Prerequisites

This page describes the necessary 3rd party libraries to use Gazebo

Required 3rd Party Libraries

Scons is used as a replacement to autotools.

• Version 0.97 or greater
• Scons

The the GUI component of Gazebo is designed to allow users to integrate their favorite GUI libraries with Gazebo.

• Version 1.1.7 or greater
• FLTK (Fast Light Toolkit).

Visual display of Gazebo is accomplished using the OGRE rendering engine.

• Version 1.4.4
• OGRE (Object-Oriented Graphics Rendering Engine).

To simulate rigid body physics, Gazebo utilizes ODE. Gazebo requires that ODE support trimeshes. A default install of ODE should enable trimesh suppport, if in doubt check the help files found in the ODE sources.

• Version 0.8
• ODE (Open Dynamics Engine)

User input is gathered using OIS:

• Version 1.0
• OIS (Object Oriented Input System)

Gazebo requires an xml configuration file to be specified at runtime. We use libxml2 to handle parsing this configuration file:

• Version 2.6.29 or greater
• libxml2(XML C parser)

Optional

Player provides a convient mechanism to control the various models and sensors withing Gazebo. If Player is installed, then Gazebo will build a plugin for Player.

• Version CVS HEAD
• Player