These instructions are for installing only Gazebo Physics. 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 are generally recommended for developers who want access to the latest features, develop your own feature or make a contribution to our codebase.

Ubuntu

Prerequisites

Ubuntu Focal or later.

If you don't already have the packages gnupg, lsb-release, or wget installed, please do so now:

sudo apt-get update

sudo apt-get install gnupg lsb-release wget

Setup your computer to accept software from packages.osrfoundation.org:

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'

Setup keys:

wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -

Binary Installation

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

sudo apt-get update

sudo apt-get install libgz-physics<#>-dev

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

Source Installation

Install dependencies
sudo apt-add-repository -s "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -c -s) main"

sudo apt-get build-dep -y libgz-physics<#>-dev

Be sure to replace <#> with a number value, such as 5 or 6, depending on which version you need. From version 6 onward, you should use libgz-physics<#>-dev; for lower versions, libignition-physics<#>-dev.
Clone the repository
git clone https://github.com/gazebosim/gz-physics -b gz-physics<#>

Be sure to replace <#> with a number value, such as 6 or 7, depending on which version you need. From version 6 onward, you should use gz-physics<#>; for lower versions, ign-physics<#>.
Configure and build
cd gz-physics

mkdir build

cd build

cmake ..

make
Optionally, install
sudo make install

macOS

Prerequisites

Gazebo Physics and several of its dependencies can be installed on macOS with Homebrew using the osrf/simulation tap. Gazebo Physics uses several C++17 features which are not available in macOS High Sierra (10.13) and earlier, so macOS Mojave (10.14) with XCode 10.1 are the minimum system requirements.

Binary Installation

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)"
Run the following commands
brew tap osrf/simulation

brew install gz-physics<#>

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

Source Installation

Install dependencies
brew tap osrf/simulation

brew install gz-physics<#> --only-dependencies
Clone the repository
git clone https://github.com/gazebosim/gz-physics -b gz-physics<#>

Be sure to replace <#> with a number value, such as 6 or 7, depending on which version you need.
Configure and build
cd gz-physics

mkdir build

cd build

cmake ..

make
Optionally, install
sudo make install

Windows

Currently, on Windows, DART is not supported, pending resolution of dartsim/dart#1522 and conda-forge/dartsim-feedstock#2. Only Trivial Physics Engine (TPE) is supported at the moment.

Prerequisites

First, follow the gz-cmake tutorial for installing Conda, Visual Studio, CMake, and other prerequisites, and also for 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).

Create if necessary, and activate a Conda environment:

conda create -n gz-ws

conda activate gz-ws

Binary Installation

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

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

Source Installation

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

Install Gazebo dependencies:

You can view available versions and their dependencies:
conda search libgz-physics* --channel conda-forge --info

Install dependencies, replacing <#> with the desired versions:
conda install libgz-cmake<#> libgz-common<#> libgz-math<#> libgz-plugin<#> libsdformat<#> --channel conda-forge
Navigate to where you would like to build the library, and clone the repository.
# Optionally, append `-b ign-physics#` (replace # with a number) to check out a specific version

git clone https://github.com/gazebosim/gz-physics.git
Configure and build
cd gz-physics

mkdir build

cd build

cmake .. -DBUILD_TESTING=OFF # Optionally, -DCMAKE_INSTALL_PREFIX=path\to\install

cmake --build . --config Release
Optionally, install
cmake --install . --config Release

Documentation

API and tutorials can be found at https://gazebosim.org/libs/physics.

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

You will need Doxygen. On Ubuntu Doxygen can be installed using
sudo apt-get install doxygen
Clone the repository
git clone https://github.com/gazebosim/gz-physics -b gz-physics<#>
Configure and build the documentation.
cd gz-physics

mkdir build

cd build

cmake ..

make doc
View the documentation by running the following command from the build directory.
firefox doxygen/html/index.html

Testing

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

Follow the source install instruction.
Run tests.
make test

Each test is registered with ctest. These can then be filtered with the ctest command line.

# See a list of all available tests
ctest -N
 
# Run all tests in dartsim (verbose)
ctest -R dartsim -V
 
# Run all INTEGRATION tests (verbose)
ctest -R INTEGRATION -V
 
# Run all COMMON tests (verbose)
ctest -R COMMON -V

You will need Cppcheck in order to run static code checks. On Ubuntu Cppcheck can be installed using
sudo apt-get install cppcheck
Configure and run the static code checker.
cd gz-physics

mkdir build

cd build

cmake ..

make codecheck