http://gazebosim.org/

Installation

Mac OS X

http://gazebosim.org/tutorials?tut=install_on_mac&cat=install

$ brew tap osrf/simulation
$ brew install gazebo7       # ~?h build

Introspection

$ gz topic -l
$ gz topic -e /gazebo/default/world_stats

Ubuntu

http://gazebosim.org/tutorials?tut=install_ubuntu&cat=install

$ aptitude install gazebo7 libgazebo7-dev