How to Install gazebo_ros_pkgs from Source

Create a directory for the gazebo_ros_pkgs workspace :

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mkdir -p gazebo_ros_pkgs/src

Copy this file, that gets gazebo_ros_pkgs and additional packages needed:

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cd gazebo_ros_pkgs
wget https://raw.githubusercontent.com/ros-simulation/gazebo_ros_pkgs/foxy/gazebo_ros_pkgs.repos

Modify the file gazebo_ros_pkgs.repos, replace all the version by foxy.

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repositories:
  gazebo_ros_pkgs:
    type: git
    url: https://github.com/ros-simulation/gazebo_ros_pkgs.git
    version: foxy
  image_common:
    type: git
    url: https://github.com/ros-perception/image_common.git
    version: foxy
  vision_opencv:
    type: git
    url: https://github.com/ros-perception/vision_opencv.git
    version: foxy

Note: The version tag in the yaml file indicates the branch we are checking out for a particular repository e.g. version: ros2 checks out the ros2 branch.

Get the packages into the src directory.

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vcs import src < gazebo_ros_pkgs.repos

Switch to the branch matching your ROS distro.

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vcs custom --args checkout foxy

Install all dependencies.

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rosdep install --from-paths src --ignore-src -r -y

Then build all the packages.

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colcon build --symlink-install

Note: Before building this ensure that the ROS 2 environment is sourced correctly.

Source this workspace’s install setup.

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source gazebo_ros_pkgs/install/setup.bash