Install Gazebo on Mac (using homebrew)

Step-by-step Install

Gazebo and several of its dependencies can be compiled on OS X with Homebrew using the osrf/simulation tap. Gazebo 6 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. Here are the instructions:

  1. Install homebrew, which should also prompt you to install the XCode command-line tools:

    ruby -e "$(curl -fsSL"
  2. Install XQuartz, which provides X11 support and is required by Gazebo and OGRE

  3. Run the following commands:

    brew tap osrf/simulation
    brew install gazebo6

Optional dependencies

The Gazebo formula has several optional dependencies: the Bullet and Simbody physics engines. To install with these physics engines:

    brew install gazebo6 --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 tap homebrew/science
    brew install dartsim/dart/dartsim4 --core-only
    # Gazebo will be built with DART (autodetected), bullet and simbody
    brew install gazebo6 --with-bullet --with-simbody


The formula currently installs version 6.0 of Gazebo. Version 2.2 can be installed using the gazebo2 formula, Gazebo 4 using gazebo4 and Gazebo 5 using gazebo5. To install the latest version of Gazebo's default branch:

    brew install gazebo6 --HEAD