# Gazebo Fortress

Pre-req: [Virtual Machine](https://davids-tutorials.gitbook.io/robotics/virtual-machines-virtual-box)

* [Gazebo](https://gazebosim.org/docs/fortress/install_ubuntu) 

  * Compatible with ROS2 Iron according to this link
  *

  ```
  <figure><img src="https://439555438-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FElvkNRN6rYA6sAuRlm5I%2Fuploads%2FuJsUWHKo0JlNDR3ULdES%2Fimage.png?alt=media&#x26;token=c7d9452d-0f39-4c14-a04f-a4341b076028" alt=""><figcaption><p>Reason behind Gazebo Fortress</p></figcaption></figure>
  ```

### Installation

[Installation instructions](https://gazebosim.org/docs/fortress/install_ubuntu) or continue here (same tutorial)

```
sudo apt-get update
sudo apt-get install lsb-release wget gnupg
```

```
sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
```

```
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
```

```
sudo apt-get update
sudo apt-get install ignition-fortress
```

### Launch Gazebo ([Link](https://gazebosim.org/docs/all/getstarted))

```
ign gazebo sim quadcopter.sdf
```