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Install Gazebo (Gazebo Sim)#

This page refers to the current versions of Gazebo (Gazebo Sim). Legacy documentation regarding Gazebo Classic installations can be found at: (Legacy) Install Gazebo Classic

Install Gazebo Harmonic + ROS 2 Jazzy (Ubuntu 24.04 Noble)#

Do not follow the steps on https://gazebosim.org/docs/harmonic/install_ubuntu/, and instead directly:

sudo apt install ros-jazzy-ros-gz
# sudo apt install ros-jazzy-gz-ros2-control* # optional

You can check the installed version:

gz sim --versions # 8.10.0 or any 8.x.x corresponds to Harmonic

More info:

Install Gazebo Fortress + ROS 2 Humble (Ubuntu 22.04 Jammy)#

Do not follow the steps on https://gazebosim.org/docs/fortress/install_ubuntu/, and instead directly:

sudo apt install ros-humble-ros-gz
# sudo apt install ros-humble-gz-ros2-control* # optional

You can check the installed version:

ign gazebo --versions # 6.16.0 or any 6.x.x corresponds to Fortress

More info:

Troubleshooting#

Also see (Legacy) Install Gazebo Classic: Troubleshooting

Gazebo shuts down when attempting any 3D rendering (Gazebo Fortress + WSL2)#

  • Problem: Gazebo Fortress + Ubuntu 22.04 Jammy (WSL), opening a 3D environment, Gazebo shuts down with the following error (this output corresponds to Windows with NVIDIA GPU, similar is observed with Intel Integrated graphics card on a laptop):

    terminate called after throwing an instance of 'Ogre::UnimplementedException'
what():  OGRE EXCEPTION(9:UnimplementedException):  in GL3PlusTextureGpu::copyTo at /build/ogre-next-UFfg83/ogre-next-2.2.5+dfsg3/RenderSystems/GL3Plus/src/OgreGL3PlusTextureGpu.cpp (line 677)
Stack trace (most recent call last) in thread 516:
#10   Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in
#9    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x72ebc9f268bf, in
#8    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x72ebc9e94ac2, in
#7    Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x72ebc409199d, in
#6    Object "/lib/x86_64-linux-gnu/libQt5Core.so.5", at 0x72ebc408ff90, in qTerminate()
#5    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x72ebc62ae276, in std::terminate()
#4    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x72ebc62ae20b, in
#3    Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x72ebc62a2b9d, in
#2    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x72ebc9e287f2, in abort
#1    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x72ebc9e42475, in raise
#0    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x72ebc9e969fc, in pthread_kill
Aborted (Signal sent by tkill() 408 1000)

  • Solution: Disable 3D graphics hardware acceleration via (before launching Gazebo, e.g. can be incorporated into ~/.bashrc):

    export LIBGL_ALWAYS_SOFTWARE=1