot.

To use the Hokuyo laser device on the robot you need gearbox library to be installed first. If you have used Toby’s PPA (https://launchpad.net/~thjc/+archive/ppa) versions libgearbox  : 10.11-1~ppa3, libgearbox-dev : 10.11-1~ppa3 , then there will be a problem as Player 3.0.2 is not compatible with Gearbox  10.11. So  install gearbox from svn and player from svn.

To work with player/stage and a real robot you need to install 3 packages in order

1. gearbox
2. player
3. stage

Installing gearbox

1. Create a directory under your user home called playerstage
2. Download gearbox
• svn co https://gearbox.svn.sf.net/svnroot/gearbox/gearbox/trunk gearbox
• cd gearbox
• mkdir build
• cd build
• cmake ../
• make
• Sample output
• robot@ubuntu:~/playerstage/gearbox/build$ make
[ 20%] Built target flexiport
[ 22%] Built target porttoport
[ 24%] Built target serial_example
[ 26%] Built target tcp_example
[ 28%] Built target udp_example
[ 31%] Built target GbxLockFileAcfr
[ 33%] Built target GbxSerialAcfr
[ 35%] Built target locktest
[ 37%] Built target serialechotest
[ 40%] Built target serialloopbacktest
[ 55%] Built target GbxUtilAcfr
[ 57%] Built target mathtest
[ 60%] Built target tokenisetest
[ 62%] Built target trivialstatustest
[ 64%] Built target trivialtracertest
[ 71%] Built target GbxGarminAcfr
[ 73%] Built target gbxgarminacfrtest
[ 80%] Built target GbxNovatelUtilAcfr
[ 82%] Built target GbxNovatelAcfr
[ 84%] Built target crc32test
[ 86%] Built target gbxnovatelacfrtest
[ 95%] Built target hokuyo_aist
[ 97%] Built target hokuyo_aist_getid
[100%] Built target hokuyo_aist_example
• sudo make install
• Check if it installed correctly
• pkg-config --modversion hokuyo_aist
• Example Output:
• 2.0.0
• export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib/gearbox
• export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig

Installing Player

This are steps for Player version 3.1.0-svn installed at /usr/local

• Download player from svn
• svn co https://playerstage.svn.sourceforge.net/svnroot/playerstage/code/player/trunk/ playersrc

• cd playersrc
• mkdir build
• cd build
• cmake ../
• Sample output ( doing the following step should not report any error and also show hokuyo_aist as an installed driver )
• -- Player version 3.1.0-svn
-- Operating system is Linux
-- Got System Processor i686
-- Player will be installed to /usr/local
-- Headers will be installed to /usr/local/include/player-3.1
-- Libraries will be installed to /usr/local/lib
-- Large file support is disabled.
-- ===== Client Libraries =====
-- SWIG was not found. Please specify Swig executable location
-- Python bindings for C client library will not be built - could not find Swig
-- Could NOT find Ruby  (missing:  RUBY_EXECUTABLE RUBY_INCLUDE_DIR RUBY_LIBRARY)
-- Ruby bindings for C client library will not be built - could not find Ruby
-- Python bindings for C++ client library will not be built - disabled by user
-- Could NOT find Ruby  (missing:  RUBY_EXECUTABLE RUBY_INCLUDE_DIR RUBY_LIBRARY)
-- Ruby bindings for C++ client library will not be built - could not find Ruby
-- Could NOT find Boost
-- Boost libraries were not found. Boost::Signals and Boost::Thread support
                         will not be included in PlayerC++.
-- ============================
--
-- ----- Processing driver make files -----
-- checking for module 'artoolkitplus>=2.1'
--   package 'artoolkitplus>=2.1' not found
-- checking for module 'gstreamer-base-0.10'
--   package 'gstreamer-base-0.10' not found
-- checking for module 'libexif'
--   package 'libexif' not found
-- checking for module 'libusb'
--   package 'libusb' not found
-- checking for module 'libunicap'
--   package 'libunicap' not found
-- checking for module 'libstatgrab'
--   package 'libstatgrab' not found
-- checking for module 'libgarcia'
--   package 'libgarcia' not found
-- checking for module 'libusb-1.0'
--   package 'libusb-1.0' not found
-- checking for module 'GbxSmartBatteryAcfr=1.0.0'
--   package 'GbxSmartBatteryAcfr=1.0.0' not found
-- checking for module 'GbxSickAcfr=1.0.0'
--   package 'GbxSickAcfr=1.0.0' not found
-- checking for module 'howl>=0.9.6'
--   package 'howl>=0.9.6' not found
-- checking for module 'libpqxx'
--   package 'libpqxx' not found
-- checking for module 'libpqxx'
--   package 'libpqxx' not found
-- checking for module 'libnl-1'
--   package 'libnl-1' not found
-- ----- Done -----
--
-- ===== Drivers =====
-- The following drivers will be built:
-- AioToSonar
-- accel_calib
-- acts
-- amcl
-- amtecpowercube
-- aodv
-- bitlogic
-- blobposition
-- blobtodio
-- blobtracker
-- bumper2laser
-- bumpersafe
-- bumpertodio
-- cameracompress
-- camerareq
-- camerauncompress
-- camerauvc
-- camerav4l
-- camerav4l2
-- camfilter
-- canonvcc4
-- clodbuster
-- cmdsplitter
-- cmucam2
-- cmvision
-- create
-- cvcam
-- deadstop
-- differential
-- diocmd
-- diodelay
-- diolatch
-- dummy
-- ekfvloc
-- epuck
-- er1
-- erratic
-- fakelocalize
-- festival
-- flexiport
-- flockofbirds
-- garminnmea
-- gbxgarminacfr
-- globalize
-- goto
-- gridmap
-- gripcmd
-- hemisson
-- hokuyo_aist
-- imageseq
-- imgcmp
-- imgsave
-- inhibitor
-- insideM300
-- iwspy
-- kartowriter
-- khepera
-- laserbar
-- laserbarcode
-- lasercspace
-- lasercutter
-- laserfeature
-- laserposeinterpolator
-- laserptzcloud
-- laserrescan
-- lasersafe
-- lasertoranger
-- linuxjoystick
-- linuxwifi
-- localbb
-- mapcspace
-- mapfile
-- mapscale
-- mbasedriver
-- mbicp
-- mica2
-- microstrain
-- motionmind
-- mricp
-- nd
-- nomad
-- obot
-- opaquecmd
-- p2os
-- passthrough
-- pbslaser
-- portio
-- ptu46
-- rangerposeinterpolator
-- rangertodio
-- rangertolaser
-- readlog
-- relay
-- rflex
-- roboteq
-- robotracker
-- roomba
-- rs4leuze
-- rt3xxx
-- searchpattern
-- segwayrmp400
-- serialstream
-- serio
-- shapetracker
-- sickLDMRS
-- sickRFI341
-- sicklms200
-- sicklms400
-- sicknav200
-- sicks3000
-- simpleshape
-- skyetekM1
-- snd
-- sonartoranger
-- sonyevid30
-- speechcmd
-- sphere
-- sphereptz
-- stalltodio
-- suppressor
-- tcpstream
-- upcbarcode
-- vec2map
-- velcmd
-- vfh
-- videocanny
-- vmapfile
-- wavefront
-- wbr914
-- writelog
--
-- The following drivers will not be built:
-- acr120u - Could not find header usb.h
-- alsa - Could not find header alsa/asoundlib.h
-- amtecm5 - Could not find header Device.h
-- artoolkitplus - Could not find package artoolkitplus
-- camera1394 - Could not find header libraw1394/raw1394.h
-- cameragst - Could not find package gstreamer-base-0.10
-- eedhcontroller - Disabled - probably doesn't build
-- garcia - Could not find package libgarcia
-- gbxsickacfr - Could not find package GbxSickAcfr
-- isense - Could not find header isense/isense.h
-- laservisualbarcode - Has not been updated to use dynamic message structures
-- laservisualbw - Has not been updated to use dynamic message structures
-- nimu - Could not find header usb.h
-- nxt - Could not find package libusb-1.0
-- oceanserver - Could not find package GbxSmartBatteryAcfr
-- phidgetAcc - Could not find libphidget
-- phidgetAcc - Could not find libphidget
-- phidgetifk - Could not find libphidget
-- postgis - Could not find package libpqxx
-- postlog - Could not find package libpqxx
-- powershot - Could not find header libptp2/ptp.h
-- rcore_xbridge - Could not find header libparticle.h
-- reb - Disabled by default
-- robotino - Could not find header robotinocom.h
-- segwayrmp - Disabled by default
-- service_adv_mdns - Disabled by default
-- sphinx2 - Disabled by default
-- sr3000 - Could not find header libusbSR.h
-- statgrab - Could not find package libstatgrab
-- stoc - Could not find header SVS/svsclass.h
-- swissranger - Could not find header libMesaSR.h
-- unicapimage - Could not find package libunicap
-- wlanscan - Could not find package libnl-1
-- xsensmt - Disabled by default - set XSENSMT_SOURCE_DIR
-- yarpimage - Could not find header yarp/os/all.h
-- ===================
--
-- ===== Examples =====
-- ====================
--
-- ===== Player utilities =====
-- XMMS plugin will not be built - XMMS not found
-- ============================
--
-- Configuring done
-- Generating done
-- Build files have been written to: /home/robot/playerstage/playersrc/build
• make 
• sudo make install

Installing Stage3.2.2

• Download Stage from http://ppa.launchpad.net/thjc/ppa/ubuntu/pool/main/s/stage/stage_3.2.2.orig.tar.gz
• sudo apt-get install fluid
• sudo apt-get install glutg3-dev
• tar xvzf stage_3.2.2.orig.tar.gz
• cd Stage-3.2.2-Source
• mkdir build
• cd build
• cmake ../

  Sample output

  -- Stage version 3.2.2
-- Operating system is Linux
-- Build type RELEASE
-- Checking for libtool
-- Checking for required libraries...
--   * FLTK version 1.1.10 detected via /usr/bin/fltk-config
-- Checking for optional libraries...
--   * Player version 3.1.0-svn detected at /usr/local
-- Installation path CMAKE_INSTALL_PREFIX=/usr/local
-- Configuring libstage
-- Looking for WebSim
-- checking for one of the modules 'websim'
  * WebSim not detected. If WebSim is installed but not detected, check your PKG_CONFIG_PATH.
-- Configuring libstageplugin
-- Configuring done
-- Generating done
-- Build files have been written to: /home/robot/playerstage/stagesrc/build
• make
• sudo make install

Building examples

• cd ~
• mkdir libplayerc++_example
• cd libplayerc++_example
• ccmake /usr/local/share/player/examples/libplayerc++/
• cmake .
• make
• Sample output:
• robot@ubuntu:~/libplayerc++_example$ make
Scanning dependencies of target camera
[  8%] Building CXX object CMakeFiles/camera.dir/camera.o
Linking CXX executable camera
[  8%] Built target camera
Scanning dependencies of target clientgraphics
[ 16%] Building CXX object CMakeFiles/clientgraphics.dir/clientgraphics.o
Linking CXX executable clientgraphics
[ 16%] Built target clientgraphics
Scanning dependencies of target clientgraphics3d
[ 25%] Building CXX object CMakeFiles/clientgraphics3d.dir/clientgraphics3d.o
Linking CXX executable clientgraphics3d
[ 25%] Built target clientgraphics3d
Scanning dependencies of target example0
[ 33%] Building CXX object CMakeFiles/example0.dir/example0.o
Linking CXX executable example0
[ 33%] Built target example0
Scanning dependencies of target example4
[ 41%] Building CXX object CMakeFiles/example4.dir/example4.o
Linking CXX executable example4
[ 41%] Built target example4
Scanning dependencies of target grip
[ 50%] Building CXX object CMakeFiles/grip.dir/grip.o
Linking CXX executable grip
[ 50%] Built target grip
Scanning dependencies of target laserobstacleavoid
[ 58%] Building CXX object CMakeFiles/laserobstacleavoid.dir/laserobstacleavoid.o
Linking CXX executable laserobstacleavoid
[ 58%] Built target laserobstacleavoid
Scanning dependencies of target ptz
[ 66%] Building CXX object CMakeFiles/ptz.dir/ptz.o
Linking CXX executable ptz
[ 66%] Built target ptz
Scanning dependencies of target randomwalk
[ 75%] Building CXX object CMakeFiles/randomwalk.dir/randomwalk.o
Linking CXX executable randomwalk
[ 75%] Built target randomwalk
Scanning dependencies of target sonarobstacleavoid
[ 83%] Building CXX object CMakeFiles/sonarobstacleavoid.dir/sonarobstacleavoid.o
Linking CXX executable sonarobstacleavoid
[ 83%] Built target sonarobstacleavoid
Scanning dependencies of target speech
[ 91%] Building CXX object CMakeFiles/speech.dir/speech.o
Linking CXX executable speech
[ 91%] Built target speech
Scanning dependencies of target wallfollow
[100%] Building CXX object CMakeFiles/wallfollow.dir/wallfollow.o
Linking CXX executable wallfollow
[100%] Built target wallfollow

Troubleshooting

While installing player

Now when you run player simple.cfg (cfg file in stage’s world folder), and get these errors

• -- ============================
--
CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
GLUT_Xmu_LIBRARY (ADVANCED)
    linked by target "lodo" in directory /home/robot/playerstage/playersrc/utils/pmap
    linked by target "lododriver" in directory /home/robot/playerstage/playersrc/utils/pmap
    linked by target "pmap" in directory /home/robot/playerstage/playersrc/utils/pmap
    linked by target "pmaptest" in directory /home/robot/playerstage/playersrc/utils/pmap

  -- Configuring incomplete, errors occurred!

• error   : Sorry, no support for shared libraries, so can't load plugins.
error   : You should install libltdl, which is part of GNU libtool, then re-compile player.
error   : failed to load plugin: stageplugin
error   : failed to parse config file simple.cfg driver blocks
• You need to install some packages by running the commands below
• sudo apt-get install libxmu-dev
• sudo apt-get install libltdl-dev
• sudo apt-get install libguile-ltdl-1
• You would need to install player and Stage again

While Installing Stage

If you get this error below, that means, libltdl-dev is not installed

• cmake ../
-- The C compiler identification is GNU
-- The CXX compiler identification is GNU
-- Check for working C compiler: /usr/bin/gcc
-- Check for working C compiler: /usr/bin/gcc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Stage version 3.2.2
-- Operating system is Linux
-- Build type RELEASE
-- Checking for libtool
-- Checking for required libraries...
-- checking for one of the modules 'libpng'
--   * FLTK version 1.1.10 detected via /usr/bin/fltk-config
-- Looking for XOpenDisplay in /usr/lib/libX11.so;/usr/lib/libXext.so
-- Looking for XOpenDisplay in /usr/lib/libX11.so;/usr/lib/libXext.so - found
-- Looking for gethostbyname
-- Looking for gethostbyname - found
-- Looking for connect
-- Looking for connect - found
-- Looking for remove
-- Looking for remove - found
-- Looking for shmat
-- Looking for shmat - found
-- Looking for IceConnectionNumber in ICE
-- Looking for IceConnectionNumber in ICE - found
-- Found X11: /usr/lib/libX11.so
-- Checking for optional libraries...
-- checking for one of the modules 'playercore>=2.1.0'
--   * Player version 3.1.0-svn detected at /usr/local
-- checking for one of the modules 'websim'
  * WebSim not detected.
-- Installation path CMAKE_INSTALL_PREFIX=/usr/local
-- Configuring libstage
-- Configuring libstageplugin
CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
LTDL_INCLUDE_DIR
   used as include directory in directory /home/robot/playerstage/Stage-3.2.2-Source
   used as include directory in directory /home/robot/playerstage/Stage-3.2.2-Source/libstage
   used as include directory in directory /home/robot/playerstage/Stage-3.2.2-Source/examples
   used as include directory in directory /home/robot/playerstage/Stage-3.2.2-Source/examples/ctrl
   used as include directory in directory /home/robot/playerstage/Stage-3.2.2-Source/assets
   used as include directory in directory /home/robot/playerstage/Stage-3.2.2-Source/worlds
   used as include directory in directory /home/robot/playerstage/Stage-3.2.2-Source/worlds/benchmark
   used as include directory in directory /home/robot/playerstage/Stage-3.2.2-Source/libstageplugin
LTDL_LIB
    linked by target "stage" in directory /home/robot/playerstage/Stage-3.2.2-Source/libstage

  -- Configuring incomplete, errors occurred!

• If you get the error below, that means, fltk is not installed
• cmake ../
-- Stage version 3.2.2
-- Operating system is Linux
-- Build type RELEASE
-- Checking for libtool
-- Checking for required libraries...
--   * FLTK version 1.1.10 detected via /usr/bin/fltk-config
CMake Error at CMakeLists.txt:150 (MESSAGE):
  OpenGL GLU not found, aborting

  CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
LTDL_INCLUDE_DIR
   used as include directory in directory /home/robot/playerstage/stagesrc

  -- Configuring incomplete, errors occurred!

• sudo apt-get install fluid
• If you get the error below, OpenGL is not installed
• cmake ../
-- Stage version 3.2.2
-- Operating system is Linux
-- Build type RELEASE
-- Checking for libtool
-- Checking for required libraries...
--   * FLTK version 1.1.10 detected via /usr/bin/fltk-config
CMake Error at CMakeLists.txt:150 (MESSAGE):
  OpenGL GLU not found, aborting

  CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
LTDL_INCLUDE_DIR
   used as include directory in directory /home/robot/playerstage/stagesrc

  -- Configuring incomplete, errors occurred!

• sudo apt-get install glutg3-dev