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Signed-off-by: navigation2-ci <[email protected]>

_sources/setup_guides/index.rst.txt

@@ -20,6 +20,9 @@ To guide you through the first-time setup of your robot, we will be tackling the
 - Select and set up planner and controller navigation plugins for your robot's navigation tasks  
 - Lifecycle node management for easy bringup of other related sensors or nodes
 
+The simulator of record in these tutorials is Gazebo Classic, which is the default simulator in ROS 2 Humble, Iron and all previous distributions.
+When using Jazzy or newer, consider that the simulation elements of the tutorial may be out of date and are worth looking at other resources like `nav2_minimal_turtlebot_simulation <https://github.com/ros-navigation/nav2_minimal_turtlebot_simulation>`_ which fully leverages modern Gazebo with Nav2.
+
 **Table of Contents:**
 
 .. toctree::

setup_guides/index.html

@@ -1120,6 +1120,8 @@
 <li><p>Select and set up planner and controller navigation plugins for your robot’s navigation tasks</p></li>
 <li><p>Lifecycle node management for easy bringup of other related sensors or nodes</p></li>
 </ul>
+<p>The simulator of record in these tutorials is Gazebo Classic, which is the default simulator in ROS 2 Humble, Iron and all previous distributions.
+When using Jazzy or newer, consider that the simulation elements of the tutorial may be out of date and are worth looking at other resources like <a class="reference external" href="https://github.com/ros-navigation/nav2_minimal_turtlebot_simulation">nav2_minimal_turtlebot_simulation</a> which fully leverages modern Gazebo with Nav2.</p>
 <p><strong>Table of Contents:</strong></p>
 <div class="toctree-wrapper compound">
 <ul>