merged with ign-gazebo6

Signed-off-by: Nate Koenig <[email protected]>

CMakeLists.txt

@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 #============================================================================
 # Initialize the project
 #============================================================================
-project(ignition-gazebo6 VERSION 6.1.0)
+project(ignition-gazebo6 VERSION 6.2.0)
 
 #============================================================================
 # Find ignition-cmake
@@ -50,7 +50,7 @@ set(CMAKE_POLICY_DEFAULT_CMP0077 NEW)
 # as protobuf could be find transitively by any dependency
 set(protobuf_MODULE_COMPATIBLE TRUE)
 
-ign_find_package(sdformat12 REQUIRED VERSION 12.1)
+ign_find_package(sdformat12 REQUIRED VERSION 12.3)
 set(SDF_VER ${sdformat12_VERSION_MAJOR})
 
 #--------------------------------------
@@ -99,7 +99,7 @@ ign_find_package (Qt5
 
 #--------------------------------------
 # Find ignition-physics
-ign_find_package(ignition-physics5
+ign_find_package(ignition-physics5 VERSION 5.1
   COMPONENTS
     heightmap
     mesh

Changelog.md

@@ -1,5 +1,104 @@
 ## Ignition Gazebo 6.x
 
+### Ignition Gazebo 6.X.X (202X-XX-XX)
+
+### Ignition Gazebo 6.2.0 (2021-11-16)
+
+1. Configurable joint state publisher's topic
+    * [Pull request #1076](https://github.com/ignitionrobotics/ign-gazebo/pull/1076)
+
+1. Thruster plugin: add tests and velocity control
+    * [Pull request #1190](https://github.com/ignitionrobotics/ign-gazebo/pull/1190)
+
+1. Prevent creation of spurious `<plugin>` elements when saving worlds
+    * [Pull request #1192](https://github.com/ignitionrobotics/ign-gazebo/pull/1192)
+
+1. Add `sdfString` to `ServerConfig`'s copy constructor.
+    * [Pull request #1185](https://github.com/ignitionrobotics/ign-gazebo/pull/1185)
+
+1. Added 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. Remove bounding box when entities are removed
+    * [Pull request #1053](https://github.com/ignitionrobotics/ign-gazebo/pull/1053)
+    * [Pull request #1213](https://github.com/ignitionrobotics/ign-gazebo/pull/1213)
+
+1. Fix updating component from state
+    * [Pull request #1181](https://github.com/ignitionrobotics/ign-gazebo/pull/1181)
+
+1.  Extend odom publisher to allow 3D
+    * [Pull request #1180](https://github.com/ignitionrobotics/ign-gazebo/pull/1180)
+
+1. Support copy/paste
+    * [Pull request #1013](https://github.com/ignitionrobotics/ign-gazebo/pull/1013)
+
+1. Tweaks install instructions
+    * [Pull request #1078](https://github.com/ignitionrobotics/ign-gazebo/pull/1078)
+
+1. Publish 10 world stats msgs/sec instead of 5
+    * [Pull request #1163](https://github.com/ignitionrobotics/ign-gazebo/pull/1163)
+
+1. Add functionality to add entities via the entity tree
+    * [Pull request #1101](https://github.com/ignitionrobotics/ign-gazebo/pull/1101)
+
+1. Get updated GUI ECM info when a user presses 'play'
+    * [Pull request #1109](https://github.com/ignitionrobotics/ign-gazebo/pull/1109)
+
+1. Create expanding type header to reduce code duplication
+    * [Pull request #1169](https://github.com/ignitionrobotics/ign-gazebo/pull/1169)
+
+1. `minimal_scene.sdf` example: add `camera_clip` params
+    * [Pull request #1166](https://github.com/ignitionrobotics/ign-gazebo/pull/1166)
+
+1. Sensor systems work if loaded after sensors
+    * [Pull request #1104](https://github.com/ignitionrobotics/ign-gazebo/pull/1104)
+
+1. Support printing sensors using `ign model`
+    * [Pull request #1157](https://github.com/ignitionrobotics/ign-gazebo/pull/1157)
+
+1. Set camera clipping plane distances from the GUI
+    * [Pull request #1162](https://github.com/ignitionrobotics/ign-gazebo/pull/1162)
+
+1. Fix generation of systems library symlinks in build directory
+    * [Pull request #1160](https://github.com/ignitionrobotics/ign-gazebo/pull/1160)
+
+1. Add a default value for `isHeadlessRendering`.
+    * [Pull request #1151](https://github.com/ignitionrobotics/ign-gazebo/pull/1151)
+
+1. Component inspector
+
+    1. Edit material colors
+        * [Pull request #1123](https://github.com/ignitionrobotics/ign-gazebo/pull/1123)
+        * [Pull request #1186](https://github.com/ignitionrobotics/ign-gazebo/pull/1186)
+
+    1. Fix integers and floats
+        * [Pull request #1143](https://github.com/ignitionrobotics/ign-gazebo/pull/1143)
+
+    1. Prevent a segfault when updating
+        * [Pull request #1167](https://github.com/ignitionrobotics/ign-gazebo/pull/1167)
+
+    1. Use `uint64_t` for Entity IDs
+        * [Pull request #1144](https://github.com/ignitionrobotics/ign-gazebo/pull/1144)
+
+1. Support setting the background color for sensors
+    * [Pull request #1147](https://github.com/ignitionrobotics/ign-gazebo/pull/1147)
+
+1. Select top level entity not visual
+    * [Pull request #1150](https://github.com/ignitionrobotics/ign-gazebo/pull/1150)
+
+1. Update create entity offset on GUI side
+    * [Pull request #1145](https://github.com/ignitionrobotics/ign-gazebo/pull/1145)
+
+1. Update Select Entities GUI plugin to use Entity type
+    * [Pull request #1146](https://github.com/ignitionrobotics/ign-gazebo/pull/1146)
+
+1. Notify other GUI plugins of added/removed entities via GUI events
+    * [Pull request #1138](https://github.com/ignitionrobotics/ign-gazebo/pull/1138)
+    * [Pull request #1213](https://github.com/ignitionrobotics/ign-gazebo/pull/1213)
+
 ### Ignition Gazebo 6.1.0 (2021-10-25)
 
 1. Updates to camera video record from subt
@@ -267,6 +366,46 @@
 
 ## Ignition Gazebo 5.x
 
+### Ignition Gazebo 5.X.X (202X-XX-XX)
+
+### Ignition Gazebo 5.3.0 (2021-11-12)
+
+1. Prevent creation of spurious <plugin> elements when saving worlds
+    * [Pull request #1192](https://github.com/ignitionrobotics/ign-gazebo/pull/1192)
+
+1. Added 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.  Extend odom publisher to allow 3D
+    * [Pull request #1180](https://github.com/ignitionrobotics/ign-gazebo/pull/1180)
+
+1. Fix updating a component's data via SerializedState msg
+    * [Pull request #1131](https://github.com/ignitionrobotics/ign-gazebo/pull/1131)
+
+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 5.2.0 (2021-10-22)
 
 1. Fix performance level test flakiness
@@ -437,7 +576,7 @@
 1. Fix blender sdf export script and remove .material file from collada light export test
     * [Pull request #923](https://github.com/ignitionrobotics/ign-gazebo/pull/923)
 
-1. Heightmap physics (with DART) 
+1. Heightmap physics (with DART)
     * [Pull request #661](https://github.com/ignitionrobotics/ign-gazebo/pull/661)
 
 1. Adds Mesh Tutorial
@@ -1324,6 +1463,40 @@
 
 ## Ignition Gazebo 3.x
 
+### Ignition Gazebo 3.X.X (20XX-XX-XX)
+
+### Ignition Gazebo 3.12.0 (2021-11-11)
+
+1. Prevent creation of spurious `<plugin>` elements when saving worlds
+    * [Pull request #1192](https://github.com/ignitionrobotics/ign-gazebo/pull/1192)
+
+1. Added 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 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. Backport gazebo::Util::validTopic() from ign-gazebo4.
+    * [Pull request #1153](https://github.com/ignitionrobotics/ign-gazebo/pull/1153)
+
+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 3.11.0 (2021-10-21)
 
 1. Updates to camera video record from subt.

Migration.md

@@ -5,6 +5,11 @@ Deprecated code produces compile-time warnings. These warning serve as
 notification to users that their code should be upgraded. The next major
 release will remove the deprecated code.
 
+## Ignition Gazebo 6.1 to 6.2
+
+* If no `<namespace>` is given to the `Thruster` plugin, the namespace now
+  defaults to the model name, instead of an empty string.
+
 ## Ignition Gazebo 5.x to 6.x
 
 * The ParticleEmitter system is deprecated. Please use the ParticleEmitter2
@@ -68,6 +73,11 @@ since pose information is being logged in the `changed_state` topic.
 * The `gui.config` and `server.config` files are now located in a versioned
   folder inside `$HOME/.ignition/gazebo`, i.e. `$HOME/.ignition/gazebo/6/gui.config`.
 
+## Ignition Gazebo 5.2 to 5.3
+
+* If no `<namespace>` is given to the `Thruster` plugin, the namespace now
+  defaults to the model name, instead of an empty string.
+
 ## Ignition Gazebo 4.x to 5.x
 
 * Use `cli` component of `ignition-utils1`.

examples/worlds/auv_controls.sdf

@@ -1,4 +1,30 @@
 <?xml version="1.0" ?>
+<!--
+
+  Example showing various marine plugins working together for an
+  Autonomous Underwater Vehicle (AUV).
+
+  The following plugins are used:
+
+  * Buoyancy: applies buoyancy forces
+  * JointPositionController: controls the vertical and horizontal fins
+  * LiftDrag: generates forces on the vertical and horizontal fins
+  * Thruster: propels the vehicle
+  * Hydrodynamics: applies forces such as added mass, drag and coriolis
+
+  Example commands for the vehicle to move in a circle:
+
+  1. Move the rudder:
+
+      ign topic -t /model/tethys/joint/vertical_fins_joint/0/cmd_pos \
+         -m ignition.msgs.Double -p 'data: -0.17'
+
+  2. Propel the vehicle:
+
+      ign topic -t /model/tethys/joint/propeller_joint/cmd_thrust
+      -m ignition.msgs.Double -p 'data: -31'
+
+-->
 <sdf version="1.6">
   <world name="buoyant_tethys">
     <scene>
@@ -23,11 +49,6 @@
       filename="ignition-gazebo-scene-broadcaster-system"
       name="ignition::gazebo::systems::SceneBroadcaster">
     </plugin>
-    <plugin
-      filename="ignition-gazebo-contact-system"
-      name="ignition::gazebo::systems::Contact">
-    </plugin>
-
     <plugin
       filename="ignition-gazebo-buoyancy-system"
       name="ignition::gazebo::systems::Buoyancy">
@@ -143,4 +164,4 @@
     </include>
 
   </world>
-</sdf>
+</sdf>