From ae80f4aee7e86936926f85386d1d8784e0cf8d6d Mon Sep 17 00:00:00 2001
From: "Addisu Z. Taddese" <addisu@openrobotics.org>
Date: Fri, 8 Nov 2024 08:07:57 -0600
Subject: [PATCH] Prepare for 8.7.0

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
---
 CMakeLists.txt |  2 +-
 Changelog.md   | 77 ++++++++++++++++++++++++++++++++++++++++++++++++++
 package.xml    |  2 +-
 3 files changed, 79 insertions(+), 2 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index d502043b77..801f5067fc 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 #============================================================================
 # Initialize the project
 #============================================================================
-project(gz-sim8 VERSION 8.6.0)
+project(gz-sim8 VERSION 8.7.0)
 set (GZ_DISTRIBUTION "Harmonic")
 
 #============================================================================
diff --git a/Changelog.md b/Changelog.md
index b17cc44204..15f7042e5b 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -1,5 +1,82 @@
 ## Gazebo Sim 8.x
 
+### Gazebo Sim 8.7.0 (2024-11-08)
+
+1. Fix crash when multicopter motor system is attached to an empty model
+    * [Pull request #2653](https://github.com/gazebosim/gz-sim/pull/2653)
+
+1. Backport SystemConfigurePriority to harmonic
+    * [Pull request #2661](https://github.com/gazebosim/gz-sim/pull/2661)
+
+1. Break out server constructor
+    * [Pull request #2638](https://github.com/gazebosim/gz-sim/pull/2638)
+
+1. Add check for valid world pose cmd values
+    * [Pull request #2640](https://github.com/gazebosim/gz-sim/pull/2640)
+
+1. Enabling Global Illumination (GI VCT) for sensors in SDF
+    * [Pull request #2550](https://github.com/gazebosim/gz-sim/pull/2550)
+
+1. Fixed typos in three places
+    * [Pull request #2599](https://github.com/gazebosim/gz-sim/pull/2599)
+
+1. Add point cloud data size sanity check to fix crash
+    * [Pull request #2549](https://github.com/gazebosim/gz-sim/pull/2549)
+
+1. Corrected command to move the kth_freeflyer spacecraft testbed
+    * [Pull request #2565](https://github.com/gazebosim/gz-sim/pull/2565)
+
+1. Backport nonbreaking changes from ionic
+    * [Pull request #2552](https://github.com/gazebosim/gz-sim/pull/2552)
+
+1. clang-tidy fixes: use empty(), fix includes
+    * [Pull request #2548](https://github.com/gazebosim/gz-sim/pull/2548)
+
+1. Check ranges before access
+    * [Pull request #2540](https://github.com/gazebosim/gz-sim/pull/2540)
+
+1. Fixed Odometry Publisher Angular Velocity Singularity in 3D
+    * [Pull request #2348](https://github.com/gazebosim/gz-sim/pull/2348)
+
+1. Revert behavior change introduced in #2452
+    * [Pull request #2527](https://github.com/gazebosim/gz-sim/pull/2527)
+
+1. Specify System::PreUpdate, Update execution order
+    * [Pull request #2487](https://github.com/gazebosim/gz-sim/pull/2487)
+
+1. Force Qt to use xcb plugin on Wayland
+    * [Pull request #2526](https://github.com/gazebosim/gz-sim/pull/2526)
+
+1. Remove unused variable in thruster system
+    * [Pull request #2524](https://github.com/gazebosim/gz-sim/pull/2524)
+
+1. Make sure steering joints exist before updating velocity / odometry in AckermannSteering plugin
+    * [Pull request #2521](https://github.com/gazebosim/gz-sim/pull/2521)
+
+1. Fix ResourceSpawner
+    * [Pull request #2490](https://github.com/gazebosim/gz-sim/pull/2490)
+
+1. gui_system_plugin: clarify description in README
+    * [Pull request #2253](https://github.com/gazebosim/gz-sim/pull/2253)
+
+1. Fix adding system to non-existent entity
+    * [Pull request #2516](https://github.com/gazebosim/gz-sim/pull/2516)
+
+1. Checking linkEnity is empty
+    * [Pull request #2509](https://github.com/gazebosim/gz-sim/pull/2509)
+
+1. Initialize threadsNeedCleanUp
+    * [Pull request #2503](https://github.com/gazebosim/gz-sim/pull/2503)
+
+1. Added support for spacecraft thrusters
+    * [Pull request #2431](https://github.com/gazebosim/gz-sim/pull/2431)
+
+1. Disable rendering tests that are failing on github actions
+    * [Pull request #2480](https://github.com/gazebosim/gz-sim/pull/2480)
+
+1. Consolidate entity creation
+    * [Pull request #2452](https://github.com/gazebosim/gz-sim/pull/2452)
+
 ### Gazebo Sim 8.6.0 (2024-07-25)
 
 1. Fix error resolving gazebo classic material when loading world
diff --git a/package.xml b/package.xml
index 8be58c01b4..3085d34153 100644
--- a/package.xml
+++ b/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>gz-sim8</name>
-  <version>8.6.0</version>
+  <version>8.7.0</version>
   <description>Gazebo Sim : A Robotic Simulator</description>
   <maintainer email="mjcarroll@intrinsic.ai">Michael Carroll</maintainer>
   <license>Apache License 2.0</license>