Why is Gazebo Garden used instead of Gazebo Fortress for Px4 +ROS2 example

ROS 1 / ROS 2
1

My question is why is Gazebo Garden used instead of Gazebo Fortress for Px4 +ROS2 example?

I am following along with the tutorial from: https://docs.px4.io/main/en/ros/ros2_comm.html

However I noticed in the step that we install on ubuntu

bash ./PX4-Autopilot/Tools/setup/ubuntu.sh

the ubuntu.sh file installs gazebo garden. According to Gazebo’s website, if a user is using ROS and Gazebo they should be using Gazebo Fortress.
https://gazebosim.org/docs/latest/ros_installation

I am following along and so far so good, but I am wondering if I am increasing the possibility that I will run into issues later down the road if I continue with Garden instead of Fortress.

1 Like
2

did you find the workaround for this? how to use gazebo-fortress with px4?

1 Like
3

I did not, I have continued with garden

4

While following the PX4 Autopilot setup guide, I noticed an inconsistency regarding the recommended development environment. According to both the PX4 and Gazebo documentation, the suggested setup for Ubuntu 22.04 includes:

  • ROS 2 Humble
  • Gazebo Fortress

However, upon executing the package installation script via:

bash ./PX4-Autopilot/Tools/setup/ubuntu.sh

I observed that the script installs Gazebo Harmonic for Ubuntu 22.04 users. This contradicts the Gazebo wiki, which explicitly recommends Gazebo Fortress for this configuration (reference).

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To ensure consistency and compatibility with both PX4 and Gazebo’s recommended setup, the installation script should be updated to install Gazebo Fortress instead of Harmonic for Ubuntu 22.04 users.

5

I think the reason why Garden is used is because of the changes from Fortress to Garden with all the gazebo commands. From Gazebo garden onward gazebo commands use “gz” while fortress (which was originally ignition) uses “ign”.

And Gazebo Garden is coming up to the end of its life (September 2024), so the next version (that will be around for a while) is Gazebo Harmonic.

If you really want ignition it looks like this repository would be the way to go:

However, there is a way to have Ubuntu 22, with ROS2 Humble and use Gazebo Garden outlined in Gazebo’s documentation: Gazebo Harmonic with ROS 2 Humble, Iron or Rolling (Use with caution)

Although it says use with caution, I have used the Gazebo Garden with ROS2 Humble and have not run into any issues.