Installing Gazebo with ROS#

This document provides guidance on using different versions of ROS in combination with different versions of Gazebo. We recommend reading it before installing ros_gz.

Picking the “Correct” Versions of ROS & Gazebo#

If this is your first time using ROS and Gazebo, and you are not following specific instructions or tutorials, we recommend using the latest long term support (LTS) versions of both ROS and Gazebo for the best user experience. Successive versions of ROS and Gazebo releases are named alphabetically, and the documentation for each version of ROS and Gazebo will indicate if it is an LTS version. It is worth noting that each version of ROS works best with a specific version of each Tier 1 platform. Tier one platforms are platforms / host operating systems that are used in the development of ROS and Gazebo. All of this information is outlined in REP-2000.

To summarize, the best user experience is to use the latest LTS version of ROS and the Tier 1 platform / operating system recommend for that version of ROS. If your host operating system does not match the Tier 1 operating system, consider using the Tier 1 platform in a virtual machine. This approach has the added benefit of not modifying your host OS and allowing you to roll back your mistakes.

At the time of writing, our recommendation is that new users install:

Summary of Compatible ROS and Gazebo Combinations#

This table includes all currently supported versions of ROS and Gazebo. All other ROS and Gazebo releases are end of life and we do not recommend their continued use.

GZ Citadel (LTS)

GZ Fortress (LTS)

GZ Garden

GZ Harmonic (LTS)

ROS 2 Jazzy (LTS)

❌

❌

⚡

✅

ROS 2 Rolling

❌

✅

⚡

⚡

ROS 2 Iron

❌

✅

⚡

⚡

ROS 2 Humble (LTS)

❌

✅

⚡

⚡

ROS 2 Foxy (LTS)

✅

❌

❌

❌

ROS 1 Noetic (LTS)

✅

⚡

❌

❌

  • ✅ - Recommended combination

  • ❌ - Incompatible / not possible.

  • ⚡ - Possible, but use with caution. These combinations of ROS and Gazebo can be made to work together, but some effort is required.

Installing the Default Gazebo/ROS Pairing#

If you are planning on using a specific version of ROS and don’t have a reason to use a specific version of Gazebo, we recommend using the default version of Gazebo available from the ROS repository when installing ros_gz. You can find instructions on adding the ROS repository to your system in the ROS documentation. The following command will install the correct version of Gazebo and ros_gz for your ROS installation on a Linux system. You should replace ${ROS_DISTRO} with your ROS distribution (e.g. humble, rolling,foxy, noetic, etc).

sudo apt-get install ros-${ROS_DISTRO}-ros-gz

This command will install the Gazebo libraries recommended for your ROS installation.

ROS 2 Gazebo Vendor packages#

As of ROS 2 Jazzy, Gazebo is available from the ROS package repository via vendor packages. If your package directly depends on a Gazebo library, instead of relying only on ros_gz, refer to this documentation to learn how to use the Gazebo vendor packages.

The rest of this document provides more information and other, alternative, installations pathways. We do not recommend the following approaches for new users.

Specific ROS and Gazebo Pairings#

Gazebo is an independent project like Boost, Ogre, and many other projects used by ROS. Usually, the latest version of Gazebo is available at the beginning of each ROS release cycle (for example Gazebo Fortress for ROS 2 Humble). This version of Gazebo is selected as the official Gazebo release for that ROS Distro and is fully integrated, tested, and supported for the life of the ROS distribution.

Note that all Gazebo libraries follow the semantic versioning philosophy for ABI stability. All Gazebo versions that have the same major number (gz-sim7_7.0.0, gz-sim7_7.1.0, gz-sim7_7.0.1, …) are binary compatible and thus interchangeable with a given ROS distro.

Installing Gazebo#

Gazebo Packages for Ubuntu#

The easiest way of installing Gazebo on Ubuntu is to use binary packages. There are two main repositories that host Gazebo simulator and Gazebo libraries: one is packages.ros.org and the other is the Gazebo repository known as packages.osrfoundation.org. At the time of writing the following packages are available on the following hosts:

  • packages.ros.org

    • ROS1 Noetic: Gazebo Citadel

    • ROS2 Foxy: Gazebo Citadel

    • ROS2 Humble: Gazebo Fortress

    • ROS2 Iron: Gazebo Fortress

    • ROS2 Rolling: Gazebo Fortress (changing frequently)

  • packages.osrfoundation.org

    • Gazebo Citadel

    • Gazebo Fortress

    • Gazebo Garden

    • Gazebo Harmonic

This means that including the osrfoundation.org repository is not strictly needed to get the Gazebo binary packages, as it can be installed from the ROS repository.

Installing Non-Default Gazebo/ROS 2 Pairings#

Warning: Only use this approach if you absolutely need to run a version of Gazebo that is not officially supported by your ROS distro. Using this approach will make it impossible to use the official ROS Ubuntu packages that depend on Gazebo.

We do not recommend this approach for beginners!

To select a different release of Gazebo than the one officially supported by your ROS distribution you must either use non ROS official Gazebo binary packages or manually compile ros_gz from source (this rule applies for every ROS package that uses a Gazebo library):

  • Use non ROS official ros_gz binary packages: packages.osrfoundation.org provides binary packages for ros_gz for some combinations of Gazebo and ROS that are different from the officially supported combination. In some circumstances the non-official packages can be outdated or even buggy, the use of them is reserved for advanced users.

  • Manually compile ros_gz: some combinations of Gazebo and ROS can be prepared to be built together but have no binary packages, neither in packages.ros.org or packages.osrfoundation.org

Both approaches may also require that you modify your ROS or Gazebo source code to support this compilation.

📦 Gazebo Harmonic with ROS 2 Humble, Iron or Rolling (Use with caution)#

Gazebo Harmonic can be used with ROS 2 Humble and non ROS official binary packages hosted in packages.osrfoundation.org. These packages conflict with ros-humble-ros-gz* packages (Humble officially supports Gazebo Fortress).

To install the binary Gazebo Harmonic/ROS 2 Humble packages:

Gazebo Harmonic can be used with ROS 2 Iron and non ROS official binary packages hosted in packages.osrfoundation.org. These packages conflict with ros-iron-ros-gz* packages (Iron officially supports Gazebo Fortress).

To install the binary Gazebo Harmonic/ROS 2 Iron packages:

Gazebo Harmonic can be used with ROS 2 Rolling but ros_gz will need to be compiled from source.

📦 Gazebo Garden with ROS 2 Humble, Iron or Rolling (Use with caution)#

Gazebo Garden can be used with ROS 2 Humble and non ROS official binary packages hosted in packages.osrfoundation.org. These packages conflict with ros-humble-ros-gz* packages (Humble officially supports Gazebo Fortress).

To install the binary Gazebo Garden/ROS 2 Humble packages:

Gazebo Garden can be used with ROS 2 Iron and non ROS official binary packages hosted in packages.osrfoundation.org. These packages conflict with ros-iron-ros-gz* packages (Iron officially supports Gazebo Fortress).

To install the binary Gazebo Garden/ROS 2 Iron packages:

Gazebo Garden can be used with ROS 2 Rolling but ros_gz will need to be compiled from source.

Using the Latest Gazebo Source Code for a Gazebo Distribution#

The Gazebo team usually backports and releases new versions of each of the supported Gazebo releases and libraries (i.e: bumping gz-sim 7.0.0 to gz-sim 7.1.0). These updates are hosted first in the packages.osrfoundation.org repository. The ROS repository syncs from the osrfoundation.org repository frequently but versions can be different.

Getting the latest versions of the Gazebo libraries and simulator is as easy as installing the osrfoundation.org repository together with the ROS repository. Updates should be fully compatible.

FAQ#

I am not using ROS at all, which version should I use?#

If you don’t need ROS support, the recommended version is the latest released version that can be installed using the osrfoundation.org repo depending on your platform.

I want to use Gazebo Harmonic or Gazebo Garden with ROS 2. Where are the packages?#

We provide binary packages for ros_gz for the following Gazebo and ROS 2 pairings in the packages.osrfoundation.org repository but these packages are not official ROS packages, which means if there is a breaking change in the corresponding ROS 2 distribution, there will be a short delay before these packages are rebuilt with the changes. Installing these packages may also cause conflicts with other ROS packages that depend on Gazebo-classic.

Gazebo Garden

Gazebo Harmonic (LTS)

ROS 2 Iron

ros-iron-ros-gzgarden

ros-iron-ros-gzharmonic

ROS 2 Humble (LTS)

ros-humble-ros-gzgarden

ros-humble-ros-gzharmonic

Where I can find the different features implemented on each Gazebo version?#

The best place is the Gazebo web page that hosts a list of the main features available in each Gazebo distribution.

Some notes are regularly posted on the Gazebo community site and special posts and videos are also posted there when a new release is out: See the one for Garden or the one for Fortress as examples.

Additionally, when navigating through the different versions of Gazebo there is a menu item called “Feature Comparison” which provides a comparison with the features of Gazebo-Classic. In the top right corner of the Gazebo documentation page the specific Gazebo version to compare with can be selected.

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