Gazebo 源码安装（Ubuntu+Mac）

Gazebo源码安装的好处是，可以手动改动Gazebo的源代码，并测试，Gazebo安装可以有几种方式，按照 ros-kinetic-desktop-full安装的gazebo,是看不到Gazebo的源码，也就不能修改源码和调试源码。当然Gazebo也可以以apt-get 的形式安装，安装成功后，也看不到Gazebo的源码，所以要对gazebo 的源码进行修改和调试的话，只能源码安装。
源码安装过程：官网源码安装地址是http://gazebosim.org/tutorialstut=install_from_source&cat=install

---

 Ubuntu源码安装Gazebo

一、Prerequisites

•   For compiling the latest version of gazebo you will need an Ubuntu distribution equal to 16.04 (Xenial) or newer.

Make sure you have removed the Ubuntu pre-compiled binaries before installing from source:

sudo apt-get remove '.*gazebo.*' '.*sdformat.*' '.*ignition-math.*' '.*ignition-msgs.*' '.*ignition-transport.*'

• If you have previously installed from source, be sure you are installing to the same path location or that you have removed the previous installation from source version manually.

As a side note, default install locations:

1.      Pre-compiled Ubuntu Binaries : /usr/bin/gazebo
2.      Default source install : /usr/local/bin/gazebo

ROS Users

    When building Gazebo, we recommend you do not have your /opt/ros/*/setup.sh file sourced, as it has been seen to add the wrong libraries to the Gazebo build.

二、Install Required Dependencies

In a clean Ubuntu installation you can install pre-compiled versions of all dependencies:

1. Setup your computer to accept software from packages.osrfoundation.org.

   Note: there is a list of available mirrors for this repository which could improve the download speed.

   sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
   

2. Setup keys and update

   wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
   sudo apt-get update
   

3. Install prerequisites. A clean Ubuntu system will need the following (replace version with the major version of gazebo you intend to build, eg: 7, 8, 9. And if using ROS, replace dummy with your ROS version, eg: indigo, jade, kinetic...):

   wget https://bitbucket.org/osrf/release-tools/raw/default/jenkins-scripts/lib/dependencies_archive.sh -O /tmp/dependencies.sh
   
   GAZEBO_MAJOR_VERSION=version ROS_DISTRO=dummy . /tmp/dependencies.sh
   
   echo $BASE_DEPENDENCIES $GAZEBO_BASE_DEPENDENCIES | tr -d '\\' | xargs sudo apt-get -y install
   

三、Optional Physics Engines

• Release Note: in order to use DART, a full compilation of Gazebo from source is needed (as detailed in this document). The .deb packages are shipping the ODE, Bullet, and Simbody physics engines.

DART Support

• Support for DART version 6 is integrated into the default branch. In an Ubuntu system, several Person