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Pre-requirements

Inspiration: Install Gazebo on Mac OS X from the Revolve Wiki.

Running Commands

In these instructions, when instructed to "run a command" of the format:

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some-command some-arguments

The user is expected to run the command in the Terminal app or any other similar application (eg. iTerm)

If the command has some expected outputs, I will use the following format to show this:

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# Expected output:
    some-output

Where everything indented after # Expected output: is what you'd expect to see in the terminal.

Install Xcode

Xcode is the first prerequisite required for the installation. There are three ways to install Xcode:

  • Running the command line instruction xcode-select --install in the terminal.
  • Agreeing when prompted during the Homebrew installation (next step)
  • Download Xcode from the AppStore

The last option takes up more space and installs the Xcode GUI, but it's the method I would suggest, as it minimizes bugs.

Open Xcode

This is important: open Xcode once before running, and confirm the user agreement!

Install Homebrew

This is a must have package-manager for mac.

Following the installation instructions on the Homebrew main page, we run: 

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/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"

Install XQuartz

The next requirement is Xquartz, which we install using the command:

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brew install xquartz

Install Other Miscellaneous Homebrew Dependencies

These are packages that work best when installed using Homebrew

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brew install nlopt bullet libpqxx

Installing prerequisites is done