diff --git a/Changelog.md b/Changelog.md index bf8f9ded05..b48cf5b264 100644 --- a/Changelog.md +++ b/Changelog.md @@ -4,6 +4,166 @@ ## Gazebo Sim 7.x +### Gazebo Sim 7.6.0 (2023-09-26) + +1. Documentation updates + * [Pull request #2169](https://github.com/gazebosim/gz-sim/pull/2169) + * [Pull request #2135](https://github.com/gazebosim/gz-sim/pull/2135) + * [Pull request #2120](https://github.com/gazebosim/gz-sim/pull/2120) + * [Pull request #2116](https://github.com/gazebosim/gz-sim/pull/2116) + * [Pull request #2115](https://github.com/gazebosim/gz-sim/pull/2115) + * [Pull request #2108](https://github.com/gazebosim/gz-sim/pull/2108) + * [Pull request #2067](https://github.com/gazebosim/gz-sim/pull/2067) + * [Pull request #1996](https://github.com/gazebosim/gz-sim/pull/1996) + +1. Backport reset button fix + * [Pull request #2159](https://github.com/gazebosim/gz-sim/pull/2159) + +1. Fix SDFormat xml output of sdf_exporter + * [Pull request #2156](https://github.com/gazebosim/gz-sim/pull/2156) + +1. Fix duplicate entries in joint position controller GUI plugin + * [Pull request #2101](https://github.com/gazebosim/gz-sim/pull/2101) + +1. Use default physics engine in example worlds + * [Pull request #2134](https://github.com/gazebosim/gz-sim/pull/2134) + +1. Fix move to model + * [Pull request #2126](https://github.com/gazebosim/gz-sim/pull/2126) + +1. Remove GZ_PHYSICS_ENGINE_INSTALL_DIR deprecation warnings + * [Pull request #2106](https://github.com/gazebosim/gz-sim/pull/2106) + +1. Remove forward-ported restriction on model loading + * [Pull request #2104](https://github.com/gazebosim/gz-sim/pull/2104) + +1. Odometry topic for the track controller system + * [Pull request #2021](https://github.com/gazebosim/gz-sim/pull/2021) + +1. Add tutorials for ApplyForceTorque and MouseDrag plugins + * [Pull request #2083](https://github.com/gazebosim/gz-sim/pull/2083) + +1. Prevent crash when viewing heightmap collision + * [Pull request #2097](https://github.com/gazebosim/gz-sim/pull/2097) + +1. Force offset and vector magnitude support in ApplyForceTorque + * [Pull request #2056](https://github.com/gazebosim/gz-sim/pull/2056) + +1. Fix plugin conversion error message + * [Pull request #2094](https://github.com/gazebosim/gz-sim/pull/2094) + +1. Visualization tools for the ApplyForceTorque GUI plugin + * [Pull request #2051](https://github.com/gazebosim/gz-sim/pull/2051) + +1. Improve documentation on how to replace Scene3D plugin + * [Pull request #1698](https://github.com/gazebosim/gz-sim/pull/1698) + +1. Configurable stiffnesses in MouseDrag + * [Pull request #2057](https://github.com/gazebosim/gz-sim/pull/2057) + +1. Infrastructure + * [Pull request #2075](https://github.com/gazebosim/gz-sim/pull/2075) + * [Pull request #2066](https://github.com/gazebosim/gz-sim/pull/2066) + * [Pull request #2012](https://github.com/gazebosim/gz-sim/pull/2012) + * [Pull request #1988](https://github.com/gazebosim/gz-sim/pull/1988) + +1. Add new MouseDrag plugin + * [Pull request #2038](https://github.com/gazebosim/gz-sim/pull/2038) + +1. Relax scene init check in visualize lidar gui plugin + * [Pull request #2077](https://github.com/gazebosim/gz-sim/pull/2077) + +1. Add force offset support to ApplyLinkWrench system and to Link API + * [Pull request #2026](https://github.com/gazebosim/gz-sim/pull/2026) + +1. Proposal to add deadband to thruster + * [Pull request #1927](https://github.com/gazebosim/gz-sim/pull/1927) + +1. Avoid nullptr dereference if TouchPlugin is not attached to a model entity. + * [Pull request #2069](https://github.com/gazebosim/gz-sim/pull/2069) + +1. Remove unnecessary headers to fix ABI checker + * [Pull request #2070](https://github.com/gazebosim/gz-sim/pull/2070) + +1. Fix Joint Position Controller Behaviour Described in #1997 + * [Pull request #2001](https://github.com/gazebosim/gz-sim/pull/2001) + +1. Include contact force, normal, and depth in contact message + * [Pull request #2050](https://github.com/gazebosim/gz-sim/pull/2050) + +1. Use sdf::Element::FindElement instead of GetElement in ApplyLinkWrench + * [Pull request #2052](https://github.com/gazebosim/gz-sim/pull/2052) + +1. Backport sensors system threading optimization changes + * [Pull request #2058](https://github.com/gazebosim/gz-sim/pull/2058) + +1. Apply Force and Torque GUI plugin + * [Pull request #2014](https://github.com/gazebosim/gz-sim/pull/2014) + +1. Adds a warning if the `Server` method of a `TestFixture` is called before `Finalize` + * [Pull request #2047](https://github.com/gazebosim/gz-sim/pull/2047) + +1. Support loading mesh by mesh name in `` + * [Pull request #2007](https://github.com/gazebosim/gz-sim/pull/2007) + +1. ComponentInspector: display PhysicsEnginePlugin + * [Pull request #2032](https://github.com/gazebosim/gz-sim/pull/2032) + +1. Send BlockOrbit false events only once from TransformControl plugin + * [Pull request #2030](https://github.com/gazebosim/gz-sim/pull/2030) + +1. Categorize tutorials list + * [Pull request #2028](https://github.com/gazebosim/gz-sim/pull/2028) + +1. Add time out to wait to avoid deadlock + * [Pull request #2025](https://github.com/gazebosim/gz-sim/pull/2025) + +1. Add optional binary relocatability + * [Pull request #1968](https://github.com/gazebosim/gz-sim/pull/1968) + +1. Several minor fixes + * [Pull request #2027](https://github.com/gazebosim/gz-sim/pull/2027) + +1. Protobuf: Do not require version 3 do support Protobuf 4.23.2 (23.2) + * [Pull request #2006](https://github.com/gazebosim/gz-sim/pull/2006) + +1. Support world joints (joints inside `` tags) + * [Pull request #1949](https://github.com/gazebosim/gz-sim/pull/1949) + +1. Disable pybind11 on Windows by default + * [Pull request #2005](https://github.com/gazebosim/gz-sim/pull/2005) + +1. Port record topic fix + * [Pull request #2004](https://github.com/gazebosim/gz-sim/pull/2004) + +1. Allow re-attaching detached joint + * [Pull request #1687](https://github.com/gazebosim/gz-sim/pull/1687) + +1. Enable GzWeb visualization of markers by republishing service requests on a topic + * [Pull request #1994](https://github.com/gazebosim/gz-sim/pull/1994) + +1. Support loading Projectors + * [Pull request #1979](https://github.com/gazebosim/gz-sim/pull/1979) + +1. Small fixes to gz headers + * [Pull request #1985](https://github.com/gazebosim/gz-sim/pull/1985) + +1. Speed up Resource Spawner load time by fetching model list asynchronously + * [Pull request #1962](https://github.com/gazebosim/gz-sim/pull/1962) + +1. Add redirection header gz/sim.hh + * [Pull request #1983](https://github.com/gazebosim/gz-sim/pull/1983) + +1. Add missing cmake exports from core library + * [Pull request #1978](https://github.com/gazebosim/gz-sim/pull/1978) + +1. Add tutorial on migrating the Sensor class from gazebo classic + * [Pull request #1930](https://github.com/gazebosim/gz-sim/pull/1930) + +1. ign -> gz Migrate Ignition Headers : gz-sim + * [Pull request #1646](https://github.com/gazebosim/gz-sim/pull/1646) + + ### Gazebo Sim 7.5.0 (2023-05-14) 1. Actuators message input for JointController. diff --git a/examples/plugin/rendering_plugins/rendering_plugins.sdf b/examples/plugin/rendering_plugins/rendering_plugins.sdf index 785a510bdc..b25fd1a4f6 100644 --- a/examples/plugin/rendering_plugins/rendering_plugins.sdf +++ b/examples/plugin/rendering_plugins/rendering_plugins.sdf @@ -79,7 +79,6 @@ false false 72 - 121 1 floating diff --git a/examples/scripts/log_video_recorder/log_video_recorder.sdf b/examples/scripts/log_video_recorder/log_video_recorder.sdf index cde3d0cc51..a330ade288 100644 --- a/examples/scripts/log_video_recorder/log_video_recorder.sdf +++ b/examples/scripts/log_video_recorder/log_video_recorder.sdf @@ -75,7 +75,6 @@ false false 72 - 121 1 floating diff --git a/examples/worlds/tracked_vehicle_simple.sdf b/examples/worlds/tracked_vehicle_simple.sdf index 0334c4666c..e475414035 100644 --- a/examples/worlds/tracked_vehicle_simple.sdf +++ b/examples/worlds/tracked_vehicle_simple.sdf @@ -1780,7 +1780,6 @@ 0 0 72 - 121 1 floating diff --git a/src/gui/playback_gui.config b/src/gui/playback_gui.config index f911c3730b..c76f551a71 100644 --- a/src/gui/playback_gui.config +++ b/src/gui/playback_gui.config @@ -111,7 +111,6 @@ false false 72 - 121 1 floating diff --git a/test/integration/save_world.cc b/test/integration/save_world.cc index da0fd60ff3..9d1690c5c5 100644 --- a/test/integration/save_world.cc +++ b/test/integration/save_world.cc @@ -423,7 +423,7 @@ TEST_F(SdfGeneratorFixture, ModelWithNestedIncludes) ASSERT_NE(nullptr, uri); ASSERT_NE(nullptr, uri->GetText()); EXPECT_EQ( - "https://fuel.gazebosim.org/1.0/openrobotics/models/coke can/2", + "https://fuel.gazebosim.org/1.0/openrobotics/models/coke can/3", std::string(uri->GetText())); name = include->FirstChildElement("name"); diff --git a/tutorials/apply_force_torque.md b/tutorials/apply_force_torque.md index b2d5348237..1db829d127 100644 --- a/tutorials/apply_force_torque.md +++ b/tutorials/apply_force_torque.md @@ -15,7 +15,7 @@ gz sim shapes.sdf From the plugin dropdown, select the `Apply Force Torque` plugin. Make sure the simulation isn't paused. -![Interface](https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/apply_force_torque/Interface.png) +\image html files/apply_force_torque/Interface.png width=60% ### Apply force to a link @@ -29,14 +29,14 @@ On the dialog, write `10000` on the `X` field under `Force` and click on applied in the link's `X` direction for a single time-step, which is in the order of milliseconds, thus the need for such a large force. -![Apply Force](https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/apply_force_torque/Force.png) +\image html files/apply_force_torque/Force.png width=60% ### Apply torque to a link On the dialog, write `2000` on the `X` field under `Torque` and click on `Apply Torque` to see the cylinder rotate slightly. -![Apply Torque](https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/apply_force_torque/Torque.png) +\image html files/apply_force_torque/Torque.png width=60% ### Apply force with an offset @@ -46,7 +46,7 @@ field under `Force` and `1` under the `Z` field under `Offset`. Press `Apply Force` to see the model move slightly in the `X` direction while also rotating around the `Y` direction. -![Apply Force Offset](https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/apply_force_torque/ForceOffset.png) +\image html files/apply_force_torque/ForceOffset.png width=60% ### Rotation tool @@ -56,7 +56,7 @@ force around the `Z` axis so that it is aligned with the `Y` direction. Notice how the XYZ fields changed, but not the magnitude. Press `Apply Force` to see the model move in the `Y` direction. -![Rotation tool](https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/apply_force_torque/RotationTool.png) +\image html files/apply_force_torque/RotationTool.png width=60% ## The interface explained