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You can install from source by moving to the version 4 branch before building:

hg up ign-math4

Or you can install from debian packages on Ubuntu:

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
deb http://packages.osrfoundation.org/gazebo/ubuntu-stable xenial main
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt-get update
sudo apt install libignition-math4*