Quickstart

1. Install Gazebo. 2. Setup environment variables
 * 1) Run an empty world

source /share/gazebo- /setup.sh

If Gazebo was installed to /usr (which is the default) then:

source /usr/share/gazebo-[gazebo version]/setup.sh

3. Test out the server. This will start the physics engine with an empty world

gzserver

Expected output:

Gazebo multi-robot simulator, version 1.0.0 Copyright (C) 2011 Nate Koenig, John Hsu, Andrew Howard, and contributors. Released under the Apache 2 License. http://gazebosim.org

Warning: no world filename specified, using default world Msg Waiting for master Msg Connected to gazebo master @ http://localhost.localdomain:11345

4. Test out the GUI client. This will connect to the server and give you a graphical display of the simulation.

gzclient

Expected output:

Gazebo multi-robot simulator, version 1.0.0 Copyright (C) 2011 Nate Koenig, John Hsu, Andrew Howard, and contributors. Released under the Apache 2 License. http://gazebosim.org

Msg Waiting for master Msg Connected to gazebo master @ http://localhost.localdomain:11345