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Changelog.md
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## Gazebo Sim 7.x
### Gazebo Sim 7.8.0 (2024-07-22)
1. Added support for spacecraft thrusters
* [Pull request #2431](https://github.com/gazebosim/gz-sim/pull/2431)
1. Disable rendering tests that are failing on github actions
* [Pull request #2480](https://github.com/gazebosim/gz-sim/pull/2480)
1. Consolidate entity creation.
* [Pull request #2452](https://github.com/gazebosim/gz-sim/pull/2452)
1. Set max contacts for collision pairs
* [Pull request #2270](https://github.com/gazebosim/gz-sim/pull/2270)
1. Add GravityEnabled boolean component
* [Pull request #2451](https://github.com/gazebosim/gz-sim/pull/2451)
1. Add support for no gravity link
* [Pull request #2398](https://github.com/gazebosim/gz-sim/pull/2398)
1. Handle sdf::Geometry::EMPTY in conversions
* [Pull request #2430](https://github.com/gazebosim/gz-sim/pull/2430)
1. Use topicFromScopedName in a few systems
* [Pull request #2427](https://github.com/gazebosim/gz-sim/pull/2427)
1. Fix typo in a comment
* [Pull request #2429](https://github.com/gazebosim/gz-sim/pull/2429)
1. Remove a few extra zeros from some sdf files
* [Pull request #2426](https://github.com/gazebosim/gz-sim/pull/2426)
1. Use VERSION_GREATER_EQUAL in cmake logic
* [Pull request #2418](https://github.com/gazebosim/gz-sim/pull/2418)
1. Rephrase cmake comment about CMP0077
* [Pull request #2419](https://github.com/gazebosim/gz-sim/pull/2419)
1. ForceTorque system: improve readability
* [Pull request #2403](https://github.com/gazebosim/gz-sim/pull/2403)
1. LTA Dynamics System
* [Pull request #2241](https://github.com/gazebosim/gz-sim/pull/2241)
1. Fix namespace and class links in documentation references that use namespace `gz`
* [Pull request #2385](https://github.com/gazebosim/gz-sim/pull/2385)
1. Fix ModelPhotoShootTest test failures
* [Pull request #2294](https://github.com/gazebosim/gz-sim/pull/2294)
1. update sdf version
* [Pull request #2313](https://github.com/gazebosim/gz-sim/pull/2313)
1. Fix Gazebo/White and refactored MaterialParser
* [Pull request #2302](https://github.com/gazebosim/gz-sim/pull/2302)
1. Support for Gazebo materials
* [Pull request #2269](https://github.com/gazebosim/gz-sim/pull/2269)
### Gazebo Sim 7.7.0 (2024-01-17)
1. Allow using plugin file names and environment variables compatible with Garden and later
* [Pull request #2275](https://github.com/gazebosim/gz-sim/pull/2275)
1. Added tutorial for Gazebo joint controller plugin
* [Pull request #2263](https://github.com/gazebosim/gz-sim/pull/2263)
1. Fix incorrect light direction in tunnel.sdf example
* [Pull request #2264](https://github.com/gazebosim/gz-sim/pull/2264)
1. Fix DLL linkage/visibility issues
* [Pull request #2254](https://github.com/gazebosim/gz-sim/pull/2254)
1. mecanum_drive: use mesh wheels in example world
* [Pull request #2250](https://github.com/gazebosim/gz-sim/pull/2250)
1. environment_preload: fix windows compiler warnings
* [Pull request #2246](https://github.com/gazebosim/gz-sim/pull/2246)
1. EnvironmentPreload: ignerr -> gzerr
* [Pull request #2245](https://github.com/gazebosim/gz-sim/pull/2245)
1. Update friction parameters for skid steer example
* [Pull request #2235](https://github.com/gazebosim/gz-sim/pull/2235)
1. Use sdf FindElement API to avoid const_cast
* [Pull request #2236](https://github.com/gazebosim/gz-sim/pull/2236)
1. Use `GZ_PI` instead of `M_PI` to fix windows builds
* [Pull request #2230](https://github.com/gazebosim/gz-sim/pull/2230)
1. Add note about elevator example
* [Pull request #2227](https://github.com/gazebosim/gz-sim/pull/2227)
1. Porting Advanced Lift Drag Plugin to Gazebo
* [Pull request #2185](https://github.com/gazebosim/gz-sim/pull/2185)
* [Pull request #2226](https://github.com/gazebosim/gz-sim/pull/2226)
1. Fix macOS test failures by registering components in the core library
* [Pull request #2220](https://github.com/gazebosim/gz-sim/pull/2220)
1. Fix for sensor pointer null when navsat plugin in included in sdf
* [Pull request #2176](https://github.com/gazebosim/gz-sim/pull/2176)
1. Fix another deadlock in sensors system
* [Pull request #2200](https://github.com/gazebosim/gz-sim/pull/2200)
1. Fix sensors system parallel updates
* [Pull request #2201](https://github.com/gazebosim/gz-sim/pull/2201)
1. Relax pose check in actor no mesh test
* [Pull request #2196](https://github.com/gazebosim/gz-sim/pull/2196)
1. backport component inspector Vector3d width fix
* [Pull request #2195](https://github.com/gazebosim/gz-sim/pull/2195)
1. fix INTEGRATION_save_world's SdfGeneratorFixture.ModelWithNestedIncludes test
* [Pull request #2197](https://github.com/gazebosim/gz-sim/pull/2197)
1. Lift Drag Bug Fix
* [Pull request #2189](https://github.com/gazebosim/gz-sim/pull/2189)
* [Pull request #2272](https://github.com/gazebosim/gz-sim/pull/2272)
* [Pull request #2273](https://github.com/gazebosim/gz-sim/pull/2273)
* [Issue #2188](https://github.com/gazebosim/gz-sim/issues/2188)
1. Bump Fuel model version in test
* [Pull request #2190](https://github.com/gazebosim/gz-sim/pull/2190)
1. Fix enviroment system loading mechanism
* [Pull request #1842](https://github.com/gazebosim/gz-sim/pull/1842)
1. Infrastructure
* [Pull request #2237](https://github.com/gazebosim/gz-sim/pull/2237)
* [Pull request #2222](https://github.com/gazebosim/gz-sim/pull/2222)
### Gazebo Sim 7.6.0 (2023-09-26)
1. Documentation updates
* [Pull request #2169](https://github.com/gazebosim/gz-sim/pull/2169)
* [Pull request #2135](https://github.com/gazebosim/gz-sim/pull/2135)
* [Pull request #2120](https://github.com/gazebosim/gz-sim/pull/2120)
* [Pull request #2116](https://github.com/gazebosim/gz-sim/pull/2116)
* [Pull request #2115](https://github.com/gazebosim/gz-sim/pull/2115)
* [Pull request #2108](https://github.com/gazebosim/gz-sim/pull/2108)
* [Pull request #2067](https://github.com/gazebosim/gz-sim/pull/2067)
* [Pull request #1996](https://github.com/gazebosim/gz-sim/pull/1996)
1. Backport reset button fix
* [Pull request #2159](https://github.com/gazebosim/gz-sim/pull/2159)
1. Fix SDFormat xml output of sdf_exporter
* [Pull request #2156](https://github.com/gazebosim/gz-sim/pull/2156)
1. Fix duplicate entries in joint position controller GUI plugin
* [Pull request #2101](https://github.com/gazebosim/gz-sim/pull/2101)
1. Use default physics engine in example worlds
* [Pull request #2134](https://github.com/gazebosim/gz-sim/pull/2134)
1. Fix move to model
* [Pull request #2126](https://github.com/gazebosim/gz-sim/pull/2126)
1. Remove GZ_PHYSICS_ENGINE_INSTALL_DIR deprecation warnings
* [Pull request #2106](https://github.com/gazebosim/gz-sim/pull/2106)
1. Remove forward-ported restriction on model loading
* [Pull request #2104](https://github.com/gazebosim/gz-sim/pull/2104)
1. Odometry topic for the track controller system
* [Pull request #2021](https://github.com/gazebosim/gz-sim/pull/2021)
1. Add tutorials for ApplyForceTorque and MouseDrag plugins
* [Pull request #2083](https://github.com/gazebosim/gz-sim/pull/2083)
1. Prevent crash when viewing heightmap collision
* [Pull request #2097](https://github.com/gazebosim/gz-sim/pull/2097)
1. Force offset and vector magnitude support in ApplyForceTorque
* [Pull request #2056](https://github.com/gazebosim/gz-sim/pull/2056)
1. Fix plugin conversion error message
* [Pull request #2094](https://github.com/gazebosim/gz-sim/pull/2094)
1. Visualization tools for the ApplyForceTorque GUI plugin
* [Pull request #2051](https://github.com/gazebosim/gz-sim/pull/2051)
1. Improve documentation on how to replace Scene3D plugin
* [Pull request #1698](https://github.com/gazebosim/gz-sim/pull/1698)
1. Configurable stiffnesses in MouseDrag
* [Pull request #2057](https://github.com/gazebosim/gz-sim/pull/2057)
1. Infrastructure
* [Pull request #2075](https://github.com/gazebosim/gz-sim/pull/2075)
* [Pull request #2066](https://github.com/gazebosim/gz-sim/pull/2066)
* [Pull request #2012](https://github.com/gazebosim/gz-sim/pull/2012)
* [Pull request #1988](https://github.com/gazebosim/gz-sim/pull/1988)
1. Add new MouseDrag plugin
* [Pull request #2038](https://github.com/gazebosim/gz-sim/pull/2038)
1. Relax scene init check in visualize lidar gui plugin
* [Pull request #2077](https://github.com/gazebosim/gz-sim/pull/2077)
1. Add force offset support to ApplyLinkWrench system and to Link API
* [Pull request #2026](https://github.com/gazebosim/gz-sim/pull/2026)
1. Proposal to add deadband to thruster
* [Pull request #1927](https://github.com/gazebosim/gz-sim/pull/1927)
1. Avoid nullptr dereference if TouchPlugin is not attached to a model entity.
* [Pull request #2069](https://github.com/gazebosim/gz-sim/pull/2069)
1. Remove unnecessary headers to fix ABI checker
* [Pull request #2070](https://github.com/gazebosim/gz-sim/pull/2070)
1. Fix Joint Position Controller Behaviour Described in #1997
* [Pull request #2001](https://github.com/gazebosim/gz-sim/pull/2001)
1. Include contact force, normal, and depth in contact message
* [Pull request #2050](https://github.com/gazebosim/gz-sim/pull/2050)
1. Use sdf::Element::FindElement instead of GetElement in ApplyLinkWrench
* [Pull request #2052](https://github.com/gazebosim/gz-sim/pull/2052)
1. Backport sensors system threading optimization changes
* [Pull request #2058](https://github.com/gazebosim/gz-sim/pull/2058)
1. Apply Force and Torque GUI plugin
* [Pull request #2014](https://github.com/gazebosim/gz-sim/pull/2014)
1. Adds a warning if the `Server` method of a `TestFixture` is called before `Finalize`
* [Pull request #2047](https://github.com/gazebosim/gz-sim/pull/2047)
1. Support loading mesh by mesh name in `<mesh><uri>`
* [Pull request #2007](https://github.com/gazebosim/gz-sim/pull/2007)
1. ComponentInspector: display PhysicsEnginePlugin
* [Pull request #2032](https://github.com/gazebosim/gz-sim/pull/2032)
1. Send BlockOrbit false events only once from TransformControl plugin
* [Pull request #2030](https://github.com/gazebosim/gz-sim/pull/2030)
1. Categorize tutorials list
* [Pull request #2028](https://github.com/gazebosim/gz-sim/pull/2028)
1. Add time out to wait to avoid deadlock
* [Pull request #2025](https://github.com/gazebosim/gz-sim/pull/2025)
1. Add optional binary relocatability
* [Pull request #1968](https://github.com/gazebosim/gz-sim/pull/1968)
1. Several minor fixes
* [Pull request #2027](https://github.com/gazebosim/gz-sim/pull/2027)
1. Protobuf: Do not require version 3 do support Protobuf 4.23.2 (23.2)
* [Pull request #2006](https://github.com/gazebosim/gz-sim/pull/2006)
1. Support world joints (joints inside `<world>` tags)
* [Pull request #1949](https://github.com/gazebosim/gz-sim/pull/1949)
1. Disable pybind11 on Windows by default
* [Pull request #2005](https://github.com/gazebosim/gz-sim/pull/2005)
1. Port record topic fix
* [Pull request #2004](https://github.com/gazebosim/gz-sim/pull/2004)
1. Allow re-attaching detached joint
* [Pull request #1687](https://github.com/gazebosim/gz-sim/pull/1687)
1. Enable GzWeb visualization of markers by republishing service requests on a topic
* [Pull request #1994](https://github.com/gazebosim/gz-sim/pull/1994)
1. Support loading Projectors
* [Pull request #1979](https://github.com/gazebosim/gz-sim/pull/1979)
1. Small fixes to gz headers
* [Pull request #1985](https://github.com/gazebosim/gz-sim/pull/1985)
1. Speed up Resource Spawner load time by fetching model list asynchronously
* [Pull request #1962](https://github.com/gazebosim/gz-sim/pull/1962)
1. Add redirection header gz/sim.hh
* [Pull request #1983](https://github.com/gazebosim/gz-sim/pull/1983)
1. Add missing cmake exports from core library
* [Pull request #1978](https://github.com/gazebosim/gz-sim/pull/1978)
1. Add tutorial on migrating the Sensor class from gazebo classic
* [Pull request #1930](https://github.com/gazebosim/gz-sim/pull/1930)
1. ign -> gz Migrate Ignition Headers : gz-sim
* [Pull request #1646](https://github.com/gazebosim/gz-sim/pull/1646)
### Gazebo Sim 7.5.0 (2023-05-14)
1. Actuators message input for JointController.
* [Pull request #1953](https://github.com/gazebosim/gz-sim/pull/1953)
1. fixed a code block in the python interfaces tutorial
* [Pull request #1982](https://github.com/gazebosim/gz-sim/pull/1982)
1. Add missing cmake exports from core library
* [Pull request #1978](https://github.com/gazebosim/gz-sim/pull/1978)
1. Actuators message for JointPositionController.
* [Pull request #1954](https://github.com/gazebosim/gz-sim/pull/1954)
1. Update sdf plugins to use actuator_number.
* [Pull request #1976](https://github.com/gazebosim/gz-sim/pull/1976)
1. Unload render engine when the sensors system exits
* [Pull request #1960](https://github.com/gazebosim/gz-sim/pull/1960)
1. Use GzSpinBox.
* [Pull request #1969](https://github.com/gazebosim/gz-sim/pull/1969)
1. Add tutorial on migrating the Actor class from gazebo classic
* [Pull request #1929](https://github.com/gazebosim/gz-sim/pull/1929)
1. Add back in the marker example
* [Pull request #1972](https://github.com/gazebosim/gz-sim/pull/1972)
1. Optimize render updates and use of thread mutexes in Sensors system
* [Pull request #1938](https://github.com/gazebosim/gz-sim/pull/1938)
1. Fix use of actors that only has trajectory animation
* [Pull request #1947](https://github.com/gazebosim/gz-sim/pull/1947)
1. Actuators message input for Ackermann Steering.
* [Pull request #1952](https://github.com/gazebosim/gz-sim/pull/1952)
1. Add tutorial on migrating the Joint class from gazebo classic
* [Pull request #1925](https://github.com/gazebosim/gz-sim/pull/1925)
1. Add tutorial on migrating the Light class from gazebo classic
* [Pull request #1931](https://github.com/gazebosim/gz-sim/pull/1931)
1. Remove filtering from realtime factor (RTF) calculation
* [Pull request #1942](https://github.com/gazebosim/gz-sim/pull/1942)
1. Fix docker/README.md
* [Pull request #1964](https://github.com/gazebosim/gz-sim/pull/1964)
1. gz_TEST: improve initial sim time test reliability
* [Pull request #1916](https://github.com/gazebosim/gz-sim/pull/1916)
1. Use a queue to track component registration from mulitiple sources
* [Pull request #1836](https://github.com/gazebosim/gz-sim/pull/1836)
1. Initialize services in ViewAngle constructor
* [Pull request #1943](https://github.com/gazebosim/gz-sim/pull/1943)
1. CI workflow: use checkout v3
* [Pull request #1940](https://github.com/gazebosim/gz-sim/pull/1940)
1. Rename COPYING to LICENSE
* [Pull request #1937](https://github.com/gazebosim/gz-sim/pull/1937)
1. add comment on center of buoyancy force
* [Pull request #1935](https://github.com/gazebosim/gz-sim/pull/1935)
1. Get Windows to green on gz-sim7
* [Pull request #1917](https://github.com/gazebosim/gz-sim/pull/1917)
1. Add Light class
* [Pull request #1918](https://github.com/gazebosim/gz-sim/pull/1918)
1. Resolve inconsistent visibility on ign-gazebo6
* [Pull request #1914](https://github.com/gazebosim/gz-sim/pull/1914)
1. relax msg count check in RF comms integration test
* [Pull request #1920](https://github.com/gazebosim/gz-sim/pull/1920)
1. Fix off-by-one error in physics test
* [Pull request #1921](https://github.com/gazebosim/gz-sim/pull/1921)
1. Fix formatting of error messages with large mesh file names
* [Pull request #1654](https://github.com/gazebosim/gz-sim/pull/1654)
1. Add Actor class
* [Pull request #1913](https://github.com/gazebosim/gz-sim/pull/1913)
1. Update all velocity and acceleration components of non-link entities
* [Pull request #1868](https://github.com/gazebosim/gz-sim/pull/1868)
1. Add Sensor class
* [Pull request #1912](https://github.com/gazebosim/gz-sim/pull/1912)
1. Minor vocab fix
* [Pull request #1915](https://github.com/gazebosim/gz-sim/pull/1915)
1. Allow to change camera user hfov in camera_view plugin
* [Pull request #1807](https://github.com/gazebosim/gz-sim/pull/1807)
1. Address a few Windows CI Issues
* [Pull request #1911](https://github.com/gazebosim/gz-sim/pull/1911)
1. Added magnetometer value based on location
* [Pull request #1907](https://github.com/gazebosim/gz-sim/pull/1907)
1. Allow specifying initial simulation time with a CLI argument
* [Pull request #1801](https://github.com/gazebosim/gz-sim/pull/1801)
1. Add Joint class
* [Pull request #1910](https://github.com/gazebosim/gz-sim/pull/1910)
1. Added reset simulation tutorial
* [Pull request #1824](https://github.com/gazebosim/gz-sim/pull/1824)
1. Add SensorTopic component to rendering sensors
* [Pull request #1908](https://github.com/gazebosim/gz-sim/pull/1908)
1. Use a queue to track component registration from mulitiple sources
* [Pull request #1836](https://github.com/gazebosim/gz-sim/pull/1836)
1. Document behaviour changes introduced #1784
* [Pull request #1888](https://github.com/gazebosim/gz-sim/pull/1888)
1. Fix GUI_clean_exit test by increasing thread delay
* [Pull request #1902](https://github.com/gazebosim/gz-sim/pull/1902)
1. Partial backport of 1728
* [Pull request #1901](https://github.com/gazebosim/gz-sim/pull/1901)
1. Fix gz plugin paths in windows
* [Pull request #1899](https://github.com/gazebosim/gz-sim/pull/1899)
1. Increase timeout for UNIT_Gui_clean_exit_TEST
* [Pull request #1897](https://github.com/gazebosim/gz-sim/pull/1897)
1. fix triggered camera test by waiting for rendering / scene to be ready
* [Pull request #1895](https://github.com/gazebosim/gz-sim/pull/1895)
1. cmdsim.rb: fix ruby syntax
* [Pull request #1884](https://github.com/gazebosim/gz-sim/pull/1884)
1. Fix some windows warnings (C4244 and C4305)
* [Pull request #1874](https://github.com/gazebosim/gz-sim/pull/1874)
1. Minor optimization to transform control tool
* [Pull request #1854](https://github.com/gazebosim/gz-sim/pull/1854)
1. inherit material cast shadows property
* [Pull request #1856](https://github.com/gazebosim/gz-sim/pull/1856)
1. fix record topic
* [Pull request #1855](https://github.com/gazebosim/gz-sim/pull/1855)
1. Remove duplicate Fuel server used by ResourceSpawner
* [Pull request #1830](https://github.com/gazebosim/gz-sim/pull/1830)
1. re-add namespace
* [Pull request #1826](https://github.com/gazebosim/gz-sim/pull/1826)
1. Fix QML warnings regarding binding loops
* [Pull request #1829](https://github.com/gazebosim/gz-sim/pull/1829)
1. Update documentation on `UpdateInfo::realTime`
* [Pull request #1817](https://github.com/gazebosim/gz-sim/pull/1817)
1. Add jennuine as GUI codeowner
* [Pull request #1800](https://github.com/gazebosim/gz-sim/pull/1800)
1. remove PlotIcon
* [Pull request #1658](https://github.com/gazebosim/gz-sim/pull/1658)
1. Final update of ignitionrobotics to gazebosim for citadel
* [Pull request #1760](https://github.com/gazebosim/gz-sim/pull/1760)
1. Convert ignitionrobotics to gazebosim in tutorials
* [Pull request #1759](https://github.com/gazebosim/gz-sim/pull/1759)
1. Convert ignitionrobotics to gazebosim in sources and includes
* [Pull request #1758](https://github.com/gazebosim/gz-sim/pull/1758)
1. Convert ignitionrobotics to gazebosim in tests directory
* [Pull request #1757](https://github.com/gazebosim/gz-sim/pull/1757)
1. Added collection name to About Dialog
* [Pull request #1756](https://github.com/gazebosim/gz-sim/pull/1756)
1. Citadel: Removed warnings
* [Pull request #1753](https://github.com/gazebosim/gz-sim/pull/1753)
1. Remove actors from screen when they are supposed to
* [Pull request #1699](https://github.com/gazebosim/gz-sim/pull/1699)
1. readd namespaces for Q_ARGS
* [Pull request #1670](https://github.com/gazebosim/gz-sim/pull/1670)
1. 🎈 3.14.0
* [Pull request #1657](https://github.com/gazebosim/gz-sim/pull/1657)
1. Remove redundant namespace references
* [Pull request #1635](https://github.com/gazebosim/gz-sim/pull/1635)
1. 🎈 3.14.0~pre1
* [Pull request #1650](https://github.com/gazebosim/gz-sim/pull/1650)
### Gazebo Sim 7.4.0 (2023-02-14)
1. Added airspeed sensor
* [Pull request #1847](https://github.com/gazebosim/gz-sim/pull/1847)
1. JointPosController: support nested joints
* [Pull request #1851](https://github.com/gazebosim/gz-sim/pull/1851)
1. cmdsim.rb: fix ruby syntax
* [Pull request #1884](https://github.com/gazebosim/gz-sim/pull/1884)
1. Fix view angle plugin
* [Pull request #1877](https://github.com/gazebosim/gz-sim/pull/1877)
1. Fix cmake unrecognized argument warning
* [Pull request #1882](https://github.com/gazebosim/gz-sim/pull/1882)
### Gazebo Sim 7.3.0 (2023-02-02)
1. Fluid added mass
* [Pull request #1592](https://github.com/gazebosim/gz-sim/pull/1592)
1. Add P gain value for Ackermann steering.
* [Pull request #1873](https://github.com/gazebosim/gz-sim/pull/1873)
1. Add orientation to Odom with covariance.
* [Pull request #1876](https://github.com/gazebosim/gz-sim/pull/1876)
### Gazebo Sim 7.2.0 (2023-01-25)
1. Enable the JointController and JointPositionController to use sub_topics and control multiple joints.
* [Pull request #1861](https://github.com/gazebosim/gz-sim/pull/1861)
1. Ackermann steering with steering angle and sub_topic.
* [Pull request #1860](https://github.com/gazebosim/gz-sim/pull/1860)
1. port: 6 to 7 (10-JAN-2023)
* [Pull request #1857](https://github.com/gazebosim/gz-sim/pull/1857)
1. Add ignition alias back
* [Pull request #1858](https://github.com/gazebosim/gz-sim/pull/1858)
1. fix SdfGenerator unit test
* [Pull request #1853](https://github.com/gazebosim/gz-sim/pull/1853)
1. Allow using a CSV file to define currents for hydrodynamic system
* [Pull request #1839](https://github.com/gazebosim/gz-sim/pull/1839)
1. Add multichannel lookup for environment sensors.
* [Pull request #1814](https://github.com/gazebosim/gz-sim/pull/1814)
1. Example controller for LRAUV
* [Pull request #1822](https://github.com/gazebosim/gz-sim/pull/1822)
1. Fix component removal in component inspector
* [Pull request #1833](https://github.com/gazebosim/gz-sim/pull/1833)
1. port: 6 to 7 (06-DEC-2023)
* [Pull request #1832](https://github.com/gazebosim/gz-sim/pull/1832)
1. port: 6 to 7 (29-NOV-2023)
* [Pull request #1821](https://github.com/gazebosim/gz-sim/pull/1821)
1. Fix #1812.
* [Pull request #1813](https://github.com/gazebosim/gz-sim/pull/1813)
1. Removed unused attributes
* [Pull request #1809](https://github.com/gazebosim/gz-sim/pull/1809)
1. Fixes buoyancy flakiness when spawning entities
* [Pull request #1808](https://github.com/gazebosim/gz-sim/pull/1808)
1. Remove fixed width from world control
* [Pull request #1805](https://github.com/gazebosim/gz-sim/pull/1805)
1. Backport #1748: Adds a tool for environment data visualization and custom environmental sensors
* [Pull request #1798](https://github.com/gazebosim/gz-sim/pull/1798)
1. Acoustic comms : Propagation model
* [Pull request #1793](https://github.com/gazebosim/gz-sim/pull/1793)
1. Add pre-commit hooks configuration
* [Pull request #1792](https://github.com/gazebosim/gz-sim/pull/1792)
1. Add checkbox in view angle plugin for toggling view control reference visual
* [Pull request #1788](https://github.com/gazebosim/gz-sim/pull/1788)
1. Add EnvironmentalData component
* [Pull request #1616](https://github.com/gazebosim/gz-sim/pull/1616)
### Gazebo Sim 7.1.0 (2022-11-10)
1. Allow SDF model to be constructed in a single shot
* [Pull request #1560](https://github.com/gazebosim/gz-sim/pull/1560)
1. Allow loading a model SDF file in the Server class
* [Pull request #1775](https://github.com/gazebosim/gz-sim/pull/1775)
1. Address flaky UNIT_Gui_TEST
* [Pull request #1776](https://github.com/gazebosim/gz-sim/pull/1776)
1. Change name of nameFilter of saveDialog to "SDF files"
* [Pull request #1774](https://github.com/gazebosim/gz-sim/pull/1774)
1. Acoustic comms : Packet collision timeout
* [Pull request #1755](https://github.com/gazebosim/gz-sim/pull/1755)
1. Fix typo in include inside Export.hh
* [Pull request #1778](https://github.com/gazebosim/gz-sim/pull/1778)
1. Towards Green CI
* [Pull request #1771](https://github.com/gazebosim/gz-sim/pull/1771)
1. Refactor: Trajectory loading seperated into external function
* [Pull request #1744](https://github.com/gazebosim/gz-sim/pull/1744)
1. Add pybind11 module as MODULE
* [Pull request #1763](https://github.com/gazebosim/gz-sim/pull/1763)
1. Clarify errors when plugins fail to load
* [Pull request #1727](https://github.com/gazebosim/gz-sim/pull/1727)
1. Fix tutorial for `blender_sdf_exporter`
* [Pull request #1718](https://github.com/gazebosim/gz-sim/pull/1718)
1. Cherry pick acoustic comms to gz-sim7
* [Pull request #1704](https://github.com/gazebosim/gz-sim/pull/1704)
1. Update tutorial for `blender_distort_meshes`
* [Pull request #1719](https://github.com/gazebosim/gz-sim/pull/1719)
1. Removes Actor Visuals When They Are Despawned
* [Pull request #1697](https://github.com/gazebosim/gz-sim/pull/1697)
1. Update examples to used gazebosim
* [Pull request #1726](https://github.com/gazebosim/gz-sim/pull/1726)
1. Merge forward 6 to 7, 2022-10-21
* [Pull request #1768](https://github.com/gazebosim/gz-sim/pull/1768)
1. Merge forward 6 to 7, 2022-10-06
* [Pull request #1676](https://github.com/gazebosim/gz-sim/pull/1676)
1. Add information about <topic> system paramter
* [Pull request #1671](https://github.com/gazebosim/gz-sim/pull/1671)
1. Adding tests for hydrodynamics
* [Pull request #1617](https://github.com/gazebosim/gz-sim/pull/1617)
1. Fix Windows and Doxygen
* [Pull request #1643](https://github.com/gazebosim/gz-sim/pull/1643)
1. Merge forward 3 to 6, 2022-08-16
* [Pull request #1651](https://github.com/gazebosim/gz-sim/pull/1651)
1. Add support for specifying log record period
* [Pull request #1636](https://github.com/gazebosim/gz-sim/pull/1636)
1. Common widget GzColor replacement
* [Pull request #1530](https://github.com/gazebosim/gz-sim/pull/1530)
1. Replace plotIcon in ComponentInspector with GzPlotIcon
* [Pull request #1638](https://github.com/gazebosim/gz-sim/pull/1638)
1. Component Inspector with common widget pose plotting
* [Pull request #1607](https://github.com/gazebosim/gz-sim/pull/1607)
1. Change CODEOWNERS and maintainer to Michael
* [Pull request #1644](https://github.com/gazebosim/gz-sim/pull/1644)
1. Replace pose in ViewAngle with GzPose
* [Pull request #1641](https://github.com/gazebosim/gz-sim/pull/1641)
### Gazebo Sim 7.0.0 (2022-09-27)
1. Fix some warnings in visualize_lidar.sdf
* [Pull request #1702](https://github.com/gazebosim/gz-sim/pull/1702)
1. Lock step video recording is broken, disabling
* [Pull request #1707](https://github.com/gazebosim/gz-sim/pull/1707)
1. Add code quotes to TestFixture.hh
* [Pull request #1723](https://github.com/gazebosim/gz-sim/pull/1723)
1. Update URL in tutorial for `python_interfaces`
* [Pull request #1721](https://github.com/gazebosim/gz-sim/pull/1721)
1. Rename python library as gz.sim7
* [Pull request #1716](https://github.com/gazebosim/gz-sim/pull/1716)
1. Fix documentation on visibility.sdf
* [Pull request #1703](https://github.com/gazebosim/gz-sim/pull/1703)
1. Fix display of Pose3d and Vector3d
* [Pull request #1680](https://github.com/gazebosim/gz-sim/pull/1680)
1. Use RTLD_NODELETE=true when loading libraries
* [Pull request #1649](https://github.com/gazebosim/gz-sim/pull/1649)
1. Update headers for missing transitive includes
* [Pull request #1566](https://github.com/gazebosim/gz-sim/pull/1566)
1. Add topic parameter to thrust plugin
* [Pull request #1681](https://github.com/gazebosim/gz-sim/pull/1681)
1. Remove unused function
* [Pull request #1678](https://github.com/gazebosim/gz-sim/pull/1678)
1. Fixed python build in gz-sim7
* [Pull request #1667](https://github.com/gazebosim/gz-sim/pull/1667)
1. Fix Windows and Doxygen
* [Pull request #1643](https://github.com/gazebosim/gz-sim/pull/1643)
1. Fix gz_TEST paths
* [Pull request #1675](https://github.com/gazebosim/gz-sim/pull/1675)
1. Fix two tests
* [Pull request #1674](https://github.com/gazebosim/gz-sim/pull/1674)
1. Add Metal support to Gazebo for macOS
* [Pull request #1225](https://github.com/gazebosim/gz-sim/pull/1225)
1. Add information about <topic> system paramter
* [Pull request #1671](https://github.com/gazebosim/gz-sim/pull/1671)
1. Adding tests for hydrodynamics
* [Pull request #1617](https://github.com/gazebosim/gz-sim/pull/1617)
1. Fix Windows and Doxygen
* [Pull request #1643](https://github.com/gazebosim/gz-sim/pull/1643)
1. Introduces new mesh formats to the drag&drop err
* [Pull request #1653](https://github.com/gazebosim/gz-sim/pull/1653)
1. Add support for specifying log record period
* [Pull request #1636](https://github.com/gazebosim/gz-sim/pull/1636)
1. Common widget GzColor replacement
* [Pull request #1530](https://github.com/gazebosim/gz-sim/pull/1530)
1. Add option to disable building python bindings
* [Pull request #1637](https://github.com/gazebosim/gz-sim/pull/1637)
1. Replace plotIcon in ComponentInspector with GzPlotIcon
* [Pull request #1638](https://github.com/gazebosim/gz-sim/pull/1638)
1. Component Inspector with common widget pose plotting
* [Pull request #1607](https://github.com/gazebosim/gz-sim/pull/1607)
1. 🕐 Tock: Remove Fortress deprecations
* [Pull request #1605](https://github.com/gazebosim/gz-sim/pull/1605)
1. Change CODEOWNERS and maintainer to Michael
* [Pull request #1644](https://github.com/gazebosim/gz-sim/pull/1644)
1. Replace pose in ViewAngle with GzPose
* [Pull request #1641](https://github.com/gazebosim/gz-sim/pull/1641)
1. Update gz-sensors branch in example
* [Pull request #1634](https://github.com/gazebosim/gz-sim/pull/1634)
1. Deprecations, ign -> gz
* [Pull request #1631](https://github.com/gazebosim/gz-sim/pull/1631)
1. Migrate config and log directories
* [Pull request #1629](https://github.com/gazebosim/gz-sim/pull/1629)
1. ign to gz
* [Pull request #1630](https://github.com/gazebosim/gz-sim/pull/1630)
1. Just the ABI breaking parts of #1560
* [Pull request #1624](https://github.com/gazebosim/gz-sim/pull/1624)
1. Supply spherical coords when loading DEMs
* [Pull request #1556](https://github.com/gazebosim/gz-sim/pull/1556)
1. Bump actions dependencies to Ogre 2.3
* [Pull request #1620](https://github.com/gazebosim/gz-sim/pull/1620)
1. Install gz packages instead of ignition
* [Pull request #1614](https://github.com/gazebosim/gz-sim/pull/1614)
1. Use stepping field in message
* [Pull request #1612](https://github.com/gazebosim/gz-sim/pull/1612)
1. Don't use 'EachNew' in ForceTorque PreUpdate function
* [Pull request #1523](https://github.com/gazebosim/gz-sim/pull/1523)
1. Test case for simulation reset with detachable joints
* [Pull request #1511](https://github.com/gazebosim/gz-sim/pull/1511)
1. Fix Python bindings
* [Pull request #1606](https://github.com/gazebosim/gz-sim/pull/1606)
1. ign -> gz Provisional Finale: Source Migration : gz-sim
* [Pull request #1591](https://github.com/gazebosim/gz-sim/pull/1591)
1. ign -> gz CMake, Python, Partial Source, and File Migrations : gz-sim
* [Pull request #1589](https://github.com/gazebosim/gz-sim/pull/1589)
1. Tutorial for mesh distortion in Blender Python
* [Pull request #1401](https://github.com/gazebosim/gz-sim/pull/1401)
1. Use new has connections function
* [Pull request #1528](https://github.com/gazebosim/gz-sim/pull/1528)
1. Fix compilation of scene broadcaster test
* [Pull request #1599](https://github.com/gazebosim/gz-sim/pull/1599)
1. Restore CXX_STANDARD 17
* [Pull request #1586](https://github.com/gazebosim/gz-sim/pull/1586)
1. ign -> gz Shared Lib Migration : gz-sim
* [Pull request #1535](https://github.com/gazebosim/gz-sim/pull/1535)
1. Garden: fix windows CI build
* [Pull request #1578](https://github.com/gazebosim/gz-sim/pull/1578)
1. Implement system Reset interface for Sensors and SceneBroadcaster
* [Pull request #1355](https://github.com/gazebosim/gz-sim/pull/1355)
1. ign -> gz Partial Docs Migration and Project Name Followups : gz-sim
* [Pull request #1558](https://github.com/gazebosim/gz-sim/pull/1558)
1. Update GoogleTest to latest version
* [Pull request #1559](https://github.com/gazebosim/gz-sim/pull/1559)
1. Rename CMake project to gz
* [Pull request #1527](https://github.com/gazebosim/gz-sim/pull/1527)
1. Detect gz program instead of using CMake module to check for gz-tools
* [Pull request #1557](https://github.com/gazebosim/gz-sim/pull/1557)
1. ign -> gz CLI Migration : gz-sim
* [Pull request #1533](https://github.com/gazebosim/gz-sim/pull/1533)
1. Use new Joint APIs for Parent/Child name
* [Pull request #1548](https://github.com/gazebosim/gz-sim/pull/1548)
1. Expose rendering teardown event
* [Pull request #1539](https://github.com/gazebosim/gz-sim/pull/1539)
1. Add QML Debugging support
* [Pull request #1503](https://github.com/gazebosim/gz-sim/pull/1503)
1. [ign -> gz] CMake functions
* [Pull request #1542](https://github.com/gazebosim/gz-sim/pull/1542)
1. ign -> gz Macro Migration : gz-sim
* [Pull request #1520](https://github.com/gazebosim/gz-sim/pull/1520)
1. Allow rendering to be forced externally
* [Pull request #1475](https://github.com/gazebosim/gz-sim/pull/1475)
1. Apply shininess value to visuals
* [Pull request #1483](https://github.com/gazebosim/gz-sim/pull/1483)
1. ign -> gz Environment Variable Migration
* [Pull request #1518](https://github.com/gazebosim/gz-sim/pull/1518)
1. More missing math includes and math::clock fixes
* [Pull request #1526](https://github.com/gazebosim/gz-sim/pull/1526)
1. Rename ignition to gz in #1519.
* [Pull request #1519](https://github.com/gazebosim/gz-sim/pull/1519)
1. Use pose multiplication instead of subtraction
* [Pull request #1521](https://github.com/gazebosim/gz-sim/pull/1521)
1. Add missing gz-math includes
* [Pull request #1525](https://github.com/gazebosim/gz-sim/pull/1525)
1. [ign ➡️ gz] Logo, docs, tools
* [Pull request #1517](https://github.com/gazebosim/gz-sim/pull/1517)
1. Remove ign-rendering SetTime hack
* [Pull request #1514](https://github.com/gazebosim/gz-sim/pull/1514)
1. ign -> gz: namespaces, .gz directory
* [Pull request #1496](https://github.com/gazebosim/gz-sim/pull/1496)
1. Update documentation in the linear battery plugin example.
* [Pull request #1500](https://github.com/gazebosim/gz-sim/pull/1500)
1. Use gz/sim/test_config
* [Pull request #1498](https://github.com/gazebosim/gz-sim/pull/1498)
1. Quality of life improvements for examples_build test
* [Pull request #1493](https://github.com/gazebosim/gz-sim/pull/1493)
1. Update test log for gz components
* [Pull request #1477](https://github.com/gazebosim/gz-sim/pull/1477)
1. Migrate CMake files
* [Pull request #1477](https://github.com/gazebosim/gz-sim/pull/1477)
1. Migrate sources in src, test, examples, and include
* [Pull request #1477](https://github.com/gazebosim/gz-sim/pull/1477)
1. Create redirection aliases
* [Pull request #1477](https://github.com/gazebosim/gz-sim/pull/1477)
1. Move header files with git mv
* [Pull request #1477](https://github.com/gazebosim/gz-sim/pull/1477)
1. Implement reset interface in the physics system
* [Pull request #1327](https://github.com/gazebosim/gz-sim/pull/1327)
1. Use uint64_t with gazebo-entity user dataa
* [Pull request #1451](https://github.com/gazebosim/gz-sim/pull/1451)
1. Depend on math7 and remove Bionic packages
* [Pull request #1446](https://github.com/gazebosim/gz-sim/pull/1446)
1. Used Light ign-msgs is_light_off
* [Pull request #1449](https://github.com/gazebosim/gz-sim/pull/1449)
1. Use message field visualize_visual
* [Pull request #1453](https://github.com/gazebosim/gz-sim/pull/1453)
1. Tweaks to python docs
* [Pull request #1448](https://github.com/gazebosim/gz-sim/pull/1448)
1. Use utils instead of ign-cmake utilities
* [Pull request #1446](https://github.com/gazebosim/gz-sim/pull/1446)
* [Pull request #1379](https://github.com/gazebosim/gz-sim/pull/1379)
1. Remove internal python bindings for sdformat
* [Pull request #1447](https://github.com/gazebosim/gz-sim/pull/1447)
1. Bumps in garden : ign-utils2, ign-plugin2
* [Pull request #1444](https://github.com/gazebosim/gz-sim/pull/1444)
1. Fix deprecation warnings for ModelPhotoShoot
* [Pull request #1437](https://github.com/gazebosim/gz-sim/pull/1437)
1. Remove unused View::Clone method
* [Pull request #1440](https://github.com/gazebosim/gz-sim/pull/1440)
1. replace deprecated common::SubMesh::MaterialIndex() with GetMaterialIndex()
* [Pull request #1436](https://github.com/gazebosim/gz-sim/pull/1436)
1. Make WindEffects configurable on a location basis
* [Pull request #1357](https://github.com/gazebosim/gz-sim/pull/1357)
1. Fix faulty assumption in INTEGRATION_log_system
* [Pull request #1426](https://github.com/gazebosim/gz-sim/pull/1426)
1. Clean up various warnings caught by clang12
* [Pull request #1421](https://github.com/gazebosim/gz-sim/pull/1421)
1. Fix visibility and add documentation
* [Pull request #1407](https://github.com/gazebosim/gz-sim/pull/1407)
1. Preserve sign of thrust_coefficient
* [Pull request #1402](https://github.com/gazebosim/gz-sim/pull/1402)
1. Support world reset
* [Pull request #1249](https://github.com/gazebosim/gz-sim/pull/1249)
1. Added DEM support
* [Pull request #1262](https://github.com/gazebosim/gz-sim/pull/1262)
1. Remove Bionic from future releases (Garden+)
* [Pull request #1388](https://github.com/gazebosim/gz-sim/pull/1388)
1. Add support for wide angle camera in sensors system
* [Pull request #1215](https://github.com/gazebosim/gz-sim/pull/1215)
1. Enable WorldPose component on TrajectoryFollower
* [Pull request #1382](https://github.com/gazebosim/gz-sim/pull/1382)
1. Eliminates std::filesystem usage in utils.cc
* [Pull request #1346](https://github.com/gazebosim/gz-sim/pull/1346)
1. Emitter migration
* [Pull request #1287](https://github.com/gazebosim/gz-sim/pull/1287)
1. [Garden] Make tests run as fast as possible
* [Pull request #1293](https://github.com/gazebosim/gz-sim/pull/1293)
1. Mark Component::Clone as const
* [Pull request #1300](https://github.com/gazebosim/gz-sim/pull/1300)
1. Improve Sensor::Update call
* [Pull request #1283](https://github.com/gazebosim/gz-sim/pull/1283)
1. Thruster plugin: accept angular velocity and provide feedback on topic
* [Pull request #1269](https://github.com/gazebosim/gz-sim/pull/1269)
1. Re-enable triggered publisher tests
* [Pull request #1271](https://github.com/gazebosim/gz-sim/pull/1271)
1. Bumps in garden: use ign-math7 and dependents