Installing Gazebo

Portability

Gazebo was developed under Solaris 2.5 in ANSI C and should compile on any SVR4 flavor of UNIX. We've also ported it to Linux. Gazebo requires pthreads. There is a forking version which uses pthreads less heavily than the non-forking version and thus may be more stable on systems with poor threading.

I/O is done with a portable set of socket utilities of our own devising and XML parsing is handled by a special parser with a limited feature set.

Please contact us if you succeed in porting it to other UNIX flavors. There is currently no NT port, but that should be relatively easy to do with Cygnus tools, since our network I/O is performed with a portable socket library.

Compiling

Gazebo is distributed as a gzipped tar archive. After unpacking it, enter the "gazebo" directory and execute the following commands in your favorite shell:

configure
make

Running

After compiling, there should be a binary called "gazebo" in gazebo/src. You can also choose to install it in a default location with the command "make install". Gazebo accepts several command-line arguments:

-c <config>        pathname of configuration file to use
-p <port>          port to listen on
-l <log level>     level of detail to log (1-10)

Gazebo comes with an example configuration file which should get you started. It's located in config/gazebo_conf.xml.