Do NOT install the version of Gazebo supplied with your operating system (such as Ubuntu). This is not up to date and will not work with MiRo.
Please follow the instructions below.
You only need to install Gazebo if you plan to work with a simulated MiRo robot. If you plan to work with physical MiRo, you do NOT need the simulator.


Gazebo is a robot simulator that is popular in robotics R&D. The simulated MiRo runs under Gazebo so you will need to Install Gazebo on your workstation in order to work in the Simulator profile.

These instructions are for installing on Ubuntu 16.04. See below for the slight variations required if you are using a variant (such as Linux Mint).

Ubuntu 16.04

This section is based on Alternative installation from

1) First, install the package source.

$ sudo sh -c 'echo "deb `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'

2) Next, add the security keys.

$ wget -O - | sudo apt-key add -

3) Update your local package information.

$ sudo apt-get update

4) Finally, install Gazebo 7.

$ sudo apt-get install gazebo7

If you plan to develop plugins for Gazebo, you may also install the package libgazebo7-dev, but you do not need it to work with the robot simulation.

Mint 18

The Ubuntu installation steps work also for Mint 18, but the command `lsb_release -cs`, used above, does not. Replace the token with Ubuntu's release name 'xenial' in step (1), as follows, then proceed from step (2) as for Ubuntu.

$ sudo sh -c 'echo "deb xenial main" > /etc/apt/sources.list.d/gazebo-stable.list'


Restart your bash prompt and you should now be able to invoke the simulator as follows.

$ gazebo --verbose Gazebo multi-robot simulator, version 7.16.1 Copyright (C) 2012 Open Source Robotics Foundation. Released under the Apache 2 License. ...
If the Gazebo window appears and then disappears immediately, you may have a problem with your graphics driver. You may find more information at the bottom of dmesg.
If you are running in a virtual machine, Gazebo may not run well, or at all—see Why does Gazebo not run in a VM?.