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Binary Installation on Ubuntu

Jetty binaries are provided for Ubuntu Noble (24.04). The Jetty binaries are hosted in the packages.osrfoundation.org repository. To install all of them, the metapackage gz-jetty can be installed.

First install some necessary tools:

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

Then install Gazebo Jetty:

sudo curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] https://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
sudo apt-get update
sudo apt-get install gz-jetty

All libraries should be ready to use and the gz sim app ready to be executed.

Head back to the Getting started page to start using Gazebo!

(server-only-installation)=

Server-only installation

For headless and CI environments where the GUI is not needed, the gz-sim10-server package provides a lightweight alternative. It installs only the Gazebo simulation server (gz-sim-server) without any GUI or Qt dependencies, resulting in a significantly smaller installation footprint.

After configuring the repository (same as above), install the server-only package:

sudo apt-get install gz-sim10-server

The server-only package includes the DART physics engine and the core simulation server plugins. To start a headless simulation:

/usr/libexec/gz/sim10/gz-sim-server <world_file.sdf>

:::{note} The server-only binary is installed at /usr/libexec/gz/sim10/gz-sim-server, which is not in the PATH by default. The regular gz sim -s command is not available in the server-only installation since it requires the full gz-sim10-cli package. :::

Uninstalling binary install

If you need to uninstall Gazebo or switch to a source-based install once you have already installed the library from binaries, run the following command:

sudo apt remove gz-jetty && sudo apt autoremove

Troubleshooting

See Troubleshooting