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merge from gz-sim8
Signed-off-by: Ian Chen <ichen@openrobotics.org>
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‎.github/ISSUE_TEMPLATE/bug_report.md

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---
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<!-- If you're not sure whether your problem is a bug, please ask a question at
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http://answers.gazebosim.org instead.-->
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https://robotics.stackexchange.com instead.-->
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## Environment
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* OS Version: <!-- e.g, Ubuntu 20.04 -->

‎.github/ISSUE_TEMPLATE/feature_request.md

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<!-- If you're not sure on the specifics of the feature or would like a broader
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discussion, please consider posting a proposal to
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http://community.gazebosim.org/ instead.-->
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https://robotics.stackexchange.com instead.-->
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## Desired behavior
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<!-- Describe the current problem and the feature you want implemented.-->

‎.github/workflows/ci.yml

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pull_request:
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push:
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branches:
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- 'ign-gazebo[0-9]'
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- 'gz-sim[0-9]?'
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- 'main'
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# Every time you make a push to your PR, it cancel immediately the previous checks,
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name: Ubuntu Jammy CI
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steps:
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- name: Checkout
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uses: actions/checkout@v3
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uses: actions/checkout@v4
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- uses: actions/setup-python@v3
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- uses: pre-commit/action@v3.0.0
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with:

‎CMakeLists.txt

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#============================================================================
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gz_create_packages()
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if (pybind11_FOUND)
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if (pybind11_FOUND AND NOT SKIP_PYBIND11)
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add_subdirectory(python)
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endif()
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#============================================================================

‎Changelog.md

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## Gazebo Sim 8.x
66

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### Gazebo Sim 8.1.0 (2024-02-06)
8+
9+
1. Add tutorial for using components in systems
10+
* [Pull request #2207](https://github.com/gazebosim/gz-sim/pull/2207)
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12+
1. Light entity match SDF boolean for UserCommands.
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* [Pull request #2295](https://github.com/gazebosim/gz-sim/pull/2295)
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1. Explicitly check SKIP_PYBIND11 for python bindings
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* [Pull request #2298](https://github.com/gazebosim/gz-sim/pull/2298)
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18+
1. Fix `INTEGRATION_save_world` on windows
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* [Pull request #2300](https://github.com/gazebosim/gz-sim/pull/2300)
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1. Change an entities visual material color by topic.
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* [Pull request #2286](https://github.com/gazebosim/gz-sim/pull/2286)
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1. Fix ModelPhotoShootTest test failures
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* [Pull request #2294](https://github.com/gazebosim/gz-sim/pull/2294)
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27+
1. Support for Gazebo materials
28+
* [Pull request #2269](https://github.com/gazebosim/gz-sim/pull/2269)
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* [Pull request #2302](https://github.com/gazebosim/gz-sim/pull/2302)
30+
31+
1. Added tutorial for Gazebo joint controller plugin
32+
* [Pull request #2263](https://github.com/gazebosim/gz-sim/pull/2263)
33+
34+
1. Lift Drag Bug Fix
35+
* [Pull request #2189](https://github.com/gazebosim/gz-sim/pull/2189)
36+
* [Pull request #2272](https://github.com/gazebosim/gz-sim/pull/2272)
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* [Pull request #2273](https://github.com/gazebosim/gz-sim/pull/2273)
38+
* [Issue #2188](https://github.com/gazebosim/gz-sim/issues/2188)
39+
40+
1. Fix URL in hydrodynamics tutorial
41+
* [Pull request #2280](https://github.com/gazebosim/gz-sim/pull/2280)
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43+
1. Install the Python libs to system site-packages instead of root
44+
* [Pull request #2274](https://github.com/gazebosim/gz-sim/pull/2274)
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46+
1. Maritime tutorials 💧
47+
* [Pull request #2260](https://github.com/gazebosim/gz-sim/pull/2260)
48+
* [Pull request #2259](https://github.com/gazebosim/gz-sim/pull/2259)
49+
* [Pull request #2258](https://github.com/gazebosim/gz-sim/pull/2258)
50+
* [Pull request #2257](https://github.com/gazebosim/gz-sim/pull/2257)
51+
52+
1. Update CI badges in README
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* [Pull request #2271](https://github.com/gazebosim/gz-sim/pull/2271)
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55+
1. Fix incorrect light direction in tunnel.sdf example
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* [Pull request #2264](https://github.com/gazebosim/gz-sim/pull/2264)
57+
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1. Allow removal of model that has joint_position_controller plugin.
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* [Pull request #2252](https://github.com/gazebosim/gz-sim/pull/2252)
60+
61+
1. Fix DLL linkage/visibility issues
62+
* [Pull request #2254](https://github.com/gazebosim/gz-sim/pull/2254)
63+
64+
1. `mecanum_drive`: use mesh wheels in example world
65+
* [Pull request #2250](https://github.com/gazebosim/gz-sim/pull/2250)
66+
67+
1. Disable distortion camera test on Linux
68+
* [Pull request #2247](https://github.com/gazebosim/gz-sim/pull/2247)
69+
70+
1. `environment_preload`: fix windows compiler warnings
71+
* [Pull request #2246](https://github.com/gazebosim/gz-sim/pull/2246)
72+
73+
1. EnvironmentPreload: ignerr -> gzerr
74+
* [Pull request #2245](https://github.com/gazebosim/gz-sim/pull/2245)
75+
76+
1. Update friction parameters for skid steer example
77+
* [Pull request #2235](https://github.com/gazebosim/gz-sim/pull/2235)
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79+
1. Fixed Centre of Mass and Inertia Matrix Calculation Bug `MeshInertiaCalculator::CalculateMassProperties()` function
80+
* [Pull request #2182](https://github.com/gazebosim/gz-sim/pull/2182)
81+
82+
1. Backport #2231: Use sdf FindElement API to avoid `const_cast`
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* [Pull request #2236](https://github.com/gazebosim/gz-sim/pull/2236)
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1. Add libpython3-dev CI dependency
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* [Pull request #2233](https://github.com/gazebosim/gz-sim/pull/2233)
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1. Standardize Doxygen parameter formatting for systems
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* [Pull request #2212](https://github.com/gazebosim/gz-sim/pull/2212)
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* [Pull request #2183](https://github.com/gazebosim/gz-sim/pull/2183)
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1. Use `GZ_PI` instead of `M_PI` to fix windows builds
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* [Pull request #2230](https://github.com/gazebosim/gz-sim/pull/2230)
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1. Add note about elevator example
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* [Pull request #2227](https://github.com/gazebosim/gz-sim/pull/2227)
97+
98+
1. Porting Advanced Lift Drag Plugin to Gazebo
99+
* [Pull request #2185](https://github.com/gazebosim/gz-sim/pull/2185)
100+
* [Pull request #2226](https://github.com/gazebosim/gz-sim/pull/2226)
101+
102+
1. Fix for sensor pointer null when navsat plugin in included in sdf
103+
* [Pull request #2176](https://github.com/gazebosim/gz-sim/pull/2176)
104+
105+
1. Implements a method to get the link inertia
106+
* [Pull request #2218](https://github.com/gazebosim/gz-sim/pull/2218)
107+
108+
1. Fix sensors system parallel updates
109+
* [Pull request #2201](https://github.com/gazebosim/gz-sim/pull/2201)
110+
111+
1. Fix custom_sensor_system example
112+
* [Pull request #2208](https://github.com/gazebosim/gz-sim/pull/2208)
113+
114+
1. Relax pose check in actor no mesh test
115+
* [Pull request #2196](https://github.com/gazebosim/gz-sim/pull/2196)
116+
117+
1. backport component inspector Vector3d width fix
118+
* [Pull request #2195](https://github.com/gazebosim/gz-sim/pull/2195)
119+
120+
1. fix INTEGRATION_save_world's SdfGeneratorFixture.ModelWithNestedIncludes test
121+
* [Pull request #2197](https://github.com/gazebosim/gz-sim/pull/2197)
122+
123+
1. Support specifying the name of light associated with lens flares
124+
* [Pull request #2172](https://github.com/gazebosim/gz-sim/pull/2172)
125+
126+
1. Bump Fuel model version in test
127+
* [Pull request #2190](https://github.com/gazebosim/gz-sim/pull/2190)
128+
129+
1. Fix environment system loading mechanism
130+
* [Pull request #1842](https://github.com/gazebosim/gz-sim/pull/1842)
131+
132+
1. Infrastructure
133+
* [Pull request #2187](https://github.com/gazebosim/gz-sim/pull/2187)
134+
* [Pull request #2237](https://github.com/gazebosim/gz-sim/pull/2237)
135+
* [Pull request #2222](https://github.com/gazebosim/gz-sim/pull/2222)
136+
7137
### Gazebo Sim 8.0.0 (2023-09-29)
8138

9139
1. TouchPlugin: Reset the plugin with the initial values
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## Gazebo Sim 7.x
137267

268+
### Gazebo Sim 7.7.0 (2024-01-17)
269+
270+
1. Allow using plugin file names and environment variables compatible with Garden and later
271+
* [Pull request #2275](https://github.com/gazebosim/gz-sim/pull/2275)
272+
273+
1. Added tutorial for Gazebo joint controller plugin
274+
* [Pull request #2263](https://github.com/gazebosim/gz-sim/pull/2263)
275+
276+
1. Fix incorrect light direction in tunnel.sdf example
277+
* [Pull request #2264](https://github.com/gazebosim/gz-sim/pull/2264)
278+
279+
1. Fix DLL linkage/visibility issues
280+
* [Pull request #2254](https://github.com/gazebosim/gz-sim/pull/2254)
281+
282+
1. mecanum_drive: use mesh wheels in example world
283+
* [Pull request #2250](https://github.com/gazebosim/gz-sim/pull/2250)
284+
285+
1. environment_preload: fix windows compiler warnings
286+
* [Pull request #2246](https://github.com/gazebosim/gz-sim/pull/2246)
287+
288+
1. EnvironmentPreload: ignerr -> gzerr
289+
* [Pull request #2245](https://github.com/gazebosim/gz-sim/pull/2245)
290+
291+
1. Update friction parameters for skid steer example
292+
* [Pull request #2235](https://github.com/gazebosim/gz-sim/pull/2235)
293+
294+
1. Use sdf FindElement API to avoid const_cast
295+
* [Pull request #2236](https://github.com/gazebosim/gz-sim/pull/2236)
296+
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1. Use `GZ_PI` instead of `M_PI` to fix windows builds
298+
* [Pull request #2230](https://github.com/gazebosim/gz-sim/pull/2230)
299+
300+
1. Add note about elevator example
301+
* [Pull request #2227](https://github.com/gazebosim/gz-sim/pull/2227)
302+
303+
1. Porting Advanced Lift Drag Plugin to Gazebo
304+
* [Pull request #2185](https://github.com/gazebosim/gz-sim/pull/2185)
305+
* [Pull request #2226](https://github.com/gazebosim/gz-sim/pull/2226)
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1. Fix macOS test failures by registering components in the core library
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* [Pull request #2220](https://github.com/gazebosim/gz-sim/pull/2220)
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1. Fix for sensor pointer null when navsat plugin in included in sdf
311+
* [Pull request #2176](https://github.com/gazebosim/gz-sim/pull/2176)
312+
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1. Fix another deadlock in sensors system
314+
* [Pull request #2200](https://github.com/gazebosim/gz-sim/pull/2200)
315+
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1. Fix sensors system parallel updates
317+
* [Pull request #2201](https://github.com/gazebosim/gz-sim/pull/2201)
318+
319+
1. Relax pose check in actor no mesh test
320+
* [Pull request #2196](https://github.com/gazebosim/gz-sim/pull/2196)
321+
322+
1. backport component inspector Vector3d width fix
323+
* [Pull request #2195](https://github.com/gazebosim/gz-sim/pull/2195)
324+
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1. fix INTEGRATION_save_world's SdfGeneratorFixture.ModelWithNestedIncludes test
326+
* [Pull request #2197](https://github.com/gazebosim/gz-sim/pull/2197)
327+
328+
1. Lift Drag Bug Fix
329+
* [Pull request #2189](https://github.com/gazebosim/gz-sim/pull/2189)
330+
* [Pull request #2272](https://github.com/gazebosim/gz-sim/pull/2272)
331+
* [Pull request #2273](https://github.com/gazebosim/gz-sim/pull/2273)
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* [Issue #2188](https://github.com/gazebosim/gz-sim/issues/2188)
333+
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1. Bump Fuel model version in test
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* [Pull request #2190](https://github.com/gazebosim/gz-sim/pull/2190)
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1. Fix enviroment system loading mechanism
338+
* [Pull request #1842](https://github.com/gazebosim/gz-sim/pull/1842)
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1. Infrastructure
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* [Pull request #2237](https://github.com/gazebosim/gz-sim/pull/2237)
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* [Pull request #2222](https://github.com/gazebosim/gz-sim/pull/2222)
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### Gazebo Sim 7.6.0 (2023-09-26)
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## Gazebo Sim 6.x
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### Gazebo Sim 6.16.0 (2024-01-12)
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1. Allow using plugin file names and environment variables compatible with Garden and later
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* [Pull request #2275](https://github.com/gazebosim/gz-sim/pull/2275)
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1. Update friction parameters for skid steer example
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* [Pull request #2235](https://github.com/gazebosim/gz-sim/pull/2235)
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1. Relax pose check in actor no mesh test
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* [Pull request #2196](https://github.com/gazebosim/gz-sim/pull/2196)
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1. Fix macOS test failures by registering components in the core library
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* [Pull request #2220](https://github.com/gazebosim/gz-sim/pull/2220)
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1. Fix for sensor pointer null when navsat plugin in included in sdf
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* [Pull request #2176](https://github.com/gazebosim/gz-sim/pull/2176)
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1. Fix another deadlock in sensors system
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* [Pull request #2200](https://github.com/gazebosim/gz-sim/pull/2200)
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1. Backport component inspector Vector3d width fix
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* [Pull request #2195](https://github.com/gazebosim/gz-sim/pull/2195)
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1. Bump Fuel model version in test
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* [Pull request #2190](https://github.com/gazebosim/gz-sim/pull/2190)
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1. Infrastructure
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* [Pull request #2237](https://github.com/gazebosim/gz-sim/pull/2237)
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* [Pull request #2222](https://github.com/gazebosim/gz-sim/pull/2222)
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### Gazebo Sim 6.15.0 (2023-08-16)
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‎README.md

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Build | Status
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-- | --
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Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-sim/branch/main/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-sim/branch/main)
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Ubuntu Focal | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_gazebo-ci-main-focal-amd64)](https://build.osrfoundation.org/job/ignition_gazebo-ci-main-focal-amd64)
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Homebrew | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_gazebo-ci-main-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_gazebo-ci-main-homebrew-amd64)
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Windows | [![Build Status](https://build.osrfoundation.org/job/ign_gazebo-ci-win/badge/icon)](https://build.osrfoundation.org/job/ign_gazebo-ci-win/)
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Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-sim/tree/gz-sim8/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-sim/tree/gz-sim8)
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Ubuntu Jammy | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_sim-ci-gz-sim8-jammy-amd64)](https://build.osrfoundation.org/job/gz_sim-ci-gz-sim8-jammy-amd64)
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Homebrew | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_sim-ci-gz-sim8-homebrew-amd64)](https://build.osrfoundation.org/job/gz_sim-ci-gz-sim8-homebrew-amd64)
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Windows | [![Build Status](https://build.osrfoundation.org/job/gz_sim-8-win/badge/icon)](https://build.osrfoundation.org/job/gz_sim-8-win/)
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Gazebo Sim is an open source robotics simulator. Through Gazebo Sim, users have access to high fidelity physics, rendering, and sensor models. Additionally, users and developers have multiple points of entry to simulation including a graphical user interface, plugins, and asynchronous message passing and services.
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‎examples/worlds/diff_drive_skid.sdf

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‎examples/worlds/joint_controller.sdf

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‎examples/worlds/joint_position_controller.sdf

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