From bd0c1538214e8ec5cc1406ef47ac904e5f90602e Mon Sep 17 00:00:00 2001 From: Steve Peters Date: Fri, 2 Aug 2024 11:10:11 -0700 Subject: [PATCH] Update Migration guide Signed-off-by: Steve Peters --- Migration.md | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/Migration.md b/Migration.md index 2e55298ea9..47e8a26a45 100644 --- a/Migration.md +++ b/Migration.md @@ -12,6 +12,11 @@ release will remove the deprecated code. each time step, whereas previously the component values were set to `0` after each time step. Persistent velocity commands should be reapplied at each time step. + + The ForceTorque system has been changed from updating sensor data during + the parallelized `PostUpdate` phase to use the sequential `Update` phase + and writing directly to the ECM if a sensor entity has a `WrenchMeasured` + component. The ForceTorque system priority is specified to ensure that its + `Update` phase executes after `Physics::Update`. ## Gazebo Sim 7.x to 8.0 * **Deprecated**