Gazebo Cmake

API Reference

4.1.0
Installation

These instructions are for installing only Gazebo CMake. If you're interested in using all the Gazebo libraries, not only Gazebo CMake, check out this Gazebo installation.

We recommend following the binary install instructions to get up and running as quickly and painlessly as possible.

The source install instructions should be used if you need the very latest software improvements, if you need to modify the code, or if you plan to make a contribution.

Binary Install

Ubuntu

On Ubuntu, it's possible to install Gazebo CMake as follows:

Add OSRF packages:

echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list
sudo apt-key adv --keyserver hkp://p80.pool.sks-keyservers.net:80 --recv-keys D2486D2DD83DB69272AFE98867170598AF249743
sudo apt update

Install Gazebo CMake:

sudo apt install libgz-cmake<#>-dev

Be sure to replace <#> with a number value, such as 1 or 2, depending on which version you need.

macOS

On macOS, add OSRF packages:

ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
brew tap osrf/simulation

Install Gazebo CMake:

brew install gz-cmake<#>

Be sure to replace <#> with a number value, such as 1 or 2, depending on which version you need.

Windows

Install Conda package management system. Miniconda suffices.

Open a Visual Studio Command Prompt (search for "x64 Native Tools Command Prompt for VS 2019" in the Windows search near the Start button). Optionally, right-click and pin to the task bar for quick access in the future.

If you did not add Conda to your PATH environment variable during Conda installation, you may need to navigate to the location of condabin in order to use the conda command. To find condabin, search for "Anaconda Prompt" in the Windows search near the Start button, open it, run where conda, and look for a line containing the directory condabin.

  1. Navigate to your condabin if necessary, and then create and activate a Conda environment:

    conda create -n gz-ws
    conda activate gz-ws

    Once you have activated an environment, a prefix like (gz-ws) will be prepended to your prompt, and you can use the conda command outside of condabin.

    You can use conda info --envs to see all your environments.

    To remove an environment, use conda env remove --name <env_name>.

  2. Install Gazebo CMake:

    conda install libgz-cmake<#> --channel conda-forge

    Be sure to replace <#> with a number value, such as 1 or 2, depending on which version you need.

    You can view all the versions with

    conda search libgz-cmake* --channel conda-forge

    and view their dependencies with

    conda search libgz-cmake* --channel conda-forge --info

    and install a specific minor version with

    conda install libgz-cmake=2.6.1 --channel conda-forge

Source Install

Ubuntu Focal 20.04 or above

Prerequisites

Add OSRF packages:

sudo apt update
sudo apt -y install wget lsb-release gnupg
sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add -
sudo apt-add-repository -s "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -c -s) main"

Building from source

Clone source code:

# This checks out the `main` branch. You can append `-b gz-cmake#` (replace # with a number) to checkout a specific version
git clone http://github.com/gazebosim/gz-cmake

Install dependencies

sudo apt -y install $(sort -u $(find . -iname 'packages.apt') | tr '\n' ' ')

Build and install as follows:

cd gz-cmake
mkdir build
cd build
cmake ..
make -j4
sudo make install

Windows 10

Prerequisites

  1. Install Conda package management system. Miniconda suffices.
  2. Install Visual Studio 2019. The Community version is free for students, open-source contributors, and individuals. Check "Desktop development with C++" in the "Workloads" tab, and uncheck "C++ CMake Tools". We will install cmake via Conda.

Building from source

Open a Visual Studio Command Prompt (search for "x64 Native Tools Command Prompt for VS 2019" in the search field near the Windows button). Optionally, right-click and pin to the task bar for quick access in the future.

If you did not add Conda to your PATH environment variable during Conda installation, you may need to navigate to the location of condabin in order to use the conda command. To find condabin, search for "Anaconda Prompt" in the search field near the Windows button, open it, run where conda, and look for a line containing the directory condabin.

  1. Navigate to your condabin if necessary, and then create and activate a Conda environment:

    conda create -n gz-ws
    conda activate gz-ws

    Once you have activated an environment, a prefix like (gz-ws) will be prepended to your prompt, and you can use the conda command outside of condabin.

    You can use conda info --envs to see all your environments.

    To remove an environment, use conda env remove --name <env_name>.

  2. Install dependencies
    conda install git cmake pkg-config --channel conda-forge
  3. Navigate to where you would like to build the library, and then clone the repository.
    # Optionally, append `-b gz-cmake#` (replace # with a number) to check out a specific version
    git clone https://github.com/gazebosim/gz-cmake.git
  4. Build.
    cd gz-cmake
    mkdir build
    cd build
    cmake .. # Optionally, -DCMAKE_INSTALL_PREFIX=path\to\install
    cmake --build . --config Release
    cmake --install . --config Release

Note If you find that the build is failing due to failures in the test directory, then you may need to disable tests by adding -DBUILD_TESTING=OFF to the cmake .. command.

Documentation

API documentation and tutorials can be accessed at https://gazebosim.org/libs/cmake

You can also generate the documentation from a clone of this repository by following these steps.

  1. You will need Doxygen. On Ubuntu Doxygen can be installed using
    sudo apt-get install doxygen

  2. Clone the repository

    git clone https://github.com/gazebosim/gz-cmake
  3. Configure and build the documentation.
    cd gz-cmake
    mkdir build
    cd build
    cmake ..
    make doc
  4. View the documentation by running the following command from the build directory.
    firefox doxygen/html/index.html

Note Alternatively, documentation for gz-cmake can be found within the source code, and also in the MIGRATION.md guide.

Testing

Follow these steps to run tests and static code analysis in your clone of this repository.

  1. Follow the source install instruction.
  2. Run tests.
    make test
  3. Static code checker.
    make codecheck

Additionally, a fuller suite of tests in the examples directory can be enabled by building with BUILDSYSTEM_TESTING enabled. Tests can be run by building the test target. From your build directory you can run:

$ cmake .. -DBUILDSYSTEM_TESTING=1
$ make test

See the Writing Tests section of the gz-cmake contributor documentation for help creating or modifying tests.