Fork update (#1)

* Initial commit Signed-off-by: Martiño Crespo <[email protected]> * Added plugin files Signed-off-by: Martiño Crespo <[email protected]> * Initial .sdf file Signed-off-by: Martiño Crespo <[email protected]> * Pipeline for getting sensor contacts Signed-off-by: Martiño Crespo <[email protected]> * Added visualization of postion and forces Signed-off-by: Martiño Crespo <[email protected]> * Added plugin for Transform Control Signed-off-by: Martiño Crespo <[email protected]> * Added initial interpolation Signed-off-by: Martiño Crespo <[email protected]> * Code check Signed-off-by: Martiño Crespo <[email protected]> * Update info after specified milliseconds Signed-off-by: Martiño Crespo <[email protected]> * Set marker lifetime for better performance Signed-off-by: Martiño Crespo <[email protected]> * Added Depth Camera Signed-off-by: Martiño Crespo <[email protected]> * Added callback and unpacking to Depth Camera messages Signed-off-by: Martiño Crespo <[email protected]> * Compute and visualize normal forces Signed-off-by: Martiño Crespo <[email protected]> * PR Feedback 1 Signed-off-by: Martiño Crespo <[email protected]> * Update sdf example to a more realistic environment Signed-off-by: Martiño Crespo <[email protected]> * Allow moving Depth Camera from model origin Signed-off-by: Martiño Crespo <[email protected]> * Make markers dimensions available as parameters Signed-off-by: Martiño Crespo <[email protected]> * Visualize sensor as a marker instead of <visual> and filter out normal forces outside sensor Signed-off-by: Martiño Crespo <[email protected]> * PR Feedback 2 Signed-off-by: Martiño Crespo <[email protected]> * PR Feedback 3 Signed-off-by: Martiño Crespo <[email protected]> * Minor fixes for sdf, sensor marker and profiler Signed-off-by: Martiño Crespo <[email protected]> * PR Feedback 4 Signed-off-by: Martiño Crespo <[email protected]> * fix mac warning Signed-off-by: Mabel Zhang <[email protected]> * Helper function to set component data (gazebosim#436) Signed-off-by: Louise Poubel <[email protected]> * Remove unneeded if statement (gazebosim#432) Signed-off-by: John Shepherd <[email protected]> * Fixes flaky RecordAndPlayback test in INTEGRATION_log_system (gazebosim#463) The flakiness comes from two sources: 1. Poses recorded by the LogRecorder are published by the SceneBroadcaster system throttled at 60 Hz. The throttle mechanism uses real-time instead of sim-time which causes a variance in the number of recorded poses from run to run. However, the expected number of recorded poses was calculated with the assumption that the simulation would run with a 1.0 RTF. If the CPU load is high, there could be a mismatch between the expected and the actual number of recorded poses, which causes the test to fail. This can be checked by running the test with `cpulimit -l 20 -f bin/INTEGRATION_log_system -- --gtest_filter="*RecordAndPlayback"` 2. An attempt is made to match up played back poses with the closest timestamp in the recorded file. These poses are again published by the SceneBroadcaster, so they are subject to the same kind of timing issues as the recorded poses. The solution in this patch for the first issue is to determine the expected number of recorded poses by counting them in a separate system that mimics the throttling mechanism of ign-transport. For the second issue, a testing system is added to the playback server bypassing the SceSceneBroadcaster altogether. Signed-off-by: Addisu Z. Taddese <[email protected]> * Make PeerTracker test more robust (gazebosim#452) Signed-off-by: Louise Poubel <[email protected]> Co-authored-by: Michael Carroll <[email protected]> * Clarify how sim time is interpreted in a System's step (gazebosim#467) Signed-off-by: Ashton Larkin <[email protected]> * 3 ➡️ 4: fixes for gazebosim#463 (gazebosim#469) Signed-off-by: Louise Poubel <[email protected]> * Link link tutrial (gazebosim#472) Signed-off-by: Louise Poubel <[email protected]> * Switch to async state service request (gazebosim#461) Signed-off-by: Ian Chen <[email protected]> * Use a std::promise/std::future to avoid busy waiting the step ack messages in NetworkManagerPrimary (gazebosim#470) Signed-off-by: Ivan Santiago Paunovic <[email protected]> Signed-off-by: Louise Poubel <[email protected]> Co-authored-by: Louise Poubel <[email protected]> * Fix tests that use Fuel paths with uppercase letters (gazebosim#480) As of gazebosim/gz-fuel-tools#130, fuel paths use all lowercase letters. This fixes some tests that had uppercase letters. Signed-off-by: Addisu Z. Taddese <[email protected]> * 4.1.0 (gazebosim#485) Signed-off-by: Ashton Larkin <[email protected]> * Update key event handling (gazebosim#466) Signed-off-by: John Shepherd <[email protected]> * Fix slot in Plotting plugin (gazebosim#490) Signed-off-by: Alejandro Hernández <[email protected]> * Tape Measure Plugin (gazebosim#456) Signed-off-by: John Shepherd <[email protected]> * Satisfy make codecheck (gazebosim#491) Signed-off-by: Louise Poubel <[email protected]> * Move deselect and preview termination to render thread (gazebosim#493) Signed-off-by: John Shepherd <[email protected]> * Fix codecheck (gazebosim#499) Signed-off-by: Nate Koenig <[email protected]> Co-authored-by: Nate Koenig <[email protected]> * Logical Audio Sensor Plugin (gazebosim#401) Signed-off-by: Ashton Larkin <[email protected]> * Codecheck - initialize primitive in LogicalAudio component (gazebosim#502) Signed-off-by: Ashton Larkin <[email protected]> * 3 to 4: fix codecheck for ign-gazebo4 Signed-off-by: Ashton Larkin <[email protected]> * 3 to 4: resolve codecheck warnings Signed-off-by: Ashton Larkin <[email protected]> * add frame_id and child_frame_id attribute support for DiffDrive (gazebosim#361) Add configuration of the odom frame_id and child_frame_id fields from sdf attributes <frame_id> and <child_frame_id> Signed-off-by: Guillaume <[email protected]> Signed-off-by: Guillaume Doisy <[email protected]> * Require ign-gui 4.1.0 (gazebosim#505) Signed-off-by: Louise Poubel <[email protected]> * Fix shadow artifacts by disabling double sided rendering (gazebosim#446) * read double sided sdf param Signed-off-by: Ian Chen <[email protected]> * update migration Signed-off-by: Ian Chen <[email protected]> * Make the tunnels example world more interesting (gazebosim#462) Signed-off-by: Louise Poubel <[email protected]> * add double sided msg to sdf conversion Signed-off-by: Ian Chen <[email protected]> Co-authored-by: Louise Poubel <[email protected]> * Add ability to record video based on sim time (gazebosim#414) * add ability to record video from gui camera using sim time Signed-off-by: Ian Chen <[email protected]> * add msg Signed-off-by: Ian Chen <[email protected]> * use QueryBoolText Signed-off-by: Ian Chen <[email protected]> Co-authored-by: Nate Koenig <[email protected]> Co-authored-by: Louise Poubel <[email protected]> * Add lockstep mode to video recording (gazebosim#419) Signed-off-by: Ian Chen <[email protected]> Signed-off-by: Louise Poubel <[email protected]> Co-authored-by: Nate Koenig <[email protected]> Co-authored-by: Louise Poubel <[email protected]> * Kinetic energy monitor plugin (gazebosim#492) Signed-off-by: Gonzalo de Pedro <[email protected]> Signed-off-by: Nate Koenig <[email protected]> Co-authored-by: Nate Koenig <[email protected]> Co-authored-by: Louise Poubel <[email protected]> * Disable right click menu when using measuring tool (gazebosim#458) Signed-off-by: John Shepherd <[email protected]> Co-authored-by: Louise Poubel <[email protected]> * Bump to 3.6.0 (gazebosim#524) Signed-off-by: Louise Poubel <[email protected]> * Don't make docs on macOS (gazebosim#528) add comment about doxygen bug Signed-off-by: Louise Poubel <[email protected]> Signed-off-by: Steve Peters <[email protected]> Co-authored-by: Louise Poubel <[email protected]> * Updates to ardupilot migration tutorial (gazebosim#525) Signed-off-by: Louise Poubel <[email protected]> * Update gtest to 1.10.0 for Windows compilation (ign-gazebo3) (gazebosim#506) * Compile new gtest with c++11 * Use INSTANTIATE_TEST_SUITE_P instead of deprecated -INSTANTIATE_TEST_CASE_P Signed-off-by: Jose Luis Rivero <[email protected]> * Apply suggestions from code review Signed-off-by: Michael Carroll <[email protected]> Co-authored-by: Louise Poubel <[email protected]> * change nullptr to a int ptr for qt 5.15.2 bug (gazebosim#527) See: https://bugreports.qt.io/browse/QTBUG-89114 Signed-off-by: acxz <[email protected]> Co-authored-by: Louise Poubel <[email protected]> Signed-off-by: Louise Poubel <[email protected]> * Generate valid topics everywhere (support names with spaces) (gazebosim#522) Signed-off-by: Louise Poubel <[email protected]> * One more tutorial version bump Signed-off-by: Michael Carroll <[email protected]> * Fix bad merge Signed-off-by: Michael Carroll <[email protected]> * change nullptr to a int ptr for qt 5.15.2 bug (gazebosim#527) See: https://bugreports.qt.io/browse/QTBUG-89114 Signed-off-by: acxz <[email protected]> Co-authored-by: Louise Poubel <[email protected]> Signed-off-by: Louise Poubel <[email protected]> * Generate valid topics everywhere (support names with spaces) (gazebosim#522) Signed-off-by: Louise Poubel <[email protected]> * Change deprecated test case->suite Signed-off-by: Michael Carroll <[email protected]> * 3 ➡️ 4 (gazebosim#533) * Clarify how sim time is interpreted in a System's step (gazebosim#467) * add frame_id and child_frame_id attribute support for DiffDrive (gazebosim#361) * Add ability to record video based on sim time (gazebosim#414) * add ability to record video from gui camera using sim time * add msg * use QueryBoolText * Add lockstep mode to video recording (gazebosim#419) * Disable right click menu when using measuring tool (gazebosim#458) * Bump to 3.6.0 (gazebosim#524) * Don't make docs on macOS (gazebosim#528) * Updates to ardupilot migration tutorial (gazebosim#525) * Update gtest to 1.10.0 for Windows compilation (ign-gazebo3) (gazebosim#506) * Compile new gtest with c++11 * Use INSTANTIATE_TEST_SUITE_P instead of deprecated -INSTANTIATE_TEST_CASE_P * Apply suggestions from code review * One more tutorial version bump * Fix bad merge * change nullptr to a int ptr for qt 5.15.2 bug (gazebosim#527) * Generate valid topics everywhere (support names with spaces) (gazebosim#522) * Change deprecated test case->suite Co-authored-by: Ashton Larkin <[email protected]> Co-authored-by: G.Doisy <[email protected]> Co-authored-by: Ian Chen <[email protected]> Co-authored-by: Nate Koenig <[email protected]> Co-authored-by: Louise Poubel <[email protected]> Co-authored-by: John Shepherd <[email protected]> Co-authored-by: Steve Peters <[email protected]> Co-authored-by: Jose Luis Rivero <[email protected]> Co-authored-by: Akash Patel <[email protected]> * Add support for topic statistics on breadcrumb deployments (gazebosim#532) * Add support for topic statistics on breadcrumb deployments Signed-off-by: Nate Koenig <[email protected]> * Require version 9.1 of ignition transport Signed-off-by: Nate Koenig <[email protected]> * Move to after mutex Signed-off-by: Nate Koenig <[email protected]> Co-authored-by: Nate Koenig <[email protected]> Co-authored-by: Carlos Agüero <[email protected]> Co-authored-by: Martiño Crespo <[email protected]> Co-authored-by: Louise Poubel <[email protected]> Co-authored-by: Mabel Zhang <[email protected]> Co-authored-by: John Shepherd <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]> Co-authored-by: Michael Carroll <[email protected]> Co-authored-by: Ashton Larkin <[email protected]> Co-authored-by: Ian Chen <[email protected]> Co-authored-by: Ivan Santiago Paunovic <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]> Co-authored-by: Nate Koenig <[email protected]> Co-authored-by: Nate Koenig <[email protected]> Co-authored-by: G.Doisy <[email protected]> Co-authored-by: Gonzo <[email protected]> Co-authored-by: Steve Peters <[email protected]> Co-authored-by: Jose Luis Rivero <[email protected]> Co-authored-by: Akash Patel <[email protected]> Co-authored-by: Carlos Agüero <[email protected]>
Lobotuerk · Jan 11, 2021 · 9378df3 · 9378df3
1 parent a5abacf
commit 9378df3
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Showing 165 changed files with 16,767 additions and 5,430 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.5.1 FATAL_ERROR)
 #============================================================================
 # Initialize the project
 #============================================================================
-project(ignition-gazebo4 VERSION 4.0.0)
+project(ignition-gazebo4 VERSION 4.1.0)
 
 #============================================================================
 # Find ignition-cmake
@@ -48,7 +48,7 @@ set(IGN_PLUGIN_VER ${ignition-plugin1_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-transport
-ign_find_package(ignition-transport9 REQUIRED COMPONENTS log)
+ign_find_package(ignition-transport9 REQUIRED COMPONENTS log VERSION 9.1)
 set(IGN_TRANSPORT_VER ${ignition-transport9_VERSION_MAJOR})
 
 #--------------------------------------
@@ -75,7 +75,7 @@ set(IGN_FUEL_TOOLS_VER ${ignition-fuel_tools5_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-gui
-ign_find_package(ignition-gui4 REQUIRED)
+ign_find_package(ignition-gui4 REQUIRED VERSION 4.1.1)
 set(IGN_GUI_VER ${ignition-gui4_VERSION_MAJOR})
 ign_find_package (Qt5
   COMPONENTS
@@ -158,19 +158,24 @@ ign_create_packages()
 configure_file(${CMAKE_SOURCE_DIR}/api.md.in ${CMAKE_BINARY_DIR}/api.md)
 configure_file(${CMAKE_SOURCE_DIR}/tutorials.md.in ${CMAKE_BINARY_DIR}/tutorials.md)
 
-ign_create_docs(
-  API_MAINPAGE_MD "${CMAKE_BINARY_DIR}/api.md"
-  TUTORIALS_MAINPAGE_MD "${CMAKE_BINARY_DIR}/tutorials.md"
-  ADDITIONAL_INPUT_DIRS "${CMAKE_SOURCE_DIR}/src/systems ${CMAKE_SOURCE_DIR}/src/gui/plugins"
-  TAGFILES
-   "${IGNITION-MATH_DOXYGEN_TAGFILE} = ${IGNITION-MATH_API_URL}"
-   "${IGNITION-MSGS_DOXYGEN_TAGFILE} = ${IGNITION-MSGS_API_URL}"
-   "${IGNITION-PHYSICS_DOXYGEN_TAGFILE} = ${IGNITION-PHYSICS_API_URL}"
-   "${IGNITION-PLUGIN_DOXYGEN_TAGFILE} = ${IGNITION-PLUGIN_API_URL}"
-   "${IGNITION-TRANSPORT_DOXYGEN_TAGFILE} = ${IGNITION-TRANSPORT_API_URL}"
-   "${IGNITION-SENSORS_DOXYGEN_TAGFILE} = ${IGNITION-SENSORS_API_URL}"
-   "${IGNITION-COMMON_DOXYGEN_TAGFILE} = ${IGNITION-COMMON_API_URL}"
-)
+# disable doxygen on macOS due to issues with doxygen 1.9.0
+# there is an unreleased fix; revert this when 1.9.1 is released
+# https://github.com/ignitionrobotics/ign-gazebo/issues/520
+if (NOT APPLE)
+  ign_create_docs(
+    API_MAINPAGE_MD "${CMAKE_BINARY_DIR}/api.md"
+    TUTORIALS_MAINPAGE_MD "${CMAKE_BINARY_DIR}/tutorials.md"
+    ADDITIONAL_INPUT_DIRS "${CMAKE_SOURCE_DIR}/src/systems ${CMAKE_SOURCE_DIR}/src/gui/plugins"
+    TAGFILES
+     "${IGNITION-MATH_DOXYGEN_TAGFILE} = ${IGNITION-MATH_API_URL}"
+     "${IGNITION-MSGS_DOXYGEN_TAGFILE} = ${IGNITION-MSGS_API_URL}"
+     "${IGNITION-PHYSICS_DOXYGEN_TAGFILE} = ${IGNITION-PHYSICS_API_URL}"
+     "${IGNITION-PLUGIN_DOXYGEN_TAGFILE} = ${IGNITION-PLUGIN_API_URL}"
+     "${IGNITION-TRANSPORT_DOXYGEN_TAGFILE} = ${IGNITION-TRANSPORT_API_URL}"
+     "${IGNITION-SENSORS_DOXYGEN_TAGFILE} = ${IGNITION-SENSORS_API_URL}"
+     "${IGNITION-COMMON_DOXYGEN_TAGFILE} = ${IGNITION-COMMON_API_URL}"
+  )
+endif()
 
 if(TARGET doc)
   file(COPY ${CMAKE_SOURCE_DIR}/tutorials/files/ DESTINATION ${CMAKE_BINARY_DIR}/doxygen/html/files/)

diff --git a/Changelog.md b/Changelog.md
@@ -2,6 +2,64 @@
 
 ### Ignition Gazebo 4.X.X (20XX-XX-XX)
 
+### Ignition Gazebo 4.1.0 (2020-12-11)
+
+1. Update Dockerfiles to use focal images
+    * [pull request 388](https://github.com/ignitionrobotics/ign-gazebo/pull/388)
+
+1. Updated source build instructions for ign-gazebo4
+    * [pull request 404](https://github.com/ignitionrobotics/ign-gazebo/pull/404)
+
+1. Add tests for the AnimationTime component
+    * [pull request 433](https://github.com/ignitionrobotics/ign-gazebo/pull/433)
+
+1. Fix pose msg conversion when msg is missing orientation
+    * [pull request 450](https://github.com/ignitionrobotics/ign-gazebo/pull/450)
+    * [pull request 459](https://github.com/ignitionrobotics/ign-gazebo/pull/459)
+
+1. Resolved updated codecheck issues
+    * [pull request 443](https://github.com/ignitionrobotics/ign-gazebo/pull/443)
+    * [pull request 457](https://github.com/ignitionrobotics/ign-gazebo/pull/457)
+    * [pull request 459](https://github.com/ignitionrobotics/ign-gazebo/pull/459)
+
+1. Use new backpack version in tests
+    * [pull request 455](https://github.com/ignitionrobotics/ign-gazebo/pull/455)
+    * [pull request 457](https://github.com/ignitionrobotics/ign-gazebo/pull/457)
+    * [pull request 459](https://github.com/ignitionrobotics/ign-gazebo/pull/459)
+
+1. Fix segfault in the Breadcrumb system when associated model is unloaded
+    * [pull request 454](https://github.com/ignitionrobotics/ign-gazebo/pull/454)
+    * [pull request 457](https://github.com/ignitionrobotics/ign-gazebo/pull/457)
+    * [pull request 459](https://github.com/ignitionrobotics/ign-gazebo/pull/459)
+
+1. Added user commands to example thermal camera world
+    * [pull request 442](https://github.com/ignitionrobotics/ign-gazebo/pull/442)
+    * [pull request 459](https://github.com/ignitionrobotics/ign-gazebo/pull/459)
+
+1. Helper function to set component data
+    * [pull request 436](https://github.com/ignitionrobotics/ign-gazebo/pull/436)
+    * [pull request 469](https://github.com/ignitionrobotics/ign-gazebo/pull/469)
+
+1. Remove unneeded if statement
+    * [pull request 432](https://github.com/ignitionrobotics/ign-gazebo/pull/432)
+    * [pull request 469](https://github.com/ignitionrobotics/ign-gazebo/pull/469)
+
+1. Fix flaky RecordAndPlayback test in INTEGRATION_log_system
+    * [pull request 463](https://github.com/ignitionrobotics/ign-gazebo/pull/463)
+    * [pull request 469](https://github.com/ignitionrobotics/ign-gazebo/pull/469)
+
+1. Make PeerTracker test more robust
+    * [pull request 452](https://github.com/ignitionrobotics/ign-gazebo/pull/452)
+    * [pull request 469](https://github.com/ignitionrobotics/ign-gazebo/pull/469)
+
+1. Use a [std::promise](https://en.cppreference.com/w/cpp/thread/promise)/[std::future](https://en.cppreference.com/w/cpp/thread/future) mechanism to avoid waiting in a looop until all `stepAck` messages are received
+    * [pull request 470](https://github.com/ignitionrobotics/ign-gazebo/pull/470)
+
+1. Optical Tactile Sensor Plugin
+    * [pull request 229](https://github.com/ignitionrobotics/ign-gazebo/pull/229)
+
+1. All changes up to and including those in version 3.5.0 and version 2.25.0
+
 ### Ignition Gazebo 4.0.0 (2020-09-30)
 
 1. Names with spaces: add string serializer
@@ -99,6 +157,68 @@
 
 ### Ignition Gazebo 3.X.X (20XX-XX-XX)
 
+### Ignition Gazebo 3.6.0 (2020-12-30)
+
+1. Fix pose msg conversion when msg is missing orientation
+    * [Pull Request 450](https://github.com/ignitionrobotics/ign-gazebo/pull/450)
+
+1. Address code checker warnings
+    * [Pull Request 443](https://github.com/ignitionrobotics/ign-gazebo/pull/443)
+    * [Pull Request 491](https://github.com/ignitionrobotics/ign-gazebo/pull/491)
+    * [Pull Request 499](https://github.com/ignitionrobotics/ign-gazebo/pull/499)
+    * [Pull Request 502](https://github.com/ignitionrobotics/ign-gazebo/pull/502)
+
+1. Test fixes
+    * [Pull Request 455](https://github.com/ignitionrobotics/ign-gazebo/pull/455)
+    * [Pull Request 463](https://github.com/ignitionrobotics/ign-gazebo/pull/463)
+    * [Pull Request 452](https://github.com/ignitionrobotics/ign-gazebo/pull/452)
+    * [Pull Request 480](https://github.com/ignitionrobotics/ign-gazebo/pull/480)
+
+1. Documentation updates
+    * [Pull Request 472](https://github.com/ignitionrobotics/ign-gazebo/pull/472)
+
+1. Fix segfault in the Breadcrumb system when associated model is unloaded
+    * [Pull Request 454](https://github.com/ignitionrobotics/ign-gazebo/pull/454)
+
+1. Added user commands to example thermal camera world
+    * [Pull Request 442](https://github.com/ignitionrobotics/ign-gazebo/pull/442)
+
+1. Helper function to set component data
+    * [Pull Request 436](https://github.com/ignitionrobotics/ign-gazebo/pull/436)
+
+1. Remove unneeded if statement in EntityComponentManager
+    * [Pull Request 432](https://github.com/ignitionrobotics/ign-gazebo/pull/432)
+
+1. Clarify how time is represented in each phase of a System step
+    * [Pull Request 467](https://github.com/ignitionrobotics/ign-gazebo/pull/467)
+
+1. Switch to async state service request
+    * [Pull Request 461](https://github.com/ignitionrobotics/ign-gazebo/pull/461)
+
+1. Update key event handling
+    * [Pull Request 466](https://github.com/ignitionrobotics/ign-gazebo/pull/466)
+
+1. Tape Measure Plugin
+    * [Pull Request 456](https://github.com/ignitionrobotics/ign-gazebo/pull/456)
+
+1. Move deselect and preview termination to render thread
+    * [Pull Request 493](https://github.com/ignitionrobotics/ign-gazebo/pull/493)
+
+1. Logical audio sensor plugin
+    * [Pull Request 401](https://github.com/ignitionrobotics/ign-gazebo/pull/401)
+
+1. add frame_id and child_frame_id attribute support for DiffDrive
+    * [Pull Request 361](https://github.com/ignitionrobotics/ign-gazebo/pull/361)
+
+1. Add ability to record video based on sim time
+    * [Pull Request 414](https://github.com/ignitionrobotics/ign-gazebo/pull/414)
+
+1. Add lockstep mode to video recording
+    * [Pull Request 419](https://github.com/ignitionrobotics/ign-gazebo/pull/419)
+
+1. Disable right click menu when using measuring tool
+    * [Pull Request 458](https://github.com/ignitionrobotics/ign-gazebo/pull/458)
+
 ### Ignition Gazebo 3.5.0 (2020-11-03)
 
 1. Updated source build instructions

diff --git a/Migration.md b/Migration.md
@@ -5,6 +5,13 @@ Deprecated code produces compile-time warnings. These warning serve as
 notification to users that their code should be upgraded. The next major
 release will remove the deprecated code.
 
+## Ignition Gazebo 4.0.0 to 4.X.X
+
+* Ignition Gazebo 4.0.0 enabled double sided material by default but this
+caused shadow artifacts to appear on some meshes. Double sided material is
+now disabled and made an opt-in feature. Users can configure this property
+in SDF by setting the `<visual><material><double_sided>` SDF element.
+
 ## Ignition Gazebo 3.x to 4.x
 
 * The `RenderUtil::SetEnabledSensors` callback in gazebo rendering has a new

diff --git a/examples/worlds/kinetic_energy_monitor.sdf b/examples/worlds/kinetic_energy_monitor.sdf
@@ -0,0 +1,116 @@
+<?xml version="1.0" ?>
+<!--
+  Ignition Gazebo kinetic energy monitory plugin demo
+
+  Monitor output using:
+
+    ign topic -et "/model/sphere/kinetic_energy"
+-->
+<sdf version="1.6">
+  <world name="kinetic_energy_monitor">
+
+    <physics name="1ms" type="ignored">
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+    </physics>
+    <plugin
+      filename="ignition-gazebo-physics-system"
+      name="ignition::gazebo::systems::Physics">
+    </plugin>
+    <plugin
+      filename="ignition-gazebo-user-commands-system"
+      name="ignition::gazebo::systems::UserCommands">
+    </plugin>
+    <plugin
+      filename="ignition-gazebo-scene-broadcaster-system"
+      name="ignition::gazebo::systems::SceneBroadcaster">
+    </plugin>
+
+    <light type="directional" name="sun">
+      <cast_shadows>true</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>1 1 1 1</diffuse>
+      <specular>0.5 0.5 0.5 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+    </light>
+
+    <model name="ground_plane">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+            </plane>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <ambient>0.8 0.8 0.8 1</ambient>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.8 0.8 0.8 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+    <model name="sphere">
+      <pose>0 0 5 0 0 0</pose>
+      <link name="sphere_link">
+        <inertial>
+          <inertia>
+            <ixx>3</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>3</iyy>
+            <iyz>0</iyz>
+            <izz>3</izz>
+          </inertia>
+          <mass>3.0</mass>
+        </inertial>
+        <collision name="sphere_collision">
+          <geometry>
+            <sphere>
+              <radius>0.5</radius>
+            </sphere>
+          </geometry>
+        </collision>
+
+        <visual name="sphere_visual">
+          <geometry>
+            <sphere>
+              <radius>0.5</radius>
+            </sphere>
+          </geometry>
+          <material>
+            <ambient>0 0 1 1</ambient>
+            <diffuse>0 0 1 1</diffuse>
+            <specular>0 0 1 1</specular>
+          </material>
+        </visual>
+      </link>
+
+      <plugin
+        filename="ignition-gazebo-kinetic-energy-monitor-system"
+        name="ignition::gazebo::systems::KineticEnergyMonitor">
+        <link_name>sphere_link</link_name>
+        <kinetic_energy_threshold>100</kinetic_energy_threshold>
+      </plugin>
+
+    </model>
+
+  </world>
+</sdf>
+