Gazebo

Choose standalone or ROS integration first

For standalone Jetty on Ubuntu 24.04, the documented binary route configures the Gazebo package repository and installs the gz-jetty metapackage. That provides the libraries and the gz sim application. Follow the full upstream repository setup instructions for that operating system; this publication has not installed the packages. [S005]

For a ROS project, choose the ROS and Gazebo versions together before installing. The reviewed pairing table maps Humble to Fortress, Jazzy to Harmonic, Kilted to Ionic and Lyrical to Jetty. It marks Jetty with Humble or Jazzy as incompatible. A tutorial that names Humble is therefore not a reason to install the newest Gazebo release alongside it. The same document still contains an introductory new-user recommendation for Jazzy/Harmonic; use its specific pairing table with the distribution required by your project instead of treating that introduction as a statement about the newest releases. [S007]

The normal ROS route installs the matching ros_gz package from the ROS repository. Non-default pairings can require other packages or source builds and can conflict with the official ROS packages that depend on Gazebo. The guide reserves those paths for users who specifically need them. [S007]

Full application and server-only commands differ

Jetty's Ubuntu documentation also offers gz-sim10-server for headless or continuous-integration use. It omits GUI and Qt dependencies and includes the DART physics engine and core server plugins. Its documented executable is /usr/libexec/gz/sim10/gz-sim-server, followed by the SDF world file. That executable is not on the normal command search path. [S005]

This smaller installation does not provide gz sim -s: the usual command requires the full CLI package. Keep the selected package and launch command together in an experiment's instructions, or a valid server installation can look broken simply because a full-application command was copied into it. [S005]

A ROS bridge is an explicit part of the system

Gazebo has its own Transport topics and services. The ros_gz bridge translates between those interfaces and ROS 2; ROS can also launch Gazebo and spawn models. Installing a simulator is therefore only one part of a ROS simulation setup. After opening a small world, configure the message paths your controller needs and check that its commands and sensor data cross the bridge as expected. This is a proposed validation sequence, not a bridge test performed for this profile. [S006]

The reviewed gz-sim source is Apache-2.0, while the separately inspected Gazebo documentation repository uses CC-BY-4.0. These licenses do not establish the rights for an independently downloaded robot model or every dependency. No installation, physical-accuracy benchmark or transfer to hardware was performed. [S003] [S008]