Installation

Overview

This tutorial describes how to install Gazebo Utils on Linux, Mac OS X and Windows via either a binary distribution or from source.

Install

• Binary Install
• Source Install
  • Prerequisites
  • Building from Source

Install

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 Linux

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 Gazebo Utils:

sudo apt install libgz-utils<#>-dev

Be sure to replace <#> with a number value, such as 1 or 2, depending on which version you need.

macOS

On macOS, add OSRF packages:

/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
brew tap osrf/simulation

Install Gazebo utils:

brew install gz-utils<#>

Be sure to replace <#> with a number value, such as 1 or 2, depending on which version you need.

Windows

Install Conda package management system. Miniconda suffices.

Create if necessary, and activate a Conda environment:

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

Install gz-utils:

conda install libgz-utils<#> --channel conda-forge

Be sure to replace <#> with a number value, such as 1 or 2, depending on which version you need.

Source Install

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

Ubuntu

1. Install tools

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

2. Clone the repository

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

   Be sure to replace <#> with a number value, such as 1 or 2, depending on which version you need.

3. Install dependencies

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

4. Configure and build

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

5. Optionally, install Gazebo Utils

   sudo make install

macOS

1. Clone the repository

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

   Be sure to replace <#> with a number value, such as 1 or 2, depending on which version you need.

2. Install dependencies

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

   Be sure to replace <#> with a number value, such as 1 or 2, depending on which version you need.

3. Configure and build

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

4. Optionally, install

   sudo make install

Windows

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

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

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

2. Configure and build

   cd gz-utils
   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 and tutorials can be found at https://gazebosim.org/libs/utils.

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-utils

3. Configure and build the documentation.

   cd gz-utils
   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. Follow the source install instruction.

2. Run tests.

   make test

3. Static code checker.

   make codecheck