Install Gazebo 11 for both ARM and x86 Machines (ROS2 Jazzy, Ubuntu 24.04)

gazebo-arm-x86.sh

#!/usr/bin/env bash

set -e

echo "=== Gazebo (Harmonic) Installation for ROS 2 Jazzy (Ubuntu 24.04) ==="

ARCH=$(dpkg --print-architecture)
echo "Detected architecture: $ARCH"

# --- 1. Validate OS ---
if ! grep -q "24.04" /etc/os-release; then
    echo "ERROR: This script requires Ubuntu 24.04 (Noble)."
    exit 1
fi

# --- 2. Prerequisites ---
echo "[1/5] Installing prerequisites..."
sudo apt update
sudo apt install -y curl gnupg lsb-release

# --- 3. Ensure ROS 2 Jazzy is installed ---
if [ ! -f /opt/ros/jazzy/setup.bash ]; then
    echo "ERROR: ROS 2 Jazzy not found. Install ROS 2 first."
    exit 1
fi

source /opt/ros/jazzy/setup.bash

# --- 4. Install Gazebo Harmonic (UNIFIED for ARM + x86) ---
echo "[2/5] Installing Gazebo Harmonic via ROS integration..."

sudo apt update
sudo apt install -y ros-jazzy-ros-gz

# Optional but useful for robotics stacks
echo "[3/5] Installing optional simulation integrations..."
sudo apt install -y \
    ros-jazzy-gz-ros2-control \
    ros-jazzy-gz-ros2-control-demos || true

# --- 5. Environment setup ---
echo "[4/5] Setting up environment..."

if ! grep -q "source /opt/ros/jazzy/setup.bash" ~/.bashrc; then
    echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc
fi

# Gazebo resource paths (important for models/plugins)
if ! grep -q "GZ_SIM_RESOURCE_PATH" ~/.bashrc; then
    echo "export GZ_SIM_RESOURCE_PATH=/usr/share/gz" >> ~/.bashrc
fi

exec $SHELL

# --- 6. Verification ---
echo "[5/5] Verifying installation..."

echo "ROS_DISTRO: $ROS_DISTRO"
gz sim --versions || true

echo ""
echo "=== Installation Complete ==="
echo "Run: gz sim"