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Gazebo Sim 8.x

Gazebo Sim 8.2.0 (2024-03-14)

  1. Add reference to joint_controller.md tutorial.

  2. Fix wget in maritime tutorials

  3. Add entity and sdf parameters to Server's AddSystem interface

  4. Add entity validation to OdometryPublisher

  5. Fix typo in Joint.hh

Gazebo Sim 8.1.0 (2024-02-06)

  1. Add tutorial for using components in systems

  2. Light entity match SDF boolean for UserCommands.

  3. Explicitly check SKIP_PYBIND11 for python bindings

  4. Fix INTEGRATION_save_world on windows

  5. Change an entities visual material color by topic.

  6. Fix ModelPhotoShootTest test failures

  7. Support for Gazebo materials

  8. Added tutorial for Gazebo joint controller plugin

  9. Lift Drag Bug Fix

  10. Fix URL in hydrodynamics tutorial

  11. Install the Python libs to system site-packages instead of root

  12. Maritime tutorials 💧

  13. Update CI badges in README

  14. Fix incorrect light direction in tunnel.sdf example

  15. Allow removal of model that has joint_position_controller plugin.

  16. Fix DLL linkage/visibility issues

  17. mecanum_drive: use mesh wheels in example world

  18. Disable distortion camera test on Linux

  19. environment_preload: fix windows compiler warnings

  20. EnvironmentPreload: ignerr -> gzerr

  21. Update friction parameters for skid steer example

  22. Fixed Centre of Mass and Inertia Matrix Calculation Bug MeshInertiaCalculator::CalculateMassProperties() function

  23. Backport #2231: Use sdf FindElement API to avoid const_cast

  24. Add libpython3-dev CI dependency

  25. Standardize Doxygen parameter formatting for systems

  26. Use GZ_PI instead of M_PI to fix windows builds

  27. Add note about elevator example

  28. Porting Advanced Lift Drag Plugin to Gazebo

  29. Fix for sensor pointer null when navsat plugin in included in sdf

  30. Implements a method to get the link inertia

  31. Fix sensors system parallel updates

  32. Fix custom_sensor_system example

  33. Relax pose check in actor no mesh test

  34. backport component inspector Vector3d width fix

  35. fix INTEGRATION_save_world's SdfGeneratorFixture.ModelWithNestedIncludes test

  36. Support specifying the name of light associated with lens flares

  37. Bump Fuel model version in test

  38. Fix environment system loading mechanism

  39. Infrastructure

Gazebo Sim 8.0.0 (2023-09-29)

  1. TouchPlugin: Reset the plugin with the initial values

  2. Fix another deadlock in sensors system

  3. Documentation fixes

  4. Fix Examples

  5. Load transform control and select entities plugins in thermal camera world

  6. Fixed invalid service names

  7. Add automatic moment of inertia calculation for meshes

  8. ign -> gz

  9. Adds python demo examples

  10. Add support for writing systems in Python

  11. Apply mimic constraint to joints (only Bullet-featherstone)

  12. Fix rendering tests

  13. Make systems and tests include headers they use

  14. Adds Python bindings for the Actor, Joint, Light, Link, Model, Sensor, World convenience class

  15. Add version number to gz.common python binding

  16. Infrastructure

  17. Bumps in harmonic : sdformat14, gz-physics6, gz-sensors8, gz-gui8, gz-rendering8, gz-transport13, gz-msgs10, gz-fuel-tools9

  18. Use new sky cubemap, instead of header

  19. Remove deprecations and address some todos for Harmonic

  20. Use ogre2 in wide angle camera and lens flares worlds

  21. Use new API for creating projector

  22. Fix const-correctness of the Model::JointByName and Model::LinkByName APIs

  23. Change type of Component::typeName and address outstanding todos

  24. Add Lens Flare System

  25. Fix TopicInfo deprecation warnings in Harmonic

  26. Add DopplerVelocityLogSystem plugin

  27. GUI for Global Illumination (VCT / CI VCT)

  28. Add CLI to switch to Vulkan & Metal backends

  29. Remove deprecations for main/gz-sim8

  30. Acoustic comms plugin

  31. Set seed value using CLI

  32. ⬆️ Bump main to 8.0.0~pre1

Gazebo Sim 7.x

Gazebo Sim 7.7.0 (2024-01-17)

  1. Allow using plugin file names and environment variables compatible with Garden and later

  2. Added tutorial for Gazebo joint controller plugin

  3. Fix incorrect light direction in tunnel.sdf example

  4. Fix DLL linkage/visibility issues

  5. mecanum_drive: use mesh wheels in example world

  6. environment_preload: fix windows compiler warnings

  7. EnvironmentPreload: ignerr -> gzerr

  8. Update friction parameters for skid steer example

  9. Use sdf FindElement API to avoid const_cast

  10. Use GZ_PI instead of M_PI to fix windows builds

  11. Add note about elevator example

  12. Porting Advanced Lift Drag Plugin to Gazebo

  13. Fix macOS test failures by registering components in the core library

  14. Fix for sensor pointer null when navsat plugin in included in sdf

  15. Fix another deadlock in sensors system

  16. Fix sensors system parallel updates

  17. Relax pose check in actor no mesh test

  18. backport component inspector Vector3d width fix

  19. fix INTEGRATION_save_world's SdfGeneratorFixture.ModelWithNestedIncludes test

  20. Lift Drag Bug Fix

  21. Bump Fuel model version in test

  22. Fix enviroment system loading mechanism

  23. Infrastructure

Gazebo Sim 7.6.0 (2023-09-26)

  1. Documentation updates

  2. Backport reset button fix

  3. Fix SDFormat xml output of sdf_exporter

  4. Fix duplicate entries in joint position controller GUI plugin

  5. Use default physics engine in example worlds

  6. Fix move to model

  7. Remove GZ_PHYSICS_ENGINE_INSTALL_DIR deprecation warnings

  8. Remove forward-ported restriction on model loading

  9. Odometry topic for the track controller system

  10. Add tutorials for ApplyForceTorque and MouseDrag plugins

  11. Prevent crash when viewing heightmap collision

  12. Force offset and vector magnitude support in ApplyForceTorque

  13. Fix plugin conversion error message

  14. Visualization tools for the ApplyForceTorque GUI plugin

  15. Improve documentation on how to replace Scene3D plugin

  16. Configurable stiffnesses in MouseDrag

  17. Infrastructure

  18. Add new MouseDrag plugin

  19. Relax scene init check in visualize lidar gui plugin

  20. Add force offset support to ApplyLinkWrench system and to Link API

  21. Proposal to add deadband to thruster

  22. Avoid nullptr dereference if TouchPlugin is not attached to a model entity.

  23. Remove unnecessary headers to fix ABI checker

  24. Fix Joint Position Controller Behaviour Described in #1997

  25. Include contact force, normal, and depth in contact message

  26. Use sdf::Element::FindElement instead of GetElement in ApplyLinkWrench

  27. Backport sensors system threading optimization changes

  28. Apply Force and Torque GUI plugin

  29. Adds a warning if the Server method of a TestFixture is called before Finalize

  30. Support loading mesh by mesh name in <mesh><uri>

  31. ComponentInspector: display PhysicsEnginePlugin

  32. Send BlockOrbit false events only once from TransformControl plugin

  33. Categorize tutorials list

  34. Add time out to wait to avoid deadlock

  35. Add optional binary relocatability

  36. Several minor fixes

  37. Protobuf: Do not require version 3 do support Protobuf 4.23.2 (23.2)

  38. Support world joints (joints inside <world> tags)

  39. Disable pybind11 on Windows by default

  40. Port record topic fix

  41. Allow re-attaching detached joint

  42. Enable GzWeb visualization of markers by republishing service requests on a topic

  43. Support loading Projectors

  44. Small fixes to gz headers

  45. Speed up Resource Spawner load time by fetching model list asynchronously

  46. Add redirection header gz/sim.hh

  47. Add missing cmake exports from core library

  48. Add tutorial on migrating the Sensor class from gazebo classic

  49. ign -> gz Migrate Ignition Headers : gz-sim

Gazebo Sim 7.5.0 (2023-05-14)

  1. Actuators message input for JointController.

  2. fixed a code block in the python interfaces tutorial

  3. Add missing cmake exports from core library

  4. Actuators message for JointPositionController.

  5. Update sdf plugins to use actuator_number.

  6. Unload render engine when the sensors system exits

  7. Use GzSpinBox.

  8. Add tutorial on migrating the Actor class from gazebo classic

  9. Add back in the marker example

  10. Optimize render updates and use of thread mutexes in Sensors system

  11. Fix use of actors that only has trajectory animation

  12. Actuators message input for Ackermann Steering.

  13. Add tutorial on migrating the Joint class from gazebo classic

  14. Add tutorial on migrating the Light class from gazebo classic

  15. Remove filtering from realtime factor (RTF) calculation

  16. Fix docker/README.md

  17. gz_TEST: improve initial sim time test reliability

  18. Use a queue to track component registration from mulitiple sources

  19. Initialize services in ViewAngle constructor

  20. CI workflow: use checkout v3

  21. Rename COPYING to LICENSE

  22. add comment on center of buoyancy force

  23. Get Windows to green on gz-sim7

  24. Add Light class

  25. Resolve inconsistent visibility on ign-gazebo6

  26. relax msg count check in RF comms integration test

  27. Fix off-by-one error in physics test

  28. Fix formatting of error messages with large mesh file names

  29. Add Actor class

  30. Update all velocity and acceleration components of non-link entities

  31. Add Sensor class

  32. Minor vocab fix

  33. Allow to change camera user hfov in camera_view plugin

  34. Address a few Windows CI Issues

  35. Added magnetometer value based on location

  36. Allow specifying initial simulation time with a CLI argument

  37. Add Joint class

  38. Added reset simulation tutorial

  39. Add SensorTopic component to rendering sensors

  40. Use a queue to track component registration from mulitiple sources

  41. Document behaviour changes introduced #1784

  42. Fix GUI_clean_exit test by increasing thread delay

  43. Partial backport of 1728

  44. Fix gz plugin paths in windows

  45. Increase timeout for UNIT_Gui_clean_exit_TEST

  46. fix triggered camera test by waiting for rendering / scene to be ready

  47. cmdsim.rb: fix ruby syntax

  48. Fix some windows warnings (C4244 and C4305)

  49. Minor optimization to transform control tool

  50. inherit material cast shadows property

  51. fix record topic

  52. Remove duplicate Fuel server used by ResourceSpawner

  53. re-add namespace

  54. Fix QML warnings regarding binding loops

  55. Update documentation on UpdateInfo::realTime

  56. Add jennuine as GUI codeowner

  57. remove PlotIcon

  58. Final update of ignitionrobotics to gazebosim for citadel

  59. Convert ignitionrobotics to gazebosim in tutorials

  60. Convert ignitionrobotics to gazebosim in sources and includes

  61. Convert ignitionrobotics to gazebosim in tests directory

  62. Added collection name to About Dialog

  63. Citadel: Removed warnings

  64. Remove actors from screen when they are supposed to

  65. readd namespaces for Q_ARGS

  66. 🎈 3.14.0

  67. Remove redundant namespace references

  68. 🎈 3.14.0~pre1

Gazebo Sim 7.4.0 (2023-02-14)

  1. Added airspeed sensor

  2. JointPosController: support nested joints

  3. cmdsim.rb: fix ruby syntax

  4. Fix view angle plugin

  5. Fix cmake unrecognized argument warning

Gazebo Sim 7.3.0 (2023-02-02)

  1. Fluid added mass

  2. Add P gain value for Ackermann steering.

  3. Add orientation to Odom with covariance.

Gazebo Sim 7.2.0 (2023-01-25)

  1. Enable the JointController and JointPositionController to use sub_topics and control multiple joints.

  2. Ackermann steering with steering angle and sub_topic.

  3. port: 6 to 7 (10-JAN-2023)

  4. Add ignition alias back

  5. fix SdfGenerator unit test

  6. Allow using a CSV file to define currents for hydrodynamic system

  7. Add multichannel lookup for environment sensors.

  8. Example controller for LRAUV

  9. Fix component removal in component inspector

  10. port: 6 to 7 (06-DEC-2023)

  11. port: 6 to 7 (29-NOV-2023)

  12. Fix #1812.

  13. Removed unused attributes

  14. Fixes buoyancy flakiness when spawning entities

  15. Remove fixed width from world control

  16. Backport #1748: Adds a tool for environment data visualization and custom environmental sensors

  17. Acoustic comms : Propagation model

  18. Add pre-commit hooks configuration

  19. Add checkbox in view angle plugin for toggling view control reference visual

  20. Add EnvironmentalData component

Gazebo Sim 7.1.0 (2022-11-10)

  1. Allow SDF model to be constructed in a single shot

  2. Allow loading a model SDF file in the Server class

  3. Address flaky UNIT_Gui_TEST

  4. Change name of nameFilter of saveDialog to "SDF files"

  5. Acoustic comms : Packet collision timeout

  6. Fix typo in include inside Export.hh

  7. Towards Green CI

  8. Refactor: Trajectory loading seperated into external function

  9. Add pybind11 module as MODULE

  10. Clarify errors when plugins fail to load

  11. Fix tutorial for blender_sdf_exporter

  12. Cherry pick acoustic comms to gz-sim7

  13. Update tutorial for blender_distort_meshes

  14. Removes Actor Visuals When They Are Despawned

  15. Update examples to used gazebosim

  16. Merge forward 6 to 7, 2022-10-21

  17. Merge forward 6 to 7, 2022-10-06

  18. Add information about system paramter

  19. Adding tests for hydrodynamics

  20. Fix Windows and Doxygen

  21. Merge forward 3 to 6, 2022-08-16

  22. Add support for specifying log record period

  23. Common widget GzColor replacement

  24. Replace plotIcon in ComponentInspector with GzPlotIcon

  25. Component Inspector with common widget pose plotting

  26. Change CODEOWNERS and maintainer to Michael

  27. Replace pose in ViewAngle with GzPose

Gazebo Sim 7.0.0 (2022-09-27)

  1. Fix some warnings in visualize_lidar.sdf

  2. Lock step video recording is broken, disabling

  3. Add code quotes to TestFixture.hh

  4. Update URL in tutorial for python_interfaces

  5. Rename python library as gz.sim7

  6. Fix documentation on visibility.sdf

  7. Fix display of Pose3d and Vector3d

  8. Use RTLD_NODELETE=true when loading libraries

  9. Update headers for missing transitive includes

  10. Add topic parameter to thrust plugin

  11. Remove unused function

  12. Fixed python build in gz-sim7

  13. Fix Windows and Doxygen

  14. Fix gz_TEST paths

  15. Fix two tests

  16. Add Metal support to Gazebo for macOS

  17. Add information about system paramter

  18. Adding tests for hydrodynamics

  19. Fix Windows and Doxygen

  20. Introduces new mesh formats to the drag&drop err

  21. Add support for specifying log record period

  22. Common widget GzColor replacement

  23. Add option to disable building python bindings

  24. Replace plotIcon in ComponentInspector with GzPlotIcon

  25. Component Inspector with common widget pose plotting

  26. 🕐 Tock: Remove Fortress deprecations

  27. Change CODEOWNERS and maintainer to Michael

  28. Replace pose in ViewAngle with GzPose

  29. Update gz-sensors branch in example

  30. Deprecations, ign -> gz

  31. Migrate config and log directories

  32. ign to gz

  33. Just the ABI breaking parts of #1560

  34. Supply spherical coords when loading DEMs

  35. Bump actions dependencies to Ogre 2.3

  36. Install gz packages instead of ignition

  37. Use stepping field in message

  38. Don't use 'EachNew' in ForceTorque PreUpdate function

  39. Test case for simulation reset with detachable joints

  40. Fix Python bindings

  41. ign -> gz Provisional Finale: Source Migration : gz-sim

  42. ign -> gz CMake, Python, Partial Source, and File Migrations : gz-sim

  43. Tutorial for mesh distortion in Blender Python

  44. Use new has connections function

  45. Fix compilation of scene broadcaster test

  46. Restore CXX_STANDARD 17

  47. ign -> gz Shared Lib Migration : gz-sim

  48. Garden: fix windows CI build

  49. Implement system Reset interface for Sensors and SceneBroadcaster

  50. ign -> gz Partial Docs Migration and Project Name Followups : gz-sim

  51. Update GoogleTest to latest version

  52. Rename CMake project to gz

  53. Detect gz program instead of using CMake module to check for gz-tools

  54. ign -> gz CLI Migration : gz-sim

  55. Use new Joint APIs for Parent/Child name

  56. Expose rendering teardown event

  57. Add QML Debugging support

  58. [ign -> gz] CMake functions

  59. ign -> gz Macro Migration : gz-sim

  60. Allow rendering to be forced externally

  61. Apply shininess value to visuals

  62. ign -> gz Environment Variable Migration

  63. More missing math includes and math::clock fixes

  64. Rename ignition to gz in #1519.

  65. Use pose multiplication instead of subtraction

  66. Add missing gz-math includes

  67. [ign ➡️ gz] Logo, docs, tools

  68. Remove ign-rendering SetTime hack

  69. ign -> gz: namespaces, .gz directory

  70. Update documentation in the linear battery plugin example.

  71. Use gz/sim/test_config

  72. Quality of life improvements for examples_build test

  73. Update test log for gz components

  74. Migrate CMake files

  75. Migrate sources in src, test, examples, and include

  76. Create redirection aliases

  77. Move header files with git mv

  78. Implement reset interface in the physics system

  79. Use uint64_t with gazebo-entity user dataa

  80. Depend on math7 and remove Bionic packages

  81. Used Light ign-msgs is_light_off

  82. Use message field visualize_visual

  83. Tweaks to python docs

  84. Use utils instead of ign-cmake utilities

  85. Remove internal python bindings for sdformat

  86. Bumps in garden : ign-utils2, ign-plugin2

  87. Fix deprecation warnings for ModelPhotoShoot

  88. Remove unused View::Clone method

  89. replace deprecated common::SubMesh::MaterialIndex() with GetMaterialIndex()

  90. Make WindEffects configurable on a location basis

  91. Fix faulty assumption in INTEGRATION_log_system

  92. Clean up various warnings caught by clang12

  93. Fix visibility and add documentation

  94. Preserve sign of thrust_coefficient

  95. Support world reset

  96. Added DEM support

  97. Remove Bionic from future releases (Garden+)

  98. Add support for wide angle camera in sensors system

  99. Enable WorldPose component on TrajectoryFollower

  100. Eliminates std::filesystem usage in utils.cc

  101. Emitter migration

  102. [Garden] Make tests run as fast as possible

  103. Mark Component::Clone as const

  104. Improve Sensor::Update call

  105. Thruster plugin: accept angular velocity and provide feedback on topic

  106. Re-enable triggered publisher tests

  107. Bumps in garden: use ign-math7 and dependents

  108. Update Docker instructions for Garden

  109. Bumps in garden : ci_matching_branch/bump_garden_ign-gazebo7

  110. Bumps in garden : ign-gazebo7

  111. Clarify available Ignition Versions

  112. Add error message for non-zip files in playback mode

  113. Bump main to 7.0.0~pre1

  114. update CODEOWNERS

Gazebo Sim 6.x

Gazebo Sim 6.16.0 (2024-01-12)

  1. Allow using plugin file names and environment variables compatible with Garden and later

  2. Update friction parameters for skid steer example

  3. Relax pose check in actor no mesh test

  4. Fix macOS test failures by registering components in the core library

  5. Fix for sensor pointer null when navsat plugin in included in sdf

  6. Fix another deadlock in sensors system

  7. Backport component inspector Vector3d width fix

  8. Bump Fuel model version in test

  9. Infrastructure

Gazebo Sim 6.15.0 (2023-08-16)

  1. Fix Joint Position Controller Behaviour Described in #1997

  2. Fix a minor issue in the documentation of the server API

  3. Use sdf::Element::FindElement instead of GetElement in ApplyLinkWrench

  4. Backport sensors system threading optimization changes

  5. Adds a warning if the Server method of a TestFixture is called before Finalize

  6. Protobuf: Do not require version 3 do support Protobuf 4.23.2 (23.2)

  7. Disable pybind11 on Windows by default

  8. Print an error message when trying to load SDF files that don't contain a <world>

  9. Port record topic fix

  10. Allow re-attaching detached joint

  11. Enable GzWeb visualization of markers by republishing service requests on a topic

  12. Small fixes to gz headers

  13. Speed up Resource Spawner load time by fetching model list asynchronously

  14. Use ignition::gazebo:: in class instantiation

  15. Add missing cmake exports from core library

  16. Add tutorial on migrating the Sensor class from gazebo classic

  17. Add tutorial on migrating the Actor class from gazebo classic

  18. Fix use of actors that only has trajectory animation

  19. Add tutorial on migrating the Joint class from gazebo classic

  20. Add tutorial on migrating the Light class from gazebo classic

  21. Infrastructure

  22. Rename COPYING to LICENSE

  23. Add Light class

  24. Resolve inconsistent visibility on ign-gazebo6

  25. Relax msg count check in RF comms integration test

  26. Add Actor class

  27. Add Sensor class

  28. Allow to change camera user hfov in camera_view plugin

  29. Add Joint class

  30. Add SensorTopic component to rendering sensors

  31. Use a queue to track component registration from mulitiple sources

  32. Document behaviour changes introduced #1784

  33. Partial backport of 1728

  34. Fix triggered camera test by waiting for rendering / scene to be ready

  35. Backport portion of #1771 to fix command-line test

  36. cmdsim.rb: fix ruby syntax

  37. Fix some windows warnings (C4244 and C4305)

  38. Minor optimization to transform control tool

  39. Inherit material cast shadows property

  40. Fix record topic

  41. Remove duplicate Fuel server used by ResourceSpawner

  42. Re-add namespace

  43. Fix QML warnings regarding binding loops

  44. Update documentation on UpdateInfo::realTime

  45. Add jennuine as GUI codeowner

  46. remove PlotIcon

  47. ign -> gz

  48. Added collection name to About Dialog

  49. Citadel: Removed warnings

  50. Remove actors from screen when they are supposed to

  51. Readd namespaces for Q_ARGS

  52. Remove redundant namespace references

Gazebo Sim 6.14.0 (2022-12-29)

  1. Fix Ackermann plugin zero linVel turningRadius bug

  2. Header guard fix for battery power load component

  3. Add interface to allow systems to declare parameters

  4. Adding battery consumers and extra fixes

  5. Disable tests that require dartsim on windows

  6. Added move camera to model service

  7. Add spin box to View Angle plugin for configuring view control sensitivity

  8. Sync View Angle GUI with view controller

  9. Hydrodynamics flags test strengthening

  10. Fixed Fortress tests related to lights

  11. Allow to move to model from Angle view plugin

  12. Fixed light entity number

  13. Check AddBvnAnimation return value

  14. Add checkbox in view angle plugin for toggling view control reference visual

  15. Adds support for hydrodynamic cross terms

  16. Addresses flakiness in Hydrodynamics.VelocityTestInOil.

  17. Fix minor bugs in RFComms plugin

Gazebo Sim 6.13.0 (2022-11-04)

  1. Fix two tests on Windows

  2. 3 to 6 20221013

  3. Some minor changes to hydrodynamic flags test

  4. Fix thruster integration test

  5. Fix scene_broadcaster_system test

  6. Script and tutorial for generating procedural datasets with Blender

  7. Enable use of ign gazebo -s on Windows (take two)

  8. Removed unused speedlimit file

  9. Fortress: Removed warnings

  10. Enable/Disable individual hydrodynamic components.

  11. Adding thrust coefficient calculation

  12. Restore Add System GUI plugin

  13. Return absolute path when finding a resource

  14. Adds sky cubemap URI to the sky.proto's header

  15. Update triggered_publisher.sdf

  16. Add ResourceSpawner example file

  17. Enable inherited model topic name.

  18. Fix loading render engine plugins in GUI

  19. Add a service to trigger functionality

  20. Fix installation instructions on Ubuntu 22.04

  21. Fix reference link in ackermann steering

Gazebo Sim 6.12.0 (2022-08-30)

  1. Add topic parameter to thrust plugin

  2. Add information about <topic> system parameter

  3. Adding tests for hydrodynamics

  4. Fix Windows and Doxygen

Gazebo Sim 6.11.0 (2022-08-17)

  1. Add support for specifying log record period

  2. Common widget GzColor replacement

  3. Replace plotIcon in ComponentInspector with GzPlotIcon

  4. Component Inspector with common widget pose plotting

  5. Change CODEOWNERS and maintainer to Michael

  6. Replace pose in ViewAngle with GzPose

  7. Add system to an entity through Component Inspector

  8. Quick start dialog

  9. Quiet libSDFormat console on --verbose 0

  10. New Apply Link Wrench system

  11. Add Tf publishing to AckermannSteering system

  12. Fix component updates

  13. Implement vector3 with common widget vector3

  14. Fix to modelphotoshoot test

  15. Update log playback gui config

  16. Helper function to get an entity from an entity message

  17. Fix compilation of scene broadcaster test

  18. Ignition -> Gazebo

  19. Add Model::CanonicalLink getter

  20. Implement Pose3d with common widget pose

  21. Fix UNIT_Server_TEST on Windows

  22. Use pytest to generate junit xml files for python tests

  23. Refactor: Utilizes function to load animations

  24. Utilizes function to sequence trajectories

  25. Disable MacOS flakies Citadel

Gazebo Sim 6.10.0 (2022-06-24)

  1. Expose the ability to stop a server from C++

  2. Fix various Protobuf Windows warnings

  3. New service for adding systems to an entity

  4. Added particle emitters to scene broadcaster

  5. Use more sdf::Plugin instead of sdf::ElementPtr

  6. Depend on common 4.5.1

  7. Update README links

  8. Add bounding boxes into the label system plugin

  9. Odometry publisher: also publish Pose_V (TF)

  10. Fix clang warning from Thruster plugin

  11. Fix locks in Visualize Lidar GUI plugin

  12. Bash completion for flags

  13. Fix sensors battery state test

  14. Add new GZ_GUI_RESOURCE_PATH to help message

  15. Fix regression with camera sensors not using the background color set in <scene>

  16. Check RGBD camera sensor connection

  17. Optimize sensor updates

  18. System inspector GUI widget

  19. Scene update resource finder

  20. Updating hydrodynamics plugin description

  21. Makes thruster stop when battery runs out.

  22. Fix Documentation Header.

  23. Adding rssi

  24. Delete unused gazebo.hh.in

  25. 📚 Fixed broken URL link to gazebo documentation

  26. View polyline collisions on the GUI

  27. Extruded 2D polyline geometries

  28. Fix fuel url

  29. Camera trigger integration test

  30. Extend Multicoptor Control system to include nested model inertial params

  31. Remove dead ign.cc file

  32. Test case to check if velocity limits are applied to joints

  33. SceneBroadcaster: Use double for state publish frequency instead of int

  34. Revert format change

  35. Fix finding DART on macOS

  36. Skip serializing nested model with //pose/@relative_to attribute

  37. Fix running simulation with no world specified on the command line

  38. Add repo specific issue templates

  39. python: release GIL when running server

  40. python: remove semicolons

  41. Bump rendering dependency version

  42. Improve contact sensor / visualization performance

  43. Set simulation time to Rendering

Gazebo Sim 6.9.0 (2022-04-14)

  1. Add new RFComms system

  2. Add comms infrastructure

  3. Fix CMake version examples and bump plugin version

  4. Make sure pose publisher creates valid pose topics

  5. Add Ubuntu Jammy CI

  6. Removed screenToPlane method and use rendering::screenToPlane

  7. Supply world frame orientation and heading to IMU sensor (#1427)

  8. Add desktop entry and SVG logo

  9. Fix segfault at exit

  10. Add Gaussian noise to Odometry Publisher

Gazebo Sim 6.8.0 (2022-04-04)

  1. ServerConfig accepts an sdf::Root DOM object

  2. Disable sensors in sensors system when battery is drained

  3. Referring to Fuel assets within a heightmap

  4. Add the Model Photo Shoot system, port of Modelpropshop plugin from Gazebo classic

  5. Distortion camera integration test

  6. Add wheel slip user command

  7. SceneBroadcaster: only send changed state information for change events

  8. Fortress: Install Ogre 2.2, simplify docker

  9. Disable tests that are expected to fail on Windows

  10. Added user command to set multiple entities

  11. Fix JointStatePublisher topic name for nested models

  12. add initial_position param to joint controller system

  13. Component inspector: refactor Pose3d C++ code into a separate class

  14. Prevent hanging when world has only non-world plugins

  15. Toggle Light visuals

  16. Disable PeerTracker.PeerTrackerStale on macOS

  17. Disable ModelCommandAPI_TEST.RgbdCameraSensor on macOS

  18. Don't mark entities with a ComponentState::NoChange component as modified

  19. Add gazebo Entity id to rendering sensor's user data

  20. Allow to turn on/off lights

  21. Added headless rendering tutorial

  22. Add xyz and rpy offset to published odometry pose

  23. Fix visualization python tutorial

  24. Populate GUI plugins that are empty

Gazebo Sim 6.7.0 (2022-02-24)

  1. Added Python interfaces to some Gazebo Sim methods

  2. Use pose multiplication instead of addition

  3. Disables Failing Buoyancy Tests on Win32

  4. Extend ShaderParam system to support loading different shader languages

  5. Populate names of colliding entities in contact points message

  6. Refactor System functionality into SystemManager

  7. GzSceneManager: Prevent crash boom when inserted from menu

Gazebo Sim 6.6.0 (2022-02-24)

  1. Fix accessing empty JointPosition component in lift drag plugin

  2. Add parameter to TrajectoryFollower stop rotation when bearing is reached

  3. Support disabling pose publisher from publishing top level model pose

  4. Added more sensor properties to scene/info topic

  5. Adding ability to pause/resume the trajectory follower behavior.

  6. Logs a warning if a mode is not clearly sepecified.

  7. JointStatePublisher publish parent, child and axis data

  8. Fixed light gui component inspector

  9. Fix UNIT_SdfGenerator_TEST

  10. Add elevator system

  11. Removed unused variables in shapes plugin

Gazebo Sim 6.5.0 (2022-02-15)

  1. New trajectory follower system

  2. Extend ShaderParam system to support textures

  3. Adds a Link::SetLinearVelocity() method

  4. Fix weird indentation in Link.hh

  5. Limit thruster system's input thrust cmd

  6. Load and run visual plugin (system) on GUI side

  7. Log an error if JointPositionController cannot find the joint. (citadel retarget)

  8. Update source install instructions

  9. Document the <topic> option for JointPositionController.

  10. Fix typo in EntityComponentManager

  11. Buoyancy: fix center of volume's reference frame

  12. Fix graded buoyancy problems

  13. Add surface to buoyancy engine. (retarget fortress)

  14. Remove EachNew calls from sensor PreUpdates

  15. Prevent GzScene3D 💥 if another scene is already loaded

  16. Fix various typos on API documentation

  17. Optional orientation when spawning entity using spherical coordinates

  18. Cleanup update call for non-rendering sensors

  19. Documentation Error

  20. Min and max parameters for velocity, acceleration, and jerk apply to linear and angular separately.

  21. Add project() call to examples

  22. Implement /server_control::stop

Gazebo Sim 6.4.0 (2021-01-13)

  1. Disable more tests on Windows

  2. Adding angular acceleration to the Link class

  3. Add world force

  4. Add NavSat sensor (GPS)

  5. Light Commands via topic

  6. Support battery draining start via topics

  7. Add visibility to ModelEditorAddEntity to fix Windows

  8. Make tests run as fast as possible

  9. Fix visualize lidar

  10. Disable user commands light test on macOS

  11. Skip failing Windows tests

Gazebo Sim 6.3.0 (2021-12-10)

  1. View entity frames from the GUI

  2. Model editor

  3. Send state message when components are removed

  4. Docker fixes for Fortress

  5. Added sensor plugin to be able to visualize camera in plane_propeller_demo.sdf

  6. Update SdfGenerator to save link and sensor data to file

  7. Fix buoyancy not being applied for one iteration

  8. Increase maximum values in ViewAngle widget and increase its size

  9. Fix the force-torque sensor update rate

Gazebo Sim 6.2.0 (2021-11-16)

  1. Configurable joint state publisher's topic

  2. Thruster plugin: add tests and velocity control

  3. Prevent creation of spurious <plugin> elements when saving worlds

  4. Add sdfString to ServerConfig's copy constructor.

  5. Added support for tracked vehicles

  6. Add components to dynamically set joint limits

  7. Remove bounding box when entities are removed

  8. Fix updating component from state

  9. Extend odom publisher to allow 3D

  10. Support copy/paste

  11. Tweaks install instructions

  12. Publish 10 world stats msgs/sec instead of 5

  13. Add functionality to add entities via the entity tree

  14. Get updated GUI ECM info when a user presses 'play'

  15. Create expanding type header to reduce code duplication

  16. minimal_scene.sdf example: add camera_clip params

  17. Sensor systems work if loaded after sensors

  18. Support printing sensors using gz model

  19. Set camera clipping plane distances from the GUI

  20. Fix generation of systems library symlinks in build directory

  21. Add a default value for isHeadlessRendering.

  22. Component inspector

    1. Edit material colors

    2. Fix integers and floats

    3. Prevent a segfault when updating

    4. Use uint64_t for Entity IDs

  23. Support setting the background color for sensors

  24. Select top level entity not visual

  25. Update create entity offset on GUI side

  26. Update Select Entities GUI plugin to use Entity type

  27. Notify other GUI plugins of added/removed entities via GUI events

Gazebo Sim 6.1.0 (2021-10-25)

  1. Updates to camera video record from subt

  2. Use the actor tension parameter

  3. Better protect this->dataPtr->initialized with renderMutex.

  4. Use QTimer to update plugins in the Qt thread

  5. Adjust pose decimals based on element width

  6. JointPositionController: Improve misleading error message

  7. Fixed IMU system plugin

  8. Prevent crash and print error

  9. Create GUI config folder before copying config

  10. Add support for configuring point size in Visualize Lidar GUI plugin

  11. Set a cloned joint's parent/child link names to the cloned parent/child link names

  12. Performance: use std::unordered_map where possible in SceneManager

  13. Fix transform controls

  14. Fix View Angle's home button

  15. Fix light control standalone example

  16. Parse new param for enabling / disabling IMU orientation output

Gazebo Sim 6.0.0 (2021-10-01)

  1. Deprecated GzScene3D in favor of MinimalScene

  2. Fix GuiRunner initial state and entity spawn timing issue

  3. Buoyancy plugin upgrade

  4. Fix non desired window opening alongside Gazebo GUI

  5. Documentation

  6. Update to latest SDFormat changes

  7. Suppress missing canonical link error messages for static models

  8. Heightmap fixes

  9. Place config files in a versioned directory

  10. Fix GUI crash when accessing bad rendering UserData

  11. Fix performance issue with contact data and AABB updates

  12. Enable new policy to fix protobuf compilation errors

  13. Support locked entities, and headless video recording using sim time

  14. Label Component & System, segmentation camera support

  15. Joint Force-Torque Systems Plugin

  16. Add support for cloning entities

  17. 🌐 Spherical coordinates

  18. Populate JointConstraintWrench from physics

  19. Buoyancy engine

  20. Infrastructure

  21. Update on resize instead of pre-render / render

  22. Add a flag to force headless rendering mode

  23. Remove unused Gazebo GUI header

  24. Adds velocity control to JointPositionController.

  25. Collada world exporter now exporting lights

  26. Workaround for setting visual cast shadows without material

  27. Fix selection buffer crash on resize

  28. Remove extra xml version line in pendulum_links example world

  29. Enable sensor metrics on example worlds

  30. Add ESC to unselect entities in select entities plugin

  31. Visualize joints

  32. Deprecate particle emitter, and use scatter ratio in new particle mes…

  33. Removed unused variable in Shapes plugin

  34. Use root.Model()

  35. Add ModelSDF serializer

  36. Entity tree: prevent creation of repeated entity items

  37. Use statically-typed views for better performance

  38. Upgrade gz-sensors and support custom sensors

  39. Fix entity creation console msg

  40. Fix crash in the follow_actor example

  41. Removed pose topic from log system

  42. Be more specific when looking for physics plugins

  43. Complaint if Joint doesn't exists before adding joint controller

  44. [DiffDrive] add enable/disable

  45. Fix component inspector shutdown crash

  46. Setting the intiial velocity for a model or joint

  47. Examples and tutorial on using rendering API from plugins

  48. Add missing GZ_SIM_VISIBLE macros

  49. Fix visibility macro names when used by a different component (Windows)

  50. No install apt recommends and clear cache

  51. Support adding systems that don't come from a plugin

  52. Fix tests that use multiple root level models or lights

  53. Make Gazebo Sim aware of SetCameraPassCountPerGpuFlush

  54. Visualize center of mass

  55. Transparent mode

  56. Visualize inertia

  57. Remove deprecations: tock 🕑

  58. Removed and moved tape measure and grid config to gz-gui

  59. Update wireframe visualization to support nested models

  60. Multi-LRAUV Swimming Race Example

  61. Add view control gui plugin and support orthographic view

  62. Wireframe mode

  63. Explain why detail::View symbols are visible

  64. Bump dependencies in fortress

Gazebo Sim 5.x

Gazebo Sim 5.4.0 (2022-03-31)

  1. Add the Model Photo Shoot system, port of Modelpropshop plugin from Gazebo classic

  2. Add wheel slip user command

  3. Added user command to set multiple entity poses

  4. Component inspector: refactor Pose3d C++ code into a separate class

  5. Toggle Light visuals

  6. Allow to turn on/off lights

  7. Added more sensor properties to scene/info topic

  8. JointStatePublisher publish parent, child and axis data

  9. Fixed light GUI component inspector

  10. Fix UNIT_SdfGenerator_TEST

  11. Add elevator system

  12. Removed unused variables in shapes plugin

  13. Log an error if JointPositionController cannot find the joint. (citadel retarget)

  14. Buoyancy: fix center of volume's reference frame

  15. Remove EachNew calls from sensor PreUpdates

  16. Prevent GzScene3D 💥 if another scene is already loaded

  17. Cleanup update call for non-rendering sensors

  18. Documentation Error

  19. Min and max parameters for velocity, acceleration, and jerk apply to linear and angular separately.

  20. Add project() call to examples

  21. Implement /server_control::stop

  22. 👩‍🌾 Make depth camera tests more robust (#897)

  23. Support battery draining start via topics

  24. Make tests run as fast as possible

  25. Fix visualize lidar

  26. Skip failing Windows tests

  27. Configurable joint state publisher's topic

  28. Thruster plugin: add tests and velocity control

  29. Limit thruster system's input thrust cmd

Gazebo Sim 5.3.0 (2021-11-12)

  1. Prevent creation of spurious elements when saving worlds

  2. Added support for tracked vehicles

  3. Add components to dynamically set joint limits

  4. Fix updating component from state

  5. Extend odom publisher to allow 3D

  6. Fix updating a component's data via SerializedState msg

  7. Sensor systems work if loaded after sensors

  8. Fix generation of systems library symlinks in build directory

  9. Edit material colors in component inspector

  10. Support setting the background color for sensors

  11. Use uint64_t for ComponentInspector Entity IDs

  12. Fix integers and floats on component inspector

Gazebo Sim 5.2.0 (2021-10-22)

  1. Fix performance level test flakiness

  2. Updates to camera video record from subt

  3. Better protect this->dataPtr->initialized with renderMutex.

  4. Use QTimer to update plugins in the Qt thread

  5. Adjust pose decimals based on element width

  6. JointPositionController: Improve misleading error message

  7. Fixed IMU system plugin

  8. Cache top level and static to speed up physics system (Backport #656)

  9. Prevent crash and print error

  10. Performance: use std::unordered_map where possible in SceneManager

  11. Fix light control standalone example

  12. Parse new param for enabling / disabling IMU orientation output

  13. Enable new policy to fix protobuf compilation errors

  14. Fix performance issue with contact data and AABB updates

  15. Support locked entities, and headless video recording using sim time

  16. Update gz-sim4 changelog

  17. bump version and update changelog

  18. Remove unused Gazebo GUI header

  19. Collada world exporter now exporting lights

  20. Fixed GUI's ComponentInspector light parameter

  21. Workaround for setting visual cast shadows without material

  22. Fix selection buffer crash on resize

  23. Update DART deps to local

  24. Remove extra xml version line in pendulum_links example world

  25. Enable sensor metrics on example worlds

  26. Make thermal sensor test more robust

  27. Improved doxygen

  28. Remove bitbucket-pipelines.yml

  29. Removed unused variable in Shapes plugin

  30. Entity tree: prevent creation of repeated entity items

  31. Updates when forward-porting to v4

  32. Don't use $HOME on most tests (InternalFixture)

  33. Fix entity creation console msg

  34. Fix crash in the follow_actor example

  35. Be more specific when looking for physics plugins

  36. Drag and drop meshes into scene

  37. Allow referencing links in nested models in LiftDrag

  38. Complaint if Joint doesn't exists before adding joint controller

  39. Set protobuf_MODULE_COMPATIBLE before any find_package call

  40. DiffDrive add enable/disable

  41. Fix component inspector shutdown crash

  42. Add UserCommands Plugin.

  43. Expose a test fixture helper class

  44. Fix logic to disable server default plugins loading

  45. Porting Dome to Edifice: Windows, deprecations

  46. removed unneeded plugin update

  47. Functions to enable velocity and acceleration checks on Link

  48. Support adding systems that don't come from a plugin

  49. 3D plot GUI plugin

  50. 4 to 5

  51. Fix joint controller without joint vel data

  52. 3 to 4

  53. Model info CLI gz model

  54. Support Bullet on Edifice

  55. Don't create components for entities that don't exist

  56. Fix blender sdf export script and remove .material file from collada light export test

  57. Heightmap physics (with DART)

  58. Adds Mesh Tutorial

  59. 4 to 5

  60. Fix updating GUI plugin on load

  61. 3 to 4

  62. Physics system: update link poses if the canonical link pose has been updated

  63. Add blender sdf export tutorial

  64. Banana for Scale

  65. Fix textures not exporting after loading a world that uses obj models

  66. Fix documentation for the Sensor component

  67. Make depth camera tests more robust

  68. Use UINT64_MAX for kComponentTpyeIDInvalid instead of relying on underflow

  69. Fix mouse view control target position

Gazebo Sim 5.1.0 (2021-06-29)

  1. Depend on SDF 11.2.1, rendering 5.1 and GUI 5.1. Fix Windows.

  2. Set gui camera pose

  3. Refactor RenderUtil::Update with helper functions

  4. Enables confirmation dialog when closing Gazebo.

  5. Using math::SpeedLimiter on the diff_drive controller.

  6. New example: get an ECM snapshot from an external program

  7. Fix WindEffects Plugin bug, not configuring new links

  8. Set collision detector and solver from SDF

  9. Add Particle Emitter tutorial

  10. Fix potentially flaky integration component test case

  11. Added follow camera offset service

  12. Remove unneeded camera follow offset checks

  13. Using math::SpeedLimiter on the ackermann_steering controller.

  14. Cleanup and alphabetize plugin headers

  15. Fix race condition when rendering the UI

  16. Removed duplicated code with rendering::sceneFromFirstRenderEngine

  17. Remove unused headers in video_recoder plugin

  18. Use moveToHelper from gz-rendering

  19. Make halt motion act like a brake

  20. Update collision visualization to support nested models

  21. Adds support for ocean currents

  22. Add conversion for particle scatter ratio field

  23. Adding HaltMotion to physics plugin

  24. ColladaExporter, export submesh selected

  25. Remove tools/code_check and update codecov

  26. Trigger delay

  27. Map canonical links to their models

  28. Fix included nested model expansion in SDF generation

  29. Util: Use public API from libsdformat for detecting non-file source

  30. Contacts visualization

  31. Bump to gz-msgs 7.1 / sdformat 11.1, Windows fixes

  32. Add functionalities for optical tactile plugin

  33. Fix documentation for EntityComponentManager::EachNew

  34. Bump gz-physics version to 3.2

  35. Prevent crash on Plotting plugin with mutex

  36. 👩‍🌾 Fix Windows build and some warnings

  37. Fix ColladaExporter submesh index bug

  38. Fix macOS build: components::Name in benchmark

  39. Feature/hydrodynamics

  40. Don't store duplicate ComponentTypeId in ECM

  41. [TPE] Support setting individual link velocity

  42. 👩‍🌾 Enable Focal CI

  43. Patch particle emitter2 service

  44. Add odometry publisher system

  45. [DiffDrive] add enable/disable

  46. Update benchmark comparison instructions

  47. Fix 'invalid animation update data' msg for actors

  48. Fixed particle emitter forward playback

  49. ECM's ChangedState gets message with modified components

  50. Fixed collision visual bounding boxes

  51. Fix compute_rtfs arguments

  52. Validate step size and RTF parameters

  53. Fix component inspector shutdown crash

  54. Use Protobuf_IMPORT_DIRS instead of PROTOBUF_IMPORT_DIRS for compatibility with Protobuf CMake config

  55. Do not pass -Wno-unused-parameter to MSVC compiler

  56. Iterate through changed links only in UpdateSim

  57. Update PlaybackScrubber description

  58. Support configuring particle scatter ratio in particle emitter system

  59. Fix diffuse and ambient values for ackermann example

  60. Scenebroadcaster sensors

  61. Add test for thermal object temperatures below 0 kelvin

  62. [BULLET] Making GetContactsFromLastStepFeature optional in Collision Features

  63. Make it so joint state publisher is quieter

Gazebo Sim 5.0.0 (2021-03-30)

  1. Added Ellipsoid and Capsule geometries

  2. Support individual canonical links for nested models

  3. Mecanum wheels demo

  4. Fixed collision visual bounding boxes

  5. Fixed material colors for ackermann sdfs

  6. Setting the intiial velocity for a model or joint

  7. Remove static for maps from Factory.hh

  8. Depend on cli component of ignition-utils1

  9. Support SDFormat 1.8 Composition

  10. Deprecate TmpIface: it's leftover from prototyping

  11. Bump in edifice: gz-common4

  12. Plugin to spawn lights

  13. Added light intensity

  14. Examples and tutorial on using rendering API from plugins

  15. Prepare GuiRunner to be made private

  16. Deprecate some sim::gui events in favor of gz-gui events

  17. Heightmap (rendering only)

  18. Add image suffix to thermal camera topic name

  19. Fix build with latest sdformat11 branch

  20. Added run to time feature

  21. Depend on ignition-utils1

  22. Use double sided field in material msg

  23. Add lightmap demo

  24. Added renderOrder to convert functions

  25. Compilation fixes for Windows

  26. Documentation fixes

  27. Replace deprecated function FreeGroup::CanonicalLink with FreeGroup::RootLink

  28. Respect spotlight direction

  29. Add UserCommands plugin to fuel.sdf

  30. Change SelectedEntities to return a const ref

  31. Use common::setenv for portability to Windows

  32. Add missing GZ_SIM_VISIBLE macros

  33. Fix deprecation warnings

  34. Fix visibility macro names when used by a different component (Windows)

  35. Bump edifice sdformat11 and gz-physics4

  36. Use ComponentState::PeriodicChange in UpdateState to avoid forcing full scene update

  37. Bump in edifice: gz-msgs7

  38. Add support for sky

  39. Infrastructure

  40. Bump in edifice: gz-rendering5

  41. Add 25percent darker view angle icons

Gazebo Sim 4.x

Gazebo Sim 4.14.0 (2021-12-20)

  1. Support battery draining start via topics

  2. Make tests run as fast as possible

  3. Fix visualize lidar

  4. Disable user commands light test on macOS

Gazebo Sim 4.13.0 (2021-11-15)

  1. Prevent creation of spurious <plugin> elements when saving worlds

  2. Add support for tracked vehicles

  3. Add components to dynamically set joint limits

  4. Fix updating component from state

  5. Fix updating a component's data via SerializedState msg

  6. Sensor systems work if loaded after sensors

  7. Fix generation of systems library symlinks in build directory

  8. Edit material colors in component inspector

  9. Support setting the background color for sensors

  10. Use uint64_t for ComponentInspector Entity IDs

  11. Fix integers and floats on component inspector

Gazebo Sim 4.12.0 (2021-10-22)

  1. Fix performance issue with contact data and AABB updates.

  2. Enable new CMake policy to fix protobuf compilation

  3. Parse new param for enabling / disabling IMU orientation output.

  4. Fix light control standalone example.

  5. Performance: use std::unordered_map where possible in SceneManager.

  6. Prevent crash when using workflow PBR material.

  7. JointPositionController: Improve misleading error message.

  8. Adjust pose decimals based on element width.

  9. Better protect this->dataPtr->initialized with renderMutex.

  10. Updates to camera video record from subt.

  11. Fix performance level test flakiness.

Gazebo Sim 4.11.0 (2021-09-23)

  1. Support locked entities, and headless video recording using sim time.

Gazebo Sim 4.10.0 (2021-09-15)

  1. Fixed GUI's ComponentInspector light parameter

  2. Fix msg in entity_creation example

  3. Fix selection buffer crash on resize

  4. Fix crash in the follow_actor example

  5. Fix joint controller with empty joint velocity data

  6. Scale mode - Part2

  7. Physics system: update link poses if the canonical link pose has been updated

  8. Add Particle Emitter tutorial

  9. Refactor RenderUtil::Update with helper functions

  10. Remove unneeded camera follow offset checks

  11. Added service to set camera's follow offset

  12. Using math::SpeedLimiter on the ackermann_steering controller.

  13. All changes merged forward from gz-sim3

Gazebo Sim 4.9.1 (2021-05-24)

  1. Make halt motion act like a brake.

Gazebo Sim 4.9.0 (2021-05-20)

  1. Enable Focal CI.

  2. [TPE] Support setting individual link velocity.

  3. Don't store duplicate ComponentTypeId in ECM.

  4. Fix macOS build: components::Name in benchmark.

  5. Fix documentation for EntityComponentManager::EachNew.

  6. Add functionalities for optical tactile plugin.

  7. Visualize ContactSensorData.

  8. Backport PR #763.

  9. Backport PR #536.

  10. Add an optional delay to the TriggeredPublisher system.

  11. Remove tools/code_check and update codecov.

  12. add conversion for particle scatter ratio field.

Gazebo Sim 4.8.0 (2021-04-22)

  1. Add odometry publisher system.

  2. Patch particle emitter2 service.

Gazebo Sim 4.7.0 (2021-04-09)

  1. Particle emitter based on SDF.

  2. Fix log playback for particle emitters.

  3. ECM's ChangedState gets message with modified components.

  4. Fixed collision visual bounding boxes.

  5. Fix compute_rtfs arguments.

  6. Validate step size and RTF parameters.

  7. Use Protobuf_IMPORT_DIRS instead of PROTOBUF_IMPORT_DIRS for compatibility with Protobuf CMake config.

  8. Do not pass -Wno-unused-parameter to MSVC compiler.

  9. Support configuring particle scatter ratio in particle emitter system.

  10. Fix diffuse and ambient values for ackermann example.

  11. Scenebroadcaster sensors.

  12. Add thermal camera test for object temperature below 0.

  13. [BULLET] Making GetContactsFromLastStepFeature optional in Collision Features

  14. Fix joint controller GUI test.

  15. Quiet warnings from Joint State Publisher.

  16. Ackermann Steering Plugin.

  17. Remove bounding box when model is deleted

  18. Cache link poses to improve performance.

  19. Check empty world name in Scene3d.

  20. All changes up to 3.8.0.

Gazebo Sim 4.6.0 (2021-03-01)

  1. Use a custom data structure to manage entity feature maps.

  2. Limit scene broadcast publications when paused.

  3. Report performer count in PerformerDetector plugin.

  4. Cache top level and static to speed up physics system.

  5. Support particle emitter modification using partial message.

  6. Set LD_LIBRARY_PATH on Actions CI.

  7. Fix flaky SceneBroadcaster test.

  8. Add a convenience function for getting possibly non-existing components.

  9. Add msg to show the computed temperature range computed from temperature gradient.

  10. Add TF/Pose_V pub in DiffDrive.

  11. Relax flaky performance test.

  12. Improve velocity control test.

  13. Validity check for user defined topics in JointPositionController.

  14. Add laser_retro support.

  15. Fix pose of plane visual with non-default normal vector.

Gazebo Sim 4.5.0 (2020-02-17)

  1. Added particle system.

  2. Add Light Usercommand and include Light parameters in the componentInspector

  3. Added link to HW-accelerated video recording.

  4. Fix EntityComponentManager race condition.

  5. Add SDF topic validity check.

  6. Add JointTrajectoryController system plugin.

Gazebo Sim 4.4.0 (2020-02-10)

  1. Added issue and PR templates

  2. Fix segfault in SetRemovedComponentsMsgs method

  3. Make topics configurable for joint controllers

  4. Add about dialog

  5. Add thermal sensor system for configuring thermal camera properties

Gazebo Sim 4.3.0 (2020-02-02)

  1. Non-blocking paths request.

  2. Parallelize State call in ECM.

  3. Allow to create light with the create service.

  4. Added size to ground_plane in examples.

  5. Fix finding PBR materials.

  6. Publish all periodic change components in Scene Broadcaster.

  7. Backport state update changes from pull request #486.

  8. Fix code_check errors.

  9. Visualize collisions.

  10. Remove playback SDF param in Dome.

  11. Tutorial on migrating SDF files from Gazebo classic.

  12. World Exporter.

  13. Model Creation tutorial using services.

  14. Fix topLevelModel Method.

  15. Add heat signature option to thermal system.

  16. Add service and GUI to configure physics parameters (step size and RTF).

  17. Refactor UNIT_Server_TEST.

  18. Use Gazebo GUI render event.

Gazebo Sim 4.2.0 (2020-01-13)

  1. Automatically load a subset of world plugins.

  2. Fix to handle multiple logical cameras.

  3. Improve gz tool support on macOS.

  4. Add support for topic statistics on breadcrumb deployments.

  5. Fix slot in Plotting plugin.

  6. Fix shadow artifacts by disabling double sided rendering.

  7. Kinetic energy monitor plugin.

  8. Change nullptr to a int ptr for qt 5.15.2.

  9. Generate valid topics everywhere (support names with spaces).

  10. All changes up to version 3.7.0.

Gazebo Sim 4.1.0 (2020-12-11)

  1. Update Dockerfiles to use focal images

  2. Updated source build instructions for gz-sim4

  3. Add tests for the AnimationTime component

  4. Fix pose msg conversion when msg is missing orientation

  5. Resolved updated codecheck issues

  6. Use new backpack version in tests

  7. Fix segfault in the Breadcrumb system when associated model is unloaded

  8. Added user commands to example thermal camera world

  9. Helper function to set component data

  10. Remove unneeded if statement

  11. Fix flaky RecordAndPlayback test in INTEGRATION_log_system

  12. Make PeerTracker test more robust

  13. Use a std::promise/std::future mechanism to avoid waiting in a looop until all stepAck messages are received

  14. Optical Tactile Sensor Plugin

  15. All changes up to and including those in version 3.5.0 and version 2.25.0

Gazebo Sim 4.0.0 (2020-09-30)

  1. Names with spaces: add string serializer

  2. Filter mesh collision based on collide_bitmask property

  3. Add force focus when mouse enters render window

  4. Fixed docblock showGrid

  5. More actor components and follow plugin

  6. Filter the record menu and write the format to the file according to which button the user pushed (mp4 or ogv)

  7. Fix scene manager losing header file

  8. Fixed left menu events

  9. Fix yaw units typo in Component Inspector plugin

  10. Enable alpha based transparency on PBR materials by default

  11. Qt auto scale factor for HiDPI displays

  12. Sync components removal

  13. Add error handling for JointAxis::SetXyz and remove use of use_parent_model_frame

  14. Make some tests more robust

  15. Fix Qt5 warnings for using anchors

  16. Plotting Components Plugin

  17. Visualize Lidar Plugin

  18. Replaced common::Time for std::chrono

  19. Tutorial, examples and documentation updates

  20. Migration from BitBucket to GitHub

  21. Use interpolate_x sdf parameter for actor animations

  22. Actor skeleton animation (auto update mode)

  23. Added support for removing sensors at runtime

  24. Add support for visual visibility flags and camera visibility mask

  25. Support and

  26. Depend on gz-rendering4, gz-gui4, gz-sensors4

  27. Axis-Aligned Bounding Boxes

  28. Add window focus upon mouse entering the render window

Gazebo Sim 3.x

Gazebo Sim 3.15.0 (2023-05-08)

  1. Speed up Resource Spawner load time by fetching model list asynchronously

  2. ign -> gz Migrate Ignition Headers : gz-sim

  3. Infrastructure

  4. Backport portion of #1771 to fix command-line test

  5. cmdsim.rb: fix ruby syntax

  6. Fix loading wold with record topic

  7. Remove duplicate Fuel server used by ResourceSpawner

  8. Re-add namespace for GUI render event

  9. Fix QML warnings regarding binding loops

  10. Update documentation on UpdateInfo::realTime

  11. Add jennuine as GUI codeowner

  12. Remove plotIcon in Physics.qml for Component Inspector

  13. Convert ignitionrobotics to gazebosim in tutorials

  14. Added collection name to About Dialog

  15. Remove compiler warnings

  16. Update examples to use gazebosim.org

  17. Remove actors from screen when they are supposed to

  18. Readd namespaces for Q_ARGS

Gazebo Sim 3.X.X (20XX-XX-XX)

Gazebo Sim 3.13.0 (2022-06-01)

  1. Extruded 2D polyline geometries

  2. Add elevator system

  3. Add desktop entry and svg logo

  4. Delete unused gazebo.hh.in

  5. Add repo specific issue templates

  6. Added user command to set multiple entities' poses

  7. Component inspector: refactor Pose3d C++ code into a separate class

  8. Added more sensor properties to scene/info topic

  9. JointStatePublisher publish parent, child and axis data

  10. Removed unused variables in shapes plugin

  11. Log an error if JointPositionController cannot find the joint. (citadel retarget)

  12. Buoyancy: fix center of volume's reference frame

  13. Remove EachNew calls from sensor PreUpdates

  14. Prevent GzScene3D 💥 if another scene is already loaded

  15. Add project() call to examples

  16. Implement /server_control::stop

  17. 👩‍🌾 Make depth camera tests more robust

  18. Make tests run as fast as possible

Gazebo Sim 3.12.0 (2021-11-11)

  1. Prevent creation of spurious <plugin> elements when saving worlds

  2. Added support for tracked vehicles

  3. Add components to dynamically set joint limits

  4. Fix updating a component's data via SerializedState msg

  5. Sensor systems work if loaded after sensors

  6. Fix generation of systems library symlinks in build directory

  7. Backport sim::Util::validTopic() from ign-gazebo4.

  8. Support setting the background color for sensors

  9. Use uint64_t for ComponentInspector Entity IDs

  10. Fix integers and floats on component inspector

Gazebo Sim 3.11.0 (2021-10-21)

  1. Updates to camera video record from subt.
  2. Fix performance level test flakiness.

Gazebo Sim 3.10.0 (2021-10-15)

  1. Performance: use std::unordered_map where possible in SceneManager

  2. Enable new CMake policy to fix protobuf compilation

  3. Fix setting cast_shadows for visuals without material

  4. Remove duplicate XML tag in pendulum_links example world

  5. Enable sensor metrics on example worlds

  6. Improved doxygen

  7. JointPositionController: Improve misleading error message

  8. Adjust pose decimals based on element width

  9. Fixed IMU system plugin

  10. Use QTimer to update plugins in the Qt thread

Gazebo Sim 3.9.0 (2021-08-16)

  1. Entity tree: prevent creation of repeated entity items

  2. Don't use $HOME on most tests (InternalFixture)

  3. Be more specific when looking for physics plugins

  4. Drag and drop meshes into scene

  5. Set protobuf_MODULE_COMPATIBLE before any find_package call

  6. [DiffDrive] add enable/disable

  7. Fix component inspector shutdown crash

  8. Add UserCommands Plugin.

  9. Setting the intiial velocity for a model or joint

  10. Examples and tutorial on using rendering API from plugins

  11. Add missing GZ_SIM_VISIBLE macros

  12. Fix visibility macro names when used by a different component (Windows)

  13. No install apt recommends and clear cache

  14. Add 25percent darker view angle icons

  15. Expose a test fixture helper class

  16. Fix logic to disable server default plugins loading

  17. removed unneeded plugin update

  18. Functions to enable velocity and acceleration checks on Link

  19. Support adding systems that don't come from a plugin

  20. 3D plot GUI plugin

  21. Add a convenience function for getting possibly non-existing components.

  22. Fix topLevelModel method

  23. World exporter

  24. Fix finding PBR materials

  25. Handle multiple logical cameras

  26. Make some tests more robust

  27. Fix codecheck

  28. Hello world plugin added

  29. Model info CLI gz model

  30. Don't create components for entities that don't exist

  31. Adds Mesh Tutorial

  32. Fix updating GUI plugin on load

  33. Fix documentation for the Sensor component

  34. Use UINT64_MAX for kComponentTpyeIDInvalid instead of relying on underflow

  35. Fix mouse view control target position

  36. Set GUI camera pose

  37. Enables confirmation dialog when closing Gazebo.

  38. Depend on gz-rendering 3.5

  39. Using math::SpeedLimiter on the diff_drive controller.

  40. New example: get an ECM snapshot from an external program

  41. Fix WindEffects Plugin bug, not configuring new links

  42. Fix potentially flaky integration component test case

  43. Cleanup and alphabetize plugin headers

  44. Removed duplicated code with rendering::sceneFromFirstRenderEngine

  45. Remove unused headers in video_recoder plugin

  46. Use moveToHelper from gz-rendering

  47. Remove tools/code_check and update codecov

  48. Add service and GUI to configure physics parameters

  49. Fix documentation for EntityComponentManager::EachNew

  50. Fix macOS build: components::Name in benchmark

  51. Don't store duplicate ComponentTypeId in ECM

  52. [TPE] Support setting individual link velocity

  53. 👩‍🌾 Enable Focal CI

  54. Update benchmark comparison instructions

  55. Use Protobuf_IMPORT_DIRS instead of PROTOBUF_IMPORT_DIRS for compatibility with Protobuf CMake config

  56. Do not pass -Wno-unused-parameter to MSVC compiler

  57. Scenebroadcaster sensors

  58. Make it so joint state publisher is quieter

Gazebo Sim 3.8.0 (2021-03-17)

  1. Add joint position controller GUI, also enable tests for GUI plugins

  2. Remove visibility from headers that are not installed

  3. Added screenshot to toolbar

  4. Improve gz tool support on macOS

  5. change nullptr to a int ptr for qt 5.15.2 bug

  6. Kinetic energy monitor plugin

  7. Use a std::promise/std::future to avoid busy waiting the step ack messages in NetworkManagerPrimary

  8. clarified performer example

  9. Add tutorial tweaks

  10. Fix Qt5 warnings for using anchors

  11. Update codeowners

  12. Qt auto scale factor for HiDPI displays

  13. Fix yaw units

  14. Fixed docblock showGrid

  15. Fix entity tree for large worlds

  16. Master branch updates

  17. Backport #561: Use common::setenv

  18. Use a custom data structure to manage entity feature maps

  19. Limit scene broadcast publications when paused

  20. Fix flaky SceneBoradcaster test

  21. Add TF/Pose_V publisher in DiffDrive

  22. 👩‍🌾 Relax performance test

  23. 👩‍🌾 Improve velocity control test

  24. Add laser_retro support

  25. Fix pose of plane visual with non-default normal vector

  26. Add About dialog

  27. Make topics configurable for joint controllers

  28. Also use Gazebo GUI render event

  29. Tutorial on migrating SDF files from Gazebo classic

  30. Visualize collisions

  31. Backport state update changes from pull request #486

  32. Publish all periodic change components in Scene Broadcaster

  33. added size to ground_plane in examples

  34. Parallelize State call in ECM

  35. Non-blocking paths request

Gazebo Sim 3.7.0 (2021-01-13)

  1. Fix examples in migration plugins tutorial.

  2. Added missing namespace in detail/EntityComponentManager.hh.

  3. Automatically load a subset of world plugins.

  4. Update gtest to 1.10.0 for Windows compilation.

  5. Updates to ardupilot migration tutorial.

  6. Don't make docs on macOS.

Gazebo Sim 3.6.0 (2020-12-30)

  1. Fix pose msg conversion when msg is missing orientation

  2. Address code checker warnings

  3. Test fixes

  4. Documentation updates

  5. Fix segfault in the Breadcrumb system when associated model is unloaded

  6. Added user commands to example thermal camera world

  7. Helper function to set component data

  8. Remove unneeded if statement in EntityComponentManager

  9. Clarify how time is represented in each phase of a System step

  10. Switch to async state service request

  11. Update key event handling

  12. Tape Measure Plugin

  13. Move deselect and preview termination to render thread

  14. Logical audio sensor plugin

  15. add frame_id and child_frame_id attribute support for DiffDrive

  16. Add ability to record video based on sim time

  17. Add lockstep mode to video recording

  18. Disable right click menu when using measuring tool

Gazebo Sim 3.5.0 (2020-11-03)

  1. Updated source build instructions

  2. More world APIs, helper function ComponentData

  3. Improve fork experience

  4. Fix a crash in the grid config plugin, set grid material

  5. Document deprecation of log playback <path> SDF param

  6. Enable mouse highlighting selection on resource spawner

  7. Add support for custom render engines

  8. Component Vector -> Map ECM Optimization

Gazebo Sim 3.4.0 (2020-10-14)

  1. Fix gui sendEvent memory leaks

  2. Support nested models

  3. Generalize actor count and pose in actor population erb SDF

  4. Add more link APIs, with tutorial

  5. Add screenshots to GUI config tutorial

  6. Fix adding performers to entity tree

  7. Remove sidebar and put world control in bottom left for joint controller examples

  8. Allow executing a blocking single Server run in both paused and unpaused states

  9. Add camera video recorder system

  10. Decrease time step for quadcopter world

  11. Add support for moving the GUI camera to a pose

  12. Remove lib+.so from plugin's name

  13. EntityComponentManager::EachRemoved documentation fix.

  14. Add more model APIs.

  15. Update dimensions of the grid config.

  16. Fix top-left toolbar layout so magnet shows.

  17. Add instructions to bitmask world.

  18. Add search and sort for resource spawner.

  19. Fix source build instructions for gz-sim3.

  20. Added playback scrubber GUI

  21. Added wheel slip system plugin.

  22. Enhanced log playback performance.

  23. Tests & Warnings: Qt 5.14, breadcrumbs, Gui, gz_TEST

  24. Added support for specifying topics to record.

  25. Make sure OpenGL core profile context is used by GzScene3D.

  26. Support relative paths for PBR materials

  27. Add file extension automatically for record plugin.

  28. Support spawning during log playback.

  29. Add Render Engine Cmd Line option

Gazebo Sim 3.3.0 (2020-08-31)

  1. Added marker array service.

  2. Introduced a new parameter in the scene3D plugin to launch in fullscreen.

  3. Fix issue #285 by adding checks for a marker's parent.

  4. Fix non-specified material error.

  5. Added simulation world with large number of entities.

  6. Fixed parsing of the touch plugin' enabled flag.

  7. Added buoyancy system plugin.

  8. Implemented shift + drag = rotate in the GUI.

  9. Backport collision bitmask changes

  10. Added velocity command to TPE.

  11. This version includes all features in Gazebo Sim 2.23.0

Gazebo Sim 3.2.0 (2020-05-20)

  1. Merge gz-sim2 to gz-sim3

Gazebo Sim 3.1.0 (2020-05-19)

  1. Port support for computing model bounding box in physics system

  2. Add DetachableJoint: A system that initially attaches two models via a fixed joint and allows for the models to get detached during simulation via a topic.

  3. Update physics state even when paused (not stepping)

  4. Fix entity tree context menu position

  5. Fix moving static model with link offset

  6. Added Link::AddWorldWrench function that adds a wrench to a link.

  7. Fix duplicate marker services and crash due to unset marker field

  8. Support s from Fuel

  9. Add support for thermal camera

  10. Add window focus upon mouse entering the render window

Gazebo Sim 3.0.0 (2019-12-10)

  1. Add example world for collide bitmask feature

  2. Remove sdf element from visuals that do not emit light in the example worlds

  3. Support for sdformat frame semantics

  4. Support for relative path URIs for actors

  5. Add rechargeable battery model

  6. Add Marker Manager

  7. Parse material emissive map, bump to msgs5 and transport8

  8. Move function definitions to their correct locations in EntityComponentManager

  9. Depend on gz-rendering3, gz-gui3, gz-sensors3

  10. Rendering and Animating Actors

Gazebo Sim 2.x

Gazebo Sim 2.25.0 (2020-09-17)

  1. Added wheel slip system plugin.

  2. Enhanced log playback performance.

  3. Tests & Warnings: Qt 5.14, breadcrumbs, Gui, gz_TEST

  4. Added support for specifying topics to record.

  5. Make sure OpenGL core profile context is used by GzScene3D.

  6. Support relative paths for PBR materials

  7. Add file extension automatically for record plugin.

  8. Support spawning during log playback.

Gazebo Sim 2.24.0 (2020-09-03)

  1. Resource env var, with transport interface.

  2. Save http URIs (fix tests)

  3. Insert Local Models.

  4. Modernize actions CI.

  5. Sensor topics available through components and GUI.

  6. Customizable layouts - fully functional.

  7. Add Fuel World Support.

  8. Insert Fuel Models.

  9. Disable rendering tests on macOS that are known to fail.

  10. Fix tests on Blueprint.

  11. Publish remaining breadcrumb deployments.

Gazebo Sim 2.23.0 (2020-07-28)

  1. Deactivate PerformerDetector if its parent model gets removed.

  2. Backport support for s from Fuel #255

Gazebo Sim 2.22.0 (2020-07-22)

  1. Allow zero or more key/value pairs to be added to detection header information.

Gazebo Sim 2.21.0 (2020-07-16)

  1. Added support for controlling which joints are published by the JointStatePublisher.

  2. Added an additional pose offset for the performer detector plugin.

  3. Fixed battery issues and updated tutorial.

Gazebo Sim 2.20.1 (2020-06-18)

  1. Properly add new models into the scenegraph. With this fix, when a model is spawned it will be added into the graph and resulting calls to the scene/info service will return a correct msgs::Scene.

Gazebo Sim 2.20.0 (2020-06-09)

  1. Updated battery model to stop battery drain when there is no joint velocity/force command, and added a recharging trigger.

  2. Fix segfault in the Breadcrumbs system

  3. Added an <odom_topic> element to the DiffDrive system so that a custom odometry topic can be used.

Gazebo Sim 2.19.0 (2020-06-02)

  1. Use updated model names for spawned models when generating SDFormat

  2. Allow joint force commands (JointForceCmd) to dscharge a battery.

  3. Allow renaming breadcrumb models if there is a name conflict

  4. Add TriggeredPublisher system

  5. Add PerformerDetector, a system for detecting when performers enter a specified region

Gazebo Sim 2.18.0 (2020-05-20)

  1. Added a /world/<world_name>/create_multiple service that parallels the current /world/<world_name>/create service. The create_multiple service can handle an gz::msgs::EntityFactory_V message that may contain one or more entities to spawn.

  2. DetachableJoint system: Add option to suppress warning about missing child model

Gazebo Sim 2.17.0 (2020-05-13)

  1. Allow battery plugin to work with joint force systems.

  2. Make breadcrumb static after specified time

  3. Disable breadcrumbs if the max_deployments == 0.

  4. Add static pose publisher and support pose_v msg type in pose publisher system

  5. Refactor Gui.hh so that the Gazebo GUI can be ran from other packages

  6. Add ability to save worlds to SDFormat

  7. Add window focus upon mouse entering the render window

Gazebo Sim 2.16.0 (2020-03-24)

  1. Add support for computing model bounding box in physics system

  2. Add DetachableJoint: A system that initially attaches two models via a fixed joint and allows for the models to get detached during simulation via a topic.

  3. Update physics state even when paused (not stepping)

  4. Fix entity tree context menu position

  5. Fix moving static model with link offset

  6. Add support for setting visual transparency through SDF

  7. Add JointPositionReset and JointVelocityReset components to reset the joint state.

  8. Logging meshes and materials

  9. List plugin env vars

  10. Fix protobuf / clang warnings

  11. Component inspector

  12. Log compress

  13. Set process titles

  14. Add custom user snapping

  15. Add GUI to configure grid

  16. Add multiple entity selection to view angle

  17. Highlight selected entities

  18. Log record overwrite

  19. Add copyright to QML files

  20. Fix shift translation bug

Gazebo Sim 2.15.0 (2020-02-07)

  1. Fix seeking back in time in log playback

  2. Fix the deprecated gz-sim command line

  3. Always use the latest render texture in scene3d

  4. Remove redundent messages when levels get unloaded

  5. View angle plugin

  6. Support breadcrumb performers

  7. Drag and drop Fuel object into mouse position

  8. Add hotkey keybindings

Gazebo Sim 2.14.0 (2020-01-10)

  1. Use Actuator component to communicate between MulticopterVelocityControl and MulticopterMotorModel systems

  2. Backport fix to insert multiple lights with same name

  3. Get all component types attached to an entity

  4. Fix tooltips on entity tree

Gazebo Sim 2.13.0 (2019-12-17)

  1. Add Multicopter velocity controller

  2. Fix crash when removing an entity being followed

  3. Add option to right click and remove nodes

  4. Fix jumpy log playback

  5. Remove Scene3d Text anchors

  6. Show grid using SDF file

Gazebo Sim 2.12.0 (2019-11-25)

  1. Parse visual cast shadows and add CastShadows component

  2. Update SceneBroadcaster to publish state msg for world with only static models

  3. Add log video recorder

  4. Rechargeable battery model

  5. Add Breadcrumbs system

  6. Drag models from Fuel

  7. Improvements to GUI configuration

  8. Prevent crash when attempting to load more than one render engine per process

Gazebo Sim 2.11.0 (2019-10-23)

  1. Handle Relative URIs

  2. Avoid using invalid/unsupported joints

  3. Add mutex to protect views from potential concurrent access

  4. Add Link::WorldKineticEnergy for computing total kinetic energy of a link with respect to the world frame.

  5. Improve steering behavior of example tracked vehicle

  6. Rewind / reset and seek

  7. Add Follow mode to GUI

Gazebo Sim 2.10.0 (2019-09-08)

  1. Custom odom frequency in sim time

  2. Add Move To gui plugin

Gazebo Sim 2.9.0

  1. Use the JointSetVelocityCommand feature to set joint velocities

Gazebo Sim 2.8.0 (2019-08-23)

  1. Add video recorder gui plugin

  2. Vertical rays for lidar demo

  3. Print world path when using cli

Gazebo Sim 2.7.1

  1. Fix order of adding and removing rendering entities, and clean up mesh materials in the SceneManager.

Gazebo Sim 2.7.0

  1. Move creation of default log path to ServerConfig. This lets both console logs and state logs to be stored in the same directory. The console messages are always logged. Allow state log files to be overwritten.

  2. Baseline for stereo cameras

  3. Fix log playback with levels. This drops support for logs created before v2.0.0.

  4. Add worker threads for System PostUpdate phase

  5. Added a test runner for executing an SDF and recording simulation rates. See the test/performance/READEM.md file for more info.

Gazebo Sim 2.6.1 (2019-07-26)

  1. Clear stepMsg before populating it

Gazebo Sim 2.6.0 (2019-07-24)

  1. Improve performance of Pose Publisher

  2. Fix distributed sim

Gazebo Sim 2.5.0 (2019-07-19)

  1. The LinearBatteryPlugin system publishes battery state

Gazebo Sim 2.4.0 (2019-07-17)

  1. Bundle scene updates in sensor system

Gazebo Sim 2.3.0 (2019-07-13)

  1. Improve physics system peformance by skipping static model updates. Components state information has been incorporated, which is used to indicate if a component change is periodic (such as through a physics update) or a one-time change (such as through a user command).

  2. Add sdf parameter to battery to start draining only when robot has started moving

  3. Improve SceneBroadcaster peformance by 1) Limit message generation if subscribers to pose topics are not present, 2) Set world stats message instead of copying the message, 3) Suppress scenegraph updates when there are no new entities, 4) Make better use of const functions, 5) Prevent creation of msgs::SerializedStep every PostUpdate, 6) Only serialized and transmit components that have changed.

Gazebo Sim 2.2.0

  1. The DiffDrive system publishes odometry information.

  2. Allow attaching plugins to sensors from a server config.

  3. Remove world name from frame_ids

  4. Fix deadlock when spawning robots

  5. Set default topics for rendering sensors

  6. Support custom random seed from the command line.

Gazebo Sim 2.1.0

  1. RenderUtil fix bad merge: check for existing entities in GzScene3D on initialization.

  2. Allow sensors to load plugins.

  3. Parse and load submesh geometry in visuals.

  4. Allow setting the update frequency of pose publisher.

  5. Added RGBD camera sensor.

  6. Fix Docker scripts.

  7. Support log playback from a different path

Gazebo Sim 2.0.0

  1. RenderUtil: check for existing entities in GzScene3D on initialization.

  2. SceneBroadcaster: only send pose state periodically.

  3. PeerTracker: increase distributed simulation peer tracking timeout.

  4. MultiCopterMotorModel: add mutex to protect motor velocity command.

  5. Tweaks to example worlds

  6. DiffDrive system: add topic as system parameter.

  7. Log entity creation and deletion

  8. Multicopter motor model

  9. Fix removing selected entity

  10. Collision serialization

  11. Add support for moving and rotating models

  12. Pose commands

  13. Level performers can be added at runtime using a service call. See the levels tutorial for more information.

  14. Update worlds to GzScene3D

  15. Reduce logging file size

  16. Update PosePublisher system to publish sensor poses and to use scoped names for frame ids

  17. Fix gui plugin linking issue

  18. Toolbar colors

  19. Rename Scene3D gui plugin to GzScene3D

  20. Fix distributed sim documentation

  21. Port Scene3D gui plugin from gz-gui. Renamed to GzScene3D.

  22. Entity tree UI

  23. Add rendering component

  24. Update Camera and DepthCamera components to use sdf::Sensor object instead of an sdf::ElementPtr.

  25. Added system for gz::sensors::AirPressureSensor.

  26. Support conversion and serialization of Imu components. IMU sensors are loaded from an SDF DOM object.

  27. Throttle sensors update rate

  28. Fix changing themes

  29. Battery tweaks

  30. Support conversion and serialization of PBR parameters in a material component

  31. Joint state pub

  32. Update Altimeter component to use sdf::Sensor object instead of an sdf::ElementPtr.

  33. Update docker nightly dependencies

  34. Gz tool

  35. State broadcast

  36. Use world statistics message on network

  37. Update Magnetometer component to use sdf::Sensor object instead of an sdf::ElementPtr.

  38. Fix Scene3D loading empty world

  39. Support conversion and serialization of scene and light components

  40. Operators instead of De/Serialize

  41. Remove PIMPL from Component

  42. Delay scene broadcaster transport setup

  43. Report link poses from secondaries during distributed simulation, using a cache

  44. Restore log playback

  45. ECM changed state

  46. Joint serialization

  47. Use scene ambient and background color information in sensor configuration.

  48. Performance benchmarking

  49. Remove emissive component from visual materials

  50. Serialization for more components

  51. Added an SDF message to the start of log files.

  52. Unify network and sync managers

  53. Add PerformerLevels component

  54. Distributed sim deprecate envs

  55. Use gz-sensors magnetometer sensor plugin

  56. Use gz-sensors altimeter sensor plugin

  57. Use gz-sensors imu sensor plugin

  58. Depend on gz-sensors rendering component

Gazebo Sim 1.x

Gazebo Sim 1.X.X

  1. Add Wind Plugin (Ported from Gazebo classic)

  2. Port battery plugin from Gazebo classic

  3. Use ISO timestamp for default log path

  4. Logging tutorial

  5. Joystick SDF small typos

  6. Add Link: a convenience class for interfacing with link entities

  7. Added LiftDragPlugin (ported from Gazebo classic)

  8. Logging refactor unique path functions to gz-common

  9. Added test for log record and playback.

  10. Add ApplyJointForce system

  11. More gz-msgs <-> SDF conversions: Inertial, Geometry, Material

  12. Logging command line support

  13. Remove inactive performers instead of setting static

  14. Use state instead of pose in distributed simulation

  15. Distributed implies levels

  16. Add a basic JointController system

  17. Enforce component type uniqueness

  18. Clean CI: disable test known to fail on OSX

  19. Logical camera topic name check

  20. Added command line options to configure distributed simulation. These will replace the environment variables.

  21. Add systems to queue before actually adding them to runner

  22. Added a docker image that uses the Gazebo meta package

  23. Move some design docs to tutorials

  24. Disable GUI when using distributed simulation

  25. Bring component type names back

  26. A few tweaks to logging

  27. Handle friction coefficients

  28. Change private msgs namespace

  29. Set tutorial titles

  30. Example tunnel world

  31. Conversion from chrono to gz-msgs

  32. Prevent error message when using levels

Gazebo Sim 1.1.0 (2019-03-15)

  1. Distributed performers running in lockstep

  2. Fix documentation tagfiles

  3. Convert gui library into a component

  4. include wherever special int types like uint64_t are used

  5. Move network internal

  6. Logging / playback

  7. ECM state streaming

  8. Unversioned system libraries

Gazebo Sim 1.0.2 (2019-03-12)

  1. Use TARGET_SO_NAME to fix finding dartsim plugin

Gazebo Sim 1.0.1 (2019-03-01)

  1. Update gazebo version number in sdf files

Gazebo Sim 1.0.0 (2019-03-01)

  1. Initial release

Gazebo Sim 0.x

Gazebo Sim 0.1.0

  1. Add support for joints

  2. Use SimpleWrapper for more component types

  3. Create EventManager and delegate System instantiation to SimulationRunner

  4. Integrate gz-gui

  5. Remove some build dependencies.

  6. Added basic Entity class.

  7. Added a basic System class.