release_notes.md

Gazebo Ionic Release Notes

gazebosim/docs:

• Add tutorial on how to a migrate ROS 2 package that uses Gazebo Classic
• Add additional docs on sensors and ROS 2 usage
• Add documentation for Gazebo vendor packages
• Installing Gazebo11 side by side with new Gazebo Tutorial
• Extend ROS integration documentation
• Build documentation using Sphinx
• Add instructions to run ros_buildfarm jobs

gazebosim/gz-cmake:

• Use visibility hidden by default
• Require cmake version 3.22.1
• Deprecate BUILD_DOCS: generate always the doc target but exclude from default make
• Deprecate GzPython.cmake in favor of find_package(Python3)

gazebosim/gz-common:

• Extend AssimpLoader to parse material transmission factor
• Adds new function in MeshManager for performing convex decomposition
• Add package.xml
• DEM: Add support for GDAL vsicurl, vsizip support and avoid segfaults with huge VRT datasets
• Use self-pipe trick to implement signal handlers
• Replace GTS with CDT
• Reimplement console logging using spdlog

gazebosim/gz-fuel-tools:

• CLI for creating config.yaml
• Add package.xml

gazebosim/gz-gui:

• Add a flexible mechanism to combine user and default plugins
• Added motion duration to the 'move to pose' service of the camera tracking plugin.
• Add package.xml
• Add optional binary relocatability
• Enhanced tracking camera and user visualization experience
• Add Cone as a primitive parametric shape.
• Added dark mode for drawer and menu buttons
• Expose shadow texture size for directional lighting in SDF
• Add a flexible mechanism to combine user and default plugins

gazebosim/gz-launch:

• Add optional binary relocatability
• Add package.xml

gazebosim/gz-math:

• Added MecanumDriveOdometry Python wrapper
• Expose non-const reference to edges in Graph.hh
• Add package.xml
• Add Cone as a primitive parametric shape.
• Add CoordinateVector3 and use it in SphericalCoordinates
• buffer_protocol for vectors and matrices in python bindings

gazebosim/gz-msgs:

• Added motion duration to gui_camera.proto
• Update material_color to use Entity.
• Add proto message for MaterialColor.
• Support standalone executable in gz-msgs11
• Allow topic and service to construct messages from description files
• Add package.xml
• CameraTrack message for advanced tracking and following.
• Add Cone as a primitive parametric shape.

gazebosim/gz-physics:

• Improve bullet-featherstone physics plugin:
  • Add support for nested model
  • Add support for off-diagnoal inertial
  • Optimize static object collisions
  • Improve mesh collision stability
  • Enable auto deactivation
  • Add support for mesh convex decomposition
  • Enforce joint velocity and effort limits for velocity control commands
  • Publish JointFeedback forces.
  • Support empty links
• Support setting max contacts in dartsim's ODE collision detector
• Support setting solver iterations
• Add package.xml
• Enforce fixed constraints recursively when setting pose on freegroups
• Ray intersection simulation feature
• Add Cone as a primitive parametric shape.
• Add no gravity link support

gazebosim/gz-plugin:

• Add package.xml

gazebosim/gz-rendering:

• Add projection matrix set/get functions to Ogre Depth camera
• Extend ogre 1.x custom shaders support
• Support skybox in wide angle cam view
• Add LookAt function to GizmoVisual class
• Performance Improvements:
  • Improve Ogre2GpuRays performance
  • Skip particle passes in Ogre2GpuRays if there are no particles in the scene
  • Skip particle passes in Ogre2DepthCamera if there are no particles in the scene
  • Use single cubemap camera in lidar
  • Optimization: remove extra copy of data buffer in Ogre2GpuRays and Ogre2DepthCamera
• Ogre2RenderEngine: on Windows if useCurrentGLContext is specified, set the externalWindowHandle ogre-next option
• Add package.xml
• ogre2: Set custom projection matrix for other types of cameras
• Add Cone as a primitive parametric shape.
• Add gamma correction to simple_demo_qml example
• Install Roboto fonts to ogre plugin
• Expose shadow texture size for directional lighting in SDF

gazebosim/gz-sensors:

• Set lens intrinsics in Depth and Rgbd camera sensors
• Performance Improvements:
  • DepthCamera and RGBDCamera - optimize RGB point cloud connection
  • Publish lidar scan only if there are lidar scan connections
• Add package.xml
• Add API to check if sensor is in trigger mode
• ForceTorqueSensor: add API for newest measurement
• Use //sensor/frame_id SDFormat element

gazebosim/gz-sim:

• Standardize Doxygen parameter formatting for systems, gazebosim/gz-sim#2212
• Support specifying the name of light associated with lens flares
• Allow removal of model that has joint_position_controller plugin.
• wind addition to advanced_lift_drag plugin
• Implements a method to get the link inertia
• Porting Advanced Lift Drag Plugin to Gazebo
• Maritime tutorials 💧, gazebosim/gz-sim#2259, #2258, #2257
• Light entity match SDF boolean for UserCommands.
• Change an entities visual material color by topic.
• Support for Gazebo materials
• Add tutorial for using components in systems
• Add entity and sdf parameters to Server's AddSystem interface
• Add package.xml
• Optimize rendering sensor pose updates
• Support mesh optimization when using AttachMeshShapeFeature
• Update sensors with pending trigger immediately in Sensors system
• Add Track and Follow options in gui EntityContextMenu
• Parse and set bullet solver iterations
• Lighter Than Air Dynamics Systems
• Consolidate entity creation.
• Add GravityEnabled boolean component
• Parse voxel resolution SDF param when decomposing meshes
• Add Cone as a primitive parametric shape.
• Add support for no gravity link
• Permit to run gz sim -g on Windows
• Support visualizing mesh collisions with convex decomposition
• Set max contacts for collision pairs
• Add tutorial for using the Pose component
• Improve signal handling
• Specify System::PreUpdate, Update execution order
• Magnetometer: correct field calculation
• Add support for spacecraft thrusters
• Remove systems if their parent entity is removed
• Force Qt to use xcb plugin on Wayland
• Add System interface to set default priority
• Add a flexible mechanism to combine user and default plugins
• ForceTorque system: write WrenchMeasured to ECM
• Physics: set link velocity from *VelocityReset components
• Set link velocity from set_model_state plugin
• Detachable joint: support for nested models of the same name
• Enabling Global Illumination (GI VCT) for sensors in SDF

gazebosim/gz-tools:

• Support building with gz-cmake3 or gz-cmake4
• Add package.xml

gazebosim/gz-transport:

• Adds the python bindings tutorial
• Support for bazel on garden
• No input service request from the command line
• Use a default timeout when requesting a service from CLI.
• Oneway service request from the command line
• Add package.xml
• Add option to ignore local messages
• Allow programmatic configuration of unicast relays.
• Add frequency to topic CLI.

gazebosim/gz-usd:

• Support Gazebo Harmonic and Ionic

gazebosim/gz-utils:

• Add Logging utility class based on spdlog. Also see gz-utils#145, gz-utils#144, gz-utils#142, gz-utils#141, gz-utils#139
• Add new functions for manipulating the environment
• Make the single argument constructor of Subprocess inherit the env
• bazel: Build and test subprocess functionality
• bazel: Add license checking support
• Add package.xml
• Require cmake version 3.22.1

gazebosim/ros_gz:

• Add support for Harmonic/Humble pairing
• Add messages for 2D Bounding Boxes to ros_gz_bridge
• Filter ROS arguments before gflags parsing
• Added support for using ROS 2 parameters to spawn entities in Gazebo using ros_gz_sim::create
• Add conversion for geometry_msgs/msg/TwistStamped <-> gz.msgs.Twist
• Add option to change material color from ROS.
• Correctly export ros_gz_bridge for downstream targets
• Add conversion for Detection3D and Detection3DArray
• Use resource_retriever in the bridge
• Add ROS namespaces to GZ topics
• Support <gazebo_ros> in package.xml exports
• Launch file for running gzserver
• Use gz_vendor packages
• Launch file for running gz_bridge
• Launch gz_spawn_model from xml
• Launch ros_gz_bridge from xml
• Launch gzserver from xml
• Launch file for combined spawn_model + bridge
• Launch file for combined gzserver + bridge
• Launch gzserver and the bridge as composable nodes
• Add a ROS node that runs Gazebo
• Add support for gz.msgs.EntityWrench
• Use ignoreLocalMessages in the bridge
• Add override_timestamps_with_wall_time parameter
• Wait for create service to be available.
• Add deadline and liveliness QoSPolicyKinds to qos_overriding_options

gazebosim/ros_gz_project_template:

• Support for Harmonic

gazebosim/sdformat:

• URDF parser: use SDFormat 1.11, parse joint mimic
• Use //link/inertial/density for auto-inertials
• Parse kinematic property in link
• Add mesh optimization attribute to <mesh>, sdformat#1403
• Resolve URIs relative to file path
• Add bullet and torsional friction DOM
• Add kinematic methods to Python Link wrapper
• Add Python wrapper to ConvexDecomposition
• Add package.xml
• Add python bindings for bullet and torsional friction
• Added Automatic Moment of Inertia Calculations for Basic Shapes Pythoon wrappers
• Print auto inertial values with gz sdf --print --expand-auto-inertials
• Add python binding for no gravity link
• Add support for no gravity link
• Allow empty strings in plugin and custom attributes
• Add SetHeightMap and Heighmap to Geometry Python binding
• Add World::ActorByName
• Add Cone as a primitive parametric shape.
• Add //sensor/frame_id to SDF spec 1.12
• Spec 1.12: link_state, joint_state changes
• Add _state suffix to //state subelements
• Add optional binary relocatability