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SDFormat 8.0

SDFormat 8.9.1 (2020-12-23)

  1. Fix suported shader types (normal_map_X_space)

  2. CI updates

SDFormat 8.9.0 (2020-09-04)

  1. Find python3 in cmake, fix warning

  2. Store material file path information

  3. Fix Actor copy operators and increase test coverage.

  4. Migration to GitHub: CI, links...

  5. Increase output precision of URDF to SDF conversion, output -0 as 0.

  6. Fix homebrew build with external urdfdom.

SDFormat 8.8.0 (2020-03-18)

  1. Add Transparency to visual DOM

  2. Install the Windows .dll shared libraries to bin folder.

  3. Fix cmake type for tinyxml_INCLUDE_DIRS.

  4. Add functionality to generate aggregated SDFormat descriptions via CMake.

  5. Remove URI scheme, if present, when finding files.

  6. Rename SDF to SDFormat / libsdformat on documentation

SDFormat 8.7.1 (2020-01-13)

  1. Fix memory leaks in move assignment operator.

  2. Refactoring based on rule-of-five guidance to address memory leaks

SDFormat 8.7.0 (2019-12-13)

  1. Remove some URDF error messages

  2. Fix parsing URDF without inside

  3. Backport URDF multiplication and linter

  4. Add clipping for depth camera on rgbd camera sensor

SDFormat 8.6.1 (2019-12-05)

  1. Unversioned lib name for cmds

SDFormat 8.6.0 (2019-11-20)

  1. configure.bat: use ign-math6, not gz11

  2. Set sdformat8_PKGCONFIG_* variables in cmake config instead of SDFormat_PKGCONFIG*.

  3. Relax cmake check to allow compiling with gcc-7.

  4. Use custom callbacks when reading file (support Fuel URIs).

  5. Update visual DOM to parse cast_shadows property of a visual.

  6. Build Utils_TEST with Utils.cc explicitly passed since its symbols are not visible.

SDFormat 8.5.0 (2019-11-06)

  1. Add thermal_camera sensor type

  2. Use inline namespaces in Utils.cc

  3. Convert ign sdf file inputs to absolute paths before processing them

  4. Add emissive_map to material sdf

  5. Converter: fix bug when converting across multiple versions.

SDFormat 8.4.0 (2019-10-22)

  1. Accept relative path in <uri>.

  2. Element: don't print unset attributes.

  3. Lidar.hh: remove 'using namespace ignition'.

  4. Parse urdf files to sdf 1.5 instead of 1.4 to avoid use_parent_model_frame.

  5. Set camera intrinsics axis skew (s) default value to 0

  6. SDF Root DOM: add ActorCount, ActorByIndex, and ActorNameExists.

  7. Avoid hardcoding /machine:x64 flag on 64-bit on MSVC with CMake >= 3.5.

  8. Move private headers from include/sdf to src folder.

  9. Fix ign library path on macOS.

  10. Use ign sdf --check to check sibling elements of the same type for non-unique names.

  11. Converter: remove all matching elements specified by <remove> tag.

SDFormat 8.3.0 (2019-08-17)

  1. Added Actor DOM

  2. Print cmake build warnings and errors to std_err

SDFormat 8.2.0 (2019-06-18)

  1. Added RGBD Camera Sensor type.

SDFormat 8.1.0 (2019-05-20)

  1. Change installation path of SDF description files to allow side-by-side installation.

  2. Added Lidar Sensor DOM. Also added lidar and gpu_lidar as sensor types. These two types are equivalent to ray and gpu_ray.

  3. SDF Sensor DOM: copy update rate in copy constructor.

  4. Added IMU Sensor DOM.

  5. Added Camera Sensor DOM.

  6. Added wind to link dom.

  7. Added Sensor DOM == operator.

  8. Added AirPressure SDF DOM

  9. Update sdf noise elements

  10. Apply rule of five for various DOM classes

  11. Support setting sensor types from a string.

  12. Added Altimeter SDF DOM

  13. Added Magnetometer SDF DOM

  14. Add Scene SDF DOM

  15. Add PBR material SDF element

  16. Set geometry shapes

  17. Clarify names of libsdformat parser and SDF specification in Readme.

  18. Disable macOS tests failing due to issue 202.

SDFormat 8.0.0 (2019-03-01)

  1. Rename depth camera from 'depth' to 'depth_camera'

  2. Rename enum Ray to Lidar

  3. Add support for files that have light tags in the root

  4. Fix locale problems of std::stringstream and of Param::ValueFromString

  5. Add functions to set visual dom's geometry and material

  6. Change cmake project name to sdformat8, export cmake targets

  7. SDF DOM: Add copy constructor and assignment operator to Light. Add lights to Link

  8. Make <limit> a required element for <axis2>

  9. SDF DOM: Add DOM methods for setting axis and thread pitch in sdf::Joint

  10. SDF DOM: Add copy constructors and assignment operator to JointAxis

  11. Removed boost

  12. Versioned namespace

  13. Versioned library install

  14. Add SetGeom to Collision

  15. SDF DOM: Add copy/move constructors and assignment operator to Geometry

  16. SDF DOM: Add copy/move constructors and assignment operator to Material

  17. Add collision_detector to dart physics config

  18. Fix cpack now that project name has version number

  19. Animation tension

  20. Add "geometry" for sonar collision shape

  21. Fix Gui copy constructor

  22. Sensor DOM

SDFormat 7.0

SDFormat 7.0.0 (xxxx-xx-xx)

  1. Build Utils_TEST with Utils.cc explicitly passed since its symbols are not visible.

  2. Parse urdf files to sdf 1.5 instead of 1.4 to avoid use_parent_model_frame.

  3. Set camera intrinsics axis skew (s) default value to 0

  4. Avoid hardcoding /machine:x64 flag on 64-bit on MSVC with CMake >= 3.5.

  5. Prevent duplicate use_parent_model_frame tags during file conversion.

  6. Backport inline versioned namespace from version 8.

  7. Backport cmake and sdf spec changes from version 8.

  8. Fix ign library path on macOS.

  9. Preserve XML elements that are not part of the SDF specification.

  10. Embed SDF specification files directly in libsdformat.so.

  11. Removed support for SDF spec versions 1.0 and 1.2

  12. SDF DOM: Additions to the document object model.

  13. SDF DOM: Add Element() accessor to Gui, JointAxis and World classes.

  14. Adds the equalivent of gz sdf -d to sdformat. The command line option will print the full description of the SDF spec.

  15. Adds the equalivent of gz sdf -p to sdformat. The command line option will convert and print the specified sdf file.

  16. SDF DOM: Additions to the document object model.

SDFormat 6.0

SDFormat 6.X.X (20XX-XX-XX)

  1. Parse urdf files to sdf 1.5 instead of 1.4 to avoid use_parent_model_frame.

  2. Set camera intrinsics axis skew (s) default value to 0

  3. Avoid hardcoding /machine:x64 flag on 64-bit on MSVC with CMake >= 3.5.

  4. Fix ign library path on macOS.

  5. Use ign sdf --check to check sibling elements of the same type for non-unique names.

  6. Converter: remove all matching elements specified by <remove> tag.

SDFormat 6.2.0 (2019-01-17)

  1. Add geometry for sonar collision shape

  2. Add camera intrinsics (fx, fy, cx, cy, s)

  3. Add actor trajectory tension parameter

SDFormat 6.1.0 (2018-10-04)

  1. Add collision_detector to dart physics config

  2. Fix Windows support for SDFormat6

  3. root.sdf: default sdf version 1.6

  4. parser_urdf: print value of highstop instead of pointer address

  5. Tweak error output so jenkins doesn't think it's a compiler warning

SDFormat 6.0.0 (2018-01-25)

  1. SDF DOM: Added a document object model.

  2. Add simplified readFile function.

  3. Remove boost::lexical cast instances

  4. Remove boost regex and iostreams as dependencies

  5. Change certain error checks from asserts to throwing sdf::AssertionInternalError, which is more appropriate for a library.

  6. Updated the internal copy of urdfdom to 1.0, removing more of boost.

  7. urdfdom 1.0 is now required on all platforms.

  8. Remove boost filesystem as a dependency

  9. Deprecated sdf::Color, and switch to use ignition::math::Color

SDFormat 5.x

SDFormat 5.x.x (2017-xx-xx)

SDFormat 5.3.0 (2017-11-13)

  1. Added wrapper around root SDF for an SDF element

  2. Add ODE parallelization parameters: threaded islands and position correction

  3. surface.sdf: expand documentation of friction and slip coefficients

  4. Add preserveFixedJoint option to the URDF parser

  5. Add light as child of link

SDFormat 5.2.0 (2017-08-03)

  1. Added a block for DART-specific physics properties.

  2. Fix parser to read plugin child elements within an <include>

  3. Choosing models with more recent sdf version with <include> tag

  4. Added <category_bitmask> to 1.6 surface contact parameters

  5. Support light insertion in state

  6. Case insensitive boolean strings

  7. Enable coverage testing

  8. Add friction_model parameter to ode solver

  9. Add cmake @PKG_NAME@_LIBRARY_DIRS variable to cmake config file

SDFormat 5.1.0 (2017-02-22)

  1. Fixed sdf::convertFile and sdf::convertString always converting to latest version
  2. Added back the ability to set sdf version at runtime

SDFormat 5.0.0 (2017-01-25)

  1. Removed SDFormat 4 deprecations

  2. Added an example

  3. Move functions that use TinyXML classes in private headers A contribution from Silvio Traversaro

  4. Fix issues found by the Coverity tool A contribution from Olivier Crave

  5. Add tag to allow for specification of initial joint position

  6. Require ignition-math3 as dependency

  7. Simplifier way of retrieving a value from SDF using Get

SDFormat 4.0

SDFormat 4.x.x (2017-xx-xx)

SDFormat 4.4.0 (2017-10-26)

  1. Add ODE parallelization parameters: threaded islands and position correction

  2. surface.sdf: expand documentation of friction and slip coefficients

  3. Add preserveFixedJoint option to the URDF parser

  4. Add light as child of link

SDFormat 4.3.2 (2017-07-19)

  1. Add documentation for Element::GetFirstElement() and Element::GetNextElement()

  2. Fix parser to read plugin child elements within an <include>

SDFormat 4.3.1 (2017-03-24)

  1. Fix segmentation Fault in sdf::getBestSupportedModelVersion

SDFormat 4.3.0 (2017-03-20)

  1. Choosing models with more recent sdf version with <include> tag

  2. Added <category_bitmask> to 1.6 surface contact parameters

  3. Support light insertion in state

  4. Case insensitive boolean strings

  5. Enable coverage testing

  6. Add friction_model parameter to ode solver

  7. Added sampling parameter to <heightmap> SDF element.

  8. Added Migration guide

  9. Add cmake @PKG_NAME@_LIBRARY_DIRS variable to cmake config file

SDFormat 4.2.0 (2016-10-10)

  1. Added tag to specify ODE friction model.

  2. Fix URDF to SDF self_collide bug.

  3. Added IMU orientation specification to SDF.

SDFormat 4.1.1 (2016-07-08)

  1. Added documentation and animation to <actor> element.

  2. Added tag to specify initial joint position

SDFormat 4.1.0 (2016-04-01)

  1. Added SDF conversion functions to parser including sdf::convertFile and sdf::convertString.

  2. Added an upload script

SDFormat 4.0.0 (2015-01-12)

  1. Boost pointers and boost::function in the public API have been replaced by their std::equivalents (C++11 standard)
  2. Move gravity and magnetic_field tags from physics to world
  3. Switch lump link prefix from lump:: to lump_
  4. New element. A contribution from Olivier Crave
  5. Add scale to model state
  6. Use stof functions to parse hex strings as floating point params. A contribution from Rich Mattes
  7. Fix memory leaks. A contribution from Silvio Traversaro
  8. Update SDF to version 1.6: new style for representing the noise properties of an imu

SDFormat 3.0

SDFormat 3.X.X (201X-XX-XX)

  1. Improve precision of floating point parameters

SDFormat 3.7.0 (2015-11-20)

  1. Add spring pass through for sdf3

  2. Support frame specification in SDF

  3. Remove boost from SDFExtension

SDFormat 3.6.0 (2015-10-27)

  1. Add light state
  2. redo pull request #222 for sdf3 branch
  3. Fix links in API documentation

SDFormat 3.5.0 (2015-10-07)

  1. Camera lens description (Replaces #213)
  2. Fix shared pointer reference loop in Element and memory leak (#104)

SDFormat 3.4.0 (2015-10-05)

  1. Support nested model states
  2. Cleaner way to set SDF_PATH for tests

SDFormat 3.3.0 (2015-09-15)

  1. Windows Boost linking errors
  2. Nested SDF -> sdf3
  3. Pointer types
  4. Torsional friction default surface radius not infinity

SDFormat 3.2.2 (2015-08-24)

  1. Added battery element (contribution from Olivier Crave)
  2. Torsional friction backport
  3. Allow Visual Studio 2015

SDFormat 3.1.1 (2015-08-03)

  1. Fix tinyxml linking error

SDFormat 3.1.0 (2015-08-02)

  1. Added logical camera sensor to SDF

SDFormat 3.0.0 (2015-07-24)

  1. Added battery to SDF
  2. Added altimeter sensor to SDF
  3. Added magnetometer sensor to SDF
  4. Fix detection of XML parsing errors
  5. Support for fixed joints
  6. Adding iterations to state
  7. Convert to use ignition-math
  8. Add world origin to scene
  9. Fix collide bitmask
  10. Adding meta information to visuals
  11. Add projection type to gui camera
  12. Fix print description to include attribute description
  13. Add -std=c++11 flag to sdf_config.cmake.in and sdformat.pc.in, needed by downstream code
  14. Added boost::any accessor for Param and Element
  15. Remove tinyxml from dependency list
  16. Added self_collide element for model
  17. Added a collision bitmask field to sdf-1.5 and c++11 support
  18. Fix problems with latin locales and decimal numbers (issue #60)

SDFormat 2.x

  1. rename cfm_damping --> implicit_spring_damper
  2. add gear_ratio and reference_body for gearbox joint.
  3. Update joint stop stiffness and dissipation
  4. Support for GNUInstallDirs
  5. <use_true_size> element used by DEM heightmaps
  6. Do not export urdf symbols in sdformat 1.4
  7. adding deformable properties per issue #32
  8. Support to use external URDF
  9. Add lighting element to visual
  10. SDF 1.5: add flag to fix joint axis frame #43 (gazebo issue 494)
  11. Implement SDF_PROTOCOL_VERSION (issue #51)
  12. Port sdformat to compile on Windows (MSVC)
  13. Separate material properties in material.sdf
  14. Add road textures (repeat pull request #104 for sdf_2.0)
  15. Add Extruded Polylines as a model
  16. Added polyline for sdf_2.0
  17. Add spring_reference and spring_stiffness tags to joint axis dynamics
  18. Fix actor static
  19. New element
  20. Add camera distortion element
  21. Inclusion of magnetic field strength sensor
  22. Properly add URDF gazebo extensions blobs to SDF joint elements
  23. Allow gui plugins to be specified in SDF
  24. Backport magnetometer
  25. Add flag for MOI rescaling to sdf 1.4
  26. Parse urdf joint friction parameters, add corresponding test
  27. Allow reading of boolean values from plugin elements.
  28. Implement generation of XML Schema files (issue #2)
  29. Fix build for OS X 10.10
  30. Improve performance in loading SDF elements
  31. Added urdf gazebo extension option to disable fixed joint lumping
  32. Support urdfdom 0.3 (alternative to pull request #122)
  33. Update list of supported joint types
  34. Ignore unknown elements
  35. Physics preset attributes
  36. Backport fix for latin locales (pull request #147)

SDFormat 1.4

SDFormat 1.4.8 (2013-09-06)

  1. Fix inertia transformations when reducing fixed joints in URDF
  2. Add <use_terrain_paging> element to support terrain paging in gazebo
  3. Further reduce console output when using URDF models

SDFormat 1.4.7 (2013-08-22)

  1. Direct console messages to std_err

SDFormat 1.4.6 (2013-08-20)

  1. Add tags for GPS sensor and sensor noise
  2. Add tags for wireless transmitter/receiver models
  3. Add tags for playback of audio files in Gazebo
  4. Add tags for simbody physics parameters
  5. Log messages to a file, reduce console output
  6. Generalize ode's <provide_feedback> element
  7. Various bug, style and test fixes

SDFormat 1.4.5 (2013-07-23)

  1. Deprecated Gazebo's internal SDF code
  2. Use templatized Get functions for retrieving values from SDF files
  3. Removed dependency on ROS