Gazebo Release Features#
Here you will find the set of features that are available in each release.
Take a look at the Roadmap for information about upcoming features, some of which may land in released versions of Gazebo.
Harmonic#
For a complete list of features included in the initial release of Harmonic, please see the highlights and release notes documentation in the Gazebo Harmonic repository.
Library name |
Version |
Changelog |
---|---|---|
gz-cmake |
3.x |
|
gz-common |
5.x |
|
gz-fuel-tools |
9.x |
|
gz-gui |
8.x |
|
gz-launch |
7.x |
|
gz-math |
7.x |
|
gz-msgs |
10.x |
|
gz-physics |
7.x |
|
gz-plugin |
2.x |
|
gz-rendering |
8.x |
|
gz-sensors |
8.x |
|
gz-sim |
8.x |
|
gz-tools |
2.x |
|
gz-transport |
13.x |
|
gz-utils |
2.x |
|
sdformat |
14.x |
Garden#
Improve Bullet support (new gz-physics plugin for Bullet’s Featherstone API).
Allow loading SDFormat model files from the command line (instead of world files only).
Allow specifying initial simulation time with a CLI argument
Dynamic wrench application through the GUI (Mouse interaction with simulated models)
Library name |
Version |
Changelog |
---|---|---|
gz-cmake |
3.x |
|
gz-common |
5.x |
|
gz-fuel-tools |
8.x |
|
gz-gui |
7.x |
|
gz-launch |
6.x |
|
gz-math |
7.x |
|
gz-msgs |
9.x |
|
gz-physics |
6.x |
|
gz-plugin |
2.x |
|
gz-rendering |
7.x |
|
gz-sensors |
7.x |
|
gz-sim |
7.x |
|
gz-tools |
2.x |
|
gz-transport |
12.x |
|
gz-utils |
2.x |
|
sdformat |
13.x |
Fortress#
Sensors
GUI features
Simplify determination of a sensor’s topic name for rendering sensors.
Library name |
Version |
Changelog |
---|---|---|
gz-cmake |
2.x |
|
gz-common |
4.x |
|
gz-fuel-tools |
7.x |
|
gz-sim |
6.x |
|
gz-gui |
6.x |
|
gz-launch |
5.x |
|
gz-math |
6.x |
|
gz-msgs |
8.x |
|
gz-physics |
5.x |
|
gz-plugin |
1.x |
|
gz-rendering |
6.x |
|
gz-sensors |
6.x |
|
gz-tools |
1.x |
|
gz-transport |
11.x |
|
gz-utils |
1.x |
|
sdformat |
12.x |
Edifice (EOL)#
New utility library with minimal dependencies: Gazebo Utils.
Library name |
Version |
Changelog |
---|---|---|
gz-cmake |
2.x |
|
gz-common |
4.x |
|
gz-fuel-tools |
6.x |
|
gz-sim |
5.x |
|
gz-gui |
5.x |
|
gz-launch |
4.x |
|
gz-math |
6.x |
|
gz-msgs |
7.x |
|
gz-physics |
4.x |
|
gz-plugin |
1.x |
|
gz-rendering |
5.x |
|
gz-sensors |
5.x |
|
gz-tools |
1.x |
|
gz-transport |
10.x |
|
gz-utils |
1.x |
|
sdformat |
11.x |
Dome (EOL)#
Particle effects on Gazebo Rendering and Gazebo Sim.
Actor plugins.
Efficient skeleton animations.
Kinetic energy monitor plugin.
Texture-based thermal signature for objects, visible from thermal camera.
GUI tools:
Library name |
Version |
Changelog |
---|---|---|
gz-cmake |
2.x |
|
gz-common |
3.x |
|
gz-fuel-tools |
5.x |
|
gz-sim |
4.x |
|
gz-gui |
4.x |
|
gz-launch |
3.x |
|
gz-math |
6.x |
|
gz-msgs |
6.x |
|
gz-physics |
3.x |
|
gz-plugin |
1.x |
|
gz-rendering |
4.x |
|
gz-sensors |
4.x |
|
gz-tools |
1.x |
|
gz-transport |
9.x |
|
sdformat |
10.x |
Citadel (LTS)#
Visual markers.
Animated actors for Ogre 1 and Ogre 2.
Thermal camera sensor.
Emissive texture maps.
SDFormat frame semantics.
Upload and delete models to Fuel from command line.
Buoyancy model.
Lockstepped video recording that can optionally use simulation time instead of real time.
Load PBR materials from OBJ.
Test fixture to easily run simulation-based automated tests.
New graphical interfaces:
Widget listing all transport topics.
Widget that publishes keys pressed on the keyboard.
Collision visualization.
APIs that make it easier to migrate from Gazebo classic:
Library name |
Version |
Changelog |
---|---|---|
gz-cmake |
2.x |
|
gz-common |
3.x |
|
gz-fuel-tools |
4.x |
|
gz-sim |
3.x |
|
gz-gui |
3.x |
|
gz-launch |
2.x |
|
gz-math |
6.x |
|
gz-msgs |
5.x |
|
gz-physics |
2.x |
|
gz-plugin |
1.x |
|
gz-rendering |
3.x |
|
gz-sensors |
3.x |
|
gz-tools |
1.x |
|
gz-transport |
8.x |
|
sdformat |
9.x |
Blueprint (EOL)#
Physically based rendering (PBR) materials.
Air pressure, RGBD and stereo camera sensors.
Global wind model.
Joint state publisher.
Support for UAVs.
Integration of
ign
command line tool into Gazebo Sim.Logging and playback of simulation state.
Command line tools to control log playback.
Battery model based on vehicle motion and rechargeable batteries.
Integration of Google benchmark for performance metrics and analysis.
Tracked vehicle support.
Breadcrumbs plugin.
Position-based PID controller.
Improved resource path handling.
Loading custom physics engine plugins.
Plugin that publishes a user specified message on an output topic in response to an input message.
Noise for RGBD camera.
Load worlds from Fuel.
GUI tools:
GUI tools for model placement, and a new Scene Tree widget.
Translate and rotate models.
Entity tree.
Video recorder.
Move to models.
Follow model.
Delete model.
Grid.
Drag-and-drop models from Fuel to Gazebo Sim UI.
Preset view angles.
Hotkeys for transform modes and snapping.
Entity selection.
Insert simple shapes.
Insert models from online sources and local directories.
Log playback scrubber.
Save worlds.
Tape measure.
Library name |
Version |
Changelog |
---|---|---|
gz-cmake |
2.x |
|
gz-common |
3.x |
|
gz-fuel-tools |
3.x |
|
gz-sim |
2.x |
|
gz-gui |
2.x |
|
gz-launch |
1.x |
|
gz-math |
6.x |
|
gz-msgs |
4.x |
|
gz-physics |
1.x |
|
gz-plugin |
1.x |
|
gz-rendering |
2.x |
|
gz-sensors |
2.x |
|
gz-tools |
0.x |
|
gz-transport |
7.x |
|
sdformat |
8.x |
Acropolis (EOL)#
The first major release of Gazebo focused on the basics of simulation. The basics primarily encompassed integration of physics, sensors, graphical tools, and programmatic interfaces.
Support for DART in Gazebo Physics.
Ogre1.9 and Ogre2.1 support in Gazebo Rendering
Entity Component System based simulation engine in Gazebo Sim.
A sensor suite that includes contact sensor, logical camera, monocular camera, depth camera, LIDAR, magnetometer, altimeter, and IMU is available through Gazebo Sensors and Gazebo Sim.
Launch system capable of running and managing a set of plugins and executables.
Cloud-hosted simulation assets provided by app.gazebosim.org.
Distributed simulation using lock-stepping.
Dynamic loading/unloading of simulation models based on the location of performer, usually a robot.
Simulation state logging.
Plugin-based GUI system based on QtQuick and Material Design. Available plugins include 3D scene viewer, image viewer, topic echo, topic publisher, world control, and world statistics.
The Acropolis collection is composed by many different Gazebo libraries. The collection assures that all libraries all compatible and can be used together.
Library name |
Version |
Changelog |
---|---|---|
gz-cmake |
2.x |
|
gz-common |
3.x |
|
gz-fuel-tools |
3.x |
|
gz-sim |
1.x |
|
gz-gui |
1.x |
None |
gz-launch |
0.x |
None |
gz-math |
6.x |
|
gz-msgs |
3.x |
|
gz-physics |
1.x |
|
gz-plugin |
1.x |
|
gz-rendering |
1.x |
None |
gz-sensors |
1.x |
|
gz-tools |
0.x |
|
gz-transport |
6.x |
|
sdformat |
8.x |