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Install instructions: remove EOL distros in Gz and ROS
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Signed-off-by: Jose Luis Rivero <jrivero@honurobotics.com>
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j-rivero committed Feb 17, 2025
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22 changes: 9 additions & 13 deletions get_started.md
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Expand Up @@ -17,11 +17,9 @@ packages available for the platform to use:
|Platform|Gazebo Versions|
|---|---|
| Ubuntu 24.04 Noble | [Gazebo Harmonic](/docs/harmonic/install_ubuntu){.external} (recommended), (recommended if using ROS 2 Jazzy) and [Gazebo Ionic](/docs/ionic/install_ubuntu){.external}
| Ubuntu 22.04 Jammy | [Gazebo Harmonic](/docs/harmonic/install_ubuntu){.external} (recommended), [Gazebo Garden](/docs/garden/install_ubuntu){.external} and [Gazebo Fortress](/docs/fortress/install_ubuntu){.external} (recommended if using ROS 2 Humble or Iron)
| Ubuntu 20.04 Focal | [Gazebo Garden](/docs/garden/install_ubuntu){.external} (recommended), [Gazebo Fortress](/docs/fortress/install_ubuntu){.external} and [Gazebo Citadel](/docs/citadel/install_ubuntu){.external}
| Ubuntu 18.04 Bionic | [Gazebo Citadel](/docs/citadel/install_ubuntu){.external}
| Mac Ventura | [Gazebo Harmonic](/docs/harmonic/install_osx){.external} (recommended), [Gazebo Garden](/docs/garden/install_osx){.external}, [Gazebo Fortress](/docs/fortress/install_osx){.external} and [Gazebo Citadel](/docs/citadel/install_osx){.external}
| Mac Monterey | [Gazebo Harmonic](/docs/harmonic/install_osx){.external} (recommended), [Gazebo Garden](/docs/garden/install_osx){.external}, [Gazebo Fortress](/docs/fortress/install_osx){.external} and [Gazebo Citadel](/docs/citadel/install_osx){.external}
| Ubuntu 22.04 Jammy | [Gazebo Harmonic](/docs/harmonic/install_ubuntu){.external} (recommended) and [Gazebo Fortress](/docs/fortress/install_ubuntu){.external} (recommended if using ROS 2 Humble)
| Mac Ventura | [Gazebo Harmonic](/docs/harmonic/install_osx){.external} (recommended) and [Gazebo Fortress](/docs/fortress/install_osx){.external}
| Mac Monterey | [Gazebo Harmonic](/docs/harmonic/install_osx){.external} (recommended) and [Gazebo Fortress](/docs/fortress/install_osx){.external}
| Windows | Support via Conda-Forge is not fully functional, as there are known runtime issues [see this issue for details](https://github.com/gazebosim/gz-sim/issues/168).

If the desired platform is not listed above or if a particular feature in a
Expand All @@ -31,9 +29,7 @@ installation options:

* [Gazebo Ionic installation](/docs/ionic/install){.external} options (EOL 2026 Sep)
* [Gazebo Harmonic (LTS) installation](/docs/harmonic/install){.external} options (EOL 2028 Sep)
* [Gazebo Garden installation](/docs/garden/install){.external} options (EOL 2024 Sep)
* [Gazebo Fortress (LTS) installation](/docs/fortress/install){.external} options (EOL 2026 Sep)
* [Gazebo Citadel (LTS) installation](/docs/citadel/install){.external} options (EOL 2024 Dec)

## Step 2: Run

Expand All @@ -45,7 +41,7 @@ simulator, from a terminal.
Launch Gazebo by running:

```
gz sim shapes.sdf # Fortress and Citadel use "ign gazebo" instead of "gz sim"
gz sim shapes.sdf # Fortress uses "ign gazebo" instead of "gz sim"
```

This command will launch both the Sim server and Sim GUI with a world
Expand All @@ -55,13 +51,13 @@ Add the `-v 4` command line argument to generate error, warning,
informational, and debugging messages on the console.

```
gz sim shapes.sdf -v 4 # Fortress and Citadel use "ign gazebo" instead of "gz sim"
gz sim shapes.sdf -v 4 # Fortress uses "ign gazebo" instead of "gz sim"
```

Gazebo Sim can also be run headless, i.e. without the GUI, by using the `-s` (server only) flag.

```
gz sim -s shapes.sdf -v 4 # Fortress and Citadel use "ign gazebo" instead of "gz sim"
gz sim -s shapes.sdf -v 4 # Fortress uses "ign gazebo" instead of "gz sim"
```

Similarly, the GUI can be run independently using the `-g` (gui only) flag.
Expand Down Expand Up @@ -96,7 +92,7 @@ custom SDF file.
## Step 4: Explore and learn

This tutorial has covered the basics of getting started with Gazebo.
Starting with Citadel, there are more [versioned tutorials](/docs/citadel/tutorials){.external}
There are more [versioned tutorials](/docs/citadel/tutorials){.external}
covering the basics of the GUI, creating worlds and robots, and more.

Each [Gazebo library](/libs){.external} also has a set of tutorials and
Expand All @@ -110,12 +106,12 @@ and another for the GUI:

```sh
# launch server in one terminal
gz sim -v 4 shapes.sdf -s # Fortress and Citadel use "ign gazebo" instead of "gz sim"
gz sim -v 4 shapes.sdf -s # Fortress uses "ign gazebo" instead of "gz sim"
```

```sh
# launch gui in a separate terminal
gz sim -v 4 -g # Fortress and Citadel use "ign gazebo" instead of "gz sim"
gz sim -v 4 -g # Fortress uses "ign gazebo" instead of "gz sim"
```

The GUI on macOS is currently known to be unstable. Basic interaction with
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81 changes: 12 additions & 69 deletions ros_installation.md
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Expand Up @@ -36,15 +36,12 @@ This table includes all currently supported versions of ROS and Gazebo. All
other ROS and Gazebo releases are end of life and we do not recommend their
continued use.


| | **GZ Citadel (LTS)** | **GZ Fortress (LTS)** | **GZ Garden** | **GZ Harmonic (LTS)** | **Gz Ionic**
|---------------------------|---------------------- |----------------------- |--------------- | ---------------------- | ------------
| **ROS 2 Rolling** | ❌ | ❌ | ⚡ | ⚡ | ✅
| **ROS 2 Jazzy (LTS)** | ❌ | ❌ | ⚡ | ✅ | ❌
| **ROS 2 Iron** | ❌ | ✅ | ⚡ | ⚡ | ❌
| **ROS 2 Humble (LTS)** | ❌ | ✅ | ⚡ | ⚡ | ❌
| **ROS 2 Foxy (LTS)** | ✅ | ❌ | ❌ | ❌ | ❌
| **ROS 1 Noetic (LTS)** | ✅ | ⚡ | ❌ | ❌ | ❌
| | **GZ Citadel (LTS)** | **GZ Fortress (LTS)** | **GZ Harmonic (LTS)** | **Gz Ionic**
|---------------------------|---------------------- |----------------------- | ---------------------- | ------------
| **ROS 2 Rolling** | ❌ | ❌ | ⚡ | ✅
| **ROS 2 Jazzy (LTS)** | ❌ | ❌ | ✅ | ❌
| **ROS 2 Humble (LTS)** | ❌ | ✅ | ⚡ | ❌
| **ROS 1 Noetic (LTS)** | ✅ | ⚡ | ❌ | ❌


* ✅ - Recommended combination
Expand All @@ -62,7 +59,7 @@ instructions on adding the ROS repository to your system in the
[ROS documentation](https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#add-the-ros-2-apt-repository).
The following command will install the correct version of Gazebo and `ros_gz`
for your ROS installation on a Linux system. You should replace `${ROS_DISTRO}`
with your ROS distribution (e.g. `humble`, `rolling`,`foxy`, `noetic`, etc).
with your ROS distribution (e.g. `humble`, `rolling`, `noetic`, etc).

```bash
sudo apt-get install ros-${ROS_DISTRO}-ros-gz
Expand Down Expand Up @@ -112,16 +109,13 @@ of writing the following packages are available on the following hosts:

* **packages.ros.org**
* ROS1 Noetic: Gazebo Citadel
* ROS2 Foxy: Gazebo Citadel
* ROS2 Humble: Gazebo Fortress
* ROS2 Iron: Gazebo Fortress
* ROS2 Jazzy: Gazebo Harmonic (ROS vendor packages)
* ROS2 Rolling: Gazebo Ionic (ROS vendor packages, changing frequently)

* **packages.osrfoundation.org**
* Gazebo Citadel
* Gazebo Fortress
* Gazebo Garden
* Gazebo Harmonic
* Gazebo Ionic

Expand Down Expand Up @@ -155,7 +149,7 @@ every ROS package that uses a Gazebo library):

Both approaches may also require that you modify your ROS or Gazebo source code to support this compilation.

### 📦 Gazebo Harmonic with ROS 2 Humble, Iron or Rolling (Use with caution)
### 📦 Gazebo Harmonic with ROS 2 Humble or Rolling (Use with caution)

Gazebo Harmonic can be used with ROS 2 Humble and non ROS official binary packages hosted
in `packages.osrfoundation.org`. These packages conflict with `ros-humble-ros-gz*`
Expand All @@ -169,18 +163,6 @@ To install the binary Gazebo Harmonic/ROS 2 Humble packages:
* Install `ros_gz` from the non official binary packages from apt:
* `apt-get install ros-humble-ros-gzharmonic`

Gazebo Harmonic can be used with ROS 2 Iron and non ROS official binary packages hosted
in `packages.osrfoundation.org`. These packages conflict with `ros-iron-ros-gz*`
packages (Iron officially supports Gazebo Fortress).

To install the binary Gazebo Harmonic/ROS 2 Iron packages:

* Follow [these instruction to install gz-harmonic](https://gazebosim.org/docs/harmonic/install_ubuntu#binary-installation-on-ubuntu)
from [`packages.osrfoundation.org`](https://packages.osrfoundation.org/gazebo/ubuntu/)
repository.
* Install `ros_gz` from the non official binary packages from apt:
* `apt-get install ros-iron-ros-gzharmonic`

Gazebo Harmonic can be used with ROS 2 Rolling but
[`ros_gz`](https://github.com/gazebosim/ros_gz) will need to be compiled
from source.
Expand All @@ -193,44 +175,6 @@ from source.
* [ROS 2 Rolling](https://github.com/gazebosim/ros_gz/tree/ros2#from-source)
* Be sure of using `export GZ_VERSION=harmonic`

### 📦 Gazebo Garden with ROS 2 Humble, Iron or Rolling (Use with caution)

Gazebo Garden can be used with ROS 2 Humble and non ROS official binary packages hosted
in `packages.osrfoundation.org`. These packages conflict with `ros-humble-ros-gz*`
packages (Humble officially supports Gazebo Fortress).

To install the binary Gazebo Garden/ROS 2 Humble packages:

* Follow [these instruction to install gz-garden](https://gazebosim.org/docs/garden/install_ubuntu#binary-installation-on-ubuntu)
from [`packages.osrfoundation.org`](https://packages.osrfoundation.org/gazebo/ubuntu/)
repository.
* Install `ros_gz` from the non official binary packages from apt:
* `apt-get install ros-humble-ros-gzgarden`

Gazebo Garden can be used with ROS 2 Iron and non ROS official binary packages hosted
in `packages.osrfoundation.org`. These packages conflict with `ros-iron-ros-gz*`
packages (Iron officially supports Gazebo Fortress).

To install the binary Gazebo Garden/ROS 2 Iron packages:

* Follow [these instruction to install gz-garden](https://gazebosim.org/docs/garden/install_ubuntu#binary-installation-on-ubuntu)
from [`packages.osrfoundation.org`](https://packages.osrfoundation.org/gazebo/ubuntu/)
repository.
* Install `ros_gz` from the non official binary packages from apt:
* `apt-get install ros-iron-ros-gzgarden`

Gazebo Garden can be used with ROS 2 Rolling but
[`ros_gz`](https://github.com/gazebosim/ros_gz) will need to be compiled
from source.

* Follow [these instruction to install gz-garden](https://gazebosim.org/docs/garden/install_ubuntu#binary-installation-on-ubuntu)
from [`packages.osrfoundation.org`](https://packages.osrfoundation.org/gazebo/ubuntu/)
repository.
* Install [rosdep rules for Gazebo Garden](https://github.com/osrf/osrf-rosdep#installing-rosdep-rules-to-resolve-gazebo-garden-libraries)
* Follow the instructions to compile `ros_gz` from source in a colcon workspace
* [ROS 2 Rolling](https://github.com/gazebosim/ros_gz/tree/ros2#from-source)
* Be sure of using `export GZ_VERSION=garden`

### 📦 Gazebo Fortress with ROS 2 Galactic or ROS 1 Noetic (Not Recommended)

Gazebo Fortress can be used with ROS 2 Galactic and ROS 1 Noetic by compiling
Expand Down Expand Up @@ -266,18 +210,17 @@ If you don't need ROS support, the recommended version is the latest released
version that can be [installed using the `osrfoundation.org` repo](https://gazebosim.org/docs)
depending on your platform.

#### I want to use Gazebo Harmonic or Gazebo Garden with ROS 2. Where are the packages?
#### I want to use Gazebo Harmonic with ROS 2. Where are the packages?

We provide binary packages for `ros_gz` for the following Gazebo and ROS 2 pairings in the packages.osrfoundation.org repository
but these packages are not official ROS packages, which means if there is a breaking change in the corresponding ROS 2 distribution,
there will be a short delay before these packages are rebuilt with the changes. Installing these packages may also cause conflicts with
other ROS packages that depend on Gazebo-classic.


| | **Gazebo Garden** | **Gazebo Harmonic (LTS)** |
|------------------------ |----------------------------- | -------------------------- |
| **ROS 2 Iron** | `ros-iron-ros-gzgarden` | `ros-iron-ros-gzharmonic` |
| **ROS 2 Humble (LTS)** | `ros-humble-ros-gzgarden` | `ros-humble-ros-gzharmonic` |
| | **Gazebo Harmonic (LTS)** |
|------------------------ | -------------------------- |
| **ROS 2 Humble (LTS)** | `ros-humble-ros-gzharmonic` |


#### What is the difference between a ROS vendor package and other packages listed in this page?
Expand Down

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