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gz-sim9 package from gz-sim repo

gz-sim9

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Package Summary

Tags No category tags.
Version 9.1.0
License Apache License 2.0
Build type CMAKE
Use RECOMMENDED

Repository Summary

Description Open source robotics simulator. The latest version of Gazebo.
Checkout URI https://github.com/gazebosim/gz-sim.git
VCS Type git
VCS Version gz-sim9
Last Updated 2025-04-04
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags cpp robotics simulation rendering physics graphical-interface ros gazebo hacktoberfest robot-simulator ros2 robotics-simulation robot-simulation simulated-robots ignition-robotics gazebosim ignition-gazebo ignition-libraries
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Gazebo Sim : A Robotic Simulator

Additional Links

Maintainers

  • Michael Carroll

Authors

No additional authors.
README.md

Gazebo Sim : A Robotic Simulator

Maintainer: michael AT openrobotics DOT org

GitHub open issues GitHub open pull requests Discourse topics Hex.pm

Build Status
Test coverage codecov
Ubuntu Noble Build Status
Homebrew Build Status
Windows Build Status

Gazebo Sim is an open source robotics simulator. Through Gazebo Sim, users have access to high fidelity physics, rendering, and sensor models. Additionally, users and developers have multiple points of entry to simulation including a graphical user interface, plugins, and asynchronous message passing and services.

Gazebo Sim is derived from Gazebo Classic and represents over 16 years of development and experience in robotics and simulation. This library is part of the Gazebo project.

Table of Contents

Features

Install

Usage

Documentation

Testing

Folder Structure

Contributing

Code of Conduct

Versioning

License

Features

  • Dynamics simulation: Access multiple high-performance physics engines through Gazebo Physics.

  • Advanced 3D graphics: Through Gazebo Rendering, it’s possible to use rendering engines such as OGRE v2 for realistic rendering of environments with high-quality lighting, shadows, and textures.

  • Sensors and noise models: Generate sensor data, optionally with noise, from laser range finders, 2D/3D cameras, Kinect style sensors, contact sensors, force-torque, IMU, GPS, and more, all powered by Gazebo Sensors

  • Plugins: Develop custom plugins for robot, sensor, and environment control.

  • Graphical interface: Create, introspect and interact with your simulations through plugin-based graphical interfaces powered by Gazebo GUI.

  • Simulation models: Access numerous robots including PR2, Pioneer2 DX, iRobot Create, and TurtleBot, and construct environments using other physically accurate models available through Gazebo Fuel. You can also build a new model using SDF.

  • TCP/IP Transport: Run simulation on remote servers and interface to Gazebo Sim through socket-based message passing using Gazebo Transport.

  • Command line tools: Extensive command line tools for increased simulation introspection and control.

Install

For installing Gazebo, see the getting started guide. If you want to use libgz-sim as a library, see the installation tutorial

Usage

Gazebo Sim can be run from the command line, once installed, using:

gz sim

For help, and command line options use:

gz sim -h

Known issue of command line tools

In the event that the installation is a mix of Debian and from source, command line tools from gz-tools may not work correctly.

A workaround is to define the environment variable GZ_CONFIG_PATH to point to the different locations of the Gazebo libraries installations, where the YAML files for the packages are found, such as

export GZ_CONFIG_PATH=/usr/local/share/gz:$HOME/ws/install/share/gz

where $HOME/ws is an example colcon workspace used to build Gazebo.

On Windows, gz sim (i.e. running both server and GUI in one command) doesn’t yet work. To run Gazebo Sim on Windows, you need to run the server in one terminal (gz sim -s <other args>) and the GUI in another terminal (gz sim -g <other args>). Remember this when reading through all Gazebo Sim tutorials. Also remember that Conda and install\setup.bat need to be sourced in both terminals (as well as any changes to GZ_PARTITION and other environment variables).

Documentation

See the installation tutorial.

Testing

See the installation tutorial.

See the Writing Tests section of the contributor guide for help creating or modifying tests.

Folder Structure

Refer to the following table for information about important directories and files in this repository.

gz-sim
├── examples                     Various examples that can be run against binary or source installs of gz-sim.
│   ├── plugin                   Example plugins.
│   ├── standalone               Example standalone programs that use gz-sim as a library.
│   └── worlds                   Example SDF world files.
├── include/gz/sim               Header files that downstream users are expected to use.
│   └── detail                   Header files that are not intended for downstream use, mainly template implementations.
├── python                       Python wrappers
├── src                          Source files and unit tests.
│   ├── gui                      Graphical interface source code.
│   └── systems                  System source code.
├── test
│   ├── integration              Integration tests.
│   ├── performance              Performance tests.
│   ├── plugins                  Plugins used in tests.
│   ├── regression               Regression tests.
├── tutorials                    Tutorials, written in markdown.
├── Changelog.md                 Changelog.
├── CMakeLists.txt               CMake build script.
├── Migration.md                 Migration guide.
└── README.md                    This readme.

Contributing

Please see the contribution guide.

Code of Conduct

Please see CODE_OF_CONDUCT.md.

Versioning

This library uses Semantic Versioning. Additionally, this library is part of the Gazebo project which periodically releases a versioned set of compatible and complimentary libraries. See the Gazebo website for version and release information.

License

This library is licensed under Apache 2.0. See also the LICENSE file.

CHANGELOG

Gazebo Sim 9.x

Gazebo Sim 9.1.0 (2025-02-12)

  1. Physics: Ray intersections
  2. Improvement for Visualize lidar plugin
  3. Also handle SIGTERM gracefully
  4. Add debug msg to log auto computed inertial values
  5. Reduce/Eliminate sdf::Model and sdf::World serialization warnings
  6. Visualize Frustum
  7. Update install link
  8. Fix illegal anchor warnings
  9. Fix mesh import filters not displaying correctly on KDE #2731
  10. LinearBatteryPlugin stability improvement
  11. Better use of std::variant
  12. apply_joint_force: Simplified using ComponentDefault
  13. Fix docker nightly build
  14. Fix publishing only top level model pose in pose publisher
  15. Add parameter for adjust current sign in battery plugin
  16. Extend shapes plugin width to include the ellipsoid button
  17. Use same FP limits for TrackedVehicle to avoid self-moving
  18. Link.hh: add Sensor accessor APIs
  19. Remove detachable joints when a model is removed
  20. Improve load times by skipping serialization of entities when unecessary. (#2596)
  21. check valid pointer
  22. Prepend to PYTHONPATH in tests
  23. Fix crash when multicopter motor system is attached to an empty model
  24. fix custom sensor system example build

Gazebo Sim 9.0.0 (2024-09-25)

  1. Baseline: this includes all changes from 8.6.0 and earlier.

  2. Miscellaneous documentation fixes
  3. Fix log playback GUI display
  4. Add tutorial + example SDF for shadow texture size
  5. Fix making breadcrumb static if it’s a nested model
  6. Update physics system error msg when plugin can not be loaded
  7. Fix configuring global illumination GUI plugin parameters
  8. Fix particle emitter color range image path warning
  9. Fix empty gui world file
  10. Fix crash on windows due to invalid log directory path
  11. Use ogre2 for DEM worlds
  12. Fix crash when running the optical tactile sensor world
  13. Prevent follow actor plugin from crashing when actor is removed
  14. Fix hydrodynamics deprecation warning.
  15. Removed actor population world due to bad merge
  16. Fixed warning joint trayectory sdf
  17. Fix looking up camera name in camera lens system
  18. Add a flexible mechanism to combine user and default plugins
  19. Fix crash at exit due to a race condition with new signal handler
  20. Remove from test worlds
  21. Consolidate entity creation.
  22. Add cmake install prefix
  23. Fix UNIT_Server_TEST failure caused by change in behavior of gz::common::SignalHandler
  24. Fix SphericalCoordinates deprecation warnings

  25. Revert behavior change introduced in #2452

  26. Specify System::PreUpdate, Update execution order
  27. Add System interface to set default priority
  28. Force Qt to use xcb plugin on Wayland
  29. Physics: set link velocity from VelocityReset components
  30. ForceTorque system: write WrenchMeasured to ECM
  31. Remove unused var
  32. Deprecate use of added mass via hydrodynamics
  33. Make sure steering joints exist before updating velocity / odometry in AckermannSteering plugin
  34. Fix ResourceSpawner
  35. gui_system_plugin: clarify description in README
  36. Fix adding system to non-existent entity
  37. Remove ignition related deprecations
  38. Fix #2458 - Checking linkEnity is empty
  39. Specify System::PreUpdate, Update execution order
  40. Improve signal handling
  41. Initialize threadsNeedCleanUp
  42. Added support for spacecraft thrusters
  43. Remove systems if their parent entity is removed
  44. Disable rendering tests that are failing on github actions
  45. Fix warnings generated by NetworkConfigTest
  46. Support visualizing mesh collisions with convex decomposition
  47. Remove python3-distutils from package.xml
  48. shapes.sdf example: bump to 1.12, add cone shape
  49. Adding cone primitives.
  50. Enable 24.04 CI, require cmake 3.22.1
  51. Parse and set bullet solver iterations
  52. ForceTorque system: improve readability
  53. Fix warn unused variable in test
  54. Physics: remove VelocityCmd at each time step
  55. Regroup tutorials into four categories
  56. Remove HIDE_SYMBOLS_BY_DEFAULT: replace by a default configuration in gz-cmake.

  57. Enable HIDE_SYMBOLS_BY_DEFAULT + linux patches * Pull request #2248

  58. Use sdf FindElement API to avoid const_cast
  59. Bumps in Ionic: gz-sim9

Gazebo Sim 8.x

Gazebo Sim 8.6.0 (2024-07-25)

  1. Fix error resolving gazebo classic material when loading world
  2. Remove systems if their parent entity is removed
  3. Fix warnings generated by NetworkConfigTest
  4. Fix lidar visualization when gz_frame_id is specified
  5. Backport convex decomposition visualization
  6. Add UserCommands plugin to GPU lidar sensor example
  7. Check if any entity actually has a ContactSensorData component before calling GetContactsFromLastStep
  8. Enable tests on macOS
  9. Update description of reset_sensors test
  10. Magnetometer: correct field calculation
  11. Address a couple of todos in Conversion.cc
  12. Correct name of sensor in warning message
  13. Set max contacts for collision pairs
  14. Add GravityEnabled boolean component
  15. Add support for no gravity link
  16. Handle sdf::Geometry::EMPTY in conversions
  17. Use topicFromScopedName in a few systems
  18. Fix typo in a comment

Gazebo Sim 8.5.0 (2024-06-26)

  1. Backport: Adding cone primitives
  2. Permit to run gz sim -g on Windows
  3. Parse voxel resolution SDF param when decomposing meshes
  4. Fix model command api test
  5. Add tutorial for using the Pose component
  6. Do not update sensors if it a triggered sensor

Gazebo Sim 8.4.0 (2024-06-12)

  1. Add pause run tutorial
  2. Fix warning message to show precise jump back in time duration
  3. Optimize rendering sensor pose updates
  4. Remove a few extra zeros from some sdf files
  5. Use VERSION_GREATER_EQUAL in cmake logic
  6. Support mesh optimization when using AttachMeshShapeFeature
  7. Rephrase cmake comment about CMP0077
  8. Fix CMake warnings in Noble
  9. Update sensors with pending trigger immediately in Sensors system
  10. Add missing algorithm include
  11. Add Track and Follow options in gui EntityContextMenu
  12. ForceTorque system: improve readability
  13. LTA Dynamics System
  14. Remove Empty Test File
  15. Fix GCC/CMake warnings for Noble
  16. Fix warn unused variable in test
  17. Fix name of gz-fuel_tools in package.xml
  18. Add package.xml
  19. Fix namespace and class links in documentation references that use namespace gz
  20. Fix ModelPhotoShootTest test failures
  21. Enable StoreResolvedURIs when loading SDF
  22. Drop python3-disttutils from apt packages files
  23. Added example world for DopplerVelocityLogSystem
  24. Fix Gazebo/White and refactored MaterialParser
  25. Support for Gazebo materials

Gazebo Sim 8.3.0 (2024-04-11)

  1. Use relative install paths for plugin shared libraries and gz-tools data
  2. Use steer_p_gain for UpdateVelocity steer joint speed
  3. Fix TriggeredPublisher test
  4. Use SetComponentData to simplify code and improve coverage
  5. Remove unnecessary sleep
  6. Fixed undefined behavior in thruster.cc
  7. Added mutex to protect stored time variables
  8. Fixed turning error in ackermann steering
  9. Check null mesh
  10. Publish step size in world stats topic

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 7.8.0 (2024-07-22)

  1. Added support for spacecraft thrusters
  2. Disable rendering tests that are failing on github actions
  3. Consolidate entity creation.
  4. Set max contacts for collision pairs
  5. Add GravityEnabled boolean component
  6. Add support for no gravity link
  7. Handle sdf::Geometry::EMPTY in conversions
  8. Use topicFromScopedName in a few systems
  9. Fix typo in a comment
  10. Remove a few extra zeros from some sdf files
  11. Use VERSION_GREATER_EQUAL in cmake logic
  12. Rephrase cmake comment about CMP0077
  13. ForceTorque system: improve readability
  14. LTA Dynamics System
  15. Fix namespace and class links in documentation references that use namespace gz
  16. Fix ModelPhotoShootTest test failures
  17. update sdf version
  18. Fix Gazebo/White and refactored MaterialParser
  19. Support for Gazebo materials

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. :books: 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 3.15.1 (2024-01-05)

  1. Update github action workflows
  2. Fix macOS test failures by registering components in the core library
  3. Bump Fuel model version in test
  4. Fix a minor issue in the documentation of the server API
  5. Use sdf::Element::FindElement instead of GetElement in ApplyLinkWrench
  6. Adds a warning if the Server method of a TestFixture is called before Finalize
  7. Protobuf: Do not require version 3 do support Protobuf 4.23.2 (23.2)
  8. Print an error message when trying to load SDF files that don’t contain a <world>
  9. Enable GzWeb visualization of markers by republishing service requests on a topic

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.

Wiki Tutorials

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Launch files

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Services

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Plugins

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