Install Gazebo on Mac (using homebrew)

Gazebo and several of its dependencies can be compiled on OS X with Homebrew using the osrf/simulation tap. Gazebo is straightforward to install on Mac OS X 10.11 (El Capitan) or higher. Installation on older versions requires changing the default standard library and rebuilding dependencies due to the use of c++11. For purposes of this tutorial, I will assume OS X 10.11 or greater is in use.

Default installation: one-liner

  1. Install

    curl -ssL | sh
  2. Run


Alternative installation: step-by-step

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

    ruby -e "$(curl -fsSL"
  2. Install XQuartz, which provides X11 support and is required by Gazebo and OGRE

  3. Run the following commands to install gazebo quickly with a precompiled binary:

    brew tap osrf/simulation
    brew install gazebo9

Optional dependencies

The Gazebo formula has an optional dependency on the DART physics engine, which must be installed using the following procedure prior to installing Gazebo9 without using the precompiled binary:

    brew tap dartsim/dart
    brew install dartsim6
    # Gazebo will be built with DART (autodetected), bullet and simbody
    brew install gazebo9 --build-from-source


The formula currently installs version 9.0 of Gazebo. Version 8 can be installed using the gazebo8 formula and Gazebo 7 using gazebo7. To install the latest version of Gazebo's default branch:

    brew install gazebo9 --HEAD