Fortress

Overview

Ignition Fortress was released after the SubT Final Event, is the latest LTS version of Ignition with an EOL in September 2026. Using Fortress will allow you to continue using the SubT Simulator after the EOL of Ignition Dome in December 2021.

The SubT Simulator will behave similarly between Ignition Dome and Ignition Fortress. You will gain access to new features in Ignition Fortress, such as an improved GUI and rendering capabilities.

Catkin Installation

1. Setup and install dependencies:

    sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
   
    sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
   
    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 -
   
    sudo apt-get update
   
    sudo apt-get -y install build-essential cmake libusb-dev libccd-dev libfcl-dev lsb-release pkg-config python ignition-fortress ros-melodic-desktop \
    ros-melodic-tf2-sensor-msgs ros-melodic-robot-localization ros-melodic-ros-control ros-melodic-control-toolbox ros-melodic-twist-mux ros-melodic-joy \
    ros-melodic-rotors-control python3-vcstool python3-colcon-common-extensions g++-8 git python-rosdep
   

2. Update all ROS and Ignition packages, in case you have some of them already pre-installed:

    sudo apt-get upgrade
    sudo rosdep init && rosdep update
   

3. Set the default gcc version to 8:

    sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-8 800 --slave /usr/bin/g++ g++ /usr/bin/g++-8 --slave /usr/bin/gcov gcov /usr/bin/gcov-8
   

4. Create a catkin workspace, and clone the SubT repository:

    # Setup the workspace
    mkdir -p ~/subt_ws/src && cd ~/subt_ws/src
   
    git clone https://github.com/osrf/subt -b fortress
    git clone https://github.com/ignitionrobotics/ros_ign -b melodic
   

5. Build the workspace:

    # Source ROS distro's setup.bash
    source /opt/ros/melodic/setup.bash
   
    # Build and install into workspace
    cd ~/subt_ws/
    export IGNITION_VERSION=fortress
    rosdep install --from-paths src --ignore-src -r
    catkin_make -DCMAKE_BUILD_TYPE=Release install
   

6. Launch the SubT Simulator:

    # Source SubT setup file
    source ~/subt_ws/install/setup.bash
   
    # Test installation
    ign launch -v 4 competition.ign worldName:=tunnel_circuit_practice_01 circuit:=tunnel robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG_1