These instructions are for installing only Gazebo Rendering. If you're interested in using all the Gazebo libraries, 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, you need to modify the code, or you plan to make a contribution.

Ubuntu

Binary Installation

Install dependencies:

sudo apt-get update

sudo apt-get -y install wget lsb-release gnupg

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 -

Install:

sudo apt-get update

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

Be sure to replace <#> with a number value, such as 7 or 8, depending on which version you need.

Source Installation

Prerequisites

Ubuntu Focal 20.04 or above:

Install dependencies:

sudo apt -y install wget lsb-release gnupg
sudo 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 - | sudo apt-key add -
sudo apt update
sudo apt install -y \
    cmake \
    pkg-config \
    git \
    libglew-dev  \
    libfreeimage-dev \
    freeglut3-dev \
    libxmu-dev \
    libxi-dev \
    libgz-cmake3-dev \
    libgz-math7-dev \
    libgz-common5-dev \
    libgz-plugin2-dev

Supported Rendering Engines

Gazebo Rendering will look for rendering libraries installed in the system and build the relevant plugins if dependencies are found.

OGRE 1.x

# this installs ogre 1.9

sudo apt-get install libogre-1.9-dev

OGRE-Next 2.x

Add OSRF packages if you have not done so already:

sudo apt -y install wget lsb-release gnupg
sudo 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 - | sudo apt-key add -
sudo apt update

Install OGRE-Next 2.3 debs

sudo apt install libogre-next-dev

OptiX (experimental)

Download and install by following instructions on NVIDIA website

CUDA: http://docs.nvidia.com/cuda

OptiX: https://developer.nvidia.com/optix

Update LD_LIBRARY_PATH and add an OPTIX_INSTALL_DIR environment variables so that gz-rendering can find Optix, e.g. if you installed version 4.0.2 in HOME/optix:

export LD_LIBRARY_PATH=${HOME}/optix/NVIDIA-OptiX-SDK-4.0.2-linux64/lib64:${LD_LIBRARY_PATH}

export OPTIX_INSTALL_DIR=${HOME}/optix/NVIDIA-OptiX-SDK-4.0.2-linux64

Note: If you encounter errors about different exception specifiers in optix math when building Gazebo Rendering OptiX plugin, edit [optix_install_dir]/include/optixu/optixu_math_namespace.h and comment out the section that defines fminf, fmaxf, and copysignf (for optix sdk 4.0.2, comment out lines 167-206).

Build from Source

Clone the repository
# Optionally, append `-b gz-rendering#` (replace # with a number) to check out a specific version

git clone http://github.com/gazebosim/gz-rendering
Configure and build
cd gz-rendering

mkdir build

cd build

cmake .. -DCMAKE_INSTALL_PREFIX=/path/to/install/dir

make

Replace /path/to/install/dir to whatever directory you want to install this package to
Optionally, install
make install

Windows

On Windows, only OGRE 1 is currently supported.

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-rendering<#> --channel conda-forge

Be sure to replace <#> with a number value, such as 7 or 8, depending on which version you need.

Source Installation

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

Install dependencies:
conda install ogre --channel conda-forge
Install Gazebo dependencies:

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

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

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

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

macOS

Binary Installation

On macOS, add OSRF packages:

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

brew tap osrf/simulation

Install Gazebo Rendering:

brew install gz-rendering<#>

Be sure to replace <#> with a number value, such as 7 or 8, depending on which version you need.

Source Installation

Clone the repository
git clone https://github.com/gazebosim/gz-rendering -b gz-rendering<#>

Be sure to replace <#> with a number value, such as 7 or 8, depending on which version you need.
Install dependencies
brew install --only-dependencies gz-rendering<#>

Be sure to replace <#> with a number value, such as 7 or 8, depending on which version you need.
Configure and build
cd gz-rendering

mkdir build

cd build

cmake ..

make
Optionally, install
sudo make install

Documentation

API documentation can be generated using Doxygen

sudo apt install -y doxygen

Build documentation

cd build

make doc

View documentation

firefox doxygen/html/index.html

Testing

Tests can be run by building the test target:

cd build

make test

Most tests can be run against multiple render engine configurations (if available). To control the testing configuration, use the following environment variables:

# Specify the rendering engine to use (ogre, ogre2, optix)
GZ_ENGINE_TO_TEST=ogre2
 
# Specify the ogre2 backend to use (vulkan, gl3plus, metal (macOS))
GZ_ENGINE_BACKEND=vulkan
 
# Specify if using "headless mode" (EGL or vulkan NULL window)
GZ_ENGINE_HEADLESS=1

A full invocation of a test would be

GZ_ENGINE_TO_TEST=ogre2 GZ_ENGINE_BACKEND=gl3plus ./bin/UNIT_Camera_TEST

Additionally, each test is registered with ctest for each engine/backend configuration available at build time. These can then be filtered with the ctest command line.

# See a list of all available tests
ctest -N
 
# Run all ogre2 tests (verbose)
ctest -R ogre2 -V
 
# Run all ogre2/vulkan tests (verbose)
ctest -R ogre2_vulkan -V
 
# Run all OpenGL tests (verbose)
ctest -R gl3plus -V
 
# Run all INTEGRATION tests (verbose)
ctest -R INTEGRATION -V