Fortress pre-release / code freeze / tutorial party

citadel/comparison.md

@@ -14,6 +14,7 @@ Sensor | Gazebo-classic | Ignition Gazebo
 -- | -- | --
 Air pressure | ✕  | ✓
 Altimeter | ✓ | ✓
+Bounding Box camera | ✕ | ✕  (available from Fortress)
 Camera | ✓ | ✓
 Contact sensor | ✓ | ✓
 Depth camera | ✓ | ✓
@@ -26,6 +27,7 @@ Magnetometer | ✓ | ✓
 Multi-camera | ✓ | ✕  Use individual cameras with same update rate
 Ray | ✓ | [Issue](https://github.com/ignitionrobotics/ign-sensors/issues/26)
 RFID sensor and tag | ✓ | [Issue](https://github.com/ignitionrobotics/ign-sensors/issues/27)
+Segmentation camera | ✕ | ✕  (available from Fortress)
 Sonar | ✓ | [Issue](https://github.com/ignitionrobotics/ign-sensors/issues/19)
 Thermal camera | ✕  | ✓
 Wide-angle camera | ✓ | [Issue](https://github.com/ignitionrobotics/ign-sensors/issues/24)
@@ -111,6 +113,7 @@ VehiclePlugin | ✓ |
 WheelSlipPlugin | ✓ | ✓
 WheelTrackedVehiclePlugin | ✓ | ✓ ([partially via DiffDrivePlugin](https://github.com/ignitionrobotics/ign-gazebo/blob/44951e3ddfd238f24182d4d80b1376f0d426bd43/examples/worlds/track_drive.sdf#L2141))
 KineticEnergyMonitor | ✕ | ✓
+Buoyancy engine | ✓ | ✕  (available from Fortress)
 
 ### World plugins
 
@@ -208,7 +211,7 @@ Copy / paste | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issu
 Building editor | ✓ |
 Model editor | ✓ | [Issues](https://github.com/ignitionrobotics/ign-gazebo/issues?q=is%3Aissue+is%3Aopen+label%3Aeditor)
 FPS view control | ✓ |
-Orthographic projection | ✓ |  ✕ (available from Fortress)
+Orthographic projection | ✓ | ✕ (available from Fortress)
 Undo / redo | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/104)
 Save world | ✓ | ✓
 Save GUI configuration | ✓ | ✓
@@ -267,8 +270,8 @@ transport bridge instead of plugins, contained in the
 
 Supported versions:
 
-* ROS 1 Melodic
-* ROS 2 Dashing
+* ROS 1 Noetic
+* ROS 2 Foxy
 
 ## Platforms
 
@@ -298,3 +301,4 @@ Ellipsoid and capsule primitives | ✕ | ✕  (available from Edifice)
 Hydrodynamics | ✕  | ✕  (available from Edifice)
 Ocean currents | ✕  | ✕  (available from Edifice)
 Test fixture | ✓ | [✓](https://ignitionrobotics.org/api/gazebo/3.9/test_fixture.html)
+Spherical coordinates | ✓ | ✕ (available from Fortress)

dome/comparison.md

@@ -14,6 +14,7 @@ Sensor | Gazebo-classic | Ignition Gazebo
 -- | -- | --
 Air pressure | ✕  | ✓
 Altimeter | ✓ | ✓
+Bounding Box camera | ✕ | ✕  (available from Fortress)
 Camera | ✓ | ✓
 Contact sensor | ✓ | ✓
 Depth camera | ✓ | ✓
@@ -26,6 +27,7 @@ Magnetometer | ✓ | ✓
 Multi-camera | ✓ | ✕  Use individual cameras with same update rate
 Ray | ✓ | [Issue](https://github.com/ignitionrobotics/ign-sensors/issues/26)
 RFID sensor and tag | ✓ | [Issue](https://github.com/ignitionrobotics/ign-sensors/issues/27)
+Segmentation camera | ✕ | ✕  (available from Fortress)
 Sonar | ✓ | [Issue](https://github.com/ignitionrobotics/ign-sensors/issues/19)
 Thermal camera | ✕  | ✓
 Wide-angle camera | ✓ | [Issue](https://github.com/ignitionrobotics/ign-sensors/issues/24)
@@ -52,7 +54,7 @@ Nested models | ✓ | Partial support, fully available from Edifice
 Populations | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/240)
 Actors | ✓ | ✓
 Markers | ✓ | ✓
-Heightmaps | ✓ | ✕  (available from Edifice with Ogre 1)
+Heightmaps | ✓ | ✕ (Ogre 1 from Edifice, Ogre 2 from Fortress)
 DEM (Digital Elevation Models) | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/235)
 Polylines | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/186)
 World plugins | ✓ | ✓ Now called System plugin
@@ -111,6 +113,7 @@ VehiclePlugin | ✓ |
 WheelSlipPlugin | ✓ | ✓
 WheelTrackedVehiclePlugin | ✓ | ✓ ([partially via DiffDrivePlugin](https://github.com/ignitionrobotics/ign-gazebo/blob/44951e3ddfd238f24182d4d80b1376f0d426bd43/examples/worlds/track_drive.sdf#L2141))
 KineticEnergyMonitor | ✕ | ✓
+Buoyancy engine | ✓ | ✕  (available from Fortress)
 
 ### World plugins
 
@@ -208,7 +211,7 @@ Copy / paste | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issu
 Building editor | ✓ |
 Model editor | ✓ | [Issues](https://github.com/ignitionrobotics/ign-gazebo/issues?q=is%3Aissue+is%3Aopen+label%3Aeditor)
 FPS view control | ✓ |
-Orthographic projection | ✓ |  ✕ (available from Fortress)
+Orthographic projection | ✓ | ✕ (available from Fortress)
 Undo / redo | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/104)
 Save world | ✓ | ✓
 Save GUI configuration | ✓ | ✓
@@ -267,8 +270,8 @@ transport bridge instead of plugins, contained in the
 
 Supported versions:
 
-* ROS 1 Melodic
-* ROS 2 Dashing
+* ROS 1 Melodic / Noetic
+* ROS 2 Foxy
 
 ## Platforms
 
@@ -298,3 +301,4 @@ Ellipsoid and capsule primitives | ✕ | ✕  (available from Edifice)
 Hydrodynamics | ✕  | ✕  (available from Edifice)
 Ocean currents | ✕  | ✕  (available from Edifice)
 Test fixture | ✓ | [✓](https://ignitionrobotics.org/api/gazebo/4.9/test_fixture.html)
+Spherical coordinates | ✓ | ✕ (available from Fortress)

edifice/comparison.md

@@ -14,6 +14,7 @@ Sensor | Gazebo-classic | Ignition Gazebo
 -- | -- | --
 Air pressure | ✕  | ✓
 Altimeter | ✓ | ✓
+Bounding Box camera | ✕ | ✕  (available from Fortress)
 Camera | ✓ | ✓
 Contact sensor | ✓ | ✓
 Depth camera | ✓ | ✓
@@ -26,6 +27,7 @@ Magnetometer | ✓ | ✓
 Multi-camera | ✓ | ✕  Use individual cameras with same update rate
 Ray | ✓ | [Issue](https://github.com/ignitionrobotics/ign-sensors/issues/26)
 RFID sensor and tag | ✓ | [Issue](https://github.com/ignitionrobotics/ign-sensors/issues/27)
+Segmentation camera | ✕ | ✕  (available from Fortress)
 Sonar | ✓ | [Issue](https://github.com/ignitionrobotics/ign-sensors/issues/19)
 Thermal camera | ✕  | ✓
 Wide-angle camera | ✓ | [Issue](https://github.com/ignitionrobotics/ign-sensors/issues/24)
@@ -111,6 +113,7 @@ VehiclePlugin | ✓ |
 WheelSlipPlugin | ✓ | ✓
 WheelTrackedVehiclePlugin | ✓ | ✓ ([partially via DiffDrivePlugin](https://github.com/ignitionrobotics/ign-gazebo/blob/44951e3ddfd238f24182d4d80b1376f0d426bd43/examples/worlds/track_drive.sdf#L2141))
 KineticEnergyMonitor | ✕ | ✓
+Buoyancy engine | ✓ | ✕  (available from Fortress)
 
 ### World plugins
 
@@ -208,7 +211,7 @@ Copy / paste | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issu
 Building editor | ✓ |
 Model editor | ✓ | [Issues](https://github.com/ignitionrobotics/ign-gazebo/issues?q=is%3Aissue+is%3Aopen+label%3Aeditor)
 FPS view control | ✓ |
-Orthographic projection | ✓ |  ✕ (available from Fortress)
+Orthographic projection | ✓ | ✕ (available from Fortress)
 Undo / redo | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/104)
 Save world | ✓ | ✓
 Save GUI configuration | ✓ | ✓
@@ -267,8 +270,8 @@ transport bridge instead of plugins, contained in the
 
 Supported versions:
 
-* ROS 1 Melodic
-* ROS 2 Dashing
+* ROS 1 Noetic
+* ROS 2 Galactic
 
 ## Platforms
 
@@ -298,3 +301,4 @@ Ellipsoid and capsule primitives | ✕ | ✓
 Hydrodynamics | ✕  | ✓
 Ocean currents | ✕  | ✓
 Test fixture | ✓ | [✓](https://ignitionrobotics.org/api/gazebo/5.1/test_fixture.html)
+Spherical coordinates | ✓ | ✕ (available from Fortress)

fortress/GUI_tutorial.md

@@ -0,0 +1,127 @@
+# Understanding the GUI
+
+This guide is an introduction to the Ignition Graphical User Interface (GUI).
+
+## Prerequisites
+
+Before beginning, you should have [Ignition installed](/docs/fortress/install).
+If you installed [from source](/docs/fortress/install)
+you will need to [source](/docs/fortress/install_ubuntu_src#using-the-workspace) the workspace;
+otherwise, you're good to go!
+
+Start by getting Ignition up and running with a sample world:
+
+```bash
+ign gazebo shapes.sdf
+```
+
+`ign gazebo` will run the latest version of Ignition you have installed.
+You can check if you have more than one version of Ignition installed by running `ign gazebo --versions`.
+For example, if you have Fortress and Dome installed, `--versions` might return:
+
+```bash
+5.0.0
+4.0.0
+```
+
+To ensure you're working with Fortress, include the `--force-version` directive when starting up:
+
+```bash
+ign gazebo --force-version 5.0.0 shapes.sdf
+```
+
+## GUI
+
+After running `shapes.sdf`, you should see the following screen:
+
+![shapes.sdf](img/shapes.png)
+
+The interface consists of several sections:
+
+### The Toolbar
+
+The toolbar along the top of the GUI contains two buttons, a file menu button on the left (horizontal stripes), and a plugins button on the right (vertical ellipsis).
+
+The file menu button allows you to save the world to a file, save and load interface configurations and customize interface style settings.
+An interface configuration consists of the plugins you have loaded and the style settings in place.
+
+The top left toolbar hanging below the file menu button contains shape buttons (sphere, box, cylinder, capsule and ellipsoid) and transform control (first four buttons on the second row).
+To learn more about transform control, go to the "Transform Control" section of [Manipulating Models](manipulating_models) tutorial.
+The shape buttons allow you to directly insert a box, sphere, cylinder capsule, or ellipsoid model into the world.
+Simply click on the shape you would like to insert, and place it into the world.
+The shape will automatically snap onto the ground plane, and its properties will show up on the Entity Tree plugin window.
+
+The following is what it looks like after inserting shapes:
+
+![shape insertion](img/shape_insertion.png)
+
+The plugins button lists all the available plugins.
+You can scroll down this list to see all the plugins that are available for your version of Ignition.
+When you select one, its interface will appear in the right panel.
+
+### The Right Panel
+
+The GUI contains two plugins that you see in the right panel upon starting.
+At the top is the Component Inspector, followed by the Entity Tree.
+
+Everything in a simulation is considered an "entity."
+In `shapes.sdf`, the entities listed are the ground plane, each of the shape models, and the sun.
+
+Items in the list can be expanded to reveal their links, as well as corresponding visuals and collisions, and joints, if they exist.
+
+You can select entities in the simulation by clicking on their names in the entity tree.
+You can also hold `Ctrl` and click to select multiple.
+
+![Selecting multiple entities from the entity tree](img/entity_select.png)
+
+You can also right-click on any plugin to open basic `Settings` or to `Close`.
+
+### The Scene
+
+Within the scene is where you'll interact with your simulated world and objects.
+
+Currently, you can navigate the scene with a mouse in several ways:
+
+* **Left-click**: select entity
+* **Right-click**: opens menu with options:
+  * *Move to*: center the scene on an entity
+  * *Follow*: choose an entity for the view to  stay centered on, whether it moves or you pan around
+  * *Remove*: erase the entity from the simulation
+  * *View > Collisions*: view collisions of the entity (that are defined in the SDF file)
+* **Left-click and drag**: pan around the scene
+* **Right-click and drag**: zoom in and out
+* **Scroll wheel forward/backward**: zoom in and out
+* **Scroll wheel click and drag**: rotate the scene
+
+More complex methods for interacting with the entities within a scene will be explained in-depth in the coming tutorials.
+
+#### Grid Config
+
+The grid visible in the scene can be adjusted by a plugin.
+You can adjust features of the world's grid, including cell size, grid position, cell count, and even color.
+
+Open the the Grid Config plugin by selecting it from the plugins button from the toolbar and selecting it from the dropdown list.
+
+![Select Grid Config](img/grid_config.png)
+
+#### World Control
+
+Along the bottom edge of the scene, you'll notice several buttons:
+
+![Playback buttons](img/playback.png)
+
+From left to right, the options are `Play`, `Steps` and `RTF` (real time factor).
+
+Pressing `Play` will start the simulation.
+You can use the same button to pause the simulation as well.
+
+The `Steps` button allows you to step through the simulation at the rate of a step size, or simulation iteration.
+You can customize step size by hovering over the button.
+
+At the furthest right end of the scene, you can expand `RTF` to see not only the percentage value that compares real time with sim time, but also those individual values themselves, as well as iteration count.
+
+The function of the World Control options will become clearer once you begin manipulating entities.
+
+## Next Up
+
+Now that you're comfortable with Ignition GUI navigation and terminology, let's start learning about more meaningful model interactions with the [Manipulating Models](manipulating_models) tutorial.