Gazebo Plugin

API Reference

2.0.3
Installation

These instructions are for installing only Gazebo Plugin. 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.

Ubuntu

Prerequisites

Ubuntu Focal or higher.

If you don't already have the lsb-release package installed, please do so now:

sudo apt-get update
sudo apt-get install lsb-release

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 install libgz-plugin2-dev

Source Installation

  1. Install Gazebo dependencies
    sudo apt-get install libgz-cmake3-dev libgz-tools2-dev libgz-utils2-cli-dev
  1. Install Gazebo Tools if you want to use the gz plugin command line tool:
    sudo apt-get install gz-tools2
  2. Clone the repository ``bash @section autotoc_md6 Optionally, append-b gz-plugin#(replace # with a number) to check out a specific version @section autotoc_md7 From version 2 usegz-plugin#, lower versionsign-plugin#` git clone https://github.com/gazebosim/gz-plugin
    3. Configure and build
    ```bash
    cd gz-plugin
    mkdir build
    cd build
    cmake ..
    make
  3. Optionally, install
    sudo make install

macOS

Prerequisites

Gazebo Plugin and several of its dependencies can be installed on macOS with Homebrew using the osrf/simulation tap. Gazebo Plugin versions 1+ require macOS High Sierra (10.13) or later, while version 0 supports Sierra (10.12) or later.

Binary Installation

  1. 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)"
  2. Run the following commands
    brew tap osrf/simulation
    brew install gz-plugin2

Source Installation

  1. Install dependencies
    brew tap osrf/simulation
    brew install gz-plugin2 --only-dependencies
  2. Clone the repository ``bash @section autotoc_md12 Optionally, append-b gz-plugin#(replace # with a number) to check out a specific version @section autotoc_md13 From version 2 usegz-plugin#, lower versionsign-plugin#` git clone https://github.com/gazebosim/gz-plugin
    3. Configure and build
    ```bash
    cd gz-plugin
    mkdir build
    cd build
    cmake ..
    make
  3. Optionally, install
    sudo make install

Windows

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-plugin<#> --channel conda-forge

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

Source Installation

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

  1. Install Gazebo dependencies:

    You can view available versions and their dependencies:

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

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

    conda install libgz-cmake<#> --channel conda-forge
  2. Navigate to where you would like to build the library, and clone the repository. ``bash @section autotoc_md18 Optionally, append-b gz-plugin#(replace # with a number) to check out a specific version @section autotoc_md19 From version 2 usegz-plugin#, lower versionsign-plugin#` git clone https://github.com/gazebosim/gz-plugin
    3. Configure and build
    ```bash
    cd gz-plugin
    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 Gazebo website

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 ``bash @section autotoc_md21 Optionally, append-b gz-plugin#(replace # with a number) to check out a specific version @section autotoc_md22 From version 2 usegz-plugin#, lower versionsign-plugin#` git clone https://github.com/gazebosim/gz-plugin
    3. Configure and build the documentation.
    ```bash
    cd gz-plugin
    mkdir build
    cd build
    cmake ..
    make doc
  3. View the documentation by running the following command from the build directory.
    firefox doxygen/html/index.html

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

Test

Run tests as follows:

make test

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

cmake .. -DBUILD_TESTING=false

Test coverage

To run test coverage:

  1. Install LCOV
sudo apt-get install lcov
  1. Build with coverage
cd build/
cmake .. -DCMAKE_BUILD_TYPE=coverage
make
  1. Run tests
    make test
  2. Generate coverage
    make coverage
  3. View results
    firefox coverage/index.html