Update gz version to harmonic

[Jaeyoung-Lim]

Solved Problem

The EOL is approaching for gz garden (Nov 2024)

https://gazebosim.org/docs/latest/releases/

Solution

Update release to a LTS release of Gz (harmonic)

Changelog Entry

For release notes:

Feature/Bugfix Bump default version of gz to harmonic
Documentation: Need to update the documentation to use gz harmonic

Alternatives

No alternatives

Test coverage

• Tested with gz

make px4_sitl gz_x500

Context

• This might fix the airspeed sensor issue go away

[hamishwillee]

When this goes in, does that mean we will no longer support "Garden"? Does Harmonic work on Ubuntu 20.04?

We'll need some docs updates for this.

[Jaeyoung-Lim]

When this goes in, does that mean we will no longer support "Garden"?

Yes, even if we do we cannot support it further than Nov 2024 since it would be EOL

Does Harmonic work on Ubuntu 20.04?

I will find out

[hamishwillee]

@Jaeyoung-Lim Should this backport to v1.15 too?

FYI, ROS docs call the humble/harmonic pairing risky: "- Possible, but use with caution. These combinations of ROS and Gazebo can be made to work together, but some effort is required."

Also, was macOS installer updated?
In https://docs.px4.io/main/en/dev_setup/dev_env_mac.html#macos-development-environment it says brew install px4-sim-gazebo

Docs currently cover both Humble and Foxy. However no package exists for the Foxy/Harmonic combination.
Should we just remove docs on Foxy in main (or stick with Gazebo there)? (@beniaminopozzan FYI)?

[bperseghetti]

@Jaeyoung-Lim Should this backport to v1.15 too?

FYI, ROS docs call the humble/harmonic pairing risky: "- Possible, but use with caution. These combinations of ROS and Gazebo can be made to work together, but some effort is required."

Also, was macOS installer updated? In https://docs.px4.io/main/en/dev_setup/dev_env_mac.html#macos-development-environment it says brew install px4-sim-gazebo

Docs currently cover both Humble and Foxy. However no package exists for the Foxy/Harmonic combination. Should we just remove docs on Foxy in main (or stick with Gazebo there)? (@beniaminopozzan FYI)?

So, Foxy/Harmonic would not be a wise combination to use IMO. But we do have binary releases for supporting Humble/Harmonic and of course also Jazzy/Harmonic.

[bperseghetti]

@dagar Probably should fix this to avoid risk of confusion during install: #23632

[beniaminopozzan]

@hamishwillee the setup scripts (now) install

• Gazebo Classic 11 for Ubuntu 20.04
• Gazebo Garden for Ubuntu 21.3
• Gazebo Harmonic for Ubuntu 22.04

ROS 2 Foxy users will be using Ubuntu 20.04 and therefore Gazebo Classic 11 so there is no way they end up getting the ROS 2 Foxy / Gazebo Harmonic pair by just using the setup script.

ROS 2 Foxy is already EOL so keeping the documentation for it an for Gazebo Garden, as long as their EOL status is pointed out, is not that bad.

[hamishwillee]

Fixed by PX4/PX4-user_guide#3367

I ignore Ubuntu 21.3 - only mad people use older non LTS variants :-).

The recommendation is upgrade to the "supported version" - Gazebo Harmonic for Ubuntu 22.04. Foxy/Gazebo Classic instructions remain in the docs, but I note that Foxy is EOL ... so upgrading makes sense.