Install

Install from source

To install from source, we first need to install depending hrpsys-base with libraries.

$ sudo add-apt-repository ppa:hrg/daily
$ sudo apt-get update
$ sudo apt-get install hrpsys-base libsdl1.2-dev

We also need to install gazebo. Please refer to following page for installation of gazebo with DRC plugins and models:

https://bitbucket.org/osrf/drcsim/wiki/DRC/Install

$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list'
$ sudo sh -c 'echo "deb http://packages.osrfoundation.org/drc/ubuntu trusty main" > /etc/apt/sources.list.d/drc-latest.list'
$ wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
$ wget http://packages.osrfoundation.org/drc.key -O - | sudo apt-key add -
$ sudo apt-get update
$ sudo apt-get install drcsim

Clone most recent source from github.

$ git clone https://github.com/fkanehiro/hrpsys-gazebo-simulator.git

Then, run cmake and make to configure, compile and install.

$ cd hrpsys-gazebo-simulator
$ cmake .
$ make
$ sudo make install