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Changelog.md
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Changelog.md
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## Gazebo 11
## Gazebo 11.x.x (202x-xx-xx)
## Gazebo 11.0.0 (2020-01-xx)
1. Update to ignition citadel dependencies, c++17, cmake 3.10.
* [Pull request 3139](https://bitbucket.org/osrf/gazebo/pull-request/3139)
* [Pull request 3160](https://bitbucket.org/osrf/gazebo/pull-request/3160)
* [Pull request 3161](https://bitbucket.org/osrf/gazebo/pull-request/3161)
1. Support SDFormat 1.7 frame semantics with libsdformat9.
* [Pull request 3133](https://bitbucket.org/osrf/gazebo/pull-request/3133)
1. Add helper function `PhysicsEngine::any_cast` to handle std::any.
* [Pull request 3147](https://bitbucket.org/osrf/gazebo/pull-request/3147)
1. Create Scene::UpdatePoses API to allow physics to directly update scene poses
for server-side rendering, though it is not yet enabled.
* [Pull request 3180](https://bitbucket.org/osrf/gazebo/pull-request/3180)
1. Add virtual functions to Sensor and other ABI changes needed to synchronize
physics and rendering sensors.
* [Pull request 3184](https://bitbucket.org/osrf/gazebo/pull-request/3184)
1. Modify build system to install dll in `<prefix>/bin` by default on Windows.
* [Pull request 3144](https://bitbucket.org/osrf/gazebo/pull-request/3144)
1. MeshManager: add .stlb file extension support.
* [Pull request 3124](https://bitbucket.org/osrf/gazebo/pull-request/3124)
1. SVG parsing: add lineto commands v,V,h,H.
* [Pull request 3110](https://bitbucket.org/osrf/gazebo/pull-request/3110)
1. IOManager: PIMPL-ize class and use `atomic_int` for reference count.
* [Pull request 3167](https://bitbucket.org/osrf/gazebo/pull-request/3167)
1. MeshManager: PIMPL-ize class.
* [Pull request 3171](https://bitbucket.org/osrf/gazebo/pull-request/3171)
1. Add ABI-breaking change from pr 2768 `protected ODEJoint::angleOffset[]`
* [Pull request 3185](https://bitbucket.org/osrf/gazebo/pull-request/3185)
* [Pull request 2768](https://bitbucket.org/osrf/gazebo/pull-request/2768)
1. Play logs as close to real time as possible.
* [Pull request 3179](https://bitbucket.org/osrf/gazebo/pull-request/3179)
1. Actor: fix distortion when loaded with BVH animation.
* [Pull request 2957](https://bitbucket.org/osrf/gazebo/pull-request/2957)
* [Pull request 3183](https://bitbucket.org/osrf/gazebo/pull-request/3183)
1. Fix many Ubuntu bionic compiler warnings and codecheck complaints
* [Pull request 3145](https://bitbucket.org/osrf/gazebo/pull-request/3145)
1. Rename OpenAL types to `remove _struct`
* [Pull request 3154](https://bitbucket.org/osrf/gazebo/pull-request/3154)
1. Update the gtest fork to fix c++17 bugs
* [Pull request 3168](https://bitbucket.org/osrf/gazebo/pull-request/3168)
1. Cross port dynamic bias noise parameters from ign-sensors (random walk)
* [Pull request 3181](https://bitbucket.org/osrf/gazebo/pull-request/3181)
1. Use direct API call to Scene::SetPoseMsg to update poses from physics for server-side rendering
* [Pull request 3180](https://bitbucket.org/osrf/gazebo/pull-request/3180)
## Gazebo 10
## Gazebo 10.x.x (201x-xx-xx)
1. Fix gazebo9 build and run on Windows, Ogre 1.10
* [Pull request 3174](https://bitbucket.org/osrf/gazebo/pull-request/3174)
1. Added support for flippers in SimpleTrackedVehiclePlugin.
* [Pull request 3149](https://bitbucket.org/osrf/gazebo/pull-request/3149)
1. Fix missing road segments in camera sensors
* [Pull request 3182](https://bitbucket.org/osrf/gazebo/pull-request/3182)
1. Workaround for race condition when setting model scale.
* [Pull request 3159](https://bitbucket.org/osrf/gazebo/pull-request/3159)
1. Fix compilation of plugins with tbb and qt 5.14.
* [Pull request 3164](https://bitbucket.org/osrf/gazebo/pull-request/3164)
* [Issue #2681](https://bitbucket.org/osrf/gazebo/issues/2681)
1. Fix plugin loading in example by fixing uninitialized variable in World and calling `sensors::run_once()`.
* [Pull request 3059](https://bitbucket.org/osrf/gazebo/pull-request/3059)
* [Pull request 3173](https://bitbucket.org/osrf/gazebo/pull-request/3173)
1. Windows: reduce WinSock header inclusion to limit name conflicts.
* [Pull request 3158](https://bitbucket.org/osrf/gazebo/pull-request/3158)
1. Fix deadlock between `World::OnRequest` and `TopicManager::AddNode`.
* [Pull request 3155](https://bitbucket.org/osrf/gazebo/pull-request/3155)
* [Issue #2679](https://bitbucket.org/osrf/gazebo/issues/2679)
1. Don't pass GCC linker options to Visual Studio linker.
* [Pull request 3141](https://bitbucket.org/osrf/gazebo/pull-request/3141)
1. Fix CMake 3.14 regression in `MSVC`/`PKG_CONFIG_FOUND` workaround.
* [Pull request 3125](https://bitbucket.org/osrf/gazebo/pull-request/3125)
1. Add Twist message and use in `cmd_vel_twist` of TrackedVehiclePlugin.
* [Pull request 3116](https://bitbucket.org/osrf/gazebo/pull-request/3116)
1. Allow multiple instances of SimpleTrackedVehiclePlugin.
* [Pull request 3140](https://bitbucket.org/osrf/gazebo/pull-request/3140)
* [Pull request 3148](https://bitbucket.org/osrf/gazebo/pull-request/3148)
1. ODEBallJoint: reduce console output.
* [Pull request 3132](https://bitbucket.org/osrf/gazebo/pull-request/3132)
1. VariableGearboxPlugin: use splines to support arbitrary smooth input-output gearbox profiles.
* [Pull request 3073](https://bitbucket.org/osrf/gazebo/pull-request/3073)
1. Fix moving model files in StaticMapPlugin
* [Pull request 3123](https://bitbucket.org/osrf/gazebo/pull-request/3123)
1. Fix crash when loading submesh with no bone assignments.
* [Pull request 3122](https://bitbucket.org/osrf/gazebo/pull-request/3122)
1. Fix cmake warnings about multi-line strings.
* [Pull request 3138](https://bitbucket.org/osrf/gazebo/pull-request/3138)
* [Issue #2664](https://bitbucket.org/osrf/gazebo/issues/2664)
1. MeshManager: add .stlb file extension support
* [Pull request 3124](https://bitbucket.org/osrf/gazebo/pull-request/3124)
* [Pull request 3128](https://bitbucket.org/osrf/gazebo/pull-request/3128)
1. SystemPaths: fix race condition in PathDelimiter initialization, `missing call to sdf::addURIPath`.
* [Pull request 3170](https://bitbucket.org/osrf/gazebo/pull-request/3170)
1. Actor: update collision pose when using ActorPlugin.
* [Pull request 3108](https://bitbucket.org/osrf/gazebo/pull-request/3108)
* [Issue #2433](https://bitbucket.org/osrf/gazebo/issues/2433)
1. Add Camera PreRender and PostRender events
* [Pull request 3118](https://bitbucket.org/osrf/gazebo/pull-request/3118)
1. Fix ColladaLoader wrong node weights caused by buffer overflow bug
* [Pull request 3115](https://bitbucket.org/osrf/gazebo/pull-request/3115)
1. ColladaLoader: use default value of 1 for stride parameter when unset.
* [Pull request 3112](https://bitbucket.org/osrf/gazebo/pull-request/3112)
1. TopicManager: lock subscriberMutex anywhere subscribedNodes is used
* [Pull request 3096](https://bitbucket.org/osrf/gazebo/pull-request/3096)
1. Export `OGRE-*` cmake variables in addition to `OGRE_*` variables
* [Pull request 3109](https://bitbucket.org/osrf/gazebo/pull-request/3109)
1. Fix race conditions in `Master::ProcessMessage` and `Publisher::OnPublishComplete`
* [Pull request 3103](https://bitbucket.org/osrf/gazebo/pull-request/3103)
1. Fix compilation of tests without DART installed.
* [Pull request 3075](https://bitbucket.org/osrf/gazebo/pull-request/3075)
1. Fix build with DART 6.9, using 32-bit float for dart heightmap scale.
* [Pull request 3106](https://bitbucket.org/osrf/gazebo/pull-request/3106)
* [Pull request 3107](https://bitbucket.org/osrf/gazebo/pull-request/3107)
1. Fix kinematic loops for DART 6.8, reverting to dart 6.7 behavior
* [Pull request 3101](https://bitbucket.org/osrf/gazebo/pull-request/3101)
1. Enable extra kinematic loop test for DART 6.8+
* [Pull request 3104](https://bitbucket.org/osrf/gazebo/pull-request/3104)
1. Lens flare: use light world pose at each time step instead of only at initialization
* [Pull request 3093](https://bitbucket.org/osrf/gazebo/pull-request/3093)
1. LinkPlot3dPlugin: read optional `<model>` tag to find links in nested models
* [Pull request 3095](https://bitbucket.org/osrf/gazebo/pull-request/3095)
1. Make the GPU laser warp artifact transparent
* [Pull request 3100](https://bitbucket.org/osrf/gazebo/pull-request/3100)
1. Added support for tracked vehicles
* [Pull request 2652](https://bitbucket.org/osrf/gazebo/pull-request/2652)
* [Issue #863](https://bitbucket.org/osrf/gazebo/issues/863)
1. Fix windows plugin visibility.
* [Pull request 3072](https://bitbucket.org/osrf/gazebo/pull-request/3072)
1. Fix loading sdf with orthographic projection camera
* [Pull request 3098](https://bitbucket.org/osrf/gazebo/pull-request/3098)
1. Avoid windows macro `DELETE` conflict with `ignition::fuel_tools::REST::DELETE`.
* [Pull request 3143](https://bitbucket.org/osrf/gazebo/pull-request/3143)
2. Fixes for finding OGRE with CMake config files.
* [Pull request 3126](https://bitbucket.org/osrf/gazebo/pull-request/3126)
1. Fix missing link of ignition-common in `gazebo_common`
* [Pull request 3127](https://bitbucket.org/osrf/gazebo/pull-request/3127)
1. Find TBB in cmake config files.
* [Pull request 3135](https://bitbucket.org/osrf/gazebo/pull-request/3135)
1. Fix texture loading on OGRE 1.11, 1.12.
* [Pull request 3150](https://bitbucket.org/osrf/gazebo/pull-request/3150)
1. Fix linking of opende with `HAVE_BULLET`.
* [Pull request 3151](https://bitbucket.org/osrf/gazebo/pull-request/3151)
1. Allow gazebo rendering to compile with Ogre 1.11 / 1.12
* [Pull request 3129](https://bitbucket.org/osrf/gazebo/pull-request/3129)
* [Pull request 3130](https://bitbucket.org/osrf/gazebo/pull-request/3130)
1. Fix compilation against Ogre compiled in debug mode
* [Pull request 3131](https://bitbucket.org/osrf/gazebo/pull-request/3131)
* [Pull request 3134](https://bitbucket.org/osrf/gazebo/pull-request/3134)
* [Pull request 3142](https://bitbucket.org/osrf/gazebo/pull-request/3142)
1. SonarSensor: allow spherical collision shape.
* [Pull request 3038](https://bitbucket.org/osrf/gazebo/pull-request/3038)
* [Pull request 3169](https://bitbucket.org/osrf/gazebo/pull-request/3169)
* [Pull request 3172](https://bitbucket.org/osrf/gazebo/pull-request/3172)
## Gazebo 10.1.0 (2019-03-28)
1. Refactor ODE gearbox joint implementation to match hinge joint
* [Pull request 3048](https://bitbucket.org/osrf/gazebo/pull-request/3048)
1. Fix kinematic loops for DART 6.7 and later
* [Pull request 3086](https://bitbucket.org/osrf/gazebo/pull-request/3086)
* [Issue 2605](https://bitbucket.org/osrf/gazebo/issues/2605)
1. Windows: enable dynamic linking.
* [Pull request 3068](https://bitbucket.org/osrf/gazebo/pull-request/3068)
1. Windows: fixing path-related issues.
* [Pull request 3069](https://bitbucket.org/osrf/gazebo/pull-request/3069)
1. Windows: add setup.bat.in helper script template
* [Pull request 3070](https://bitbucket.org/osrf/gazebo/pull-request/3070)
1. Fix mal-formed pkgconfig file: don't prepend duplicate -l
* [Pull request 3080](https://bitbucket.org/osrf/gazebo/pull-request/3080)
* [Issue 2600](https://bitbucket.org/osrf/gazebo/issues/2600)
1. Windows: fix test compilation
* [Pull request 3082](https://bitbucket.org/osrf/gazebo/pull-request/3082)
1. Heightmap: cast shadows if `<cast_shadows>` tag is set
* [Pull request 3083](https://bitbucket.org/osrf/gazebo/pull-request/3083)
1. Windows: ignore disabled interfaces in `Connection::GetLocalEndpoint()`
* [Pull request 3079](https://bitbucket.org/osrf/gazebo/pull-request/3079)
1. Update trigger\_light plugin example to use ignition-transport
* [Pull request 3077](https://bitbucket.org/osrf/gazebo/pull-request/3077)
1. Fix ColladaLoader to support mixamo models and fix skeleton animation loading
* [Pull request 3084](https://bitbucket.org/osrf/gazebo/pull-request/3084)
* [Pull request 3071](https://bitbucket.org/osrf/gazebo/pull-request/3071)
* [Issue 2582](https://bitbucket.org/osrf/gazebo/issues/2582)
## Gazebo 10.0.0 (2019-01-31)
1. Improve performance of IntrospectionManager
* [Pull request #3055](https://bitbucket.org/osrf/gazebo/pull-request/3055)
1. Add geometry field to sonar.proto and private dataPtr to Actor class
* [Pull request #3067](https://bitbucket.org/osrf/gazebo/pull-request/3067)
1. Dart heightmaps with bullet and ODE collision detectors
* [Pull request #2956](https://bitbucket.org/osrf/gazebo/pull-request/2956)
* [Pull request #3066](https://bitbucket.org/osrf/gazebo/pull-request/3066)
1. Add record\_resources field to gazebo log msgs
* [Pull request #2797](https://bitbucket.org/osrf/gazebo/pull-request/2797)
* [Pull request #3008](https://bitbucket.org/osrf/gazebo/pull-request/3008)
1. Add methods to set dynamically Gaussian noise parameters
* [Pull request #2931](https://bitbucket.org/osrf/gazebo/pull-request/2931)
1. Use tension trajectory parameter on actor script animation
* [Pull request #3019](https://bitbucket.org/osrf/gazebo/pull-request/3019)
1. Add command to send a request with gz topic
* [Pull request #2907](https://bitbucket.org/osrf/gazebo/pull-request/2907)
1. Force vertical field of view to be lower than 180 degrees
* [Pull request #2909](https://bitbucket.org/osrf/gazebo/pull-request/2909)
1. Fixed issue which lead to reset of values on pressing enter in Joint Creator
* [Pull request #2926](https://bitbucket.org/osrf/gazebo/pull-request/2926)
1. Removed material block from shapes.world
* [Pull request #2925](https://bitbucket.org/osrf/gazebo/pull-request/2925)
1. Handle signal SIGTERM exactly the same way as SIGINT
* [Pull request #2908](https://bitbucket.org/osrf/gazebo/pull-request/2908)
1. Displaying light direction on the world tree
* [Pull request 2912](https://bitbucket.org/osrf/gazebo/pull-request/2912)
1. Plugin to initialize joint controller parameters
* [Pull request #2751](https://bitbucket.org/osrf/gazebo/pull-requests/2751)
* [Issue #1766](https://bitbucket.org/osrf/gazebo/issues/1766)
1. Fix Enter in Link Inspector
* [Pull request #2901](https://bitbucket.org/osrf/gazebo/pull-request/2901)
1. Display ODE contact points on disabled bodies
* [Pull request #2709](https://bitbucket.org/osrf/gazebo/pull-request/2709)
* [Issue #2175](https://bitbucket.org/osrf/gazebo/issues/2175)
1. Update Wind Plugin to support being used by Lift Drag Plugin
* [Pull request #2691](https://bitbucket.org/osrf/gazebo/pull-request/2691)
1. Dart: create joints dynamically, support kinematic loops and HarnessPlugin
* [Pull request #2762](https://bitbucket.org/osrf/gazebo/pull-requests/2762)
* [Issue #903](https://bitbucket.org/osrf/gazebo/issues/903)
1. Model Editor: Bounding collision shapes
* [Pull request #3004](https://bitbucket.org/osrf/gazebo/pull-requests/3004)
## Gazebo 9
## Gazebo 9.X.X (20XX-XX-XX)
1. Fix gazebo9 build and run on Windows, Ogre 1.10
* [Pull request 3174](https://bitbucket.org/osrf/gazebo/pull-request/3174)
1. Added support for flippers in SimpleTrackedVehiclePlugin.
* [Pull request 3149](https://bitbucket.org/osrf/gazebo/pull-request/3149)
1. Fix missing road segments in camera sensors
* [Pull request 3182](https://bitbucket.org/osrf/gazebo/pull-request/3182)
1. Workaround for race condition when setting model scale.
* [Pull request 3159](https://bitbucket.org/osrf/gazebo/pull-request/3159)
1. Fix compilation of plugins with tbb and qt 5.14.
* [Pull request 3164](https://bitbucket.org/osrf/gazebo/pull-request/3164)
* [Issue #2681](https://bitbucket.org/osrf/gazebo/issues/2681)
1. Fix plugin loading in example by fixing uninitialized variable in World and calling `sensors::run_once()`.
* [Pull request 3059](https://bitbucket.org/osrf/gazebo/pull-request/3059)
* [Pull request 3173](https://bitbucket.org/osrf/gazebo/pull-request/3173)
1. Windows: reduce WinSock header inclusion to limit name conflicts.
* [Pull request 3158](https://bitbucket.org/osrf/gazebo/pull-request/3158)
1. Fix deadlock between `World::OnRequest` and `TopicManager::AddNode`.
* [Pull request 3155](https://bitbucket.org/osrf/gazebo/pull-request/3155)
* [Issue #2679](https://bitbucket.org/osrf/gazebo/issues/2679)
1. Don't pass GCC linker options to Visual Studio linker.
* [Pull request 3153](https://bitbucket.org/osrf/gazebo/pull-request/3153)
1. Fix CMake 3.14 regression in `MSVC`/`PKG_CONFIG_FOUND` workaround.
* [Pull request 3152](https://bitbucket.org/osrf/gazebo/pull-request/3152)
1. Add Twist message and use in `cmd_vel_twist` of TrackedVehiclePlugin.
* [Pull request 3116](https://bitbucket.org/osrf/gazebo/pull-request/3116)
1. Allow multiple instances of SimpleTrackedVehiclePlugin.
* [Pull request 3140](https://bitbucket.org/osrf/gazebo/pull-request/3140)
* [Pull request 3148](https://bitbucket.org/osrf/gazebo/pull-request/3148)
1. ODEBallJoint: reduce console output.
* [Pull request 3132](https://bitbucket.org/osrf/gazebo/pull-request/3132)
1. VariableGearboxPlugin: use splines to support arbitrary smooth input-output gearbox profiles.
* [Pull request 3073](https://bitbucket.org/osrf/gazebo/pull-request/3073)
1. Fix moving model files in StaticMapPlugin
* [Pull request 3123](https://bitbucket.org/osrf/gazebo/pull-request/3123)
1. Fix crash when loading submesh with no bone assignments.
* [Pull request 3122](https://bitbucket.org/osrf/gazebo/pull-request/3122)
1. Fix cmake warnings about multi-line strings.
* [Pull request 3138](https://bitbucket.org/osrf/gazebo/pull-request/3138)
* [Issue #2664](https://bitbucket.org/osrf/gazebo/issues/2664)
1. MeshManager: add .stlb file extension support
* [Pull request 3124](https://bitbucket.org/osrf/gazebo/pull-request/3124)
* [Pull request 3128](https://bitbucket.org/osrf/gazebo/pull-request/3128)
1. SystemPaths: fix race condition in PathDelimiter initialization, `missing call to sdf::addURIPath`.
* [Pull request 3170](https://bitbucket.org/osrf/gazebo/pull-request/3170)
1. Actor: update collision pose when using ActorPlugin.
* [Pull request 3108](https://bitbucket.org/osrf/gazebo/pull-request/3108)
* [Issue #2433](https://bitbucket.org/osrf/gazebo/issues/2433)
## Gazebo 9.11.0 (2019-08-29)
1. Add Camera PreRender and PostRender events
* [Pull request 3118](https://bitbucket.org/osrf/gazebo/pull-request/3118)
1. Fix ColladaLoader wrong node weights caused by buffer overflow bug
* [Pull request 3115](https://bitbucket.org/osrf/gazebo/pull-request/3115)
## Gazebo 9.10.0 (2019-07-12)
1. ColladaLoader: use default value of 1 for stride parameter when unset.
* [Pull request 3112](https://bitbucket.org/osrf/gazebo/pull-request/3112)
1. TopicManager: lock subscriberMutex anywhere subscribedNodes is used
* [Pull request 3096](https://bitbucket.org/osrf/gazebo/pull-request/3096)
1. Export `OGRE-*` cmake variables in addition to `OGRE_*` variables
* [Pull request 3109](https://bitbucket.org/osrf/gazebo/pull-request/3109)
1. Fix race conditions in `Master::ProcessMessage` and `Publisher::OnPublishComplete`
* [Pull request 3103](https://bitbucket.org/osrf/gazebo/pull-request/3103)
## Gazebo 9.9.0 (2019-05-23)
1. Backport camera intrinsics feature
* [Pull request 3099](https://bitbucket.org/osrf/gazebo/pull-request/3099)
1. Fix kinematic loops for DART 6.8, reverting to dart 6.7 behavior
* [Pull request 3101](https://bitbucket.org/osrf/gazebo/pull-request/3101)
1. Enable extra kinematic loop test for DART 6.8+
* [Pull request 3104](https://bitbucket.org/osrf/gazebo/pull-request/3104)
1. Lens flare: use light world pose at each time step instead of only at initialization
* [Pull request 3093](https://bitbucket.org/osrf/gazebo/pull-request/3093)
1. LinkPlot3dPlugin: read optional `<model>` tag to find links in nested models
* [Pull request 3095](https://bitbucket.org/osrf/gazebo/pull-request/3095)
1. Refactor ODE gearbox joint implementation to match hinge joint
* [Pull request 3048](https://bitbucket.org/osrf/gazebo/pull-request/3048)
1. Make the GPU laser warp artifact transparent
* [Pull request 3100](https://bitbucket.org/osrf/gazebo/pull-request/3100)
1. Added support for tracked vehicles
* [Pull request 2652](https://bitbucket.org/osrf/gazebo/pull-request/2652)
* [Issue #863](https://bitbucket.org/osrf/gazebo/issues/863)
1. Fix loading sdf with orthographic projection camera
* [Pull request 3098](https://bitbucket.org/osrf/gazebo/pull-request/3098)
## Gazebo 9.8.0 (2019-04-10)
1. Fix kinematic loops for DART 6.7 and later
* [Pull request 3086](https://bitbucket.org/osrf/gazebo/pull-request/3086)
* [Issue 2605](https://bitbucket.org/osrf/gazebo/issues/2605)
1. Port introspection manager performance fix
* [Pull request 3074](https://bitbucket.org/osrf/gazebo/pull-request/3074)
1. Windows: enable dynamic linking.
* [Pull request 3068](https://bitbucket.org/osrf/gazebo/pull-request/3068)
1. Windows: fixing path-related issues.
* [Pull request 3069](https://bitbucket.org/osrf/gazebo/pull-request/3069)
1. Windows: add setup.bat.in helper script template
* [Pull request 3070](https://bitbucket.org/osrf/gazebo/pull-request/3070)
1. Fix mal-formed pkgconfig file: don't prepend duplicate -l
* [Pull request 3080](https://bitbucket.org/osrf/gazebo/pull-request/3080)
* [Issue 2600](https://bitbucket.org/osrf/gazebo/issues/2600)
## Gazebo 9.7.0 (2019-03-13)
1. Windows: fix test compilation
* [Pull request 3082](https://bitbucket.org/osrf/gazebo/pull-request/3082)
1. Heightmap: cast shadows if `<cast_shadows>` tag is set
* [Pull request 3083](https://bitbucket.org/osrf/gazebo/pull-request/3083)
1. Windows: ignore disabled interfaces in `Connection::GetLocalEndpoint()`
* [Pull request 3079](https://bitbucket.org/osrf/gazebo/pull-request/3079)
1. Update trigger\_light plugin example to use ignition-transport
* [Pull request 3077](https://bitbucket.org/osrf/gazebo/pull-request/3077)
1. Fix ColladaLoader to support mixamo models and fix skeleton animation loading
* [Pull request 3084](https://bitbucket.org/osrf/gazebo/pull-request/3084)
* [Pull request 3071](https://bitbucket.org/osrf/gazebo/pull-request/3071)
* [Issue 2582](https://bitbucket.org/osrf/gazebo/issues/2582)
1. Improve gpu laser and its sensor shutdown
* [Pull request 3061](https://bitbucket.org/osrf/gazebo/pull-request/3061)
* [Pull request 3026](https://bitbucket.org/osrf/gazebo/pull-request/3026)
1. Added KeysToCmdVelPlugin for controlling robots using keyboard from gzclient
* [Pull request 3057](https://bitbucket.org/osrf/gazebo/pull-request/3057)
1. Windows patches to build gazebo9
* [Pull request 3060](https://bitbucket.org/osrf/gazebo/pull-request/3060)
1. Add MisalignmentPlugin which reports alignment between two poses
* [Pull request 2896](https://bitbucket.org/osrf/gazebo/pull-request/2896)
## Gazebo 9.6.0 (2018-12-17)
1. Don't search for boost signals component
* [Pull request 3050](https://bitbucket.org/osrf/gazebo/pull-requests/3050)
* [Issue 2577](https://bitbucket.org/osrf/gazebo/issues/2577)
1. Fix saving heightmap cache
* [Pull request 3044](https://bitbucket.org/osrf/gazebo/pull-requests/3044)
* [Issue 2572](https://bitbucket.org/osrf/gazebo/issues/2572)
1. Fix GUI plugins on Bionic + gz9
* [Pull request 3041](https://bitbucket.org/osrf/gazebo/pull-requests/3041)
* [Issue 2541](https://bitbucket.org/osrf/gazebo/issues/2541)
1. Add method to get the link visual elements
* [Pull request 3040](https://bitbucket.org/osrf/gazebo/pull-requests/3040)
* backport of [Pull request 2900](https://bitbucket.org/osrf/gazebo/pull-requests/2900)
1. Add Plugin::LoadParam to improve plugin interface
* [Pull request 3047](https://bitbucket.org/osrf/gazebo/pull-requests/3047)
1. Fix gzclient on mojave with Qt 5.12
* [Pull request 3051](https://bitbucket.org/osrf/gazebo/pull-requests/3051)
* [Issue 2531](https://bitbucket.org/osrf/gazebo/issues/2531)
1. Switch Time::Sleep from CLOCK\_REALTIME to CLOCK\_MONOTONIC on Linux
* [Pull request 3037](https://bitbucket.org/osrf/gazebo/pull-requests/3037)
1. Change sleep time larger than resolution message from gzerr to gzlog
* [Pull request 3036](https://bitbucket.org/osrf/gazebo/pull-requests/3036)
1. Fix DARTHingeJoint::SetAxis implementation (issue 2505)
* [Pull request 3005](https://bitbucket.org/osrf/gazebo/pull-requests/3005)
* [Issue 2505](https://bitbucket.org/osrf/gazebo/issues/2505)
1. Plugin to initialize joint controller parameters
* [Pull request #3031](https://bitbucket.org/osrf/gazebo/pull-requests/3031)
* [Pull request #2751](https://bitbucket.org/osrf/gazebo/pull-requests/2751)
* [Issue 1766](https://bitbucket.org/osrf/gazebo/issues/1766)
1. static_map_plugin.cc: remove backup folder
* [Pull request #3023](https://bitbucket.org/osrf/gazebo/pull-requests/3023)
1. Fix regression test build -> gazebo9
* [Pull request #3046](https://bitbucket.org/osrf/gazebo/pull-requests/3046)
## Gazebo 9.5.0 (2018-11-19)
1. Fix model bounding box
* [Pull request 3033](https://bitbucket.org/osrf/gazebo/pull-request/3033)
1. Skip skyx in SSAO plugin
* [Pull request 3028](https://bitbucket.org/osrf/gazebo/pull-request/3028)
1. Boost 1.68 support
* [Pull request 3030](https://bitbucket.org/osrf/gazebo/pull-request/3030)
1. Use new sha1.hpp header location for recent boost
* [Pull request 3029](https://bitbucket.org/osrf/gazebo/pull-request/3029)
1. Joint.hh: fix documentation for Set{Upp|Low}erLimit
* [Pull request 3027](https://bitbucket.org/osrf/gazebo/pull-request/3027)
1. Fix for revolute2 joints that prevents links from teleporting to origin
* [Pull request 3024](https://bitbucket.org/osrf/gazebo/pull-request/3024)
* [Issue 2239](https://bitbucket.org/osrf/gazebo/issues/2239)
1. Fix for BulletFixedJoint when used with inertial matrices with non-zero values on their off-diagonal
* [Pull request 3010](https://bitbucket.org/osrf/gazebo/pull-request/3010)
1. Adding WheelSlipPlugin: for adding wheel slip using ODE's contact parameters
* [Pull request 2950](https://bitbucket.org/osrf/gazebo/pull-request/2950)
* [Pull request 2976](https://bitbucket.org/osrf/gazebo/pull-request/2976)
* [Pull request 2997](https://bitbucket.org/osrf/gazebo/pull-request/2997)
1. Adding JointController::SetForce API and extra test for WheelSlipPlugin
* [Pull request 2976](https://bitbucket.org/osrf/gazebo/pull-request/2976)
## Gazebo 9.4.1 (2018-09-19)
1. Revert pr 2923: "Handle signal SIGTERM exactly the same way as SIGINT"
* [Pull request 3018](https://bitbucket.org/osrf/gazebo/pull-request/3018)
* Reverts [Pull request 2923](https://bitbucket.org/osrf/gazebo/pull-request/2923)
* Some discussion in [Pull request 3014](https://bitbucket.org/osrf/gazebo/pull-request/3014)
## Gazebo 9.4.0 (2018-09-18)
1. Fix for the spawning light issue. This fix allows a light's visual to be
turned on/off.
* [Pull request 3011](https://bitbucket.org/osrf/gazebo/pull-requests/3011)
1. Add joystick plugin and demo world
* [Pull request 2895](https://bitbucket.org/osrf/gazebo/pull-request/2895)
1. Support toggling light visuals.
* [Pull request 3011](https://bitbucket.org/osrf/gazebo/pull-request/3011)
1. Improve shutdown speed.
* [Pull request 3014](https://bitbucket.org/osrf/gazebo/pull-request/3014)
1. Fix vertical lidar rays.
* [Pull request 3013](https://bitbucket.org/osrf/gazebo/pull-request/3013)
1. Only use active interfaces in gazebo/transport.
* [Pull request 3009](https://bitbucket.org/osrf/gazebo/pull-request/3009)
1. Trigger the stop event on sigint/sigterm.
* [Pull request 2993](https://bitbucket.org/osrf/gazebo/pull-request/2993)
1. Include SDF header in rendering::Distortion
* [Pull request 3012](https://bitbucket.org/osrf/gazebo/pull-request/3012)
1. More documentation to Model::CreateJoint()
* [Pull request 3002](https://bitbucket.org/osrf/gazebo/pull-request/3002)
1. Improve ODE slip parameter behavior with multiple contact points
* [Pull request 2965](https://bitbucket.org/osrf/gazebo/pull-request/2965)
1. Fix manipulating links in the model editor
* [Pull request 2999](https://bitbucket.org/osrf/gazebo/pull-request/2999)
* [Issue 2487](https://bitbucket.org/osrf/gazebo/issues/2487)
1. LOD skirt length
* [Pull request 2968](https://bitbucket.org/osrf/gazebo/pull-request/2968)
1. Patch for visual message process
* [Pull request 2983](https://bitbucket.org/osrf/gazebo/pull-request/2983)
1. Print joint_cmd deprecation warnings only one time
* [Pull request 2966](https://bitbucket.org/osrf/gazebo/pull-request/2966)
* [Issue 2393](https://bitbucket.org/osrf/gazebo/issues/2393)
## Gazebo 9.3.1 (2018-08-08)
1. Fix for the spawning light issue
* [Pull request 3003](https://bitbucket.org/osrf/gazebo/pull-requests/3003)
## Gazebo 9.3.0 (2018-07-28)
1. Add a LED plugin blinking visual objects
* [Pull request 2994](https://bitbucket.org/osrf/gazebo/pull-request/2994)
1. Require ignition-fuel-tools 1.2 when finding package
* [Pull request 2992](https://bitbucket.org/osrf/gazebo/pull-request/2992)
* [Issue 2494](https://bitbucket.org/osrf/gazebo/issues/2494)
1. Add a flashlight plugin blinking lights attached on a model
* [Pull request 2961](https://bitbucket.org/osrf/gazebo/pull-request/2961)
1. Fix manipulating links in the model editor
* [Pull request 2996](https://bitbucket.org/osrf/gazebo/pull-request/2996)
* [Issue 2487](https://bitbucket.org/osrf/gazebo/issues/2487)
## Gazebo 9.2.0 (2018-07-10)
1. Fix SetCrop for multiple cameras and add SetCrop test
* [Pull request 2967](https://bitbucket.org/osrf/gazebo/pull-request/2967)
1. Fix check terrain layer count in height map
* [Pull request 2978](https://bitbucket.org/osrf/gazebo/pull-request/2978)
1. Fix build on homebrew with protobuf 3.6
* [Pull request 2984](https://bitbucket.org/osrf/gazebo/pull-request/2984)
1. Attach lights to links cleanup and deprecate GetLight functions
* [Pull request #2871](https://bitbucket.org/osrf/gazebo/pull-request/2871)
## Gazebo 9.1.1 (2018-06-08)
1. Set the default model database URI to avoid a redirect
* [Pull request 2971](https://bitbucket.org/osrf/gazebo/pull-request/2971)
## Gazebo 9.1.0 (2018-06-01)
1. Fuel: Support models with full Fuel URLs in <uri>
* [Pull request 2962](https://bitbucket.org/osrf/gazebo/pull-request/2962)
1. Fuel: List models by owner on insert menu
* [Pull request 2949](https://bitbucket.org/osrf/gazebo/pull-request/2949)
1. Fueltools useragent
* [Pull request 2924](https://bitbucket.org/osrf/gazebo/pull-request/2924)
1. Env var to enable Ignition Fuel
* [Pull request 2860](https://bitbucket.org/osrf/gazebo/pull-request/2860)
1. Find DART with CONFIG to fix homebrew issue
* [Pull request 2919](https://bitbucket.org/osrf/gazebo/pull-request/2919)
* [homebrew-simulation issue 384](https://github.com/osrf/homebrew-simulation/issues/384)
1. Added missing OGRE headers
* [Pull request 2894](https://bitbucket.org/osrf/gazebo/pull-request/2894)
1. Handle signal SIGTERM exactly the same way as SIGINT
* [Pull request 2923](https://bitbucket.org/osrf/gazebo/pull-request/2923)
1. Support custom find file callbacks
* [Pull request 2948](https://bitbucket.org/osrf/gazebo/pull-request/2948)
1. Fix empty visual bounding box
* [Pull request 2934](https://bitbucket.org/osrf/gazebo/pull-request/2934)
1. Make override keywords consistent in joint classes to fix clang warnings
* [Pull request 2869](https://bitbucket.org/osrf/gazebo/pull-request/2869)
* [Pull request 2881](https://bitbucket.org/osrf/gazebo/pull-request/2881)
1. Fix BulletHingeJoint limits when child link has off-diagonal inertia
* [Pull request 2883](https://bitbucket.org/osrf/gazebo/pull-requests/2883)
1. Print some bullet console warnings only once
* [Pull request 2866](https://bitbucket.org/osrf/gazebo/pull-request/2866)
1. Fix getting joint limits for BulletHingeJoint
* [Pull request 2959](https://bitbucket.org/osrf/gazebo/pull-request/2959)
1. Fix build on hombrew with boost 1.67
* [Pull request 2954](https://bitbucket.org/osrf/gazebo/pull-request/2954)
1. Set the default model database URI to avoid a redirect.
* [Pull request 2970](https://bitbucket.org/osrf/gazebo/pull-request/2970)
1. Save model materials and meshes when logging
* [Pull request 2811](https://bitbucket.org/osrf/gazebo/pull-request/2811)
1. Add Screen Space Ambient Occlusion visual plugin
* [Pull request 2916](https://bitbucket.org/osrf/gazebo/pull-request/2916)
* [Pull request 2947](https://bitbucket.org/osrf/gazebo/pull-request/2947)
1. Fix ray intersection check in Scene::FirstContact
* [Pull request 2945](https://bitbucket.org/osrf/gazebo/pull-request/2945)
1. Fix camera view control inside bounding box of large meshes
* [Pull request 2932](https://bitbucket.org/osrf/gazebo/pull-request/2932)
1. Fix compilation with boost 1.67
* [Pull request 2937](https://bitbucket.org/osrf/gazebo/pull-request/2937)
1. Fix compilation with ffmpeg4
* [Pull request 2942](https://bitbucket.org/osrf/gazebo/pull-request/2942)
1. Fix Joint::SetPosition for HingeJoint
* [Pull request 2892](https://bitbucket.org/osrf/gazebo/pull-request/2892)
* [Issue 2430](https://bitbucket.org/osrf/gazebo/issues/2430)
1. Fix mouse movement ogre assertion error
* [Pull request 2928](https://bitbucket.org/osrf/gazebo/pull-request/2928)
1. use QVERIFY() around qFuzzyCompare statements
* [Pull request 2936](https://bitbucket.org/osrf/gazebo/pull-request/2936)
1. Fix normal maps on ubuntu with OGRE 1.9 and disable on OSX
* [Pull request 2917](https://bitbucket.org/osrf/gazebo/pull-request/2917)
1. Support lens flare occlusion
* [Pull request 2915](https://bitbucket.org/osrf/gazebo/pull-request/2915)
1. Diagnostics: record timing statistics instead of all timestamps
* [Pull request 2821](https://bitbucket.org/osrf/gazebo/pull-requests/2821)
1. Add trigger_light example for ContainPlugin tutorial
* [Pull request 2918](https://bitbucket.org/osrf/gazebo/pull-requests/2918)
* [Pull request 2929](https://bitbucket.org/osrf/gazebo/pull-requests/2929)
1. Do not load model plugins during log playback.
* [Pull request 2884](https://bitbucket.org/osrf/gazebo/pull-request/2884)
* [Issue 2427](https://bitbucket.org/osrf/gazebo/issues/2427)
1. State log file playback can cause a sensor manager assert if there is
a large period of inactivity. This PR outputs warning messages instead of
using asserts.
* [Pull request 2893](https://bitbucket.org/osrf/gazebo/pull-request/2893)
* [Pull request 2921](https://bitbucket.org/osrf/gazebo/pull-request/2921)
1. Fix model insertions during log playback.
* [Pull request 2890](https://bitbucket.org/osrf/gazebo/pull-request/2890)
* [Issue 2297](https://bitbucket.org/osrf/gazebo/issues/2297)
* [Issue 2428](https://bitbucket.org/osrf/gazebo/issues/2428)
1. Simplify search logic for Qt5
* [Pull request 2911](https://bitbucket.org/osrf/gazebo/pull-request/2911)
* [Issue 2419](https://bitbucket.org/osrf/gazebo/issues/2419)
1. Fix log recording, only call sdf::initFile once
* [Pull request 2885](https://bitbucket.org/osrf/gazebo/pull-request/2885)
* [Issue 2425](https://bitbucket.org/osrf/gazebo/issues/2425)
1. Ensure sdf inertia values are consistent
* [Pull request 2867](https://bitbucket.org/osrf/gazebo/pull-requests/2867)
* [Issue 2367](https://bitbucket.org/osrf/gazebo/issues/2367)
1. Fix gazebo7 + ogre 1.8 build error
* [Pull request 2878](https://bitbucket.org/osrf/gazebo/pull-request/2878)
1. Fix OBJLoader when mesh has invalid material
* [Pull request 2888](https://bitbucket.org/osrf/gazebo/pull-request/2888)
1. Fix clang warnings in LaserView and EnumIface
* [Pull request 2891](https://bitbucket.org/osrf/gazebo/pull-request/2891)
1. Add support for moving geometry to ContainPlugin
* [Pull request 2886](https://bitbucket.org/osrf/gazebo/pull-request/2886)
1. Support python3 with check_test_ran.py
* [Pull request 2902](https://bitbucket.org/osrf/gazebo/pull-request/2902)
1. Don't shut down gazebo when removing a world
* [Pull request 2511](https://bitbucket.org/osrf/gazebo/pull-request/2511)
1. Fix undefined behavior in ODESliderJoint
* [Pull request 2905](https://bitbucket.org/osrf/gazebo/pull-requests/2905)
1. Fix loading collada mesh that contains multiple texcoord sets with same offset
* [Pull request 2899](https://bitbucket.org/osrf/gazebo/pull-request/2899)
1. Fix race conditions during client startup, and introduce Node::TryInit()
* [Pull request 2897](https://bitbucket.org/osrf/gazebo/pull-requests/2897)
1. Add support for Actor collisions.
* [Pull request 2875](https://bitbucket.org/osrf/gazebo/pull-requests/2875)
1. Process insertions and deletions on gz log echo
* [Pull request 2608](https://bitbucket.org/osrf/gazebo/pull-request/2608)
* [Issue 2136](https://bitbucket.org/osrf/gazebo/issues/2136)
1. Added a plugin to detect if an entity is inside a given volume in space
* [Pull request 2780](https://bitbucket.org/osrf/gazebo/pull-requests/2780)
1. Add Static Map Plugin for creating textured map model
* [Pull request 2834](https://bitbucket.org/osrf/gazebo/pull-requests/2834)
1. Fix deadlock when publishing to ~/light/factory topic
* [Pull request 2872](https://bitbucket.org/osrf/gazebo/pull-requests/2872)
1. Added a plugin to detect if an entity is inside a given volume in space
* [Pull request 2870](https://bitbucket.org/osrf/gazebo/pull-requests/2870)
1. Load actor plugin on ~/factory
* [Pull request 2855](https://bitbucket.org/osrf/gazebo/pull-requests/2855)
1. Add support for 16 bit Grayscale and RGB camera image types.
* [Pull request 2852](https://bitbucket.org/osrf/gazebo/pull-requests/2852)
1. Add Visual::SetMaterialShaderParam function for setting shader parameters.
* [Pull request 2863](https://bitbucket.org/osrf/gazebo/pull-requests/2863)
1. Adding accessors for velocity in ENU frame for gps sensor
* [Pull request 2854](https://bitbucket.org/osrf/gazebo/pull-request/2854)
1. Fix DEM min elevation
* [Pull request 2868](https://bitbucket.org/osrf/gazebo/pull-request/2868)
1. Update Color Clamp function
* [Pull request 2859](https://bitbucket.org/osrf/gazebo/pull-requests/2859)
1. Initialize laser retro value
* [Pull request 2841](https://bitbucket.org/osrf/gazebo/pull-request/2841)
1. Allow marker requests to be received from server plugins.
* [Pull request 2858](https://bitbucket.org/osrf/gazebo/pull-requests/2858)
## Gazebo 9.0.0 (2018-01-25)
1. Update to `ign-transport4`, `ign-msgs1`, `ign-math4`. Added dependency on
only `sdformat6`, removing `sdformat5`.
* [Pull request #2843](https://bitbucket.org/osrf/gazebo/pull-request/2843)
1. Provide option to preserve world velocity in Joint::SetPosition
* [Pull request #2814](https://bitbucket.org/osrf/gazebo/pull-requests/2814)
* [Issue 2111](https://bitbucket.org/osrf/gazebo/issues/2111)
1. Rename `BUILD_TYPE_*` macros to `GAZEBO_BUILD_TYPE_*`
* [Pull request #2846](https://bitbucket.org/osrf/gazebo/pull-requests/2846)
* [Issue 2343](https://bitbucket.org/osrf/gazebo/issues/2343)
1. Added World::SDF()
* [Pull request #2708](https://bitbucket.org/osrf/gazebo/pull-requests/2708)
1. Fix compile error with due to using gazebo::common::Color with sdformat 6
* [Pull request #2786](https://bitbucket.org/osrf/gazebo/pull-request/2786)
1. [Ignition Fuel Tools](https://ignitionrobotics.org/libs/fuel%20tools) integration:
1. Ignition Fuel support - model list
* [Pull request #2796](https://bitbucket.org/osrf/gazebo/pull-requests/2796)
1. Download a model from Ignition Fuel
* [Pull request #2800](https://bitbucket.org/osrf/gazebo/pull-requests/2800)
1. Export dependency on ignition-fuel-tools in cmake and pkgconfig files if it's found
* [Pull request #2850](https://bitbucket.org/osrf/gazebo/pull-request/2850)
1. Avoid race condition between multiple writers to the same connection
* A contribution from Hendrik Skubch
* [Pull request #2826](https://bitbucket.org/osrf/gazebo/pull-requests/2826)
1. Deprecate gazebo::common::Color
* [Pull request #2818](https://bitbucket.org/osrf/gazebo/pull-request/2818)
* [Pull request #2831](https://bitbucket.org/osrf/gazebo/pull-request/2831)
* [Pull request #2837](https://bitbucket.org/osrf/gazebo/pull-request/2837)
* [Pull request #2838](https://bitbucket.org/osrf/gazebo/pull-request/2838)
* [Pull request #2842](https://bitbucket.org/osrf/gazebo/pull-request/2842)
1. Updates to MovableText
* [Pull request #2839](https://bitbucket.org/osrf/gazebo/pull-request/2839)
1. Mark constructors as explicit to fix cppcheck warnings
* [Pull request #2790](https://bitbucket.org/osrf/gazebo/pull-request/2790)
* [Pull request #2792](https://bitbucket.org/osrf/gazebo/pull-request/2792)
* [Pull request #2795](https://bitbucket.org/osrf/gazebo/pull-request/2795)
* [Pull request #2822](https://bitbucket.org/osrf/gazebo/pull-request/2822)
1. Try finding both ignition math 3 or 4 until we switch to 4
* [Pull request #2783](https://bitbucket.org/osrf/gazebo/pull-request/2783)
1. Replaced use of ignition::msgs::ImageStamped with ignition::msgs::Image
* [Pull request #2781](https://bitbucket.org/osrf/gazebo/pull-request/2781)
1. Fix missing includes for boost lexical cast
* [Pull request #2784](https://bitbucket.org/osrf/gazebo/pull-request/2784)
1. Try finding both sdformat 5 and 6 until we switch to 6
* [Pull request #2750](https://bitbucket.org/osrf/gazebo/pull-request/2750)
1. HarnessPlugin: PIMPL and allow re-attaching
* [Pull request #2697](https://bitbucket.org/osrf/gazebo/pull-request/2697)
1. DART: Update contact information also if physics engine is disabled
* [Pull request #2704](https://bitbucket.org/osrf/gazebo/pull-requests/2704)
1. Integration of DART-6
* [Pull request #2547](https://bitbucket.org/osrf/gazebo/
1. Image Viewer: fix QImage::Format used to display grayscale images
* A contribution from Julien Lecoeur
* [Pull request #2812](https://bitbucket.org/osrf/gazebo/pull-requests/2812)
1. Fix compilation of some tests on Windows
* A contribution from Silvio Traversaro
* [Pull request #2699](https://bitbucket.org/osrf/gazebo/pull-requests/2699)
1. Remove Gazebo 8 deprecations
* [Pull request #2605](https://bitbucket.org/osrf/gazebo/pull-request/2605)
* [Pull request #2607](https://bitbucket.org/osrf/gazebo/pull-request/2607)
* [Pull request #2603](https://bitbucket.org/osrf/gazebo/pull-request/2603)
* [Pull request #2604](https://bitbucket.org/osrf/gazebo/pull-request/2604)
* [Pull request #2627](https://bitbucket.org/osrf/gazebo/pull-request/2627)
1. Bullet: sending feedback on contact points on depth 0 as well
* [Pull request #2630](https://bitbucket.org/osrf/gazebo/pull-requests/2630/)
1. Deprecate functions to set linear/angular acceleration
* [Pull request #2622](https://bitbucket.org/osrf/gazebo/pull-request/2622)
1. Added GpuLaserDataIterator
* [Pull request #2637](https://bitbucket.org/osrf/gazebo/pull-request/2637)
1. Added possibility to enforce contact computation
* [Pull request #2629](https://bitbucket.org/osrf/gazebo/pull-requests/2629/)
1. Add function to retrieve scoped sensors name in multi-nested model
* [Pull request #2676](https://bitbucket.org/osrf/gazebo/pull-request/2676)
## Gazebo 8
## Gazebo 8.X.X (201X-XX-XX)
1. Use new sha1.hpp header location for recent boost
* [Pull request 3029](https://bitbucket.org/osrf/gazebo/pull-request/3029)
1. Joint.hh: fix documentation for Set{Upp|Low}erLimit
* [Pull request 3027](https://bitbucket.org/osrf/gazebo/pull-request/3027)
1. Fix for revolute2 joints that prevents links from teleporting to origin
* [Pull request 3024](https://bitbucket.org/osrf/gazebo/pull-request/3024)
* [Issue 2239](https://bitbucket.org/osrf/gazebo/issues/2239)
1. Include SDF header in rendering::Distortion
* [Pull request 3012](https://bitbucket.org/osrf/gazebo/pull-request/3012)
1. More documentation to Model::CreateJoint()
* [Pull request 3002](https://bitbucket.org/osrf/gazebo/pull-request/3002)
1. Improve ODE slip parameter behavior with multiple contact points
* [Pull request 2965](https://bitbucket.org/osrf/gazebo/pull-request/2965)
1. Fix for BulletFixedJoint when used with inertial matrices with non-zero values on their off-diagonal
* [Pull request 3010](https://bitbucket.org/osrf/gazebo/pull-request/3010)
1. Fix manipulating links in the model editor
* [Pull request 2999](https://bitbucket.org/osrf/gazebo/pull-request/2999)
* [Issue 2487](https://bitbucket.org/osrf/gazebo/issues/2487)
1. LOD skirt length
* [Pull request 2968](https://bitbucket.org/osrf/gazebo/pull-request/2968)
1. Patch for visual message process
* [Pull request 2983](https://bitbucket.org/osrf/gazebo/pull-request/2983)