diff --git a/Tools/environment_install/install-ROS-ubuntu.sh b/Tools/environment_install/install-ROS-ubuntu.sh
index 90804c15dbc82..a77541abdb7a1 100755
--- a/Tools/environment_install/install-ROS-ubuntu.sh
+++ b/Tools/environment_install/install-ROS-ubuntu.sh
@@ -4,6 +4,7 @@ set -e
 # set -x
 
 ROS_WS_ROOT=$HOME/ardupilot-ws
+AP_GZ_ROOT=$HOME/ardupilot_gazebo
 
 red=`tput setaf 1`
 green=`tput setaf 2`
@@ -246,6 +247,27 @@ else
     echo "Skipping adding ardupilot_ws to your home folder."
 fi
 
+
+if maybe_prompt_user "Add ardupilot_gazebo to your home folder [N/y]?" ; then
+    if [ ! -d $AP_GZ_ROOT ]; then
+        sudo apt install libgz-sim7-dev rapidjson-dev
+        git clone https://github.com/ArduPilot/ardupilot_gazebo
+        pushd $AP_GZ_ROOT
+        mkdir build && pushd build
+        cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo
+        make -j4
+        popd
+        popd
+        echo 'export GZ_SIM_SYSTEM_PLUGIN_PATH=$AP_GZ_ROOT/build:${GZ_SIM_SYSTEM_PLUGIN_PATH}' >> ~/.bashrc
+        echo 'export GZ_SIM_RESOURCE_PATH=$AP_GZ_ROOT/models:$AP_GZ_ROOT/worlds:${GZ_SIM_RESOURCE_PATH}' >> ~/.bashrc
+    else
+        heading "${red}ardupilot_gazebo already exists, skipping...${reset}"
+    fi
+    
+else
+    echo "Skipping adding ardupilot_gazebo to your home folder."
+fi
+
 heading "${green}Adding setup.bash, ROS_MASTER_URI and ROS_HOSTNAME to .bashrc ${reset}"
 grep -q -F "source $ROS_WS_ROOT/devel/setup.bash" ~/.bashrc || echo "source $ROS_WS_ROOT/devel/setup.bash" >> ~/.bashrc
 source ~/.bashrc