Source Installation on macOS

This tutorial will work for macOS BigSur 10.16 and macOS Monterey 12.0.

Install tools

The use of some additional tools is recommended to help with the source compilation, although other ways of correctly getting and building the sources are also possible.

The easiest way to get the sources of all libraries is to use vcstool.

To compile all the different libraries and gz-sim in the right order colcon is recommended.

Tools and dependencies for Harmonic can be installed using the Homebrew package manager. After installing Homebrew, add the osrf/simulation to Homebrew tap to be able to install prebuilt dependencies.

brew tap osrf/simulation
brew update

Install compiler requirements

Building Gazebo Libraries require at least Xcode 10 on MacOS Mojave. The Xcode Command Line Tools are sufficient, and can be installed with:

xcode-select --install

Python 3 from Homebrew

Harmonic is compatible with Python 3. Install the latest version from Homebrew:

brew install python3

vcstool and colcon from PyPI

python3 -m pip install -U colcon-common-extensions vcstool

Getting the sources

The first step is to create a developer workspace in which vcstool and colcon can work:

mkdir -p ~/workspace/src
cd ~/workspace/src

All the sources of gazebo-harmonic are declared in a yaml file. Download it to the workspace:

curl -OL https://raw.githubusercontent.com/gazebo-tooling/gazebodistro/master/collection-harmonic.yaml

Use vcstool to automatically retrieve all the Gazebo libraries sources from their repositories:

vcs import < collection-harmonic.yaml

The src subdirectory should contain all the sources ready to be built.

Install dependencies

Dependency for Ogre:

brew install --cask xquartz

General dependencies:

brew install assimp boost bullet cmake cppzmq dartsim doxygen eigen fcl ffmpeg flann freeimage freetype gdal gflags google-benchmark gts ipopt jsoncpp libccd libyaml libzzip libzip nlopt ode open-scene-graph ossp-uuid ogre1.9 ogre2.3 pkg-config protobuf qt@5 qwt-qt5 rapidjson ruby tbb tinyxml tinyxml2 urdfdom zeromq

qt@5 is a “keg only” Homebrew formula and its path must be explicitly configured before building Gazebo:

# qt@5
export CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH:+$CMAKE_PREFIX_PATH:}`brew --prefix qt@5`

Unlink qt to avoid conflicts with other versions of qt (e.g. qt6)

brew unlink qt

Building the Gazebo Libraries

Once the compiler and all the sources are in place it is time to compile them. Start the procedure by changing into the workspace and listing the packages recognized by colcon:

cd ~/workspace/
colcon graph

colcon graph should list the Gazebo libraries with an interdependency diagram. If that is the case, then you are ready to build the whole set of libraries:

colcon build --merge-install

Note if you are on an ARM based Apple Silicon Mac machine, you may need to set a couple more cmake args:

colcon build --cmake-args -DCMAKE_MACOSX_RPATH=FALSE -DCMAKE_INSTALL_NAME_DIR=$(pwd)/install/lib --merge-install

To speed up the build process, you could also disable tests by using

colcon build --cmake-args -DBUILD_TESTING=OFF --merge-install

To use debuggers activate debug symbols. Gazebo will run slower, but you’ll be able to use lldb:

colcon build --cmake-args ' -DBUILD_TESTING=OFF' ' -DCMAKE_BUILD_TYPE=Debug' --merge-install

To build a specific package with all its dependent packages:

colcon build --merge-install --packages-up-to PACKAGE_NAME

To build a single package:

colcon build --merge-install --packages-select PACKAGE_NAME

Visit colcon documentation to view more colcon build and test options.

If there are no errors, all the binaries should be ready to use.

Using the workspace

The workspace needs to be sourced every time a new terminal is used.

Run the following command to source the workspace in zsh (the default macOS shell):

. ~/workspace/install/setup.zsh

Or if you are using bash:

. ~/workspace/install/setup.bash

You should now be able to launch gazebo:

# launch server in one terminal
gz sim -v 4 shapes.sdf -s

# launch gui in a separate terminal
# remember to source the workspace setup script
gz sim -v 4 -g

This is the end of the source install instructions; head back to the Getting started page to start using Gazebo!

Troubleshooting

See Troubleshooting