docs: add ROS2 + Gazebo Docker bridge setup guide for harmonic, ionic…

garden/ros2_gz_docker_bridge.md

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+# ROS 2 + Gazebo Docker Bridge
+
+A two-container Docker setup for running Gazebo and ROS 2 as separate services connected over a custom Docker network, with the ros_gz_bridge handling topic communication between them
+
+---
+
+## Compatibility
+
+| ROS 2 | Gazebo |
+|---|---|
+| Rolling | Jetty |
+| Kilted | Ionic |
+| Jazzy | Harmonic |
+| Iron | Harmonic |
+| Humble | Fortress |
+
+---
+
+## Prerequisites
+
+- Docker installed and running
+- Both images built:
+  - `gazebo` — from your Gazebo Dockerfile
+  - `ros2` — from your ROS 2 Dockerfile
+- `ros-gz-bridge` installed
+
+---
+
+## Setup
+
+### 1. Create the Docker Network
+
+```bash
+docker network create ros-link
+```
+
+### 2. Start Containers
+
+```bash
+docker run -it -d --name gazebo-container --network ros-link gazebo sleep infinity
+docker run -it -d --name ros2-container --network ros-link ros2 sleep infinity
+```
+
+### 3. Check Container IPs
+
+
+```bash
+docker network inspect ros-link
+```
+
+Example output:
+```json
+[
+  {
+    "Name": "ros-link",
+    "Driver": "bridge",
+    "IPAM": {
+      "Config": [{ "Subnet": "172.21.0.0/16", "Gateway": "172.21.0.1" }]
+    },
+    "Containers": {
+      "281b3cbfba6a...": {
+        "Name": "ros2-container",
+        "IPv4Address": "172.21.0.3/16" //<ros-ip>
+      },
+      "c2410d610249...": {
+        "Name": "gazebo-container",
+        "IPv4Address": "172.21.0.2/16" //<gz-ip>
+      }
+    }
+  }
+]
+```
+
+---
+
+### 4. Configure Environment Variables
+
+**In `gazebo-container`:**
+```bash
+export GZ_IP=<gz-ip>
+export GZ_PARTITION=gazebo-container
+```
+
+**In `ros2-container`:**
+```bash
+export GZ_IP=<ros-ip>
+export GZ_PARTITION=gazebo-container
+source /opt/ros/<ros-distro>/setup.bash
+```
+
+:::{important}
+Add these to `~/.bashrc` in each container to be available across sessions.
+:::
+
+:::{note}
+When setting `GZ_IP`, use only the IP address without the subnet mask. For example:
+
+```bash
+export GZ_IP=172.21.0.3
+```
+
+Do not include `/16`.
+:::
+
+---
+
+### 5. Install the Bridge
+
+```bash
+apt-get update && apt-get install -y ros-<ros-distro>-ros-gz-bridge
+```
+
+---
+
+## Using a Config File (optional)
+
+if you have a `bridge.yaml` config file, you can use it instead of passing topics as arguments:
+
+```bash
+ros2 run ros_gz_bridge parameter_bridge --ros-args -p config_file:=/path/to/bridge.yaml
+```
+
+See the [ros_gz_bridge examples](https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz_bridge/examples) for sample configuration files.
+
+---
+
+## Running the Bridge
+
+### Terminal 1 — Start Gazebo sim
+
+```bash
+docker exec -it gazebo-container bash
+gz sim shapes.sdf
+```
+
+### Terminal 2 — Start the bridge
+
+```bash
+docker exec -it ros2-container bash
+source /opt/ros/<ros-distro>/setup.bash
+```
+
+#### Option 1: Single topic (basic)
+```bash
+ros2 run ros_gz_bridge parameter_bridge \
+  /clock@rosgraph_msgs/msg/Clock@gz.msgs.Clock
+```
+
+#### Option 2: Multiple topics
+```bash
+ros2 run ros_gz_bridge parameter_bridge \
+  /clock@rosgraph_msgs/msg/Clock@gz.msgs.Clock \
+  /world/default/model/vehicle/cmd_vel@geometry_msgs/msg/Twist@gz.msgs.Twist \
+  /world/default/model/vehicle/odometry@nav_msgs/msg/Odometry@gz.msgs.Odometry
+```
+
+#### Option 3: Using config file
+```bash
+ros2 run ros_gz_bridge parameter_bridge --ros-args -p config_file:=/path/to/bridge.yaml
+```
+See the [ros_gz_bridge examples](https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz_bridge/examples) for sample configuration files.
+
+### Terminal 3 — Verify
+
+```bash
+docker exec -it ros2-container bash
+source /opt/ros/<ros-distro>/setup.bash
+ros2 topic echo /clock
+```
+if you see something like this :- 
+```bash
+clock:
+  sec: 0
+  nanosec: 0
+---
+clock:
+  sec: 0
+  nanosec: 0
+---
+clock:
+  sec: 0
+  nanosec: 0
+---
+```
+then the connection between the two docker containers is succesfull
+

garden/tutorials.md

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+# Gazebo Tutorials
+
+These tutorials cover general concepts to help get you started with Gazebo.
+
+## Basics tutorials
+
+* [Building Your Own Robot](building_robot)
+* [Moving the Robot](moving_robot)
+* [SDF Worlds](sdf_worlds)
+* [Sensors](sensors)
+* [Actors](actors)
+
+## GUI tutorials
+
+* [Understanding the GUI](gui)
+* [Manipulating Models](manipulating_models)
+* [Model Insertion from Fuel](fuel_insert)
+* [Keyboard Shortcuts](hotkeys)
+
+## ROS integration
+
+* [Spawn URDF](spawn_urdf)
+* [ROS 2 Integration](ros2_integration)
+* [ROS 2 Interoperability](ros2_interop)
+* [ROS 2 Integration Template](ros_gz_project_template_guide)
+* [ROS 2 Cross Docker Bridge Setup](ros2_gz_docker_bridge)
+
+## Per-library tutorials
+
+See the *API & Tutorials* sections on the [Libraries page](/libs){.external} page for more specific content correlating to each Gazebo library.
+
+The entrypoint library is Sim.
+- [Sim](/api/sim/7/tutorials.html){.external}
+
+Other libraries:
+- [Cmake](/api/cmake/3/tutorials.html){.external}
+- [Common](/api/common/5/tutorials.html){.external}
+- [Fuel_tools](/api/fuel_tools/8/tutorials.html){.external}
+- [Gui](/api/gui/7/tutorials.html){.external}
+- [Launch](/api/launch/6/tutorials.html){.external}
+- [Math](/api/math/7/tutorials.html){.external}
+- [Msgs](/api/msgs/9/tutorials.html){.external}
+- [Physics](/api/physics/6/tutorials.html){.external}
+- [Plugin](/api/plugin/2/tutorials.html){.external}
+- [Rendering](/api/rendering/7/tutorials.html){.external}
+- [Sensors](/api/sensors/7/tutorials.html){.external}
+- [Tools](/api/tools/2/tutorials.html){.external}
+- [Transport](/api/transport/12/tutorials.html){.external}
+- [Utils](/api/utils/2/tutorials.html){.external}
+- [Sdformat](/api/sdformat/13/){.external}