6 ➡️ 7 (main)

CMakeLists.txt

@@ -120,6 +120,7 @@ ign_find_package(ignition-sensors7 REQUIRED
     force_torque
     logical_camera
     magnetometer
+    navsat
 
     # rendering
     rendering

Changelog.md

@@ -6,6 +6,72 @@
 
 ### Ignition Gazebo 6.X.X (202X-XX-XX)
 
+### Ignition Gazebo 6.4.0 (2021-01-13)
+
+1. Disable more tests on Windows
+    * [Pull request #1286](https://github.com/ignitionrobotics/ign-gazebo/pull/1286)
+
+1. Adding angular acceleration to the Link class
+    * [Pull request #1288](https://github.com/ignitionrobotics/ign-gazebo/pull/1288)
+
+1. Add world force
+    * [Pull request #1279](https://github.com/ignitionrobotics/ign-gazebo/pull/1279)
+
+1. Add NavSat sensor (GPS)
+    * [Pull request #1248](https://github.com/ignitionrobotics/ign-gazebo/pull/1248)
+
+1. Light Commands via topic
+    * [Pull request #1222](https://github.com/ignitionrobotics/ign-gazebo/pull/1222)
+
+1. Support battery draining start via topics
+    * [Pull request #1255](https://github.com/ignitionrobotics/ign-gazebo/pull/1255)
+
+1. Add visibility to ModelEditorAddEntity to fix Windows
+    * [Pull request #1246](https://github.com/ignitionrobotics/ign-gazebo/pull/1246)
+
+1. Make tests run as fast as possible
+    * [Pull request #1194](https://github.com/ignitionrobotics/ign-gazebo/pull/1194)
+
+1. Fix visualize lidar
+    * [Pull request #1224](https://github.com/ignitionrobotics/ign-gazebo/pull/1224)
+
+1. Disable user commands light test on macOS
+    * [Pull request #1204](https://github.com/ignitionrobotics/ign-gazebo/pull/1204)
+
+1. Skip failing Windows tests
+    * [Pull request #1205](https://github.com/ignitionrobotics/ign-gazebo/pull/1205)
+
+
+### Ignition Gazebo 6.3.0 (2021-12-10)
+
+1. View entity frames from the GUI
+    * [Pull request #1105](https://github.com/ignitionrobotics/ign-gazebo/pull/1105)
+
+1. Model editor
+    * [Pull request #1231](https://github.com/ignitionrobotics/ign-gazebo/pull/1231)
+
+1. Send state message when components are removed
+    * [Pull request #1235](https://github.com/ignitionrobotics/ign-gazebo/pull/1235)
+
+1. Docker fixes for Fortress
+    * [Pull request #1238](https://github.com/ignitionrobotics/ign-gazebo/pull/1238)
+
+1. Added sensor plugin to be able to visualize camera in `plane_propeller_demo.sdf`
+    * [Pull request #1226](https://github.com/ignitionrobotics/ign-gazebo/pull/1226)
+
+1. Update SdfGenerator to save link and sensor data to file
+    * [Pull request #1201](https://github.com/ignitionrobotics/ign-gazebo/pull/1201)
+
+1. Fix buoyancy not being applied for one iteration
+    * [Pull request #1211](https://github.com/ignitionrobotics/ign-gazebo/pull/1211)
+
+1. Increase maximum values in ViewAngle widget and increase its size
+    * [Pull request #1221](https://github.com/ignitionrobotics/ign-gazebo/pull/1221)
+    * [Pull request #1239](https://github.com/ignitionrobotics/ign-gazebo/pull/1239)
+
+1. Fix the force-torque sensor update rate
+    * [Pull request #1159](https://github.com/ignitionrobotics/ign-gazebo/pull/1159)
+
 ### Ignition Gazebo 6.2.0 (2021-11-16)
 
 1. Configurable joint state publisher's topic
@@ -943,6 +1009,41 @@
 
 ## Ignition Gazebo 4.x
 
+### Ignition Gazebo 4.13.0 (2021-11-15)
+
+1. Prevent creation of spurious `<plugin>` elements when saving worlds
+    * [Pull request #1192](https://github.com/ignitionrobotics/ign-gazebo/pull/1192)
+
+1. Add support for tracked vehicles
+    * [Pull request #869](https://github.com/ignitionrobotics/ign-gazebo/pull/869)
+
+1. Add components to dynamically set joint limits
+    * [Pull request #847](https://github.com/ignitionrobotics/ign-gazebo/pull/847)
+
+1. Fix updating component from state
+    * [Pull request #1181](https://github.com/ignitionrobotics/ign-gazebo/pull/1181)
+
+1. Fix updating a component's data via SerializedState msg
+    * [Pull request #1149](https://github.com/ignitionrobotics/ign-gazebo/pull/1149)
+
+1. Sensor systems work if loaded after sensors
+    * [Pull request #1104](https://github.com/ignitionrobotics/ign-gazebo/pull/1104)
+
+1. Fix generation of systems library symlinks in build directory
+    * [Pull request #1160](https://github.com/ignitionrobotics/ign-gazebo/pull/1160)
+
+1. Edit material colors in component inspector
+    * [Pull request #1123](https://github.com/ignitionrobotics/ign-gazebo/pull/1123)
+
+1. Support setting the background color for sensors
+    * [Pull request #1147](https://github.com/ignitionrobotics/ign-gazebo/pull/1147)
+
+1. Use uint64_t for ComponentInspector Entity IDs
+    * [Pull request #1144](https://github.com/ignitionrobotics/ign-gazebo/pull/1144)
+
+1. Fix integers and floats on component inspector
+    * [Pull request #1143](https://github.com/ignitionrobotics/ign-gazebo/pull/1143)
+
 ### Ignition Gazebo 4.12.0 (2021-10-22)
 
 1. Fix performance issue with contact data and AABB updates.

examples/standalone/custom_server/CMakeLists.txt

@@ -1,5 +1,7 @@
 cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 
+project(ign-gazebo-custom-server)
+
 if(${CMAKE_SYSTEM_NAME} STREQUAL "Linux")
   find_package(ignition-gazebo7 REQUIRED)
   set(IGN_GAZEBO_VER ${ignition-gazebo7_VERSION_MAJOR})

examples/standalone/each_performance/CMakeLists.txt

@@ -1,5 +1,7 @@
 cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 
+project(ign-gazebo-each-performance)
+
 find_package(ignition-gazebo7 QUIET REQUIRED)
 
 add_executable(each each.cc)

examples/standalone/entity_creation/CMakeLists.txt

@@ -1,5 +1,7 @@
 cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 
+project(ign-gazebo-entity-creation)
+
 find_package(ignition-transport12 QUIET REQUIRED OPTIONAL_COMPONENTS log)
 set(IGN_TRANSPORT_VER ${ignition-transport12_VERSION_MAJOR})
 

examples/standalone/external_ecm/CMakeLists.txt

@@ -1,5 +1,7 @@
 cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 
+project(ign-gazebo-external-ecm)
+
 find_package(ignition-gazebo7 REQUIRED)
 
 add_executable(external_ecm external_ecm.cc)

examples/standalone/joy_to_twist/CMakeLists.txt

@@ -1,5 +1,7 @@
 cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 
+project(ign-gazebo-joy-to-twist)
+
 find_package(ignition-transport12 QUIET REQUIRED OPTIONAL_COMPONENTS log)
 set(IGN_TRANSPORT_VER ${ignition-transport12_VERSION_MAJOR})
 

examples/standalone/joystick/CMakeLists.txt

@@ -1,6 +1,8 @@
 cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 # joystick currently works only on linux
 
+project(ignition-gazebo-joystick)
+
 if(${CMAKE_SYSTEM_NAME} STREQUAL "Linux")
   find_package(ignition-transport12 QUIET REQUIRED OPTIONAL_COMPONENTS log)
   set(IGN_TRANSPORT_VER ${ignition-transport12_VERSION_MAJOR})

examples/standalone/keyboard/CMakeLists.txt

@@ -1,5 +1,7 @@
 cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 
+project(ign-gazebo-keyboard)
+
 if(${CMAKE_SYSTEM_NAME} STREQUAL "Linux")
   find_package(ignition-transport12 QUIET REQUIRED OPTIONAL_COMPONENTS log)
   set(IGN_TRANSPORT_VER ${ignition-transport12_VERSION_MAJOR})

examples/standalone/light_control/CMakeLists.txt

@@ -1,5 +1,7 @@
 cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 
+project(ign-gazebo-light-control)
+
 find_package(ignition-transport12 QUIET REQUIRED OPTIONAL_COMPONENTS log)
 set(IGN_TRANSPORT_VER ${ignition-transport12_VERSION_MAJOR})
 

examples/standalone/multi_lrauv_race/CMakeLists.txt

@@ -1,5 +1,7 @@
 cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 
+project(ign-gazebo-multi-lrauv-race)
+
 find_package(ignition-transport12 QUIET REQUIRED OPTIONAL_COMPONENTS log)
 set(IGN_TRANSPORT_VER ${ignition-transport12_VERSION_MAJOR})
 

examples/standalone/scene_requester/CMakeLists.txt

@@ -1,5 +1,7 @@
 cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 
+project(ign-gazebo-scene-requester)
+
 find_package(ignition-transport12 QUIET REQUIRED OPTIONAL_COMPONENTS log)
 set(IGN_TRANSPORT_VER ${ignition-transport12_VERSION_MAJOR})
 

examples/worlds/buoyancy_engine.sdf

@@ -30,21 +30,27 @@ listens to the topic `buoyancy_engine` or
 * Publishes a ignition::msgs::Double on `buoyancy_engine` or
  `/model/{namespace}/buoyancy_engine/current_volume` on the current volume
 ## Examples
+
 To get started run:
 ```
 ign gazebo buoyancy_engine.sdf
 ```
+You will see two boxes. The box on the right doesn't have a surface set whereas
+the box on the left does. When commanded to go up, the box on the left will rise
+until it breaches and then start oscillating around the surface. On the other
+hand the box on the right will rise forever as no surface is set.
 Enter the following in a separate terminal:
 ```
 ign topic -t  /model/buoyant_box/buoyancy_engine/ -m ignition.msgs.Double
    -p "data: 0.003"
 ```
-To see the box float up.
+The boxes will float up. Note that the box on the left will start oscillating
+once it breaches the surface.
 ```
 ign topic -t  /model/buoyant_box/buoyancy_engine/ -m ignition.msgs.Double
    -p "data: 0.001"
 ```
-To see the box go down.
+The boxes will go down.
 To see the current volume enter:
 ```
 ign topic -t  /model/buoyant_box/buoyancy_engine/current_volume -e
@@ -136,7 +142,47 @@ ign topic -t  /model/buoyant_box/buoyancy_engine/current_volume -e
         <max_volume>0.003</max_volume>
         <max_inflation_rate>0.0003</max_inflation_rate>
       </plugin>
+    </model>
+
 
+    <model name="buoyant_box_surface">
+      <pose>0 5 -0.8 0 0 0</pose>
+      <link name='body'>
+        <inertial>
+          <mass>1000</mass>
+          <inertia>
+            <ixx>133.3333</ixx>
+            <iyy>133.3333</iyy>
+            <izz>133.3333</izz>
+          </inertia>
+        </inertial>
+        <visual name='body_visual'>
+          <geometry>
+            <box>
+              <size>1 1 1</size>
+            </box>
+          </geometry>
+        </visual>
+        <collision name='body_collision'>
+          <geometry>
+            <box>
+              <size>1 1 1</size>
+            </box>
+          </geometry>
+        </collision>
+      </link>
+      <plugin
+        filename="libignition-gazebo-buoyancy-engine-system.so"
+        name="ignition::gazebo::systems::BuoyancyEngine">
+        <link_name>body</link_name>
+        <namespace>buoyant_box</namespace>
+        <min_volume>0.0</min_volume>
+        <neutral_volume>0.002</neutral_volume>
+        <default_volume>0.002</default_volume>
+        <max_volume>0.003</max_volume>
+        <max_inflation_rate>0.0003</max_inflation_rate>
+        <surface>0</surface>
+      </plugin>
     </model>
   </world>
 </sdf>

examples/worlds/diff_drive.sdf

@@ -252,6 +252,14 @@
         <wheel_separation>1.25</wheel_separation>
         <wheel_radius>0.3</wheel_radius>
         <odom_publish_frequency>1</odom_publish_frequency>
+        <max_linear_acceleration>1</max_linear_acceleration>
+        <min_linear_acceleration>-1</min_linear_acceleration>
+        <max_angular_acceleration>2</max_angular_acceleration>
+        <min_angular_acceleration>-2</min_angular_acceleration>
+        <max_linear_velocity>0.5</max_linear_velocity>
+        <min_linear_velocity>-0.5</min_linear_velocity>
+        <max_angular_velocity>1</max_angular_velocity>
+        <min_angular_velocity>-1</min_angular_velocity>
       </plugin>
 
     </model>
@@ -431,6 +439,14 @@
         <right_joint>right_wheel_joint</right_joint>
         <wheel_separation>1.25</wheel_separation>
         <wheel_radius>0.3</wheel_radius>
+        <max_linear_acceleration>1</max_linear_acceleration>
+        <min_linear_acceleration>-1</min_linear_acceleration>
+        <max_angular_acceleration>2</max_angular_acceleration>
+        <min_angular_acceleration>-2</min_angular_acceleration>
+        <max_linear_velocity>0.5</max_linear_velocity>
+        <min_linear_velocity>-0.5</min_linear_velocity>
+        <max_angular_velocity>1</max_angular_velocity>
+        <min_angular_velocity>-1</min_angular_velocity>
       </plugin>
 
     </model>

examples/worlds/diff_drive_skid.sdf

@@ -346,6 +346,14 @@
         <right_joint>rear_right_wheel_joint</right_joint>
         <wheel_separation>1.25</wheel_separation>
         <wheel_radius>0.3</wheel_radius>
+        <max_linear_acceleration>1</max_linear_acceleration>
+        <min_linear_acceleration>-1</min_linear_acceleration>
+        <max_angular_acceleration>2</max_angular_acceleration>
+        <min_angular_acceleration>-2</min_angular_acceleration>
+        <max_linear_velocity>0.5</max_linear_velocity>
+        <min_linear_velocity>-0.5</min_linear_velocity>
+        <max_angular_velocity>1</max_angular_velocity>
+        <min_angular_velocity>-1</min_angular_velocity>
       </plugin>
 
     </model>