Installation

This tutorial describes how to install Ignition Physics on Ubuntu Linux and macOS via either a binary distribution or from source. Support for Windows is coming soon.

Ubuntu

Ignition Physics uses several c++17 features which are not available in the version of gcc supplied with Ubuntu Xenial, so Ubuntu Bionic or later is required.

If you don't already have the lsb-release package installed, please do so now:

sudo apt-get update
sudo apt-get install lsb-release

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

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

Setup keys:

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

Install Ignition Physics binaries

sudo apt-get update
sudo apt-get install libignition-physics-dev

Build from source

Run the following to install dependencies

sudo apt-get install libignition-cmake2-dev \
                     libignition-common3-dev \
                     libignition-common3-graphics-dev \
                     libignition-math6-dev \
                     libignition-math6-eigen3-dev \
                     libignition-plugin-dev \
                     libdart6-dev \
                     libdart6-collision-ode-dev \
                     libdart6-utils-urdf-dev \
                     libsdformat8-dev

Clone the ign-physics repository from bitbucket

hg clone https://bitbucket.org/ignitionrobotics/ign-physics

Then build using CMake

cd ign-physics
mkdir build
cd build
cmake ..
make
sudo make install

macOS

Ignition Physics and several of its dependencies can be installed on macOS with Homebrew using the osrf/simulation tap. Ignition Physics uses several c++17 features which are not available in macOS High Sierra (10.13) and earlier, so macOS Mojave (10.14) with XCode 10.1 are the minimum system requirements.

Install Binaries using Homebrew

Install homebrew, which should also prompt you to install the XCode command-line tools:

ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"

Run the following commands:

brew tap osrf/simulation
brew install ignition-physics1

Build from source using Homebrew

Run the following to install dependencies

brew tap osrf/simulation
brew install ignition-physics1 --only-dependencies

Clone the ign-physics repository from bitbucket

hg clone https://bitbucket.org/ignitionrobotics/ign-physics

Then build using CMake

cd ign-physics
mkdir build
cd build
cmake ..
make
sudo make install