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.

Binary Install

Ubuntu

1. 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'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update

1. Install Gazebo Sensors

   # Change <#> to a version number, like 3 or 4
   sudo apt install libgz-sensors<#>-dev

macOS

1. On macOS, add OSRF packages:

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

2. Install Gazebo Sensors:

   brew install gz-sensors<#>

Be sure to replace <#> with a number value, such as 5 or 6, depending on which version you need.

Windows

Binary install is pending gz-rendering and gz-sensors being added to conda-forge.

Source Install

Source installation can be performed in UNIX systems by first installing the necessary prerequisites followed by building from source.

Prerequisites

Gazebo Sensors requires:

• Gazebo CMake
• Gazebo Math
• Gazebo Common
• Gazebo Transport
• Gazebo Rendering
• Gazebo Msgs
• SDFormat
• Protobuf3

Ubuntu

1. Make sure you are running Ubuntu Focal or above.
2. Install the Prerequisites.
3. Clone the repository

   git clone https://github.com/gazebosim/gz-sensors

4. Configure and build

   cd gz-sensors; mkdir build; cd build; cmake ..;  make

5. Optionally, install the library

   sudo make install

macOS

1. Clone the repository

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

   Be sure to replace <#> with a number value, such as 5 or 6, depending on which version you need.

2. Install dependencies

   brew install --only-dependencies ignition-sensors<#>

   Be sure to replace <#> with a number value, such as 5 or 6, depending on which version you need.

3. Configure and build

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

4. Optionally, install

   sudo make install

Windows

Install 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).

Create if necessary, and activate a Conda environment:

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

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

conda install libgz-cmake<#> libgz-common<#> libgz-math<#> libgz-transport<#> libgz-msgs<#> --channel conda-forge

Before gz-rendering becomes available on conda-forge, follow its tutorial to build it from source.

Build from source

1. Activate the Conda environment created in the prerequisites:

   conda activate gz-ws

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

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

3. Configure and build

   cd gz-sensors
   mkdir build
   cd build

4. Before gz-rendering becomes available on conda-forge, we need to build it from source and specify the path containing gz-rendering-config.cmake in CMAKE_PREFIX_PATH, for cmake to find gz-rendering. That path could be gz-rendering-install-path\lib\cmake\gz-rendering4, for example.

   cmake .. -DBUILD_TESTING=OFF -DCMAKE_PREFIX_PATH=path\containing\ignition-rendering-config  # Optionally, -DCMAKE_INSTALL_PREFIX=path\to\install
   cmake --build . --config Release

5. Optionally, install. You will likely need to run a terminal with admin privileges for this call to succeed.

   cmake --install . --config Release

Documentation

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

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-sensors

3. Configure and build the documentation.

   cd gz-sensors; 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

Testing

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

1. Run tests.

   make test

2. Static code checker.

   make codecheck