From 22d8df0db911e602951ff6d06a0b5562f45a5879 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Thu, 1 Dec 2022 12:14:51 -0800 Subject: [PATCH 1/5] add harmonic files Signed-off-by: Ian Chen --- .github/labeler.yml | 3 + harmonic/index.yaml | 34 ++++ harmonic/install.md | 59 +++++++ harmonic/install_osx_src.md | 251 ++++++++++++++++++++++++++++ harmonic/install_ubuntu_src.md | 279 ++++++++++++++++++++++++++++++++ harmonic/install_windows_src.md | 153 ++++++++++++++++++ harmonic/troubleshooting.md | 175 ++++++++++++++++++++ index.yaml | 41 ++++- releases.md | 3 +- roadmap.md | 4 + 10 files changed, 999 insertions(+), 3 deletions(-) create mode 100644 harmonic/index.yaml create mode 100644 harmonic/install.md create mode 100644 harmonic/install_osx_src.md create mode 100644 harmonic/install_ubuntu_src.md create mode 100644 harmonic/install_windows_src.md create mode 100644 harmonic/troubleshooting.md diff --git a/.github/labeler.yml b/.github/labeler.yml index 1d6dcaeea..69bb39941 100644 --- a/.github/labeler.yml +++ b/.github/labeler.yml @@ -16,3 +16,6 @@ 🌱 garden: - garden/* - garden/**/* +🎵 harmonic: + - harmonic/* + - harmonic/**/* diff --git a/harmonic/index.yaml b/harmonic/index.yaml new file mode 100644 index 000000000..01343c768 --- /dev/null +++ b/harmonic/index.yaml @@ -0,0 +1,34 @@ +# This file is an index of the pages to display on the documentation website +# (https://gazebosim.org/docs). The order of the pages in this file +# is reflected on the website's left sidebar. +# +# Components of the index: +# +# 1. "pages:" The master list of pages +# +# 2. Each page has a +# a. "name:" This should be a short url-friendly and unique name. It will +# be used in the website url. +# +# b. "title:" This is a human-friendly title for the page. This title will +# be displayed on the website's left side bar. +# +# c. "file:" The markdown file that contains the page's content. +pages: + - name: install + title: Install + file: install.md + description: Harmonic installation instructions + children: + - name: install_ubuntu_src + title: Ubuntu Source Install + file: install_ubuntu_src.md + - name: install_osx_src + title: macOS Source Install + file: install_osx_src.md + - name: install_windows_src + title: Windows Source Install + file: install_windows_src.md + - name: troubleshooting + title: Troubleshooting + file: troubleshooting.md diff --git a/harmonic/install.md b/harmonic/install.md new file mode 100644 index 000000000..1162c0621 --- /dev/null +++ b/harmonic/install.md @@ -0,0 +1,59 @@ +# Gazebo Harmonic + +Up to Harmonic's release date, the collection should be considered unstable. + +Gazebo Harmonic will be the 8th major release of Gazebo. It will be a +long-term release. + +## Binary installation instructions + +There are no Harmonic binaries at the moment + +## Source Installation instructions + +Source installation is recommended for users planning on altering Gazebo's source code (advanced). + + * [Source Installation on Ubuntu](install_ubuntu_src) + * [Source Installation on macOS](install_osx_src) + * [Source Installation on Windows](install_windows_src) + +## Harmonic Libraries + +The Harmonic collection is composed of many different Gazebo libraries. The +collection assures that all libraries are compatible and can be used together. + +This list of library versions may change up to the release date. + +| Library name | Version | +| ------------------ |:-------------:| +| gz-cmake | 3.x | +| gz-common | 5.x | +| gz-fuel-tools | 8.x | +| gz-sim | 8.x | +| gz-gui | 8.x | +| gz-launch | 7.x | +| gz-math | 7.x | +| gz-msgs | 9.x | +| gz-physics | 6.x | +| gz-plugin | 2.x | +| gz-rendering | 8.x | +| gz-sensors | 8.x | +| gz-tools | 2.x | +| gz-transport | 12.x | +| gz-utils | 2.x | +| sdformat | 13.x | + +## Supported platforms + +Harmonic is planned to be [supported](/docs/all/releases) on the platforms below. +This list may change up to the release date. + +These are the **officially** supported platforms: + +* Ubuntu Focal on amd64 +* Ubuntu Jammy on amd64 + +Platforms supported at **best-effort** include arm architectures, Windows and +macOS. See +[this ticket](https://github.com/gazebo-tooling/release-tools/issues/597) +for the full status. diff --git a/harmonic/install_osx_src.md b/harmonic/install_osx_src.md new file mode 100644 index 000000000..2b454c28c --- /dev/null +++ b/harmonic/install_osx_src.md @@ -0,0 +1,251 @@ +# Source Installation on macOS + +This tutorial will work for macOS Catalina 10.15 and macOS BigSur 10.16. + +## Install tools + +The use of some additional tools is recommended to help with the source compilation, +although other ways of correctly getting and building the sources are also possible. + +The easiest way to get the sources of all libraries is to use +[vcstool](https://github.com/dirk-thomas/vcstool). + +To compile all the different libraries and gz-sim in the right order +[colcon](https://colcon.readthedocs.io/en/released/) is recommended. +The colcon tool is available on all platforms using pip (or pip3, if pip fails). + +## Python3 from homebrew + +Tools and dependencies for Harmonic can be installed using the [homebrew package manager](https://brew.sh/). +The homebrew tool can be installed by entering the following in a terminal: + +```bash +/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install.sh)" +``` + +Harmonic is compatible with Python3; it can be installed by running the following in a terminal: + +```bash +brew install python3 +``` + +## vcstool and colcon from pip + +PIP is available on all platforms: + +```bash +python3 -m pip install vcstool +``` + +```bash +python3 -m pip install -U colcon-common-extensions +``` + +## Getting the sources + +The first step is to create a developer workspace in which `vcstool` and +`colcon` can work: + +```bash +mkdir -p ~/workspace/src +cd ~/workspace/src +``` + +All the sources of gazebo-harmonic are declared in a yaml file. Download +it to the workspace: + +```bash +wget https://raw.githubusercontent.com/gazebo-tooling/gazebodistro/master/collection-harmonic.yaml +``` + +Use `vcstool` to automatically retrieve all the Gazebo libraries sources from +their repositories: + +```bash +vcs import < collection-harmonic.yaml +``` + +The src subdirectory should contain all the sources ready to be built. + + +## Install dependencies + +Add `osrf/simulation` to Homebrew formulae + +```bash +brew update +brew tap osrf/simulation +``` + +Install all dependencies: + +Dependency for Ogre: + +```bash +brew cask install xquartz +``` + +General dependencies: + +```bash +brew install assimp boost bullet cmake cppzmq dartsim@6.10.0 doxygen eigen fcl ffmpeg flann freeimage freetype gflags google-benchmark gts ipopt irrlicht jsoncpp libccd libyaml libzzip libzip nlopt ode open-scene-graph ossp-uuid ogre1.9 ogre2.2 pkg-config protobuf qt qwt rapidjson ruby tbb tinyxml tinyxml2 urdfdom zeromq +``` + +`dartsim@6.10.0` and `qt5` are not sym-linked. To use those dependencies when building +`gazebo-physics2` and `gazebo-gui3`, run the following after installation to add them to `/use/local`: + +```bash +# dartsim@6.10.0 +export CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/usr/local/opt/dartsim@6.10.0 +export DYLD_FALLBACK_LIBRARY_PATH=${DYLD_FALLBACK_LIBRARY_PATH}:/usr/local/opt/dartsim@6.10.0/lib:/usr/local/opt/octomap/local +export PKG_CONFIG_PATH=${PKG_CONFIG_PATH}:/usr/local/opt/dartsim@6.10.0/lib/pkgconfig +# qt5 +export CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/usr/local/opt/qt@5 +``` + +### Install compiler requirements + +The Gazebo Libraries require the Xcode 10 compiler on MacOS Mojave. + +On Mac machines, gcc is acquired by installing Xcode command line tools. +The required version of Xcode for Harmonic is Xcode 10.3, which can be downloaded from +[Apple Developer Site](https://developer.apple.com/download/more/). +You will need to sign in to your Apple account and download the Mojave version of +Xcode command line tools. Command line tools can also be obtained by downloading +Xcode from the Apple App Store (installing the full app may take over an hour). + +## Building the Gazebo Libraries in MacOS Catalina (10.15) + +If you want to compile Gazebo Libraries in MacOS Catalina (10.15) you will need to apply some patches in your filesystem: + + - `/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX10.15.sdk/System/Library/Frameworks/Ruby.framework/Headers/ruby/ruby/intern.h` + +Create a file called `intern.patch` with the following content: + +```patch +--- intern.h 2019-12-16 18:17:08.000000000 +0100 ++++ /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX10.15.sdk/System/Library/Frameworks/Ruby.framework/Headers/ruby/ruby/intern.h +@@ -14,6 +14,10 @@ + #ifndef RUBY_INTERN_H + #define RUBY_INTERN_H 1 + ++#if __cplusplus > 199711L ++#define register // Deprecated in C++11. ++#endif // #if __cplusplus > 199711L ++ + #if defined(__cplusplus) + extern "C" { + #if 0 +``` + +Now we can apply the patch: + +```{.sh} +sudo patch -p0 < intern.patch +``` + + - `/Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX10.15.sdk/System/Library/Frameworks/Ruby.framework/Headers/ruby/ruby/config.h` + +Create a file called `config.patch` with the following content: + +```patch +--- config.h 2019-12-16 18:19:13.000000000 +0100 ++++ /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX10.15.sdk/System/Library/Frameworks/Ruby.framework/Headers/ruby/ruby/config.h +@@ -410,6 +410,6 @@ + #define RUBY_PLATFORM_CPU "x86_64" + #endif /* defined __x86_64__ &&! defined RUBY_PLATFORM_CPU */ + #define RUBY_PLATFORM_OS "darwin19" +-#define RUBY_ARCH"universal-"RUBY_PLATFORM_OS +-#define RUBY_PLATFORM"universal."RUBY_PLATFORM_CPU"-"RUBY_PLATFORM_OS ++#define RUBY_ARCH "universal-" RUBY_PLATFORM_OS ++#define RUBY_PLATFORM "universal." RUBY_PLATFORM_CPU "-" RUBY_PLATFORM_OS + #endif /* INCLUDE_RUBY_CONFIG_H */ +``` + +Now we can appply the patch: + +```{.sh} +sudo patch -p0 < config.patch +``` + +## Building the Gazebo Libraries + +Once the compiler and all the sources are in place it is time to compile them. +Start the procedure by changing into the workspace and listing the packages +recognized by `colcon`: + +```bash +cd ~/workspace/ +colcon graph +``` + +`colcon graph` should list the Gazebo libraries with an +[interdependency diagram](https://colcon.readthedocs.io/en/released/reference/verb/graph.html#example-output). +If that is the case, then you are ready +to build the whole set of libraries: + +```bash +colcon build --merge-install +``` + +To speed up the build process, you could also disable tests by using + +```bash +colcon build --cmake-args -DBUILD_TESTING=OFF --merge-install +``` + +To use debuggers activate debug symbols. Gazebo will run slower, but you'll be able to use GDB: + +```bash +colcon build --cmake-args ' -DBUILD_TESTING=OFF' ' -DCMAKE_BUILD_TYPE=Debug' --merge-install +``` + +To build a specific package with all its dependent packages: + +```bash +colcon build --merge-install --packages-up-to PACKAGE_NAME +``` + +To build a single package: + +```bash +colcon build --merge-install --packages-select PACKAGE_NAME +``` + +Visit [colcon documentation](https://colcon.readthedocs.io/en/released/#) to view more `colcon` build and test options. + +If there are no errors, all the binaries should be ready to use. + +## Using the workspace + +The workspace needs to be sourced every time a new terminal is used. + +Run the following command to source the workspace in bash: + +```bash +. ~/workspace/install/setup.bash +``` + +Or in zsh: + +```zsh +. ~/workspace/install/setup.zsh +``` + +This is the end of the source install instructions; head back to the [Getting started](/docs/all/getstarted) +page to start using Gazebo! + +## Uninstalling source-based install + +If you need to uninstall Gazebo or switch to a binary-based install once you +have already installed the library from source, navigate to your source code +directory's build folders and run `make uninstall`: + +```bash +cd /workspace +sudo make uninstall +``` + +## Troubleshooting + +See [Troubleshooting](/docs/harmonic/troubleshooting#macos) diff --git a/harmonic/install_ubuntu_src.md b/harmonic/install_ubuntu_src.md new file mode 100644 index 000000000..cddd337d7 --- /dev/null +++ b/harmonic/install_ubuntu_src.md @@ -0,0 +1,279 @@ +# Source Installation on Ubuntu + +These instructions apply to Ubuntu Focal (20.04) and Jammy (22.04). + +## Install tools + +The use of some additional tools is recommended to help with the source compilation, +although other ways of correctly getting and building the sources are also possible. + +The easiest way to get the sources of all libraries is to use +[vcstool](https://github.com/dirk-thomas/vcstool). + +To compile all the different libraries and gz-sim in the right order +[colcon](https://colcon.readthedocs.io/en/released/) is recommended. +The colcon tool is available on all platforms using pip (or pip3, if pip fails). + +Some tools require Python 3.5 (or higher) which is not the default option on some +platforms (like Ubuntu Focal). The Python +[virtualenv](https://virtualenv.pypa.io/en/latest/) could be a useful solution in +cases where the default option cannot be easily changed. + +## Generic tools + +Install tools needed by this tutorial: + +```bash +sudo apt install python3-pip wget lsb-release gnupg curl +``` + +## vcstool and colcon from pip + +PIP is available on all platforms: + +```bash +pip install vcstool || pip3 install vcstool +``` + +```bash +pip install -U colcon-common-extensions || pip3 install -U colcon-common-extensions +``` + +Check that no errors were printed while installing with PIP. If your system is not recognising the commands, and you're using a system that is compatible with Debian or Ubuntu packages, see the instructions below to install using `apt`. + +After installing `vcstool` and `colcon` with PIP, you may need to add their executables to your `$PATH`. +Check where the installation of these packages took place: + +```bash +pip show vcstool || pip3 show vcstool | grep Location + +pip show colcon-common-extensions || pip3 show colcon-common-extensions | grep Location +``` + +If your install path is prefixed with `$HOME/.local`, you'll probably need to add the executables within this directory to your `$PATH` in order to avoid "command not found" errors when using `vcstool` and `colcon` later on: + +```bash +export PATH=$PATH:$HOME/.local/bin/ +``` + +## vcstool and colcon from apt + +An alternative method is to use the `.deb` packages available on Debian or Ubuntu: + +```bash +sudo sh -c 'echo "deb http://packages.ros.org/ros2/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros2-latest.list' +curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add - +sudo apt-get update +sudo apt-get install python3-vcstool python3-colcon-common-extensions +``` + +## Git + +Gazebo libraries use `git` for version control, so it must be available +in the system for `vcstool` to work properly. + +```bash +sudo apt-get install git +``` + +## Getting the sources + +The instructions below use some UNIX commands to manage directories but the +equivalent alternatives on Windows should provide the same result. + +The first step is to create a developer workspace in which `vcstool` and +`colcon` can work: + +```bash +mkdir -p ~/workspace/src +cd ~/workspace/src +``` + +All the sources of gazebo-harmonic are declared in a yaml file. Download +it to the workspace: + +```bash +wget https://raw.githubusercontent.com/gazebo-tooling/gazebodistro/master/collection-harmonic.yaml +``` + +Use `vcstool` to automatically retrieve all the Gazebo libraries sources from +their repositories: + +```bash +vcs import < collection-harmonic.yaml +``` + +The src subdirectory should contain all the sources ready to be built. + +## Install dependencies + +Before compiling it is necessary to install all the dependencies of the different +packages that compose the Harmonic collection. Every platform has a different +method to install software dependencies. + +Add `packages.osrfoundation.org` to the apt sources list: + +```bash +sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg +echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null +sudo apt-get update +``` + +The command below will install all dependencies in Ubuntu: + +```bash +sudo apt -y install \ + $(sort -u $(find . -iname 'packages-'`lsb_release -cs`'.apt' -o -iname 'packages.apt' | grep -v '/\.git/') | sed '/gz\|sdf/d' | tr '\n' ' ') +``` + +## Building the Gazebo Libraries + +Once the compiler and all the sources are in place it is time to compile them. +Start the procedure by changing into the workspace and listing the packages +recognized by `colcon`: + +```bash +cd ~/workspace/ +colcon graph +``` + +`colcon graph` should list the Gazebo libraries with an +[interdependency diagram](https://colcon.readthedocs.io/en/released/reference/verb/graph.html#example-output). +If that is the case, then you are ready +to build the whole set of libraries: + +```bash +colcon build --merge-install +``` + +To speed up the build process, you could also disable tests by using + +```bash +colcon build --cmake-args -DBUILD_TESTING=OFF --merge-install +``` + +To use debuggers activate debug symbols. Gazebo will run slower, but you'll be able to use GDB: + +```bash +colcon build --cmake-args ' -DBUILD_TESTING=OFF' ' -DCMAKE_BUILD_TYPE=Debug' --merge-install +``` + +To build a specific package with all its dependent packages: + +```bash +colcon build --merge-install --packages-up-to PACKAGE_NAME +``` + +To build a single package: + +```bash +colcon build --packages-select PACKAGE_NAME +``` + +Visit [colcon documentation](https://colcon.readthedocs.io/en/released/#) to view more `colcon` build and test options. + +If there are no errors, all the binaries should be ready to use. You can check the [Troubleshooting] section for errors. + +## Using the workspace + +The workspace needs to be sourced every time a new terminal is used. + +Run the following command to source the workspace in bash: + +```bash +. ~/workspace/install/setup.bash +``` + +Or in zsh: + +```zsh +. ~/workspace/install/setup.zsh +``` + +This is the end of the source install instructions; head back to the [Getting started](/docs/all/getstarted) +page to start using Gazebo! + +## Uninstalling source-based install + +A source-based install can be "uninstalled" using several methods, depending on +the results you want: + + 1. If you installed your workspace with `colcon` as instructed above, "uninstalling" + could be just a matter of opening a new terminal and not sourcing the + workspace's `setup.sh`. This way, your environment will behave as though + Gazebo is not installed on your system. + + 2. If, in addition to not wanting to use the libraries, you're also trying to + free up space, you can delete the entire workspace directory with: + + ```bash + rm -rf ~/workspace + ``` + + 3. If you want to keep the source code, you can remove the + `install` / `build` / `log` directories as desired, leaving the `src` directory. + +## Troubleshooting + +See [Troubleshooting](/docs/Harmonic/troubleshooting#ubuntu) + +## QML Debugging + +To perform QML debugging you'll need: + + - Add `--cmake-args -DDQT_QML_DEBUG` flag to colcon + - QtCreator + +You will need to build Gazebo with: + +```bash +colcon build --cmake-args -DQT_QML_DEBUG --merge-install +``` + +> **Note:** Advanced users may note that only the `gz-sim` project needs this flag. + +After that's done, launching `gz sim -g` will result in the following message: + +``` +QML debugging is enabled. Only use this in a safe environment. +QML Debugger: Waiting for connection on port 40000... +``` + +After that you can just head to +`QtCreator -> Debug -> Start Debugging -> Attach to QML Port...` +and enter the QML port + +![](images/GzGuiQmlDebugging01.png) + +Once you click there, set the port number to 40000 and hit ok + +![](images/GzGuiQmlDebugging02.png) + +We're working to improve QtCreator integration so that it works out of the box. + +The ruby `gz` script doesn't yet pass the necessary command line arguments to the application. + +Note that because all instances will try to use port 40000, only one instance +can use it. If you shutdown the process and restart it immediately too quickly, +the OS may still claim the port is in use and hence the 2nd (re)launch will not +listen to QML debugger attach requests. + +### Avoid QML stall waiting for debugger on startup + +During development, you may find troublesome that `gz sim -g` won't actually start until +QtCreator hooks to the QML Debugging port. + +If that's a problem, you can edit the C++ file `gz-sim/src/gz.cc` and remove `block` +from it. E.g. + +```c++ +// The following: +const_cast( + "-qmljsdebugger=port:40000,block,services:DebugMessages,QmlDebugger," + "V8Debugger,QmlInspector,DebugTranslation") + +// Must become the following +const_cast( + "-qmljsdebugger=port:40000,services:DebugMessages,QmlDebugger," + "V8Debugger,QmlInspector,DebugTranslation") +``` diff --git a/harmonic/install_windows_src.md b/harmonic/install_windows_src.md new file mode 100644 index 000000000..e72e337da --- /dev/null +++ b/harmonic/install_windows_src.md @@ -0,0 +1,153 @@ +# Source Installation on Windows 10 + +Command line tools, DART physics engine, and GUI capabilities are +not currently supported in Windows. These functionalities correspond to the currently +building packages `gz-tools`, `gz-physics`, and `gz-gui`, respectively. + +**Note** + +You will still be able to use `TPE` as a physics engine +(see [here](https://gazebosim.org/api/physics/2.2/physicsplugin.html) for more information on `TPE`). + +## Install dependencies + +1. Install a [Conda package management system](https://docs.conda.io/projects/conda/en/latest/user-guide/install/download.html). + Miniconda suffices. You will likely want to check the box to add `conda` to your `PATH` + during the installation process so that you won't have to do this step manually. + +2. Install [Visual Studio 2019](https://visualstudio.microsoft.com/downloads/). + The Community version is free for students, open-source developers, and personal + development. Check "Desktop development with C++" in the Workloads tab, + check "MFC and ATL support", and uncheck "C++ Cmake Tools." We will install + cmake via Conda. + +3. Open a Visual Studio Command Prompt (search for "x64 Native Tools Command Prompt + for VS 2019" in the Windows search field near the Windows button). Optionally, + right-click and pin to the task bar for quick access in the future. + + If you did not add Conda to your `PATH` environment variable during Conda installation, + you may need to navigate to the location of `condabin` in order to use the `conda` command. + To find `condabin`, search for "Anaconda Prompt" in the Windows search field near the + Windows button, open it, run `where conda`, and look for a line containing the directory `condabin`. + +4. Navigate to your `condabin`, if necessary, and then create and activate a Conda environment: + ```bash + conda create -n gz-ws + conda activate gz-ws + ``` + + Once you have activate an environment, a prefix like `(gz-ws)` will be prepended to + your prompt, and you can use the `conda` command outside of the `condabin` directory. + + You can use `conda info --envs` to see all of your environments. + + To remove an environment, use `conda env remove --name `. + +5. Install dependencies: + + ```bash + conda install cmake git vcstool curl pkg-config ^ + colcon-common-extensions eigen freeimage gdal gts ^ + glib dlfcn-win32 ffmpeg ruby tinyxml2 tinyxml ^ + protobuf urdfdom zeromq cppzmq ogre jsoncpp ^ + libzip qt pybind11 --channel conda-forge + ``` + +6. Navigate to where you would like to build the library, create and enter your workspace directory, + create the `src` directory which will contain the Gazebo source code. + ```bash + mkdir gz-ws + cd gz-ws + mkdir src + ``` + +7. Then clone the repositories + ```bash + # CMD + curl -sk https://raw.githubusercontent.com/gazebo-tooling/gazebodistro/master/collection-harmonic.yaml -o collection-harmonic + vcs import src < collection-harmonic + + # PowerShell + curl https://raw.githubusercontent.com/gazebo-tooling/gazebodistro/master/collection-harmonic.yaml -o collection-harmonic + vcs import --input collection-harmonic src + ``` + +## Building the Gazebo Libraries + +Once the compiler and all the sources are in place it is time to compile them. +Start the procedure by navigating to your workspace and listing the packages +recognized by `colcon`: + +```bash +colcon graph +``` + +`colcon graph` should list the Gazebo libraries with an +[interdependency diagram](https://colcon.readthedocs.io/en/released/reference/verb/graph.html#example-output). +If that is the case, then you are ready to build the whole set of libraries: + +```bash +colcon build --cmake-args -DBUILD_TESTING=OFF --merge-install --packages-up-to gz-sim7 +``` +Tests are turned off as they are not currently supported on Windows. + +**Note:** All of the Gazebo packages up to, but not including `gz-sim` +are currently building. The above command should successfully build all packages except for `gz-sim`. + +To build a specific package with all its dependent packages: + +```bash +colcon build --merge-install --packages-up-to PACKAGE_NAME +``` + +To build a single package: + +```bash +colcon build --packages-select PACKAGE_NAME +``` + +Visit [colcon documentation](https://colcon.readthedocs.io/en/released/#) to view more `colcon` build and test options. + +If there are no errors, all the binaries should be ready to use. + +## Using the workspace + +The workspace needs to be sourced every time a new terminal is used. + +Run the following command to source the workspace: + +```bash +# CMD +call install\setup.bat + +#PowerShell +.\install\setup.ps1 +``` + +This is the end of the source install instructions; head back to the [Getting started](/docs/all/getstarted) +page to start using Gazebo! + +## Uninstalling source-based install + +A source-based install can be "uninstalled" using several methods, depending on +the results you want: + + 1. If you installed your workspace with `colcon` as instructed above, "uninstalling" + could be just a matter of opening a new terminal and not sourcing the + workspace's `setup.bat`. This way, your environment will behave as though + Gazebo is not installed on your system. + + 2. If, in addition to not wanting to use the libraries, you're also trying to + free up space, you can delete the entire workspace directory from within + your `conda` environment with: + + ```bash + rm -rf + ``` + + 3. If you want to keep the source code, you can remove the + `install` / `build` / `log` directories as desired, leaving the `src` directory. + +## Troubleshooting + +See [Troubleshooting](/docs/harmonic/troubleshooting#windows) diff --git a/harmonic/troubleshooting.md b/harmonic/troubleshooting.md new file mode 100644 index 000000000..48c2f6de0 --- /dev/null +++ b/harmonic/troubleshooting.md @@ -0,0 +1,175 @@ +# Troubleshooting + +## Gazebo libraries are not found +If you see this error message: + +```bash +I cannot find any available 'gz' command: + * Did you install any gazebo library? + * Did you set the GZ_CONFIG_PATH environment variable? + E.g.: export GZ_CONFIG_PATH=$HOME/local/share/gazebo +``` + +You should set up the environment variable `GZ_CONFIG_PATH=/usr/local/share/gazebo/` + + +## macOS + +### Unable to find `urdf_model.h` error +After installing all the dependencies and starting the build process, you may encounter an error that looks like this: + +```bash +/Users/user/harmonic_ws/src/sdformat/src/parser_urdf.cc:30:10: fatal error: 'urdf_model/model.h' file not found +#include + ^~~~~~~~~~~~~~~~~~~~ +1 error generated. +make[2]: *** [src/CMakeFiles/sdformat9.dir/parser_urdf.cc.o] Error 1 +make[1]: *** [src/CMakeFiles/sdformat9.dir/all] Error 2 +make: *** [all] Error 2 +Failed <<< sdformat9 [ Exited with code 2 ] +``` + +First check if `urdfdom` and `urdfdom_headers` are installed by running: + +```bash +brew install urdfdom urdfdom_headers +``` + +Then if the error persists, compile with the internal version of `urdfdom` by running: + +```bash +colcon build --cmake-args -DUSE_INTERNAL_URDF=ON --merge-install +``` + +This command will ignore the system installation of `urdfdom` and use the internal version instead. + +### Unable to load .dylib file +When running the `gz sim -s` command, an error like the one below may show up: + +```bash +Error while loading the library [/Users/harmonic/harmonic_ws/install/lib//libgz-physics6-dartsim-plugin.6.dylib]: dlopen(/Users/harmonic/harmonic_ws/install/lib//libgz-physics6-dartsim-plugin.6.dylib, 5): Library not loaded: @rpath/libIrrXML.dylib + Referenced from: /usr/local/opt/assimp/lib/libassimp.5.dylib + Reason: image not found +[Err] [Physics.cc:275] Unable to load the /Users/harmonic/harmonic_ws/install/lib//libgz-physics6-dartsim-plugin.6.dylib library. +Escalating to SIGKILL on [Gazebo Sim Server] +``` + +The issue is related to OSX System Integrity Protection (SIP). The workaround is to run `gz` with a different ruby then make sure that ruby is loaded. + +```bash +brew install ruby + +# Add the following to ~/.bashrc +export PATH=/usr/local/Cellar/ruby/2.6.5/bin:$PATH + +# Source ~/.bashrc in terminal +. ~/.bashrc +``` + +### No rule to make target `'/usr/lib/libm.dylib', needed by 'lib/libgz-physics6-dartsim-plugin.6.1.0.dylib'. Stop.` +Try to run `brew outdated` followed by a `brew upgrade` may fix some of it. + + +## Ubuntu + +### Out of memory issues + +There can be out of memory issue during the compilation of Gazebo, especially during +compilation of gz-physics. To prevent out of memory issues you can restrict the number of jobs: + +```bash +MAKEFLAGS="-j " colcon build --executor sequential +``` + +### Problems with dual Intel and Nvidia GPU systems + +If you are using a dual Intel/Nvidia system it could be the case that the +simulator is being run under Intel instead of using the Nvidia GPU. Bugs can +vary but there could problems with shadows, incorrect laser scans or other +rendering related issues. + +#### prime-select command line tool + +Hybrid Intel/Nvidia systems can be configured using the command line tool prime-select. +One option is to use always Nvidia: + + sudo prime-select nvidia + # logout user session and login again + +Other option is to configure the render offload for OpenGL applications to use +Nvidia. This means that your X screen and all normal applications are handled +by the Intel GPU, but all OpenGL applications that you start from the terminal +(including Gazebo) are rendered on the Nvidia GPU. + + # place the lines in your .bashrc if you want the change to be permanent + export __NV_PRIME_RENDER_OFFLOAD=1 + export __GLX_VENDOR_LIBRARY_NAME=nvidia + # logout user session and login again + +#### nvidia-settings GUI tool + +nvidia-settings is a GUI program that helps to configure the options for the Nvidia +graphic cards and includes some controls for hybrid Intel/Nvidia: + +The section "PRIME Profiles" can be used to select that the Nvidia card controls +all the GUI applications by selecting "NVIDIA (Performance Mode)". + +The "Application Profiles" can control the use of the Nvidia GPU per application. + +### Unable to create the rendering window +If you're getting errors like "Unable to create the rendering window", it could +mean you're using an old OpenGL version. Gazebo Sim uses the Ogre 2 +rendering engine by default, which requires an OpenGL version higher than 3.3. + +This can be confirmed by checking the Ogre 2 logs at `~/.gz/rendering/ogre2.log`, +which should have an error like: + + "OGRE EXCEPTION(3:RenderingAPIException): OpenGL 3.3 is not supported. Please update your graphics card drivers." + +You can also check your OpenGL version running: + + glxinfo | grep "OpenGL version" + +You should be able to use Ogre 1 without any issues however. You can check if +that's working by running a world which uses Ogre 1 instead of Ogre 2, such as: + + gz sim -v 3 lights.sdf + +If that loads, you can continue to use Gazebo Sim with Ogre 1, just use the +`--render-engine ogre` option. + +To enable Ogre 2 support, you'll need to update your computer's OpenGL version. +As suggested on the Ogre logs, this may require updating your graphics card +drivers. + +The Ogre 2 debs from the osrfoundation repository are built from a fork of +Ogre's `v2-1` branch with changes needed for deb packaging and allowing it to +be co-installable with Ogre 1.x. The code can be found here: + +https://github.com/gazebo-forks/ogre-2.1-release + + +## Windows + +### VisualStudioVersion is not set, please run within a Visual Studio Command Prompt. +When you try to compile Gazebo you might see an error in your prompt like: + + VisualStudioVersion is not set, please run within a Visual Studio Command Prompt. + +In this case execute one of the following commands: + - CMD +```bash + "C:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Auxiliary\Build\vcvarsall.bat" x86_amd64 +``` + + - PowerShell: +```bash +pushd "C:\Program Files (x86)\Microsoft Visual Studio\2019\Community\Common7\Tools" +cmd /c "VsDevCmd.bat&set" | +foreach { + if ($_ -match "=") { + $v = $_.split("="); set-item -force -path "ENV:\$($v[0])" -value "$($v[1])" + } +} +popd +``` diff --git a/index.yaml b/index.yaml index 60daadc2d..cdae2a1c5 100644 --- a/index.yaml +++ b/index.yaml @@ -57,10 +57,47 @@ pages: file: architecture.md description: Gazebo Sim's architecture overview. releases: + - name: harmonic + lts: true + eol: false + description: Upcoming release, under development. + libraries: + - name: cmake + version: 3 + - name: common + version: 5 + - name: fuel_tools + version: 8 + - name: gui + version: 8 + - name: launch + version: 7 + - name: math + version: 7 + - name: msgs + version: 9 + - name: physics + version: 6 + - name: plugin + version: 2 + - name: rendering + version: 8 + - name: sensors + version: 8 + - name: sim + version: 8 + - name: tools + version: 2 + - name: transport + version: 12 + - name: utils + version: 2 + - name: sdformat + version: 13 - name: garden lts: false eol: false - description: Upcoming release, under development. + description: Supported Sep, 2022 to Sep, 2024 libraries: - name: cmake version: 3 @@ -97,7 +134,7 @@ releases: - name: fortress lts: true eol: false - description: Recommended version. + description: Supported Sep, 2021 to Sep, 2026 libraries: - name: cmake version: 2 diff --git a/releases.md b/releases.md index 27ee2d44c..45afb90c2 100644 --- a/releases.md +++ b/releases.md @@ -14,8 +14,9 @@ A Gazebo release follows the form "Gazebo Codename", for example Gazebo Acropoli | Name | Date | EOL date | Notes | |----------------------------------------------------------|-----------|-----------|-------| +| Gazebo-J | Sep, 2025 | Sep, 2030 | LTS | | Gazebo-I | Sep, 2024 | Sep, 2026 | | -| Gazebo-H | Sep, 2023 | Sep, 2028 | LTS | +| [Harmonic](https://gazebosim.org/docs/harmonic) | Sep, 2023 | Sep, 2028 | LTS | | [Garden](https://gazebosim.org/docs/garden) | Sep, 2022 | Nov, 2024 | | | [Fortress](https://gazebosim.org/docs/fortress) | Sep, 2021 | Sep, 2026 | LTS | | [Edifice](https://gazebosim.org/docs/edifice) | Mar, 2021 | Mar, 2022 | EOL | diff --git a/roadmap.md b/roadmap.md index b2d82b819..9a4745271 100644 --- a/roadmap.md +++ b/roadmap.md @@ -78,6 +78,10 @@ compatible non-EOL release and propagate the feature forward. 1. [Acoustic comms](https://github.com/gazebosim/gz-sim/pull/1608) 1. [Environmental sensors](https://github.com/gazebosim/gz-sim/pull/1660) +### Harmonic + +Coming soon. + ## Planned releases Please see the [Releases](https://github.com/gazebosim/docs/blob/master/releases.md) for the timeline of and information about future distributions. 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z{r&wd)AE7*A3uJirKRQNZ7ecNeZF|+z0G=RQVc=lU*NmD0+D;G161#=%-bURK`YcpGFBEO6UX2eZtv3VUG@7+^K-1996+@n99 zMysg@s8hV;WGfOHC;%E#+cdM|qKb&}5a5fI!toYl>U0=cs}7HF=ZAFUGUh#f!Nxu| zzke7JghV~93iPGdKQ*`u(_&6k-j^GJvKTuK?7h!+tMaBeNC$Do$H!Ik<@^X>5s+XO zEL_O?5;DR0G;u;N9Y?2-PRRS+C}3~7UD(NGo-oW~f_RLm)_3)uMjdbR_k5sH=EL2- zFgNP`+XyQWu3ttmPwjk8PlN2tto0V7i~VFMW|=womG`q|cZ5W7s_)f*ykdKW)mNL~8De2`f*$BvIjj{9G+ zh?^g@`pA(7M7AXaUflxPS^lepzIpvhe)5fI>k`lBSZe7>r}*8fFM6esobot?BS33jla_I(OWl8$qC*Jyd`naI=Cvy4 z%J)xIs)&sLthfjY32}V-^li2M>8rl9cLbF{#^}xErH!EVapn*Cf@3e2H4gyfmZsd# zh~OX-LxTbh>945ehXqW;cYs&ncNYM^&Q^%p{ Date: Fri, 2 Dec 2022 11:26:42 -0800 Subject: [PATCH 3/5] fixing installation instructions Signed-off-by: Ian Chen --- harmonic/install_osx_src.md | 18 +++++++++++++++--- harmonic/install_ubuntu_src.md | 2 +- harmonic/install_windows_src.md | 2 +- harmonic/troubleshooting.md | 15 +++++++++------ 4 files changed, 26 insertions(+), 11 deletions(-) diff --git a/harmonic/install_osx_src.md b/harmonic/install_osx_src.md index 2b454c28c..c05ce4c06 100644 --- a/harmonic/install_osx_src.md +++ b/harmonic/install_osx_src.md @@ -67,7 +67,6 @@ vcs import < collection-harmonic.yaml The src subdirectory should contain all the sources ready to be built. - ## Install dependencies Add `osrf/simulation` to Homebrew formulae @@ -88,11 +87,13 @@ brew cask install xquartz General dependencies: ```bash -brew install assimp boost bullet cmake cppzmq dartsim@6.10.0 doxygen eigen fcl ffmpeg flann freeimage freetype gflags google-benchmark gts ipopt irrlicht jsoncpp libccd libyaml libzzip libzip nlopt ode open-scene-graph ossp-uuid ogre1.9 ogre2.2 pkg-config protobuf qt qwt rapidjson ruby tbb tinyxml tinyxml2 urdfdom zeromq +brew install assimp boost bullet cmake cppzmq dartsim@6.10.0 doxygen eigen fcl ffmpeg flann freeimage freetype gflags google-benchmark gts ipopt irrlicht jsoncpp libccd libyaml libzzip libzip nlopt ode open-scene-graph ossp-uuid ogre1.9 ogre2.3 pkg-config protobuf qt qwt rapidjson ruby tbb tinyxml tinyxml2 urdfdom zeromq ``` `dartsim@6.10.0` and `qt5` are not sym-linked. To use those dependencies when building -`gazebo-physics2` and `gazebo-gui3`, run the following after installation to add them to `/use/local`: +`gz-physics6` and `gz-gui8`, run the following after installation: + +For Macs with Intel processors, add them to `/usr/local`: ```bash # dartsim@6.10.0 @@ -103,6 +104,17 @@ export PKG_CONFIG_PATH=${PKG_CONFIG_PATH}:/usr/local/opt/dartsim@6.10.0/lib/pkgc export CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/usr/local/opt/qt@5 ``` +Note if you are on an ARM based Apple Silicon Mac machine, you will need to add them to /opt/homebrew instead: + +```bash +# dartsim@6.10.0 +export CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/homebrew/opt/dartsim@6.10.0 +export DYLD_FALLBACK_LIBRARY_PATH=${DYLD_FALLBACK_LIBRARY_PATH}:/opt/homoebrew/opt/dartsim@6.10.0/lib:/opt/homebrew/opt/octomap/local +export PKG_CONFIG_PATH=${PKG_CONFIG_PATH}:/opt/homebrew/opt/dartsim@6.10.0/lib/pkgconfig +# qt5 +export CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/homebrew/opt/qt@5 +``` + ### Install compiler requirements The Gazebo Libraries require the Xcode 10 compiler on MacOS Mojave. diff --git a/harmonic/install_ubuntu_src.md b/harmonic/install_ubuntu_src.md index cddd337d7..3a9629daf 100644 --- a/harmonic/install_ubuntu_src.md +++ b/harmonic/install_ubuntu_src.md @@ -172,7 +172,7 @@ colcon build --packages-select PACKAGE_NAME Visit [colcon documentation](https://colcon.readthedocs.io/en/released/#) to view more `colcon` build and test options. -If there are no errors, all the binaries should be ready to use. You can check the [Troubleshooting] section for errors. +If there are no errors, all the binaries should be ready to use. You can check the [Troubleshooting](/docs/Harmonic/troubleshooting#ubuntu) section for errors. ## Using the workspace diff --git a/harmonic/install_windows_src.md b/harmonic/install_windows_src.md index e72e337da..1e8915691 100644 --- a/harmonic/install_windows_src.md +++ b/harmonic/install_windows_src.md @@ -87,7 +87,7 @@ colcon graph If that is the case, then you are ready to build the whole set of libraries: ```bash -colcon build --cmake-args -DBUILD_TESTING=OFF --merge-install --packages-up-to gz-sim7 +colcon build --cmake-args -DBUILD_TESTING=OFF --merge-install --packages-up-to gz-sim8 ``` Tests are turned off as they are not currently supported on Windows. diff --git a/harmonic/troubleshooting.md b/harmonic/troubleshooting.md index 48c2f6de0..571d2858c 100644 --- a/harmonic/troubleshooting.md +++ b/harmonic/troubleshooting.md @@ -5,13 +5,17 @@ If you see this error message: ```bash I cannot find any available 'gz' command: - * Did you install any gazebo library? + * Did you install any Gazebo library? * Did you set the GZ_CONFIG_PATH environment variable? - E.g.: export GZ_CONFIG_PATH=$HOME/local/share/gazebo + E.g.: export GZ_CONFIG_PATH=$HOME/local/share/gz ``` -You should set up the environment variable `GZ_CONFIG_PATH=/usr/local/share/gazebo/` +You should set up the environment variable: +``` +# replace to your Gazebo installation directory +GZ_CONFIG_PATH=/share/gz/ +``` ## macOS @@ -69,7 +73,6 @@ export PATH=/usr/local/Cellar/ruby/2.6.5/bin:$PATH ### No rule to make target `'/usr/lib/libm.dylib', needed by 'lib/libgz-physics6-dartsim-plugin.6.1.0.dylib'. Stop.` Try to run `brew outdated` followed by a `brew upgrade` may fix some of it. - ## Ubuntu ### Out of memory issues @@ -143,10 +146,10 @@ As suggested on the Ogre logs, this may require updating your graphics card drivers. The Ogre 2 debs from the osrfoundation repository are built from a fork of -Ogre's `v2-1` branch with changes needed for deb packaging and allowing it to +Ogre's `v2-3` branch with changes needed for deb packaging and allowing it to be co-installable with Ogre 1.x. The code can be found here: -https://github.com/gazebo-forks/ogre-2.1-release +https://github.com/gazebo-forks/ogre-2.3-release ## Windows From 937916a493ee0ed5f721e5ab648f62c5d4717a3d Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Mon, 5 Dec 2022 13:45:14 -0800 Subject: [PATCH 4/5] port fixes back to Garden Signed-off-by: Ian Chen --- garden/install_osx_src.md | 17 +++++++++++++++-- garden/install_ubuntu_src.md | 2 +- garden/troubleshooting.md | 14 +++++++++----- harmonic/install_ubuntu_src.md | 4 ++-- 4 files changed, 27 insertions(+), 10 deletions(-) diff --git a/garden/install_osx_src.md b/garden/install_osx_src.md index 0e8aeac0e..986941648 100644 --- a/garden/install_osx_src.md +++ b/garden/install_osx_src.md @@ -88,11 +88,13 @@ brew cask install xquartz General dependencies: ```bash -brew install assimp boost bullet cmake cppzmq dartsim@6.10.0 doxygen eigen fcl ffmpeg flann freeimage freetype gflags google-benchmark gts ipopt irrlicht jsoncpp libccd libyaml libzzip libzip nlopt ode open-scene-graph ossp-uuid ogre1.9 ogre2.2 pkg-config protobuf qt qwt rapidjson ruby tbb tinyxml tinyxml2 urdfdom zeromq +brew install assimp boost bullet cmake cppzmq dartsim@6.10.0 doxygen eigen fcl ffmpeg flann freeimage freetype gflags google-benchmark gts ipopt irrlicht jsoncpp libccd libyaml libzzip libzip nlopt ode open-scene-graph ossp-uuid ogre1.9 ogre2.3 pkg-config protobuf qt qwt rapidjson ruby tbb tinyxml tinyxml2 urdfdom zeromq ``` `dartsim@6.10.0` and `qt5` are not sym-linked. To use those dependencies when building -`gazebo-physics2` and `gazebo-gui3`, run the following after installation to add them to `/use/local`: +`gz-physics6` and `gz-gui8`, run the following after installation: + +For Macs with Intel processors, add them to `/usr/local`: ```bash # dartsim@6.10.0 @@ -103,6 +105,17 @@ export PKG_CONFIG_PATH=${PKG_CONFIG_PATH}:/usr/local/opt/dartsim@6.10.0/lib/pkgc export CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/usr/local/opt/qt@5 ``` +Note if you are on an ARM based Apple Silicon Mac machine, you will need to add them to /opt/homebrew instead: + +```bash +# dartsim@6.10.0 +export CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/homebrew/opt/dartsim@6.10.0 +export DYLD_FALLBACK_LIBRARY_PATH=${DYLD_FALLBACK_LIBRARY_PATH}:/opt/homoebrew/opt/dartsim@6.10.0/lib:/opt/homebrew/opt/octomap/local +export PKG_CONFIG_PATH=${PKG_CONFIG_PATH}:/opt/homebrew/opt/dartsim@6.10.0/lib/pkgconfig +# qt5 +export CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}:/opt/homebrew/opt/qt@5 +``` + ### Install compiler requirements The Gazebo Libraries require the Xcode 10 compiler on MacOS Mojave. diff --git a/garden/install_ubuntu_src.md b/garden/install_ubuntu_src.md index ee754cb7b..21b375993 100644 --- a/garden/install_ubuntu_src.md +++ b/garden/install_ubuntu_src.md @@ -172,7 +172,7 @@ colcon build --packages-select PACKAGE_NAME Visit [colcon documentation](https://colcon.readthedocs.io/en/released/#) to view more `colcon` build and test options. -If there are no errors, all the binaries should be ready to use. You can check the [Troubleshooting] section for errors. +If there are no errors, all the binaries should be ready to use. You can check the [Troubleshooting](/docs/garden/troubleshooting#ubuntu) section for errors. ## Using the workspace diff --git a/garden/troubleshooting.md b/garden/troubleshooting.md index 87a052229..d270fffe3 100644 --- a/garden/troubleshooting.md +++ b/garden/troubleshooting.md @@ -5,13 +5,17 @@ If you see this error message: ```bash I cannot find any available 'gz' command: - * Did you install any gazebo library? + * Did you install any Gazebo library? * Did you set the GZ_CONFIG_PATH environment variable? - E.g.: export GZ_CONFIG_PATH=$HOME/local/share/gazebo + E.g.: export GZ_CONFIG_PATH=$HOME/local/share/gz ``` -You should set up the environment variable `GZ_CONFIG_PATH=/usr/local/share/gazebo/` +You should set up the environment variable: +``` +# replace to your Gazebo installation directory +GZ_CONFIG_PATH=/share/gz/ +``` ## macOS @@ -143,10 +147,10 @@ As suggested on the Ogre logs, this may require updating your graphics card drivers. The Ogre 2 debs from the osrfoundation repository are built from a fork of -Ogre's `v2-1` branch with changes needed for deb packaging and allowing it to +Ogre's `v2-3` branch with changes needed for deb packaging and allowing it to be co-installable with Ogre 1.x. The code can be found here: -https://github.com/gazebo-forks/ogre-2.1-release +https://github.com/gazebo-forks/ogre-2.3-release ## Windows diff --git a/harmonic/install_ubuntu_src.md b/harmonic/install_ubuntu_src.md index 3a9629daf..3c16829f7 100644 --- a/harmonic/install_ubuntu_src.md +++ b/harmonic/install_ubuntu_src.md @@ -172,7 +172,7 @@ colcon build --packages-select PACKAGE_NAME Visit [colcon documentation](https://colcon.readthedocs.io/en/released/#) to view more `colcon` build and test options. -If there are no errors, all the binaries should be ready to use. You can check the [Troubleshooting](/docs/Harmonic/troubleshooting#ubuntu) section for errors. +If there are no errors, all the binaries should be ready to use. You can check the [Troubleshooting](/docs/harmonic/troubleshooting#ubuntu) section for errors. ## Using the workspace @@ -215,7 +215,7 @@ the results you want: ## Troubleshooting -See [Troubleshooting](/docs/Harmonic/troubleshooting#ubuntu) +See [Troubleshooting](/docs/harmonic/troubleshooting#ubuntu) ## QML Debugging From 38bd3372b74130e94d68a56dc6b1f352660ed70a Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Mon, 5 Dec 2022 13:46:36 -0800 Subject: [PATCH 5/5] fix ver Signed-off-by: Ian Chen --- garden/install_osx_src.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/garden/install_osx_src.md b/garden/install_osx_src.md index 986941648..6202991e7 100644 --- a/garden/install_osx_src.md +++ b/garden/install_osx_src.md @@ -92,7 +92,7 @@ brew install assimp boost bullet cmake cppzmq dartsim@6.10.0 doxygen eigen fcl f ``` `dartsim@6.10.0` and `qt5` are not sym-linked. To use those dependencies when building -`gz-physics6` and `gz-gui8`, run the following after installation: +`gz-physics6` and `gz-gui7`, run the following after installation: For Macs with Intel processors, add them to `/usr/local`: