diff --git a/setup/install_ubuntu.sh b/setup/install_ubuntu.sh
index 17c588a..4f0fc6f 100755
--- a/setup/install_ubuntu.sh
+++ b/setup/install_ubuntu.sh
@@ -151,13 +151,44 @@ echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-
 sudo apt-get update
 
 # Install Gazebo Harmonic (preferred) or Garden as fallback
-sudo apt-get install -y gz-harmonic || sudo apt-get install -y gz-garden || {
+if sudo apt-get install -y gz-harmonic; then
+    GZ_VERSION="harmonic"
+    # Install Harmonic development packages for building plugins
+    sudo apt-get install -y \
+        libgz-cmake3-dev \
+        libgz-sim8-dev \
+        libgz-plugin2-dev \
+        libgz-common5-dev \
+        libgz-physics7-dev \
+        libgz-sensors8-dev \
+        libgz-rendering8-dev \
+        libgz-transport13-dev \
+        libgz-msgs10-dev \
+        rapidjson-dev \
+        2>/dev/null || echo "[WARN] Some Gazebo dev packages may be missing"
+elif sudo apt-get install -y gz-garden; then
+    GZ_VERSION="garden"
+    # Install Garden development packages
+    sudo apt-get install -y \
+        libgz-cmake3-dev \
+        libgz-sim7-dev \
+        libgz-plugin2-dev \
+        libgz-common5-dev \
+        libgz-physics6-dev \
+        libgz-sensors7-dev \
+        libgz-rendering7-dev \
+        libgz-transport12-dev \
+        libgz-msgs9-dev \
+        rapidjson-dev \
+        2>/dev/null || echo "[WARN] Some Gazebo dev packages may be missing"
+else
+    GZ_VERSION="none"
     echo "[WARN] Could not install Gazebo Harmonic/Garden"
-}
+fi
 
 # Verify installation
 if command -v gz &> /dev/null; then
-    echo "[OK] Gazebo installed ($(gz sim --version 2>/dev/null | head -1 || echo 'version unknown'))"
+    echo "[OK] Gazebo $GZ_VERSION installed ($(gz sim --version 2>/dev/null | head -1 || echo 'version unknown'))"
 else
     echo "[WARN] Gazebo command not found"
 fi