Install Gazebo using Ubuntu packages

This tutorial covers the installation of Gazebo packages using the the osrfoundation.org repository, designed for those who want to follow the faster development path but still a stable one.

Gazebo is also released as an Ubuntu official package: (check which version is available for every distribution. If you are a ROS user, please read the tutorial about ROS/Gazebo installation.

Default installation: one-liner

  1. Install

    curl -sSL http://get.gazebosim.org | sh
  2. Run


Alternative installation: step-by-step

  1. Setup your computer to accept software from packages.osrfoundation.org.

    sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'

    You can check to see if the file was written correctly. For example, in Ubuntu Xenial, you can type:

    $ cat /etc/apt/sources.list.d/gazebo-stable.list
    deb http://packages.osrfoundation.org/gazebo/ubuntu-stable xenial main
  2. Setup keys

    wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
  3. Install Gazebo.

    First update the debian database:

    sudo apt-get update

    Hint: make sure the apt-get update process ends without any errors, the console output ends in Done similar to below:

    $ sudo apt-get update
    Hit http://ppa.launchpad.net xenial/main Translation-en
    Ign http://us.archive.ubuntu.com xenial/main Translation-en_US
    Ign http://us.archive.ubuntu.com xenial/multiverse Translation-en_US
    Ign http://us.archive.ubuntu.com xenial/restricted Translation-en_US
    Ign http://us.archive.ubuntu.com xenial/universe Translation-en_US
    Reading package lists... Done

    Next install gazebo-9 by:

    sudo apt-get install gazebo9
    # For developers that work on top of Gazebo, one extra package
    sudo apt-get install libgazebo9-dev

    If you see the error below:

    $ sudo apt-get install gazebo9
    Reading package lists... Done
    Building dependency tree
    Reading state information... Done
    E: Unable to locate package gazebo9

    It's possible the version of Gazebo you are looking for is not supported on the version of OS you are using. For example, installing gazebo9 on Ubuntu Trusty (14.04) will produce the error above. Hint: Take a look at "Project Status" section at http://gazebosim.org/#status, next to each version is the supported ubuntu versions and ROS versions.

  4. Check your installation

    Note The first time gazebo is executed requires the download of some models and it could take some time, please be patient.


Gazebo in different deb packages

Gazebo ships different Ubuntu debian packages following the official packaging guidelines:

  • Use Gazebo as an application: for the users that just run Gazebo simulator with the provided plugins and models and do not plan on developing on top of gazebo its own custom software. To use Gazebo 9 please install the package called gazebo9.

  • Use Gazebo to develop software using Gazebo libraries: for users that develop plugins or any other kind of software that needs Gazebo headers and libraries. In this case, together with gazebo9 package, please install libgazebo9-dev.