These are the OS X installation instructions, Linux users should go here.
- Install Apple's developer tools and X11 developer packages; these come standard with the OS X installation disks.
- Install Fink.
- Use Fink to install additional packages, such as:
- The GUI component of Gazebo requires two packages:
- The terrain builder utility requires the Geospatial Data Abstraction Library (GDAL)
To save some time, there is a shell script that will
apt-get pre-compiled versions on the required packages (thanks to Lars Cremean). Look on the packages page:
Fink installs everything in a rather unusual location (
/sw) and you must your paths approppriately; if you are using the bash shell, add the following lines to your .bashrc script:
export CPATH=/usr/X11R6/include:/sw/include:$CPATH export LIBRARY_PATH=/usr/X11R6/lib:/sw/lib:$LIBRARY_PATH export PKG_CONFIG_PATH=/sw/lib:$PKG_CONFIG_PATH export PYTHONPATH=/sw/lib/python2.3/site-packages:$PYTHONPATH
The last line sets the path for Python extensions (the version number should match the version of Python you have installed; type "python -V" if in doubt).
You should also set the following compiler flag:
This prevents some common bugs with Apple's "smart" pre-compiler.minimal installations to get a basic version of Gazebo up and running. More advanced users may wish to consult one of the following:
- Minimal installation
- Full installation (with OPCODE support)
- Local installation (does not require root access)
- Install ODE 0.5: If in doubt, you should also read the INSTALL file that comes with the ODE distribution (but don't necessarily believe everything it tells you).
$ tar xvzf ode-0.5.tgz $ cd ode-0.5 $ make configure $ make ode-lib $ sudo cp -r include/ode /sw/include/ $ sudo cp lib/libode.a /sw/lib/ $ sudo ranlib /sw/lib/libode.a
- Install Gazebo: Note the final output of the configure script: it will tell you what will be built, and where it will be installed. Once you are satisfied, build and install the package:
$ tar xvzf gazebo-<version>.tar.gz $ cd gazebo-<version> $ ./configure --prefix=/sw
$ make $ sudo make install
Gazebo is now ready to run; try:
$ gazebo /sw/share/gazebo/worlds/example1.world
This will start the server in console mode (no GUI). Assuming you have all the GUI dependencies installed, you can run in graphical mode using:
$ wxgazebo /usr/local/share/gazebo/worlds/example1.world
- Install (or re-install) ODE with OPCODE enabled; this requires some editing of the ODE configuration files: Open the file
$ tar xvzf ode-0.5.tgz $ cd ode-0.5
config/user-settings, and change the default
[srcdir]is the fully qualified path to the ODE source distribution. I.e., if the original ODE tarball is in
/home/[username]/tmp, this should read
/home/[username]/tmp/ode-0.5/OPCODE/. Note that the comments for this section of the settings file are bogus; ignore them. Finish installing ODE:
$ make configure $ make ode-lib $ sudo cp -r include/ode /sw/include/ $ sudo cp lib/libode.a /sw/lib/ $ sudo ranlib /sw/lib/libode.a
- Install (or re-install) Gazebo Pay close attention output of the configure script and make sure the Terrain and Road models will be built. Once you are satisfied, finish the installation:
$ tar xvzf gazebo-src-<version>.tar.gz $ cd gazebo-src-<version> $ ./configure --prefix=/sw
$ make $ sudo make install $ exit
To test the terrain model, try:
$ gazebo /sw/share/gazebo/worlds/terrain.world
- Pick a spot for "local" installs; for me it is "/home/[username]/local". The install scripts will create relevant subdirs under this, such as:
/home/[username]/local/bin /home/[username]/local/include /home/[username]/local/lib
- Set up the necessary compiler paths in your .bashrc (or whatever) script; e.g.: The first line sets the executable path; the second sets the path for C and C++ header files; the third line sets the library search path.
export PATH=~/local/bin:$PATH export CPATH=~/local/include:$CPATH export LIBRARY_PATH=~/local/lib:$LIBRARY_PATH
- Set up some additional paths in your .bashrc (or whatever): The first line sets the pkg-config path (for applications using pkg-config, which will be everything in the Player/Stage/Gazebo project pretty soon); the second line is for Python extensions (the version number should match the version of Python you have installed; type "python -V" if in doubt).
export PKG_CONFIG_PATH=~/local/lib/pkgconfig:$PKG_CONFIG_PATH export PYTHONPATH=~/local/lib/python2.3/site-packages:$PYTHONPATH
- (Optional) Install ODE locally:
$ tar xvzf ode-0.5.tgz $ cd ode-0.5 $ make configure $ make ode-lib $ cp -r include/ode /home/[username]/local/include/ $ cp lib/libode.a /home/[username]/local/lib/ $ ranlib /home/[username]/local/lib/libode.a
- Build Gazebo using the "--prefix" argument: Note the final output of the configure script: it should tell you that Gazebo will be installed in your home directory.
$ ./configure --prefix=/home/[username]/local
- Build and install the package :
$ make $ make install
Everything should now work seamlessly, and your locally installed packages will be used in preference to any system-wide defaults.