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Install instructions: remove EOL distros in Gz and ROS (#575)
Signed-off-by: Jose Luis Rivero <[email protected]>
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‎get_started.md

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@@ -17,11 +17,9 @@ packages available for the platform to use:
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|Platform|Gazebo Versions|
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|---|---|
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| 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}
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| 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)
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| 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}
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| Ubuntu 18.04 Bionic | [Gazebo Citadel](/docs/citadel/install_ubuntu){.external}
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| 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}
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| 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}
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| 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)
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| Mac Ventura | [Gazebo Harmonic](/docs/harmonic/install_osx){.external} (recommended) and [Gazebo Fortress](/docs/fortress/install_osx){.external}
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| Mac Monterey | [Gazebo Harmonic](/docs/harmonic/install_osx){.external} (recommended) and [Gazebo Fortress](/docs/fortress/install_osx){.external}
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| 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).
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If the desired platform is not listed above or if a particular feature in a
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* [Gazebo Ionic installation](/docs/ionic/install){.external} options (EOL 2026 Sep)
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* [Gazebo Harmonic (LTS) installation](/docs/harmonic/install){.external} options (EOL 2028 Sep)
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* [Gazebo Garden installation](/docs/garden/install){.external} options (EOL 2024 Sep)
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* [Gazebo Fortress (LTS) installation](/docs/fortress/install){.external} options (EOL 2026 Sep)
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* [Gazebo Citadel (LTS) installation](/docs/citadel/install){.external} options (EOL 2024 Dec)
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## Step 2: Run
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Launch Gazebo by running:
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```
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gz sim shapes.sdf # Fortress and Citadel use "ign gazebo" instead of "gz sim"
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gz sim shapes.sdf # Fortress uses "ign gazebo" instead of "gz sim"
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```
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This command will launch both the Sim server and Sim GUI with a world
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informational, and debugging messages on the console.
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```
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gz sim shapes.sdf -v 4 # Fortress and Citadel use "ign gazebo" instead of "gz sim"
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gz sim shapes.sdf -v 4 # Fortress uses "ign gazebo" instead of "gz sim"
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```
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Gazebo Sim can also be run headless, i.e. without the GUI, by using the `-s` (server only) flag.
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```
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gz sim -s shapes.sdf -v 4 # Fortress and Citadel use "ign gazebo" instead of "gz sim"
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gz sim -s shapes.sdf -v 4 # Fortress uses "ign gazebo" instead of "gz sim"
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```
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Similarly, the GUI can be run independently using the `-g` (gui only) flag.
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## Step 4: Explore and learn
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This tutorial has covered the basics of getting started with Gazebo.
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Starting with Citadel, there are more [versioned tutorials](/docs/citadel/tutorials){.external}
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There are more [versioned tutorials](/docs/citadel/tutorials){.external}
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covering the basics of the GUI, creating worlds and robots, and more.
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Each [Gazebo library](/libs){.external} also has a set of tutorials and
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```sh
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# launch server in one terminal
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gz sim -v 4 shapes.sdf -s # Fortress and Citadel use "ign gazebo" instead of "gz sim"
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gz sim -v 4 shapes.sdf -s # Fortress uses "ign gazebo" instead of "gz sim"
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```
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```sh
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# launch gui in a separate terminal
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gz sim -v 4 -g # Fortress and Citadel use "ign gazebo" instead of "gz sim"
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gz sim -v 4 -g # Fortress uses "ign gazebo" instead of "gz sim"
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```
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The GUI on macOS is currently known to be unstable. Basic interaction with

‎ros_installation.md

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@@ -36,15 +36,12 @@ This table includes all currently supported versions of ROS and Gazebo. All
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other ROS and Gazebo releases are end of life and we do not recommend their
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continued use.
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| | **GZ Citadel (LTS)** | **GZ Fortress (LTS)** | **GZ Garden** | **GZ Harmonic (LTS)** | **Gz Ionic**
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|---------------------------|---------------------- |----------------------- |--------------- | ---------------------- | ------------
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| **ROS 2 Rolling** | ❌ | ❌ | ⚡ | ⚡ | ✅
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| **ROS 2 Jazzy (LTS)** | ❌ | ❌ | ⚡ | ✅ | ❌
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| **ROS 2 Iron** | ❌ | ✅ | ⚡ | ⚡ | ❌
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| **ROS 2 Humble (LTS)** | ❌ | ✅ | ⚡ | ⚡ | ❌
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| **ROS 2 Foxy (LTS)** | ✅ | ❌ | ❌ | ❌ | ❌
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| **ROS 1 Noetic (LTS)** | ✅ | ⚡ | ❌ | ❌ | ❌
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| | **GZ Citadel (LTS)** | **GZ Fortress (LTS)** | **GZ Harmonic (LTS)** | **Gz Ionic**
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|---------------------------|---------------------- |----------------------- | ---------------------- | ------------
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| **ROS 2 Rolling** | ❌ | ❌ | ⚡ | ✅
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| **ROS 2 Jazzy (LTS)** | ❌ | ❌ | ✅ | ❌
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| **ROS 2 Humble (LTS)** | ❌ | ✅ | ⚡ | ❌
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| **ROS 1 Noetic (LTS)** | ✅ | ⚡ | ❌ | ❌
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* ✅ - Recommended combination
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[ROS documentation](https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html#add-the-ros-2-apt-repository).
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The following command will install the correct version of Gazebo and `ros_gz`
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for your ROS installation on a Linux system. You should replace `${ROS_DISTRO}`
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with your ROS distribution (e.g. `humble`, `rolling`,`foxy`, `noetic`, etc).
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with your ROS distribution (e.g. `humble`, `rolling`, `noetic`, etc).
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```bash
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sudo apt-get install ros-${ROS_DISTRO}-ros-gz
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* **packages.ros.org**
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* ROS1 Noetic: Gazebo Citadel
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* ROS2 Foxy: Gazebo Citadel
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* ROS2 Humble: Gazebo Fortress
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* ROS2 Iron: Gazebo Fortress
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* ROS2 Jazzy: Gazebo Harmonic (ROS vendor packages)
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* ROS2 Rolling: Gazebo Ionic (ROS vendor packages, changing frequently)
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* **packages.osrfoundation.org**
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* Gazebo Citadel
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* Gazebo Fortress
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* Gazebo Garden
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* Gazebo Harmonic
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* Gazebo Ionic
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Both approaches may also require that you modify your ROS or Gazebo source code to support this compilation.
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### 📦 Gazebo Harmonic with ROS 2 Humble, Iron or Rolling (Use with caution)
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### 📦 Gazebo Harmonic with ROS 2 Humble or Rolling (Use with caution)
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Gazebo Harmonic can be used with ROS 2 Humble and non ROS official binary packages hosted
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in `packages.osrfoundation.org`. These packages conflict with `ros-humble-ros-gz*`
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* Install `ros_gz` from the non official binary packages from apt:
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* `apt-get install ros-humble-ros-gzharmonic`
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Gazebo Harmonic can be used with ROS 2 Iron and non ROS official binary packages hosted
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in `packages.osrfoundation.org`. These packages conflict with `ros-iron-ros-gz*`
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packages (Iron officially supports Gazebo Fortress).
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To install the binary Gazebo Harmonic/ROS 2 Iron packages:
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* Follow [these instruction to install gz-harmonic](https://gazebosim.org/docs/harmonic/install_ubuntu#binary-installation-on-ubuntu)
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from [`packages.osrfoundation.org`](https://packages.osrfoundation.org/gazebo/ubuntu/)
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repository.
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* Install `ros_gz` from the non official binary packages from apt:
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* `apt-get install ros-iron-ros-gzharmonic`
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Gazebo Harmonic can be used with ROS 2 Rolling but
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[`ros_gz`](https://github.com/gazebosim/ros_gz) will need to be compiled
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* [ROS 2 Rolling](https://github.com/gazebosim/ros_gz/tree/ros2#from-source)
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* Be sure of using `export GZ_VERSION=harmonic`
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### 📦 Gazebo Garden with ROS 2 Humble, Iron or Rolling (Use with caution)
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Gazebo Garden can be used with ROS 2 Humble and non ROS official binary packages hosted
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in `packages.osrfoundation.org`. These packages conflict with `ros-humble-ros-gz*`
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packages (Humble officially supports Gazebo Fortress).
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To install the binary Gazebo Garden/ROS 2 Humble packages:
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* Follow [these instruction to install gz-garden](https://gazebosim.org/docs/garden/install_ubuntu#binary-installation-on-ubuntu)
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from [`packages.osrfoundation.org`](https://packages.osrfoundation.org/gazebo/ubuntu/)
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repository.
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* Install `ros_gz` from the non official binary packages from apt:
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* `apt-get install ros-humble-ros-gzgarden`
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Gazebo Garden can be used with ROS 2 Iron and non ROS official binary packages hosted
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in `packages.osrfoundation.org`. These packages conflict with `ros-iron-ros-gz*`
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packages (Iron officially supports Gazebo Fortress).
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To install the binary Gazebo Garden/ROS 2 Iron packages:
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* Follow [these instruction to install gz-garden](https://gazebosim.org/docs/garden/install_ubuntu#binary-installation-on-ubuntu)
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from [`packages.osrfoundation.org`](https://packages.osrfoundation.org/gazebo/ubuntu/)
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repository.
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* Install `ros_gz` from the non official binary packages from apt:
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* `apt-get install ros-iron-ros-gzgarden`
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Gazebo Garden can be used with ROS 2 Rolling but
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[`ros_gz`](https://github.com/gazebosim/ros_gz) will need to be compiled
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from source.
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* Follow [these instruction to install gz-garden](https://gazebosim.org/docs/garden/install_ubuntu#binary-installation-on-ubuntu)
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from [`packages.osrfoundation.org`](https://packages.osrfoundation.org/gazebo/ubuntu/)
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repository.
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* Install [rosdep rules for Gazebo Garden](https://github.com/osrf/osrf-rosdep#installing-rosdep-rules-to-resolve-gazebo-garden-libraries)
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* Follow the instructions to compile `ros_gz` from source in a colcon workspace
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* [ROS 2 Rolling](https://github.com/gazebosim/ros_gz/tree/ros2#from-source)
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* Be sure of using `export GZ_VERSION=garden`
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Gazebo Fortress can be used with ROS 2 Galactic and ROS 1 Noetic by compiling
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version that can be [installed using the `osrfoundation.org` repo](https://gazebosim.org/docs)
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depending on your platform.
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#### I want to use Gazebo Harmonic or Gazebo Garden with ROS 2. Where are the packages?
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#### I want to use Gazebo Harmonic with ROS 2. Where are the packages?
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We provide binary packages for `ros_gz` for the following Gazebo and ROS 2 pairings in the packages.osrfoundation.org repository
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but these packages are not official ROS packages, which means if there is a breaking change in the corresponding ROS 2 distribution,
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there will be a short delay before these packages are rebuilt with the changes. Installing these packages may also cause conflicts with
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other ROS packages that depend on Gazebo-classic.
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| | **Gazebo Garden** | **Gazebo Harmonic (LTS)** |
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|------------------------ |----------------------------- | -------------------------- |
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| **ROS 2 Iron** | `ros-iron-ros-gzgarden` | `ros-iron-ros-gzharmonic` |
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| **ROS 2 Humble (LTS)** | `ros-humble-ros-gzgarden` | `ros-humble-ros-gzharmonic` |
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| | **Gazebo Harmonic (LTS)** |
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|------------------------ | -------------------------- |
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| **ROS 2 Humble (LTS)** | `ros-humble-ros-gzharmonic` |
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#### What is the difference between a ROS vendor package and other packages listed in this page?

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