\page installation Installation
These instructions are for installing only Gazebo Physics. If you're interested in using all the Gazebo libraries, check out this Gazebo installation.
We recommend following the Binary Installation instructions to get up and running as quickly and painlessly as possible.
The Source Installation instructions are generally recommended for developers who want access to the latest features, develop your own feature or make a contribution to our codebase.
Ubuntu Focal or later.
If you don't already have the packages gnupg, lsb-release, or wget installed, please do so now:
sudo apt-get update
sudo apt-get install gnupg lsb-release wget
Setup your computer to accept software from packages.osrfoundation.org:
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
Setup keys:
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
On Ubuntu systems, apt-get can be used to install gz-plugin:
sudo apt-get update
sudo apt-get install libgz-physics<#>-dev
Be sure to replace <#> with a number value, such as 1 or 2, depending on which version you need.
- Install dependencies
sudo apt-add-repository -s "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -c -s) main"
sudo apt-get build-dep -y libgz-physics<#>-dev
Be sure to replace <#> with a number value, such as 5 or 6, depending on which version you need.
From version 6 onward, you should use libgz-physics<#>-dev; for lower versions, libignition-physics<#>-dev.
- Clone the repository
git clone https://github.com/gazebosim/gz-physics -b gz-physics<#>
Be sure to replace <#> with a number value, such as 6 or 7, depending on which version you need.
From version 6 onward, you should use gz-physics<#>; for lower versions, ign-physics<#>.
- Configure and build
cd gz-physics
mkdir build
cd build
cmake ..
make
- Optionally, install
sudo make install
Gazebo Physics and several of its dependencies can be installed on macOS with Homebrew using the osrf/simulation tap. Gazebo Physics uses several C++17 features which are not available in macOS High Sierra (10.13) and earlier, so macOS Mojave (10.14) with XCode 10.1 are the minimum system requirements.
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Install Homebrew, which should also prompt you to install the XCode command-line tools.
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Run the following commands
brew tap osrf/simulation
brew install gz-physics<#>
Be sure to replace <#> with a number value, such as 1 or 2, depending on which version you need.
- Install dependencies
brew tap osrf/simulation
brew install gz-physics<#> --only-dependencies
- Clone the repository
git clone https://github.com/gazebosim/gz-physics -b gz-physics<#>
Be sure to replace <#> with a number value, such as 6 or 7, depending on which version you need.
- Configure and build
cd gz-physics
mkdir build
cd build
cmake ..
make
- Optionally, install
sudo make install
Currently, on Windows, DART is not supported, pending resolution of dartsim/dart#1522 and conda-forge/dartsim-feedstock#2. Only Trivial Physics Engine (TPE) is supported at the moment.
First, follow the gz-cmake tutorial for installing Conda, Visual Studio, CMake, and other prerequisites, and also for creating a Conda environment.
Navigate to condabin if necessary to use the conda command (i.e., if Conda is not in your PATH environment variable. You can find the location of condabin in Anaconda Prompt, where conda).
Create if necessary, and activate a Conda environment:
conda create -n gz-ws
conda activate gz-ws
conda install libgz-physics<#> --channel conda-forge
Be sure to replace <#> with a number value, such as 1 or 2, depending on
which version you need.
This assumes you have created and activated a Conda environment while installing the Prerequisites.
- Install Gazebo dependencies:
You can view available versions and their dependencies:
conda search libgz-physics* --channel conda-forge --info
Install dependencies, replacing <#> with the desired versions:
conda install libgz-cmake<#> libgz-common<#> libgz-math<#> libgz-plugin<#> libsdformat<#> --channel conda-forge
- Navigate to where you would like to build the library, and clone the repository.
# Optionally, append `-b ign-physics#` (replace # with a number) to check out a specific version
git clone https://github.com/gazebosim/gz-physics.git
- Configure and build
cd gz-physics
mkdir build
cd build
cmake .. -DBUILD_TESTING=OFF # Optionally, -DCMAKE_INSTALL_PREFIX=path\to\install
cmake --build . --config Release
- Optionally, install
cmake --install . --config Release
API and tutorials can be found at https://gazebosim.org/libs/physics.
You can also generate the documentation from a clone of this repository by following these steps.
- You will need Doxygen. On Ubuntu Doxygen can be installed using
sudo apt-get install doxygen
- Clone the repository
git clone https://github.com/gazebosim/gz-physics -b gz-physics<#>
- Configure and build the documentation.
cd gz-physics
mkdir build
cd build
cmake ..
make doc
- View the documentation by running the following command from the build directory.
firefox doxygen/html/index.html
Follow these steps to run tests and static code analysis in your clone of this repository.
-
Follow the source install instruction.
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Run tests.
make test
Each test is registered with ctest. These can then be filtered with the ctest command line.
# See a list of all available tests
ctest -N
# Run all tests in dartsim (verbose)
ctest -R dartsim -V
# Run all INTEGRATION tests (verbose)
ctest -R INTEGRATION -V
# Run all COMMON tests (verbose)
ctest -R COMMON -V
- You will need Cppcheck in order to run static code checks. On Ubuntu Cppcheck can be installed using
sudo apt-get install cppcheck
- Configure and run the static code checker.
cd gz-physics
mkdir build
cd build
cmake ..
make codecheck