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:
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 gazebo6 gazebo
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
gazebo5. To install the latest version of Gazebo's default branch:
brew install gazebo6 --HEAD