# New Ignition releases 2022-03-25 (Fortress, Edifice, Citadel)

**URL:** <https://discourse.openrobotics.org/t/new-ignition-releases-2022-03-25-fortress-edifice-citadel/49089>\
**Category:** Gazebo Announcements and News\
**Tags:** release, ignition, edifice, fortress, citadel\
**Created:** [March 25, 2022, 10:28pm UTC](https://discourse.openrobotics.org/t/new-ignition-releases-2022-03-25-fortress-edifice-citadel/49089 "2022-03-25T22:28:57Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![chapulina\_gazebo](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/chapulina_gazebo/32/1637_2.png) [@chapulina\_gazebo](https://discourse.openrobotics.org/u/chapulina_gazebo)\
**Post date:** [March 25, 2022, 10:28pm UTC](https://discourse.openrobotics.org/t/new-ignition-releases-2022-03-25-fortress-edifice-citadel/49089/1 "2022-03-25T22:28:57Z")

</div>

# Highlights

- Python APIs for Gazebo, see:

[https://community.gazebosim.org/t/ignition-python-wrappers-released-in-fortress/1332](https://community.gazebosim.org/t/ignition-python-wrappers-released-in-fortress/1332)

- Various libraries are getting their final Edifice releases, see:

[https://community.gazebosim.org/t/edifice-approaching-end-of-life/1328](https://community.gazebosim.org/t/edifice-approaching-end-of-life/1328)

- Echo Ignition Transport messages in JSON for easier processing

- The shader parameters system now supports shader languages other than GLSL, such as Metal

- Easily manipulate messages with the new `ignition::msgs::PointCloudPackedIterator`

# Releases

These are the minor and patch releases that came out since the [previous post](https://community.gazebosim.org/t/new-ignition-releases-2022-03-01-citadel-edifice-fortress/1313).

## Ignition Gazebo 6.7.0 (Fortress)

### Changelog

[Full changelog](https://github.com/ignitionrobotics/ign-gazebo/blob/ign-gazebo6/Changelog.md)

1. Added Python interfaces to some Ignition Gazebo methods
  - [Pull request #1219](https://github.com/ignitionrobotics/ign-gazebo/pull/1219)

2. Use pose multiplication instead of addition
  - [Pull request #1369](https://github.com/ignitionrobotics/ign-gazebo/pull/1369)

3. Disables Failing Buoyancy Tests on Win32
  - [Pull request #1368](https://github.com/ignitionrobotics/ign-gazebo/pull/1368)

4. Extend ShaderParam system to support loading different shader languages
  - [Pull request #1335](https://github.com/ignitionrobotics/ign-gazebo/pull/1335)

5. Populate names of colliding entities in contact points message
  - [Pull request #1351](https://github.com/ignitionrobotics/ign-gazebo/pull/1351)

6. Refactor System functionality into SystemManager
  - [Pull request #1340](https://github.com/ignitionrobotics/ign-gazebo/pull/1340)

7. GzSceneManager: Prevent crash boom when inserted from menu
  - [Pull request #1371](https://github.com/ignitionrobotics/ign-gazebo/pull/1371)

### Contributors

_Aditya Pande_  
_Alejandro Hernández Cordero_  
_Arjo Chakravarty_  
_Ian Chen_  
_Jose Luis Rivero_  
_Louise Poubel_  
_Michael Carroll_  
_Steve Peters_

* * *

## Ignition Messages 8.3.0 (Fortress)

### Changelog

[Full changelog](https://github.com/ignitionrobotics/ign-msgs/blob/ign-msgs8/Changelog.md)

1. Focal CI: static checkers and doxygen linters
  - [Pull request #230](https://github.com/ignitionrobotics/ign-msgs/pull/230)

2. Pose, twist and odometry with covariance msgs
  - [Pull request #224](https://github.com/ignitionrobotics/ign-msgs/pull/224)

3. Add wheel slip message definition
  - [Pull request #205](https://github.com/ignitionrobotics/ign-msgs/pull/205)
  - [Pull request #227](https://github.com/ignitionrobotics/ign-msgs/pull/227)

4. Add Ubuntu Jammy CI
  - [Pull request #225](https://github.com/ignitionrobotics/ign-msgs/pull/225)

5. Add `PointCloudPacked` iterators
  - [Pull request #210](https://github.com/ignitionrobotics/ign-msgs/pull/210)
  - [Pull request #218](https://github.com/ignitionrobotics/ign-msgs/pull/218)

6. Document pose + spherical coordinates combination on spawn
  - [Pull request #212](https://github.com/ignitionrobotics/ign-msgs/pull/212)

### Contributors

_Aditya Pande_  
_Ivan Santiago Paunovic_  
_Louise Poubel_  
_Steve Peters_  
_TyHowellWork_

* * *

## Ignition Launch 5.1.0 (Fortress)

### Changelog

[Full changelog](https://github.com/ignitionrobotics/ign-lauinch/blob/ign-launch5/Changelog.md)

1. Use exec instead of `popen` to run `ign-launch` binary
  - [Pull request #151](https://github.com/ignitionrobotics/ign-launch/pull/151)

2. Expose `headless_rendering` SDF tag
  - [Pull request #148](https://github.com/ignitionrobotics/ign-launch/pull/148)

3. Remove spammy CMake message
  - [Pull request #142](https://github.com/ignitionrobotics/ign-launch/pull/142)

### Contributors

_Addisu Z. Taddese_  
_Aditya Pande_  
_Louise Poubel_  
_Nate Koenig_

* * *

## Ignition Mesages 5.9.0 (Citadel)

### Changelog

[Full changelog](https://github.com/ignitionrobotics/ign-msgs/blob/ign-msgs5/Changelog.md)

1. Backport NavSat message for ROS bridge compatibility
  - [Pull request #231](https://github.com/ignitionrobotics/ign-msgs/pull/231)

2. Focal CI: static checkers and doxygen linters
  - [Pull request #230](https://github.com/ignitionrobotics/ign-msgs/pull/230)

3. Add `PointCloudPacked` iterators
  - [Pull request #210](https://github.com/ignitionrobotics/ign-msgs/pull/210)
  - [Pull request #218](https://github.com/ignitionrobotics/ign-msgs/pull/218)

### Contributors

_Louise Poubel_  
_TyHowellWork_

* * *

## SDFormat 11.4.0 and 11.4.1 (🏁 final Edifice release)

## Changelog

[Full changelog](https://github.com/ignitionrobotics/sdformat/blob/sdf11/Changelog.md)

1. Install sdf/1.8 to versioned path
  - [Pull request #890](https://github.com/ignitionrobotics/sdformat/pull/890)

2. Added option to visualize light on the GUI
  - [Pull request #877](https://github.com/ignitionrobotics/sdformat/pull/877)

3. Fix joint parent/child frame existence checks to include interface elements
  - [Pull request #855](https://github.com/ignitionrobotics/sdformat/pull/855)

4. Added to light whether it is on or off
  - [Pull request #851](https://github.com/ignitionrobotics/sdformat/pull/851)

5. Allow model frames (` __model__ `) to be used as joint parent or child
  - [Pull request #833](https://github.com/ignitionrobotics/sdformat/pull/833)

6. Add `ParserConfig` flag for `preserveFixedJoint`
  - [Pull request #815](https://github.com/ignitionrobotics/sdformat/pull/815)

7. Fix compiler warnings
  - [Pull request #808](https://github.com/ignitionrobotics/sdformat/pull/808)

8. `sdf_custom`: fix nested model expectations
  - [Pull request #807](https://github.com/ignitionrobotics/sdformat/pull/807)

9. Fix test compilation with `USE_INTERNAL_URDF`
  - [Pull request #800](https://github.com/ignitionrobotics/sdformat/pull/800)

10. Replace custom CMake code with `ign-cmake2`
  - [Pull request #780](https://github.com/ignitionrobotics/sdformat/pull/780)

11. Fix loading nested include with custom attributes
  - [Pull request #789](https://github.com/ignitionrobotics/sdformat/pull/789)

12. Documentation
  1. Clarify behavior of `//model/model/static`
    - [Pull request #713](https://github.com/ignitionrobotics/sdformat/pull/713)

  2. Only allow one `canonical_link` attribute for model
    - [Pull request #716](https://github.com/ignitionrobotics/sdformat/pull/716)

  3. Don’t mention elements that can’t be included
    - [Pull request #715](https://github.com/ignitionrobotics/sdformat/pull/715)

  4. Clarify documentation on `//pose/@relative_to` in the spec
    - [Pull request #666](https://github.com/ignitionrobotics/sdformat/pull/666)

  5. Remove duplicate link documentation
    - [Pull request #702](https://github.com/ignitionrobotics/sdformat/pull/702)

13. Fix URDF fixed joint reduction of plugins
  - [Pull request #745](https://github.com/ignitionrobotics/sdformat/pull/745)

14. Add `enable_orientation` to 1.6 spec
  - [Pull request #686](https://github.com/ignitionrobotics/sdformat/pull/686)

15. Remove outdated deprecation note from `parser_urdf.hh`
  - [Pull request #740](https://github.com/ignitionrobotics/sdformat/pull/740)

16. Add Joint DOM API to access joint sensors
  - [Pull request #517](https://github.com/ignitionrobotics/sdformat/pull/517)

17. Add force torque sensor
  - [Pull request #393](https://github.com/ignitionrobotics/sdformat/pull/393)
  - [Pull request #669](https://github.com/ignitionrobotics/sdformat/pull/669)

18. Check joint parent link names in `Model::Load`
  - [Pull request #726](https://github.com/ignitionrobotics/sdformat/pull/726)

19. Check joint parent/child names in `Root::Load`
  - [Pull request #727](https://github.com/ignitionrobotics/sdformat/pull/727)

20. Remove empty `//inertial/pose/@relative_to` during 1\_7-\>1.8 conversion
  - [Pull request #720](https://github.com/ignitionrobotics/sdformat/pull/720)

21. Fix `xyz` and `rpy` offsets in fixed joint reduction
  - [Pull request #500](https://github.com/ignitionrobotics/sdformat/pull/500)

22. Infrastructure updates
  - [Pull request #674](https://github.com/ignitionrobotics/sdformat/pull/674)
  - [Pull request #650](https://github.com/ignitionrobotics/sdformat/pull/650)
  - [Pull request #626](https://github.com/ignitionrobotics/sdformat/pull/626)
  - [Pull request #258](https://github.com/ignitionrobotics/sdformat/pull/258)
  - [Pull request #237](https://github.com/ignitionrobotics/sdformat/pull/237)
  - [Pull request #730](https://github.com/ignitionrobotics/sdformat/pull/730)

23. Translate poses of nested models inside other nested models
  - [Pull request #596](https://github.com/ignitionrobotics/sdformat/pull/596)

24. Fix flattening logic for nested model names
  - [Pull request #597](https://github.com/ignitionrobotics/sdformat/pull/597)

25. Parse `rpyOffset` as radians
  - [Pull request #497](https://github.com/ignitionrobotics/sdformat/pull/497)

## Contributors

_Addisu Z. Taddese_  
_Alejandro Hernández Cordero_  
_Ashton Larkin_  
_Carlos Agüero_  
_Devansh Chawla_  
_Ian Chen_  
_Jenn Nguyen_  
_Jose Luis Rivero_  
_Louise Poubel_  
_Nate Koenig_  
_Nick Lamprianidis_  
_Sebastian Wallkötter_  
_Steve Peters_  
_Varun Agrawal_

* * *

## Ignition Msgs 7.3.0 (🏁 final Edifice release)

## Changelog

[Full changelog](https://github.com/ignitionrobotics/ign-msgs/blob/ign-msgs7/Changelog.md)

1. Backport NavSat message for bridge compatibility
  - [Pull request #231](https://github.com/ignitionrobotics/ign-msgs/pull/231)

2. Focal CI: static checkers and doxygen linters
  - [Pull request #230](https://github.com/ignitionrobotics/ign-msgs/pull/230)

3. Add wheel slip message definition
  - [Pull request #205](https://github.com/ignitionrobotics/ign-msgs/pull/205)
  - [Pull request #227](https://github.com/ignitionrobotics/ign-msgs/pull/227)

4. Add `PointCloudPacked` iterators
  - [Pull request #210](https://github.com/ignitionrobotics/ign-msgs/pull/210)
  - [Pull request #218](https://github.com/ignitionrobotics/ign-msgs/pull/218)

5. Fix trivial typo in command line help message
  - [Pull request #191](https://github.com/ignitionrobotics/ign-msgs/pull/191)

6. Support colcon in windows CI
  - [Pull request #189](https://github.com/ignitionrobotics/ign-msgs/pull/189)

7. 🥳 Update ign-tools issue on README
  - [Pull request #184](https://github.com/ignitionrobotics/ign-msgs/pull/184)

## Contributors

_Ivan Santiago Paunovic_  
_Louise Poubel_  
_Nate Koenig_  
_Steve Peters_  
_TyHowellWork_

* * *

## Ignition Transport 10.2.0 (🏁 final Edifice release)

## Changelog

[Full changelog](https://github.com/ignitionrobotics/ign-transport/blob/ign-transport10/Changelog.md)

1. Use exec instead of `popen` to run binary
  - [Pull request #300](https://github.com/ignitionrobotics/ign-transport/pull/300)

2. Focal CI: static checkers, doxygen linters, compiler warnings
  - [Pull request #298](https://github.com/ignitionrobotics/ign-transport/pull/298)

3. Add option to output messages in JSON format
  - [Pull request #288](https://github.com/ignitionrobotics/ign-transport/pull/288)

4. Remove no username error messages
  - [Pull request #286](https://github.com/ignitionrobotics/ign-transport/pull/286)

5. Documented the default value of `IGN_PARTITION`
  - [Pull request #281](https://github.com/ignitionrobotics/ign-transport/pull/281)

6. Remove static on `registrationCb` and `unregistrationCb`.
  - [Pull request #273](https://github.com/ignitionrobotics/ign-transport/pull/273)

7. Make zmq check for post 4.3.1 not to include 4.3.1
  - [Pull request #237](https://github.com/ignitionrobotics/ign-transport/pull/237)

8. NetUtils: simplify logic in `determineInterfaces`
  - [Pull request #257](https://github.com/ignitionrobotics/ign-transport/pull/257)

9. Fix Homebrew warning (backport from Fortress)
  - [Pull request #268](https://github.com/ignitionrobotics/ign-transport/pull/268)

## Contributors

_Addisu Z. Taddese_  
_Alexander Graber-Tilton_  
_Carlos Agüero_  
_Hill Ma_  
_Jose Luis Rivero_  
_Louise Poubel_  
_Martin Pecka_  
_Nate Koenig_  
_Steve Peters_

* * *

## Ignition Rendering 5.2.1 (🏁 final Edifice release)

## Changelog

[Full changelog](https://github.com/ignitionrobotics/ign-rendering/blob/ign-rendering5/Changelog.md)

1. Silence CMake policy CMP0072
  - [Pull request #528](https://github.com/ignitionrobotics/ign-rendering/pull/528)

## Contributors

_Louise Poubel_

* * *

## Ignition Sensors 5.1.1 (🏁 final Edifice release)

## Changelog

[Full changelog](https://github.com/ignitionrobotics/ign-sensors/blob/ign-sensors5/Changelog.md)

1. Conform to ROS format for header field `frame_id` of sensor msgs
  - [Pull request #195](https://github.com/ignitionrobotics/ign-sensors/pull/195)

2. Fix compiler warnings (CMP0072 and copy elision)
  - [Pull request #188](https://github.com/ignitionrobotics/ign-sensors/pull/188)

## Contributors

_Alejandro Hernández Cordero_  
_Louise Poubel_

* * *