# Gazebo Harmonic Release 🎵

**URL:** <https://discourse.openrobotics.org/t/gazebo-harmonic-release/48175>\
**Category:** Gazebo General\
**Tags:** release, gazebo, harmonic\
**Created:** [October 2, 2023, 8:12pm UTC](https://discourse.openrobotics.org/t/gazebo-harmonic-release/48175 "2023-10-02T20:12:14Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![azeey](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/azeey/32/6795_2.png) [@azeey](https://discourse.openrobotics.org/u/azeey)\
**Post date:** [October 2, 2023, 8:12pm UTC](https://discourse.openrobotics.org/t/gazebo-harmonic-release/48175/1 "2023-10-02T20:12:14Z")

</div>

The Gazebo team is happy to announce the 8th major release of Gazebo, code named Harmonic! :gazebo: 🎵

 ![harmonic](https://us1.discourse-cdn.com/flex022/uploads/ros/original/3X/5/d/5d70b6ffe3fdff6830858a4661e8b15fc09a62fc.png)

Harmonic is a long-term support release supported until September 2028.

If you would like to see Gazebo Harmonic in action, we demonstrated many new features at our monthly community meeting:

[![](https://us1.discourse-cdn.com/flex022/uploads/ros/original/3X/3/1/317099032d993bba8f09e77e6a799763fef1f821.jpeg "Gazebo Community Meeting September 2023: Gazebo Harmonic Release Demo!") ](https://vimeo.com/868835608)

You can find the full list of new features in the [gz-harmonic repo](https://github.com/gazebosim/gz-harmonic/blob/main/highlights.md), but here’s a brief summary:

- **Harmonic demo world** : Try out the [Harmonic demo world](https://app.gazebosim.org/OpenRobotics/fuel/worlds/Harmonic%20World), which showcases some of the highlights from the Harmonic release!

- [Gazebo systems written in Python](https://github.com/gazebosim/gz-sim/pull/2081): Gazebo now provides a way to write systems in Python. In addition, it is now possible to use `gz-transport` to publish, subscribe or do service requests from Python

- [Automatically compute the Moment of Inertia of Meshes](https://github.com/gazebosim/gz-sim/pull/2061): This feature enables automatic calculation for the Moments of Inertia, Mass, and Inertial Pose (Center of Mass pose) of a link described using SDFormat.

- [MouseDrag plugin](https://github.com/gazebosim/gz-sim/pull/2038): This new plugin allows the user to exert forces and torques by dragging objects in the scene with the mouse cursor.

- [Support fluid added mass](https://github.com/gazebosim/gz-sim/pull/1592): Adds support for simulating the virtual mass of the displaced volume of objects that are moving through fluids.

- [Add bullet-featherstone plugin](https://github.com/gazebosim/gz-physics/pull/373): Adds support for Bullet’s Featherstone implementation, which is a technique using a reduced coordinate representation of open kinematic chains.

- [Generate messages in downstream builds](https://github.com/gazebosim/gz-msgs/pull/339): Re-works message generation so that developers can now easily generate their own message definitions that are compatible with Gazebo tooling, such as msgs or transport.

- [Mimic constraint feature using bullet-featherstone](https://github.com/gazebosim/gz-physics/pull/517): Adds a new joint actuation constraint called the Mimic constraint that enforces a linear relationship between the output position of two joint axes.

- [Camera LensFlare](https://github.com/gazebosim/gz-sim/pull/1933): Adds Lens Flare System that adds Lens Flare Render Pass to the camera and allows users to enable lens flare in camera images.

- [Global illumination VCT & CI VCT](https://github.com/gazebosim/gz-rendering/pull/675): Adds Real Time Global Illumination on the GUI side based on one of these two techniques: (1) VCT (Voxel Cone Tracing), (2) CI VCT (Cascaded Image Voxel Cone Tracing). Requires Vulkan.

- [Show subscribers info when running topic info](https://github.com/gazebosim/gz-transport/pull/384) and [list subscribed topics when running topic list](https://github.com/gazebosim/gz-transport/pull/379): Adds the ability to list subscribers and show their info using `gz topic -l` and `gz topic -i -t <topic_name>`.

- [Add Projector](https://github.com/gazebosim/gz-rendering/pull/845): Adds a projector feature that projects out a texture onto a surface.

- [Wide-angle cameras in ogre2](https://github.com/gazebosim/gz-rendering/pull/733): Ports the wide angle camera implementation to the Ogre2 render engine.

- [DopplerVelocityLog sensor](https://github.com/gazebosim/gz-sensors/pull/290): Adds `DopplerVelocityLog` (DVL) sensor that produces velocity estimates of underwater vehicles.

- [Add rrbot example setup & update readme](https://github.com/gazebosim/ros_gz_project_template/pull/9): An example to demonstrate ROS 2 tools like `robot_state_publisher`, `joint_state_publisher` working seamlessly with Gazebo while only using SDFormat files (i.e., without using any URDF files).

As of the release date, the currently supported platforms are:

- Ubuntu Jammy (22.04)
- MacOS Monterey and Ventura
- Windows 10 (partial support)

We’d like to thank all contributors to this release:

> **Full list of contributors**
>
> - _Aaron Chong_
> - _Addisu Z. Taddese_
> - _Aditya Pande_
> - _Alejandro Hernández Cordero_
> - _Alex_
> - _Anas Aamoum_
> - _Andrej Orsula_
> - _Angelo Elias Dal Zotto_
> - _Anton Bredenbeck_
> - _Arjo Chakravarty_
> - _AzulRadio_
> - _Ben Wolsieffer_
> - _Benjamin Perseghetti_
> - _Bi0T1N_
> - _Brian_
> - _Carlos Agüero_
> - _Cristóbal Arroyo_
> - _Crola1702_
> - _danilogsch_
> - _Dharini Dutia_
> - _El Jawad Alaa_
> - _Grey_
> - _Henrique Barros Oliveira_
> - _Ian Chen_
> - _Ivan Santiago Paunovic_
> - _Jasmeet Singh_
> - _Jenn Nguyen_
> - _Joan Aguilar Mayans_
> - _Jochen Sprickerhof_
> - _Jorge Perez_
> - _Jose Luis Rivero_
> - _jrutgeer_
> - _Julian Oes_
> - _Kenji Brameld_
> - _Konstantinos Chatzilygeroudis_
> - _Kvk Praneeth_
> - _Levi Armstrong_
> - _Liam Han_
> - _Louise Poubel_
> - _Luca Della Vedova_
> - _Mabel Zhang_
> - _Marco A. Gutiérrez_
> - _Marko Križmančić_
> - _Marq Rasmussen_
> - _Martin Pecka_
> - _Matias N. Goldberg_
> - _Matthew LeMay_
> - _methylDragon_
> - _Michael Carroll_
> - _Michel Hidalgo_
> - _mosfet80_
> - _Nate Koenig_
> - _Onur Berk Töre_
> - _quentingllmt_
> - _Rhys Mainwaring_
> - _RobbertProost_
> - _Robert Plante_
> - _Sanjuksha_
> - _shameekganguly_
> - _Silvio Traversaro_
> - _Steve Peters_
> - _talregev_
> - _Tejal Ashwini Barnwal_
> - _Valentina Vasco_
> - _Vít Ondruch_
> - _Will Stott_
> - _William Lew_
> - _Zaidhaan_

We’d also like to give especial thanks to the community members who helped us review Harmonic tutorials during the [Tutorial Party](https://community.gazebosim.org/t/gazebo-harmonic-tutorial-party-support-open-source-and-get-t-shirts/2238):

- _Allison Thackston_
- _Andrej Orsula_
- _Bi0T1N_
- _JACOB JAMES K_
- _Jayesh Chaudhary_
- _jmackay2_
- _Kartik Rana_
- _Martin Pecka_
- _Rhys Mainwaring_
- _Suresh Venkatesan_
- _Veronika Bojtar_
- _Yuri Oliveira_

**If you would like to show your support for the project be sure to get your [Harmonic swag](https://community.gazebosim.org/t/gazebo-harmonic-tshirts-available/2291/2)! All proceeds go to support the project.**

The next release, **Gazebo Ionic** , is scheduled to be released in September 2024. Keep an eye on the [roadmap](https://gazebosim.org/docs/all/roadmap) for what’s coming up, and let us know what features you’re interested in!

:gazebo: The Gazebo Dev Team :gazebo: