FRCSim, Gazebo v7, and GearsBot example

[nheft]

Having difficulty getting FRCsim to work.

I installed the FRC simulator in accordance with the latest WPI procedure with the exception that I installed Gazebo version 7 instead of 6.

I start frcsim as follows:

frcsim ~/wpilib/simulation/worlds/GearsBotDemo.world

Next I bring up the driver station with sim_ds.

Finally I start up eclipse neon, open up the GearsBot demo project, and run it as a WPILib Java Simulation.

The Gazebo window shows the robot on a simple playing field with a few cans and a platform similar to the video demo. However when I enable autonomous or teleop the robot does nothing.

In the console I get a few "Failed to initialize simulator/dio/1/2: does the encoder exist?" messages, eventually getting a message that ends with "Overload me!"

Meanwhile in the terminal I get a bunch of messages as follows
"Failed to load plugin /home/team533/wpilib/simulation/plugins/libdc_motor.so: libgazebo_physics.so.6: cannot open shared object file : No such file or directory".

Are the simulation plugins somehow hard wired to Gazebo version 6?

Any help would be appreciated.

Regards,

Neil Heft

Engineer - Mentor, Team 533