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gz-build

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Atualizado14 de maio de 2026 às 10:40

Configure and build gz-sim from source using either CMake/Ninja directly or a colcon workspace. Trigger when the user asks to build, recompile, configure, or set up the gz-sim binary tree.

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harunkurtdev

harunkurtdev/ros2-claude-code-template

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Desenvolvedores de softwareInformática e Matemática·SOC 15-1252

SKILL.md

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name	gz-build
description	Configure and build gz-sim from source using either CMake/Ninja directly or a colcon workspace. Trigger when the user asks to build, recompile, configure, or set up the gz-sim binary tree.

Building gz-sim

gz-sim follows the Gazebo project's standard build process. Two equally valid front-ends exist; pick based on what the user already has set up.

1. Direct CMake (single repo)

Assumes every Gazebo dependency (gz-cmake, gz-common, gz-physics, …) is already installed system-wide.

cmake -S . -B build -G Ninja \
  -DCMAKE_BUILD_TYPE=RelWithDebInfo \
  -DBUILD_TESTING=ON
cmake --build build -j"$(nproc)"

Useful flags:

Flag	Effect
`-DCMAKE_BUILD_TYPE=Debug`	Asserts on, no optimization, full symbols.
`-DENABLE_PROFILER=ON`	Compiles in `GZ_PROFILER` hooks.
`-DBUILD_TESTING=OFF`	Skip test targets (faster, smaller).
`-DCMAKE_INSTALL_PREFIX=/opt/gz`	Override install location.
`-DBUILD_DOCS=ON`	Build Doxygen + tutorials (needs `doxygen`).

Install (optional, into prefix):

cmake --install build

2. colcon workspace (Gazebo source build)

When the user is building the full Gazebo stack:

# from <workspace>/src/ that contains gz-sim and friends
colcon build --merge-install --cmake-args -DBUILD_TESTING=ON
source install/setup.bash

Limit to gz-sim and its deps:

colcon build --merge-install \
  --packages-up-to gz-sim \
  --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo

Bazel (alternative)

bazel build //... --config=linux
bazel test  //... --config=linux

MODULE.bazel pins the dependencies; the matrix is exercised by .github/workflows/bazel.yml.

After building

Run the smoke test: gz sim -v 4 shapes.sdf (needs source install/setup.bash when built via colcon).
For headless CI, prefix with xvfb-run -s '-screen 0 1280x800x24'.
For sanitizers, configure with -DCMAKE_CXX_FLAGS="-fsanitize=address,undefined" and -DCMAKE_EXE_LINKER_FLAGS="-fsanitize=address,undefined".

Common failures

find_package(gz-cmake REQUIRED) failing → user hasn't installed gz-cmake.
Linker errors about Qt6 → ensure qt6-base-dev + qt6-declarative-dev
- qt6-5compat-dev are present.
Missing sdformat → install the matching libsdformat<NN>-dev for the current Gazebo distribution (Rotary → check package.xml).
Out-of-date gz-msgs headers → rebuild gz-msgs before gz-sim.

Always cd into the repo root (/home/rdadmin/gz-sim) before running these.

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name	gz-build
description	Configure and build gz-sim from source using either CMake/Ninja directly or a colcon workspace. Trigger when the user asks to build, recompile, configure, or set up the gz-sim binary tree.

Building gz-sim

gz-sim follows the Gazebo project's standard build process. Two equally valid front-ends exist; pick based on what the user already has set up.

1. Direct CMake (single repo)

Assumes every Gazebo dependency (gz-cmake, gz-common, gz-physics, …) is already installed system-wide.

cmake -S . -B build -G Ninja \
  -DCMAKE_BUILD_TYPE=RelWithDebInfo \
  -DBUILD_TESTING=ON
cmake --build build -j"$(nproc)"

Useful flags:

Flag	Effect
`-DCMAKE_BUILD_TYPE=Debug`	Asserts on, no optimization, full symbols.
`-DENABLE_PROFILER=ON`	Compiles in `GZ_PROFILER` hooks.
`-DBUILD_TESTING=OFF`	Skip test targets (faster, smaller).
`-DCMAKE_INSTALL_PREFIX=/opt/gz`	Override install location.
`-DBUILD_DOCS=ON`	Build Doxygen + tutorials (needs `doxygen`).

Install (optional, into prefix):

cmake --install build

2. colcon workspace (Gazebo source build)

When the user is building the full Gazebo stack:

# from <workspace>/src/ that contains gz-sim and friends
colcon build --merge-install --cmake-args -DBUILD_TESTING=ON
source install/setup.bash

Limit to gz-sim and its deps:

colcon build --merge-install \
  --packages-up-to gz-sim \
  --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo

Bazel (alternative)

bazel build //... --config=linux
bazel test  //... --config=linux

MODULE.bazel pins the dependencies; the matrix is exercised by .github/workflows/bazel.yml.

After building

Run the smoke test: gz sim -v 4 shapes.sdf (needs source install/setup.bash when built via colcon).
For headless CI, prefix with xvfb-run -s '-screen 0 1280x800x24'.
For sanitizers, configure with -DCMAKE_CXX_FLAGS="-fsanitize=address,undefined" and -DCMAKE_EXE_LINKER_FLAGS="-fsanitize=address,undefined".

Common failures

find_package(gz-cmake REQUIRED) failing → user hasn't installed gz-cmake.
Linker errors about Qt6 → ensure qt6-base-dev + qt6-declarative-dev
- qt6-5compat-dev are present.
Missing sdformat → install the matching libsdformat<NN>-dev for the current Gazebo distribution (Rotary → check package.xml).
Out-of-date gz-msgs headers → rebuild gz-msgs before gz-sim.

Always cd into the repo root (/home/rdadmin/gz-sim) before running these.