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@iche033
iche033 authored Oct 10, 2023
2 parents 8e7f612 + 8c2fb9b commit 9407311
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8 changes: 0 additions & 8 deletions .github/ci-focal/before_cmake.sh
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5 changes: 0 additions & 5 deletions .github/ci/packages.apt
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freeglut3-dev
libbenchmark-dev
libdart-collision-ode-dev
libdart-dev
libdart-external-ikfast-dev
libdart-external-odelcpsolver-dev
libdart-utils-urdf-dev
libfreeimage-dev
libglew-dev
libgz-cmake3-dev
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3 changes: 2 additions & 1 deletion CMakeLists.txt
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Expand Up @@ -18,7 +18,7 @@ find_package(gz-cmake3 REQUIRED)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

gz_configure_project(VERSION_SUFFIX pre1)
gz_configure_project(VERSION_SUFFIX)

#============================================================================
# Set project-specific options
Expand Down Expand Up @@ -272,6 +272,7 @@ if (NOT APPLE)
"${GZ-TRANSPORT_DOXYGEN_TAGFILE} = ${GZ-TRANSPORT_API_URL}"
"${GZ-SENSORS_DOXYGEN_TAGFILE} = ${GZ-SENSORS_API_URL}"
"${GZ-COMMON_DOXYGEN_TAGFILE} = ${GZ-COMMON_API_URL}"
"${GZ-GUI_DOXYGEN_TAGFILE} = ${GZ-GUI_API_URL}"
)
endif()

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289 changes: 288 additions & 1 deletion Changelog.md
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## Gazebo Sim 8.x

### Gazebo Sim 8.X.X (20XX-XX-XX)
### Gazebo Sim 8.0.0 (2023-09-29)

1. TouchPlugin: Reset the plugin with the initial values
* [Pull request #2132](https://github.com/gazebosim/gz-sim/pull/2132)

1. Fix another deadlock in sensors system
* [Pull request #2141](https://github.com/gazebosim/gz-sim/pull/2141)

1. Documentation fixes
* [Pull request #2157](https://github.com/gazebosim/gz-sim/pull/2157)
* [Pull request #2150](https://github.com/gazebosim/gz-sim/pull/2150)
* [Pull request #2148](https://github.com/gazebosim/gz-sim/pull/2148)
* [Pull request #2147](https://github.com/gazebosim/gz-sim/pull/2147)
* [Pull request #2143](https://github.com/gazebosim/gz-sim/pull/2143)
* [Pull request #2133](https://github.com/gazebosim/gz-sim/pull/2133)
* [Pull request #2130](https://github.com/gazebosim/gz-sim/pull/2130)
* [Pull request #2128](https://github.com/gazebosim/gz-sim/pull/2128)
* [Pull request #2124](https://github.com/gazebosim/gz-sim/pull/2124)
* [Pull request #2114](https://github.com/gazebosim/gz-sim/pull/2114)
* [Pull request #2107](https://github.com/gazebosim/gz-sim/pull/2107)

1. Fix Examples
* [Pull request #2151](https://github.com/gazebosim/gz-sim/pull/2151)
* [Pull request #2149](https://github.com/gazebosim/gz-sim/pull/2149)
* [Pull request #2145](https://github.com/gazebosim/gz-sim/pull/2145)
* [Pull request #2144](https://github.com/gazebosim/gz-sim/pull/2144)
* [Pull request #2129](https://github.com/gazebosim/gz-sim/pull/2129)
* [Pull request #2127](https://github.com/gazebosim/gz-sim/pull/2127)
* [Pull request #2123](https://github.com/gazebosim/gz-sim/pull/2123)
* [Pull request #2122](https://github.com/gazebosim/gz-sim/pull/2122)
* [Pull request #2111](https://github.com/gazebosim/gz-sim/pull/2111)

1. Load transform control and select entities plugins in thermal camera world
* [Pull request #2139](https://github.com/gazebosim/gz-sim/pull/2139)

1. Fixed invalid service names
* [Pull request #2121](https://github.com/gazebosim/gz-sim/pull/2121)

1. Add automatic moment of inertia calculation for meshes
* [Pull request #2171](https://github.com/gazebosim/gz-sim/pull/2171)
* [Pull request #2166](https://github.com/gazebosim/gz-sim/pull/2166)
* [Pull request #2119](https://github.com/gazebosim/gz-sim/pull/2119)
* [Pull request #2105](https://github.com/gazebosim/gz-sim/pull/2105)
* [Pull request #2061](https://github.com/gazebosim/gz-sim/pull/2061)

1. ign -> gz
* [Pull request #2055](https://github.com/gazebosim/gz-sim/pull/2055)

1. Adds python demo examples
* [Pull request #2044](https://github.com/gazebosim/gz-sim/pull/2044)

1. Add support for writing systems in Python
* [Pull request #2081](https://github.com/gazebosim/gz-sim/pull/2081)

1. Apply mimic constraint to joints (only Bullet-featherstone)
* [Pull request #1838](https://github.com/gazebosim/gz-sim/pull/1838)

1. Fix rendering tests
* [Pull request #2086](https://github.com/gazebosim/gz-sim/pull/2086)

1. Make systems and tests include headers they use
* [Pull request #2100](https://github.com/gazebosim/gz-sim/pull/2100)

1. Adds Python bindings for the Actor, Joint, Light, Link, Model, Sensor, World convenience class
* [Pull request #2043](https://github.com/gazebosim/gz-sim/pull/2043)
* [Pull request #2042](https://github.com/gazebosim/gz-sim/pull/2042)
* [Pull request #2041](https://github.com/gazebosim/gz-sim/pull/2041)
* [Pull request #2040](https://github.com/gazebosim/gz-sim/pull/2040)
* [Pull request #2039](https://github.com/gazebosim/gz-sim/pull/2039)
* [Pull request #2036](https://github.com/gazebosim/gz-sim/pull/2036)
* [Pull request #2035](https://github.com/gazebosim/gz-sim/pull/2035)

1. Add version number to gz.common python binding
* [Pull request #2093](https://github.com/gazebosim/gz-sim/pull/2093)

1. Infrastructure
* [Pull request #2046](https://github.com/gazebosim/gz-sim/pull/2046)

1. Bumps in harmonic : sdformat14, gz-physics6, gz-sensors8, gz-gui8, gz-rendering8, gz-transport13, gz-msgs10, gz-fuel-tools9
* [Pull request #2062](https://github.com/gazebosim/gz-sim/pull/2062)
* [Pull request #1892](https://github.com/gazebosim/gz-sim/pull/1892)
* [Pull request #1837](https://github.com/gazebosim/gz-sim/pull/1837)

1. Use new sky cubemap, instead of header
* [Pull request #2060](https://github.com/gazebosim/gz-sim/pull/2060)

1. Remove deprecations and address some todos for Harmonic
* [Pull request #2054](https://github.com/gazebosim/gz-sim/pull/2054)
* [Pull request #2053](https://github.com/gazebosim/gz-sim/pull/2053)

1. Use ogre2 in wide angle camera and lens flares worlds
* [Pull request #2063](https://github.com/gazebosim/gz-sim/pull/2063)

1. Use new API for creating projector
* [Pull request #2064](https://github.com/gazebosim/gz-sim/pull/2064)

1. Fix const-correctness of the `Model::JointByName` and `Model::LinkByName` APIs
* [Pull request #2059](https://github.com/gazebosim/gz-sim/pull/2059)

1. Change type of `Component::typeName` and address outstanding todos
* [Pull request #2049](https://github.com/gazebosim/gz-sim/pull/2049)

1. Add Lens Flare System
* [Pull request #1933](https://github.com/gazebosim/gz-sim/pull/1933)

1. Fix TopicInfo deprecation warnings in Harmonic
* [Pull request #1922](https://github.com/gazebosim/gz-sim/pull/1922)

1. Add DopplerVelocityLogSystem plugin
* [Pull request #1804](https://github.com/gazebosim/gz-sim/pull/1804)

1. GUI for Global Illumination (VCT / CI VCT)
* [Pull request #1597](https://github.com/gazebosim/gz-sim/pull/1597)

1. Add CLI to switch to Vulkan & Metal backends
* [Pull request #1735](https://github.com/gazebosim/gz-sim/pull/1735)

1. Remove deprecations for main/gz-sim8
* [Pull request #1783](https://github.com/gazebosim/gz-sim/pull/1783)

1. Acoustic comms plugin
* [Pull request #1608](https://github.com/gazebosim/gz-sim/pull/1608)

1. Set seed value using CLI
* [Pull request #1618](https://github.com/gazebosim/gz-sim/pull/1618)

1. ⬆️ Bump main to 8.0.0~pre1
* [Pull request #1640](https://github.com/gazebosim/gz-sim/pull/1640)

## 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 `<mesh><uri>`
* [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 `<world>` 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.
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7 changes: 4 additions & 3 deletions README.md
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Expand Up @@ -78,7 +78,7 @@ introspection and control.

# Install

See the [installation tutorial](https://gazebosim.org/api/gazebo/6.1/install.html).
See the [installation tutorial](https://gazebosim.org/api/sim/8/install.html).

# Usage

Expand Down Expand Up @@ -125,11 +125,11 @@ This issue is tracked [here](https://github.com/gazebosim/gz-tools/issues/8).

# Documentation

See the [installation tutorial](https://gazebosim.org/api/gazebo/6.1/install.html).
See the [installation tutorial](https://gazebosim.org/api/sim/8/install.html).

# Testing

See the [installation tutorial](https://gazebosim.org/api/gazebo/6.1/install.html).
See the [installation tutorial](https://gazebosim.org/api/sim/8/install.html).

See the [Writing Tests section of the contributor guide](https://github.com/gazebosim/gz-sim/blob/main/CONTRIBUTING.md#writing-tests) for help creating or modifying tests.

Expand All @@ -145,6 +145,7 @@ gz-sim
│   └── worlds Example SDF world files.
├── include/gz/sim Header files that downstream users are expected to use.
│   └── detail Header files that are not intended for downstream use, mainly template implementations.
├── python Python wrappers
├── src Source files and unit tests.
│   ├── gui Graphical interface source code.
│   └── systems System source code.
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2 changes: 1 addition & 1 deletion examples/plugin/hello_world/CMakeLists.txt
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Expand Up @@ -10,7 +10,7 @@ set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
gz_find_package(gz-sim8 REQUIRED)
set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})

add_library(HelloWorld SHARED HelloWorld)
add_library(HelloWorld SHARED HelloWorld.cc)
set_property(TARGET HelloWorld PROPERTY CXX_STANDARD 17)
target_link_libraries(HelloWorld
PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
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1 change: 0 additions & 1 deletion examples/plugin/rendering_plugins/rendering_plugins.sdf
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Expand Up @@ -79,7 +79,6 @@
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">72</property>
<property type="double" key="width">121</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
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