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Gazebo 11

Gazebo 11.15.1 (2024-12-03)

  1. Revert "Remove GZ_SINGLETON_DECLARE definition workaround (fix for armhf)"

Gazebo 11.15.0 (2024-11-26)

  1. Add Gazebo classic end-of-life notice Can be disabled by setting GAZEBO_SUPPRESS_EOL_WARNING

  2. Add EOL information to README

  3. Boost 1.86 compatibility

  4. Fix build with boost 1.85.0

  5. Change to windows-2022

  6. AudioDecoder: support ffmpeg 7.0

  7. gz world: use gz-transport to fix unclosed sockets

  8. Fix manpage installation when GZ_CLI_EXECUTABLE_NAME is used

  9. Fix build with graphviz 10.0

  10. Set gz tool name via GZ_CLI_EXECUTABLE_NAME

  11. vcpkg: update to the latest hash

  12. conda-forge CI: Pin libprotobuf to 4.24

  13. fix: Don't divide time by zero if single stepping.

  14. Port sensor update rate fix

  15. Add signal handlers for Windows

  16. Remove GZ_SINGLETON_DECLARE definition workaround (fix for armhf)

Gazebo 11.14.0 (2023-10-06)

  1. Visual::SetPose performance improvement / minor fixes

  2. Apply initial sim time also after a reset.

  3. Remove using namespace SimTK

  4. Fix build with graphviz 9

  5. Add support for compiling on windows x64 and x86 with vcpkg-provided dependencies

  6. gzclient: improve startup reliability

  7. CI: add non concurrency to all GitHub workflows

  8. Set HOME_ENV according the OS

  9. Allow usage of lambdas as transport subscription callbacks

  10. Fix for finding new versions of protobuf

Gazebo 11.13.0 (2023-05-17)

  1. Fix wide-angle lens flare occlusion lag

  2. Add missing spaces to several rendering messages

  3. Fix build with ffmpeg 6.0

  4. Allow user to name a specific light that will generate lens flare

  5. JointController: improve thread safety

  6. Fix pkg-config-related CMake warning

  7. Fix template specialization in constructors to fix GCC11 build

  8. Set initial sim time from the command-line

  9. Fix typo in README

  10. msgs.cc: add missing include

  11. Fix crash with DEM and Camera

  1. Fix focal builds: use python3 with check_test_ran.py

  1. Fix for wide angle lens flare occlusion bug

  2. Fix for opende heightfield and console spam

  3. Fixes in conda-forge CI

  4. Fix Instance() method of Singleton classes

  5. Fix disappearing shadows when looking from certain angles

  6. Support Lunar DEMs

  7. Add support for cross-compilation in Gazebo

Gazebo 11.12.0 (2022-09-14)

  1. BulletLink: add and set force and torque

  2. Camera: expose intrinsics parameters

  3. Add missing header includes

  4. Permit users to override USE_EXTERNAL_TINYXML2 and USE_EXTERNAL_TINYXML

  5. CustomPSSMShadowCamera: support custom projection matrix

  6. Update Readme and add gazebo logo

  7. Wheel plowing approximation in ODEPhysics

  8. LensFlare: parameterize number of occlusion steps

  9. Support shininess value for each Visual in a Model

  10. Fix shininess and add tests

Gazebo 11.11.0 (2022-05-25)

  1. Convert OGRE_RESOURCE_PATH with TO_CMAKE_PATH

  2. Fix compatibility with FFmpeg 5.0

  3. Get/Set friction coefficients of wheels

  4. Support <anti_aliasing> element when setting up camera

  5. Added shininess to models

  6. Fix missing namespace for string

  7. Fix typo in TBB target check in gazebo-config.cmake.in

  8. Separate cache files for each heightmap LOD

  9. Parse ode_quiet physics parameter from SDFormat

Gazebo 11.10.2 (2022-03-19)

  1. Support plotting for entities with / in the name

  2. Replace deprecated tbb task for tbb >= 2021

  3. Add CI for compiling gazebo with conda-forge dependencies

  4. SearchForStuff: Do not pass /usr/lib to PATH in qwt's find_library

  5. Scene: support deletion of Heightmap Visuals

  6. ODEJoint: don't SetStiffnessDamping for gearbox

Gazebo 11.10.1 (2022-01-19)

  1. Revert boost/bind.hpp changes in header files

  2. Fix duplicate vertex program name Ogre crash

Gazebo 11.10.0 (2022-01-12)

  1. Use boost/bind/bind.hpp to fix warnings on Arch Linux

  2. Load model plugins even after sensor timeout

  3. CMake exports: remove -std=c++11 flag

  4. Create github action ci

  5. Fix Windows build when using vcpkg

  6. Point light shadows

Gazebo 11.9.1 (2021-12-02)

  1. setup.sh: fix relocatability of LD_LIBRARY_PATH

  2. Fix setup.sh and install dirs with absolute paths

  3. Add check for function type to avoid undefined asin computation

  4. Workaround for wrong distortion material applied to some cameras (#3136)

  5. Fix Gazebo crash in building editor when adding door or window (#2276) (#3129)

Gazebo 11.9.0 (2021-10-28)

  1. Forward port windows fixes from #2789

  2. GUI option to change render rate

  3. GaussianNoiseModel: fix for unspecified biasStdDev

  4. wind_demo.world: add required parameter

  5. Fix slow loading of spawned model with plugins

  6. HeightmapLODPlugin: add server/gui params

  7. Fix gzclient starting with black screen

  8. Optionally disable "render back faces" for the shadow caster

  9. Add more profiling hooks in physics, rendering

  10. Load both .so and .dylib plugins on macOS

  11. Fix Camera Distortion rounding

  12. Always publish if flag is passed to Model::SetScale

  13. Add slip values for individual wheels

  14. Fix standalone marker example

  15. Faster examples build test and other CI fixes

  16. Fix pkgconfig prefix with absolute CMAKE_INSTALL_LIBDIR

  17. Add mutex lock in World::Step and World::Fini to fix test

  18. 👩‍🌾 Remove bitbucket-pipelines

Gazebo 11.8.1 (2021-08-24)

  1. Fixes for shadow caster shaders

  2. Distortion::RefreshCompositor check nonzero params

Gazebo 11.8.0 (2021-08-17)

  1. Find tbb version lower than 2021 with pkg-config

  2. Fix build with qwt 6.2

  3. Enable hardware PCF for spotlight shadows

  4. Apply Force/Torque for nested models

  5. Make links within nested models modifiable from GUI Client

  6. Make events threadsafe

  7. Add relocatable setup.bash script

  8. Support custom shadow caster materials

  9. Distortion camera initialization tests and fix with background color

Gazebo 11.7.0 (2021-06-xx)

  1. Qualify gazebo::util in using namespace declarations.

  2. Distortion camera initialization fix

  3. Use CURL::libcurl instead of cmake variables

  4. Allow specifying lens flare and camera distortion texture format

  5. Camera distortion normalization improvement and fix folding

  6. Fix Windows compilation in Server.cc (not -> !)

Gazebo 11.6.0 (2021-06-09)

  1. Enable output of gzerr for SDF sibling elements of any type with same name, following the SDF 1.7 specification. Environment variable GAZEBO11_BACKWARDS_COMPAT_WARNINGS_ERRORS can be set to use the previous behaviour and do not report these problems.

  2. Allow specifying lens flare and camera distortion texture format

  3. Initialize the worldPoseDirty flag in Collision.cc

  4. Compile test plugins as MODULE instead of STATIC

  5. Add warning if GAZEBO_RESOURCE_PATH may not be set correctly

Gazebo 11.5.1 (2021-05-05)

  1. Avoid range-loop-construct in TopicManager

  2. Check for nullptr in TopicManager::ConnectPubToSub

Gazebo 11.5.0 (2021-04-20)

  1. Specify wide angle camera cube map texture format

  2. Protect DepthCameraPlugin globals with a mutex

  3. Avoid deadlock in ConnectionManager::Stop

  4. Optimize collision checking in ODE

  5. Fix size of spotlight visual

  6. Fix depth camera breaking shadows

  7. Fix color channel of point clouds from DepthCamera

  8. GpuRaySensor: validate scene existence

  9. LensFlare: allow inheritance

  10. Silence message conversion warning messages

Gazebo 11.4.0 (2021-04-01)

  1. Restore HeightmapShape::SetHeight implementation (#2955)

  2. Lens flare cleanup and colorization

  3. Fix build on Linux with conda-forge dependencies

  4. Fix build issues with OpenAL

  5. Do not overwrite default linker flags

  6. Fix support for camera with single channel floating point image format

  7. Fix performance metrics deadlock with multiple types of sensors

  8. Generate spot light shadow maps

  9. Fix find_package(gazebo) on Windows

  10. Fix namespace usage in console macros

  11. Ensure relocatable package config files

  12. DARTHeightmapShape: correctly load asymmetric terrains

  13. Set friction params in DARTCollision for dart 6.10

Gazebo 11.3.0 (2020-11-26)

  1. Added profiler to gazebo::rendering and gzclient

  2. SimpleTrackedVehiclePlugin: fix for boost 1.74

  3. Add support to compile the gazebo executable on Windows

  4. Support platforms in which qwt headers are not installed in a qwt directory

  5. Warn instead of fail for non-Earth Dem's on 20.04

  6. SearchForStuff: On Apple platforms do not search for uuid library

  7. Fix usage of relative paths with environment variables

  8. Support resource files with spaces

  9. Update TinyOBJLoader to v2.0.0rc8

Gazebo 11.2.0 (2020-09-30)

  1. Fix assumptions that CMAKE_INSTALL_*DIR paths are relative

  2. Accept relative paths in SDF files

  3. Add support for frame semantics with nested models in SDFormat 1.7

  4. Fix Actor collision if loop / auto_start false

  5. Allow gazebo to download models from Fuel in the sdf files, and worlds from command line

  6. Publish performance metrics

  7. Find OGRE correctly in a system with pkg-config but without OGRE .pc files

Gazebo 11.1.0 (2020-08-12)

  1. Synchronize time stepping of physics and sensors with --lockstep

  2. Enable DART support in gazebo11 .deb packages

  3. LensFlare: initialize OGRE compositors during plugin initialization

  4. Add gazebo common profiler

  5. Fix pkg-config boost entries for Ubuntu Focal

  6. Fix corruption when a URDF file is included from a SDFormat 1.6 model

  7. Preserve GAZEBO_MASTER_URI if set before setup.sh

  8. Fix sensor update rate throttling when new sensors are spawned

  9. Fix crash when collision size is zero

  10. LensFlare: initialize OGRE compositors during plugin initialization

  11. Fix pkg-config boost entries for Ubuntu Focal

  12. Fixes for ARM: FindSSE, TrackedVehiclePlugin and PluginInterfaceTest

  13. Fix multiple reflectance maps and improve performance

  14. Fixed fails for OSX: Added using namespace boost::placeholders

  15. Add SetHeight method to HeightmapShape class

  16. Fix problem with automoc in CMake 3.17

  17. Fix bounding box calculation for visuals that have links with pose offset

  18. Added reflectance to depth camera sensor

  19. Added normals to depth camera sensor

  20. Prevent crash when subscribing to depth camera image topic

Gazebo 11.0.0 (2020-01-30)

  1. Update to ignition citadel dependencies, c++17, cmake 3.10.

  2. Support SDFormat 1.7 frame semantics with libsdformat9.

  3. Add helper function PhysicsEngine::any_cast to handle std::any.

  4. Create Scene::UpdatePoses API to allow physics to directly update scene poses for server-side rendering, though it is not yet enabled.

  5. Add virtual functions to Sensor and other ABI changes needed to synchronize physics and rendering sensors.

  6. Modify build system to install dll in <prefix>/bin by default on Windows.

  7. MeshManager: add .stlb file extension support.

  8. SVG parsing: add lineto commands v,V,h,H.

  9. IOManager: PIMPL-ize class and use atomic_int for reference count.

  10. MeshManager: PIMPL-ize class.

  11. Add ABI-breaking change from pr 2768 protected ODEJoint::angleOffset[]

  12. Play logs as close to real time as possible.

  13. Actor: fix distortion when loaded with BVH animation.

  14. Fix many Ubuntu bionic compiler warnings and codecheck complaints

  15. Rename OpenAL types to remove _struct

  16. Update the gtest fork to fix c++17 bugs

  17. Cross port dynamic bias noise parameters from ign-sensors (random walk)

Gazebo 10

Gazebo 10.x.x (202x-xx-xx)

  1. DARTHeightmapShape: correctly load asymmetric terrains

  2. Set friction params in DARTCollision for dart 6.10

  3. Fix problem with automoc in CMake 3.17

  4. Added normals to depth camera sensor

  5. Prevent crash when subscribing to depth camera image topic

Gazebo 10.2.0 (2020-01-31)

  1. Fix gazebo build and run on Windows, Ogre 1.10

  2. Fix missing road segments in camera sensors

  3. Workaround for race condition when setting model scale.

  4. Fix compilation of plugins with tbb and qt 5.14.

  5. Fix plugin loading in example by fixing uninitialized variable in World and calling sensors::run_once().

  6. Windows: reduce WinSock header inclusion to limit name conflicts.

  7. Windows patches to build default

  8. Don't pass GCC linker options to Visual Studio linker.

  9. Fix deadlock between World::OnRequest and TopicManager::AddNode.

  10. Don't pass GCC linker options to Visual Studio linker.

  11. Fix CMake 3.14 regression in MSVC/PKG_CONFIG_FOUND workaround.

  12. ODEBallJoint: reduce console output.

  13. VariableGearboxPlugin: use splines to support arbitrary smooth input-output gearbox profiles.

  14. Fix moving model files in StaticMapPlugin

  15. Fix crash when loading submesh with no bone assignments.

  16. Fix cmake warnings about multi-line strings.

  17. MeshManager: add .stlb file extension support

  18. SystemPaths: fix race condition in PathDelimiter initialization, missing call to sdf::addURIPath.

  19. Actor: update collision pose when using ActorPlugin.

  20. Add Camera PreRender and PostRender events

  21. Fix ColladaLoader wrong node weights caused by buffer overflow bug

  22. ColladaLoader: use default value of 1 for stride parameter when unset.

  23. TopicManager: lock subscriberMutex anywhere subscribedNodes is used

  24. Export OGRE-* cmake variables in addition to OGRE_* variables

  25. Fix race conditions in Master::ProcessMessage and Publisher::OnPublishComplete

  26. Fix compilation of tests without DART installed.

  27. Fix build with DART 6.9, using 32-bit float for dart heightmap scale.

  28. Fix kinematic loops for DART 6.8, reverting to dart 6.7 behavior

  29. Enable extra kinematic loop test for DART 6.8+

  30. Lens flare: use light world pose at each time step instead of only at initialization

  31. LinkPlot3dPlugin: read optional <model> tag to find links in nested models

  32. Make the GPU laser warp artifact transparent

  33. Added support for tracked vehicles

  34. Fix windows plugin visibility.

  35. Fix loading sdf with orthographic projection camera

  36. Avoid windows macro DELETE conflict with ignition::fuel_tools::REST::DELETE.

  37. Fixes for finding OGRE with CMake config files.

  38. Fix missing link of ignition-common in gazebo_common

  39. Find TBB in cmake config files.

  40. Fix texture loading on OGRE 1.11, 1.12.

  41. Fix linking of opende with HAVE_BULLET.

  42. Allow gazebo rendering to compile with Ogre 1.11 / 1.12

  43. Fix compilation against Ogre compiled in debug mode

  44. SonarSensor: allow spherical collision shape.

  45. Backport camera intrinsics feature

  46. Fix CMake 3.14 regression in MSVC/PKG_CONFIG_FOUND workaround.

Gazebo 10.1.0 (2019-03-28)

  1. Refactor ODE gearbox joint implementation to match hinge joint

  2. Fix kinematic loops for DART 6.7 and later

  3. Windows: enable dynamic linking.

  4. Windows: fixing path-related issues.

  5. Windows: add setup.bat.in helper script template

  6. Fix mal-formed pkgconfig file: don't prepend duplicate -l

  7. Windows: fix test compilation

  8. Heightmap: cast shadows if <cast_shadows> tag is set

  9. Windows: ignore disabled interfaces in Connection::GetLocalEndpoint()

  10. Update trigger_light plugin example to use ignition-transport

  11. Fix ColladaLoader to support mixamo models and fix skeleton animation loading

Gazebo 10.0.0 (2019-01-31)

  1. Improve performance of IntrospectionManager

  2. Add geometry field to sonar.proto and private dataPtr to Actor class

  3. Dart heightmaps with bullet and ODE collision detectors

  4. Add record_resources field to gazebo log msgs

  5. Add methods to set dynamically Gaussian noise parameters

  6. Use tension trajectory parameter on actor script animation

  7. Add command to send a request with gz topic

  8. Force vertical field of view to be lower than 180 degrees

  9. Fixed issue which lead to reset of values on pressing enter in Joint Creator

  10. Removed material block from shapes.world

  11. Handle signal SIGTERM exactly the same way as SIGINT

  12. Displaying light direction on the world tree

  13. Plugin to initialize joint controller parameters

  14. Fix Enter in Link Inspector

  15. Display ODE contact points on disabled bodies

  16. Update Wind Plugin to support being used by Lift Drag Plugin

  17. Dart: create joints dynamically, support kinematic loops and HarnessPlugin

  18. Model Editor: Bounding collision shapes

Gazebo 9

Gazebo 9.xx.x (202x-xx-xx)

  1. Lens flare cleanup and colorization

  2. Fix support for camera with single channel floating point image format

  3. Fix performance metrics deadlock with multiple types of sensors

  4. Generate spot light shadow maps

Gazebo 9.16.0 (2020-11-24)

  1. Updated the version of TinyOBJLoader from 1.0.0 to 2.0.0rc8.

  2. Support resource files with spaces

  3. Fix physics based sensor update rate in lockstep mode

  4. Added Profiler to gazebo::rendering and gzclient

  5. Fix segfault when deleting an model that's being manipulated

  6. SimpleTrackedVehiclePlugin: fix for boost 1.74

  7. Add mutex to make Sensor::SetActive threadsafe

Gazebo 9.15.0 (2020-09-30)

  1. More enhancement for Windows build

  2. Fixed fails for OSX: Added using namespace boost::placeholders

  3. Add profiler

  4. ColladaLoader: fix cases where VERTEX and NORMAL share same polylist

  5. Fix assumptions that CMAKE_INSTALL_*DIR paths are relative

  6. Fix reflectance values for objects without a reflectance map

  7. Remove lighting param

  8. Publish performance metrics

  9. Improve transport::Publisher reliability

Gazebo 9.14.0 (2020-08-07)

  1. Lockstep between sensors and physics

  2. Fix race condition on Publisher shutdown

Gazebo 9.13.2 (2020-07-20)

  1. Fix sensor update rate throttling when new sensors are spawned

  2. Fix crash when collision size is zero

  3. LensFlare: initialize OGRE compositors during plugin initialization

  4. Fix pkg-config boost entries for Ubuntu Focal

  5. Fixes for ARM: FindSSE, TrackedVehiclePlugin and PluginInterfaceTest

Gazebo 9.13.1 (2020-05-28)

  1. Fix multiple reflectance maps and improve performance

Gazebo 9.13.0 (2020-04-03)

  1. Use target based compile options to specify C++ standard

  2. Add SetHeight method to HeightmapShape class

  3. Added GAZEBO_VISIBLE for WheelTrackedVehiclePlugin

  4. Fix bounding box calculation for visuals that have links with pose offset

  5. Added reflectance to depth camera sensor

  6. Fix problem with automoc in CMake 3.17

  7. Fix macOS gui examples compilation

  8. Added normals to depth camera sensor

  9. Prevent crash when subscribing to depth camera image topic

Gazebo 9.12.0 (2020-01-31)

  1. Fix gazebo9 build and run on Windows, Ogre 1.10

  2. Added support for flippers in SimpleTrackedVehiclePlugin.

  3. Fix missing road segments in camera sensors

  4. Workaround for race condition when setting model scale.

  5. Fix compilation of plugins with tbb and qt 5.14.

  6. Fix plugin loading in example by fixing uninitialized variable in World and calling sensors::run_once().

  7. Windows: reduce WinSock header inclusion to limit name conflicts.

  8. Fix deadlock between World::OnRequest and TopicManager::AddNode.

  9. Don't pass GCC linker options to Visual Studio linker.

  10. Fix CMake 3.14 regression in MSVC/PKG_CONFIG_FOUND workaround.

  11. Add Twist message and use in cmd_vel_twist of TrackedVehiclePlugin.

  12. Allow multiple instances of SimpleTrackedVehiclePlugin.

  13. ODEBallJoint: reduce console output.

  14. VariableGearboxPlugin: use splines to support arbitrary smooth input-output gearbox profiles.

  15. Fix moving model files in StaticMapPlugin

  16. Fix crash when loading submesh with no bone assignments.

  17. Fix cmake warnings about multi-line strings.

  18. MeshManager: add .stlb file extension support

  19. SystemPaths: fix race condition in PathDelimiter initialization, missing call to sdf::addURIPath.

  20. Actor: update collision pose when using ActorPlugin.

Gazebo 9.11.0 (2019-08-29)

  1. Add Camera PreRender and PostRender events

  2. Fix ColladaLoader wrong node weights caused by buffer overflow bug

Gazebo 9.10.0 (2019-07-12)

  1. ColladaLoader: use default value of 1 for stride parameter when unset.

  2. TopicManager: lock subscriberMutex anywhere subscribedNodes is used

  3. Export OGRE-* cmake variables in addition to OGRE_* variables

  4. Fix race conditions in Master::ProcessMessage and Publisher::OnPublishComplete

Gazebo 9.9.0 (2019-05-23)

  1. Backport camera intrinsics feature

  2. Fix kinematic loops for DART 6.8, reverting to dart 6.7 behavior

  3. Enable extra kinematic loop test for DART 6.8+

  4. Lens flare: use light world pose at each time step instead of only at initialization

  5. LinkPlot3dPlugin: read optional <model> tag to find links in nested models

  6. Refactor ODE gearbox joint implementation to match hinge joint

  7. Make the GPU laser warp artifact transparent

  8. Added support for tracked vehicles

  9. Fix loading sdf with orthographic projection camera

Gazebo 9.8.0 (2019-04-10)

  1. Fix kinematic loops for DART 6.7 and later

  2. Port introspection manager performance fix

  3. Windows: enable dynamic linking.

  4. Windows: fixing path-related issues.

  5. Windows: add setup.bat.in helper script template

  6. Fix mal-formed pkgconfig file: don't prepend duplicate -l

Gazebo 9.7.0 (2019-03-13)

  1. Windows: fix test compilation

  2. Heightmap: cast shadows if <cast_shadows> tag is set

  3. Windows: ignore disabled interfaces in Connection::GetLocalEndpoint()

  4. Update trigger_light plugin example to use ignition-transport

  5. Fix ColladaLoader to support mixamo models and fix skeleton animation loading

  6. Improve gpu laser and its sensor shutdown

  7. Added KeysToCmdVelPlugin for controlling robots using keyboard from gzclient

  8. Windows patches to build gazebo9

  9. Add MisalignmentPlugin which reports alignment between two poses

Gazebo 9.6.0 (2018-12-17)

  1. Don't search for boost signals component

  2. Fix saving heightmap cache

  3. Fix GUI plugins on Bionic + gz9

  4. Add method to get the link visual elements

  5. Add Plugin::LoadParam to improve plugin interface

  6. Fix gzclient on mojave with Qt 5.12

  7. Switch Time::Sleep from CLOCK_REALTIME to CLOCK_MONOTONIC on Linux

  8. Change sleep time larger than resolution message from gzerr to gzlog

  9. Fix DARTHingeJoint::SetAxis implementation (issue 2505)

  10. Plugin to initialize joint controller parameters

  11. static_map_plugin.cc: remove backup folder

  12. Fix regression test build -> gazebo9

Gazebo 9.5.0 (2018-11-19)

  1. Fix model bounding box

  2. Skip skyx in SSAO plugin

  3. Boost 1.68 support

  4. Use new sha1.hpp header location for recent boost

  5. Joint.hh: fix documentation for Set{Upp|Low}erLimit

  6. Fix for revolute2 joints that prevents links from teleporting to origin

  7. Fix for BulletFixedJoint when used with inertial matrices with non-zero values on their off-diagonal

  8. Adding WheelSlipPlugin: for adding wheel slip using ODE's contact parameters

  9. Adding JointController::SetForce API and extra test for WheelSlipPlugin

Gazebo 9.4.1 (2018-09-19)

  1. Revert pr 2923: "Handle signal SIGTERM exactly the same way as SIGINT"

Gazebo 9.4.0 (2018-09-18)

  1. Fix for the spawning light issue. This fix allows a light's visual to be turned on/off.

  2. Add joystick plugin and demo world

  3. Support toggling light visuals.

  4. Improve shutdown speed.

  5. Fix vertical lidar rays.

  6. Only use active interfaces in gazebo/transport.

  7. Trigger the stop event on sigint/sigterm.

  8. Include SDF header in rendering::Distortion

  9. More documentation to Model::CreateJoint()

  10. Improve ODE slip parameter behavior with multiple contact points

  11. Fix manipulating links in the model editor

  12. LOD skirt length

  13. Patch for visual message process

  14. Print joint_cmd deprecation warnings only one time

Gazebo 9.3.1 (2018-08-08)

  1. Fix for the spawning light issue

Gazebo 9.3.0 (2018-07-28)

  1. Add a LED plugin blinking visual objects

  2. Require ignition-fuel-tools 1.2 when finding package

  3. Add a flashlight plugin blinking lights attached on a model

  4. Fix manipulating links in the model editor

Gazebo 9.2.0 (2018-07-10)

  1. Fix SetCrop for multiple cameras and add SetCrop test

  2. Fix check terrain layer count in height map

  3. Fix build on homebrew with protobuf 3.6

  4. Attach lights to links cleanup and deprecate GetLight functions

Gazebo 9.1.1 (2018-06-08)

  1. Set the default model database URI to avoid a redirect

Gazebo 9.1.0 (2018-06-01)

  1. Fuel: Support models with full Fuel URLs in

  2. Fuel: List models by owner on insert menu

  3. Fueltools useragent

  4. Env var to enable Ignition Fuel

  5. Find DART with CONFIG to fix homebrew issue

  6. Added missing OGRE headers

  7. Handle signal SIGTERM exactly the same way as SIGINT

  8. Support custom find file callbacks

  9. Fix empty visual bounding box

  10. Make override keywords consistent in joint classes to fix clang warnings

  11. Fix BulletHingeJoint limits when child link has off-diagonal inertia

  12. Print some bullet console warnings only once

  13. Fix getting joint limits for BulletHingeJoint

  14. Fix build on hombrew with boost 1.67

  15. Set the default model database URI to avoid a redirect.

  16. Save model materials and meshes when logging

  17. Add Screen Space Ambient Occlusion visual plugin

  18. Fix ray intersection check in Scene::FirstContact

  19. Fix camera view control inside bounding box of large meshes

  20. Fix compilation with boost 1.67

  21. Fix compilation with ffmpeg4

  22. Fix Joint::SetPosition for HingeJoint

  23. Fix mouse movement ogre assertion error

  24. use QVERIFY() around qFuzzyCompare statements

  25. Fix normal maps on ubuntu with OGRE 1.9 and disable on OSX

  26. Support lens flare occlusion

  27. Diagnostics: record timing statistics instead of all timestamps

  28. Add trigger_light example for ContainPlugin tutorial

  29. Do not load model plugins during log playback.

  30. State log file playback can cause a sensor manager assert if there is a large period of inactivity. This PR outputs warning messages instead of using asserts.

  31. Fix model insertions during log playback.

  32. Simplify search logic for Qt5

  33. Fix log recording, only call sdf::initFile once

  34. Ensure sdf inertia values are consistent

  35. Fix gazebo7 + ogre 1.8 build error

  36. Fix OBJLoader when mesh has invalid material

  37. Fix clang warnings in LaserView and EnumIface

  38. Add support for moving geometry to ContainPlugin

  39. Support python3 with check_test_ran.py

  40. Don't shut down gazebo when removing a world

  41. Fix undefined behavior in ODESliderJoint

  42. Fix loading collada mesh that contains multiple texcoord sets with same offset

  43. Fix race conditions during client startup, and introduce Node::TryInit()

  44. Add support for Actor collisions.

  45. Process insertions and deletions on gz log echo

  46. Added a plugin to detect if an entity is inside a given volume in space

  47. Add Static Map Plugin for creating textured map model

  48. Fix deadlock when publishing to ~/light/factory topic

  49. Added a plugin to detect if an entity is inside a given volume in space

  50. Load actor plugin on ~/factory

  51. Add support for 16 bit Grayscale and RGB camera image types.

  52. Add Visual::SetMaterialShaderParam function for setting shader parameters.

  53. Adding accessors for velocity in ENU frame for gps sensor

  54. Fix DEM min elevation

  55. Update Color Clamp function

  56. Initialize laser retro value

  57. Allow marker requests to be received from server plugins.

Gazebo 9.0.0 (2018-01-25)

  1. Update to ign-transport4, ign-msgs1, ign-math4. Added dependency on only sdformat6, removing sdformat5.

  2. Provide option to preserve world velocity in Joint::SetPosition

  3. Rename BUILD_TYPE_* macros to GAZEBO_BUILD_TYPE_*

  4. Added World::SDF()

  5. Fix compile error with due to using gazebo::common::Color with sdformat 6

  6. Ignition Fuel Tools integration:

  7. Ignition Fuel support - model list * BitBucket pull request #2796

  8. Download a model from Ignition Fuel * BitBucket pull request #2800

  9. Export dependency on ignition-fuel-tools in cmake and pkgconfig files if it's found * BitBucket pull request #2850

  10. Avoid race condition between multiple writers to the same connection

  11. Deprecate gazebo::common::Color

  12. Updates to MovableText

  13. Mark constructors as explicit to fix cppcheck warnings

  14. Try finding both ignition math 3 or 4 until we switch to 4

  15. Replaced use of ignition::msgs::ImageStamped with ignition::msgs::Image

  16. Fix missing includes for boost lexical cast

  17. Try finding both sdformat 5 and 6 until we switch to 6

  18. HarnessPlugin: PIMPL and allow re-attaching

  19. DART: Update contact information also if physics engine is disabled

  20. Integration of DART-6

  21. Image Viewer: fix QImage::Format used to display grayscale images

  22. Fix compilation of some tests on Windows

  23. Remove Gazebo 8 deprecations

  24. Bullet: sending feedback on contact points on depth 0 as well

  25. Deprecate functions to set linear/angular acceleration

  26. Added GpuLaserDataIterator

  27. Added possibility to enforce contact computation

  28. Add function to retrieve scoped sensors name in multi-nested model

Gazebo 8

Gazebo 8.X.X (201X-XX-XX)

  1. Use new sha1.hpp header location for recent boost

  2. Joint.hh: fix documentation for Set{Upp|Low}erLimit

  3. Fix for revolute2 joints that prevents links from teleporting to origin

  4. Include SDF header in rendering::Distortion

  5. More documentation to Model::CreateJoint()

  6. Improve ODE slip parameter behavior with multiple contact points

  7. Fix for BulletFixedJoint when used with inertial matrices with non-zero values on their off-diagonal

  8. Fix manipulating links in the model editor

  9. LOD skirt length

  10. Patch for visual message process

  11. Print joint_cmd deprecation warnings only one time

  12. Adding WheelSlipPlugin: for adding wheel slip using ODE's contact parameters

  13. Adding JointController::SetForce API and extra test for WheelSlipPlugin

Gazebo 8.6.0 (2018-06-26)

  1. Fix SetCrop for multiple cameras and add SetCrop test

  2. Fix check terrain layer count in height map

  3. Fix build on homebrew with protobuf 3.6

  4. Fix GpuRaySensor vertical rays

Gazebo 8.5.0 (2018-06-08)

  1. Fix BulletHingeJoint limits when child link has off-diagonal inertia

  2. Print some bullet console warnings only once

  3. Fix getting joint limits for BulletHingeJoint

  4. Fix build on hombrew with boost 1.67

  5. Set the default model database URI to avoid a redirect.

  6. Save model materials and meshes when logging

  7. Add Screen Space Ambient Occlusion visual plugin

  8. Fix ray intersection check in Scene::FirstContact

  9. Fix camera view control inside bounding box of large meshes

  10. Fix compilation with boost 1.67

  11. Fix compilation with ffmpeg4

  12. Fix Joint::SetPosition for HingeJoint

  13. Fix mouse movement ogre assertion error

  14. use QVERIFY() around qFuzzyCompare statements

  15. Fix normal maps on ubuntu with OGRE 1.9 and disable on OSX

  16. Support lens flare occlusion

  17. Diagnostics: record timing statistics instead of all timestamps

  18. Add trigger_light example for ContainPlugin tutorial

  19. Do not load model plugins during log playback.

  20. State log file playback can cause a sensor manager assert if there is a large period of inactivity. This PR outputs warning messages instead of using asserts.

  21. Fix model insertions during log playback.

  22. Simplify search logic for Qt5

  23. Fix log recording, only call sdf::initFile once

  24. Ensure sdf inertia values are consistent

  25. Fix OBJLoader when mesh has invalid material

  26. Fix clang warnings in LaserView and EnumIface

  27. Add support for moving geometry to ContainPlugin

  28. Support python3 with check_test_ran.py

  29. Don't shut down gazebo when removing a world

  30. Fix undefined behavior in ODESliderJoint

  31. Fix loading collada mesh that contains multiple texcoord sets with same offset

  32. Fix race conditions during client startup, and introduce Node::TryInit()

Gazebo 8.3.0 (2018-02-10)

  1. Add support for Actor collisions.

  2. Process insertions and deletions on gz log echo

  3. Added a plugin to detect if an entity is inside a given volume in space

  4. Add Static Map Plugin for creating textured map model

  5. Added a plugin to detect if an entity is inside a given volume in space

  6. Load actor plugin on ~/factory

  7. Add support for 16 bit Grayscale and RGB camera image types.

  8. Add Visual::SetMaterialShaderParam function for setting shader parameters.

  9. Adding accessors for velocity in ENU frame for gps sensor

  10. Fix DEM min elevation

  11. Update Color Clamp function

  12. Fix inserting models with invalid submesh

  13. Move Connection header buffer from heap to stack to avoid race condition.

  14. Initialize laser retro value

  15. Shadow improvements

  16. Add light as child of link

  17. Add camera lens flare effect

  18. Image Viewer: fix QImage::Format used to display grayscale images

  19. Fix gazebo8 homebrew build (support tinyxml2 6.0.0)

  20. Allow marker requests to be received from server plugins.

  21. Call DisconnectNewImageFrame in the CameraPlugin destructor

  22. Add Static Map Plugin for creating textured map model

Gazebo 8.2.0 (2017-12-10)

  1. Fix Collision::GetWorldPose for non-canonical links (and friction directions)

  2. Joint control menu highlight active

  3. Fix inserted mesh scale during log playback

  4. rendering/UNIT_Grid_TEST: Fix test failure due to EXPECT_EQ on floats

  5. Diagnostics: enable test and don't create so many empty folders

  6. RenderEngine::SetupResources(): Fix resource locations being added multiple times

  7. Fix gui and rendering tests for gazebo8 + ogre1.9 on OSX

  8. Support off-diagonal inertia terms in bullet

  9. Parallelize ODE physics with threaded islands parameter

  10. Disable broken dart5 tests on gazebo8 branch

  11. Fix gazebo7 compile error with boost 1.58 for oculus support

  12. Logical Camera sees nested models

  13. Logical camera uses

  14. Removed std::cout logging output on deferred shading

  15. Update depth camera shaders version

  16. Replaced Ogre::SharedPtr constructor calls with 0 arguments

  17. Send message to subscribers only once per connection

  18. Fix disabling mesh cast shadows

  19. Fix gzclient shutdown segmentation fault with ogre 1.10

  20. Fix right-click segfault

  21. Joint control menu highlight active

  22. Don't use lib prefix for ogre plugins as of ogre1.9

  23. RenderEngine::SetupResources(): Fix resource locations being added multiple times

  24. Added and improved communications between the JointControlWidget and JointController

  25. Add function to retrieve scoped sensors name in multi-nested model

  26. Backport wide angle camera VM FSAA fix

  27. Add log record filter options

  28. Fix inertia parameters in friction_spheres.world

  29. ODE slip parameter example world and test

  30. Aligned collision and visual geometries for friction_dir_test.world

  31. Do not display COM or inertia visualizations for static models

  32. Fix index error in VClouds/DataManager.cpp

  33. Fix orbiting view around heightmap

  34. Fix configure script on windows

  35. Add option in gui.ini to disable the use of spacenav

  36. Test which demonstrates Simbody exception when manipulating object twice while paused

Gazebo 8.1.1 (2017-06-05)

  1. Add the option --gui-client-plugin to load GUI plugins. Leave -g to load System Plugins.

  2. Remove duplicate material block in ShadowCaster.material

  3. Fix race condition during Detach of HarnessPlugin

  4. Added support for pincushion distortion model; fixed bug where cameras with different distortion models would have the same distortion.

  5. Add actors in World as models so they get returned with World::Models()

  6. Refactor tests to use models from world file instead of dynamically spawning models

Gazebo 8.1.0 (2017-05-04)

  1. Fixed precompiled headers to work in more use-cases.

  2. Subdivide large heightmaps to fix LOD and support global texture mapping

  3. Added <collide_bitmask> support to bullet

  4. Fix linking when using HDF5_INSTRUMENT for logging ODE data

  5. Force / torque sensor visualization using WrenchVisual

  6. Cache heightmap tile data

  7. Add plugin for attaching lights to links in a model

  8. Support Heightmap LOD

  9. Support setting shadow texture size

  10. Fix deprecated sdf warnings produced by PluginToSDF

  11. Added TouchPlugin, which checks if a model has been in contact with another model exclusively for a certain time.

  12. Fixes -inf laser reading being displayed as +inf

  13. Proper exception handling for animated box example

  14. Fix examples compilation (#2177)

  15. Fix loading gui plugins and OSX framerate issue

  16. Fix ign-math3 deprecation warnings

  17. Re-order some gui tests to fix osx failures

Gazebo 8.0.0 (2017-01-25)

  1. Depend on ignition math3

  2. Use ignition math with ServerFixture

  3. Changed the type of FrictionPyramid::direction1 from gazebo::math::Vector3 to ignition::math::Vector3d.

  4. Added igntition::transport interfaces to header files

  5. Added ignition transport dependency, and output camera sensor images on an ignition transport topic.

  6. Fix restoring submesh material transparency

  7. Updated gz_log tool to use ignition::math.

  8. Updated the following rendering classes to use ignition::math: FPSViewController, JointVisual, OculusCamera, OrbitViewController, OrthoViewController, Projector, UserCamera, ViewController.

  9. Update examples to use ign-math.

  10. Update plugins to use ign-math.

  11. Use ignition math with rendering/Distortion and update function names.

  12. Updated COMVisual class to use ignition::math.

  13. Deprecate angle API from physics::Joint, in favor of using doubles

  14. PIMPL-ize gazebo/physics/Gripper and use ignition-math.

  15. Added VisualMarkers to the rendering engine. Visual markers support programmatic rendering of various shapes in a scene.

  16. Support version 5 of the DART Physics Engine.

  17. UserCamera overrides Camera::Render to reduce CPU usage.

  18. Static links no longer subscribe to wrench topics.

  19. Add Gazebo math helper functions to convert to and from Ignition Math objects.

  20. Add video recording of user camera. This change added an optional dependency on libavdevice>=56.4.100 for linux systems. When installed, libavdevice will allow a user to stream a simulated camera to a video4linux2 loopback device.

  21. Removed deprecations

  22. Include basic support for GNU Precompiled Headers to reduce compile time

  23. Plotting utility

  24. Renamed gazebo/gui/SaveDialog to gazebo/gui/SaveEntityDialog. A new SaveDialog class will be added in a future pull request. The migration guide will be updated with that pull request.

  25. Add FiducialCameraPlugin for Camera Sensors

  26. Fix Road2d vertices and shadows

  27. Rearrange GLWidget::OnMouseMove so that the more common use cases it fewer if statements. Use std::thread in place of boost in OculusWindow. Pragma statements to prevent warnings. Prevent variable hiding in WallSegmentItem.

  28. Use single pixel selection buffer for mouse picking

  29. Refactor Visual classes

  30. Windows plugins (with .dll extension) now accepted

  31. Add Introspection Manager and Client util

  32. Refactor Event classes and improve memory management.

  33. Remove EntityMakerPrivate and move its members to derived classes

  34. Conversion between ign-msgs and sdf, for plugin

  35. Change NULL to nullptr.

  36. Fix memory and other issues found from running Coverity.

  37. Deprecate gazebo::math

  38. Add Wind support

  39. Add const accessors to uri path and query

  40. Server generates unique model names in case of overlap, and added allow_renaming field to factory message.

  41. Adds an output option to gz log that allows the tool to filter a log file and write to a new log file.

  42. Add common::URI class

  43. Update Actor animations by faciliting skeleton visualization, control via a plugin. Also resolves issue #1785.

  44. Generalize actors to work even if not all elements are specified

  45. PIMPLize rendering/Grid

  46. Use only Gazebo's internal version of tinyxml2. The version of tinyxml2 distributed with Ubuntu fails when parsing large log files.

  47. Moved gazebo ODE includes to have correct include path

  48. Atmosphere model

  49. Added static camera when following a model.

  50. Get plugin info with Ignition transport service

  51. Support conversions between SDF and protobuf for more sensors.

  52. Fix ODE Ray-Cylinder collision, and added ability to instantiate stand alone MultiRayShapes.

  53. Update depth camera sensor to publish depth data over a topic.

  54. Add color picker to config widget and fix visual and collision duplication.

  55. Model editor updates

    1. Undo / redo inserting and deleting links
    1. Undo / redo inserting and deleting nested models
    1. Undo insert / delete joints
    1. Undo insert / delete model plugins
    1. Undo translate, rotate, snap and align links and nested models
    1. Undo scale links

  56. Google Summer of Code Graphical interface for inserting plugins during simulation.

    1. Display attached model plugins in the world tab / Add subheaders for model links, joints and plugins

Gazebo 7

Gazebo 7.X.X (2019-XX-XX)

Gazebo 7.16.1 (2019-07-28)

  1. Remove X11 call from Gazebo 7

  2. Update BitBucket links

  3. [backport Gazebo7] Fixed crash when collision size is zero

Gazebo 7.16.0 (2019-09-04)

  1. VariableGearboxPlugin: use splines to support arbitrary smooth input-output gearbox profiles

  2. Backport Camera PreRender and PostRender events

Gazebo 7.15.0 (2018-03-26)

  1. Don't search for boost signals component (support boost 1.69)

  2. Refactor ODE gearbox joint implementation to match hinge joint

  3. Use new sha1.hpp header location for recent boost (support boost 1.68)

  4. Add MisalignmentPlugin which reports alignment between two poses

  5. More documentation to Model::CreateJoint()

  6. Improve ODE slip parameter behavior with multiple contact points

  7. Fix for BulletFixedJoint when used with inertial matrices with non-zero values on their off-diagonal

  8. Adding WheelSlipPlugin: for adding wheel slip using ODE's contact parameters

  9. Adding JointController::SetForce API and extra test for WheelSlipPlugin

Gazebo 7.14.0 (2018-07-27)

  1. Fix manipulating links in the model editor

  2. LOD skirt length

  3. Patch for visual message process

  4. Fix build on homebrew with protobuf 3.6

  5. Fix GpuRaySensor vertical rays

Gazebo 7.13.1 (2018-06-15)

  1. Fix check terrain layer count in height map

Gazebo 7.13.0 (2018-06-08)

  1. Update model database URI

  2. Fix getting joint limits for BulletHingeJoint

  3. Save model materials and meshes when logging

  4. Fix build on hombrew with boost 1.67

  5. Add Screen Space Ambient Occlusion visual plugin

  6. Fix ray intersection check in Scene::FirstContact

  7. Fix camera view control inside bounding box of large meshes

  8. Fix compilation with boost 1.67

  9. Fix compilation with ffmpeg4

  10. Fix Joint::SetPosition for HingeJoint

  11. Use QVERIFY() around qFuzzyCompare statements

Gazebo 7.12.0 (2018-04-11)

  1. Fix mouse movement ogre assertion error

  2. Fix normal maps on ubuntu with OGRE 1.9 and disable on OSX

  3. Support lens flare occlusion

  4. Fix log recording, only call sdf::initFile once

  5. Fix OBJLoader when mesh has invalid material

  6. Fix clang warnings in LaserView and EnumIface

  7. Add support for moving geometry to ContainPlugin

  8. Support python3 with check_test_ran.py

  9. Fix undefined behavior in ODESliderJoint

  10. Fix loading collada mesh that contains multiple texcoord sets with same offset

  11. Fix race conditions during client startup, and introduce Node::TryInit()

  12. Diagnostics: record timing statistics instead of all timestamps

  13. Backport pull request #2890 to gazebo7 (fix logging)

  14. Add trigger_light example for ContainPlugin tutorial

  15. Backport pull request #2884 to gazebo7 (disable model plugin during playback)

Gazebo 7.11.0 (2018-02-12)

  1. Fix gazebo7 + ogre 1.8 build error

  2. Process insertions and deletions on gz log echo

  3. Add Static Map Plugin for creating textured map model

Gazebo 7.10.0 (2018-02-07)

  1. Add support for 16 bit Grayscale and RGB camera image types.

  2. Added a plugin to detect if an entity is inside a given volume in space

  3. Add Visual::SetMaterialShaderParam function for setting shader parameters.

  4. Adding accessors for velocity in ENU frame for gps sensor

  5. Fix DEM min elevation

  6. Update Color Clamp function

  7. Move Connection header buffer from heap to stack to avoid race condition.

  8. Initialize laser retro value

  9. Shadow improvements

  10. Add light as child of link

  11. Add camera lens flare effect

  12. Fix inserting models with invalid submesh

  13. Call DisconnectNewImageFrame in the CameraPlugin destructor

  14. Fix gazebo7 homebrew build (tinyxml2 6.0.0)

Gazebo 7.9.0 (2017-11-22)

  1. Diagnostics: enable test and don't create so many empty folders

  2. Parallelize ODE physics with threaded islands parameter

  3. Logical camera uses

  4. Support off-diagonal inertia terms in bullet

  5. Add option in gui.ini to disable the use of spacenav

  6. Fix disabling mesh cast shadows

  7. Do not display COM or inertia visualizations for static models

  8. Fix Collision::GetWorldPose for non-canonical links (and friction directions)

  9. Fix orbiting view around heightmap

  10. Logical Camera sees nested models

  11. Aligned collision and visual geometries for friction_dir_test.world

  12. Test which demonstrates Simbody exception when manipulating object twice while paused

  13. Send message to subscribers only once per connection

  14. Update depth camera shaders version

  15. Fix gazebo7 compile error with boost 1.58 for oculus support

  16. Fix gui and rendering tests for gazebo7 + ogre1.9 on OSX

  17. Fix right-click segfault

Gazebo 7.8.1 (2017-06-08)

  1. ODE slip parameter example world and test

  2. Fix inserted mesh scale during log playback

Gazebo 7.8.0 (2017-06-02)

  1. Add log record filter options

  2. Backport wide angle camera VM FSAA fix

  3. Add function to retrieve scoped sensors name in multi-nested model

Gazebo 7.7.0 (2017-05-04)

  1. Fix race condition during Detach of HarnessPlugin

  2. Added support for pincushion distortion model; fixed bug where cameras with different distortion models would have the same distortion.

  3. Added <collide_bitmask> support to bullet

  4. Fix linking when using HDF5_INSTRUMENT for logging ODE data

  5. Subdivide large heightmaps to fix LOD and support global texture mapping

Gazebo 7.6.0 (2017-03-20)

  1. Force / torque sensor visualization using WrenchVisual

  2. Cache heightmap tile data

  3. Add plugin for attaching lights to links in a model

  4. Support Heightmap LOD

  5. Support setting shadow texture size

  6. Fix deprecated sdf warnings produced by PluginToSDF

  7. Added TouchPlugin, which checks if a model has been in contact with another model exclusively for a certain time.

  8. Fixes -inf laser reading being displayed as +inf

  9. Fix memory leaks in tests

  10. Remove end year from copyright

Gazebo 7.5.0 (2017-01-11)

  1. Remove qt4 webkit in gazebo7 (used for HotkeyDialog).

  2. Support configuring heightmap sampling level

  3. Fix model.config dependency support, and add ability to reference textures using a URI.

  4. Fix DEM heightmap size, collision, scale

  5. Create ode_quiet parameter to silence solver messages

  6. Update QT render loop to throttle based on UserCamera::RenderRate.

  7. Generate visualization on demand, instead of on load. This helps to reduce load time.

  8. Added a plugin to teleoperate joints in a model with the keyboard.

  9. Add GUI items to change the user camera clip distance

  10. Support custom material scripts for heightmaps

  11. Sim events plugin accepts custom topics

  12. Model Editor: Show / hide collisions

  13. Model Editor: Show / hide visuals

  14. Model Editor: Show / hide link frames

Gazebo 7.4.0 (2016-10-11)

  1. Add test for HarnessPlugin, reduce likelihood of race condition

  2. Add syntax = proto2 in proto files to fix some protobuf3 warnings

  3. Add support for loading wavefront obj mesh files

  4. Added filesystem operations to the common library. Additions include cwd, exists, isDirectory, isFile, copyFile, and moveFile.

  5. Fix loading collada files with multiple texture coordinates.

  6. Added visualization of minimum range to laservisual.

  7. Use precision 2 for FPS display in TimePanel

  8. Switch ImuSensor::worldToReference transform from Pose to Quaternion

  9. Include Boost_LIBRARIES in the linking of gazebo_physics

  10. Backported KeyboardGUIPlugin and msgs::Any

  11. Use XML_SUCCESS enum instead of XML_NO_ERROR, which has been deleted in tinyxml2 4.0

  12. Ignore ffmpeg deprecation warnings to clean up CI since they are noted in #2002

  13. Added a visual blinking plugin

  14. Fix InertiaVisual for non-diagonal inertia matrices

Gazebo 7.3.1 (2016-07-13)

  1. Fix homebrew test failure of UNIT_ApplyWrenchDialog_TEST

  2. Fix MainWindow crash when window is minimized and maximized

Gazebo 7.3.0 (2016-07-12)

  1. Fix selecting ApplyWrenchVisual's force torque visuals

  2. Use ignition math in gazebo::msgs

  3. Parse command-line options for GUI plugins in Server to fix parsing of positional argument for world file. This fixes command-line parsing for gazebo -g gui_plugin.so.

  4. Added a harness plugin that supports lowering a model at a controlled rate

  5. Fix ogre log test on xenial+nvidia

  6. Redirect QT messages to Gazebo's console message handling system.

  7. Fix buoyancy plugin when multiple link tags are used within the plugin

  8. Remove contact filters with names that contain ::

  9. Fix Model Manipulator switching between local and global frames

  10. Remove duplicate code from cmake config file caused by bad merge

  11. Properly cleanup pointers when destroying a world with joints.

  12. Fix right click view options after deleting and respawning a model.

  13. Implement missing function: LogicalCamera::Topic()

Gazebo 7.2.0 (2016-06-13)

  1. Backport single pixel selection buffer for mouse picking

  2. Prevent mouse pan and orbit from deselecting entities in model editor

  3. Handle model manipulation tool RTS shortcuts in keyPress

  4. Reset ODE joint force feedback after world reset

  5. Update model editor snap to grid modifier key

  6. PIMPLize gui/model/ModelEditorPalette

  7. Properly cleanup pointers when destroying a blank world.

  8. Properly cleanup pointers when destroying a world with models and lights.

  9. Fix view control mouse focus in model editor

  10. Server generates unique model names in case of overlap

  11. Model Editor: Select and align nested models

Gazebo 7.1.0 (2016-04-07)

  1. fix: remove back projection

  2. Fix oculus 2 camera field of view

  3. Added BeforePhysicsUpdate world event

  4. Update gz sdf -c command line tool to use the new sdf::convertFile API.

  5. Backport depth camera OSX fix

  6. Feat load collision.sdf only once

  7. Update gui/building/Item API

  8. Semantic version class to compare model versions in the model database.

  9. Backport issue 1834 fix to gazebo7

  10. Backport ImagesView_TEST changes

  11. Backport pull request #2189 (mutex in Transport::Conection)

  12. Process insertions on World::SetState

  13. Process deletions on World::SetState

  14. Fix ray-cylinder collision

  15. Fix editing physics parameters in gzclient, update test

  16. Fix Audio Decoder test failure

  17. Add layers to building levels

  18. Allow dynamically adding links to a model.

  19. Fix editing physics parameters in gzclient, update test

  20. Model database selects the latest model version.

  21. Only link relevant libraries to tests

  22. PIMPLize gui/model/ModelCreator

  23. backport warning and test fixes from pull request #2177

  24. Prevent xml parser error from crashing LogPlay on osx -> gazebo7

  25. PIMPLize gui/building/ScaleWidget

  26. Fix using Shift key while scaling inside the model editor

  27. Backport fix for ign-math explicit constructors -> gazebo7

  28. Display physics engine type in the GUI

  29. Fix compilation against ffmpeg3 (libavcodec)

  30. Append a missing </gazebo_log> tag to log files when played.

  31. Add helper function QTestFixture::ProcessEventsAndDraw

  32. Add qt resources to gazebo gui library

  33. Undo scaling during simulation

  34. Fix SensorManager::SensorContainer::RunLoop sensor update time assertion

  35. Fix use of not initialized static attribute in Light class

  36. Install GuiTypes header

  37. Removes one function call and replaces a manual swap with std::swap in ODE heightfield.

  38. New world event: BeforePhysicsUpdate

  39. Model editor: Fix setting relative pose after alignment during joint creation.

  40. Model editor: Fix saving and spawning model with its original name

  41. Model editor: Fix inserting custom links

  42. Model editor: Reset visual / collision insertion / deletion

  43. Building editor: Add layers to building levels

  44. Building editor: Update gui/building/Item API

Gazebo 7.0.0 (2016-01-25)

  1. Add FollowerPlugin

  2. Fix circular dependency so that physics does not call the sensors API.

  3. Add Gravity and MagneticField API to World class to match sdformat change.

  4. Use opaque pointers and deprecate functions in the rendering library

  5. Use opaque pointers for the Master class.

  6. Use opaque pointers in the gui library

  7. Use more opaque pointers.

  8. Fix visual transparency issues

  9. Implemented private data pointer for the RTShaderSystem class. Minimized shader updates to once per render update.

  10. Updating physics library to use ignition math.

  11. Switching to ignition math for the rendering library.

  12. Removed deprecations

  13. Add ability to set the pose of a visual from a link.

  14. Copy visual visibility flags on clone

  15. Publish camera sensor image size when rendering is not enabled

  16. Added Poissons Ratio and Elastic Modulus for ODE.

  17. Update rest web plugin to publish response messages and display login user name in toolbar.

  18. Improve overall speed of log playback. Added new functions to LogPlay. Use tinyxml2 for playback.

  19. Improve SVG import. Added support for transforms in paths.

  20. Enter time during log playback

  21. Added Ignition Transport dependency.

  22. Make latched subscribers receive the message only once

  23. Implemented transport clear buffers

  24. KeyEvent constructor should be in a source file. Removed a few visibility flags from c functions. Windows did not like CPPTYPE_* in gazebo/gui/ConfigWidget.cc, so I replaced it with TYPE_*.

  25. Added wide angle camera sensor.

  26. Change the near and far members of gazebo/msgs/logical_camera_sensors.proto to near_clip and far_clip

  27. Resolve issue #1702

  28. Update physics when the world is reset

  29. Light and light state for the server side

  30. Add scale to model state so scaling works on log/playback.

  31. Added tests for WorldState

  32. Rename Reset to Reset Time in time widget

  33. Set QTestfFxture to verbose

  34. Added torsional friction

  35. Support loading and spawning nested models

  36. Undo user motion commands during simulation, added physics::UserCmdManager and gui::UserCmdHistory.

  37. Forward user command messages for undo.

  38. Undo reset commands during simulation, forwarding commands

  39. Undo apply force / torque during simulation

  40. Add function to get the derived scale of a Visual

  41. Added EnumIface, which supports iterators over enums.

  42. Added RegionEventBoxPlugin - fires events when models enter / exit the region

  43. Added tests for checking the playback control via messages.

  44. Added LoadArgs() function to ServerFixture for being able to load a server using the same arguments used in the command line.

  45. Added battery class, plugins and test world.

  46. Display gearbox and screw joint properties in property tree

  47. Set window flags for dialogs and file dialogs

  48. Fix minimum window height

  49. Add option to reverse alignment direction

  50. Fix unadvertising a publisher - only unadvertise topic if it is the last publisher.

  51. Log playback GUI for multistep, rewind, forward and seek

  52. Added Apply Force/Torque movable text

  53. Added cascade parameter (apply to children) for Visual SetMaterial, SetAmbient, SetEmissive, SetSpecular, SetDiffuse, SetTransparency

  54. Tweaks to Data Logger, such as multiline text edit for path

  55. Added TopToolbar and hide / disable several widgets according to WindowMode

  56. Added Visual::IsAncestorOf and Visual::IsDescendantOf

  57. Added msgs::PluginFromSDF and tests

  58. Added msgs::CollisionFromSDF msgs::SurfaceFromSDF and msgs::FrictionFromSDF

  59. Added hotkeys chart dialog

  60. Space bar to play / pause

  61. Make it possible to create custom ConfigWidgets

  62. AddItem / RemoveItem / Clear enum config widgets

  63. Make all child ConfigWidgets emit signals.

  64. Refactored makers

  65. Added gui::Conversions to convert between Gazebo and Qt

  66. Model editor updates

    1. Support adding model plugins in model editor
    1. Added support for copying and pasting top level nested models
    1. Make non-editable background models white in model editor
    1. Choose / swap parent and child links in joint inspector
    1. Presets combo box for Vector3 config widget
    1. Added support for more joint types (gearbox and fixed joints).
    1. Added support for selecting links and joints, opening context menu and inspectors in Schematic View.
    1. Color-coded edges in Schematic View to match joint color.
    1. Scale link mass and inertia when a link is scaled
    1. Add density widget to config widget and link inspector
    1. Added icons for child and parent link in joint inspector
    1. Load and save nested models
    1. Display model plugins on the left panel and added model plugin inspector
    1. Context menu and deletion for model plugins
    1. Delete self from inspector
    1. Apply inspector changes in real time and add reset button
    1. Set physics to be paused when exiting model editor mode
    1. Add Insert tab to model editor
    1. Support inserting nested models from model maker
    1. Added joint creation dialog
    1. Added reverse checkboxes to joint creation dialog
    1. Use opaque pointers in the model editor
    1. Support joint creation between links in nested model.

  67. Building editor updates

    1. Use opaque pointers in the building editor
    1. Use opaque pointers for GrabberHandle, add *LinkedGrabbers functions
    1. Removed unused class: BuildingItem
    1. Use opaque pointers for BuildingModelManip, move attachment logic to BuildingMaker
    1. Use opaque pointers for all Dialog classes, add conversion from QPointF, move common logic to BaseInspectorDialog.

Gazebo 6.0

Gazebo 6.7.0 (201X-01-12)

  1. Add vector3 and quaternion rendering conversions

  2. Reverse view angle widget left and right view

  3. Fix race condition in ~TimePanelPrivate (#1919)

  4. Prevent orthographic camera from resetting zoom after animation

  5. Fix MeshToSDF missing scale issue

  6. Register Qt metatypes in gui tests

  7. Fix resetting model to initial pose

Gazebo 6.6.0 (2016-04-07)

  1. fix: remove back projection

  2. Backport depth camera OSX fix and test

  3. Add missing tinyxml includes (gazebo6)

  4. Fix ray-cylinder collision in ode

  5. backport fixes for ffmpeg3 to gazebo6 (from pull request #2154)

  6. Install shapes_bitmask.world

  7. Add gazebo_client to gazebo.pc (gazebo6)

  8. Fix removing multiple camera sensors that have the same camera name

  9. Ensure that LINK_FRAME_VISUAL arrow components are deleted (#1812)

  10. add migration notes for gazebo::setupClient to gazebo::client::setup

  11. Update inertia properties during simulation: part 2

  12. Fix minimum window height

  13. Backport gpu laser test fix

  14. Relax physics tolerances for single-precision bullet (gazebo6)

  15. Fix minimum window height

  16. backport model editor fixed joint option to gazebo6

  17. Update shaders once per render update

  18. Relax physics tolerances for single-precision bullet

  19. Fix visual transparency issues

  20. fix memory corruption in transport/Publisher.cc

  21. Add test for SphericalCoordinates::LocalFromGlobal

Gazebo 6.5.1 (2015-10-29)

  1. Fix removing multiple camera sensors that have the same camera name.

  2. Backport model editor toolbar fixed joint option from BitBucket pull request #1794

  3. Fix minimum window height

  4. Fix visual transparency issues

Gazebo 6.5.0 (2015-10-22)

  1. Added ability to convert from spherical coordinates to local coordinates.

Gazebo 6.4.0 (2015-10-14)

  1. Fix ABI problem. Make Sensor::SetPose function non virtual.

  2. Update inertia properties during simulation

  3. Fix transparency correction for opaque materials

Gazebo 6.3.0 (2015-10-06)

  1. Added Sensor::SetPose function

Gazebo 6.2.0 (2015-10-02)

  1. Update physics when the world is reset

  2. Added Copy constructor and assignment operator to MouseEvent

Gazebo 6.1.0 (2015-08-02)

  1. Added logical_camera sensor.

  2. Added RandomVelocityPlugin, which applies a random velocity to a model's link.

  3. Sim events for joint position, velocity and applied force

Gazebo 6.0.0 (2015-07-27)

  1. Added magnetometer sensor. A contribution from Andrew Symington.

  2. Added altimeter sensor. A contribution from Andrew Symington.

  3. Implement more control options for log playback:

  4. Rewind: The simulation starts from the beginning.

  5. Forward: The simulation jumps to the end of the log file.

  6. Seek: The simulation jumps to a specific point specified by its simulation time. * BitBucket pull request #1737

  7. Added Gazebo splash screen

  8. Added a transporter plugin which allows models to move from one location to another based on their location and the location of transporter pads.

  9. Implement forward/backwards multi-step for log playback. Now, the semantics of a multi-step while playing back a log session are different from a multi-step during a live simulation. While playback, a multi-step simulates all the intermediate steps as before, but the client only perceives a single step. E.g: You have a log file containing a 1 hour simulation session. You want to jump to the minute 00H::30M::00S to check a specific aspect of the simulation. You should not see continuous updates until minute 00H:30M:00S. Instead, you should visualize a single jump to the specific instant of the simulation that you are interested.

  10. Added browse button to log record dialog.

  11. Improved SVG support: arcs in paths, and contours made of multiple paths.

  12. Added simulation iterations to the world state.

  13. Added multiple LiftDrag plugins to the cessna_demo.world to allow the Cessna C-172 model to fly.

  14. Added a plugin to control a Cessna C-172 via messages (CessnaPlugin), and a GUI plugin to test this functionality with the keyboard (CessnaGUIPlugin). Added world with the Cessna model and the two previous plugins loaded (cessna_demo.world).

  15. Added world with OSRF building and an elevator

  16. Fixed collide bitmask by changing default value from 0x1 to 0xffff.

  17. Added a plugin to control an elevator (ElevatorPlugin), and an OccupiedEvent plugin that sends a message when a model is within a specified region.

  18. Added Layers tab and meta information for visuals.

  19. Added countdown behavior for common::Timer and exposed the feature in TimerGUIPlugin.

  20. Added BuoyancyPlugin for simulating the buoyancy of an object in a column of fluid.

  21. Added ComputeVolume function for simple shape subclasses of Shape.hh.

  22. Add option to parallelize the ODE quickstep constraint solver, which solves an LCP twice with different parameters in order to corrected for position projection errors.

  23. Get/Set user camera pose in GUI.

  24. Added ViewAngleWidget, removed hard-coded reset view and removed MainWindow::Reset(). Also added GLWidget::GetSelectedVisuals().

  25. Windows support. This consists mostly of numerous small changes to support compilation on Windows.

  26. Install libgazebo_server_fixture. This will facilitate tests external to the main gazebo repository. See examples/stand_alone/test_fixture.

  27. Laser visualization renders light blue for rays that do not hit obstacles, and dark blue for other rays.

  28. Add VisualType enum to Visual and clean up visuals when entity is deleted.

  29. Alert user of connection problems when using the REST service plugin

  30. ignition-math is now a dependency.

  31. Detect uuid library during compilation.

  32. New accessors in LogPlay class.

  33. Added a plugin to send messages to an existing website. Added gui::MainWindow::AddMenu and msgs/rest_error, msgs/rest_login, msgs rest/post

  34. Fix deprecation warnings when using SDFormat 3.0.2, 3.0.3 prereleases

  35. Use GAZEBO_CFLAGS or GAZEBO_CXX_FLAGS in CMakeLists.txt for example plugins

  36. Added Link::OnWrenchMsg subscriber with test

  37. Show/hide GUI overlays using the menu bar.

  38. Added world origin indicator rendering::OriginVisual.

  39. Show/hide toolbars using the menu bars and shortcut. Added MainWindow::CloneAction. Added Window menu to Model Editor.

  40. Added event to show/hide toolbars.

  41. Added optional start/stop/reset buttons to timer GUI plugin.

  42. Timer GUI Plugin: Treat negative positions as positions from the ends

  43. Added Visual::GetDepth() and Visual::GetNthAncestor()

  44. Added a context menu for links

  45. Separate TimePanel's display into TimeWidget and LogPlayWidget.

  46. Display confirmation message after log is saved

  47. Added LogPlayView to display timeline and LogPlaybackStatistics message type.

  48. Added Time::FormattedString and removed all other FormatTime functions.

  49. Added support for Oculus DK2

  50. Use collide_bitmask from SDF to perform collision filtering

  51. Pass Coulomb surface friction parameters to DART.

  52. Added ModelAlign::SetHighlighted

  53. Added various Get functions to Visual. Also added a ConvertGeometryType function to msgs.

  54. Get and Set visibility of SelectionObj's handles, with unit test.

  55. Set material of SelectionObj's handles.

  56. Add SelectionObj::Fini with tests and make Visual::Fini virtual

  57. Allow link selection with the mouse if parent model already selected.

  58. Added ModelRightMenu::EntityTypes.

  59. Scale joint visuals according to link size.

  60. Added Gazebo/CoM material.

  61. Added arc parameter to MeshManager::CreateTube

  62. Added View Inertia and InertiaVisual, changed COMVisual to sphere proportional to mass.

  63. Added View Link Frame and LinkFrameVisual. Visual::SetTransparency goes into texture_unit.

  64. Changed the position of Save and Cancel buttons on editor dialogs

  65. Fixed Visual material updates

  66. Added Matrix3::Inverse() and tests

  67. Implemented AddLinkForce for ODE.

  68. Updated ConfigWidget class to parse enum values.

  69. Added PresetManager to physics libraries and corresponding integration test.

  70. Sync name and location on SaveDialog.

  71. Added Apply Force/Torque dialog

  72. Added Apply Force/Torque visuals

  73. Added Apply Force/Torque OnMouseRelease and ActivateWindow

  74. Added Apply Force/Torque mouse interactions, modes, activation

  75. Added inertia pose getter for COMVisual and COMVisual_TEST

  76. Model editor updates

    1. Joint preview using JointVisuals.
    1. Added inspector for configuring link, visual, and collision properties.
    1. Saving, exiting, generalizing SaveDialog.
    1. Inspectors redesign
    1. Edit existing model.
    1. Add joint inspector to link's context menu.
    1. Added button to select mesh file on inspector.
    1. Renamed Part to Link.
    1. Fix snapping inside editor.
    1. Moved DataLogger from Window menu to the toolbar and moved screenshot button to the right.
    1. Keep loaded model's name.
    1. Added ExtrudeDialog.
    1. Hide time panel inside editor and keep main window's paused state.
    1. Fixed pose issues and added ModelCreator_TEST.
    1. Added list of links and joints.
    1. Expose API to support adding items to the palette.
    1. Added menu for toggling joint visualization
    1. Add schematic view to model editor

  77. Building editor updates

    1. Make palette tips tooltip clickable to open.
    1. Add measurement unit to building inspectors.
    1. Add BaseInspectorDialog as a base class for inspectors.

Gazebo 5.0

Gazebo 5.4.0 (2017-01-17)

  1. Check FSAA support when creating camera render textures

  2. Fix mouse picking with transparent visuals

  3. Backport fix for DepthCamera visibility mask

  4. Backport sensor reset fix

  5. Fix model snap tool highlighting

Gazebo 5.3.0 (2015-04-07)

  1. fix: remove back projection

  2. Backport depth camera OSX fix and test

  3. Add missing tinyxml includes

  4. backport fixes for ffmpeg3 to gazebo5 (from pull request #2154)

  5. Check for valid display using xwininfo -root

  6. Don't search for sdformat4 on gazebo5, since gazebo5 can't handle sdformat protocol 1.6

  7. Fix minimum window height

  8. Relax physics tolerances for single-precision bullet

  9. Try finding sdformat 4 in gazebo5 branch

  10. Fix_send_message (backport of pull request #1951)

  11. Export the media path in the cmake config file.

  12. Shorten gearbox test since it is failing via timeout on osx

Gazebo 5.2.1 (2015-10-02)

  1. Fix minimum window height

Gazebo 5.2.0 (2015-10-02)

  1. Initialize sigact struct fields that valgrind said were being used uninitialized

  2. Add missing ogre includes to ensure macros are properly defined

  3. Use ToSDF functions to simplify physics_friction test

  4. Added lines to laser sensor visualization

  5. Fix BulletSliderJoint friction for bullet 2.83

  6. Fix heightmap model texture loading.

  7. Disable failing pr2 test for dart

Gazebo 5.1.0 (2015-03-20)

  1. Backport pull request #1527 (FindOGRE.cmake for non-Debian systems)

  2. Respect system cflags when not using USE_UPSTREAM_CFLAGS

  3. Allow light manipulation

  4. Allow sdformat 2.3.1+ or 3+ and fix tests

  5. Add Link::GetWorldAngularMomentum function and test.

  6. Preserve previous GAZEBO_MODEL_PATH values when sourcing setup.sh

  7. Implement Coulomb joint friction for DART

  8. Fix simple shape normals.

  9. Use Msg-to-SDF conversion functions in tests, add ServerFixture::SpawnModel(msgs::Model).

  10. Added Model Msg-to-SDF conversion functions and test.

  11. Added Joint Msg-to-SDF conversion functions and test.

  12. Added Visual, Material Msg-to-SDF conversion functions and ShaderType to string conversion functions.

  13. Implement Coulomb joint friction for BulletSliderJoint

Gazebo 5.0.0 (2015-01-27)

  1. Support for using digital elevation maps has been added to debian packages.

  2. C++11 support (C++11 compatible compiler is now required)

  3. Implemented private data pointer for the World class.

  4. Implemented private data pointer for the Scene class.

  5. Added a events::Event::resetWorld event that is triggered when World::Reset is called.

  6. Fixed math::Box::GetCenter functionality.

  7. Added a GUI timer plugin that facilitates the display and control a timer inside the Gazebo UI.

  8. Added ability to load plugins via SDF.

  9. Added GUIEvent to hide/show the left GUI pane.

  10. Modified KeyEventHandler and GLWidget so that hotkeys can be suppressed by custom KeyEvents set up by developers

  11. Added ability to read the directory where the log files are stored.

  12. Implemented a simulation cloner

  13. Added GUI overlay plugins. Users can now write a Gazebo + QT plugin that displays widgets over the render window.

  14. Change behavior of Joint::SetVelocity, add Joint::SetVelocityLimit(unsigned int, double)

  15. Implement Coulomb joint friction for ODE

  16. Implement Coulomb joint friction for BulletHingeJoint

  17. Implemented camera lens distortion.

  18. Kill rogue gzservers left over from failed INTEGRATION_world_clone tests and improve robustness of UNIT_gz_TEST

  19. Added RenderWidget::ShowToolbar to toggle visibility of top toolbar.

  20. Fix joint axis visualization.

  21. Change UserCamera view control via joysticks. Clean up rate control vs. pose control. see UserCamera::OnJoyPose and UserCamera::OnJoyTwist. Added view twist control toggle with joystick button 1.

  22. Added RenderWidget::GetToolbar to get the top toolbar and change its actions on ModelEditor.

  23. Added accessor for MainWindow graphical widget to GuiIface.

  24. Added a ConfigWidget class that takes in a google protobuf message and generates widgets for configuring the fields in the message

  25. Added GLWidget::OnModelEditor when model editor is triggered, and MainWindow::OnEditorGroup to manually uncheck editor actions.

  26. Added Collision, Geometry, Inertial, Surface Msg-to-SDF conversion functions.

  27. Added "button modifier" fields (control, shift, and alt) to common::KeyEvent.

  28. Added inputs for environment variable GAZEBO_GUI_INI_FILE for reading a custom .ini file.

  29. Fixed crash on "permission denied" bug, added insert_model integration test.

  30. Enable simbody joint tests, implement SimbodyJoint::GetParam, create Joint::GetParam, fix bug in BulletHingeJoint::SetParam.

  31. Building editor updates

    1. Fixed inspector resizing.
    1. Doors and windows move proportionally with wall.
    1. Inspector dialogs stay on top.
    1. Make model name editable on palette.
    1. Import background image and improve add/delete levels.
    1. Fix changing draw mode.
    1. Tips on palette's top-right corner.
    1. New buttons and layout for the palette.
    1. Individual wall segments instead of polylines.
    1. Fix exiting and saving, exiting when there's nothing drawn, fix text on popups.
    1. Display measure for selected wall segment.
    1. Highlight selected item's 3D visual.
    1. Added color picker to inspector dialogs.
    1. Snapping on by default, off holding Shift. Improved snapping.
    1. Snap walls to length increments, moved scale to SegmentItem and added Get/SetScale, added SegmentItem::SnapAngle and SegmentItem::SnapLength.
    1. Make buildings available in "Insert Models" tab, improve save flow.
    1. Added EditorItem::SetHighlighted.
    1. Current level is transparent, lower levels opaque, higher levels invisible.
    1. Detach all child manips when item is deleted, added BuildingMaker::DetachAllChildren.
    1. Added texture picker to inspector dialogs.
    1. Measures for doors and windows. Added RectItem::angleOnWall and related Get/Set.
    1. Added Gazebo/BuildingFrame material to display holes for doors and windows on walls.
    1. Added Gazebo/Bricks material to be used as texture on the building editor.
    1. Pick colors from the palette and assign on 3D view. Added mouse and key event handlers to BuildingMaker, and events to communicate from BuildingModelManip to EditorItem.
    1. Pick textures from the palette and assign in 3D view.

  32. Model editor updates

    1. Fix adding/removing event filters .
    1. Enabled multi-selection and align tool inside model editor.
    1. Enabled snap mode inside model editor.
    1. Implemented copy/pasting of links.

  33. GUI publishes model selection information on ~/selection topic.

Gazebo 4.0

Gazebo 4.x.x (2015-xx-xx)

  1. Fix build for Bullet 2.83, enable angle wrapping for BulletHingeJoint

Gazebo 4.1.3 (2015-05-07)

  1. Fix saving visual geom SDF values
  2. Fix heightmap model texture loading.
  3. Fix visual collision scale on separate client
  4. Fix several clang compiler warnings
  5. Fix blank save / browse dialogs

Gazebo 4.1.2 (2015-03-20)

  1. Fix quaternion documentation: target Gazebo_4.1
  2. Speed up World::Step in loops
  3. Reduce selection buffer updates -> 4.1
  4. Fix loading of SimbodyPhysics parameters
  5. Fix heightmap on OSX -> 4.1
  6. Remove extra pose tag in a world file that should not be there
  7. Better fix for #236 for IMU that doesn't require ABI changes
  8. Fix regression of #236 for ImuSensor in 4.1
  9. Preserve previous GAZEBO_MODEL_PATH values when sourcing setup.sh
  10. issue #857: fix segfault for simbody screw joint when setting limits due to uninitialized limitForce.
  11. Allow multiple contact sensors per link (#960)
  12. Fix for issue #351, ODE World Step
  13. Disable failing InelasticCollision/0 test (#1394)
  14. Prevent out of bounds array access in SkidSteerDrivePlugin (found by cppcheck 1.68)

Gazebo 4.1.1 (2015-01-15)

  1. Fix BulletPlaneShape bounding box (#1265)
  2. Fix dart linking errors on osx
  3. Update to player interfaces
  4. Handle GpuLaser name collisions (#1403)
  5. Add checks for handling array's with counts of zero, and read specular values
  6. Fix model list widget test
  7. Fix ogre includes

Gazebo 4.1.0 (2014-11-20)

  1. Modified GUI rendering to improve the rendering update rate.
  2. Add ArrangePlugin for arranging groups of models. Also add Model::ResetPhysicsStates to call Link::ResetPhysicsStates recursively on all links in model.
  3. The gz model command line tool will output model info using either -i for complete info, or -p for just the model pose.
  4. Added SignalStats class for computing incremental signal statistics.
  5. Add InitialVelocityPlugin to setting the initial state of links
  6. Added Quaternion::Integrate function.
  7. Added ConvertJointType functions, display more joint info on model list.
  8. Added ModelListWidget::AddProperty, removed unnecessary checks on ModelListWidget.
  9. Fix loading collada meshes with unsupported input semantics.

Gazebo 4.0.2 (2014-09-23)

  1. Fix and improve mechanism to generate pkgconfig libs
  2. Added arat.world
  3. Update gzprop to output zip files.
  4. Make Collision::GetShape a const function
  5. Install missing physics headers
  6. Remove SimbodyLink::AddTorque console message
  7. Fix log xml

Gazebo 4.0.0 (2014-08-08)

  1. Added lcov support to cmake
  2. Fixed memory leak in image conversion
  3. Removed deprecated function
  4. Improved collada loading performance
  5. Implemented a collada exporter
  6. Force torque sensor now makes use of sensor's pose.
  7. Fix Model::GetLinks segfault
  8. Fix deleting and saving lights in gzserver
  9. Fix Collision::GetWorldPose. The pose of a collision would not update properly.
  10. Fixed the animate_box and animate_joints examples
  11. Integrated Oculus Rift functionality
  12. Updated Base::GetScopedName
  13. Fix collada loader from adding duplicate materials into a Mesh
  14. Integrated Razer Hydra functionality
  15. Added ability to copy and paste models in the GUI
  16. Removed unnecessary inclusion of gazebo.hh and common.hh in plugins
  17. Added ability to specify custom road textures
  18. Added support for DART 4.1
  19. Allow position of joints to be directly set.
  20. Added extruded polyline geometry
  21. Fixed actor animation
  22. Generate a versioned cmake config file
  23. Added KMeans class
  24. Added --summary-range feature to github pullrequest tool
  25. Updated web links
  26. Update tests

Gazebo 3.0

Gazebo 3.x.x (yyyy-mm-dd)

  1. Fixed sonar and wireless sensor visualization
  2. Update visual bounding box when model is selected

Gazebo 3.1.0 (2014-08-08)

  1. Implemented Simbody::Link::Set*Vel
  2. Added World::RemoveModel function
  3. Fix exit from camera follow mode using the escape key
  4. Added support for SDF joint spring stiffness and reference positions
  5. Removed the gzmodel_create script
  6. Added Vector2 dot product
  7. Added SetPositionPID and SetVelocityPID to JointController
  8. Fix gzclient startup crash with ogre 1.9
  9. Update the github_pullrequests tool
  10. Light properties now remain in place after move by the user via the GUI.
  11. Allow position of joints to be directly set.

Gazebo 3.0.0 (2014-04-11)

  1. Fix bug when deleting the sun light
  2. Fix ODE screw joint
  3. Update joint integration tests
  4. Fixed false positives in cppcheck.
  5. Made joint axis reference frame relative to child, and updated simbody and dart accordingly.
  6. Added ability to pass vector of strings to SetupClient and SetupServer
  7. Fix error correction in screw constraints for ODE
  8. Improved pkgconfig with SDF
  9. Added a plugin to simulate aero dynamics
  10. Updated bullet support
  11. Updated simbody support
  12. Updated worlds to SDF 1.5
  13. Improvements to ODE
  14. New command line tool
  15. Graphical user interface improvements
  16. Created a friction pyramid class
  17. Added GetWorldEnergy functions to Model, Joint, and Link
  18. Preparing Gazebo for admission into Ubuntu
  19. Add method for querying if useImplicitStiffnessDamping flag is set for a given joint
  20. Fix joint axis frames
  21. Compute joint anchor pose relative to parent
  22. Cleanup the installed worlds
  23. Update to the GPS sensor
  24. Removed libtool from plugin loading
  25. Added functions to get inertial information for a link in the world frame.

Gazebo 2.0

Gazebo 2.2.6 (2015-09-28)

  1. Backport fixes to setup.sh from pull request #1430 to 2.2 branch
  2. Fix heightmap texture loading (2.2)
  3. Prevent out of bounds array access in SkidSteerDrivePlugin (found by cppcheck 1.68)
  4. Fix build with boost 1.57 for 2.2 branch (#1399)
  5. Fix manpage test failures by incrementing year to 2015
  6. Fix build for OS X 10.10 (#1304, #1289)
  7. Restore ODELink ABI, use Link variables instead (#1354)
  8. Fix inertia_ratio test
  9. backport collision visual fix -> 2.2
  10. Fix two code_check errors on 2.2
  11. issue #243 fix Link::GetWorldLinearAccel and Link::GetWorldAngularAccel for ODE

Gazebo 2.2.3 (2014-04-29)

  1. Removed redundant call to World::Init
  2. Return proper error codes when gazebo exits
  3. Fixed Camera::GetWorldRotation().
  4. Fixed memory leak in image conversion

Gazebo 2.2.1 (xxxx-xx-xx)

  1. Fix heightmap model texture loading.

Gazebo 2.2.0 (2014-01-10)

  1. Fix compilation when using OGRE-1.9 (full support is being worked on)
  2. Added unit test for issue 624.
  3. Use 3x3 PCF shadows for smoother shadows.
  4. Update manpage copyright to 2014.
  5. Added friction integration test .
  6. Fix joint anchor when link pose is not specified.
  7. Added (ESC) tooltip for GUI Selection Mode icon.
  8. Removed old comment about resolved issue.
  9. Made SimbodyLink::Get* function thread-safe
  10. Suppressed spurious gzlog messages in ODE::Body
  11. Fixed Force Torque Sensor Test by properly initializing some values.
  12. Added breakable joint plugin to support breakable walls.
  13. Used different tuple syntax to fix compilation on OSX mavericks.
  14. Fixed sonar test and deprecation warning.
  15. Speed up test compilation.
  16. Added Joint::SetEffortLimit API
  17. Made bullet output less verbose.
  18. Convergence acceleration and stability tweak to make atlas_v3 stable
  19. Added colors, textures and world files for the SPL RoboCup environment
  20. Fixed github_pullrequests tool to work with latest GitHub API.
  21. Fixed cppcheck warnings.

Gazebo 2.1.0 (2013-11-08)

  1. Fix mainwindow unit test
  2. Visualize moment of inertia
  3. Update tool to count lines of code
  4. Implement World::Clear
  5. Improve Bullet support
  6. Fix doxygen spacing
  7. Add tool to generate model images for thepropshop.org
  8. Added paging support for terrains
  9. Added plugin path to LID_LIBRARY_PATH in setup.sh
  10. Fix for OSX
  11. Update copyright information
  12. Enable screen dependent tests
  13. Fix gazebo command line help message
  14. Fix man page test
  15. Improve load time by reducing calls to RTShader::Update
  16. Fix joint visualization
  17. Add helpers to fix NaN
  18. Fix model resizing via the GUI
  19. Simplify gzlog test by using sha1
  20. Enable cppcheck for header files
  21. Fix broken regression test
  22. All simbody and dart to pass tests
  23. Fix camera rotation from SDF
  24. Fix github pullrequest command line tool to match new API
  25. Fix transceiver spawn errors in tests

Gazebo 2.0.0 (2013-10-08)

  1. Refactor code check tool.
  2. Added pull request tool for GitHub.
  3. New wireless receiver and transmitter sensor models.
  4. Audio support using OpenAL.
  5. Simplify command-line parsing of gztopic echo output.
  6. Use UNIX directories through the user of GNUInstallDirs cmake module.
  7. New GUI interactions for object manipulation.
  8. Fix for OSX menubar.
  9. Remove internal SDF directories and dependencies.
  10. Add minimum version for sdformat.
  11. Allow different gtest parameter types with ServerFixture
  12. GUI model scaling when using Bullet.
  13. Fix typo in cmake config.
  14. Remove gazebo include subdir from pkgconfig and cmake config.
  15. Torsional spring demo
  16. Remove repeated call to SetAxis in Joint.cc
  17. Add test for rotational joints.
  18. Fix compilation of tests using Joint base class
  19. Terrain paging implemented.
  20. Improve timeout error reporting in ServerFixture
  21. Fix mouse picking for cases where visuals overlap with the laser
  22. Fix string literals for OSX
  23. Support for ENABLE_TESTS_COMPILATION cmake parameter
  24. Updated system gui plugin
  25. Fix force torque unit test issue
  26. Use variables to control auto generation of CFlags
  27. Remove deprecated functions.
  28. Fix typo in Camera.cc
  29. Performance improvements
  30. Fix gripper model.
  31. First part of Simbody integration

Gazebo 1.9

Gazebo 1.9.6 (2014-04-29)

  1. Refactored inertia ratio reduction for ODE
  2. Improved collada loading performance

Gazebo 1.9.3 (2014-01-10)

  1. Add thickness to plane to remove shadow flickering.
  2. Temporary GUI shadow toggle fix.
  3. Fix memory access bugs with libc++ on mavericks.
  4. Replaced printf with cout in gztopic hz.
  5. Add Dark grey material and fix indentation.
  6. Fixed sonar sensor unit test.
  7. Convergence acceleration and stability tweak to make atlas_v3 stable.
  8. Update gtest to 1.7.0 to resolve problems with libc++.
  9. Fixed LD_LIBRARY_PATH for plugins.
  10. Fix transceiver sporadic errors.
  11. Modified the MsgTest to be deterministic with time checks.
  12. Fixed seg fault in LaserVisual.
  13. Implemented the option to disable tests that need a working screen to run properly.
  14. Cleaned up gazebo shutdown.
  15. Fixed bug associated with loading joint child links.

Gazebo 1.9.2 (2013-11-08)

  1. Fix enable/disable sky and clouds from SDF
  2. Fix occasional blank GUI screen on startup
  3. Fix GPU laser when interacting with heightmaps
  4. Added API/ABI checker command line tool
  5. Added gtest version information
  6. Fix GUI world saving
  7. Enable anti-aliasing for camera sensor
  8. Make sensor noise deterministic
  9. Fix build problem
  10. Fix a typo in Camera.cc
  11. Fix OSX menu bar
  12. Fix gazebo::init by calling sdf::setFindCallback() before loading the sdf in gzfactory.

Gazebo 1.9.1 (2013-08-20)

Gazebo 1.9.0 (2013-07-23)

Gazebo 1.8

Gazebo 1.8.7 (2013-07-16)

Gazebo 1.8.6 (2013-06-07)

Gazebo 1.8.5 (2013-06-04)

Gazebo 1.8.4 (2013-06-03)

Gazebo 1.8.3 (2013-06-03)

Gazebo 1.8.2 (2013-05-28)

Gazebo 1.8.1 (2013-05-22)

Gazebo 1.8.0 (2013-05-17)

Gazebo 1.7

Gazebo 1.7.3 (2013-05-08)

Gazebo 1.7.2 (2013-05-07)

Gazebo 1.7.1 (2013-04-19)

Gazebo 1.6

Gazebo 1.6.3 (2013-04-15)

Gazebo 1.6.2 (2013-04-14)

Gazebo 1.6.1 (2013-04-05)

  • Switch default build type to Release.

Gazebo 1.6.0 (2013-04-05)

  • Improvements to inertia in rubble pile
  • Various Bullet integration advances.
  • Noise models for ray, camera, and imu sensors.
  • SDF 1.4, which accommodates more physics engine parameters and also some sensor noise models.
  • Initial support for making movies from within Gazebo.
  • Many performance improvements.
  • Many bug fixes.
  • Progress toward to building on OS X.

Gazebo 1.5

Gazebo 1.5.0 (2013-03-11)

  • Partial integration of Bullet

    • Includes: cubes, spheres, cylinders, planes, meshes, revolute joints, ray sensors

  • GUI Interface for log writing.

  • Threaded sensors.

  • Multi-camera sensor.

  • Fixed the following issues:

Gazebo 1.4

Gazebo 1.4.0 (2013-02-01)

  • New Features:

  • GUI elements to display messages from the server.

  • Multi-floor building editor and creator.

  • Improved sensor visualizations.

  • Improved mouse interactions

  • Fixed the following issues:

Gazebo 1.3

Gazebo 1.3.1 (2012-12-14)

Gazebo 1.3.0 (2012-12-03)

  • Fixed the following issues:

  • New features:

  • Default camera view changed to look down at the origin from a height of 2 meters at location (5, -5, 2).

  • Record state data using the '-r' command line option, playback recorded state data using the '-p' command line option

  • Adjust placement of lights using the mouse.

  • Reduced the startup time.

  • Added visual reference for GUI mouse movements.

  • SDF version 1.3 released (changes from 1.2 listed below):

    • added name to <camera name="cam_name"/>
    • added pose to <camera><pose>...</pose></camera>
    • removed filename from <mesh><filename>...</filename><mesh>, use uri only.
    • recovered provide_feedback under <joint>, allowing calling physics::Joint::GetForceTorque in plugins.
    • added imu under <sensor>.

Gazebo 1.2

Gazebo 1.2.6 (2012-11-08)

Gazebo 1.2.5 (2012-10-22)

Gazebo 1.2.4 (10-19-2012:08:00:52)

Gazebo 1.2.3 (10-16-2012:18:39:54)

Gazebo 1.2.2 (10-16-2012:15:12:22)

Gazebo 1.2.1 (10-15-2012:21:32:55)

Gazebo 1.2.0 (10-04-2012:20:01:20)

  • Updated GUI: new style, improved mouse controls, and removal of non-functional items.
  • Model database: An online repository of models.
  • Numerous bug fixes
  • APT repository hosted at [http://osrfoundation.org OSRF]
  • Improved process control prevents zombie processes