• 1Enable Universe and Multiverse repositories:

     $ sudo gedit /etc/apt/sources.list
     [ Follow instructions in the file to enable the Universe and Multiverse repositories, save and exit ]
     $ sudo apt-get update

• 2Install dependencies:

     $ sudo apt-get install g++ subversion cmake libfreetype6-dev libode-dev libsdl-dev ruby ruby-dev libdevil-dev libboost-dev libboost-thread-dev libboost-regex-dev libboost-system-dev

• 3Download the latest simspark and rcssserver3d packages as described here, or if you want to use latest code in SVN repository, check out the source from the source forge SVN repository:

（官网上没有具体资源，svn的地址已经更改，请使用新地址：https://svn.code.sf.net/p/simspark/svn/）
（$svn co https://svn.code.sf.net/p/simspark/svn/ simspark)

     $ svn co https://simspark.svn.sourceforge.net/svnroot/simspark simspark

• 4Configure the package, generate build files and install the package:

Simspark:

     $ cd simspark/trunk/spark
     $ mkdir build
     $ cd build
     $ cmake ..
     $ make
     $ sudo make install
     $ sudo ldconfig

• Note: type 'make uninstall' to uninstall the package

Rcssserver3D:

     [ set to the rcssserver3d directory (trunk/rcssserver3d) ]
     $ mkdir build
     $ cd build
     $ cmake ..
     $ make
     $ sudo make install
     $ sudo ldconfig

• Note: type 'make uninstall' to uninstall the package

• Make sure the linker can find your shared libraries:

     $ sudo gedit /etc/ld.so.conf
     [ add the line '/usr/local/lib' if it isn't already there, save and close ]
     $ sudo ldconfig

• Run the simulation:

     $ simspark

• Run test agent:

     $ rcssagent3d