Installation

These instructions are for installing only Gazebo Sim. If you're interested in using all the Gazebo libraries including gz-launch, or to install all libraries from source, check out 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, if you need to modify the code, or if you plan to make a contribution.

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

Binary Install

Ubuntu 20.04 or above

The binary install method will use pre-built packages which are typically available through a package management utility such as Apt. This approach eliminates the need to download and compile source code, and dependencies are handled for you. The downside of a binary install is that you won't be able to modify the code. See Source Install for information on installing Gazebo from source.

1. Configure package repositories.

   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

2. Install Gazebo

   sudo apt-get install libgz-sim<#>-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:

   brew install gz-sim<#>

Windows

1. First, follow the steps 1-4 of Gazebo source install tutorial to install Conda, Visual Studio and set up a Conda environment (we'll call it gz-ws).

   Do not forget to activate the Conda env (if not already activated) inside the Visual Studio Command Prompt:

   conda activate gz-ws

2. Now install Gazebo.

   conda install gz-sim<#> --channel conda-forge

   Be sure to replace <#> with a number value, such as 8 or 9, depending on which version you need.

Source Install

Install from source if you're interested in changing the source code or need a feature which hasn't been released yet.

Ubuntu 20.04 or above

1. Install tools

   sudo apt install -y build-essential cmake git gnupg lsb-release wget

2. Enable the Gazebo software repositories:

   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

3. Clone repository

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

4. Install package dependencies (including other Gazebo libraries):

   sudo apt -y install \
     $(sort -u $(find . -iname 'packages-'`lsb_release -cs`'.apt' -o -iname 'packages.apt' | tr '\n' ' '))

5. Configure and build.

   cd gz-sim
   mkdir build
   cd build
   cmake ../
   make

macOS

1. Clone the repository

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

2. Install dependencies

   brew install --only-dependencies gz-sim<#>

3. Configure and build

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

4. Optionally, install

   sudo make install

Windows

1. First, follow the steps 1-4 of Gazebo source install tutorial to install Conda, Visual Studio and set up a Conda environment (we'll call it gz-ws).

   Do not forget to activate the Conda env (if not already activated) inside the Visual Studio Command Prompt:

   conda activate gz-ws

2. Install Gazebo dependencies:

   You can view available versions and their dependencies:

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

   Install the dependencies, replacing <#> with the required versions:

   conda install gz-cmake<#> gz-common<#> gz-fuel-tools<#> gz-gui<#> gz-math<#> gz-msgs<#> gz-physics<#> gz-plugin<#> gz-rendering<#> gz-sensors<#> gz-tools<#> gz-transport<#> gz-utils<#> sdformat<#> --channel conda-forge

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

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

4. Configure and build

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

5. Optionally, install

   cmake --install . --config Release

Documentation

API documentation and tutorials can be accessed at https://gazebosim.org/libs/gazebo

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

   # Linux
   sudo apt-get install doxygen
   # Windows
   conda install doxygen --channel conda-forge

2. Clone the repository

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

3. Configure and build the documentation.

   cd gz-sim
   mkdir build
   cd build
   cmake ../
   cmake --build . --target 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. Follow the source install instructions.
2. Run tests.

   make test

3. Static code checker.

   sudo apt-get update && sudo apt-get -y install cppcheck
   make codecheck