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Add Jetty release notes draft
azeey defe7b4
Update release notes with new features and enhancements (#612)
arjo129 aa6e236
Merge branch 'master' into add_release_notes
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Update jetty/release_notes.md
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Update jetty/release_notes.md
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Merge remote-tracking branch 'origin/master' into add_release_notes
azeey 72602eb
add lookup wheel slip (#631)
iche033 8c2b513
Add section on Bazel module migration in Jetty release notes (#632)
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{#release-notes} | ||
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# Release Notes | ||
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## Zenoh in gz-transport | ||
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Gazebo now supports Zenoh as an alternative transport implementation, offering | ||
improved discovery, interoperability, and performance. To enable Zenoh, set the | ||
environment variable `export GZ_TRANSPORT_IMPLEMENTATION=zenoh`. This allows | ||
Gazebo to leverage Zenoh's features and potentially integrate more seamlessly | ||
with ROS 2 and other systems utilizing Zenoh. | ||
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See the [tracking issue](https://github.com/gazebosim/gz-transport/issues/559) | ||
and the implementation pull request | ||
<https://github.com/gazebosim/gz-transport/pull/665> for more details. | ||
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## Improve Gazebo APIs for Reinforcement Learning | ||
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Several APIs have been improved to streamline reinforcement learning pipelines. | ||
We have also added an [example integration with the StableBaselines3 Python package](https://github.com/gazebosim/gz-sim/tree/gz-sim10/examples/scripts/reinforcement_learning/simple_cart_pole) | ||
for reinforcement learning, enabling users to experiment with RL algorithms within | ||
Gazebo. The example provides a starting point for developing and testing robotic | ||
control policies. | ||
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```{figure} https://github.com/user-attachments/assets/f30160a3-e04f-4ec1-aab4-111739b0d349 | ||
:width: 400 | ||
:alt: RL_with_gazebo_simple_example | ||
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Example of doing Reinforcement Learning in Gazebo | ||
``` | ||
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See the [tracking issue](https://github.com/gazebosim/gz-sim/issues/2662) and | ||
the implementation pull requests <https://github.com/gazebosim/gz-sim/pull/2667> | ||
and <https://github.com/gazebosim/gz-sim/pull/2647> for more details | ||
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## Implement ROS standard simulation interfaces | ||
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Gazebo now supports the standard ROS 2 | ||
[simulation interfaces](https://github.com/ros-simulation/simulation_interfaces), | ||
enabling seamless integration with ROS 2 ecosystems and providing access to | ||
features for controlling and querying the simulation state. Documentation has | ||
also been added to guide users on utilizing these new interfaces. | ||
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See the [tracking issue](https://github.com/gazebosim/ros_gz/issues/732) and the | ||
implementation pull requests <https://github.com/gazebosim/ros_gz/pull/790> and | ||
<https://github.com/gazebosim/docs/pull/601> for more details | ||
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## Remove major version from package names | ||
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We have refactored package naming to remove major version numbers, simplifying | ||
dependency management and reducing maintenance overhead. This change impacts how | ||
Gazebo packages are identified in CMake builds, package installations, and | ||
import statements. | ||
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See the | ||
[announcement](https://discourse.openrobotics.org/t/version-numbers-removed-from-package-names-in-gazebo-jetty/48391) | ||
for more details. | ||
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## Migrate from Qt5 to Qt6 | ||
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With Qt5 reaching | ||
[end of life](https://www.qt.io/blog/extended-security-maintenance-for-qt-5.15-begins-may-2025), | ||
Gazebo has been migrated to Qt6. While there are no major changes to end-users | ||
of the Gazebo GUI, `gz-gui` plugin authors will need to make changes to ensure | ||
compatibility with Qt6. Gazebo plugin maintainers should use our [migration guide](https://gazebosim.org/api/gui/10/migration_qt6.html) | ||
to update their plugin to QT6. | ||
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See the [tracking issue](https://github.com/gazebosim/gz-gui/issues/586) and the | ||
implementation pull requests <https://github.com/gazebosim/gz-gui/pull/666> and | ||
<https://github.com/gazebosim/gz-sim/pull/2832> for more details | ||
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## Resolve auto inertia based on input mass | ||
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Inertia parameters can now be automatically set based on an object's mass specified in an SDF file. This | ||
eliminates the need to manually compute and set the density of collision objects. When both mass | ||
and density are set, Gazebo now correctly scales the auto-computed inertia based | ||
on the specified mass, respecting the density ratios between collisions. | ||
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See the [tracking issue](https://github.com/gazebosim/sdformat/issues/1482) and | ||
the implementation pull request | ||
<https://github.com/gazebosim/sdformat/pull/1513> for more details | ||
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## Standalone executables for the `gz` tool | ||
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Previously, the `gz` tool, a Ruby-based CLI interface, offered subcommands by | ||
loading shared libraries provided by each of the Gazebo libraries. This approach | ||
had several downsides including difficulty with debugging with `gdb`, | ||
portability issues when running on Windows or macOS. With the new approach each | ||
of the libraries provide standalone executables that are spawn by the `gz` tool. | ||
The standalone executables can be executed directly if desired, making it | ||
significantly easier to run under `gdb`. Unlike loading shared libraries, | ||
running executables is much more straightforward and does not have any of the | ||
portability issues of the previous approach. | ||
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See the [tracking issue](https://github.com/gazebosim/gz-tools/issues/7) and one | ||
of the implementation pull requests | ||
<https://github.com/gazebosim/gz-sim/pull/2849> for more details | ||
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## Parallel asset download | ||
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This enhancement significantly improves Gazebo's startup time and responsiveness | ||
when loading worlds with many assets. Assets are now downloaded in parallel, | ||
allowing the GUI to remain interactive during the loading process and enabling | ||
users to close the window if needed. | ||
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See the [tracking issue](https://github.com/gazebosim/gz-sim/issues/1260) and | ||
one of the implementation pull requests | ||
<https://github.com/gazebosim/gz-sim/pull/2992> for more details | ||
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## Occupancy Grid Export | ||
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This enhancement adds a plugin that enables end users to directly export occupancy | ||
grids for use with Nav2 or other mobile robotics software. | ||
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See the pull request <https://github.com/gazebosim/gz-sim/pull/2958> for more details. | ||
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## Lookup Wheel Slip system | ||
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Introduced a new system that works in conjunction with the existing `WheelSlip` | ||
system to dynamically adjust wheel slip and friction parameters. Using an 8-bit | ||
slip- and friction-encoded lookup map representing the terrain the wheeled | ||
vehicle is on, the `LookupWheelSlip` system modifies lateral slip, longitudinal | ||
slip, and friction parameters in real time based on the wheel's position in the | ||
world, enabling more realistic vehicle behavior on variable surfaces. | ||
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See the pull request <https://github.com/gazebosim/gz-sim/pull/3003> for more details. | ||
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## Bazel Module Migration | ||
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Migrated `gz` packages from the legacy Bazel workspace-based setup to the new | ||
Bazel module system (Bzlmod). As part of this effort, key third-party | ||
dependencies including DARTSim, Bullet, FreeImage, Assimp and more were | ||
packaged and published to the Bazel Central Registry (BCR). All Jetty and Ionic | ||
versions of the libraries have been uploaded to BCR. | ||
Note that `gz-launch` has been excluded due to deprecation, `gz-gui` is not yet | ||
supported, and migration of `gz-rendering` in currently in progress. | ||
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