Build And Install Gazebo

    Clone the repository into a directory in your home folder:

    cd ~; hg clone https://bitbucket.org/osrf/gazebo

    Change directory in the Gazebo repository and switch to the 4.0 branch

    cd ~/gazebo
    hg up gazebo_4.0

    Note: the default branch is the development branch where you'll find the bleeding edge code, your cloned repository should be on this branch by default but we recommend you switch to the 4.0 branch if you desire more stability

    Create a build directory and go there:

    mkdir build
    cd build

    Configure Gazebo (choose either method a or b below):

        a. Release mode: This will generate optimized code, but will not have debug symbols. Use this mode if you don't need to use GDB.

           cmake ../

            Note: You can use a custom install path to make it easier to switch between source and debian installs:

               cmake -DCMAKE_INSTALL_PREFIX=/home/$USER/local ../

        b. Debug mode: This will generate code with debug symbols. Gazebo will run slower, but you'll be able to use GDB.

           cmake -DCMAKE_BUILD_TYPE=Debug ../

        Note: A big part of the compilation is the test suite. If it is useful to temporary disable it during the developemnt, you can use:

               cmake ../ -DENABLE_TESTS_COMPILATION:BOOL=False

    The output from cmake ../ may generate a number of errors and warnings about missing packages. You must install the missing packages that have errors and re-run cmake ../. Make sure all the build errors are resolved before continuing (they should be there from the earlier step in which you installed prerequisites). Warnings alert of optional packages that are missing.

    Make note of your install path, which is output from cmake and should look something like:

      -- Install path: /home/$USER/local

    Build Gazebo:

    make -j4

    Install Gazebo:

    sudo make install

    Setup environment variables