bin install prerelease

Signed-off-by: Dharini Dutia <[email protected]>

harmonic/index.yaml

@@ -20,6 +20,15 @@ pages:
     file: install.md
     description: Harmonic installation instructions
     children:
+      - name: install_ubuntu
+        title: Binary Ubuntu Install
+        file: install_ubuntu.md
+      - name: install_osx
+        title: Binary macOS Install
+        file: install_osx.md
+      - name: install_windows
+        title: Binary Windows Install
+        file: install_windows.md
       - name: install_ubuntu_src
         title: Ubuntu Source Install
         file: install_ubuntu_src.md

harmonic/install_osx.md

@@ -0,0 +1,35 @@
+# Binary Installation on MacOS
+
+All the Harmonic binaries are available in Catalina and BigSur using the
+[homebrew package manager](https://brew.sh/).
+
+The homebrew tool can be installed using:
+
+```bash
+/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install.sh)"
+```
+
+After installing the homebrew package manager, Gazebo Harmonic can be installed running:
+
+```bash
+brew tap osrf/simulation
+brew install gz-harmonic
+```
+
+All libraries should be ready to use and the `gz sim -s` server app ready to be executed.
+
+Head back to the [Getting started](/docs/all/getstarted)
+page to start using Gazebo!
+
+## Uninstalling binary install
+
+If you need to uninstall Gazebo or switch to a source-based install once you
+have already installed the library from binaries, run the following command:
+
+```bash
+brew uninstall gz-harmonic
+```
+
+## Troubleshooting
+
+See [Troubleshooting](/docs/harmonic/troubleshooting#macos)

harmonic/install_ubuntu.md

@@ -0,0 +1,44 @@
+# Binary Installation on Ubuntu
+
+Harmonic pre-release binaries are provided for Ubuntu Jammy. The
+Harmonic binaries are hosted in the packages.osrfoundation.org repository.
+To install all of them, the metapackage `gz-harmonic` can be installed.
+
+**WARNING:** `gz-harmonic` cannot be installed alongside gazebo-classic (eg. `gazebo11`) since both use the `gz` command line tool. Trying to install `gz-harmonic` on a system that already has gazebo-classic installed from binaries will cause gazebo-classic and its dependencies to be uninstalled. Currently, the workarounds for this are to install from source or to use Docker [`gazebo-classic`](https://hub.docker.com/_/gazebo) so they are not installed side-by-side on the same system.
+
+First install some necessary tools:
+
+```bash
+sudo apt-get update
+sudo apt-get install lsb-release wget gnupg
+```
+
+Then install Gazebo Harmonic:
+
+
+```bash
+sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
+echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
+echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-prerelease $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-prerelease.list > /dev/null
+sudo apt-get update
+sudo apt-get install gz-harmonic
+```
+
+All libraries should be ready to use and the `gz sim` app ready to be executed.
+
+Head back to the [Getting started](/docs/all/getstarted)
+page to start using Gazebo!
+
+
+## Uninstalling binary install
+
+If you need to uninstall Gazebo or switch to a source-based install once you
+have already installed the library from binaries, run the following command:
+
+```bash
+sudo apt remove gz-harmonic && sudo apt autoremove
+```
+
+## Troubleshooting
+
+See [Troubleshooting](/docs/harmonic/troubleshooting#ubuntu)

harmonic/install_windows.md

@@ -0,0 +1,72 @@
+<div class="warning">
+WARNING: Current Windows support is experimental.
+</div>
+
+# Binary Installation on Windows 10
+
+Most Gazebo packages are available in Windows 10 using the [conda-forge package manager](https://conda-forge.org/),
+and the Gazebo feedstock recipes can be found [here](https://github.com/search?q=org:conda-forge+libgz&type=code).
+
+Additionally, command line tools, the DART physics engine, and some tests are not currently supported in Windows.
+
+In order to use `conda-forge`, you will need to
+1. Install a [Conda package management system](https://docs.conda.io/projects/conda/en/latest/user-guide/install/download.html).
+   Miniconda suffices. You will likely want to check the box to add `conda` to your `PATH`
+   during the installation process so that you won't have to do this step manually.
+
+2. Open a Windows command prompt, being sure to have `conda` added to your
+   Windows `PATH` system environment variable (you may also need to open
+   a new command prompt to see any `PATH` changes reflected).
+
+  If you did not add Conda to your `PATH` environment variable
+  during Conda installation, you may need to navigate to the
+  location of `condabin` in order to use the `conda` command.
+  To find `condabin`, search for "Anaconda Prompt" in the
+  Windows search field near the Windows button, open it, run
+  `where conda`, and look for a line containing the directory `condabin`.
+
+3. Create and activate a new Conda environment:
+  ```bash
+  conda create -n gz-env
+  conda activate gz-env
+  ```
+4. Install desired Gazebo packages you want to install based on your application. Packages with the prefix `libgz-`
+   contain only the C++ libraries while the Python bindings are available separately as `gz-<package_name><#>-python`.
+   To install both with a single command use `gz-<package_name><#>`.
+   Thus you can use `gz-sim<#>` to fully install the latest version of Gazebo.
+  ```bash
+  conda install libgz-<package_name><#> --channel conda-forge
+  ```
+  Be sure to replace `<package_name>` with your desired package name (ie, common, msgs, etc.)
+  and `<#>` with the release version.  If left unspecified, `conda-forge` will install the
+  most recently stable release packages.  Be sure to check the
+  [high level install instructions](install) for corresponding version numbers.
+
+**Note**
+
+You can view all available versions of a specific package with:
+```bash
+conda search libgz-<package_name>* --channel conda-forge
+```
+and view their dependencies with
+```bash
+conda search libgz-<package_name>* --channel conda-forge --info
+```
+and install a specific minor version with
+```bash
+conda install libgz-<package_name>=<major>.<minor>.<patch> --channel conda-forge
+```
+where `<major>` is the major release number, `<minor>` is the minor release number, and `<patch` is the patch release number.
+
+## Uninstalling binary install
+
+If you need to uninstall Gazebo or switch to a source-based install once you
+have already installed the library from binaries, run the following command:
+
+```bash
+conda uninstall libgz-<package_name> --channel conda-forge
+```
+
+## Troubleshooting
+
+See [Troubleshooting](/docs/harmonic/troubleshooting#windows)