Gazebo and Gazebo ROS Installation

Gazebo

Installation

Gazebo version 2.2.3 gets directly installed with the ros-indigo-desktop-full package. If you want a more recent version you can install it directly according to the documentation on:

http://gazebosim.org/tutorials?tut=install_ubuntu&cat=install

and for the ros binding:

http://gazebosim.org/tutorials/?tut=ros_wrapper_versions#UsingaspecificGazeboversionwithROS

Check if installation succeeded

In the first terminal start the roscore:

roscore

Second terminal launch both gazebo server and client with:

rosrun gazebo_ros gazebo

You should see the graphical interface pop-up after a while.

In a third terminal you can check if gazebo is publishing any ROS related topics:

rostopic list

You should see something like this:

user@machine: rostopic list
/clock
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/rosout
/rosout_agg