A tick-tock release cycle allows easy migration to new software versions. Obsolete code is marked as deprecated for one major release. Deprecated code produces compile-time warnings. These warning serve as notification to users that their code should be upgraded. The next major release will remove the deprecated code.

• Use cli component of ignition-utils1.

• ignition::gazebo::RenderUtil::SelectedEntities() now returns a const std::vector<Entity> & instead of forcing a copy. The calling code should create a copy if it needs to modify the vector in some way.

• Default generated topic name for thermal cameras now includes the /image suffix. The camera_info topic has also been fixed to include the sensor name in the generated topic string. The naming scheme should be consistent with a normal camera sensor. Topic changes:

  • /<prefix>/<sensor_name> -> /<prefix>/<sensor_name>/image
  • /<prefix>/camera_info -> /<prefix>/<sensor_name>/camera_info

• Various GuiEvents were deprecated in favor of their Ignition GUI equivalents.

  • Deprecated ignition::gazebo::gui::SnapIntervals
  • Replacement ignition::gui::SnapIntervals
  • Deprecated ignition::gazebo::gui::Render
  • Replacement ignition::gui::Render
  • Deprecated ignition::gazebo::gui::SpawnPreviewModel
  • Replacement ignition::gui::SpawnFromDescription
  • Deprecated ignition::gazebo::gui::SnapPreviewPath
  • Replacement ignition::gui::SnapFromPath

• The <direction> tag of spot lights was previously not parsed by the scene, so all spot lights shone in the direction corresponding to the default 0 0 -1. Since 5.x, the <direction> tag is correctly processed.

• Ignition Gazebo 4.0.0 enabled double sided material by default but this caused shadow artifacts to appear on some meshes. Double sided material is now disabled and made an opt-in feature. Users can configure this property in SDF by setting the <visual><material><double_sided> SDF element.

• The RenderUtil::SetEnabledSensors callback in gazebo rendering has a new required function argument for the Entity of the sensor.

  • Removed public: void SetEnableSensors(bool, std::function< std::string(const sdf::Sensor &, const std::string &)>)
  • Replacement public: void SetEnableSensors(bool, std::function< std::string(const gazebo::Entity &, const sdf::Sensor &, const std::string &)>)

• Log playback using <path> SDF parameter is removed. Use --playback command line argument instead.

• rendering::SceneManager

  • Deprecated: Entity EntityFromNode(const rendering::NodePtr &_node) const;
  • Replacement: Entity entity = std::get<int>(visual->UserData("gazebo-entity"));

• Use ign-rendering3, ign-sensors3 and ign-gui3.

• Changed component data types:

  • Altimeter now uses sdf::Sensor
  • JointVelocity now uses std::vector<double>

• Deprecated components:

  • JointVelocity2: use JointVelocity's vector instead.

• The --distributed command line argument has been deprecated. Use --network-role instead.

• The -f/--file command line argument has been deprecated. The SDF file can now be loaded without a flag.

• The ign-gazebo command line tool is deprecated. The new tool is ign gazebo, which has all the same options, except for --distributed and --file/-f, which have been removed.

• The entity_name field in the messages published by the imu system is updated to report its scoped name.

• Log files generated from Ignition Gazebo 1.X are no longer compatible with Gazebo 2 for playback. BitBucket pull request #257 added an SDF message to the start of log files.

• Log playback using <path> SDF parameter is deprecated. Use --playback command line argument instead.

• All headers in gazebo/network are no longer installed.

• The ignition-gazebo1-gui library has been changed to a gui component of ignition-gazebo. To use the gui component downstream, update the find package call in cmake to request for the component, e.g. ign_find_package(ignition-gazebo1 REQUIRED COMPONENTS gui), and link to the libignition-gazebo1::gui target instead of libignition-gazebo1-gui