本文链接：https://blog.csdn.net/ZhangRelay/article/details/120657977

Gazebo早就官宣升级为Ignition一个模块。

sudo apt-get install ignition-fortress

Ignition功能更为强大，支持所有主流桌面操作系统。

Fortress Installation

Fortress supports the following platforms:

Ubuntu Bionic amd64/arm64/i386 and Focal on amd64/arm64
MacOS Catalina and BigSur
Ignition currently only works in headless mode using Ogre 1 (GUI does not render; instead of using ign gazebo fuel.sdf command, use ign gazebo -s fuel.sdf to start the server only).
Windows 10
Ignition command line utilities are not yet supported.
All packages up to ign-gazebo can be built.
DART physics engine is not yet supported.
Qt (GUI functionality) is not yet supported.

最佳还是ubuntu。

模型可以联网下载，本地无需大量模型库，网络化更加强大！

ign gazebo -r "https://fuel.ignitionrobotics.org/1.0/OpenRobotics/worlds/Fortress demo"

确保网络畅通！否则效果如下：

模型正常下载后：

里面还有各种机器人可以玩耍哦！

ros1和ros2插件一览：

2020年博客教程：

Ignition Robotics和ROS2 Foxy简明使用说明（ros_ign）_zhangrelay的专栏-CSDN博客_ros2foxy使用手册

Citadel Libraries LTS

The Citadel collection is composed of many different Ignition libraries. The collection assures that all libraries are compatible and can be used together.

Library name	Version
ign-cmake	2.x
ign-common	3.x
ign-fuel-tools	4.x
ign-gazebo	3.x
ign-gui	3.x
ign-launch	2.x
ign-math	6.x
ign-msgs	5.x
ign-physics	2.x
ign-plugin	1.x
ign-rendering	3.x
ign-sensors	3.x
ign-tools	1.x
ign-transport	8.x
sdformat	9.x

Fortress Libraries LTS

The Fortress collection is composed of many different Ignition libraries. The collection assures that all libraries are compatible and can be used together.

Library name	Version
ign-cmake	2.x
ign-common	4.x
ign-fuel-tools	7.x
ign-gazebo	6.x
ign-gui	6.x
ign-launch	5.x
ign-math	6.x
ign-msgs	8.x
ign-physics	5.x
ign-plugin	1.x
ign-rendering	6.x
ign-sensors	6.x
ign-tools	1.x
ign-transport	11.x
ign-utils	1.x
sdformat	12.x