Gazebo and several of its dependencies can be compiled on OS X with Homebrew using the osrf/simulation tap. Gazebo 7 is straightforward to install on Mac OS X 10.9 (Mavericks) or higher. Installation on older versions requires changing the default standard library and rebuilding dependencies due to the use of c++11. For purposes of this tutorial, I will assume OS X 10.9 or greater is in use.
curl -ssL http://get.gazebosim.org | sh
Install homebrew, which should also prompt you to install the XCode command-line tools:
ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
Install XQuartz, which provides X11 support and is required by Gazebo and OGRE
Run the following commands:
brew tap osrf/simulation brew install gazebo7 gazebo
brew install gazebo7 --with-bullet --with-simbody
The DART physics engine can be used as well, though it must be installed using the following procedure prior to installing Gazebo.
brew tap dartsim/dart brew install dartsim --core-only # Gazebo will be built with DART (autodetected), bullet and simbody brew install gazebo7 --with-bullet --with-simbody
The formula currently installs version 7.0 of Gazebo. Version 2.2 can be
installed using the
gazebo2 formula, Gazebo 5 using
gazebo5 and Gazebo 6
gazebo6. To install the latest version of Gazebo's default branch:
brew install gazebo7 --HEAD