Red Hat Bugzilla – Bug 725752
Review Request: gazebo - 3D multiple robot simulator with dynamics
Last modified: 2013-10-19 10:42:52 EDT
Spec URL: http://www.cs.bham.ac.uk/~sjt/rpm/gazebo.spec
SRPM URL: http://www.cs.bham.ac.uk/~sjt/rpm/gazebo-0.9.0-4.el6.src.rpm
Description: Gazebo is a multi-robot simulator for outdoor environments. Like Stage, it is capable of simulating a population of robots, sensors and objects, but does so in a three-dimensional world. It generates both realistic sensor feedback and physically plausible interactions between objects (it includes an accurate simulation of rigid-body physics).
(I'm actually building on an SL6 machine with some extra packages from Fedora which aren't in EPEL, but should build on Fedora).
Note: this is my first package, so I am seeking a sponsor.
I'll add a pre-emptive note on why its 0.9.0 rather than the latest 0.10.0 release. According to one of our researchers who works in robotics:
"0.10.0 is not really very stable, as it is the first release after a major internal code restructure"
I have a couple of comments for you. I'm not a sponsor, so I can't formally review this package, but I would like to help you along.
1) Gazebo bundles assimp, which is against the packaging guidelines at . You'll have to remove assimp and use a system version, which is under review as bug 635511.
2) Fedora packages can't depend on packages from external sources. The ffmpeg-devel requirement cannot be satisfied by any Fedora packages. You'll have to build gazebo without ffmpeg support, somehow make ffmpeg a runtime requirement as opposed to a build time requirement, or submit gazebo to a third-party repository for consideration.
(In reply to comment #2)
> I have a couple of comments for you. I'm not a sponsor, so I can't formally
> review this package, but I would like to help you along.
Hi Rich! You can do a formal review. The only thing you cannot do is sponsoring Simon.
Thanks for taking a look.
As far as I can see, 0.9.0 (which is what I've packaged) of Gazebo doesn't include assimp - 0.10.0 does.
Maybe there's a debate to be had around 0.9.0 vs 0.10.0 though? I noted in comment #1 that its 0.9.0 rather than the latest release. That's based on the comments from some of the researchers I work with who use this stuff.
I'll take a look at the ffmpeg requirement and see if I can resolve that.
I've changed it so that its possible to build with ffmpeg with "with ffmpeg", but that is disabled by default. It means there's no audio support for gazebo now.
Spec URL: http://www.cs.bham.ac.uk/~sjt/rpm/gazebo-0.9.0-5.spec
SRPM URL: http://www.cs.bham.ac.uk/~sjt/rpm/gazebo-0.9.0-5.el6.src.rpm
I found that 0.9.0 wouldn't build against OGRE 1.7.x so have bumped version to 0.10.0.
Spec URL: http://www.cs.bham.ac.uk/~sjt/rpm/gazebo-0.10.0-1.spec
SRPM URL: http://www.cs.bham.ac.uk/~sjt/rpm/gazebo-0.10.0-1.el6.src.rpm
Its patched to use the external assimp library. There's options for --with ffmpeg and --with bullet - it currently won't build with the Fedora bullet package though as it requires changes:
OPTION(USE_DOUBLE_PRECISION "Use double precision" ON)
OPTION(INSTALL_LIBS "Set when you want to install libraries" ON)
in bullet's CMakeLists.txt
There's a couple of patches in there to make it build and to install unversioned .so files into /usr/lib/package style as well a patch to make it work on x86_64 style machines (based on the architecture detection used in player) so that lib64 is substituted appropriately.
Adding bug 635511 (assimp) as blocking this.
Any comments on this?
Created attachment 548728 [details]
Buildsystem fixes for 1.0.0-RC1 on f16
Gazebo 1.0.0-RC1 has been released at gazebosim.org. It looks like the 1.0 release doesn't have any dependencies on bullet or assimp at the moment. It's not too hard to get to build, I've attached a patch that covers all of the stuff that needed to be changed for f16. The library install directories need to be fixed again.
It's been a little while without any reply, are you still interested in completing this review? If not, I can re-submit the review request and take it over.
Are you still interested in finishing this review? I've been working on gazebo-1.0.0 spec. I'm happy to share my spec file with you, or submit it myself if you'd prefer.
*** This bug has been marked as a duplicate of bug 825409 ***