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## Gazebo 9
## Gazebo 9.x.x (2018-xx-xx)
1. DART: Update contact information also if physics engine is disabled
* [Pull request #2704](https://bitbucket.org/osrf/gazebo/pull-requests/2704)
1. Remove Gazebo 8 deprecations
* [Pull request #2605](https://bitbucket.org/osrf/gazebo/pull-request/2605)
* [Pull request #2607](https://bitbucket.org/osrf/gazebo/pull-request/2607)
* [Pull request #2603](https://bitbucket.org/osrf/gazebo/pull-request/2603)
* [Pull request #2604](https://bitbucket.org/osrf/gazebo/pull-request/2604)
* [Pull request #2627](https://bitbucket.org/osrf/gazebo/pull-request/2627)
1. Bullet: sending feedback on contact points on depth 0 as well
* [Pull request #2630](https://bitbucket.org/osrf/gazebo/pull-requests/2630/)
1. Deprecate functions to set linear/angular acceleration
* [Pull request #2622](https://bitbucket.org/osrf/gazebo/pull-request/2622)
1. Added GpuLaserDataIterator
* [Pull request #2637](https://bitbucket.org/osrf/gazebo/pull-request/2637)
1. Added possibility to enforce contact computation
* [Pull request #2629](https://bitbucket.org/osrf/gazebo/pull-requests/2629/)
## Gazebo 8
## Gazebo 8.x.x (2017-xx-xx)
1. Fix loading gui plugins and OSX framerate issue
* [Pull request #2631](https://bitbucket.org/osrf/gazebo/pull-request/2631)
* [Issue #1311](https://bitbucket.org/osrf/gazebo/issues/1311)
* [Issue #2133](https://bitbucket.org/osrf/gazebo/issues/2133)
## Gazebo 8.0.0 (2017-01-25)
1. Depend on ignition math3
* [Pull request #2588](https://bitbucket.org/osrf/gazebo/pull-request/2588)
1. Use ignition math with ServerFixture
* [Pull request #2552](https://bitbucket.org/osrf/gazebo/pull-request/2552)
1. Changed the type of `FrictionPyramid::direction1` from `gazebo::math::Vector3` to `ignition::math::Vector3d`.
* [Pull request #2548](https://bitbucket.org/osrf/gazebo/pull-request/2548)
1. Added igntition::transport interfaces to header files
* [Pull request #2559](https://bitbucket.org/osrf/gazebo/pull-request/2559)
1. Added ignition transport dependency, and output camera sensor images on
an ignition transport topic.
* [Pull request #2544](https://bitbucket.org/osrf/gazebo/pull-request/2544)
1. Fix restoring submesh material transparency
* [Pull request #2536](https://bitbucket.org/osrf/gazebo/pull-request/2536)
1. Updated `gz_log` tool to use `ignition::math`.
* [Pull request #2532](https://bitbucket.org/osrf/gazebo/pull-request/2532)
1. Updated the following rendering classes to use `ignition::math`:
`FPSViewController`, `JointVisual`, `OculusCamera`, `OrbitViewController`,
`OrthoViewController`, `Projector`, `UserCamera`, `ViewController`.
* [Pull request #2551](https://bitbucket.org/osrf/gazebo/pull-request/2551)
1. Update examples to use ign-math.
* [Pull request #2539](https://bitbucket.org/osrf/gazebo/pull-request/2539)
1. Update plugins to use ign-math.
* [Pull request #2531](https://bitbucket.org/osrf/gazebo/pull-request/2531)
* [Pull request #2534](https://bitbucket.org/osrf/gazebo/pull-request/2534)
* [Pull request #2538](https://bitbucket.org/osrf/gazebo/pull-request/2538)
1. Use ignition math with `rendering/Distortion` and update function names.
* [Pull request #2529](https://bitbucket.org/osrf/gazebo/pull-request/2529)
1. Updated COMVisual class to use `ignition::math`.
* [Pull request #2528](https://bitbucket.org/osrf/gazebo/pull-request/2528)
1. Deprecate angle API from physics::Joint, in favor of using doubles
* [Pull request #2568](https://bitbucket.org/osrf/gazebo/pull-request/2568)
* [Issue #553](https://bitbucket.org/osrf/gazebo/issues/553)
* [Issue #1108](https://bitbucket.org/osrf/gazebo/issues/1108)
1. PIMPL-ize `gazebo/physics/Gripper` and use ignition-math.
* [Pull request #2523](https://bitbucket.org/osrf/gazebo/pull-request/2523)
1. Added VisualMarkers to the rendering engine. Visual markers support
programmatic rendering of various shapes in a scene.
* [Pull request 2541](https://bitbucket.org/osrf/gazebo/pull-request/2541)
1. Support version 5 of the DART Physics Engine.
* [Pull request #2459](https://bitbucket.org/osrf/gazebo/pull-request/2459)
1. UserCamera overrides `Camera::Render` to reduce CPU usage.
* [Pull request 2480](https://bitbucket.org/osrf/gazebo/pull-request/2480)
1. Static links no longer subscribe to wrench topics.
* [Pull request #2452]((https://bitbucket.org/osrf/gazebo/pull-request/2452)
1. Add Gazebo math helper functions to convert to and from Ignition Math
objects.
* [Pull request #2461](https://bitbucket.org/osrf/gazebo/pull-request/2461)
1. Add video recording of user camera. This change added an optional
dependency on libavdevice>=56.4.100 for linux systems. When installed,
libavdevice will allow a user to stream a simulated camera to a video4linux2
loopback device.
* [Pull request #2443](https://bitbucket.org/osrf/gazebo/pull-request/2443)
1. Removed deprecations
* [Pull request #2427]((https://bitbucket.org/osrf/gazebo/pull-request/2427)
1. Include basic support for GNU Precompiled Headers to reduce compile time
* [Pull request #2268](https://bitbucket.org/osrf/gazebo/pull-request/2268)
1. Plotting utility
* [Pull request #2348](https://bitbucket.org/osrf/gazebo/pull-request/2348)
* [Pull request #2325](https://bitbucket.org/osrf/gazebo/pull-request/2325)
* [Pull request #2382](https://bitbucket.org/osrf/gazebo/pull-request/2382)
* [Pull request #2448](https://bitbucket.org/osrf/gazebo/pull-request/2448)
1. Renamed `gazebo/gui/SaveDialog` to `gazebo/gui/SaveEntityDialog`. A new
`SaveDialog` class will be added in a future pull request. The migration
guide will be updated with that pull request.
* [Pull request #2384](https://bitbucket.org/osrf/gazebo/pull-request/2384)
1. Add FiducialCameraPlugin for Camera Sensors
* [Pull request #2350](https://bitbucket.org/osrf/gazebo/pull-request/2350)
1. Fix Road2d vertices and shadows
* [Pull request #2362](https://bitbucket.org/osrf/gazebo/pull-request/2362)
1. Rearrange GLWidget::OnMouseMove so that the more common use cases it
fewer if statements. Use std::thread in place of boost in OculusWindow.
Pragma statements to prevent warnings. Prevent variable hiding in
WallSegmentItem.
* [Pull request #2376](https://bitbucket.org/osrf/gazebo/pull-request/2376)
1. Use single pixel selection buffer for mouse picking
* [Pull request #2335](https://bitbucket.org/osrf/gazebo/pull-request/2335)
1. Refactor Visual classes
* [Pull request #2331](https://bitbucket.org/osrf/gazebo/pull-requests/2331)
1. Windows plugins (with .dll extension) now accepted
* [Pull request #2311](https://bitbucket.org/osrf/gazebo/pull-requests/2311)
* Writing libMyPlugin.so in the sdf file will look for MyPlugin.dll on windows.
1. Add Introspection Manager and Client util
* [Pull request #2304](https://bitbucket.org/osrf/gazebo/pull-request/2304)
1. Refactor Event classes and improve memory management.
* [Pull request #2277](https://bitbucket.org/osrf/gazebo/pull-request/2277)
* [Pull request #2317](https://bitbucket.org/osrf/gazebo/pull-request/2317)
* [Pull request #2329](https://bitbucket.org/osrf/gazebo/pull-request/2329)
* [gazebo_design Pull request #33](https://bitbucket.org/osrf/gazebo_design/pull-requests/33)
1. Remove EntityMakerPrivate and move its members to derived classes
* [Pull request #2310](https://bitbucket.org/osrf/gazebo/pull-request/2310)
1. Conversion between ign-msgs and sdf, for plugin
* [Pull request #2403](https://bitbucket.org/osrf/gazebo/pull-request/2403)
1. Change NULL to nullptr.
* [Pull request #2294](https://bitbucket.org/osrf/gazebo/pull-request/2294)
* [Pull request #2297](https://bitbucket.org/osrf/gazebo/pull-request/2297)
* [Pull request #2298](https://bitbucket.org/osrf/gazebo/pull-request/2298)
* [Pull request #2302](https://bitbucket.org/osrf/gazebo/pull-request/2302)
* [Pull request #2295](https://bitbucket.org/osrf/gazebo/pull-request/2295)
* [Pull request #2300](https://bitbucket.org/osrf/gazebo/pull-request/2300)
1. Fix memory and other issues found from running Coverity.
* A contribution from Olivier Crave
* [Pull request #2241](https://bitbucket.org/osrf/gazebo/pull-request/2241)
* [Pull request #2242](https://bitbucket.org/osrf/gazebo/pull-request/2242)
* [Pull request #2243](https://bitbucket.org/osrf/gazebo/pull-request/2243)
* [Pull request #2244](https://bitbucket.org/osrf/gazebo/pull-request/2244)
* [Pull request #2245](https://bitbucket.org/osrf/gazebo/pull-request/2245)
1. Deprecate gazebo::math
* [Pull request #2594](https://bitbucket.org/osrf/gazebo/pull-request/2594)
* [Pull request #2513](https://bitbucket.org/osrf/gazebo/pull-request/2513)
* [Pull request #2586](https://bitbucket.org/osrf/gazebo/pull-request/2586)
* [Pull request #2326](https://bitbucket.org/osrf/gazebo/pull-request/2326)
* [Pull request #2579](https://bitbucket.org/osrf/gazebo/pull-request/2579)
* [Pull request #2574](https://bitbucket.org/osrf/gazebo/pull-request/2574)
* [Pull request #2426](https://bitbucket.org/osrf/gazebo/pull-request/2426)
* [Pull request #2567](https://bitbucket.org/osrf/gazebo/pull-request/2567)
* [Pull request #2355](https://bitbucket.org/osrf/gazebo/pull-request/2355)
* [Pull request #2407](https://bitbucket.org/osrf/gazebo/pull-request/2407)
* [Pull request #2564](https://bitbucket.org/osrf/gazebo/pull-request/2564)
* [Pull request #2591](https://bitbucket.org/osrf/gazebo/pull-request/2591)
* [Pull request #2425](https://bitbucket.org/osrf/gazebo/pull-request/2425)
* [Pull request #2570](https://bitbucket.org/osrf/gazebo/pull-request/2570)
* [Pull request #2436](https://bitbucket.org/osrf/gazebo/pull-request/2436)
* [Pull request #2556](https://bitbucket.org/osrf/gazebo/pull-request/2556)
* [Pull request #2472](https://bitbucket.org/osrf/gazebo/pull-request/2472)
* [Pull request #2505](https://bitbucket.org/osrf/gazebo/pull-request/2505)
* [Pull request #2583](https://bitbucket.org/osrf/gazebo/pull-request/2583)
* [Pull request #2514](https://bitbucket.org/osrf/gazebo/pull-request/2514)
* [Pull request #2522](https://bitbucket.org/osrf/gazebo/pull-request/2522)
* [Pull request #2565](https://bitbucket.org/osrf/gazebo/pull-request/2565)
* [Pull request #2525](https://bitbucket.org/osrf/gazebo/pull-request/2525)
* [Pull request #2533](https://bitbucket.org/osrf/gazebo/pull-request/2533)
* [Pull request #2543](https://bitbucket.org/osrf/gazebo/pull-request/2543)
* [Pull request #2549](https://bitbucket.org/osrf/gazebo/pull-request/2549)
* [Pull request #2554](https://bitbucket.org/osrf/gazebo/pull-request/2554)
* [Pull request #2560](https://bitbucket.org/osrf/gazebo/pull-request/2560)
* [Pull request #2585](https://bitbucket.org/osrf/gazebo/pull-request/2585)
* [Pull request #2575](https://bitbucket.org/osrf/gazebo/pull-request/2575)
* [Pull request #2563](https://bitbucket.org/osrf/gazebo/pull-request/2563)
* [Pull request #2573](https://bitbucket.org/osrf/gazebo/pull-request/2573)
* [Pull request #2577](https://bitbucket.org/osrf/gazebo/pull-request/2577)
* [Pull request #2581](https://bitbucket.org/osrf/gazebo/pull-request/2581)
* [Pull request #2566](https://bitbucket.org/osrf/gazebo/pull-request/2566)
* [Pull request #2578](https://bitbucket.org/osrf/gazebo/pull-request/2578)
1. Add Wind support
* [Pull request #1985](https://bitbucket.org/osrf/gazebo/pull-request/1985)
* A contribution from Olivier Crave
1. Add const accessors to uri path and query
* [Pull request #2400](https://bitbucket.org/osrf/gazebo/pull-request/2400)
1. Server generates unique model names in case of overlap, and added allow_renaming field to factory message.
* [Pull request 2301](https://bitbucket.org/osrf/gazebo/pull-request/2301)
* [Issue 510](https://bitbucket.org/osrf/gazebo/issues/510)
1. Adds an output option to gz log that allows the tool to filter a log file and write to a new log file.
* [Pull request #2149](https://bitbucket.org/osrf/gazebo/pull-request/2149)
1. Add common::URI class
* [Pull request #2275](https://bitbucket.org/osrf/gazebo/pull-request/2275)
1. Update Actor animations by faciliting skeleton visualization, control via a plugin. Also resolves issue #1785.
* [Pull request #2219](https://bitbucket.org/osrf/gazebo/pull-request/2219)
1. Generalize actors to work even if not all elements are specified
* [Pull request #2360](https://bitbucket.org/osrf/gazebo/pull-request/2360)
1. PIMPLize rendering/Grid
* [Pull request 2330](https://bitbucket.org/osrf/gazebo/pull-request/2330)
1. Use only Gazebo's internal version of tinyxml2. The version of tinyxml2 distributed with Ubuntu fails when parsing large log files.
* [Pull request #2146](https://bitbucket.org/osrf/gazebo/pull-request/2146)
1. Moved gazebo ODE includes to have correct include path
* [Pull request #2186](https://bitbucket.org/osrf/gazebo/pull-request/2186)
1. Atmosphere model
* [Pull request #1989](https://bitbucket.org/osrf/gazebo/pull-request/1989)
1. Added static camera when following a model.
* [Pull request #1980](https://bitbucket.org/osrf/gazebo/pull-request/1980)
* A contribution from Oliver Crave
1. Get plugin info with Ignition transport service
* [Pull request #2420](https://bitbucket.org/osrf/gazebo/pull-request/2420)
1. Support conversions between SDF and protobuf for more sensors.
* [Pull request #2118](https://bitbucket.org/osrf/gazebo/pull-request/2118)
1. Fix ODE Ray-Cylinder collision, and added ability to instantiate stand alone MultiRayShapes.
* [Pull request #2122](https://bitbucket.org/osrf/gazebo/pull-request/2122)
1. Update depth camera sensor to publish depth data over a topic.
* [Pull request #2112](https://bitbucket.org/osrf/gazebo/pull-request/2112)
1. Add color picker to config widget and fix visual and collision duplication.
* [Pull request #2381](https://bitbucket.org/osrf/gazebo/pull-request/2381)
1. Model editor updates
1. Undo / redo inserting and deleting links
* [Pull request #2151](https://bitbucket.org/osrf/gazebo/pull-request/2151)
1. Undo / redo inserting and deleting nested models
* [Pull request #2229](https://bitbucket.org/osrf/gazebo/pull-request/2229)
1. Undo insert / delete joints
* [Pull request #2266](https://bitbucket.org/osrf/gazebo/pull-request/2266)
1. Undo insert / delete model plugins
* [Pull request #2334](https://bitbucket.org/osrf/gazebo/pull-request/2334)
1. Undo translate, rotate, snap and align links and nested models
* [Pull request #2314](https://bitbucket.org/osrf/gazebo/pull-request/2314)
1. Undo scale links
* [Pull request #2368](https://bitbucket.org/osrf/gazebo/pull-request/2368)
1. Google Summer of Code Graphical interface for inserting plugins during simulation.
1. Display attached model plugins in the world tab / Add subheaders for model links, joints and plugins
* [Pull request #2323](https://bitbucket.org/osrf/gazebo/pull-request/2323)
* [Issue #1698](https://bitbucket.org/osrf/gazebo/issues/1698)
## Gazebo 7
## Gazebo 7.X.X (201X-XX-XX)
1. Added <collide_bitmask> support to bullet
* [Pull request 2649](https://bitbucket.org/osrf/gazebo/pull-request/2649)
1. Fix linking when using HDF5_INSTRUMENT for logging ODE data
* [Pull request 2669](https://bitbucket.org/osrf/gazebo/pull-request/2669)
1. Subdivide large heightmaps to fix LOD and support global texture mapping
* [Pull request 2655](https://bitbucket.org/osrf/gazebo/pull-request/2655)
## Gazebo 7.6.0 (2017-03-20)
1. Force / torque sensor visualization using WrenchVisual
* [Pull request 2653](https://bitbucket.org/osrf/gazebo/pull-request/2653)
1. Cache heightmap tile data
* [Pull request 2645](https://bitbucket.org/osrf/gazebo/pull-request/2645)
1. Add plugin for attaching lights to links in a model
* [Pull request 2647](https://bitbucket.org/osrf/gazebo/pull-request/2647)
1. Support Heightmap LOD
* [Pull request 2636](https://bitbucket.org/osrf/gazebo/pull-request/2636)
1. Support setting shadow texture size
* [Pull request 2644](https://bitbucket.org/osrf/gazebo/pull-request/2644)
1. Fix deprecated sdf warnings produced by PluginToSDF
* [Pull request 2646](https://bitbucket.org/osrf/gazebo/pull-request/2646)
1. Added TouchPlugin, which checks if a model has been in contact with another
model exclusively for a certain time.
* [Pull request 2651](https://bitbucket.org/osrf/gazebo/pull-request/2651)
1. Fixes -inf laser reading being displayed as +inf
* [Pull request 2641](https://bitbucket.org/osrf/gazebo/pull-request/2641)
1. Fix memory leaks in tests
* [Pull request 2639](https://bitbucket.org/osrf/gazebo/pull-request/2639)
1. Remove end year from copyright
* [Pull request 2614](https://bitbucket.org/osrf/gazebo/pull-request/2614)
## Gazebo 7.5.0 (2017-01-11)
1. Remove qt4 webkit in gazebo7 (used for HotkeyDialog).
* [Pull request 2584](https://bitbucket.org/osrf/gazebo/pull-request/2584)
1. Support configuring heightmap sampling level
* [Pull request 2519](https://bitbucket.org/osrf/gazebo/pull-request/2519)
1. Fix `model.config` dependency support, and add ability to reference
textures using a URI.
* [Pull request 2517](https://bitbucket.org/osrf/gazebo/pull-request/2517)
1. Fix DEM heightmap size, collision, scale
* [Pull request 2477](https://bitbucket.org/osrf/gazebo/pull-request/2477)
1. Create ode_quiet parameter to silence solver messages
* [Pull request 2512](https://bitbucket.org/osrf/gazebo/pull-request/2512)
1. Update QT render loop to throttle based on UserCamera::RenderRate.
* [Pull request 2476](https://bitbucket.org/osrf/gazebo/pull-request/2476)
* [Issue 1560](https://bitbucket.org/osrf/gazebo/issues/1560)
1. Generate visualization on demand, instead of on load. This helps to
reduce load time.
* [Pull request 2457](https://bitbucket.org/osrf/gazebo/pull-request/2457)
1. Added a plugin to teleoperate joints in a model with the keyboard.
* [Pull request 2490](https://bitbucket.org/osrf/gazebo/pull-request/2490)
1. Add GUI items to change the user camera clip distance
* [Pull request 2470](https://bitbucket.org/osrf/gazebo/pull-request/2470)
* [Issue 2064](https://bitbucket.org/osrf/gazebo/issues/2064)
1. Support custom material scripts for heightmaps
* [Pull request 2473](https://bitbucket.org/osrf/gazebo/pull-request/2473)
1. Sim events plugin accepts custom topics
* [Pull request 2535](https://bitbucket.org/osrf/gazebo/pull-request/2535)
1. Model Editor: Show / hide collisions
* [Pull request 2503](https://bitbucket.org/osrf/gazebo/pull-request/2503)
1. Model Editor: Show / hide visuals
* [Pull request 2516](https://bitbucket.org/osrf/gazebo/pull-request/2516)
1. Model Editor: Show / hide link frames
* [Pull request 2521](https://bitbucket.org/osrf/gazebo/pull-request/2521)
## Gazebo 7.4.0 (2016-10-11)
1. Add test for HarnessPlugin, reduce likelihood of race condition
* [Pull request 2431](https://bitbucket.org/osrf/gazebo/pull-request/2431)
* [Issue 2034](https://bitbucket.org/osrf/gazebo/issues/2034)
1. Add `syntax = proto2` in proto files to fix some protobuf3 warnings
* [Pull request 2456](https://bitbucket.org/osrf/gazebo/pull-request/2456)
1. Add support for loading wavefront obj mesh files
* [Pull request 2454](https://bitbucket.org/osrf/gazebo/pull-request/2454)
1. Added filesystem operations to the common library. Additions include
`cwd`, `exists`, `isDirectory`, `isFile`, `copyFile`, and `moveFile`.
* [Pull request 2417](https://bitbucket.org/osrf/gazebo/pull-request/2417)
1. Fix loading collada files with multiple texture coordinates.
* [Pull request 2413](https://bitbucket.org/osrf/gazebo/pull-request/2413)
1. Added visualization of minimum range to laservisual.
* [Pull request 2412](https://bitbucket.org/osrf/gazebo/pull-request/2412)
* [Issue 2018](https://bitbucket.org/osrf/gazebo/issues/2018)
1. Use precision 2 for FPS display in TimePanel
* [Pull request 2405](https://bitbucket.org/osrf/gazebo/pull-request/2405)
1. Switch ImuSensor::worldToReference transform from Pose to Quaternion
* [Pull request 2410](https://bitbucket.org/osrf/gazebo/pull-request/2410)
* [Issue 1959](https://bitbucket.org/osrf/gazebo/issues/1959)
1. Include Boost_LIBRARIES in the linking of gazebo_physics
* [Pull request 2402](https://bitbucket.org/osrf/gazebo/pull-request/2402)
1. Backported KeyboardGUIPlugin and msgs::Any
* [Pull request 2416](https://bitbucket.org/osrf/gazebo/pull-request/2416)
1. Use XML_SUCCESS enum instead of XML_NO_ERROR, which has been deleted in tinyxml2 4.0
* [Pull request 2397](https://bitbucket.org/osrf/gazebo/pull-request/2397)
1. Ignore ffmpeg deprecation warnings to clean up CI since they are noted in #2002
* [Pull request 2388](https://bitbucket.org/osrf/gazebo/pull-request/2388)
1. Added a visual blinking plugin
* [Pull request 2394](https://bitbucket.org/osrf/gazebo/pull-request/2394)
1. Fix InertiaVisual for non-diagonal inertia matrices
* [Pull request 2354](https://bitbucket.org/osrf/gazebo/pull-request/2354)
## Gazebo 7.3.1 (2016-07-13)
1. Fix homebrew test failure of UNIT_ApplyWrenchDialog_TEST
* [Pull request 2393](https://bitbucket.org/osrf/gazebo/pull-request/2393)
1. Fix MainWindow crash when window is minimized and maximized
* [Pull request 2392](https://bitbucket.org/osrf/gazebo/pull-request/2392)
* [Issue 2003](https://bitbucket.org/osrf/gazebo/issues/2003)
## Gazebo 7.3.0 (2016-07-12)
1. Fix selecting ApplyWrenchVisual's force torque visuals
* [Pull request 2377](https://bitbucket.org/osrf/gazebo/pull-request/2377)
* [Issue 1999](https://bitbucket.org/osrf/gazebo/issues/1999)
1. Use ignition math in gazebo::msgs
* [Pull request 2389](https://bitbucket.org/osrf/gazebo/pull-request/2389)
1. Parse command-line options for GUI plugins in Server to fix parsing of
positional argument for world file.
This fixes command-line parsing for `gazebo -g gui_plugin.so`.
* [Pull request 2387](https://bitbucket.org/osrf/gazebo/pull-request/2387)
1. Added a harness plugin that supports lowering a model at a controlled rate
* [Pull request 2346](https://bitbucket.org/osrf/gazebo/pull-request/2346)
1. Fix ogre log test on xenial+nvidia
* [Pull request 2374](https://bitbucket.org/osrf/gazebo/pull-request/2374)
1. Redirect QT messages to Gazebo's console message handling system.
* [Pull request 2375](https://bitbucket.org/osrf/gazebo/pull-request/2375)
1. Fix buoyancy plugin when multiple link tags are used within the plugin
* [Pull request 2369](https://bitbucket.org/osrf/gazebo/pull-request/2369)
1. Remove contact filters with names that contain `::`
* [Pull request 2363](https://bitbucket.org/osrf/gazebo/pull-request/2363)
* [Issue 1805](https://bitbucket.org/osrf/gazebo/issues/1805)
1. Fix Model Manipulator switching between local and global frames
* [Pull request 2361](https://bitbucket.org/osrf/gazebo/pull-request/2361)
1. Remove duplicate code from cmake config file caused by bad merge
* [Pull request 2347](https://bitbucket.org/osrf/gazebo/pull-request/2347)
1. Properly cleanup pointers when destroying a world with joints.
* [Pull request 2309](https://bitbucket.org/osrf/gazebo/pull-request/2309)
1. Fix right click view options after deleting and respawning a model.
* [Pull request 2349](https://bitbucket.org/osrf/gazebo/pull-request/2349)
* [Issue 1985](https://bitbucket.org/osrf/gazebo/issues/1985)
1. Implement missing function: LogicalCamera::Topic()
* [Pull request 2343](https://bitbucket.org/osrf/gazebo/pull-request/2343)
* [Issue 1980](https://bitbucket.org/osrf/gazebo/issues/1980)
## Gazebo 7.2.0 (2016-06-13)
1. Backport single pixel selection buffer for mouse picking
* [Pull request 2338](https://bitbucket.org/osrf/gazebo/pull-request/2338)
1. Prevent mouse pan and orbit from deselecting entities in model editor
* [Pull request 2333](https://bitbucket.org/osrf/gazebo/pull-request/2333)
1. Handle model manipulation tool RTS shortcuts in keyPress
* [Pull request 2312](https://bitbucket.org/osrf/gazebo/pull-request/2312)
1. Reset ODE joint force feedback after world reset
* [Pull request 2255](https://bitbucket.org/osrf/gazebo/pull-request/2255)
1. Update model editor snap to grid modifier key
* [Pull request 2259](https://bitbucket.org/osrf/gazebo/pull-request/2259)
* [Issue #1583](https://bitbucket.org/osrf/gazebo/issues/1583)
1. PIMPLize gui/model/ModelEditorPalette
* [Pull request 2279](https://bitbucket.org/osrf/gazebo/pull-request/2279)
1. Properly cleanup pointers when destroying a blank world.
* [Pull request 2220](https://bitbucket.org/osrf/gazebo/pull-request/2220)
1. Properly cleanup pointers when destroying a world with models and lights.
* [Pull request 2263](https://bitbucket.org/osrf/gazebo/pull-request/2263)
1. Fix view control mouse focus in model editor
* [Pull request 2315](https://bitbucket.org/osrf/gazebo/pull-request/2315)
* [Issue #1791](https://bitbucket.org/osrf/gazebo/issues/1791)
1. Server generates unique model names in case of overlap
* [Pull request 2296](https://bitbucket.org/osrf/gazebo/pull-request/2296)
* [Issue 510](https://bitbucket.org/osrf/gazebo/issues/510)
1. Model Editor: Select and align nested models
* [Pull request 2282](https://bitbucket.org/osrf/gazebo/pull-request/2282)
## Gazebo 7.1.0 (2016-04-07)
1. fix: remove back projection
* [Pull request 2201](https://bitbucket.org/osrf/gazebo/pull-request/2201)
* A contribution from Yuki Furuta
1. Fix oculus 2 camera field of view
* [Pull request 2157](https://bitbucket.org/osrf/gazebo/pull-request/2157)
1. Added BeforePhysicsUpdate world event
* [Pull request 2128](https://bitbucket.org/osrf/gazebo/pull-request/2128)
* A contribution from Martin Pecka
1. Update `gz sdf -c` command line tool to use the new `sdf::convertFile` API.
* [Pull request #2227](https://bitbucket.org/osrf/gazebo/pull-requests/2227)
1. Backport depth camera OSX fix
* [Pull request 2233](https://bitbucket.org/osrf/gazebo/pull-request/2233)
1. Feat load collision.sdf only once
* [Pull request 2236](https://bitbucket.org/osrf/gazebo/pull-request/2236)
1. Update gui/building/Item API
* [Pull request 2228](https://bitbucket.org/osrf/gazebo/pull-request/2228)
1. Semantic version class to compare model versions in the model database.
* [Pull request 2207](https://bitbucket.org/osrf/gazebo/pull-request/2207)
1. Backport issue 1834 fix to gazebo7
* [Pull request 2222](https://bitbucket.org/osrf/gazebo/pull-request/2222)
1. Backport ImagesView_TEST changes
* [Pull request 2217](https://bitbucket.org/osrf/gazebo/pull-request/2217)
1. Backport pull request #2189 (mutex in Transport::Conection)
* [Pull request 2208](https://bitbucket.org/osrf/gazebo/pull-request/2208)
1. Process insertions on World::SetState
* [Pull request #2200](https://bitbucket.org/osrf/gazebo/pull-requests/2200)
1. Process deletions on World::SetState
* [Pull request #2204](https://bitbucket.org/osrf/gazebo/pull-requests/2204)
1. Fix ray-cylinder collision
* [Pull request 2124](https://bitbucket.org/osrf/gazebo/pull-request/2124)
1. Fix editing physics parameters in gzclient, update test
* [Pull request 2192](https://bitbucket.org/osrf/gazebo/pull-request/2192)
1. Fix Audio Decoder test failure
* [Pull request 2193](https://bitbucket.org/osrf/gazebo/pull-request/2193)
1. Add layers to building levels
* [Pull request 2180](https://bitbucket.org/osrf/gazebo/pull-request/2180)
1. Allow dynamically adding links to a model.
* [Pull request #2185](https://bitbucket.org/osrf/gazebo/pull-requests/2185)
1. Fix editing physics parameters in gzclient, update test
* [Pull request #2192](https://bitbucket.org/osrf/gazebo/pull-requests/2192)
* [Issue #1876](https://bitbucket.org/osrf/gazebo/issues/1876)
1. Model database selects the latest model version.
* [Pull request #2207](https://bitbucket.org/osrf/gazebo/pull-requests/2207)
1. Only link relevant libraries to tests
* [Pull request 2130](https://bitbucket.org/osrf/gazebo/pull-request/2130)
1. PIMPLize gui/model/ModelCreator
* [Pull request 2171](https://bitbucket.org/osrf/gazebo/pull-request/2171)
1. backport warning and test fixes from pull request #2177
* [Pull request 2179](https://bitbucket.org/osrf/gazebo/pull-request/2179)
1. Prevent xml parser error from crashing LogPlay on osx -> gazebo7
* [Pull request 2174](https://bitbucket.org/osrf/gazebo/pull-request/2174)
1. PIMPLize gui/building/ScaleWidget
* [Pull request 2164](https://bitbucket.org/osrf/gazebo/pull-request/2164)
1. Fix using Shift key while scaling inside the model editor
* [Pull request 2165](https://bitbucket.org/osrf/gazebo/pull-request/2165)
1. Backport fix for ign-math explicit constructors -> gazebo7
* [Pull request 2163](https://bitbucket.org/osrf/gazebo/pull-request/2163)
1. Display physics engine type in the GUI
* [Pull request #2155](https://bitbucket.org/osrf/gazebo/pull-requests/2155)
* [Issue #1121](https://bitbucket.org/osrf/gazebo/issues/1121)
* A contribution from Mohamd Ayman
1. Fix compilation against ffmpeg3 (libavcodec)
* [Pull request #2154](https://bitbucket.org/osrf/gazebo/pull-request/2154)
1. Append a missing </gazebo_log> tag to log files when played.
* [Pull request #2143](https://bitbucket.org/osrf/gazebo/pull-request/2143)
1. Add helper function QTestFixture::ProcessEventsAndDraw
* [Pull request #2147](https://bitbucket.org/osrf/gazebo/pull-request/2147)
1. Add qt resources to gazebo gui library
* [Pull request 2134](https://bitbucket.org/osrf/gazebo/pull-request/2134)
1. Undo scaling during simulation
* [Pull request #2108](https://bitbucket.org/osrf/gazebo/pull-request/2108)
1. Fix SensorManager::SensorContainer::RunLoop sensor update time assertion
* [Pull request #2115](https://bitbucket.org/osrf/gazebo/pull-request/2115)
1. Fix use of not initialized static attribute in Light class
* [Pull request 2075](https://bitbucket.org/osrf/gazebo/pull-request/2075)
* A contribution from Silvio Traversaro
1. Install GuiTypes header
* [Pull request 2106](https://bitbucket.org/osrf/gazebo/pull-request/2106)
1. Removes one function call and replaces a manual swap with std::swap in ODE heightfield.
* [Pull request #2114](https://bitbucket.org/osrf/gazebo/pull-request/2114)
1. New world event: BeforePhysicsUpdate
* [Pull request #2128](https://bitbucket.org/osrf/gazebo/pull-request/2128)
* [Issue #1851](https://bitbucket.org/osrf/gazebo/issues/1851)
1. Model editor: Fix setting relative pose after alignment during joint creation.
* [Issue #1844](https://bitbucket.org/osrf/gazebo/issues/1844)
* [Pull request #2150](https://bitbucket.org/osrf/gazebo/pull-request/2150)
1. Model editor: Fix saving and spawning model with its original name
* [Pull request #2183](https://bitbucket.org/osrf/gazebo/pull-request/2183)
1. Model editor: Fix inserting custom links
* [Pull request #2222](https://bitbucket.org/osrf/gazebo/pull-request/2222)
* [Issue #1834](https://bitbucket.org/osrf/gazebo/issues/1834)
1. Model editor: Reset visual / collision insertion / deletion
* [Pull request #2254](https://bitbucket.org/osrf/gazebo/pull-request/2254)
* [Issue #1777](https://bitbucket.org/osrf/gazebo/issues/1777)
* [Issue #1852](https://bitbucket.org/osrf/gazebo/issues/1852)
1. Building editor: Add layers to building levels
* [Pull request #2180](https://bitbucket.org/osrf/gazebo/pull-request/2180)
* [Issue #1806](https://bitbucket.org/osrf/gazebo/issues/1806)
1. Building editor: Update gui/building/Item API
* [Pull request #2228](https://bitbucket.org/osrf/gazebo/pull-request/2228)
## Gazebo 7.0.0 (2016-01-25)
1. Add FollowerPlugin
* [Pull request #2085](https://bitbucket.org/osrf/gazebo/pull-request/2085)
1. Fix circular dependency so that physics does not call the sensors API.
* [Pull request #2089](https://bitbucket.org/osrf/gazebo/pull-request/2089)
* [Issue #1516](https://bitbucket.org/osrf/gazebo/issues/1516)
1. Add Gravity and MagneticField API to World class to match sdformat change.
* [SDFormat pull request 247](https://bitbucket.org/osrf/sdformat/pull-requests/247)
* [Issue #1823](https://bitbucket.org/osrf/gazebo/issues/1823)
* [Pull request #2090](https://bitbucket.org/osrf/gazebo/pull-request/2090)
1. Use opaque pointers and deprecate functions in the rendering library
* [Pull request #2069](https://bitbucket.org/osrf/gazebo/pull-request/2069)
* [Pull request #2064](https://bitbucket.org/osrf/gazebo/pull-request/2064)
* [Pull request #2066](https://bitbucket.org/osrf/gazebo/pull-request/2066)
* [Pull request #2069](https://bitbucket.org/osrf/gazebo/pull-request/2069)
* [Pull request #2074](https://bitbucket.org/osrf/gazebo/pull-request/2074)
* [Pull request #2076](https://bitbucket.org/osrf/gazebo/pull-request/2076)
* [Pull request #2070](https://bitbucket.org/osrf/gazebo/pull-request/2070)
* [Pull request #2071](https://bitbucket.org/osrf/gazebo/pull-request/2071)
* [Pull request #2084](https://bitbucket.org/osrf/gazebo/pull-request/2084)
* [Pull request #2073](https://bitbucket.org/osrf/gazebo/pull-request/2073)
1. Use opaque pointers for the Master class.
* [Pull request #2036](https://bitbucket.org/osrf/gazebo/pull-request/2036)
1. Use opaque pointers in the gui library
* [Pull request #2057](https://bitbucket.org/osrf/gazebo/pull-request/2057)
* [Pull request #2037](https://bitbucket.org/osrf/gazebo/pull-request/2037)
* [Pull request #2052](https://bitbucket.org/osrf/gazebo/pull-request/2052)
* [Pull request #2053](https://bitbucket.org/osrf/gazebo/pull-request/2053)
* [Pull request #2028](https://bitbucket.org/osrf/gazebo/pull-request/2028)
* [Pull request #2051](https://bitbucket.org/osrf/gazebo/pull-request/2051)
* [Pull request #2027](https://bitbucket.org/osrf/gazebo/pull-request/2027)
* [Pull request #2026](https://bitbucket.org/osrf/gazebo/pull-request/2026)
* [Pull request #2029](https://bitbucket.org/osrf/gazebo/pull-request/2029)
* [Pull request #2042](https://bitbucket.org/osrf/gazebo/pull-request/2042)
1. Use more opaque pointers.
* [Pull request #2022](https://bitbucket.org/osrf/gazebo/pull-request/2022)
* [Pull request #2025](https://bitbucket.org/osrf/gazebo/pull-request/2025)
* [Pull request #2043](https://bitbucket.org/osrf/gazebo/pull-request/2043)
* [Pull request #2044](https://bitbucket.org/osrf/gazebo/pull-request/2044)
* [Pull request #2065](https://bitbucket.org/osrf/gazebo/pull-request/2065)
* [Pull request #2067](https://bitbucket.org/osrf/gazebo/pull-request/2067)
* [Pull request #2079](https://bitbucket.org/osrf/gazebo/pull-request/2079)
1. Fix visual transparency issues
* [Pull request #2031](https://bitbucket.org/osrf/gazebo/pull-request/2031)
* [Issue #1726](https://bitbucket.org/osrf/gazebo/issue/1726)
* [Issue #1790](https://bitbucket.org/osrf/gazebo/issue/1790)
1. Implemented private data pointer for the RTShaderSystem class. Minimized shader updates to once per render update.
* [Pull request #2003](https://bitbucket.org/osrf/gazebo/pull-request/2003)
1. Updating physics library to use ignition math.
* [Pull request #2007](https://bitbucket.org/osrf/gazebo/pull-request/2007)
1. Switching to ignition math for the rendering library.
* [Pull request #1993](https://bitbucket.org/osrf/gazebo/pull-request/1993)
* [Pull request #1994](https://bitbucket.org/osrf/gazebo/pull-request/1994)
* [Pull request #1995](https://bitbucket.org/osrf/gazebo/pull-request/1995)
* [Pull request #1996](https://bitbucket.org/osrf/gazebo/pull-request/1996)
1. Removed deprecations
* [Pull request #1992]((https://bitbucket.org/osrf/gazebo/pull-request/1992)
1. Add ability to set the pose of a visual from a link.
* [Pull request #1963](https://bitbucket.org/osrf/gazebo/pull-request/1963)
1. Copy visual visibility flags on clone
* [Pull request #2008](https://bitbucket.org/osrf/gazebo/pull-request/2008)
1. Publish camera sensor image size when rendering is not enabled
* [Pull request #1969](https://bitbucket.org/osrf/gazebo/pull-request/1969)
1. Added Poissons Ratio and Elastic Modulus for ODE.
* [Pull request #1974](https://bitbucket.org/osrf/gazebo/pull-request/1974)
1. Update rest web plugin to publish response messages and display login user name in toolbar.
* [Pull request #1956](https://bitbucket.org/osrf/gazebo/pull-request/1956)
1. Improve overall speed of log playback. Added new functions to LogPlay.
Use tinyxml2 for playback.
* [Pull request #1931](https://bitbucket.org/osrf/gazebo/pull-request/1931)
1. Improve SVG import. Added support for transforms in paths.
* [Pull request #1981](https://bitbucket.org/osrf/gazebo/pull-request/1981)
1. Enter time during log playback
* [Pull request #2000](https://bitbucket.org/osrf/gazebo/pull-request/2000)
1. Added Ignition Transport dependency.
* [Pull request #1930](https://bitbucket.org/osrf/gazebo/pull-request/1930)
1. Make latched subscribers receive the message only once
* [Issue #1789](https://bitbucket.org/osrf/gazebo/issue/1789)
* [Pull request #2019](https://bitbucket.org/osrf/gazebo/pull-request/2019)
1. Implemented transport clear buffers
* [Pull request #2017](https://bitbucket.org/osrf/gazebo/pull-request/2017)
1. KeyEvent constructor should be in a source file. Removed a few visibility
flags from c functions. Windows did not like `CPPTYPE_*` in
`gazebo/gui/ConfigWidget.cc`, so I replaced it with `TYPE_*`.
* [Pull request #1943](https://bitbucket.org/osrf/gazebo/pull-request/1943)
1. Added wide angle camera sensor.
* [Pull request #1866](https://bitbucket.org/osrf/gazebo/pull-request/1866)
1. Change the `near` and `far` members of `gazebo/msgs/logical_camera_sensors.proto` to `near_clip` and `far_clip`
+ [Pull request #1942](https://bitbucket.org/osrf/gazebo/pull-request/1942)
1. Resolve issue #1702
* [Issue #1702](https://bitbucket.org/osrf/gazebo/issue/1702)
* [Pull request #1905](https://bitbucket.org/osrf/gazebo/pull-request/1905)
* [Pull request #1913](https://bitbucket.org/osrf/gazebo/pull-request/1913)
* [Pull request #1914](https://bitbucket.org/osrf/gazebo/pull-request/1914)
1. Update physics when the world is reset
* [Pull request #1903](https://bitbucket.org/osrf/gazebo/pull-request/1903)
1. Light and light state for the server side
* [Pull request #1920](https://bitbucket.org/osrf/gazebo/pull-request/1920)
1. Add scale to model state so scaling works on log/playback.
* [Pull request #2020](https://bitbucket.org/osrf/gazebo/pull-request/2020)
1. Added tests for WorldState
* [Pull request #1968](https://bitbucket.org/osrf/gazebo/pull-request/1968)
1. Rename Reset to Reset Time in time widget
* [Pull request #1892](https://bitbucket.org/osrf/gazebo/pull-request/1892)
* [Issue #1730](https://bitbucket.org/osrf/gazebo/issue/1730)
1. Set QTestfFxture to verbose
* [Pull request #1944](https://bitbucket.org/osrf/gazebo/pull-request/1944)
* [Issue #1756](https://bitbucket.org/osrf/gazebo/issue/1756)
1. Added torsional friction
* [Pull request #1831](https://bitbucket.org/osrf/gazebo/pull-request/1831)
1. Support loading and spawning nested models
* [Pull request #1868](https://bitbucket.org/osrf/gazebo/pull-request/1868)
* [Pull request #1895](https://bitbucket.org/osrf/gazebo/pull-request/1895)
1. Undo user motion commands during simulation, added physics::UserCmdManager and gui::UserCmdHistory.
* [Pull request #1934](https://bitbucket.org/osrf/gazebo/pull-request/1934)
1. Forward user command messages for undo.
* [Pull request #2009](https://bitbucket.org/osrf/gazebo/pull-request/2009)
1. Undo reset commands during simulation, forwarding commands
* [Pull request #1986](https://bitbucket.org/osrf/gazebo/pull-request/1986)
1. Undo apply force / torque during simulation
* [Pull request #2030](https://bitbucket.org/osrf/gazebo/pull-request/2030)
1. Add function to get the derived scale of a Visual
* [Pull request #1881](https://bitbucket.org/osrf/gazebo/pull-request/1881)
1. Added EnumIface, which supports iterators over enums.
* [Pull request #1847](https://bitbucket.org/osrf/gazebo/pull-request/1847)
1. Added RegionEventBoxPlugin - fires events when models enter / exit the region
* [Pull request #1856](https://bitbucket.org/osrf/gazebo/pull-request/1856)
1. Added tests for checking the playback control via messages.
* [Pull request #1885](https://bitbucket.org/osrf/gazebo/pull-request/1885)
1. Added LoadArgs() function to ServerFixture for being able to load a server
using the same arguments used in the command line.
* [Pull request #1874](https://bitbucket.org/osrf/gazebo/pull-request/1874)
1. Added battery class, plugins and test world.
* [Pull request #1872](https://bitbucket.org/osrf/gazebo/pull-request/1872)
1. Display gearbox and screw joint properties in property tree
* [Pull request #1838](https://bitbucket.org/osrf/gazebo/pull-request/1838)
1. Set window flags for dialogs and file dialogs
* [Pull request #1816](https://bitbucket.org/osrf/gazebo/pull-request/1816)
1. Fix minimum window height
* [Pull request #1977](https://bitbucket.org/osrf/gazebo/pull-request/1977)
* [Issue #1706](https://bitbucket.org/osrf/gazebo/issue/1706)
1. Add option to reverse alignment direction
* [Pull request #2040](https://bitbucket.org/osrf/gazebo/pull-request/2040)
* [Issue #1242](https://bitbucket.org/osrf/gazebo/issue/1242)
1. Fix unadvertising a publisher - only unadvertise topic if it is the last publisher.
* [Pull request #2005](https://bitbucket.org/osrf/gazebo/pull-request/2005)
* [Issue #1782](https://bitbucket.org/osrf/gazebo/issue/1782)
1. Log playback GUI for multistep, rewind, forward and seek
* [Pull request #1791](https://bitbucket.org/osrf/gazebo/pull-request/1791)
1. Added Apply Force/Torque movable text
* [Pull request #1789](https://bitbucket.org/osrf/gazebo/pull-request/1789)
1. Added cascade parameter (apply to children) for Visual SetMaterial, SetAmbient, SetEmissive, SetSpecular, SetDiffuse, SetTransparency
* [Pull request #1851](https://bitbucket.org/osrf/gazebo/pull-request/1851)
1. Tweaks to Data Logger, such as multiline text edit for path
* [Pull request #1800](https://bitbucket.org/osrf/gazebo/pull-request/1800)
1. Added TopToolbar and hide / disable several widgets according to WindowMode
* [Pull request #1869](https://bitbucket.org/osrf/gazebo/pull-request/1869)
1. Added Visual::IsAncestorOf and Visual::IsDescendantOf
* [Pull request #1850](https://bitbucket.org/osrf/gazebo/pull-request/1850)
1. Added msgs::PluginFromSDF and tests
* [Pull request #1858](https://bitbucket.org/osrf/gazebo/pull-request/1858)
1. Added msgs::CollisionFromSDF msgs::SurfaceFromSDF and msgs::FrictionFromSDF
* [Pull request #1900](https://bitbucket.org/osrf/gazebo/pull-request/1900)
1. Added hotkeys chart dialog
* [Pull request #1835](https://bitbucket.org/osrf/gazebo/pull-request/1835)
1. Space bar to play / pause
* [Pull request #2023](https://bitbucket.org/osrf/gazebo/pull-request/2023)
* [Issue #1798](https://bitbucket.org/osrf/gazebo/issue/1798)
1. Make it possible to create custom ConfigWidgets
* [Pull request #1861](https://bitbucket.org/osrf/gazebo/pull-request/1861)
1. AddItem / RemoveItem / Clear enum config widgets
* [Pull request #1878](https://bitbucket.org/osrf/gazebo/pull-request/1878)
1. Make all child ConfigWidgets emit signals.
* [Pull request #1884](https://bitbucket.org/osrf/gazebo/pull-request/1884)
1. Refactored makers
* [Pull request #1828](https://bitbucket.org/osrf/gazebo/pull-request/1828)
1. Added gui::Conversions to convert between Gazebo and Qt
* [Pull request #2034](https://bitbucket.org/osrf/gazebo/pull-request/2034)
1. Model editor updates
1. Support adding model plugins in model editor
* [Pull request #2060](https://bitbucket.org/osrf/gazebo/pull-request/2060)
1. Added support for copying and pasting top level nested models
* [Pull request #2006](https://bitbucket.org/osrf/gazebo/pull-request/2006)
1. Make non-editable background models white in model editor
* [Pull request #1950](https://bitbucket.org/osrf/gazebo/pull-request/1950)
1. Choose / swap parent and child links in joint inspector
* [Pull request #1887](https://bitbucket.org/osrf/gazebo/pull-request/1887)
* [Issue #1500](https://bitbucket.org/osrf/gazebo/issue/1500)
1. Presets combo box for Vector3 config widget
* [Pull request #1954](https://bitbucket.org/osrf/gazebo/pull-request/1954)
1. Added support for more joint types (gearbox and fixed joints).
* [Pull request #1794](https://bitbucket.org/osrf/gazebo/pull-request/1794)
1. Added support for selecting links and joints, opening context menu and inspectors in Schematic View.
* [Pull request #1787](https://bitbucket.org/osrf/gazebo/pull-request/1787)
1. Color-coded edges in Schematic View to match joint color.
* [Pull request #1781](https://bitbucket.org/osrf/gazebo/pull-request/1781)
1. Scale link mass and inertia when a link is scaled
* [Pull request #1836](https://bitbucket.org/osrf/gazebo/pull-request/1836)
1. Add density widget to config widget and link inspector
* [Pull request #1978](https://bitbucket.org/osrf/gazebo/pull-request/1978)
1. Added icons for child and parent link in joint inspector
* [Pull request #1953](https://bitbucket.org/osrf/gazebo/pull-request/1953)
1. Load and save nested models
* [Pull request #1894](https://bitbucket.org/osrf/gazebo/pull-request/1894)
1. Display model plugins on the left panel and added model plugin inspector
* [Pull request #1863](https://bitbucket.org/osrf/gazebo/pull-request/1863)
1. Context menu and deletion for model plugins
* [Pull request #1890](https://bitbucket.org/osrf/gazebo/pull-request/1890)
1. Delete self from inspector
* [Pull request #1904](https://bitbucket.org/osrf/gazebo/pull-request/1904)
* [Issue #1543](https://bitbucket.org/osrf/gazebo/issue/1543)
1. Apply inspector changes in real time and add reset button
* [Pull request #1945](https://bitbucket.org/osrf/gazebo/pull-request/1945)
* [Issue #1472](https://bitbucket.org/osrf/gazebo/issue/1472)
1. Set physics to be paused when exiting model editor mode
* [Pull request #1893](https://bitbucket.org/osrf/gazebo/pull-request/1893)
* [Issue #1734](https://bitbucket.org/osrf/gazebo/issue/1734)
1. Add Insert tab to model editor
* [Pull request #1924](https://bitbucket.org/osrf/gazebo/pull-request/1924)
1. Support inserting nested models from model maker
* [Pull request #1982](https://bitbucket.org/osrf/gazebo/pull-request/1982)
1. Added joint creation dialog
* [Pull request #2021](https://bitbucket.org/osrf/gazebo/pull-request/2021)
1. Added reverse checkboxes to joint creation dialog
* [Pull request #2086](https://bitbucket.org/osrf/gazebo/pull-request/2086)
1. Use opaque pointers in the model editor
* [Pull request #2056](https://bitbucket.org/osrf/gazebo/pull-request/2056)
* [Pull request #2059](https://bitbucket.org/osrf/gazebo/pull-request/2059)
* [Pull request #2087](https://bitbucket.org/osrf/gazebo/pull-request/2087)
1. Support joint creation between links in nested model.
* [Pull request #2080](https://bitbucket.org/osrf/gazebo/pull-request/2080)
1. Building editor updates
1. Use opaque pointers in the building editor
* [Pull request #2041](https://bitbucket.org/osrf/gazebo/pull-request/2041)
* [Pull request #2039](https://bitbucket.org/osrf/gazebo/pull-request/2039)
* [Pull request #2055](https://bitbucket.org/osrf/gazebo/pull-request/2055)
* [Pull request #2032](https://bitbucket.org/osrf/gazebo/pull-request/2032)
* [Pull request #2082](https://bitbucket.org/osrf/gazebo/pull-request/2082)
* [Pull request #2038](https://bitbucket.org/osrf/gazebo/pull-request/2038)
* [Pull request #2033](https://bitbucket.org/osrf/gazebo/pull-request/2033)
1. Use opaque pointers for GrabberHandle, add *LinkedGrabbers functions
* [Pull request #2034](https://bitbucket.org/osrf/gazebo/pull-request/2034)
1. Removed unused class: BuildingItem
* [Pull request #2045](https://bitbucket.org/osrf/gazebo/pull-request/2045)
1. Use opaque pointers for BuildingModelManip, move attachment logic to BuildingMaker
* [Pull request #2046](https://bitbucket.org/osrf/gazebo/pull-request/2046)
1. Use opaque pointers for all Dialog classes, add conversion from QPointF, move common logic to BaseInspectorDialog.
* [Pull request #2083](https://bitbucket.org/osrf/gazebo/pull-request/2083)
## Gazebo 6.0
### Gazebo 6.7.0 (201X-01-12)
1. Add vector3 and quaternion rendering conversions
* [Pull request 2276](https://bitbucket.org/osrf/gazebo/pull-request/2276)
1. Reverse view angle widget left and right view
* [Pull request 2265](https://bitbucket.org/osrf/gazebo/pull-request/2265)
* [Issue 1924](https://bitbucket.org/osrf/gazebo/issue/1924)
1. Fix race condition in ~TimePanelPrivate (#1919)
* [Pull request 2250](https://bitbucket.org/osrf/gazebo/pull-request/2250)
1. Prevent orthographic camera from resetting zoom after animation
* [Pull request 2267](https://bitbucket.org/osrf/gazebo/pull-request/2267)
* [Issue #1927](https://bitbucket.org/osrf/gazebo/issues/1927)
1. Fix MeshToSDF missing scale issue
* [Pull request 2258](https://bitbucket.org/osrf/gazebo/pull-request/2258)
* [Issue #1925](https://bitbucket.org/osrf/gazebo/issues/1925)
1. Register Qt metatypes in gui tests
* [Pull request 2273](https://bitbucket.org/osrf/gazebo/pull-request/2273)
1. Fix resetting model to initial pose
* [Pull request 2307](https://bitbucket.org/osrf/gazebo/pull-request/2307)
* [Issue #1960](https://bitbucket.org/osrf/gazebo/issues/1960)
### Gazebo 6.6.0 (2016-04-07)
1. fix: remove back projection
* [Pull request 2201](https://bitbucket.org/osrf/gazebo/pull-request/2201)
* A contribution from Yuki Furuta
1. Backport depth camera OSX fix and test
* [Pull request 2230](https://bitbucket.org/osrf/gazebo/pull-request/2230)
1. Add missing tinyxml includes (gazebo6)
* [Pull request 2218](https://bitbucket.org/osrf/gazebo/pull-request/2218)
1. Fix ray-cylinder collision in ode
* [Pull request 2125](https://bitbucket.org/osrf/gazebo/pull-request/2125)
1. backport fixes for ffmpeg3 to gazebo6 (from pull request #2154)
* [Pull request 2162](https://bitbucket.org/osrf/gazebo/pull-request/2162)
1. Install shapes_bitmask.world
* [Pull request 2104](https://bitbucket.org/osrf/gazebo/pull-request/2104)
1. Add gazebo_client to gazebo.pc (gazebo6)
* [Pull request 2102](https://bitbucket.org/osrf/gazebo/pull-request/2102)
1. Fix removing multiple camera sensors that have the same camera name
* [Pull request 2081](https://bitbucket.org/osrf/gazebo/pull-request/2081)
1. Ensure that LINK_FRAME_VISUAL arrow components are deleted (#1812)
* [Pull request 2078](https://bitbucket.org/osrf/gazebo/pull-request/2078)
1. add migration notes for gazebo::setupClient to gazebo::client::setup
* [Pull request 2068](https://bitbucket.org/osrf/gazebo/pull-request/2068)
1. Update inertia properties during simulation: part 2
* [Pull request 1984](https://bitbucket.org/osrf/gazebo/pull-request/1984)
1. Fix minimum window height
* [Pull request 2002](https://bitbucket.org/osrf/gazebo/pull-request/2002)
1. Backport gpu laser test fix
* [Pull request 1999](https://bitbucket.org/osrf/gazebo/pull-request/1999)
1. Relax physics tolerances for single-precision bullet (gazebo6)
* [Pull request 1997](https://bitbucket.org/osrf/gazebo/pull-request/1997)
1. Fix minimum window height
* [Pull request 1998](https://bitbucket.org/osrf/gazebo/pull-request/1998)
1. backport model editor fixed joint option to gazebo6
* [Pull request 1957](https://bitbucket.org/osrf/gazebo/pull-request/1957)
1. Update shaders once per render update
* [Pull request 1991](https://bitbucket.org/osrf/gazebo/pull-request/1991)
1. Relax physics tolerances for single-precision bullet
* [Pull request 1976](https://bitbucket.org/osrf/gazebo/pull-request/1976)
1. Fix visual transparency issues
* [Pull request 1967](https://bitbucket.org/osrf/gazebo/pull-request/1967)
1. fix memory corruption in transport/Publisher.cc
* [Pull request 1951](https://bitbucket.org/osrf/gazebo/pull-request/1951)
1. Add test for SphericalCoordinates::LocalFromGlobal
* [Pull request 1959](https://bitbucket.org/osrf/gazebo/pull-request/1959)
### Gazebo 6.5.1 (2015-10-29)
1. Fix removing multiple camera sensors that have the same camera name.
* [Pull request #2081](https://bitbucket.org/osrf/gazebo/pull-request/2081)
* [Issue #1811](https://bitbucket.org/osrf/gazebo/issues/1811)
1. Backport model editor toolbar fixed joint option from [pull request #1794](https://bitbucket.org/osrf/gazebo/pull-request/1794)
* [Pull request #1957](https://bitbucket.org/osrf/gazebo/pull-request/1957)
1. Fix minimum window height
* Backport of [pull request #1977](https://bitbucket.org/osrf/gazebo/pull-request/1977)
* [Pull request #1998](https://bitbucket.org/osrf/gazebo/pull-request/1998)
* [Issue #1706](https://bitbucket.org/osrf/gazebo/issue/1706)
1. Fix visual transparency issues
* [Pull request #1967](https://bitbucket.org/osrf/gazebo/pull-request/1967)
* [Issue #1726](https://bitbucket.org/osrf/gazebo/issue/1726)
### Gazebo 6.5.0 (2015-10-22)
1. Added ability to convert from spherical coordinates to local coordinates.
* [Pull request #1955](https://bitbucket.org/osrf/gazebo/pull-request/1955)
### Gazebo 6.4.0 (2015-10-14)
1. Fix ABI problem. Make `Sensor::SetPose` function non virtual.
* [Pull request #1947](https://bitbucket.org/osrf/gazebo/pull-request/1947)
1. Update inertia properties during simulation
* [Pull request #1909](https://bitbucket.org/osrf/gazebo/pull-requests/1909)
* [Design document](https://bitbucket.org/osrf/gazebo_design/src/default/inertia_resize/inertia_resize.md)
1. Fix transparency correction for opaque materials
* [Pull request #1946](https://bitbucket.org/osrf/gazebo/pull-requests/1946/fix-transparency-correction-for-opaque/diff)
### Gazebo 6.3.0 (2015-10-06)
1. Added `Sensor::SetPose` function
* [Pull request #1935](https://bitbucket.org/osrf/gazebo/pull-request/1935)
### Gazebo 6.2.0 (2015-10-02)
1. Update physics when the world is reset
* Backport of [pull request #1903](https://bitbucket.org/osrf/gazebo/pull-request/1903)
* [Pull request #1916](https://bitbucket.org/osrf/gazebo/pull-request/1916)
* [Issue #101](https://bitbucket.org/osrf/gazebo/issue/101)
1. Added Copy constructor and assignment operator to MouseEvent
* [Pull request #1855](https://bitbucket.org/osrf/gazebo/pull-request/1855)
### Gazebo 6.1.0 (2015-08-02)
1. Added logical_camera sensor.
* [Pull request #1845](https://bitbucket.org/osrf/gazebo/pull-request/1845)
1. Added RandomVelocityPlugin, which applies a random velocity to a model's link.
* [Pull request #1839](https://bitbucket.org/osrf/gazebo/pull-request/1839)
1. Sim events for joint position, velocity and applied force
* [Pull request #1849](https://bitbucket.org/osrf/gazebo/pull-request/1849)
### Gazebo 6.0.0 (2015-07-27)
1. Added magnetometer sensor. A contribution from Andrew Symington.
* [Pull request #1788](https://bitbucket.org/osrf/gazebo/pull-request/1788)
1. Added altimeter sensor. A contribution from Andrew Symington.
* [Pull request #1792](https://bitbucket.org/osrf/gazebo/pull-request/1792)
1. Implement more control options for log playback:
1. Rewind: The simulation starts from the beginning.
1. Forward: The simulation jumps to the end of the log file.
1. Seek: The simulation jumps to a specific point specified by its simulation
time.
* [Pull request #1737](https://bitbucket.org/osrf/gazebo/pull-request/1737)
1. Added Gazebo splash screen
* [Pull request #1745](https://bitbucket.org/osrf/gazebo/pull-request/1745)
1. Added a transporter plugin which allows models to move from one location
to another based on their location and the location of transporter pads.
* [Pull request #1738](https://bitbucket.org/osrf/gazebo/pull-request/1738)
1. Implement forward/backwards multi-step for log playback. Now, the semantics
of a multi-step while playing back a log session are different from a multi-step
during a live simulation. While playback, a multi-step simulates all the
intermediate steps as before, but the client only perceives a single step.
E.g: You have a log file containing a 1 hour simulation session. You want to
jump to the minute 00H::30M::00S to check a specific aspect of the simulation.
You should not see continuous updates until minute 00H:30M:00S. Instead, you
should visualize a single jump to the specific instant of the simulation that
you are interested.
* [Pull request #1623](https://bitbucket.org/osrf/gazebo/pull-request/1623)
1. Added browse button to log record dialog.
* [Pull request #1719](https://bitbucket.org/osrf/gazebo/pull-request/1719)
1. Improved SVG support: arcs in paths, and contours made of multiple paths.
* [Pull request #1608](https://bitbucket.org/osrf/gazebo/pull-request/1608)
1. Added simulation iterations to the world state.
* [Pull request #1722](https://bitbucket.org/osrf/gazebo/pull-request/1722)
1. Added multiple LiftDrag plugins to the cessna_demo.world to allow the Cessna
C-172 model to fly.
* [Pull request #1715](https://bitbucket.org/osrf/gazebo/pull-request/1715)
1. Added a plugin to control a Cessna C-172 via messages (CessnaPlugin), and a
GUI plugin to test this functionality with the keyboard (CessnaGUIPlugin). Added
world with the Cessna model and the two previous plugins loaded
(cessna_demo.world).
* [Pull request #1712](https://bitbucket.org/osrf/gazebo/pull-request/1712)
1. Added world with OSRF building and an elevator
* [Pull request #1697](https://bitbucket.org/osrf/gazebo/pull-request/1697)
1. Fixed collide bitmask by changing default value from 0x1 to 0xffff.
* [Pull request #1696](https://bitbucket.org/osrf/gazebo/pull-request/1696)
1. Added a plugin to control an elevator (ElevatorPlugin), and an OccupiedEvent plugin that sends a message when a model is within a specified region.
* [Pull request #1694](https://bitbucket.org/osrf/gazebo/pull-request/1694)
* [Pull request #1775](https://bitbucket.org/osrf/gazebo/pull-request/1775)
1. Added Layers tab and meta information for visuals.
* [Pull request #1674](https://bitbucket.org/osrf/gazebo/pull-request/1674)
1. Added countdown behavior for common::Timer and exposed the feature in TimerGUIPlugin.
* [Pull request #1690](https://bitbucket.org/osrf/gazebo/pull-request/1690)
1. Added BuoyancyPlugin for simulating the buoyancy of an object in a column of fluid.
* [Pull request #1622](https://bitbucket.org/osrf/gazebo/pull-request/1622)
1. Added ComputeVolume function for simple shape subclasses of Shape.hh.
* [Pull request #1605](https://bitbucket.org/osrf/gazebo/pull-request/1605)
1. Add option to parallelize the ODE quickstep constraint solver,
which solves an LCP twice with different parameters in order
to corrected for position projection errors.
* [Pull request #1561](https://bitbucket.org/osrf/gazebo/pull-request/1561)
1. Get/Set user camera pose in GUI.
* [Pull request #1649](https://bitbucket.org/osrf/gazebo/pull-request/1649)
* [Issue #1595](https://bitbucket.org/osrf/gazebo/issue/1595)
1. Added ViewAngleWidget, removed hard-coded reset view and removed MainWindow::Reset(). Also added GLWidget::GetSelectedVisuals().
* [Pull request #1768](https://bitbucket.org/osrf/gazebo/pull-request/1768)
* [Issue #1507](https://bitbucket.org/osrf/gazebo/issue/1507)
1. Windows support. This consists mostly of numerous small changes to support
compilation on Windows.
* [Pull request #1616](https://bitbucket.org/osrf/gazebo/pull-request/1616)
* [Pull request #1618](https://bitbucket.org/osrf/gazebo/pull-request/1618)
* [Pull request #1620](https://bitbucket.org/osrf/gazebo/pull-request/1620)
* [Pull request #1625](https://bitbucket.org/osrf/gazebo/pull-request/1625)
* [Pull request #1626](https://bitbucket.org/osrf/gazebo/pull-request/1626)
* [Pull request #1627](https://bitbucket.org/osrf/gazebo/pull-request/1627)
* [Pull request #1628](https://bitbucket.org/osrf/gazebo/pull-request/1628)
* [Pull request #1629](https://bitbucket.org/osrf/gazebo/pull-request/1629)
* [Pull request #1630](https://bitbucket.org/osrf/gazebo/pull-request/1630)
* [Pull request #1631](https://bitbucket.org/osrf/gazebo/pull-request/1631)
* [Pull request #1632](https://bitbucket.org/osrf/gazebo/pull-request/1632)
* [Pull request #1633](https://bitbucket.org/osrf/gazebo/pull-request/1633)
* [Pull request #1635](https://bitbucket.org/osrf/gazebo/pull-request/1635)
* [Pull request #1637](https://bitbucket.org/osrf/gazebo/pull-request/1637)
* [Pull request #1639](https://bitbucket.org/osrf/gazebo/pull-request/1639)
* [Pull request #1647](https://bitbucket.org/osrf/gazebo/pull-request/1647)
* [Pull request #1650](https://bitbucket.org/osrf/gazebo/pull-request/1650)
* [Pull request #1651](https://bitbucket.org/osrf/gazebo/pull-request/1651)
* [Pull request #1653](https://bitbucket.org/osrf/gazebo/pull-request/1653)
* [Pull request #1654](https://bitbucket.org/osrf/gazebo/pull-request/1654)
* [Pull request #1657](https://bitbucket.org/osrf/gazebo/pull-request/1657)
* [Pull request #1658](https://bitbucket.org/osrf/gazebo/pull-request/1658)
* [Pull request #1659](https://bitbucket.org/osrf/gazebo/pull-request/1659)
* [Pull request #1660](https://bitbucket.org/osrf/gazebo/pull-request/1660)
* [Pull request #1661](https://bitbucket.org/osrf/gazebo/pull-request/1661)
* [Pull request #1669](https://bitbucket.org/osrf/gazebo/pull-request/1669)
* [Pull request #1670](https://bitbucket.org/osrf/gazebo/pull-request/1670)
* [Pull request #1672](https://bitbucket.org/osrf/gazebo/pull-request/1672)
* [Pull request #1682](https://bitbucket.org/osrf/gazebo/pull-request/1682)
* [Pull request #1683](https://bitbucket.org/osrf/gazebo/pull-request/1683)
1. Install `libgazebo_server_fixture`. This will facilitate tests external to the main gazebo repository. See `examples/stand_alone/test_fixture`.
* [Pull request #1606](https://bitbucket.org/osrf/gazebo/pull-request/1606)
1. Laser visualization renders light blue for rays that do not hit obstacles, and dark blue for other rays.
* [Pull request #1607](https://bitbucket.org/osrf/gazebo/pull-request/1607)
* [Issue #1576](https://bitbucket.org/osrf/gazebo/issue/1576)
1. Add VisualType enum to Visual and clean up visuals when entity is deleted.
* [Pull request #1614](https://bitbucket.org/osrf/gazebo/pull-request/1614)
1. Alert user of connection problems when using the REST service plugin
* [Pull request #1655](https://bitbucket.org/osrf/gazebo/pull-request/1655)
* [Issue #1574](https://bitbucket.org/osrf/gazebo/issue/1574)
1. ignition-math is now a dependency.
+ [http://ignitionrobotics.org/libraries/math](http://ignitionrobotics.org/libraries/math)
+ [Gazebo::math migration](https://bitbucket.org/osrf/gazebo/src/583edbeb90759d43d994cc57c0797119dd6d2794/ign-math-migration.md)
1. Detect uuid library during compilation.
* [Pull request #1655](https://bitbucket.org/osrf/gazebo/pull-request/1655)
* [Issue #1572](https://bitbucket.org/osrf/gazebo/issue/1572)
1. New accessors in LogPlay class.
* [Pull request #1577](https://bitbucket.org/osrf/gazebo/pull-request/1577)
1. Added a plugin to send messages to an existing website.
Added gui::MainWindow::AddMenu and msgs/rest_error, msgs/rest_login, msgs rest/post
* [Pull request #1524](https://bitbucket.org/osrf/gazebo/pull-request/1524)
1. Fix deprecation warnings when using SDFormat 3.0.2, 3.0.3 prereleases
* [Pull request #1568](https://bitbucket.org/osrf/gazebo/pull-request/1568)
1. Use GAZEBO_CFLAGS or GAZEBO_CXX_FLAGS in CMakeLists.txt for example plugins
* [Pull request #1573](https://bitbucket.org/osrf/gazebo/pull-request/1573)
1. Added Link::OnWrenchMsg subscriber with test
* [Pull request #1582](https://bitbucket.org/osrf/gazebo/pull-request/1582)
1. Show/hide GUI overlays using the menu bar.
* [Pull request #1555](https://bitbucket.org/osrf/gazebo/pull-request/1555)
1. Added world origin indicator rendering::OriginVisual.
* [Pull request #1700](https://bitbucket.org/osrf/gazebo/pull-request/1700)
1. Show/hide toolbars using the menu bars and shortcut.
Added MainWindow::CloneAction.
Added Window menu to Model Editor.
* [Pull request #1584](https://bitbucket.org/osrf/gazebo/pull-request/1584)
1. Added event to show/hide toolbars.
* [Pull request #1707](https://bitbucket.org/osrf/gazebo/pull-request/1707)
1. Added optional start/stop/reset buttons to timer GUI plugin.
* [Pull request #1576](https://bitbucket.org/osrf/gazebo/pull-request/1576)
1. Timer GUI Plugin: Treat negative positions as positions from the ends
* [Pull request #1703](https://bitbucket.org/osrf/gazebo/pull-request/1703)
1. Added Visual::GetDepth() and Visual::GetNthAncestor()
* [Pull request #1613](https://bitbucket.org/osrf/gazebo/pull-request/1613)
1. Added a context menu for links
* [Pull request #1589](https://bitbucket.org/osrf/gazebo/pull-request/1589)
1. Separate TimePanel's display into TimeWidget and LogPlayWidget.
* [Pull request #1564](https://bitbucket.org/osrf/gazebo/pull-request/1564)
1. Display confirmation message after log is saved
* [Pull request #1646](https://bitbucket.org/osrf/gazebo/pull-request/1646)
1. Added LogPlayView to display timeline and LogPlaybackStatistics message type.
* [Pull request #1724](https://bitbucket.org/osrf/gazebo/pull-request/1724)
1. Added Time::FormattedString and removed all other FormatTime functions.
* [Pull request #1710](https://bitbucket.org/osrf/gazebo/pull-request/1710)
1. Added support for Oculus DK2
* [Pull request #1526](https://bitbucket.org/osrf/gazebo/pull-request/1526)
1. Use collide_bitmask from SDF to perform collision filtering
* [Pull request #1470](https://bitbucket.org/osrf/gazebo/pull-request/1470)
1. Pass Coulomb surface friction parameters to DART.
* [Pull request #1420](https://bitbucket.org/osrf/gazebo/pull-request/1420)
1. Added ModelAlign::SetHighlighted
* [Pull request #1598](https://bitbucket.org/osrf/gazebo/pull-request/1598)
1. Added various Get functions to Visual. Also added a ConvertGeometryType function to msgs.
* [Pull request #1402](https://bitbucket.org/osrf/gazebo/pull-request/1402)
1. Get and Set visibility of SelectionObj's handles, with unit test.
* [Pull request #1417](https://bitbucket.org/osrf/gazebo/pull-request/1417)
1. Set material of SelectionObj's handles.
* [Pull request #1472](https://bitbucket.org/osrf/gazebo/pull-request/1472)
1. Add SelectionObj::Fini with tests and make Visual::Fini virtual
* [Pull request #1685](https://bitbucket.org/osrf/gazebo/pull-request/1685)
1. Allow link selection with the mouse if parent model already selected.
* [Pull request #1409](https://bitbucket.org/osrf/gazebo/pull-request/1409)
1. Added ModelRightMenu::EntityTypes.
* [Pull request #1414](https://bitbucket.org/osrf/gazebo/pull-request/1414)
1. Scale joint visuals according to link size.
* [Pull request #1591](https://bitbucket.org/osrf/gazebo/pull-request/1591)
* [Issue #1563](https://bitbucket.org/osrf/gazebo/issue/1563)
1. Added Gazebo/CoM material.
* [Pull request #1439](https://bitbucket.org/osrf/gazebo/pull-request/1439)
1. Added arc parameter to MeshManager::CreateTube
* [Pull request #1436](https://bitbucket.org/osrf/gazebo/pull-request/1436)
1. Added View Inertia and InertiaVisual, changed COMVisual to sphere proportional to mass.
* [Pull request #1445](https://bitbucket.org/osrf/gazebo/pull-request/1445)
1. Added View Link Frame and LinkFrameVisual. Visual::SetTransparency goes into texture_unit.
* [Pull request #1762](https://bitbucket.org/osrf/gazebo/pull-request/1762)
* [Issue #853](https://bitbucket.org/osrf/gazebo/issue/853)
1. Changed the position of Save and Cancel buttons on editor dialogs
* [Pull request #1442](https://bitbucket.org/osrf/gazebo/pull-request/1442)
* [Issue #1377](https://bitbucket.org/osrf/gazebo/issue/1377)
1. Fixed Visual material updates
* [Pull request #1454](https://bitbucket.org/osrf/gazebo/pull-request/1454)
* [Issue #1455](https://bitbucket.org/osrf/gazebo/issue/1455)
1. Added Matrix3::Inverse() and tests
* [Pull request #1481](https://bitbucket.org/osrf/gazebo/pull-request/1481)
1. Implemented AddLinkForce for ODE.
* [Pull request #1456](https://bitbucket.org/osrf/gazebo/pull-request/1456)
1. Updated ConfigWidget class to parse enum values.
* [Pull request #1518](https://bitbucket.org/osrf/gazebo/pull-request/1518)
1. Added PresetManager to physics libraries and corresponding integration test.
* [Pull request #1471](https://bitbucket.org/osrf/gazebo/pull-request/1471)
1. Sync name and location on SaveDialog.
* [Pull request #1563](https://bitbucket.org/osrf/gazebo/pull-request/1563)
1. Added Apply Force/Torque dialog
* [Pull request #1600](https://bitbucket.org/osrf/gazebo/pull-request/1600)
1. Added Apply Force/Torque visuals
* [Pull request #1619](https://bitbucket.org/osrf/gazebo/pull-request/1619)
1. Added Apply Force/Torque OnMouseRelease and ActivateWindow
* [Pull request #1699](https://bitbucket.org/osrf/gazebo/pull-request/1699)
1. Added Apply Force/Torque mouse interactions, modes, activation
* [Pull request #1731](https://bitbucket.org/osrf/gazebo/pull-request/1731)
1. Added inertia pose getter for COMVisual and COMVisual_TEST
* [Pull request #1581](https://bitbucket.org/osrf/gazebo/pull-request/1581)
1. Model editor updates
1. Joint preview using JointVisuals.
* [Pull request #1369](https://bitbucket.org/osrf/gazebo/pull-request/1369)
1. Added inspector for configuring link, visual, and collision properties.
* [Pull request #1408](https://bitbucket.org/osrf/gazebo/pull-request/1408)
1. Saving, exiting, generalizing SaveDialog.
* [Pull request #1401](https://bitbucket.org/osrf/gazebo/pull-request/1401)
1. Inspectors redesign
* [Pull request #1586](https://bitbucket.org/osrf/gazebo/pull-request/1586)
1. Edit existing model.
* [Pull request #1425](https://bitbucket.org/osrf/gazebo/pull-request/1425)
1. Add joint inspector to link's context menu.
* [Pull request #1449](https://bitbucket.org/osrf/gazebo/pull-request/1449)
* [Issue #1443](https://bitbucket.org/osrf/gazebo/issue/1443)
1. Added button to select mesh file on inspector.
* [Pull request #1460](https://bitbucket.org/osrf/gazebo/pull-request/1460)
* [Issue #1450](https://bitbucket.org/osrf/gazebo/issue/1450)
1. Renamed Part to Link.
* [Pull request #1478](https://bitbucket.org/osrf/gazebo/pull-request/1478)
1. Fix snapping inside editor.
* [Pull request #1489](https://bitbucket.org/osrf/gazebo/pull-request/1489)
* [Issue #1457](https://bitbucket.org/osrf/gazebo/issue/1457)
1. Moved DataLogger from Window menu to the toolbar and moved screenshot button to the right.
* [Pull request #1665](https://bitbucket.org/osrf/gazebo/pull-request/1665)
1. Keep loaded model's name.
* [Pull request #1516](https://bitbucket.org/osrf/gazebo/pull-request/1516)
* [Issue #1504](https://bitbucket.org/osrf/gazebo/issue/1504)
1. Added ExtrudeDialog.
* [Pull request #1483](https://bitbucket.org/osrf/gazebo/pull-request/1483)
1. Hide time panel inside editor and keep main window's paused state.
* [Pull request #1500](https://bitbucket.org/osrf/gazebo/pull-request/1500)
1. Fixed pose issues and added ModelCreator_TEST.
* [Pull request #1509](https://bitbucket.org/osrf/gazebo/pull-request/1509)
* [Issue #1497](https://bitbucket.org/osrf/gazebo/issue/1497)
* [Issue #1509](https://bitbucket.org/osrf/gazebo/issue/1509)
1. Added list of links and joints.
* [Pull request #1515](https://bitbucket.org/osrf/gazebo/pull-request/1515)
* [Issue #1418](https://bitbucket.org/osrf/gazebo/issue/1418)
1. Expose API to support adding items to the palette.
* [Pull request #1565](https://bitbucket.org/osrf/gazebo/pull-request/1565)
1. Added menu for toggling joint visualization
* [Pull request #1551](https://bitbucket.org/osrf/gazebo/pull-request/1551)
* [Issue #1483](https://bitbucket.org/osrf/gazebo/issue/1483)
1. Add schematic view to model editor
* [Pull request #1562](https://bitbucket.org/osrf/gazebo/pull-request/1562)
1. Building editor updates
1. Make palette tips tooltip clickable to open.
* [Pull request #1519](https://bitbucket.org/osrf/gazebo/pull-request/1519)
* [Issue #1370](https://bitbucket.org/osrf/gazebo/issue/1370)
1. Add measurement unit to building inspectors.
* [Pull request #1741](https://bitbucket.org/osrf/gazebo/pull-request/1741)
* [Issue #1363](https://bitbucket.org/osrf/gazebo/issue/1363)
1. Add `BaseInspectorDialog` as a base class for inspectors.
* [Pull request #1749](https://bitbucket.org/osrf/gazebo/pull-request/1749)
## Gazebo 5.0
### Gazebo 5.4.0 (2017-01-17)
1. Check FSAA support when creating camera render textures
* [Pull request 2442](https://bitbucket.org/osrf/gazebo/pull-request/2442)
* [Issue #1837](https://bitbucket.org/osrf/gazebo/issue/1837)
1. Fix mouse picking with transparent visuals
* [Pull request 2305](https://bitbucket.org/osrf/gazebo/pull-request/2305)
* [Issue #1956](https://bitbucket.org/osrf/gazebo/issue/1956)
1. Backport fix for DepthCamera visibility mask
* [Pull request 2286](https://bitbucket.org/osrf/gazebo/pull-request/2286)
* [Pull request 2287](https://bitbucket.org/osrf/gazebo/pull-request/2287)
1. Backport sensor reset fix
* [Pull request 2272](https://bitbucket.org/osrf/gazebo/pull-request/2272)
* [Issue #1917](https://bitbucket.org/osrf/gazebo/issue/1917)
1. Fix model snap tool highlighting
* [Pull request 2293](https://bitbucket.org/osrf/gazebo/pull-request/2293)
* [Issue #1955](https://bitbucket.org/osrf/gazebo/issue/1955)
### Gazebo 5.3.0 (2015-04-07)
1. fix: remove back projection
* [Pull request 2201](https://bitbucket.org/osrf/gazebo/pull-request/2201)
* A contribution from Yuki Furuta
1. Backport depth camera OSX fix and test
* [Pull request 2230](https://bitbucket.org/osrf/gazebo/pull-request/2230)
1. Add missing tinyxml includes
* [Pull request 2216](https://bitbucket.org/osrf/gazebo/pull-request/2216)
1. backport fixes for ffmpeg3 to gazebo5 (from pull request #2154)
* [Pull request 2161](https://bitbucket.org/osrf/gazebo/pull-request/2161)
1. Check for valid display using xwininfo -root
* [Pull request 2111](https://bitbucket.org/osrf/gazebo/pull-request/2111)
1. Don't search for sdformat4 on gazebo5, since gazebo5 can't handle sdformat protocol 1.6
* [Pull request 2092](https://bitbucket.org/osrf/gazebo/pull-request/2092)
1. Fix minimum window height
* [Pull request 2002](https://bitbucket.org/osrf/gazebo/pull-request/2002)
1. Relax physics tolerances for single-precision bullet
* [Pull request 1976](https://bitbucket.org/osrf/gazebo/pull-request/1976)
1. Try finding sdformat 4 in gazebo5 branch
* [Pull request 1972](https://bitbucket.org/osrf/gazebo/pull-request/1972)
1. Fix_send_message (backport of pull request #1951)
* [Pull request 1964](https://bitbucket.org/osrf/gazebo/pull-request/1964)
* A contribution from Samuel Lekieffre
1. Export the media path in the cmake config file.
* [Pull request 1933](https://bitbucket.org/osrf/gazebo/pull-request/1933)
1. Shorten gearbox test since it is failing via timeout on osx
* [Pull request 1937](https://bitbucket.org/osrf/gazebo/pull-request/1937)
### Gazebo 5.2.1 (2015-10-02)
1. Fix minimum window height
* Backport of [pull request #1977](https://bitbucket.org/osrf/gazebo/pull-request/1977)
* [Pull request #2002](https://bitbucket.org/osrf/gazebo/pull-request/2002)
* [Issue #1706](https://bitbucket.org/osrf/gazebo/issue/1706)
### Gazebo 5.2.0 (2015-10-02)
1. Initialize sigact struct fields that valgrind said were being used uninitialized
* [Pull request #1809](https://bitbucket.org/osrf/gazebo/pull-request/1809)
1. Add missing ogre includes to ensure macros are properly defined
* [Pull request #1813](https://bitbucket.org/osrf/gazebo/pull-request/1813)
1. Use ToSDF functions to simplify physics_friction test
* [Pull request #1808](https://bitbucket.org/osrf/gazebo/pull-request/1808)
1. Added lines to laser sensor visualization
* [Pull request #1742](https://bitbucket.org/osrf/gazebo/pull-request/1742)
* [Issue #935](https://bitbucket.org/osrf/gazebo/issue/935)
1. Fix BulletSliderJoint friction for bullet 2.83
* [Pull request #1686](https://bitbucket.org/osrf/gazebo/pull-request/1686)
1. Fix heightmap model texture loading.
* [Pull request #1592](https://bitbucket.org/osrf/gazebo/pull-request/1592)
1. Disable failing pr2 test for dart
* [Pull request #1540](https://bitbucket.org/osrf/gazebo/pull-request/1540)
* [Issue #1435](https://bitbucket.org/osrf/gazebo/issue/1435)
### Gazebo 5.1.0 (2015-03-20)
1. Backport pull request #1527 (FindOGRE.cmake for non-Debian systems)
* [Pull request #1532](https://bitbucket.org/osrf/gazebo/pull-request/1532)
1. Respect system cflags when not using USE_UPSTREAM_CFLAGS
* [Pull request #1531](https://bitbucket.org/osrf/gazebo/pull-request/1531)
1. Allow light manipulation
* [Pull request #1529](https://bitbucket.org/osrf/gazebo/pull-request/1529)
1. Allow sdformat 2.3.1+ or 3+ and fix tests
* [Pull request #1484](https://bitbucket.org/osrf/gazebo/pull-request/1484)
1. Add Link::GetWorldAngularMomentum function and test.
* [Pull request #1482](https://bitbucket.org/osrf/gazebo/pull-request/1482)
1. Preserve previous GAZEBO_MODEL_PATH values when sourcing setup.sh
* [Pull request #1430](https://bitbucket.org/osrf/gazebo/pull-request/1430)
1. Implement Coulomb joint friction for DART
* [Pull request #1427](https://bitbucket.org/osrf/gazebo/pull-request/1427)
* [Issue #1281](https://bitbucket.org/osrf/gazebo/issue/1281)
1. Fix simple shape normals.
* [Pull request #1477](https://bitbucket.org/osrf/gazebo/pull-request/1477)
* [Issue #1369](https://bitbucket.org/osrf/gazebo/issue/1369)
1. Use Msg-to-SDF conversion functions in tests, add ServerFixture::SpawnModel(msgs::Model).
* [Pull request #1466](https://bitbucket.org/osrf/gazebo/pull-request/1466)
1. Added Model Msg-to-SDF conversion functions and test.
* [Pull request #1429](https://bitbucket.org/osrf/gazebo/pull-request/1429)
1. Added Joint Msg-to-SDF conversion functions and test.
* [Pull request #1419](https://bitbucket.org/osrf/gazebo/pull-request/1419)
1. Added Visual, Material Msg-to-SDF conversion functions and ShaderType to string conversion functions.
* [Pull request #1415](https://bitbucket.org/osrf/gazebo/pull-request/1415)
1. Implement Coulomb joint friction for BulletSliderJoint
* [Pull request #1452](https://bitbucket.org/osrf/gazebo/pull-request/1452)
* [Issue #1348](https://bitbucket.org/osrf/gazebo/issue/1348)
### Gazebo 5.0.0 (2015-01-27)
1. Support for using [digital elevation maps](http://gazebosim.org/tutorials?tut=dem) has been added to debian packages.
1. C++11 support (C++11 compatible compiler is now required)
* [Pull request #1340](https://bitbucket.org/osrf/gazebo/pull-request/1340)
1. Implemented private data pointer for the World class.
* [Pull request #1383](https://bitbucket.org/osrf/gazebo/pull-request/1383)
1. Implemented private data pointer for the Scene class.
* [Pull request #1385](https://bitbucket.org/osrf/gazebo/pull-request/1385)
1. Added a events::Event::resetWorld event that is triggered when World::Reset is called.
* [Pull request #1332](https://bitbucket.org/osrf/gazebo/pull-request/1332)
* [Issue #1375](https://bitbucket.org/osrf/gazebo/issue/1375)
1. Fixed `math::Box::GetCenter` functionality.
* [Pull request #1278](https://bitbucket.org/osrf/gazebo/pull-request/1278)
* [Issue #1327](https://bitbucket.org/osrf/gazebo/issue/1327)
1. Added a GUI timer plugin that facilitates the display and control a timer inside the Gazebo UI.
* [Pull request #1270](https://bitbucket.org/osrf/gazebo/pull-request/1270)
1. Added ability to load plugins via SDF.
* [Pull request #1261](https://bitbucket.org/osrf/gazebo/pull-request/1261)
1. Added GUIEvent to hide/show the left GUI pane.
* [Pull request #1269](https://bitbucket.org/osrf/gazebo/pull-request/1269)
1. Modified KeyEventHandler and GLWidget so that hotkeys can be suppressed by custom KeyEvents set up by developers
* [Pull request #1251](https://bitbucket.org/osrf/gazebo/pull-request/1251)
1. Added ability to read the directory where the log files are stored.
* [Pull request #1277](https://bitbucket.org/osrf/gazebo/pull-request/1277)
1. Implemented a simulation cloner
* [Pull request #1180](https://bitbucket.org/osrf/gazebo/pull-request/1180/clone-a-simulation)
1. Added GUI overlay plugins. Users can now write a Gazebo + QT plugin that displays widgets over the render window.
* [Pull request #1181](https://bitbucket.org/osrf/gazebo/pull-request/1181)
1. Change behavior of Joint::SetVelocity, add Joint::SetVelocityLimit(unsigned int, double)
* [Pull request #1218](https://bitbucket.org/osrf/gazebo/pull-request/1218)
* [Issue #964](https://bitbucket.org/osrf/gazebo/issue/964)
1. Implement Coulomb joint friction for ODE
* [Pull request #1221](https://bitbucket.org/osrf/gazebo/pull-request/1221)
* [Issue #381](https://bitbucket.org/osrf/gazebo/issue/381)
1. Implement Coulomb joint friction for BulletHingeJoint
* [Pull request #1317](https://bitbucket.org/osrf/gazebo/pull-request/1317)
* [Issue #1348](https://bitbucket.org/osrf/gazebo/issue/1348)
1. Implemented camera lens distortion.
* [Pull request #1213](https://bitbucket.org/osrf/gazebo/pull-request/1213)
1. Kill rogue gzservers left over from failed INTEGRATION_world_clone tests
and improve robustness of `UNIT_gz_TEST`
* [Pull request #1232](https://bitbucket.org/osrf/gazebo/pull-request/1232)
* [Issue #1299](https://bitbucket.org/osrf/gazebo/issue/1299)
1. Added RenderWidget::ShowToolbar to toggle visibility of top toolbar.
* [Pull request #1248](https://bitbucket.org/osrf/gazebo/pull-request/1248)
1. Fix joint axis visualization.
* [Pull request #1258](https://bitbucket.org/osrf/gazebo/pull-request/1258)
1. Change UserCamera view control via joysticks. Clean up rate control vs. pose control.
see UserCamera::OnJoyPose and UserCamera::OnJoyTwist. Added view twist control toggle
with joystick button 1.
* [Pull request #1249](https://bitbucket.org/osrf/gazebo/pull-request/1249)
1. Added RenderWidget::GetToolbar to get the top toolbar and change its actions on ModelEditor.
* [Pull request #1263](https://bitbucket.org/osrf/gazebo/pull-request/1263)
1. Added accessor for MainWindow graphical widget to GuiIface.
* [Pull request #1250](https://bitbucket.org/osrf/gazebo/pull-request/1250)
1. Added a ConfigWidget class that takes in a google protobuf message and generates widgets for configuring the fields in the message
* [Pull request #1285](https://bitbucket.org/osrf/gazebo/pull-request/1285)
1. Added GLWidget::OnModelEditor when model editor is triggered, and MainWindow::OnEditorGroup to manually uncheck editor actions.
* [Pull request #1283](https://bitbucket.org/osrf/gazebo/pull-request/1283)
1. Added Collision, Geometry, Inertial, Surface Msg-to-SDF conversion functions.
* [Pull request #1315](https://bitbucket.org/osrf/gazebo/pull-request/1315)
1. Added "button modifier" fields (control, shift, and alt) to common::KeyEvent.
* [Pull request #1325](https://bitbucket.org/osrf/gazebo/pull-request/1325)
1. Added inputs for environment variable GAZEBO_GUI_INI_FILE for reading a custom .ini file.
* [Pull request #1252](https://bitbucket.org/osrf/gazebo/pull-request/1252)
1. Fixed crash on "permission denied" bug, added insert_model integration test.
* [Pull request #1329](https://bitbucket.org/osrf/gazebo/pull-request/1329/)
1. Enable simbody joint tests, implement `SimbodyJoint::GetParam`, create
`Joint::GetParam`, fix bug in `BulletHingeJoint::SetParam`.
* [Pull request #1404](https://bitbucket.org/osrf/gazebo/pull-request/1404/)
1. Building editor updates
1. Fixed inspector resizing.
* [Pull request #1230](https://bitbucket.org/osrf/gazebo/pull-request/1230)
* [Issue #395](https://bitbucket.org/osrf/gazebo/issue/395)
1. Doors and windows move proportionally with wall.
* [Pull request #1231](https://bitbucket.org/osrf/gazebo/pull-request/1231)
* [Issue #368](https://bitbucket.org/osrf/gazebo/issue/368)
1. Inspector dialogs stay on top.
* [Pull request #1229](https://bitbucket.org/osrf/gazebo/pull-request/1229)
* [Issue #417](https://bitbucket.org/osrf/gazebo/issue/417)
1. Make model name editable on palette.
* [Pull request #1239](https://bitbucket.org/osrf/gazebo/pull-request/1239)
1. Import background image and improve add/delete levels.
* [Pull request #1214](https://bitbucket.org/osrf/gazebo/pull-request/1214)
* [Issue #422](https://bitbucket.org/osrf/gazebo/issue/422)
* [Issue #361](https://bitbucket.org/osrf/gazebo/issue/361)
1. Fix changing draw mode.
* [Pull request #1233](https://bitbucket.org/osrf/gazebo/pull-request/1233)
* [Issue #405](https://bitbucket.org/osrf/gazebo/issue/405)
1. Tips on palette's top-right corner.
* [Pull request #1241](https://bitbucket.org/osrf/gazebo/pull-request/1241)
1. New buttons and layout for the palette.
* [Pull request #1242](https://bitbucket.org/osrf/gazebo/pull-request/1242)
1. Individual wall segments instead of polylines.
* [Pull request #1246](https://bitbucket.org/osrf/gazebo/pull-request/1246)
* [Issue #389](https://bitbucket.org/osrf/gazebo/issue/389)
* [Issue #415](https://bitbucket.org/osrf/gazebo/issue/415)
1. Fix exiting and saving, exiting when there's nothing drawn, fix text on popups.
* [Pull request #1296](https://bitbucket.org/osrf/gazebo/pull-request/1296)
1. Display measure for selected wall segment.
* [Pull request #1291](https://bitbucket.org/osrf/gazebo/pull-request/1291)
* [Issue #366](https://bitbucket.org/osrf/gazebo/issue/366)
1. Highlight selected item's 3D visual.
* [Pull request #1292](https://bitbucket.org/osrf/gazebo/pull-request/1292)
1. Added color picker to inspector dialogs.
* [Pull request #1298](https://bitbucket.org/osrf/gazebo/pull-request/1298)
1. Snapping on by default, off holding Shift. Improved snapping.
* [Pull request #1304](https://bitbucket.org/osrf/gazebo/pull-request/1304)
1. Snap walls to length increments, moved scale to SegmentItem and added Get/SetScale, added SegmentItem::SnapAngle and SegmentItem::SnapLength.
* [Pull request #1311](https://bitbucket.org/osrf/gazebo/pull-request/1311)
1. Make buildings available in "Insert Models" tab, improve save flow.
* [Pull request #1312](https://bitbucket.org/osrf/gazebo/pull-request/1312)
1. Added EditorItem::SetHighlighted.
* [Pull request #1308](https://bitbucket.org/osrf/gazebo/pull-request/1308)
1. Current level is transparent, lower levels opaque, higher levels invisible.
* [Pull request #1303](https://bitbucket.org/osrf/gazebo/pull-request/1303)
1. Detach all child manips when item is deleted, added BuildingMaker::DetachAllChildren.
* [Pull request #1316](https://bitbucket.org/osrf/gazebo/pull-request/1316)
1. Added texture picker to inspector dialogs.
* [Pull request #1306](https://bitbucket.org/osrf/gazebo/pull-request/1306)
1. Measures for doors and windows. Added RectItem::angleOnWall and related Get/Set.
* [Pull request #1322](https://bitbucket.org/osrf/gazebo/pull-request/1322)
* [Issue #370](https://bitbucket.org/osrf/gazebo/issue/370)
1. Added Gazebo/BuildingFrame material to display holes for doors and windows on walls.
* [Pull request #1338](https://bitbucket.org/osrf/gazebo/pull-request/1338)
1. Added Gazebo/Bricks material to be used as texture on the building editor.
* [Pull request #1333](https://bitbucket.org/osrf/gazebo/pull-request/1333)
1. Pick colors from the palette and assign on 3D view. Added mouse and key event handlers to BuildingMaker, and events to communicate from BuildingModelManip to EditorItem.
* [Pull request #1336](https://bitbucket.org/osrf/gazebo/pull-request/1336)
1. Pick textures from the palette and assign in 3D view.
* [Pull request #1368](https://bitbucket.org/osrf/gazebo/pull-request/1368)
1. Model editor updates
1. Fix adding/removing event filters .
* [Pull request #1279](https://bitbucket.org/osrf/gazebo/pull-request/1279)
1. Enabled multi-selection and align tool inside model editor.
* [Pull request #1302](https://bitbucket.org/osrf/gazebo/pull-request/1302)
* [Issue #1323](https://bitbucket.org/osrf/gazebo/issue/1323)
1. Enabled snap mode inside model editor.
* [Pull request #1331](https://bitbucket.org/osrf/gazebo/pull-request/1331)
* [Issue #1318](https://bitbucket.org/osrf/gazebo/issue/1318)
1. Implemented copy/pasting of links.
* [Pull request #1330](https://bitbucket.org/osrf/gazebo/pull-request/1330)
1. GUI publishes model selection information on ~/selection topic.
* [Pull request #1318](https://bitbucket.org/osrf/gazebo/pull-request/1318)
## Gazebo 4.0
### Gazebo 4.x.x (2015-xx-xx)
1. Fix build for Bullet 2.83, enable angle wrapping for BulletHingeJoint
* [Pull request #1664](https://bitbucket.org/osrf/gazebo/pull-request/1664)
### Gazebo 4.1.3 (2015-05-07)
1. Fix saving visual geom SDF values
* [Pull request #1597](https://bitbucket.org/osrf/gazebo/pull-request/1597)
1. Fix heightmap model texture loading.
* [Pull request #1595](https://bitbucket.org/osrf/gazebo/pull-request/1595)
1. Fix visual collision scale on separate client
* [Pull request #1585](https://bitbucket.org/osrf/gazebo/pull-request/1585)
1. Fix several clang compiler warnings
* [Pull request #1594](https://bitbucket.org/osrf/gazebo/pull-request/1594)
1. Fix blank save / browse dialogs
* [Pull request #1544](https://bitbucket.org/osrf/gazebo/pull-request/1544)
### Gazebo 4.1.2 (2015-03-20)
1. Fix quaternion documentation: target Gazebo_4.1
* [Pull request #1525](https://bitbucket.org/osrf/gazebo/pull-request/1525)
1. Speed up World::Step in loops
* [Pull request #1492](https://bitbucket.org/osrf/gazebo/pull-request/1492)
1. Reduce selection buffer updates -> 4.1
* [Pull request #1494](https://bitbucket.org/osrf/gazebo/pull-request/1494)
1. Fix loading of SimbodyPhysics parameters
* [Pull request #1474](https://bitbucket.org/osrf/gazebo/pull-request/1474)
1. Fix heightmap on OSX -> 4.1
* [Pull request #1455](https://bitbucket.org/osrf/gazebo/pull-request/1455)
1. Remove extra pose tag in a world file that should not be there
* [Pull request #1458](https://bitbucket.org/osrf/gazebo/pull-request/1458)
1. Better fix for #236 for IMU that doesn't require ABI changes
* [Pull request #1448](https://bitbucket.org/osrf/gazebo/pull-request/1448)
1. Fix regression of #236 for ImuSensor in 4.1
* [Pull request #1446](https://bitbucket.org/osrf/gazebo/pull-request/1446)
1. Preserve previous GAZEBO_MODEL_PATH values when sourcing setup.sh
* [Pull request #1430](https://bitbucket.org/osrf/gazebo/pull-request/1430)
1. issue #857: fix segfault for simbody screw joint when setting limits due to uninitialized limitForce.
* [Pull request #1423](https://bitbucket.org/osrf/gazebo/pull-request/1423)
1. Allow multiple contact sensors per link (#960)
* [Pull request #1413](https://bitbucket.org/osrf/gazebo/pull-request/1413)
1. Fix for issue #351, ODE World Step
* [Pull request #1406](https://bitbucket.org/osrf/gazebo/pull-request/1406)
1. Disable failing InelasticCollision/0 test (#1394)
* [Pull request #1405](https://bitbucket.org/osrf/gazebo/pull-request/1405)
1. Prevent out of bounds array access in SkidSteerDrivePlugin (found by cppcheck 1.68)
* [Pull request #1379](https://bitbucket.org/osrf/gazebo/pull-request/1379)
### Gazebo 4.1.1 (2015-01-15)
1. Fix BulletPlaneShape bounding box (#1265)
* [Pull request #1367](https://bitbucket.org/osrf/gazebo/pull-request/1367)
1. Fix dart linking errors on osx
* [Pull request #1372](https://bitbucket.org/osrf/gazebo/pull-request/1372)
1. Update to player interfaces
* [Pull request #1324](https://bitbucket.org/osrf/gazebo/pull-request/1324)
1. Handle GpuLaser name collisions (#1403)
* [Pull request #1360](https://bitbucket.org/osrf/gazebo/pull-request/1360)
1. Add checks for handling array's with counts of zero, and read specular values
* [Pull request #1339](https://bitbucket.org/osrf/gazebo/pull-request/1339)
1. Fix model list widget test
* [Pull request #1327](https://bitbucket.org/osrf/gazebo/pull-request/1327)
1. Fix ogre includes
* [Pull request #1323](https://bitbucket.org/osrf/gazebo/pull-request/1323)
### Gazebo 4.1.0 (2014-11-20)
1. Modified GUI rendering to improve the rendering update rate.
* [Pull request #1487](https://bitbucket.org/osrf/gazebo/pull-request/1487)
1. Add ArrangePlugin for arranging groups of models.
Also add Model::ResetPhysicsStates to call Link::ResetPhysicsStates
recursively on all links in model.
* [Pull request #1208](https://bitbucket.org/osrf/gazebo/pull-request/1208)
1. The `gz model` command line tool will output model info using either `-i` for complete info, or `-p` for just the model pose.
* [Pull request #1212](https://bitbucket.org/osrf/gazebo/pull-request/1212)
* [DRCSim Issue #389](https://bitbucket.org/osrf/drcsim/issue/389)
1. Added SignalStats class for computing incremental signal statistics.
* [Pull request #1198](https://bitbucket.org/osrf/gazebo/pull-request/1198)
1. Add InitialVelocityPlugin to setting the initial state of links
* [Pull request #1237](https://bitbucket.org/osrf/gazebo/pull-request/1237)
1. Added Quaternion::Integrate function.
* [Pull request #1255](https://bitbucket.org/osrf/gazebo/pull-request/1255)
1. Added ConvertJointType functions, display more joint info on model list.
* [Pull request #1259](https://bitbucket.org/osrf/gazebo/pull-request/1259)
1. Added ModelListWidget::AddProperty, removed unnecessary checks on ModelListWidget.
* [Pull request #1271](https://bitbucket.org/osrf/gazebo/pull-request/1271)
1. Fix loading collada meshes with unsupported input semantics.
* [Pull request #1319](https://bitbucket.org/osrf/gazebo/pull-request/1319)
### Gazebo 4.0.2 (2014-09-23)
1. Fix and improve mechanism to generate pkgconfig libs
* [Pull request #1207](https://bitbucket.org/osrf/gazebo/pull-request/1207)
* [Issue #1284](https://bitbucket.org/osrf/gazebo/issue/1284)
1. Added arat.world
* [Pull request #1205](https://bitbucket.org/osrf/gazebo/pull-request/1205)
1. Update gzprop to output zip files.
* [Pull request #1197](https://bitbucket.org/osrf/gazebo/pull-request/1197)
1. Make Collision::GetShape a const function
* [Pull requset #1189](https://bitbucket.org/osrf/gazebo/pull-request/1189)
1. Install missing physics headers
* [Pull requset #1183](https://bitbucket.org/osrf/gazebo/pull-request/1183)
1. Remove SimbodyLink::AddTorque console message
* [Pull requset #1185](https://bitbucket.org/osrf/gazebo/pull-request/1185)
1. Fix log xml
* [Pull requset #1188](https://bitbucket.org/osrf/gazebo/pull-request/1188)
### Gazebo 4.0.0 (2014-08-08)
1. Added lcov support to cmake
* [Pull request #1047](https://bitbucket.org/osrf/gazebo/pull-request/1047)
1. Fixed memory leak in image conversion
* [Pull request #1057](https://bitbucket.org/osrf/gazebo/pull-request/1057)
1. Removed deprecated function
* [Pull request #1067](https://bitbucket.org/osrf/gazebo/pull-request/1067)
1. Improved collada loading performance
* [Pull request #1066](https://bitbucket.org/osrf/gazebo/pull-request/1066)
* [Pull request #1082](https://bitbucket.org/osrf/gazebo/pull-request/1082)
* [Issue #1134](https://bitbucket.org/osrf/gazebo/issue/1134)
1. Implemented a collada exporter
* [Pull request #1064](https://bitbucket.org/osrf/gazebo/pull-request/1064)
1. Force torque sensor now makes use of sensor's pose.
* [Pull request #1076](https://bitbucket.org/osrf/gazebo/pull-request/1076)
* [Issue #940](https://bitbucket.org/osrf/gazebo/issue/940)
1. Fix Model::GetLinks segfault
* [Pull request #1093](https://bitbucket.org/osrf/gazebo/pull-request/1093)
1. Fix deleting and saving lights in gzserver
* [Pull request #1094](https://bitbucket.org/osrf/gazebo/pull-request/1094)
* [Issue #1182](https://bitbucket.org/osrf/gazebo/issue/1182)
* [Issue #346](https://bitbucket.org/osrf/gazebo/issue/346)
1. Fix Collision::GetWorldPose. The pose of a collision would not update properly.
* [Pull request #1049](https://bitbucket.org/osrf/gazebo/pull-request/1049)
* [Issue #1124](https://bitbucket.org/osrf/gazebo/issue/1124)
1. Fixed the animate_box and animate_joints examples
* [Pull request #1086](https://bitbucket.org/osrf/gazebo/pull-request/1086)
1. Integrated Oculus Rift functionality
* [Pull request #1074](https://bitbucket.org/osrf/gazebo/pull-request/1074)
* [Pull request #1136](https://bitbucket.org/osrf/gazebo/pull-request/1136)
* [Pull request #1139](https://bitbucket.org/osrf/gazebo/pull-request/1139)
1. Updated Base::GetScopedName
* [Pull request #1104](https://bitbucket.org/osrf/gazebo/pull-request/1104)
1. Fix collada loader from adding duplicate materials into a Mesh
* [Pull request #1105](https://bitbucket.org/osrf/gazebo/pull-request/1105)
* [Issue #1180](https://bitbucket.org/osrf/gazebo/issue/1180)
1. Integrated Razer Hydra functionality
* [Pull request #1083](https://bitbucket.org/osrf/gazebo/pull-request/1083)
* [Pull request #1109](https://bitbucket.org/osrf/gazebo/pull-request/1109)
1. Added ability to copy and paste models in the GUI
* [Pull request #1103](https://bitbucket.org/osrf/gazebo/pull-request/1103)
1. Removed unnecessary inclusion of gazebo.hh and common.hh in plugins
* [Pull request #1111](https://bitbucket.org/osrf/gazebo/pull-request/1111)
1. Added ability to specify custom road textures
* [Pull request #1027](https://bitbucket.org/osrf/gazebo/pull-request/1027)
1. Added support for DART 4.1
* [Pull request #1113](https://bitbucket.org/osrf/gazebo/pull-request/1113)
* [Pull request #1132](https://bitbucket.org/osrf/gazebo/pull-request/1132)
* [Pull request #1134](https://bitbucket.org/osrf/gazebo/pull-request/1134)
* [Pull request #1154](https://bitbucket.org/osrf/gazebo/pull-request/1154)
1. Allow position of joints to be directly set.
* [Pull request #1097](https://bitbucket.org/osrf/gazebo/pull-request/1097)
* [Issue #1138](https://bitbucket.org/osrf/gazebo/issue/1138)
1. Added extruded polyline geometry
* [Pull request #1026](https://bitbucket.org/osrf/gazebo/pull-request/1026)
1. Fixed actor animation
* [Pull request #1133](https://bitbucket.org/osrf/gazebo/pull-request/1133)
* [Pull request #1141](https://bitbucket.org/osrf/gazebo/pull-request/1141)
1. Generate a versioned cmake config file
* [Pull request #1153](https://bitbucket.org/osrf/gazebo/pull-request/1153)
* [Issue #1226](https://bitbucket.org/osrf/gazebo/issue/1226)
1. Added KMeans class
* [Pull request #1147](https://bitbucket.org/osrf/gazebo/pull-request/1147)
1. Added --summary-range feature to bitbucket pullrequest tool
* [Pull request #1156](https://bitbucket.org/osrf/gazebo/pull-request/1156)
1. Updated web links
* [Pull request #1159](https://bitbucket.org/osrf/gazebo/pull-request/1159)
1. Update tests
* [Pull request #1155](https://bitbucket.org/osrf/gazebo/pull-request/1155)
* [Pull request #1143](https://bitbucket.org/osrf/gazebo/pull-request/1143)
* [Pull request #1138](https://bitbucket.org/osrf/gazebo/pull-request/1138)
* [Pull request #1140](https://bitbucket.org/osrf/gazebo/pull-request/1140)
* [Pull request #1127](https://bitbucket.org/osrf/gazebo/pull-request/1127)
* [Pull request #1115](https://bitbucket.org/osrf/gazebo/pull-request/1115)
* [Pull request #1102](https://bitbucket.org/osrf/gazebo/pull-request/1102)
* [Pull request #1087](https://bitbucket.org/osrf/gazebo/pull-request/1087)
* [Pull request #1084](https://bitbucket.org/osrf/gazebo/pull-request/1084)
## Gazebo 3.0
### Gazebo 3.x.x (yyyy-mm-dd)
1. Fixed sonar and wireless sensor visualization
* [Pull request #1254](https://bitbucket.org/osrf/gazebo/pull-request/1254)
1. Update visual bounding box when model is selected
* [Pull request #1280](https://bitbucket.org/osrf/gazebo/pull-request/1280)
### Gazebo 3.1.0 (2014-08-08)
1. Implemented Simbody::Link::Set*Vel
* [Pull request #1160](https://bitbucket.org/osrf/gazebo/pull-request/1160)
* [Issue #1012](https://bitbucket.org/osrf/gazebo/issue/1012)
1. Added World::RemoveModel function
* [Pull request #1106](https://bitbucket.org/osrf/gazebo/pull-request/1106)
* [Issue #1177](https://bitbucket.org/osrf/gazebo/issue/1177)
1. Fix exit from camera follow mode using the escape key
* [Pull request #1137](https://bitbucket.org/osrf/gazebo/pull-request/1137)
* [Issue #1220](https://bitbucket.org/osrf/gazebo/issue/1220)
1. Added support for SDF joint spring stiffness and reference positions
* [Pull request #1117](https://bitbucket.org/osrf/gazebo/pull-request/1117)
1. Removed the gzmodel_create script
* [Pull request #1130](https://bitbucket.org/osrf/gazebo/pull-request/1130)
1. Added Vector2 dot product
* [Pull request #1101](https://bitbucket.org/osrf/gazebo/pull-request/1101)
1. Added SetPositionPID and SetVelocityPID to JointController
* [Pull request #1091](https://bitbucket.org/osrf/gazebo/pull-request/1091)
1. Fix gzclient startup crash with ogre 1.9
* [Pull request #1098](https://bitbucket.org/osrf/gazebo/pull-request/1098)
* [Issue #996](https://bitbucket.org/osrf/gazebo/issue/996)
1. Update the bitbucket_pullrequests tool
* [Pull request #1108](https://bitbucket.org/osrf/gazebo/pull-request/1108)
1. Light properties now remain in place after move by the user via the GUI.
* [Pull request #1110](https://bitbucket.org/osrf/gazebo/pull-request/1110)
* [Issue #1211](https://bitbucket.org/osrf/gazebo/issue/1211)
1. Allow position of joints to be directly set.
* [Pull request #1096](https://bitbucket.org/osrf/gazebo/pull-request/1096)
* [Issue #1138](https://bitbucket.org/osrf/gazebo/issue/1138)
### Gazebo 3.0.0 (2014-04-11)
1. Fix bug when deleting the sun light
* [Pull request #1088](https://bitbucket.org/osrf/gazebo/pull-request/1088)
* [Issue #1133](https://bitbucket.org/osrf/gazebo/issue/1133)
1. Fix ODE screw joint
* [Pull request #1078](https://bitbucket.org/osrf/gazebo/pull-request/1078)
* [Issue #1167](https://bitbucket.org/osrf/gazebo/issue/1167)
1. Update joint integration tests
* [Pull request #1081](https://bitbucket.org/osrf/gazebo/pull-request/1081)
1. Fixed false positives in cppcheck.
* [Pull request #1061](https://bitbucket.org/osrf/gazebo/pull-request/1061)
1. Made joint axis reference frame relative to child, and updated simbody and dart accordingly.
* [Pull request #1069](https://bitbucket.org/osrf/gazebo/pull-request/1069)
* [Issue #494](https://bitbucket.org/osrf/gazebo/issue/494)
* [Issue #1143](https://bitbucket.org/osrf/gazebo/issue/1143)
1. Added ability to pass vector of strings to SetupClient and SetupServer
* [Pull request #1068](https://bitbucket.org/osrf/gazebo/pull-request/1068)
* [Issue #1132](https://bitbucket.org/osrf/gazebo/issue/1132)
1. Fix error correction in screw constraints for ODE
* [Pull request #1070](https://bitbucket.org/osrf/gazebo/pull-request/1070)
* [Issue #1159](https://bitbucket.org/osrf/gazebo/issue/1159)
1. Improved pkgconfig with SDF
* [Pull request #1062](https://bitbucket.org/osrf/gazebo/pull-request/1062)
1. Added a plugin to simulate aero dynamics
* [Pull request #905](https://bitbucket.org/osrf/gazebo/pull-request/905)
1. Updated bullet support
* [Issue #1069](https://bitbucket.org/osrf/gazebo/issue/1069)
* [Pull request #1011](https://bitbucket.org/osrf/gazebo/pull-request/1011)
* [Pull request #996](https://bitbucket.org/osrf/gazebo/pull-request/966)
* [Pull request #1024](https://bitbucket.org/osrf/gazebo/pull-request/1024)
1. Updated simbody support
* [Pull request #995](https://bitbucket.org/osrf/gazebo/pull-request/995)
1. Updated worlds to SDF 1.5
* [Pull request #1021](https://bitbucket.org/osrf/gazebo/pull-request/1021)
1. Improvements to ODE
* [Pull request #1001](https://bitbucket.org/osrf/gazebo/pull-request/1001)
* [Pull request #1014](https://bitbucket.org/osrf/gazebo/pull-request/1014)
* [Pull request #1015](https://bitbucket.org/osrf/gazebo/pull-request/1015)
* [Pull request #1016](https://bitbucket.org/osrf/gazebo/pull-request/1016)
1. New command line tool
* [Pull request #972](https://bitbucket.org/osrf/gazebo/pull-request/972)
1. Graphical user interface improvements
* [Pull request #971](https://bitbucket.org/osrf/gazebo/pull-request/971)
* [Pull request #1013](https://bitbucket.org/osrf/gazebo/pull-request/1013)
* [Pull request #989](https://bitbucket.org/osrf/gazebo/pull-request/989)
1. Created a friction pyramid class
* [Pull request #935](https://bitbucket.org/osrf/gazebo/pull-request/935)
1. Added GetWorldEnergy functions to Model, Joint, and Link
* [Pull request #1017](https://bitbucket.org/osrf/gazebo/pull-request/1017)
1. Preparing Gazebo for admission into Ubuntu
* [Pull request #969](https://bitbucket.org/osrf/gazebo/pull-request/969)
* [Pull request #998](https://bitbucket.org/osrf/gazebo/pull-request/998)
* [Pull request #1002](https://bitbucket.org/osrf/gazebo/pull-request/1002)
1. Add method for querying if useImplicitStiffnessDamping flag is set for a given joint
* [Issue #629](https://bitbucket.org/osrf/gazebo/issue/629)
* [Pull request #1006](https://bitbucket.org/osrf/gazebo/pull-request/1006)
1. Fix joint axis frames
* [Issue #494](https://bitbucket.org/osrf/gazebo/issue/494)
* [Pull request #963](https://bitbucket.org/osrf/gazebo/pull-request/963)
1. Compute joint anchor pose relative to parent
* [Issue #1029](https://bitbucket.org/osrf/gazebo/issue/1029)
* [Pull request #982](https://bitbucket.org/osrf/gazebo/pull-request/982)
1. Cleanup the installed worlds
* [Issue #1036](https://bitbucket.org/osrf/gazebo/issue/1036)
* [Pull request #984](https://bitbucket.org/osrf/gazebo/pull-request/984)
1. Update to the GPS sensor
* [Issue #1059](https://bitbucket.org/osrf/gazebo/issue/1059)
* [Pull request #978](https://bitbucket.org/osrf/gazebo/pull-request/978)
1. Removed libtool from plugin loading
* [Pull request #981](https://bitbucket.org/osrf/gazebo/pull-request/981)
1. Added functions to get inertial information for a link in the world frame.
* [Pull request #1005](https://bitbucket.org/osrf/gazebo/pull-request/1005)
## Gazebo 2.0
### Gazebo 2.2.6 (2015-09-28)
1. Backport fixes to setup.sh from pull request #1430 to 2.2 branch
* [Pull request 1889](https://bitbucket.org/osrf/gazebo/pull-request/1889)
1. Fix heightmap texture loading (2.2)
* [Pull request 1596](https://bitbucket.org/osrf/gazebo/pull-request/1596)
1. Prevent out of bounds array access in SkidSteerDrivePlugin (found by cppcheck 1.68)
* [Pull request 1379](https://bitbucket.org/osrf/gazebo/pull-request/1379)
1. Fix build with boost 1.57 for 2.2 branch (#1399)
* [Pull request 1358](https://bitbucket.org/osrf/gazebo/pull-request/1358)
1. Fix manpage test failures by incrementing year to 2015
* [Pull request 1361](https://bitbucket.org/osrf/gazebo/pull-request/1361)
1. Fix build for OS X 10.10 (#1304, #1289)
* [Pull request 1346](https://bitbucket.org/osrf/gazebo/pull-request/1346)
1. Restore ODELink ABI, use Link variables instead (#1354)
* [Pull request 1347](https://bitbucket.org/osrf/gazebo/pull-request/1347)
1. Fix inertia_ratio test
* [Pull request 1344](https://bitbucket.org/osrf/gazebo/pull-request/1344)
1. backport collision visual fix -> 2.2
* [Pull request 1343](https://bitbucket.org/osrf/gazebo/pull-request/1343)
1. Fix two code_check errors on 2.2
* [Pull request 1314](https://bitbucket.org/osrf/gazebo/pull-request/1314)
1. issue #243 fix Link::GetWorldLinearAccel and Link::GetWorldAngularAccel for ODE
* [Pull request 1284](https://bitbucket.org/osrf/gazebo/pull-request/1284)
### Gazebo 2.2.3 (2014-04-29)
1. Removed redundant call to World::Init
* [Pull request #1107](https://bitbucket.org/osrf/gazebo/pull-request/1107)
* [Issue #1208](https://bitbucket.org/osrf/gazebo/issue/1208)
1. Return proper error codes when gazebo exits
* [Pull request #1085](https://bitbucket.org/osrf/gazebo/pull-request/1085)
* [Issue #1178](https://bitbucket.org/osrf/gazebo/issue/1178)
1. Fixed Camera::GetWorldRotation().
* [Pull request #1071](https://bitbucket.org/osrf/gazebo/pull-request/1071)
* [Issue #1087](https://bitbucket.org/osrf/gazebo/issue/1087)
1. Fixed memory leak in image conversion
* [Pull request #1073](https://bitbucket.org/osrf/gazebo/pull-request/1073)
### Gazebo 2.2.1 (xxxx-xx-xx)
1. Fix heightmap model texture loading.
* [Pull request #1596](https://bitbucket.org/osrf/gazebo/pull-request/1596)
### Gazebo 2.2.0 (2014-01-10)
1. Fix compilation when using OGRE-1.9 (full support is being worked on)
* [Issue #994](https://bitbucket.org/osrf/gazebo/issue/994)
* [Issue #995](https://bitbucket.org/osrf/gazebo/issue/995)
* [Issue #996](https://bitbucket.org/osrf/gazebo/issue/996)
* [Pull request #883](https://bitbucket.org/osrf/gazebo/pull-request/883)
1. Added unit test for issue 624.
* [Issue #624](https://bitbucket.org/osrf/gazebo/issue/624).
* [Pull request #889](https://bitbucket.org/osrf/gazebo/pull-request/889)
1. Use 3x3 PCF shadows for smoother shadows.
* [Pull request #887](https://bitbucket.org/osrf/gazebo/pull-request/887)
1. Update manpage copyright to 2014.
* [Pull request #893](https://bitbucket.org/osrf/gazebo/pull-request/893)
1. Added friction integration test .
* [Pull request #885](https://bitbucket.org/osrf/gazebo/pull-request/885)
1. Fix joint anchor when link pose is not specified.
* [Issue #978](https://bitbucket.org/osrf/gazebo/issue/978)
* [Pull request #862](https://bitbucket.org/osrf/gazebo/pull-request/862)
1. Added (ESC) tooltip for GUI Selection Mode icon.
* [Issue #993](https://bitbucket.org/osrf/gazebo/issue/993)
* [Pull request #888](https://bitbucket.org/osrf/gazebo/pull-request/888)
1. Removed old comment about resolved issue.
* [Issue #837](https://bitbucket.org/osrf/gazebo/issue/837)
* [Pull request #880](https://bitbucket.org/osrf/gazebo/pull-request/880)
1. Made SimbodyLink::Get* function thread-safe
* [Issue #918](https://bitbucket.org/osrf/gazebo/issue/918)
* [Pull request #872](https://bitbucket.org/osrf/gazebo/pull-request/872)
1. Suppressed spurious gzlog messages in ODE::Body
* [Issue #983](https://bitbucket.org/osrf/gazebo/issue/983)
* [Pull request #875](https://bitbucket.org/osrf/gazebo/pull-request/875)
1. Fixed Force Torque Sensor Test by properly initializing some values.
* [Issue #982](https://bitbucket.org/osrf/gazebo/issue/982)
* [Pull request #869](https://bitbucket.org/osrf/gazebo/pull-request/869)
1. Added breakable joint plugin to support breakable walls.
* [Pull request #865](https://bitbucket.org/osrf/gazebo/pull-request/865)
1. Used different tuple syntax to fix compilation on OSX mavericks.
* [Issue #947](https://bitbucket.org/osrf/gazebo/issue/947)
* [Pull request #858](https://bitbucket.org/osrf/gazebo/pull-request/858)
1. Fixed sonar test and deprecation warning.
* [Pull request #856](https://bitbucket.org/osrf/gazebo/pull-request/856)
1. Speed up test compilation.
* Part of [Issue #955](https://bitbucket.org/osrf/gazebo/issue/955)
* [Pull request #846](https://bitbucket.org/osrf/gazebo/pull-request/846)
1. Added Joint::SetEffortLimit API
* [Issue #923](https://bitbucket.org/osrf/gazebo/issue/923)
* [Pull request #808](https://bitbucket.org/osrf/gazebo/pull-request/808)
1. Made bullet output less verbose.
* [Pull request #839](https://bitbucket.org/osrf/gazebo/pull-request/839)
1. Convergence acceleration and stability tweak to make atlas_v3 stable
* [Issue #895](https://bitbucket.org/osrf/gazebo/issue/895)
* [Pull request #772](https://bitbucket.org/osrf/gazebo/pull-request/772)
1. Added colors, textures and world files for the SPL RoboCup environment
* [Pull request #838](https://bitbucket.org/osrf/gazebo/pull-request/838)
1. Fixed bitbucket_pullrequests tool to work with latest BitBucket API.
* [Issue #933](https://bitbucket.org/osrf/gazebo/issue/933)
* [Pull request #841](https://bitbucket.org/osrf/gazebo/pull-request/841)
1. Fixed cppcheck warnings.
* [Pull request #842](https://bitbucket.org/osrf/gazebo/pull-request/842)
### Gazebo 2.1.0 (2013-11-08)
1. Fix mainwindow unit test
* [Pull request #752](https://bitbucket.org/osrf/gazebo/pull-request/752)
1. Visualize moment of inertia
* Pull request [#745](https://bitbucket.org/osrf/gazebo/pull-request/745), [#769](https://bitbucket.org/osrf/gazebo/pull-request/769), [#787](https://bitbucket.org/osrf/gazebo/pull-request/787)
* [Issue #203](https://bitbucket.org/osrf/gazebo/issue/203)
1. Update tool to count lines of code
* [Pull request #758](https://bitbucket.org/osrf/gazebo/pull-request/758)
1. Implement World::Clear
* Pull request [#785](https://bitbucket.org/osrf/gazebo/pull-request/785), [#804](https://bitbucket.org/osrf/gazebo/pull-request/804)
1. Improve Bullet support
* [Pull request #805](https://bitbucket.org/osrf/gazebo/pull-request/805)
1. Fix doxygen spacing
* [Pull request #740](https://bitbucket.org/osrf/gazebo/pull-request/740)
1. Add tool to generate model images for thepropshop.org
* [Pull request #734](https://bitbucket.org/osrf/gazebo/pull-request/734)
1. Added paging support for terrains
* [Pull request #707](https://bitbucket.org/osrf/gazebo/pull-request/707)
1. Added plugin path to LID_LIBRARY_PATH in setup.sh
* [Pull request #750](https://bitbucket.org/osrf/gazebo/pull-request/750)
1. Fix for OSX
* [Pull request #766](https://bitbucket.org/osrf/gazebo/pull-request/766)
* [Pull request #786](https://bitbucket.org/osrf/gazebo/pull-request/786)
* [Issue #906](https://bitbucket.org/osrf/gazebo/issue/906)
1. Update copyright information
* [Pull request #771](https://bitbucket.org/osrf/gazebo/pull-request/771)
1. Enable screen dependent tests
* [Pull request #764](https://bitbucket.org/osrf/gazebo/pull-request/764)
* [Issue #811](https://bitbucket.org/osrf/gazebo/issue/811)
1. Fix gazebo command line help message
* [Pull request #775](https://bitbucket.org/osrf/gazebo/pull-request/775)
* [Issue #898](https://bitbucket.org/osrf/gazebo/issue/898)
1. Fix man page test
* [Pull request #774](https://bitbucket.org/osrf/gazebo/pull-request/774)
1. Improve load time by reducing calls to RTShader::Update
* [Pull request #773](https://bitbucket.org/osrf/gazebo/pull-request/773)
* [Issue #877](https://bitbucket.org/osrf/gazebo/issue/877)
1. Fix joint visualization
* [Pull request #776](https://bitbucket.org/osrf/gazebo/pull-request/776)
* [Pull request #802](https://bitbucket.org/osrf/gazebo/pull-request/802)
* [Issue #464](https://bitbucket.org/osrf/gazebo/issue/464)
1. Add helpers to fix NaN
* [Pull request #742](https://bitbucket.org/osrf/gazebo/pull-request/742)
1. Fix model resizing via the GUI
* [Pull request #763](https://bitbucket.org/osrf/gazebo/pull-request/763)
* [Issue #885](https://bitbucket.org/osrf/gazebo/issue/885)
1. Simplify gzlog test by using sha1
* [Pull request #781](https://bitbucket.org/osrf/gazebo/pull-request/781)
* [Issue #837](https://bitbucket.org/osrf/gazebo/issue/837)
1. Enable cppcheck for header files
* [Pull request #782](https://bitbucket.org/osrf/gazebo/pull-request/782)
* [Issue #907](https://bitbucket.org/osrf/gazebo/issue/907)
1. Fix broken regression test
* [Pull request #784](https://bitbucket.org/osrf/gazebo/pull-request/784)
* [Issue #884](https://bitbucket.org/osrf/gazebo/issue/884)
1. All simbody and dart to pass tests
* [Pull request #790](https://bitbucket.org/osrf/gazebo/pull-request/790)
* [Issue #873](https://bitbucket.org/osrf/gazebo/issue/873)
1. Fix camera rotation from SDF
* [Pull request #789](https://bitbucket.org/osrf/gazebo/pull-request/789)
* [Issue #920](https://bitbucket.org/osrf/gazebo/issue/920)
1. Fix bitbucket pullrequest command line tool to match new API
* [Pull request #803](https://bitbucket.org/osrf/gazebo/pull-request/803)
1. Fix transceiver spawn errors in tests
* [Pull request #811](https://bitbucket.org/osrf/gazebo/pull-request/811)
* [Pull request #814](https://bitbucket.org/osrf/gazebo/pull-request/814)
### Gazebo 2.0.0 (2013-10-08)
1. Refactor code check tool.
* [Pull Request #669](https://bitbucket.org/osrf/gazebo/pull-request/669)
1. Added pull request tool for Bitbucket.
* [Pull Request #670](https://bitbucket.org/osrf/gazebo/pull-request/670)
* [Pull Request #691](https://bitbucket.org/osrf/gazebo/pull-request/671)
1. New wireless receiver and transmitter sensor models.
* [Pull Request #644](https://bitbucket.org/osrf/gazebo/pull-request/644)
* [Pull Request #675](https://bitbucket.org/osrf/gazebo/pull-request/675)
* [Pull Request #727](https://bitbucket.org/osrf/gazebo/pull-request/727)
1. Audio support using OpenAL.
* [Pull Request #648](https://bitbucket.org/osrf/gazebo/pull-request/648)
* [Pull Request #704](https://bitbucket.org/osrf/gazebo/pull-request/704)
1. Simplify command-line parsing of gztopic echo output.
* [Pull Request #674](https://bitbucket.org/osrf/gazebo/pull-request/674)
* Resolves: [Issue #795](https://bitbucket.org/osrf/gazebo/issue/795)
1. Use UNIX directories through the user of GNUInstallDirs cmake module.
* [Pull Request #676](https://bitbucket.org/osrf/gazebo/pull-request/676)
* [Pull Request #681](https://bitbucket.org/osrf/gazebo/pull-request/681)
1. New GUI interactions for object manipulation.
* [Pull Request #634](https://bitbucket.org/osrf/gazebo/pull-request/634)
1. Fix for OSX menubar.
* [Pull Request #677](https://bitbucket.org/osrf/gazebo/pull-request/677)
1. Remove internal SDF directories and dependencies.
* [Pull Request #680](https://bitbucket.org/osrf/gazebo/pull-request/680)
1. Add minimum version for sdformat.
* [Pull Request #682](https://bitbucket.org/osrf/gazebo/pull-request/682)
* Resolves: [Issue #818](https://bitbucket.org/osrf/gazebo/issue/818)
1. Allow different gtest parameter types with ServerFixture
* [Pull Request #686](https://bitbucket.org/osrf/gazebo/pull-request/686)
* Resolves: [Issue #820](https://bitbucket.org/osrf/gazebo/issue/820)
1. GUI model scaling when using Bullet.
* [Pull Request #683](https://bitbucket.org/osrf/gazebo/pull-request/683)
1. Fix typo in cmake config.
* [Pull Request #694](https://bitbucket.org/osrf/gazebo/pull-request/694)
* Resolves: [Issue #824](https://bitbucket.org/osrf/gazebo/issue/824)
1. Remove gazebo include subdir from pkgconfig and cmake config.
* [Pull Request #691](https://bitbucket.org/osrf/gazebo/pull-request/691)
1. Torsional spring demo
* [Pull Request #693](https://bitbucket.org/osrf/gazebo/pull-request/693)
1. Remove repeated call to SetAxis in Joint.cc
* [Pull Request #695](https://bitbucket.org/osrf/gazebo/pull-request/695)
* Resolves: [Issue #823](https://bitbucket.org/osrf/gazebo/issue/823)
1. Add test for rotational joints.
* [Pull Request #697](https://bitbucket.org/osrf/gazebo/pull-request/697)
* Resolves: [Issue #820](https://bitbucket.org/osrf/gazebo/issue/820)
1. Fix compilation of tests using Joint base class
* [Pull Request #701](https://bitbucket.org/osrf/gazebo/pull-request/701)
1. Terrain paging implemented.
* [Pull Request #687](https://bitbucket.org/osrf/gazebo/pull-request/687)
1. Improve timeout error reporting in ServerFixture
* [Pull Request #705](https://bitbucket.org/osrf/gazebo/pull-request/705)
1. Fix mouse picking for cases where visuals overlap with the laser
* [Pull Request #709](https://bitbucket.org/osrf/gazebo/pull-request/709)
1. Fix string literals for OSX
* [Pull Request #712](https://bitbucket.org/osrf/gazebo/pull-request/712)
* Resolves: [Issue #803](https://bitbucket.org/osrf/gazebo/issue/803)
1. Support for ENABLE_TESTS_COMPILATION cmake parameter
* [Pull Request #708](https://bitbucket.org/osrf/gazebo/pull-request/708)
1. Updated system gui plugin
* [Pull Request #702](https://bitbucket.org/osrf/gazebo/pull-request/702)
1. Fix force torque unit test issue
* [Pull Request #673](https://bitbucket.org/osrf/gazebo/pull-request/673)
* Resolves: [Issue #813](https://bitbucket.org/osrf/gazebo/issue/813)
1. Use variables to control auto generation of CFlags
* [Pull Request #699](https://bitbucket.org/osrf/gazebo/pull-request/699)
1. Remove deprecated functions.
* [Pull Request #715](https://bitbucket.org/osrf/gazebo/pull-request/715)
1. Fix typo in `Camera.cc`
* [Pull Request #719](https://bitbucket.org/osrf/gazebo/pull-request/719)
* Resolves: [Issue #846](https://bitbucket.org/osrf/gazebo/issue/846)
1. Performance improvements
* [Pull Request #561](https://bitbucket.org/osrf/gazebo/pull-request/561)
1. Fix gripper model.
* [Pull Request #713](https://bitbucket.org/osrf/gazebo/pull-request/713)
* Resolves: [Issue #314](https://bitbucket.org/osrf/gazebo/issue/314)
1. First part of Simbody integration
* [Pull Request #716](https://bitbucket.org/osrf/gazebo/pull-request/716)
## Gazebo 1.9
### Gazebo 1.9.6 (2014-04-29)
1. Refactored inertia ratio reduction for ODE
* [Pull request #1114](https://bitbucket.org/osrf/gazebo/pull-request/1114)
1. Improved collada loading performance
* [Pull request #1075](https://bitbucket.org/osrf/gazebo/pull-request/1075)
### Gazebo 1.9.3 (2014-01-10)
1. Add thickness to plane to remove shadow flickering.
* [Pull request #886](https://bitbucket.org/osrf/gazebo/pull-request/886)
1. Temporary GUI shadow toggle fix.
* [Issue #925](https://bitbucket.org/osrf/gazebo/issue/925)
* [Pull request #868](https://bitbucket.org/osrf/gazebo/pull-request/868)
1. Fix memory access bugs with libc++ on mavericks.
* [Issue #965](https://bitbucket.org/osrf/gazebo/issue/965)
* [Pull request #857](https://bitbucket.org/osrf/gazebo/pull-request/857)
* [Pull request #881](https://bitbucket.org/osrf/gazebo/pull-request/881)
1. Replaced printf with cout in gztopic hz.
* [Issue #969](https://bitbucket.org/osrf/gazebo/issue/969)
* [Pull request #854](https://bitbucket.org/osrf/gazebo/pull-request/854)
1. Add Dark grey material and fix indentation.
* [Pull request #851](https://bitbucket.org/osrf/gazebo/pull-request/851)
1. Fixed sonar sensor unit test.
* [Pull request #848](https://bitbucket.org/osrf/gazebo/pull-request/848)
1. Convergence acceleration and stability tweak to make atlas_v3 stable.
* [Pull request #845](https://bitbucket.org/osrf/gazebo/pull-request/845)
1. Update gtest to 1.7.0 to resolve problems with libc++.
* [Issue #947](https://bitbucket.org/osrf/gazebo/issue/947)
* [Pull request #827](https://bitbucket.org/osrf/gazebo/pull-request/827)
1. Fixed LD_LIBRARY_PATH for plugins.
* [Issue #957](https://bitbucket.org/osrf/gazebo/issue/957)
* [Pull request #844](https://bitbucket.org/osrf/gazebo/pull-request/844)
1. Fix transceiver sporadic errors.
* Backport of [pull request #811](https://bitbucket.org/osrf/gazebo/pull-request/811)
* [Pull request #836](https://bitbucket.org/osrf/gazebo/pull-request/836)
1. Modified the MsgTest to be deterministic with time checks.
* [Pull request #843](https://bitbucket.org/osrf/gazebo/pull-request/843)
1. Fixed seg fault in LaserVisual.
* [Issue #950](https://bitbucket.org/osrf/gazebo/issue/950)
* [Pull request #832](https://bitbucket.org/osrf/gazebo/pull-request/832)
1. Implemented the option to disable tests that need a working screen to run properly.
* Backport of [Pull request #764](https://bitbucket.org/osrf/gazebo/pull-request/764)
* [Pull request #837](https://bitbucket.org/osrf/gazebo/pull-request/837)
1. Cleaned up gazebo shutdown.
* [Pull request #829](https://bitbucket.org/osrf/gazebo/pull-request/829)
1. Fixed bug associated with loading joint child links.
* [Issue #943](https://bitbucket.org/osrf/gazebo/issue/943)
* [Pull request #820](https://bitbucket.org/osrf/gazebo/pull-request/820)
### Gazebo 1.9.2 (2013-11-08)
1. Fix enable/disable sky and clouds from SDF
* [Pull request #809](https://bitbucket.org/osrf/gazebo/pull-request/809])
1. Fix occasional blank GUI screen on startup
* [Pull request #815](https://bitbucket.org/osrf/gazebo/pull-request/815])
1. Fix GPU laser when interacting with heightmaps
* [Pull request #796](https://bitbucket.org/osrf/gazebo/pull-request/796])
1. Added API/ABI checker command line tool
* [Pull request #765](https://bitbucket.org/osrf/gazebo/pull-request/765])
1. Added gtest version information
* [Pull request #801](https://bitbucket.org/osrf/gazebo/pull-request/801])
1. Fix GUI world saving
* [Pull request #806](https://bitbucket.org/osrf/gazebo/pull-request/806])
1. Enable anti-aliasing for camera sensor
* [Pull request #800](https://bitbucket.org/osrf/gazebo/pull-request/800])
1. Make sensor noise deterministic
* [Pull request #788](https://bitbucket.org/osrf/gazebo/pull-request/788])
1. Fix build problem
* [Issue #901](https://bitbucket.org/osrf/gazebo/issue/901)
* [Pull request #778](https://bitbucket.org/osrf/gazebo/pull-request/778])
1. Fix a typo in Camera.cc
* [Pull request #720](https://bitbucket.org/osrf/gazebo/pull-request/720])
* [Issue #846](https://bitbucket.org/osrf/gazebo/issue/846)
1. Fix OSX menu bar
* [Pull request #688](https://bitbucket.org/osrf/gazebo/pull-request/688])
1. Fix gazebo::init by calling sdf::setFindCallback() before loading the sdf in gzfactory.
* [Pull request #678](https://bitbucket.org/osrf/gazebo/pull-request/678])
* [Issue #817](https://bitbucket.org/osrf/gazebo/issue/817)
### Gazebo 1.9.1 (2013-08-20)
* Deprecate header files that require case-sensitive filesystem (e.g. Common.hh, Physics.hh) [https://bitbucket.org/osrf/gazebo/pull-request/638/fix-for-775-deprecate-headers-that-require]
* Initial support for building on Mac OS X [https://bitbucket.org/osrf/gazebo/pull-request/660/osx-support-for-gazebo-19] [https://bitbucket.org/osrf/gazebo/pull-request/657/cmake-fixes-for-osx]
* Fixes for various issues [https://bitbucket.org/osrf/gazebo/pull-request/635/fix-for-issue-792/diff] [https://bitbucket.org/osrf/gazebo/pull-request/628/allow-scoped-and-non-scoped-joint-names-to/diff] [https://bitbucket.org/osrf/gazebo/pull-request/636/fix-build-dependency-in-message-generation/diff] [https://bitbucket.org/osrf/gazebo/pull-request/639/make-the-unversioned-setupsh-a-copy-of-the/diff] [https://bitbucket.org/osrf/gazebo/pull-request/650/added-missing-lib-to-player-client-library/diff] [https://bitbucket.org/osrf/gazebo/pull-request/656/install-gzmode_create-without-sh-suffix/diff]
### Gazebo 1.9.0 (2013-07-23)
* Use external package [sdformat](https://bitbucket.org/osrf/sdformat) for sdf parsing, refactor the `Element::GetValue*` function calls, and deprecate Gazebo's internal sdf parser [https://bitbucket.org/osrf/gazebo/pull-request/627]
* Improved ROS support ([[Tutorials#ROS_Integration |documentation here]]) [https://bitbucket.org/osrf/gazebo/pull-request/559]
* Added Sonar, Force-Torque, and Tactile Pressure sensors [https://bitbucket.org/osrf/gazebo/pull-request/557], [https://bitbucket.org/osrf/gazebo/pull-request/567]
* Add compile-time defaults for environment variables so that sourcing setup.sh is unnecessary in most cases [https://bitbucket.org/osrf/gazebo/pull-request/620]
* Enable user camera to follow objects in client window [https://bitbucket.org/osrf/gazebo/pull-request/603]
* Install protobuf message files for use in custom messages [https://bitbucket.org/osrf/gazebo/pull-request/614]
* Change default compilation flags to improve debugging [https://bitbucket.org/osrf/gazebo/pull-request/617]
* Change to supported relative include paths [https://bitbucket.org/osrf/gazebo/pull-request/594]
* Fix display of laser scans when sensor is rotated [https://bitbucket.org/osrf/gazebo/pull-request/599]
## Gazebo 1.8
### Gazebo 1.8.7 (2013-07-16)
* Fix bug in URDF parsing of Vector3 elements [https://bitbucket.org/osrf/gazebo/pull-request/613]
* Fix compilation errors with newest libraries [https://bitbucket.org/osrf/gazebo/pull-request/615]
### Gazebo 1.8.6 (2013-06-07)
* Fix inertia lumping in the URDF parser[https://bitbucket.org/osrf/gazebo/pull-request/554]
* Fix for ODEJoint CFM damping sign error [https://bitbucket.org/osrf/gazebo/pull-request/586]
* Fix transport memory growth[https://bitbucket.org/osrf/gazebo/pull-request/584]
* Reduce log file data in order to reduce buffer growth that results in out of memory kernel errors[https://bitbucket.org/osrf/gazebo/pull-request/587]
### Gazebo 1.8.5 (2013-06-04)
* Fix Gazebo build for machines without a valid display.[https://bitbucket.org/osrf/gazebo/commits/37f00422eea03365b839a632c1850431ee6a1d67]
### Gazebo 1.8.4 (2013-06-03)
* Fix UDRF to SDF converter so that URDF gazebo extensions are applied to all collisions in a link.[https://bitbucket.org/osrf/gazebo/pull-request/579]
* Prevent transport layer from locking when a gzclient connects to a gzserver over a connection with high latency.[https://bitbucket.org/osrf/gazebo/pull-request/572]
* Improve performance and fix uninitialized conditional jumps.[https://bitbucket.org/osrf/gazebo/pull-request/571]
### Gazebo 1.8.3 (2013-06-03)
* Fix for gzlog hanging when gzserver is not present or not responsive[https://bitbucket.org/osrf/gazebo/pull-request/577]
* Fix occasional segfault when generating log files[https://bitbucket.org/osrf/gazebo/pull-request/575]
* Performance improvement to ODE[https://bitbucket.org/osrf/gazebo/pull-request/556]
* Fix node initialization[https://bitbucket.org/osrf/gazebo/pull-request/570]
* Fix GPU laser Hz rate reduction when sensor moved away from world origin[https://bitbucket.org/osrf/gazebo/pull-request/566]
* Fix incorrect lighting in camera sensors when GPU laser is subscribe to[https://bitbucket.org/osrf/gazebo/pull-request/563]
### Gazebo 1.8.2 (2013-05-28)
* ODE performance improvements[https://bitbucket.org/osrf/gazebo/pull-request/535][https://bitbucket.org/osrf/gazebo/pull-request/537]
* Fixed tests[https://bitbucket.org/osrf/gazebo/pull-request/538][https://bitbucket.org/osrf/gazebo/pull-request/541][https://bitbucket.org/osrf/gazebo/pull-request/542]
* Fixed sinking vehicle bug[https://bitbucket.org/osrf/drcsim/issue/300] in pull-request[https://bitbucket.org/osrf/gazebo/pull-request/538]
* Fix GPU sensor throttling[https://bitbucket.org/osrf/gazebo/pull-request/536]
* Reduce string comparisons for better performance[https://bitbucket.org/osrf/gazebo/pull-request/546]
* Contact manager performance improvements[https://bitbucket.org/osrf/gazebo/pull-request/543]
* Transport performance improvements[https://bitbucket.org/osrf/gazebo/pull-request/548]
* Reduce friction noise[https://bitbucket.org/osrf/gazebo/pull-request/545]
### Gazebo 1.8.1 (2013-05-22)
* Please note that 1.8.1 contains a bug[https://bitbucket.org/osrf/drcsim/issue/300] that causes interpenetration between objects in resting contact to grow slowly. Please update to 1.8.2 for the patch.
* Added warm starting[https://bitbucket.org/osrf/gazebo/pull-request/529]
* Reduced console output[https://bitbucket.org/osrf/gazebo/pull-request/533]
* Improved off screen rendering performance[https://bitbucket.org/osrf/gazebo/pull-request/530]
* Performance improvements [https://bitbucket.org/osrf/gazebo/pull-request/535] [https://bitbucket.org/osrf/gazebo/pull-request/537]
### Gazebo 1.8.0 (2013-05-17)
* Fixed slider axis [https://bitbucket.org/osrf/gazebo/pull-request/527]
* Fixed heightmap shadows [https://bitbucket.org/osrf/gazebo/pull-request/525]
* Fixed model and canonical link pose [https://bitbucket.org/osrf/gazebo/pull-request/519]
* Fixed OSX message header[https://bitbucket.org/osrf/gazebo/pull-request/524]
* Added zlib compression for logging [https://bitbucket.org/osrf/gazebo/pull-request/515]
* Allow clouds to be disabled in cameras [https://bitbucket.org/osrf/gazebo/pull-request/507]
* Camera rendering performance [https://bitbucket.org/osrf/gazebo/pull-request/528]
## Gazebo 1.7
### Gazebo 1.7.3 (2013-05-08)
* Fixed log cleanup (again) [https://bitbucket.org/osrf/gazebo/pull-request/511/fix-log-cleanup-logic]
### Gazebo 1.7.2 (2013-05-07)
* Fixed log cleanup [https://bitbucket.org/osrf/gazebo/pull-request/506/fix-gzlog-stop-command-line]
* Minor documentation fix [https://bitbucket.org/osrf/gazebo/pull-request/488/minor-documentation-fix]
### Gazebo 1.7.1 (2013-04-19)
* Fixed tests
* IMU sensor receives time stamped data from links
* Fix saving image frames [https://bitbucket.org/osrf/gazebo/pull-request/466/fix-saving-frames/diff]
* Wireframe rendering in GUI [https://bitbucket.org/osrf/gazebo/pull-request/414/allow-rendering-of-models-in-wireframe]
* Improved logging performance [https://bitbucket.org/osrf/gazebo/pull-request/457/improvements-to-gzlog-filter-and-logging]
* Viscous mud model [https://bitbucket.org/osrf/gazebo/pull-request/448/mud-plugin/diff]
## Gazebo 1.6
### Gazebo 1.6.3 (2013-04-15)
* Fixed a [critical SDF bug](https://bitbucket.org/osrf/gazebo/pull-request/451)
* Fixed a [laser offset bug](https://bitbucket.org/osrf/gazebo/pull-request/449)
### Gazebo 1.6.2 (2013-04-14)
* Fix for fdir1 physics property [https://bitbucket.org/osrf/gazebo/pull-request/429/fixes-to-treat-fdir1-better-1-rotate-into/diff]
* Fix for force torque sensor [https://bitbucket.org/osrf/gazebo/pull-request/447]
* SDF documentation fix [https://bitbucket.org/osrf/gazebo/issue/494/joint-axis-reference-frame-doesnt-match]
### Gazebo 1.6.1 (2013-04-05)
* Switch default build type to Release.
### Gazebo 1.6.0 (2013-04-05)
* Improvements to inertia in rubble pile
* Various Bullet integration advances.
* Noise models for ray, camera, and imu sensors.
* SDF 1.4, which accommodates more physics engine parameters and also some sensor noise models.
* Initial support for making movies from within Gazebo.
* Many performance improvements.
* Many bug fixes.
* Progress toward to building on OS X.
## Gazebo 1.5
### Gazebo 1.5.0 (2013-03-11)
* Partial integration of Bullet
* Includes: cubes, spheres, cylinders, planes, meshes, revolute joints, ray sensors
* GUI Interface for log writing.
* Threaded sensors.
* Multi-camera sensor.
* Fixed the following issues:
* [https://bitbucket.org/osrf/gazebo/issue/236 Issue #236]
* [https://bitbucket.org/osrf/gazebo/issue/507 Issue #507]
* [https://bitbucket.org/osrf/gazebo/issue/530 Issue #530]
* [https://bitbucket.org/osrf/gazebo/issue/279 Issue #279]
* [https://bitbucket.org/osrf/gazebo/issue/529 Issue #529]
* [https://bitbucket.org/osrf/gazebo/issue/239 Issue #239]
* [https://bitbucket.org/osrf/gazebo/issue/5 Issue #5]
## Gazebo 1.4
### Gazebo 1.4.0 (2013-02-01)
* New Features:
* GUI elements to display messages from the server.
* Multi-floor building editor and creator.
* Improved sensor visualizations.
* Improved mouse interactions
* Fixed the following issues:
* [https://bitbucket.org/osrf/gazebo/issue/16 Issue #16]
* [https://bitbucket.org/osrf/gazebo/issue/142 Issue #142]
* [https://bitbucket.org/osrf/gazebo/issue/229 Issue #229]
* [https://bitbucket.org/osrf/gazebo/issue/277 Issue #277]
* [https://bitbucket.org/osrf/gazebo/issue/291 Issue #291]
* [https://bitbucket.org/osrf/gazebo/issue/310 Issue #310]
* [https://bitbucket.org/osrf/gazebo/issue/320 Issue #320]
* [https://bitbucket.org/osrf/gazebo/issue/329 Issue #329]
* [https://bitbucket.org/osrf/gazebo/issue/333 Issue #333]
* [https://bitbucket.org/osrf/gazebo/issue/334 Issue #334]
* [https://bitbucket.org/osrf/gazebo/issue/335 Issue #335]
* [https://bitbucket.org/osrf/gazebo/issue/341 Issue #341]
* [https://bitbucket.org/osrf/gazebo/issue/350 Issue #350]
* [https://bitbucket.org/osrf/gazebo/issue/384 Issue #384]
* [https://bitbucket.org/osrf/gazebo/issue/431 Issue #431]
* [https://bitbucket.org/osrf/gazebo/issue/433 Issue #433]
* [https://bitbucket.org/osrf/gazebo/issue/453 Issue #453]
* [https://bitbucket.org/osrf/gazebo/issue/456 Issue #456]
* [https://bitbucket.org/osrf/gazebo/issue/457 Issue #457]
* [https://bitbucket.org/osrf/gazebo/issue/459 Issue #459]
## Gazebo 1.3
### Gazebo 1.3.1 (2012-12-14)
* Fixed the following issues:
* [https://bitbucket.org/osrf/gazebo/issue/297 Issue #297]
* Other bugs fixed:
* [https://bitbucket.org/osrf/gazebo/pull-request/164/ Fix light bounding box to disable properly when deselected]
* [https://bitbucket.org/osrf/gazebo/pull-request/169/ Determine correct local IP address, to make remote clients work properly]
* Various test fixes
### Gazebo 1.3.0 (2012-12-03)
* Fixed the following issues:
* [https://bitbucket.org/osrf/gazebo/issue/233 Issue #233]
* [https://bitbucket.org/osrf/gazebo/issue/238 Issue #238]
* [https://bitbucket.org/osrf/gazebo/issue/2 Issue #2]
* [https://bitbucket.org/osrf/gazebo/issue/95 Issue #95]
* [https://bitbucket.org/osrf/gazebo/issue/97 Issue #97]
* [https://bitbucket.org/osrf/gazebo/issue/90 Issue #90]
* [https://bitbucket.org/osrf/gazebo/issue/253 Issue #253]
* [https://bitbucket.org/osrf/gazebo/issue/163 Issue #163]
* [https://bitbucket.org/osrf/gazebo/issue/91 Issue #91]
* [https://bitbucket.org/osrf/gazebo/issue/245 Issue #245]
* [https://bitbucket.org/osrf/gazebo/issue/242 Issue #242]
* [https://bitbucket.org/osrf/gazebo/issue/156 Issue #156]
* [https://bitbucket.org/osrf/gazebo/issue/78 Issue #78]
* [https://bitbucket.org/osrf/gazebo/issue/36 Issue #36]
* [https://bitbucket.org/osrf/gazebo/issue/104 Issue #104]
* [https://bitbucket.org/osrf/gazebo/issue/249 Issue #249]
* [https://bitbucket.org/osrf/gazebo/issue/244 Issue #244]
* New features:
* Default camera view changed to look down at the origin from a height of 2 meters at location (5, -5, 2).
* Record state data using the '-r' command line option, playback recorded state data using the '-p' command line option
* Adjust placement of lights using the mouse.
* Reduced the startup time.
* Added visual reference for GUI mouse movements.
* SDF version 1.3 released (changes from 1.2 listed below):
- added `name` to `<camera name="cam_name"/>`
- added `pose` to `<camera><pose>...</pose></camera>`
- removed `filename` from `<mesh><filename>...</filename><mesh>`, use uri only.
- recovered `provide_feedback` under `<joint>`, allowing calling `physics::Joint::GetForceTorque` in plugins.
- added `imu` under `<sensor>`.
## Gazebo 1.2
### Gazebo 1.2.6 (2012-11-08)
* Fixed a transport issue with the GUI. Fixed saving the world via the GUI. Added more documentation. ([https://bitbucket.org/osrf/gazebo/pull-request/43/fixed-a-transport-issue-with-the-gui-fixed/diff pull request #43])
* Clean up mutex usage. ([https://bitbucket.org/osrf/gazebo/pull-request/54/fix-mutex-in-modellistwidget-using-boost/diff pull request #54])
* Fix OGRE path determination ([https://bitbucket.org/osrf/gazebo/pull-request/58/fix-ogre-paths-so-this-also-works-with/diff pull request #58], [https://bitbucket.org/osrf/gazebo/pull-request/68/fix-ogre-plugindir-determination/diff pull request #68])
* Fixed a couple of crashes and model selection/dragging problems ([https://bitbucket.org/osrf/gazebo/pull-request/59/fixed-a-couple-of-crashes-and-model/diff pull request #59])
### Gazebo 1.2.5 (2012-10-22)
* Step increment update while paused fixed ([https://bitbucket.org/osrf/gazebo/pull-request/45/fix-proper-world-stepinc-count-we-were/diff pull request #45])
* Actually call plugin destructors on shutdown ([https://bitbucket.org/osrf/gazebo/pull-request/51/fixed-a-bug-which-prevent-a-plugin/diff pull request #51])
* Don't crash on bad SDF input ([https://bitbucket.org/osrf/gazebo/pull-request/52/fixed-loading-of-bad-sdf-files/diff pull request #52])
* Fix cleanup of ray sensors on model deletion ([https://bitbucket.org/osrf/gazebo/pull-request/53/deleting-a-model-with-a-ray-sensor-did/diff pull request #53])
* Fix loading / deletion of improperly specified models ([https://bitbucket.org/osrf/gazebo/pull-request/56/catch-when-loading-bad-models-joint/diff pull request #56])
### Gazebo 1.2.4 (10-19-2012:08:00:52)
* Style fixes ([https://bitbucket.org/osrf/gazebo/pull-request/30/style-fixes/diff pull request #30]).
* Fix joint position control ([https://bitbucket.org/osrf/gazebo/pull-request/49/fixed-position-joint-control/diff pull request #49])
### Gazebo 1.2.3 (10-16-2012:18:39:54)
* Disabled selection highlighting due to bug ([https://bitbucket.org/osrf/gazebo/pull-request/44/disabled-selection-highlighting-fixed/diff pull request #44]).
* Fixed saving a world via the GUI.
### Gazebo 1.2.2 (10-16-2012:15:12:22)
* Skip search for system install of libccd, use version inside gazebo ([https://bitbucket.org/osrf/gazebo/pull-request/39/skip-search-for-system-install-of-libccd/diff pull request #39]).
* Fixed sensor initialization race condition ([https://bitbucket.org/osrf/gazebo/pull-request/42/fix-sensor-initializaiton-race-condition pull request #42]).
### Gazebo 1.2.1 (10-15-2012:21:32:55)
* Properly removed projectors attached to deleted models ([https://bitbucket.org/osrf/gazebo/pull-request/37/remove-projectors-that-are-attached-to/diff pull request #37]).
* Fix model plugin loading bug ([https://bitbucket.org/osrf/gazebo/pull-request/31/moving-bool-first-in-model-and-world pull request #31]).
* Fix light insertion and visualization of models prior to insertion ([https://bitbucket.org/osrf/gazebo/pull-request/35/fixed-light-insertion-and-visualization-of/diff pull request #35]).
* Fixed GUI manipulation of static objects ([https://bitbucket.org/osrf/gazebo/issue/63/moving-static-objects-does-not-move-the issue #63] [https://bitbucket.org/osrf/gazebo/pull-request/38/issue-63-bug-patch-moving-static-objects/diff pull request #38]).
* Fixed GUI selection bug ([https://bitbucket.org/osrf/gazebo/pull-request/40/fixed-selection-of-multiple-objects-at/diff pull request #40])
### Gazebo 1.2.0 (10-04-2012:20:01:20)
* Updated GUI: new style, improved mouse controls, and removal of non-functional items.
* Model database: An online repository of models.
* Numerous bug fixes
* APT repository hosted at [http://osrfoundation.org OSRF]
* Improved process control prevents zombie processes
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