Installing Gazebo

Gazebo can be installed as a standalone application or an integrated application along with ROS. In this chapter, we will use Gazebo along with ROS to simulation a robot's behavior and to test our written code using the ROS framework.

If you want to try the latest Gazebo simulator yourself, you can follow the steps given at http://gazebosim.org/download.

To work with Gazebo and ROS, we don't need to install them separately because Gazebo comes with the ROS desktop full installation.

The ROS package that integrates Gazebo with ROS is called gazebo_ros_pkgs. There are wrappers around the standalone Gazebo. This package provides the necessary interface to simulate a robot in Gazebo using ROS message services.

The complete gazebo_ros_pkgs can be installed in ROS Indigo using the following command:

    $ sudo apt-get install ros-kinetic-gazebo-ros-pkgs ros-kinetic-
   ros-control