New Releases 2022-05-17 (Fortress, Citadel)

Gazebo Gazebo Announcements and News
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Highlights

  • Fortress: Visibility mask for Lidar sensors, so some visuals can be ignored:

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  • Citadel / Fortress: CLI to print an SDF model’s inertial stats

    $ ign sdf --inertial-stats cleanerbot1/2/model.sdf
Inertial statistics for model: CleanerBot1
---
Total mass of the model: 25
---
Centre of mass in model frame:
X: 0.216
Y: 0
Z: 0.291765
---
Moment of inertia matrix:
4.47941    0          -0.762353
0          3.89701    0    
-0.762353  0          3.9186
---

  • Citadel / Fortress: Capsule and Ellipsoid Python interfaces

    from ignition.math import Capsuled, MassMatrix3d
capsule = Capsuled(1.0, 0.001)
volume = capsule.volume()
density = capsule.density_from_mass(10))
massMat = capsule.mass_matrix()

Releases

These are the minor and patch releases that came out since the previous post.

Gazebo Math 6.11.0 (Citadel, Fortress)

Changelog

Full changelog

  1. MassMatrix3: fix bug in PrincipalAxesOffset tolerances
  2. Fix return policies for some member functions
  3. Added Ellipsoid Python interface
  4. Added Capsule Python interface
  5. Fixes for tests on i386: relax SphericalCoordinates and workaround for negative zero
  6. Added helper function to check if a string represents a time
  7. Reduce pybind11 compilation memory

Contributors

Addisu Z. Taddese
Alejandro Hernández Cordero
Jose Luis Rivero
Louise Poubel
Nate Koenig
Steve Peters

SDFormat 12.5.0 (Fortress)

Changelog

Full changelog

  1. Add visibility mask to Lidar / Ray sensor
  2. Camera: fix default trigger topic
  3. Polyline geometry DOM
  4. Added <shininess> to <material>
  5. inertial.sdf: fix ambiguities in documentation
  6. Added equality operators to Plugin
  7. Added convenience constructor to plugin
  8. Use ign-utils instead of ign-cmake utilities
  9. Added Friction and ODE classes
  10. Add L16 pixel format to Camera pixel format conversion function
  11. Added --inertial-stats option to ign sdf
  12. Added anti_aliasing element to camera’s SDF
  13. DOC 1.9: clarify behavior of //model/model/static
  14. SDF to USD
  15. USD to SDF

Contributors

Aditya Pande
Alejandro Hernández Cordero
Ian Chen
Louise Poubel
Nate Koenig
Steve Peters
William Lew

Gazebo Rendering 6.4.0 (Fortress)

Changelog

Full changelog

  1. Add support for GpuRays (lidar) visibility mask
  2. Use gz-utils test macros
  3. Cleanup depth camera resources on destroy
  4. Fixed Readme.md typo
  5. Destroy root node and clean up sensor resources on exit
  6. Add repo specific issue templates

Contributors

Addisu Z. Taddese
Guillaume Jacquenot
Ian Chen
Louise Poubel

Gazebo Sensors 6.4.0 (Fortress)

Changelog

Full changelog

  1. Set lidar visibility mask
  2. Fix triggered camera test
  3. Add support for l8 format
  4. Fix <ignition_frame_id> not working for GpuLidarSensor

Contributors

Aditya Pande
G.Doisy
Ian Chen
Steve Peters

SDFormat 9.8.0 (Citadel)

Changelog

Full changelog

  1. Polyline geometry DOM
  2. Added <shininess> to <material>
  3. Backport ign sdf --inertial-stats
  4. Add L16 pixel format to Camera pixel format conversion function
  5. Anti-aliasing element for <camera><image>
  6. Fix loading nested include with custom attributes
  7. add enable_orientation to 1.6 spec
  8. Fix xyz and rpy offsets in fixed joint reduction
  9. Translate poses of nested models inside other nested models (sdf6)
  10. Fix flattening logic for nested model names (sdf6)
  11. Parse rpyOffset as radians
  12. Infrastructure

Contributors

Addisu Z. Taddese
Aditya Pande
Ian Chen
Jenn Nguyen
Jose Luis Rivero
Louise Poubel
Nate Koenig
Steve Peters
William Lew

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