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Add Jetty release notes (#611)
* Add Jetty release notes draft Signed-off-by: Addisu Z. Taddese <[email protected]> Generated-by: Ollama 0.11.6 with the gemma3:27b model. * Update release notes with new features and enhancements (#612) - Adds details to the RL interfaces. - Adds new export occupancy grid system. Signed-off-by: Arjo Chakravarty <[email protected]> * Update jetty/release_notes.md Co-authored-by: Katherine Scott <[email protected]> Signed-off-by: Addisu Z. Taddese <[email protected]> * Update jetty/release_notes.md Co-authored-by: Katherine Scott <[email protected]> Signed-off-by: Addisu Z. Taddese <[email protected]> * Update jetty/release_notes.md Co-authored-by: Katherine Scott <[email protected]> Signed-off-by: Addisu Z. Taddese <[email protected]> * Reorder items Signed-off-by: Addisu Z. Taddese <[email protected]> * add lookup wheel slip (#631) Signed-off-by: Ian Chen <[email protected]> * Add section on Bazel module migration in Jetty release notes (#632) * Add section on bazel module migration Signed-off-by: Ian Chen <[email protected]> * fix merge Signed-off-by: Ian Chen <[email protected]> --------- Signed-off-by: Ian Chen <[email protected]> * Update jetty/release_notes.md Co-authored-by: Steve Peters <[email protected]> Signed-off-by: Addisu Z. Taddese <[email protected]> * Update jetty/release_notes.md Co-authored-by: Steve Peters <[email protected]> Signed-off-by: Addisu Z. Taddese <[email protected]> --------- Signed-off-by: Addisu Z. Taddese <[email protected]> Signed-off-by: Arjo Chakravarty <[email protected]> Signed-off-by: Ian Chen <[email protected]> Co-authored-by: Arjo Chakravarty <[email protected]> Co-authored-by: Carlos Agüero <[email protected]> Co-authored-by: Katherine Scott <[email protected]> Co-authored-by: Ian Chen <[email protected]> Co-authored-by: Steve Peters <[email protected]>
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‎_static/css/gazebo.css‎

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.gz-libs-cards .sd-card-text {
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display: inline;
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}
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#release-notes {
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max-width: 72rem
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}

‎jetty/index.yaml‎

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#
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# c. "file:" The markdown file that contains the page's content.
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pages:
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- name: release_notes
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title: Release Notes
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file: release_notes.md
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- name: install
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title: Install
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file: install.md

‎jetty/release_notes.md‎

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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
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improved discovery, interoperability, and performance. To enable Zenoh, set the
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environment variable `export GZ_TRANSPORT_IMPLEMENTATION=zenoh`. This allows
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Gazebo to leverage Zenoh's features and potentially integrate more seamlessly
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with ROS 2 and other systems utilizing Zenoh.
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See the [tracking issue](https://github.com/gazebosim/gz-transport/issues/559)
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and the implementation pull request
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<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.
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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)
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for reinforcement learning, enabling users to experiment with RL algorithms within
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Gazebo. The example provides a starting point for developing and testing robotic
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control policies.
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```{figure} https://github.com/user-attachments/assets/f30160a3-e04f-4ec1-aab4-111739b0d349
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:width: 400
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:alt: RL_with_gazebo_simple_example
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Example of doing Reinforcement Learning in Gazebo
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```
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See the [tracking issue](https://github.com/gazebosim/gz-sim/issues/2662) and
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the implementation pull requests <https://github.com/gazebosim/gz-sim/pull/2667>
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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
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[simulation interfaces](https://github.com/ros-simulation/simulation_interfaces),
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enabling seamless integration with ROS 2 ecosystems and providing access to
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features for controlling and querying the simulation state. Documentation has
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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
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implementation pull requests <https://github.com/gazebosim/ros_gz/pull/790> and
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<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
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dependency management and reducing maintenance overhead. This change impacts how
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Gazebo packages are identified in CMake builds, package installations, and
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import statements.
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See the
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[announcement](https://discourse.openrobotics.org/t/version-numbers-removed-from-package-names-in-gazebo-jetty/48391)
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for more details.
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## Migrate from Qt5 to Qt6
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With Qt5 reaching
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[end of life](https://www.qt.io/blog/extended-security-maintenance-for-qt-5.15-begins-may-2025),
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Gazebo has been migrated to Qt6. While there are no major changes to end-users
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of the Gazebo GUI, `gz-gui` plugin authors will need to make changes to ensure
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compatibility with Qt6. Gazebo plugin maintainers should use our [migration guide](https://gazebosim.org/api/gui/10/migration_qt6.html)
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to update their plugin to QT6.
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See the [tracking issue](https://github.com/gazebosim/gz-gui/issues/586) and the
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implementation pull requests <https://github.com/gazebosim/gz-gui/pull/666> and
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<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
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eliminates the need to manually compute and set the density of collision objects. When both mass
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and density are set, Gazebo now correctly scales the auto-computed inertia based
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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
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the implementation pull request
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<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
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loading shared libraries provided by each of the Gazebo libraries. This approach
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had several downsides including difficulty with debugging with `gdb`,
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portability issues when running on Windows or macOS. With the new approach each
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of the libraries provide standalone executables that are spawn by the `gz` tool.
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The standalone executables can be executed directly if desired, making it
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significantly easier to run under `gdb`. Unlike loading shared libraries,
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running executables is much more straightforward and does not have any of the
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portability issues of the previous approach.
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See the [tracking issue](https://github.com/gazebosim/gz-tools/issues/7) and one
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of the implementation pull requests
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<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
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when loading worlds with many assets. Assets are now downloaded in parallel,
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allowing the GUI to remain interactive during the loading process and enabling
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users to close the window if needed.
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See the [tracking issue](https://github.com/gazebosim/gz-sim/issues/1260) and
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one of the implementation pull requests
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<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
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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`
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system to dynamically adjust wheel slip and friction parameters. Using an 8-bit
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slip- and friction-encoded lookup map representing the terrain the wheeled
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vehicle is on, the `LookupWheelSlip` system modifies lateral slip, longitudinal
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slip, and friction parameters in real time based on the wheel's position in the
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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
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Bazel module system (Bzlmod). As part of this effort, key third-party
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dependencies including DARTSim, Bullet, FreeImage, Assimp and more were
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packaged and published to the Bazel Central Registry (BCR). All Jetty and Ionic
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versions of the libraries have been uploaded to BCR.
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Note that `gz-launch` has been excluded due to deprecation, `gz-gui` is not yet
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supported, and migration of `gz-rendering` in currently in progress.
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