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Migration.md

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Gazebo 4.X to 5.X

Modifications

  1. Informational logs: The log files will be created inside ~/.gazebo/server-<GAZEBO_MASTER_PORT> and ~/.gazebo/client-<GAZEBO_MASTER_PORT>. The motivation for this change is to avoid name collisions when cloning a simulation. If the environment variable GAZEBO_MASTER_URI is not present or invalid, <GAZEBO_MASTER_PORT> will be replaced by "default".

Additions

  1. gazebo/physics/Joint.hh

    • void SetVelocityLimit(unsigned int, double)
    • bool SetVelocityMaximal(unsigned int, double)

  2. gazebo/physics/Population.hh

    • New class: Population

  3. gazebo/math/Kmeans.hh

    • New class: Kmeans

  4. gazebo/gui/SpaceNav.hh

    • New class: SpaceNav, an interface to the space navigator 3D mouse

Modifications

  1. gazebo/common/Plugin.hh
    • Removed: protected: std::string Plugin::handle
    • Replacement: protected: std::string Plugin::handleName

Deletions

  1. gazebo/physics/Collision.hh
    • unsigned int GetShapeType()

Gazebo 3.1 to 4.0

New Deprecations

  1. gazebo/physics/Collision.hh

    • Deprecation unsigned int GetShapeType()
    • Replacement unsigned int GetShapeType() const

  2. gazebo/physics/Joint.hh

    • Deprecation virtual double GetMaxForce(unsigned int)
    • Deprecation virtual void SetMaxForce(unsigned int, double)
    • Deprecation virtual void SetAngle(unsigned int, math::Angle)
    • Replacement virtual void SetPosition(unsigned int, double)

Modifications

  1. gazebo/physics/Model.hh

    • Removed: Link_V GetLinks() const ABI Change
    • Replacement: const Link_V &GetLinks() const

  2. gzprop command line tool

    • The gzprop command line tool outputs a zip file instead of a tarball.

Additions

  1. gazebo/msgs/msgs.hh

    • sdf::ElementPtr LightToSDF(const msgs::Light &_msg, sdf::ElementPtr _sdf = sdf::ElementPtr())

  2. gazebo/rendering/Light.hh

    • math::Quaternion GetRotation() const
    • void SetRotation(const math::Quaternion &_q)
    • LightPtr Clone(const std::string &_name, ScenePtr _scene)

  3. gazebo/rendering/Scene.hh

    • void AddLight(LightPtr _light)
    • void RemoveLight(LightPtr _light)

  4. gazebo/gui/GuiEvents.hh

    • template static event::ConnectionPtr ConnectLightUpdate(T _subscriber)
    • static void DisconnectLightUpdate(event::ConnectionPtr _subscriber)

  5. gazebo/gui/ModelMaker.hh

    • bool InitFromModel(const std::string & _modelName)

  6. gazebo/gui/LightMaker.hh

    • bool InitFromLight(const std::string & _lightName)

  7. gazebo/common/Mesh.hh

    • int GetMaterialIndex(const Material *_mat) const

  8. gazebo/math/Filter.hh

    • New classes: Filter, OnePole, OnePoleQuaternion, OnePoleVector3, BiQuad, and BiQuadVector3

  9. gazebo/physics/Joint.hh

    • bool FindAllConnectedLinks(const LinkPtr &_originalParentLink, Link_V &_connectedLinks);
    • math::Pose ComputeChildLinkPose( unsigned int _index, double _position);

  10. gazebo/physics/Link.hh

    • void Move(const math::Pose &_worldRefernceFrameSrc, const math::Pose &_worldRefernceFrameDst);
    • bool FindAllConnectedLinksHelper( const LinkPtr &_originalParentLink, Link_V &_connectedLinks, bool _fistLink = false);
    • bool ContainsLink(const Link_V &_vector, const LinkPtr &_value);
    • msgs::Visual GetVisualMessage(const std::string &_name)

Modifications

  1. gazebo/physics/Model.hh

    • Removed: Link_V GetLinks() const ABI Change
    • Replacement: const Link_V &GetLinks() const

  2. gazebo/physics/Base.cc

    • Removed std::string GetScopedName() const
    • Replaced std::string GetScopedName(bool _prependWorldName=false) const

Gazebo 3.0 to 3.1

Additions

  1. gazebo/physics/World.hh

    • void RemoveModel(const std::string &_name);
    • void RemoveModel(ModelPtr _model);

  2. gazebo/physics/JointController.hh

    • void SetPositionPID(const std::string &_jointName, const common::PID &_pid);
    • void SetVelocityPID(const std::string &_jointName, const common::PID &_pid);

Gazebo 2.0 to 3.0

New Deprecations

  1. gazebo/physics/Joint.hh

    • Deprecation virtual void ApplyDamping()
    • Replacement virtual void ApplyStiffnessDamping()
    • Deprecation double GetDampingCoefficient() const
    • Replacement double GetDamping(int _index)

  2. gazebo/physics/ode/ODEJoint.hh

    • Deprecation void CFMDamping()
    • Replacement void ApplyImplicitStiffnessDamping()

  3. gazebo/physics/ScrewJoint.hh

    • Deprecation virtual void SetThreadPitch(unsigned int _index, double _threadPitch) = 0
    • Replacement virtual void SetThreadPitch(double _threadPitch) = 0
    • Deprecation virtual void GetThreadPitch(unsigned int _index) = 0
    • Replacement virtual void GetThreadPitch() = 0

  4. gazebo/physics/bullet/BulletScrewJoint.hh

    • Deprecation protected: virtual void Load(sdf::ElementPtr _sdf)
    • Replacement public: virtual void Load(sdf::ElementPtr _sdf)

  5. gazebo/physics/PhysicsEngine.hh

    • Deprecation virtual void SetSORPGSPreconIters(unsigned int _iters)
    • Replacement virtual bool SetParam(const std::string &_key, const boost::any &_value)
    • Deprecation virtual void SetSORPGSIters(unsigned int _iters)
    • Replacement virtual bool SetParam(const std::string &_key, const boost::any &_value)
    • Deprecation virtual void SetSORPGSW(double _w)
    • Replacement virtual bool SetParam(const std::string &_key, const boost::any &_value)
    • Deprecation virtual int GetSORPGSPreconIters()
    • Replacement virtual boost::any GetParam(const std::string &_key) const
    • Deprecation virtual int GetSORPGSIters()
    • Replacement virtual boost::any GetParam(const std::string &_key) const
    • Deprecation virtual double GetSORPGSW()
    • Replacement virtual boost::any GetParam(const std::string &_key) const

  6. gazebo/physics/bullet/BulletPhysics.hh

    • Deprecation virtual bool SetParam(BulletParam _param, const boost::any &_value)
    • Replacement virtual bool SetParam(const std::string &_key, const boost::any &_value)
    • Deprecation virtual boost::any GetParam(BulletParam _param) const
    • Replacement virtual boost::any GetParam(const std::string &_key) const

  7. gazebo/physics/ode/ODEPhysics.hh

    • Deprecation virtual bool SetParam(ODEParam _param, const boost::any &_value)
    • Replacement virtual bool SetParam(const std::string &_key, const boost::any &_value)
    • Deprecation virtual boost::any GetParam(ODEParam _param) const
    • Replacement virtual boost::any GetParam(const std::string &_key) const

  8. gazebo/physics/dart/DARTPhysics.hh

    • Deprecation virtual boost::any GetParam(DARTParam _param) const
    • Replacement virtual boost::any GetParam(const std::string &_key) const

  9. gazebo/physics/Joint.hh

    • Deprecation virtual double GetAttribute(const std::string &_key, unsigned int _index) = 0
    • Replacement virtual double GetParam(const std::string &_key, unsigned int _index) = 0;

  10. gazebo/physics/bullet/BulletJoint.hh

    • Deprecation virtual double GetAttribute(const std::string &_key, unsigned int _index)
    • Replacement virtual double GetParam(const std::string &_key, unsigned int _index)

  11. gazebo/physics/bullet/BulletScrewJoint.hh

    • Deprecation virtual double GetAttribute(const std::string &_key, unsigned int _index)
    • Replacement virtual double GetParam(const std::string &_key, unsigned int _index)

  12. gazebo/physics/dart/DARTJoint.hh

    • Deprecation virtual double GetParam(const std::string &_key, unsigned int _index)
    • Replacement virtual double GetAttribute(const std::string &_key, unsigned int _index)

  13. gazebo/physics/ode/ODEJoint.hh

    • Deprecation virtual double GetParam(const std::string &_key, unsigned int _index)
    • Replacement virtual double GetAttribute(const std::string &_key, unsigned int _index)

  14. gazebo/physics/ode/ODEScrewJoint.hh

    • Deprecation virtual double GetParam(const std::string &_key, unsigned int _index)
    • Replacement virtual double GetAttribute(const std::string &_key, unsigned int _index)

  15. gazebo/physics/ode/ODEUniversalJoint.hh

    • Deprecation virtual double GetParam(const std::string &_key, unsigned int _index)
    • Replacement virtual double GetAttribute(const std::string &_key, unsigned int _index)

  16. gazebo/physics/simbody/SimbodyJoint.hh

    • Deprecation virtual double GetParam(const std::string &_key, unsigned int _index)
    • Replacement virtual double GetAttribute(const std::string &_key, unsigned int _index)

  17. gazebo/physics/simbody/SimbodyScrewJoint.hh

    • Deprecation virtual double GetParam(const std::string &_key, unsigned int _index)
    • Replacement virtual double GetAttribute(const std::string &_key, unsigned int _index)

  18. gazebo/physics/Joint.hh

    • Deprecation virtual void SetAttribute(const std::string &_key, unsigned int _index, const boost::any &_value) = 0
    • Replacement virtual bool SetParam(const std::string &_key, unsigned int _index, const boost::any &_value) = 0

  19. gazebo/physics/bullet/BulletJoint.hh

    • Deprecation virtual void SetAttribute(const std::string &_key, unsigned int _index, const boost::any &_value)
    • Replacement virtual bool SetParam(const std::string &_key, unsigned int _index, const boost::any &_value)

  20. gazebo/physics/dart/DARTJoint.hh

    • Deprecation virtual void SetAttribute(const std::string &_key, unsigned int _index, const boost::any &_value)
    • Replacement virtual bool SetParam(const std::string &_key, unsigned int _index, const boost::any &_value)

  21. gazebo/physics/ode/ODEJoint.hh

    • Deprecation virtual void SetAttribute(const std::string &_key, unsigned int _index, const boost::any &_value)
    • Replacement virtual bool SetParam(const std::string &_key, unsigned int _index, const boost::any &_value)

  22. gazebo/physics/ode/ODEScrewJoint.hh

    • Deprecation virtual void SetAttribute(const std::string &_key, unsigned int _index, const boost::any &_value)
    • Replacement virtual bool SetParam(const std::string &_key, unsigned int _index, const boost::any &_value)

  23. gazebo/physics/ode/ODEUniversalJoint.hh

    • Deprecation virtual void SetAttribute(const std::string &_key, unsigned int _index, const boost::any &_value)
    • Replacement virtual bool SetParam(const std::string &_key, unsigned int _index, const boost::any &_value)

  24. gazebo/physics/simbody/SimbodyJoint.hh

    • Deprecation virtual void SetAttribute(const std::string &_key, unsigned int _index, const boost::any &_value)
    • Replacement virtual bool SetParam(const std::string &_key, unsigned int _index, const boost::any &_value)

  25. gazebo/physics/simbody/SimbodyScrewJoint.hh

    • Deprecation virtual void SetAttribute(const std::string &_key, unsigned int _index, const boost::any &_value)
    • Replacement virtual bool SetParam(const std::string &_key, unsigned int _index, const boost::any &_value)

Modifications

  1. gazebo/physics/Entity.hh

    • Removed: inline const math::Pose &GetWorldPose() const ABI change
    • Replacement: inline virutal const math::Pose &GetWorldPose() const

  2. gazebo/physics/Box.hh

    • Removed: bool operator==(const Box &_b) ABI Change
    • Replacement: bool operator==(const Box &_b) const

  3. gazebo/gui/GuiIface.hh

    • Removed: void load() ABI change
    • Replacement: bool load()
    • Note: Changed return type from void to bool.

  4. Functions in joint classes use unsigned int, instead of int

    • All functions in Joint classes (gazebo/physics/*Joint*) and subclasses (gazebo/physics/[ode,bullet,simbody,dart]/*Joint*) now use unsigned integers instead of integers when referring to a specific joint axis.
    • Add const to Joint::GetInitialAnchorPose(), Joint::GetStopDissipation(), Joint::GetStopStiffness()

  5. gazebo/sensors/Noise.hh ABI change

    • Removed: void Noise::Load(sdf::ElementPtr _sdf)
    • Replacement: virtual void Noise::Load(sdf::ElementPtr _sdf)
    • Removed: void Noise::~Noise()
    • Replacement: virtual void Noise::~Noise()
    • Removed: void Noise::Apply() const
    • Replacement: void Noise::Apply()
    • Note: Make Noise a base class and refactored out GaussianNoiseModel to its own class.

  6. gazebo/transport/ConnectionManager.hh

    • Removed: bool ConnectionManager::Init(const std::string &_masterHost, unsigned int _masterPort) ABI change
    • Replacement: bool ConnectionManager::Init(const std::string &_masterHost, unsigned int _masterPort, uint32_t _timeoutIterations = 30)
    • Note: No changes to downstream code required. A third parameter has been added that specifies the number of timeout iterations. This parameter has a default value of 30.

  7. gazebo/transport/TransportIface.hh

    • Removed: bool init(const std::string &_masterHost = "", unsigned int _masterPort = 0) ABI change
    • Replacement: bool init(const std::string &_masterHost = "", unsigned int _masterPort = 0, uint32_t _timeoutIterations = 30)
    • Note: No changes to downstream code required. A third parameter has been added that specifies the number of timeout iterations. This parameter has a default value of 30.

  8. gazebo/transport/Publication.hh

    • Removed: void Publish(MessagePtr _msg, boost::function<void(uint32_t)> _cb, uint32_t _id) ABI change
    • Replacement: int Publish(MessagePtr _msg, boost::function<void(uint32_t)> _cb, uint32_t _id)
    • Note: Only the return type changed.

  9. gazebo/common/ModelDatabase.hh API change

    • Removed: void ModelDatabase::GetModels(boost::function<void (const std::map<std::string, std::string> &)> _func)
    • Replacement: event::ConnectionPtr ModelDatabase::GetModels(boost::function<void (const std::map<std::string, std::string> &)> _func)
    • Note: The replacement function requires that the returned connection shared pointer remain valid in order to receive the GetModels callback. Reset the shared pointer to stop receiving GetModels callback.

  10. gazebo/physics/Collision.hh API change

    • Modified: SurfaceParamsPtr Collision::surface
    • Note: Changed from private to protected

  11. gazebo/physics/MultiRayShape.hh API change

    • Removed: double MultiRayShape::GetRange(int _index)
    • Replacement: double MultiRayShape::GetRange(unsigned int _index)
    • Removed: double MultiRayShape::GetRetro(int _index)
    • Replacement: double MultiRayShape::GetRetro(unsigned int _index)
    • Removed: double MultiRayShape::GetFiducial(int _index)
    • Replacement: double MultiRayShape::GetFiducial(unsigned int _index)
    • Note: Changed argument type from int to unsigned int.

  12. gazebo/physics/SurfaceParams.hh

    • Removed: void FillMsg(msgs::Surface &_msg)
    • Replacement: virtual void FillMsg(msgs::Surface &_msg)

  13. gazebo/sensors/RaySensor.hh API change

    • Removed: double RaySensor::GetRange(int _index)
    • Replacement: double RaySensor::GetRange(unsigned int _index)
    • Removed: double RaySensor::GetRetro(int _index)
    • Replacement: double RaySensor::GetRetro(unsigned int _index)
    • Removed: double RaySensor::GetFiducial(int _index)
    • Replacement: double RaySensor::GetFiducial(unsigned int _index)
    • Note: Changed argument type from int to unsigned int.

  14. gazebo/physics/PhysicsEngine.hh

    • Removed virtual void SetParam(const std::string &_key, const boost::any &_value)
    • Replacement virtual bool SetParam(const std::string &_key, const boost::any &_value)

  15. gazebo/physics/ode/ODEPhysics.hh

    • Removed virtual void SetParam(const std::string &_key, const boost::any &_value)
    • Replacement virtual bool SetParam(const std::string &_key, const boost::any &_value)

  16. gazebo/physics/bullet/BulletPhysics.hh

    • Removed virtual void SetParam(const std::string &_key, const boost::any &_value)
    • Replacement virtual bool SetParam(const std::string &_key, const boost::any &_value)

  17. gazebo/physics/BallJoint.hh

    • Removed virtual void SetHighStop(unsigned int /_index/, const math::Angle &/_angle/)
    • Replacement virtual bool SetHighStop(unsigned int /_index/, const math::Angle &/_angle/)
    • Removed virtual void SetLowStop(unsigned int /_index/, const math::Angle &/_angle/)
    • Replacement virtual bool SetLowStop(unsigned int /_index/, const math::Angle &/_angle/)

  18. gazebo/physics/Joint.hh

    • Removed virtual void SetHighStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetHighStop(unsigned int _index, const math::Angle &_angle)
    • Removed virtual void SetLowStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetLowStop(unsigned int _index, const math::Angle &_angle)

  19. gazebo/physics/bullet/BulletBallJoint.hh

    • Removed virtual void SetHighStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetHighStop(unsigned int _index, const math::Angle &_angle)
    • Removed virtual void SetLowStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetLowStop(unsigned int _index, const math::Angle &_angle)

  20. gazebo/physics/bullet/BulletHinge2Joint.hh

    • Removed virtual void SetHighStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetHighStop(unsigned int _index, const math::Angle &_angle)
    • Removed virtual void SetLowStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetLowStop(unsigned int _index, const math::Angle &_angle)

  21. gazebo/physics/bullet/BulletHingeJoint.hh

    • Removed virtual void SetHighStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetHighStop(unsigned int _index, const math::Angle &_angle)
    • Removed virtual void SetLowStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetLowStop(unsigned int _index, const math::Angle &_angle)

  22. gazebo/physics/bullet/BulletScrewJoint.hh

    • Removed virtual void SetHighStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetHighStop(unsigned int _index, const math::Angle &_angle)
    • Removed virtual void SetLowStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetLowStop(unsigned int _index, const math::Angle &_angle)

  23. gazebo/physics/bullet/BulletSliderJoint.hh

    • Removed virtual void SetHighStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetHighStop(unsigned int _index, const math::Angle &_angle)
    • Removed virtual void SetLowStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetLowStop(unsigned int _index, const math::Angle &_angle)

  24. gazebo/physics/bullet/BulletUniversalJoint.hh

    • Removed virtual void SetHighStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetHighStop(unsigned int _index, const math::Angle &_angle)
    • Removed virtual void SetLowStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetLowStop(unsigned int _index, const math::Angle &_angle)

  25. gazebo/physics/dart/DARTJoint.hh

    • Removed virtual void SetHighStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetHighStop(unsigned int _index, const math::Angle &_angle)
    • Removed virtual void SetLowStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetLowStop(unsigned int _index, const math::Angle &_angle)

  26. gazebo/physics/ode/ODEJoint.hh

    • Removed virtual void SetHighStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetHighStop(unsigned int _index, const math::Angle &_angle)
    • Removed virtual void SetLowStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetLowStop(unsigned int _index, const math::Angle &_angle)

  27. gazebo/physics/ode/ODEUniversalJoint.hh

    • Removed virtual void SetHighStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetHighStop(unsigned int _index, const math::Angle &_angle)
    • Removed virtual void SetLowStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetLowStop(unsigned int _index, const math::Angle &_angle)

  28. gazebo/physics/simbody/SimbodyJoint.hh

    • Removed virtual void SetHighStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetHighStop(unsigned int _index, const math::Angle &_angle)
    • Removed virtual void SetLowStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetLowStop(unsigned int _index, const math::Angle &_angle)

  29. gazebo/physics/simbody/SimbodyScrewJoint.hh

    • Removed virtual void SetHighStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetHighStop(unsigned int _index, const math::Angle &_angle)
    • Removed virtual void SetLowStop(unsigned int _index, const math::Angle &_angle)
    • Replacement virtual bool SetLowStop(unsigned int _index, const math::Angle &_angle)

Additions

  1. gazebo/physics/Joint.hh

    • bool FindAllConnectedLinks(const LinkPtr &_originalParentLink, Link_V &_connectedLinks);
    • math::Pose ComputeChildLinkPose( unsigned int _index, double _position);

  2. gazebo/physics/Link.hh

    • void MoveFrame(const math::Pose &_worldReferenceFrameSrc, const math::Pose &_worldReferenceFrameDst);
    • bool FindAllConnectedLinksHelper( const LinkPtr &_originalParentLink, Link_V &_connectedLinks, bool _fistLink = false);
    • bool ContainsLink(const Link_V &_vector, const LinkPtr &_value);

  3. gazebo/physics/Collision.hh

    • void SetWorldPoseDirty()
    • virtual const math::Pose &GetWorldPose() const

  4. gazebo/physics/JointController.hh

    • common::Time GetLastUpdateTime() const
    • std::map<std::string, JointPtr> GetJoints() const
    • bool SetPositionTarget(const std::string &_jointName, double _target)
    • bool SetVelocityTarget(const std::string &_jointName, double _target)
    • std::map<std::string, common::PID> GetPositionPIDs() const
    • std::map<std::string, common::PID> GetVelocityPIDs() const
    • std::map<std::string, double> GetForces() const
    • std::map<std::string, double> GetPositions() const
    • std::map<std::string, double> GetVelocities() const

  5. gazebo/common/PID.hh

    • double GetPGain() const
    • double GetIGain() const
    • double GetDGain() const
    • double GetIMax() const
    • double GetIMin() const
    • double GetCmdMax() const
    • double GetCmdMin() const

  6. gazebo/transport/TransportIface.hh

    • transport::ConnectionPtr connectToMaster()

  7. gazebo/physics/World.hh

    • msgs::Scene GetSceneMsg() const

  8. gazebo/physics/ContactManager.hh

    • unsigned int GetFilterCount()
    • bool HasFilter(const std::string &_name)
    • void RemoveFilter(const std::string &_name)

  9. gazebo/physics/Joint.hh

    • virtual void Fini()
    • math::Pose GetAnchorErrorPose() const
    • math::Quaternion GetAxisFrame(unsigned int _index) const
    • double GetWorldEnergyPotentialSpring(unsigned int _index) const
    • math::Pose GetParentWorldPose() const
    • double GetSpringReferencePosition(unsigned int) const
    • math::Pose GetWorldPose() const
    • virtual void SetEffortLimit(unsigned _index, double _stiffness)
    • virtual void SetStiffness(unsigned int _index, double _stiffness) = 0
    • virtual void SetStiffnessDamping(unsigned int _index, double _stiffness, double _damping, double _reference = 0) = 0
    • bool axisParentModelFrame[MAX_JOINT_AXIS]
    • protected: math::Pose parentAnchorPose
    • public: double GetInertiaRatio(const math::Vector3 &_axis) const

  10. gazebo/physics/Link.hh

    • double GetWorldEnergy() const
    • double GetWorldEnergyKinetic() const
    • double GetWorldEnergyPotential() const
    • bool initialized

  11. gazebo/physics/Model.hh

    • double GetWorldEnergy() const
    • double GetWorldEnergyKinetic() const
    • double GetWorldEnergyPotential() const

  12. gazebo/physics/SurfaceParams.hh

    • FrictionPyramid()
    • ~FrictionPyramid()
    • double GetMuPrimary()
    • double GetMuSecondary()
    • void SetMuPrimary(double _mu)
    • void SetMuSecondary(double _mu)
    • math::Vector3 direction1
    • Note: Replaces mu, m2, fdir1 variables

  13. gazebo/physics/bullet/BulletSurfaceParams.hh

    • BulletSurfaceParams()
    • virtual ~BulletSurfaceParams()
    • virtual void Load(sdf::ElementPtr _sdf)
    • virtual void FillMsg(msgs::Surface &_msg)
    • virtual void ProcessMsg(msgs::Surface &_msg)
    • FrictionPyramid frictionPyramid

  14. gazebo/physics/ode/ODESurfaceParams.hh

    • virtual void FillMsg(msgs::Surface &_msg)
    • virtual void ProcessMsg(msgs::Surface &_msg)
    • double bounce
    • double bounce
    • double bounceThreshold
    • double kp
    • double kd
    • double cfm
    • double erp
    • double maxVel
    • double minDepth
    • FrictionPyramid frictionPyramid
    • double slip1
    • double slip2

  15. gazebo/rendering/Light.hh

    • bool GetVisible() const
    • virtual void LoadFromMsg(const msgs::Light &_msg)

  16. gazebo/sensors/ForceTorqueSensor.hh

    • physics::JointPtr GetJoint() const

  17. gazebo/sensors/Noise.hh

    • virtual double ApplyImpl(double _in)
    • virtual void Fini()
    • virtual void SetCustomNoiseCallback(boost::function<double (double)> _cb)

  18. gazebo/sensors/Sensor.hh

    • NoisePtr GetNoise(unsigned int _index = 0) const

  19. gazebo/sensors/GaussianNoiseModel.hh

  20. gazebo/physics/ode/ODEUniversalJoint.hh

    • virtual void SetHighStop(unsigned int _index, const math::Angle &_angle)
    • virtual void SetLowStop(unsigned int _index, const math::Angle &_angle)
    • virtual void SetAttribute(const std::string &_key, unsigned int _index, const boost::any &_value)
    • virtual double GetAttribute(const std::string &_key, unsigned int _index)

  21. gazebo/physics/simbody/SimbodyScrewJoint.hh

    • virtual void SetThreadPitch(double _threadPitch)
    • virtual void GetThreadPitch()

  22. gazebo/physics/ode/ODEScrewJoint.hh

    • virtual void SetThreadPitch(double _threadPitch)
    • virtual void GetThreadPitch()

  23. gazebo/physics/ScrewJoint.hh

    • virtual math::Vector3 GetAnchor(unsigned int _index) const
    • virtual void SetAnchor(unsigned int _index, const math::Vector3 &_anchor)

  24. gazebo/physics/bullet/BulletJoint.hh

    • virtual math::Angle GetHighStop(unsigned int _index)
    • virtual math::Angle GetLowStop(unsigned int _index)

  25. gazebo/physics/simbody/SimbodyPhysics.hh

    • virtual boost::any GetParam(const std::string &_key) const
    • virtual bool SetParam(const std::string &_key, const boost::any &_value)

  26. gazebo/physics/dart/DARTPhysics.hh

    • virtual boost::any GetParam(const std::string &_key) const
    • virtual bool SetParam(const std::string &_key, const boost::any &_value)

  27. gazebo/physics/Joint.hh

    • math::Quaternion GetAxisFrameOffset(unsigned int _index) const

Deletions

  1. Removed libtool

    • Libtool used to be an option for loading plugins. Now, only libdl is supported.

  2. gazebo/physics/Base.hh

    • Base_V::iterator childrenEnd

  3. gazebo/sensors/Noise.hh

    • double Noise::GetMean() const
    • double Noise::GetStdDev() const
    • double Noise::GetBias() const
    • Note: Moved gaussian noise functions to a new GaussianNoiseModel class

  4. gazebo/physics/SurfaceParams.hh

    • double bounce
    • double bounce
    • double bounceThreshold
    • double kp
    • double kd
    • double cfm
    • double erp
    • double maxVel
    • double minDepth
    • double mu1
    • double mu2
    • double slip1
    • double slip2
    • math::Vector3 fdir1
    • Note: These parameters were moved to FrictionPyramid, ODESurfaceParams, and BulletSurfaceParams.

Gazebo 1.9 to 2.0

New Deprecations

  1. gazebo/gazebo.hh
    • Deprecation void fini()
    • Deprecation void stop()
    • Replacement bool shutdown()
    • Note Replace fini and stop with shutdown
    • Deprecation bool load()
    • Deprecation bool init()
    • Deprecation bool run()
    • Replacement bool setupClient()
      • Use this function to setup gazebo for use as a client
    • Replacement bool setupServer()
      • Use this function to setup gazebo for use as a server
    • Note Replace load+init+run with setupClient/setupServer
    • Deprecation std::string find_file(const std::string &_file)
    • Replacement std::string common::find_file(const std::string &_file)
    • Deprecation void add_plugin(const std::string &_filename)
    • Replacement void addPlugin(const std::string &_filename)
    • Deprecation void print_version()
    • Replacement void printVersion()
  2. gazebo/physics/World.hh
    • Deprecation void World::StepWorld(int _steps)
    • Replacement void World::Step(unsigned int _steps)
  3. gazebo/sensors/SensorsIface.hh
    • Deprecation std::string sensors::create_sensor(sdf::ElementPtr _elem, const std::string &_worldName,const std::string &_parentName)
    • Replacement std::string sensors::create_sensor(sdf::ElementPtr _elem, const std::string &_worldName, const std::string &_parentName, uint32_t _parentId)
  4. gazebo/sensors/Sensor.hh
    • Deprecation void Sensor::SetParent(const std::string &_name)
    • Replacement void Sensor::SetParent(const std::string &_name, uint32_t _id)
  5. gazebo/sensors/SensorManager.hh
    • Deprecation std::string CreateSensor(sdf::ElementPtr _elem, const std::string &_worldName, const std::string &_parentName)
    • Replacement std::string CreateSensor(sdf::ElementPtr _elem, const std::string &_worldName, const std::string &_parentName, uint32_t _parentId)
  6. gazebo/sensors/Collision.hh
    • Deprecation void Collision::SetContactsEnabled(bool _enable)
    • Replacement Use ContactManager.
    • Deprecation bool Colliion::GetContactsEnabled() const
    • Replacement Use ContactManager.
    • Deprecation void AddContact(const Contact &_contact)
    • Replacement Use ContactManager.

Modifications

  1. File rename: gazebo/common/Common.hh to gazebo/common/CommonIface.hh
  2. File rename: gazebo/physics/Physics.hh to gazebo/physics/PhysicsIface.hh
  3. File rename: gazebo/rendering/Rendering.hh to gazebo/rendering/RenderingIface.hh
  4. File rename: gazebo/sensors/Sensors.hh to gazebo/sensors/SensorsIface.hh
  5. File rename: gazebo/transport/Transport.hh to gazebo/transport/TransportIface.hh
  6. File rename: gazebo/gui/Gui.hh to gazebo/gui/GuiIface.hh
  7. File rename: <model>/manifest.xml to <model>/model.config
  8. File rename: <model_database>/manifest.xml to <model_database>/database.config
  9. gazebo/msgs/physics.proto
    • Removed optional double dt
    • Replacement optional double min_step_size
    • Removed optional double update_rate
    • Replacement optional double real_time_update_rate
  10. gazebo/physics/ModelState.hh
    • Removed LinkState ModelState::GetLinkState(int _index) API change
    • Replacement LinkState ModelState::GetLinkState(const std::string &_linkName) const
  11. gazebo/physics/PhyscisEngine.hh
    • Removed void PhysicsEngine::SetUpdateRate(double _value) API change
    • Replacement void PhyscisEngine::SetRealTimeUpdateRate(double _rate)
    • Removed double PhysicsEngine::GetUpdateRate() API change
    • Replacement double PhysicsEngine::GetRealTimeUpdateRate() const
    • Removed void PhysicsEngine::SetStepTime(double _value) API change
    • Replacement void PhysicsEngine::SetMaxStepSize(double _stepSize)
    • Removed double PhysicsEngine::GetStepTime() API change
    • Replacement double PhysicsEngine::GetMaxStepSize() const
  12. gazebo/physics/Joint.hh
    • Removed: Joint::Load(LinkPtr _parent, LinkPtr _child, const math::Vector3 &_pos) API chance
    • Replacement: Joint::Load(LinkPtr _parent, LinkPtr _child, const math::Pose &_pose)
    • Removed: public: double GetInertiaRatio(unsigned int _index) const
    • Replacement: public: double GetInertiaRatio(const unsigned int _index) const
  13. gazebo/common/Events.hh
    • Removed: Events::ConnectWorldUpdateStart(T _subscriber) API change
    • Replacement ConnectionPtr Events::ConnectWorldUpdateBegin(T _subscriber)
    • Removed: Events::DisconnectWorldUpdateStart(T _subscriber) API change
    • Replacement ConnectionPtr Events::DiconnectWorldUpdateBegin(T _subscriber)
  14. gazebo/physics/Link.hh
    • Removed void Link::RemoveChildJoint(JointPtr _joint) API change
    • Replacement void Link::RemoveChildJoint(const std::string &_jointName)
    • Removed void Link::RemoveParentJoint(const std::string &_jointName) API change
    • Replacement void Link::RemoveParentJoint(const std::string &_jointName)
  15. gazebo/physics/MeshShape.hh
    • Removed std::string MeshShape::GetFilename() const API change
    • Replacement std::string MeshShape::GetURI() const
    • Removed void MeshShape::SetFilename() const API change
    • Replacement std::string MeshShape::SetMesh(const std::string &_uri, const std::string &_submesh = "", bool _center = false) const
  16. gazebo/common/Time.hh
    • Removed static Time::NSleep(Time _time) API change
    • Replacement static Time NSleep(unsigned int _ns)

Deletions

  1. gazebo/physics/Collision.hh
    • template event::ConnectionPtr ConnectContact(T _subscriber)
    • template event::ConnectionPtr DisconnectContact(T _subscriber)
    • Note: The ContactManager::CreateFilter functions can be used to create a gazebo topic with contact messages filtered by the name(s) of collision shapes. The topic can then be subscribed with a callback to replicate this removed functionality. See gazebo pull request #713 for an example migration.