Rotary release#
Rotary is a rolling release stream of Gazebo built continuously from the
main branches of every Gazebo library. Unlike the dated codename releases
(Fortress, Harmonic, Jetty, …), Rotary has no fixed version: it is built
every night. It is intended for Gazebo maintainers, continuous
integration systems, and early adopters who want to test unreleased
changes before they ship in a named collection.
Warning
Rotary is a rolling, unstable stream. Breakage is expected, and versions
may change under you on every apt upgrade or brew upgrade. Rotary is
not recommended for production use. New Gazebo users should install
one of the binary releases listed in Releases instead.
Package naming#
Wherever a Gazebo package name contains gz-, a rotary- infix is
injected to produce the Rotary alias. The aliases point to unversioned
upstream packages, so installing a Rotary alias always pulls whatever is
currently being built from main.
Ubuntu#
The package names in the table below are examples illustrating the aliasing rule:
Regular package |
Rotary alias |
|---|---|
|
|
|
|
|
|
|
|
(*) sdformat is a special case: its package names do not contain gz-,
so the rotary alias adds a gz-rotary- prefix.
Homebrew (macOS)#
Regular formula |
Rotary alias |
|---|---|
|
|
|
|
Umbrella metapackage#
On both Ubuntu and Homebrew, the gz-rotary metapackage pulls in the full
set of rotary libraries, mirroring how gz-jetty or gz-harmonic work for
named collections.
Installing Rotary on Ubuntu#
Note
Rotary binaries are published into the existing nightly apt repository
at http://packages.osrfoundation.org/gazebo/ubuntu-nightly, so
the versioning scheme documented in
Ubuntu versioning in nightly and prerelease binaries
applies to Rotary unchanged.
First install the prerequisite tools:
sudo apt-get update
sudo apt-get install curl lsb-release gnupg
Add the OSRF GPG key and configure the nightly apt repository (which hosts Rotary packages) that needs the stable repository also to work:
sudo curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-nightly $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-nightly.list > /dev/null
sudo apt-get update
Then install the Rotary metapackage:
sudo apt-get install gz-rotary
All Rotary libraries should be ready to use and the gz sim app ready to
run.
Uninstalling Rotary#
sudo apt remove gz-rotary && sudo apt autoremove
Installing Rotary on macOS (Homebrew)#
Rotary formulae are published through the
osrf/simulation tap:
brew tap osrf/simulation
brew trust osrf/simulation
brew install gz-rotary
Per-library formulae are also available using the gz-rotary-<library>
naming scheme, for example:
brew install gz-rotary-math gz-rotary-sim
The initial rollout of Rotary brew formulae is tracked in osrf/homebrew-simulation#3287.
Windows#
There is currently no binary distribution of Rotary on Windows. Windows users who want to run Rotary need to build it from source.
The Source Installation on Windows 10 or 11 guide
describes the full toolchain (Visual Studio, Pixi, colcon) and uses the
Rotary collection file, collection-rotary.yaml, from
gazebo-tooling/gazebodistro
in its vcs import step:
vcs import --input https://raw.githubusercontent.com/gazebo-tooling/gazebodistro/master/collection-rotary.yaml src/