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Ubuntu Versions update and Gazebo Classic deprioritisation (#24702)

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Hamish Willee
2025-04-10 14:26:06 +10:00
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commit 5f06e861ec
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docs/en/sim_gazebo_classic/index.md
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# Gazebo Classic Simulation
:::warning
_Gazebo Classic_ is supported with PX4 up to Ubuntu Linux 20.04.
In Ubuntu 22.04 and later you must use [Gazebo](../sim_gazebo_gz/index.md) (which was [formerly known](https://www.openrobotics.org/blog/2022/4/6/a-new-era-for-gazebo) as "Gazebo Ignition").
[Gazebo](../sim_gazebo_gz/index.md) is nearing feature-parity with Gazebo Classic on PX4, and will soon replace it.
Until then you can continue to use Gazebo-Classic on Ubuntu 22.04 for the few cases where you still need to.
For more information see [PX4-Autopilot#23602: GZ Feature tracker](https://github.com/PX4/PX4-Autopilot/issues/23602).
:::
Gazebo Classic is a powerful 3D simulation environment for autonomous robots that is particularly suitable for testing object-avoidance and computer vision.
@@ -32,11 +33,8 @@ See [Simulation](../simulation/index.md) for general information about simulator
If you plan to use PX4 with ROS you **should follow the** [ROS Instructions](../simulation/ros_interface.md) to install both ROS and Gazebo Classic (and thereby avoid installation conflicts).
:::
Gazebo Classic setup is included in our [standard build instructions](../dev_setup/dev_env.md) for macOS, Ubuntu 18.04 and 20.04, and Windows on WSL2 for the same hosts.
For Ubuntu 22.04 LTS and later, the installation script ([/Tools/setup/ubuntu.sh](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/setup/ubuntu.sh)) installs the [Gazebo](../sim_gazebo_gz/index.md) simulator instead.
If you want to use Gazebo Classic on Ubuntu 22.04 you can use the following commands to remove [Gazebo](../sim_gazebo_gz/index.md) (Harmonic) and then reinstall Gazebo-Classic 11:
The standard installation script ([/Tools/setup/ubuntu.sh](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/setup/ubuntu.sh)) installs the [Gazebo](../sim_gazebo_gz/index.md) (Harmonic) simulator.
If you want to use Gazebo Classic on _Ubuntu 22.04 (only)_ you can use the following commands to remove Gazebo and then reinstall Gazebo-Classic 11:
```sh
sudo apt remove gz-harmonic
@@ -47,10 +45,10 @@ sudo aptitude install gazebo libgazebo11 libgazebo-dev
Note that `aptitude` is needed because it can resolve dependency conflicts (by removing certain packages) that `apt` is unable to handle.
::: tip
You could also modify the installation script to install Gazebo Classic on later versions before it is run for the first time.
:::
You could also modify the installation script to install Gazebo Classic on Ubuntu 22.04 before it is run for the first time.
Additional installation instructions can be found on [gazebosim.org](http://gazebosim.org/tutorials?cat=guided_b&tut=guided_b1).
:::
## Running the Simulation
@@ -282,8 +280,6 @@ To enable/disable GPS noise:
The next time you build/restart Gazebo Classic it will use the new GPS noise setting.
## Loading a Specific World
PX4 supports a number of [Worlds](../sim_gazebo_classic/worlds.md), which are stored in [PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds](https://github.com/PX4/PX4-SITL_gazebo-classic/tree/main/worlds).
@@ -545,8 +541,6 @@ The build system enforces the correct GIT submodules, including the simulator.
It will not overwrite changes in files in the directory.
:::
## Further Information
- [ROS with Gazebo Classic Simulation](../simulation/ros_interface.md)