Required libraries: - World Wind Java WWJ is included with the distribution in the jars/worldwind directory. It has been tested and is functioning on Mac (all architectures), Windows 7 (all architectures), and Linux (all architectures). If you get multiple exceptions about texture support, the globe doesn't show up on the location tab, and you are running Linux or Mac, install and run driconf and set "Enable S3TC texture compression..." to Yes. - Java3D Java3D is not included in the distribution. It can be downloaded at http://java.sun.com/javase/technologies/desktop/java3d Robocopter Server will not start unless the java3d core, java3d utils and vecmath jarfiles are in the classpath. It also expects libj3dcore-ogl to be present in /lib. If your libj3dcore is in a different directory, you can change this in the run script by adding your directory to the java.library.path in the run-phase. To install Java3D for Ubuntu: - Install libjava3d-java using your favorite package manager - Create the symbolic links for the library: # ln -s /usr/lib/jni/libj3dcore-ogl.so /lib/ - Add the following three jarfiles to your classpath: - /usr/share/java/j3dcore.jar - /usr/share/java/j3dutils.jar - /usr/share/java/vecmath.jar This can be done using the following command: $ echo CLASSPATH\=\$CLASSPATH:/usr/share/java/j3dcore.jar:/usr/share/java/j3dutils.jar:/usr/share/java/vecmath.jar >> ~/.zshrc Make sure to replace ~/.zshrc with the profile for whatever shell you use. You will need to restart your terminal after running this command.