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Ubuntu Versions update and Gazebo Classic deprioritisation (#24702)

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28
docs/en/dev_setup/building_px4.md
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@ -33,22 +33,14 @@ If needed you can also [get the source code specific to a particular release](..
First we'll build a simulated target using a console environment.
This allows us to validate the system setup before moving on to real hardware and an IDE.
Navigate into the **PX4-Autopilot** directory.
Depending on your operating system you will have installed either [Gazebo SITL](../sim_gazebo_gz/index.md) or [Gazebo Classic SITL](../sim_gazebo_classic/index.md) (if you don't know which you can try both).
:::: tabs
::: tab Gazebo
Start [Gazebo SITL](../sim_gazebo_gz/index.md) using the following command:
Navigate into the **PX4-Autopilot** directory and start [Gazebo SITL](../sim_gazebo_gz/index.md) using the following command:
```sh
make px4_sitl gz_x500
```
:::
::: tab Gazebo-Classic
Start [Gazebo SITL](../sim_gazebo_gz/index.md) using the following command:
::: details If you installed Gazebo Classic
Start [Gazebo Classic SITL](../sim_gazebo_classic/index.md) using the following command:
```sh
make px4_sitl gazebo-classic
@ -56,8 +48,6 @@ make px4_sitl gazebo-classic
:::
::::
This will bring up the PX4 console:
![PX4 Console](../../assets/toolchain/console_gazebo.png)
@ -73,19 +63,9 @@ The drone can be flown by typing the following command (as shown in the console
pxh> commander takeoff
```
The vehicle will take off and you'll see this in the simulator UI:
The vehicle will take off and you'll see this in the Gazebo simulator UI:
:::: tabs
::: tab Gazebo
![Gazebo UI with vehicle taking off](../../assets/toolchain/gazebo_takeoff.png)
:::
::: tab Gazebo-Classic
![Gazebo Classic UI with vehicle taking off](../../assets/toolchain/gazebo_classic_takeoff.png)
:::
::::
The drone can be landed by typing `commander land` and the whole simulation can be stopped by doing **CTRL+C** (or by entering `shutdown`).

42
docs/en/dev_setup/dev_env_linux_ubuntu.md
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@ -1,20 +1,23 @@
# Ubuntu Development Environment
The following instructions use a bash script to set up the PX4 development environment on the [Ubuntu Linux LTS](https://wiki.ubuntu.com/LTS) versions supported by PX4: Ubuntu 22.04 (Jammy Jellyfish), 20.04 (Focal Fossa), and 18.04 (Bionic Beaver).
The following instructions use a bash script to set up the PX4 development environment on the [Ubuntu Linux LTS](https://wiki.ubuntu.com/LTS) versions supported by PX4: Ubuntu 24.04 (Nimble Numbat) and Ubuntu 22.04 (Jammy Jellyfish).
The environment includes:
- [Gazebo Simulator](../sim_gazebo_gz/index.md) ("Harmonic") on Ubuntu 22.04
- [Gazebo Classic Simulator](../sim_gazebo_classic/index.md) on Ubuntu 20.04 and Ubuntu 18.04
- [Gazebo Simulator](../sim_gazebo_gz/index.md) ("Harmonic")
- [Build toolchain for Pixhawk (and other NuttX-based hardware)](../dev_setup/building_px4.md#nuttx-pixhawk-based-boards).
::: info
The build toolchain for other flight controllers, simulators, and working with ROS are discussed in the [Other Targets](#other-targets) section below.
:::
On Ubuntu 22.04:
::: tip
if you need to use Gazebo on Ubuntu 20.04 you can [manually install Gazebo "Garden"](../sim_gazebo_gz/index.md#installation-ubuntu-linux), with the caveat that this is end-of-life in November 2024.
If you want to use Gazebo Classic on Ubuntu 22.04 (say) then you can manually install it by following the instructions in [Gazebo Classic > Installation](../sim_gazebo_classic/index.md#installation).
- [Gazebo Classic Simulator](../sim_gazebo_classic/index.md) can be used instead of Gazebo.
Gazebo is nearing feature-parity with Gazebo-Classic on PX4, and will soon replace it for all use cases.
The build toolchain for other flight controllers, simulators, and working with ROS are discussed in the [Other Targets](#other-targets) section below.
::: details Can I use an older version of Ubuntu?
PX4 supports the current and last Ubuntu LTS release where possible.
Older releases are not supported (so you can't raise defects against them), but may still work.
For example, Gazebo Classic setup is included in our standard build instructions for macOS, Ubuntu 18.04 and 20.04, and Windows on WSL2 for the same hosts.
:::
## Simulation and NuttX (Pixhawk) Targets
@ -38,7 +41,7 @@ To install the toolchain:
If working with an older version of PX4 you may need to [get the source code specific to your release](../contribute/git_examples.md#get-a-specific-release).
:::
1. Run the **ubuntu.sh** with no arguments (in a bash shell) to install everything:
2. Run the **ubuntu.sh** with no arguments (in a bash shell) to install everything:
```sh
bash ./PX4-Autopilot/Tools/setup/ubuntu.sh
@ -47,7 +50,9 @@ To install the toolchain:
- Acknowledge any prompts as the script progress.
- You can use the `--no-nuttx` and `--no-sim-tools` options to omit the NuttX and/or simulation tools.
1. Restart the computer on completion.
3. If you need Gazebo Classic (Ubuntu 22.04 only) then you can manually remove Gazebo and install it by following the instructions in [Gazebo Classic > Installation](../sim_gazebo_classic/index.md#installation).
4. Restart the computer on completion.
:::details Additional notes
These notes are provided "for information only":
@ -59,8 +64,8 @@ These notes are provided "for information only":
```sh
$arm-none-eabi-gcc --version
arm-none-eabi-gcc (GNU Arm Embedded Toolchain 9-2020-q2-update) 9.3.1 20200408 (release)
Copyright (C) 2019 Free Software Foundation, Inc.
arm-none-eabi-gcc (15:13.2.rel1-2) 13.2.1 20231009
Copyright (C) 2023 Free Software Foundation, Inc.
This is free software; see the source for copying conditions. There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
```
@ -76,17 +81,6 @@ These notes are provided "for information only":
:::
## Video Guide
This video shows how to install the toolchain for NuttX and simulation targets ([as covered below](#simulation-and-nuttx-pixhawk-targets)) along with the basic testing covered in [Building PX4 Software](../dev_setup/building_px4.md).
::: warning
The video suggests that you build source using JMAVSim, entering the command: `make px4_sitl jmavsim`.
As JMAVSim is now community-supported, you should instead build using Gazebo or Gazebo Classic, as shown in [Building the Code](../dev_setup/building_px4.md#first-build-using-a-simulator)
:::
<lite-youtube videoid="OtValQdAdrU" title=" Setting up your PX4 development environment on Linux"/>
## Other Targets
The Ubuntu development environment for ROS, other simulators, and other hardware targets, is covered in their respective documentation.

4
docs/en/dev_setup/vscode.md
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@ -5,7 +5,7 @@
There are a number of reasons to use VSCode for PX4 development:
- Getting setup _really_ only takes a few minutes.
- A rich extension ecosystem that enables a huge range of tools needed for PX4 development: C/C++ (with solid _cmake_ integration), _Python_, _Jinja2_, ROS messages, and even DroneCAN dsdl.
- A rich extension ecosystem that enables a huge range of tools needed for PX4 development: C/C++ (with solid _cmake_ integration), _Python_, _Jinja2_, ROS messages, and even DroneCAN DSDL.
- Excellent Github integration.
This topic explains how to setup the IDE and start developing.
@ -25,7 +25,9 @@ You must already have installed the command line [PX4 developer environment](../
1. Open VSCode and add the PX4 source code:
- Select _Open folder ..._ option on the welcome page (or using the menu: **File > Open Folder**):
![Open Folder](../../assets/toolchain/vscode/welcome_open_folder.jpg)
- A file selection dialog will appear.
Select the **PX4-Autopilot** directory and then press **OK**.

20
docs/en/sim_gazebo_classic/index.md
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@ -1,8 +1,9 @@
# 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)