All releases mentioned here are relatively recent.
For more information, see Changelog.
The following list provides a high-level summary of the specification and C++ version supported by the given release of the library:
libsdformat4
: For use in Gazebo 7.- 4.4.0 (released): C++11, SDFormat 1.6.
libsdformat6
: For use in Gazebo 9, 10.- 6.2.0 (released): C++11, SDFormat 1.6.
libsdformat7
:- 7.0.0 (not released): C++14, SDFormat 1.7. This was an intermediate version that will not be released.
libsdformat8
: For use in Gazebo Blueprint.- 8.5.0 (released): C++17, SDFormat 1.6.
libsdformat9
: For use in Gazebo 11, Gazebo Citadel.- 9.0.0 (released): C++17, SDFormat 1.7.
libsdformat10
: For use in Gazebo Dome.- 10.0.0 (released): C++17, SDFormat 1.7.
libsdformat11
: For use in Gazebo Edifice.- 11.0.0 (released): C++17, SDFormat 1.8.
libsdformat12
: For use in Gazebo Fortress.- 12.0.0 (released): C++17, SDFormat 1.9.
libsdformat13
: For use in Gazebo Garden.- 13.0.0 (planned): C++17, TBD
In order to promote consistent support of the SDFormat specification, we list recent releases of some downstream projects and their support of the specification (as well as the caveats):
- Classic Gazebo
- 7 (released): libsdformat4, SDFormat 1.6
- 9 (released): libsdformat6, SDFormat 1.6
- 10 (released): libsdformat6, SDFormat 1.6
- 11 (released): libsdformat9, SDFormat 1.7
- Gazebo
- Blueprint (released): libsdformat8, SDFormat 1.6, but supports only a subset:
- Does not support directly nested models
- Citadel (released): libsdformat9, SDFormat 1.7, but only a subset:
- Does not support directly nested models
- Dome (released): libsdformat10, SDFormat 1.7, but only a subset:
- Does not support directly nested models
- Edifice (released): libsdformat11, SDFormat 1.8
- Fortress (released): libsdformat12, SDFormat 1.9
- Garden (planned): libsdformat13, TBD
- Blueprint (released): libsdformat8, SDFormat 1.6, but supports only a subset:
- Drake:
- 0.10.0 - 0.13.0 (released): SDFormat 1.6, but deviates:
- Does not support directly nested models
- Does not support specifying poses of free-floating bodies (as initial conditions).
- Adds extra semantics to
//pose/frame
and//frame
elements.
- 0.14.0 (released): SDFormat 1.7.
- 0.10.0 - 0.13.0 (released): SDFormat 1.6, but deviates:
If you would like your project listed here, please make a pull request.