Installation

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These instructions are for installing only Gazebo Messages. If you're interested in using all the Gazebo libraries, check out this Gazebo installation.

We recommend following the Binary Installation instructions to get up and running as quickly and painlessly as possible.

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

Binary Installation

Ubuntu

On Ubuntu systems, apt-get can be used to install gz-msgs:

sudo apt install libgz-msgs<#>-dev

Be sure to replace <#> with a number value, such as 2 or 3, 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 Msgs:

brew install gz-msgs<#>

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.

Create if necessary, and activate a Conda environment:

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

Install gz-msgs:

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

Be sure to replace <#> with a number value, such as 2 or 3, depending on which version you need.

Source Installation

Ubuntu

Prerequisites

Install required dependencies as follows:

sudo apt-get install libprotobuf-dev protobuf-compiler libprotoc-dev libgz-math7-dev

Building from Source

Standard installation can be performed in UNIX systems using the following steps:

mkdir build/
cd build/
cmake ..
sudo make install

Uninstallation

To uninstall the software installed with the previous steps:

cd build/
sudo make uninstall

macOS

1. Clone the repository

   git clone https://github.com/gazebosim/gz-msgs -b ign-msgs<#>

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

2. Install dependencies

   brew install --only-dependencies gz-msgs<#>

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

3. Configure and build

   cd gz-msgs
   mkdir build
   cd build
   cmake ..
   make

4. Optionally, install

   sudo make install

   To uninstall the software installed with the previous steps:

   cd build/
   sudo make uninstall

Windows

Prerequisites

First, follow the gz-cmake tutorial for installing Conda, Visual Studio, CMake, etc., prerequisites, and creating a Conda environment.

Navigate to condabin if necessary to use the conda command (i.e., if Conda is not in your PATH environment variable. You can find the location of condabin in Anaconda Prompt, where conda).

Activate the Conda environment:

conda activate gz-ws

Install prerequisites:

conda install tinyxml2 protobuf --channel conda-forge

Install Gazebo dependencies:

You can view lists of dependencies:

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

Install dependencies, replacing <#> with the desired versions:

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

Building from Source

This assumes you have created and activated a Conda environment while installing the Prerequisites.

1. Navigate to where you would like to build the library, and clone the repository.

   # Optionally, append `-b ign-msgs#` (replace # with a number) to check out a specific version
   git clone https://github.com/gazebosim/gz-msgs.git

2. Configure and build

   cd gz-msgs
   mkdir build
   cd build
   cmake .. -DBUILD_TESTING=OFF  # Optionally, -DCMAKE_INSTALL_PREFIX=path\to\install
   cmake --build . --config Release

3. Optionally, install

   cmake --install . --config Release

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

Documentation Release

1. Upload documentation to gazebosim.org.

   cd build
   sh upload.sh

2. If you're creating a new release, then tell gazebosim.org about the new version. For example:

   curl -k -X POST -d '{"libName":"msgs", "version":"1.0.0", "releaseDate":"2017-10-09T12:10:13+02:00","password":"secret"}' https://api    .gazebosim.org/1.0/versions

Testing

Run tests as follows:

make test

Tests are automatically built. To disable them, run cmake as follows:

cmake .. -DENABLE_TESTS_COMPILATION=false

Test coverage

To run test coverage:

1. Install LCOV

   sudo apt-get install lcov

2. Build with coverage

   cd build/
   cmake .. -DCMAKE_BUILD_TYPE=coverage
   make

3. Run tests

   make test

4. Generate coverage

   make coverage

5. View results

   firefox coverage/index.html

See the Writing Tests section of the Gazebo documentation for help creating or modifying tests.