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-plugin3-dev

Source Installation

1. Install Gazebo dependencies

   sudo apt-get install libgz-cmake4-dev libgz-tools2-dev libgz-utils3-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

   # Optionally, append `-b gz-plugin#` (replace # with a number) to check out a specific version
   # From version 2 use `gz-plugin#`, lower versions `ign-plugin#`
   git clone https://github.com/gazebosim/gz-plugin

3. Configure and build

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

4. 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-plugin3

Source Installation

1. Install dependencies

   brew tap osrf/simulation
   brew install gz-plugin3 --only-dependencies

2. Clone the repository

   # Optionally, append `-b gz-plugin#` (replace # with a number) to check out a specific version
   # From version 2 use `gz-plugin#`, lower versions `ign-plugin#`
   git clone https://github.com/gazebosim/gz-plugin

3. Configure and build

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

4. 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.

   # Optionally, append `-b gz-plugin#` (replace # with a number) to check out a specific version
   # From version 2 use `gz-plugin#`, lower versions `ign-plugin#`
   git clone https://github.com/gazebosim/gz-plugin

3. Configure and build

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

4. 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

   # Optionally, append `-b gz-plugin#` (replace # with a number) to check out a specific version
   # From version 2 use `gz-plugin#`, lower versions `ign-plugin#`
   git clone https://github.com/gazebosim/gz-plugin

3. Configure and build the documentation.

   cd gz-plugin
   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-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

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