From 458c3515852619942d9e12ef012efdf3dd0d4e35 Mon Sep 17 00:00:00 2001
From: Beniamino Pozzan <38298699+beniaminopozzan@users.noreply.github.com>
Date: Wed, 1 Mar 2023 15:51:29 -0800
Subject: [PATCH] setup/ubuntu.sh: Only install Gazebo Garden for Ubuntu 22.04
 (#21173)

* Tools/setup/ubuntu.sh: Only install Gazebo Garden on Ubuntu 22.04

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>

* Apply suggestions from code review

---------

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
---
 Tools/setup/ubuntu.sh | 43 +++++++++++++++++++++++--------------------
 1 file changed, 23 insertions(+), 20 deletions(-)

diff --git a/Tools/setup/ubuntu.sh b/Tools/setup/ubuntu.sh
index d7a13df4ca..af7ec2fbff 100755
--- a/Tools/setup/ubuntu.sh
+++ b/Tools/setup/ubuntu.sh
@@ -219,29 +219,32 @@ if [[ $INSTALL_SIM == "true" ]]; then
 	# Set Java 11 as default
 	sudo update-alternatives --set java $(update-alternatives --list java | grep "java-$java_version")
 
-	# Add Gazebo binary repository
-	sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
-	wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
-	# Update list, since new gazebo-stable.list has been added
-	sudo apt-get update -y --quiet
-
-	# Install Gazebo
+	# Gazebo / Gazebo classic installation
 	if [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
-		sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-			ignition-fortress \
-			;
-	fi
+		echo "Gazebo (Garden) will be installed"
+		echo "Earlier versions will be removed"
+		# Add Gazebo binary repository
+		sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
+		echo "deb [arch=$(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 -y --quiet
 
-	# Install Gazebo classic
-	if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
-		gazebo_version=9
-		gazebo_packages="gazebo$gazebo_version libgazebo$gazebo_version-dev"
-	elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
-		gazebo_packages="gazebo libgazebo-dev"
+		# Install Gazebo
+		gazebo_packages="gz-garden"
 	else
-		# default and Ubuntu 20.04
-		gazebo_version=11
-		gazebo_packages="gazebo$gazebo_version libgazebo$gazebo_version-dev"
+		sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
+		wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
+		# Update list, since new gazebo-stable.list has been added
+		sudo apt-get update -y --quiet
+
+		# Install Gazebo classic
+		if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
+			gazebo_classic_version=9
+			gazebo_packages="gazebo$gazebo_classic_version libgazebo$gazebo_classic_version-dev"
+		else
+			# default and Ubuntu 20.04
+			gazebo_classic_version=11
+			gazebo_packages="gazebo$gazebo_classic_version libgazebo$gazebo_classic_version-dev"
+		fi
 	fi
 
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \