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Migration.md

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Note on deprecations

A tick-tock release cycle allows easy migration to new software versions. Obsolete code is marked as deprecated for one major release. Deprecated code produces compile-time warnings. These warning serve as notification to users that their code should be upgraded. The next major release will remove the deprecated code.

Ignition Gazebo 4.x to 5.x

  • Use cli component of ignition-utils1.

  • ignition::gazebo::RenderUtil::SelectedEntities() now returns a const std::vector<Entity> & instead of forcing a copy. The calling code should create a copy if it needs to modify the vector in some way.

  • Default generated topic name for thermal cameras now includes the /image suffix. The camera_info topic has also been fixed to include the sensor name in the generated topic string. The naming scheme should be consistent with a normal camera sensor. Topic changes:

    • /<prefix>/<sensor_name> -> /<prefix>/<sensor_name>/image
    • /<prefix>/camera_info -> /<prefix>/<sensor_name>/camera_info

  • Various GuiEvents were deprecated in favor of their Ignition GUI equivalents.

    • Deprecated ignition::gazebo::gui::SnapIntervals
    • Replacement ignition::gui::SnapIntervals
    • Deprecated ignition::gazebo::gui::Render
    • Replacement ignition::gui::Render
    • Deprecated ignition::gazebo::gui::SpawnPreviewModel
    • Replacement ignition::gui::SpawnFromDescription
    • Deprecated ignition::gazebo::gui::SnapPreviewPath
    • Replacement ignition::gui::SnapFromPath

  • The <direction> tag of spot lights was previously not parsed by the scene, so all spot lights shone in the direction corresponding to the default 0 0 -1. Since 5.x, the <direction> tag is correctly processed.

Ignition Gazebo 4.0.0 to 4.X.X

  • Ignition Gazebo 4.0.0 enabled double sided material by default but this caused shadow artifacts to appear on some meshes. Double sided material is now disabled and made an opt-in feature. Users can configure this property in SDF by setting the <visual><material><double_sided> SDF element.

Ignition Gazebo 3.x to 4.x

  • The RenderUtil::SetEnabledSensors callback in gazebo rendering has a new required function argument for the Entity of the sensor.

    • Removed public: void SetEnableSensors(bool, std::function< std::string(const sdf::Sensor &, const std::string &)>)
    • Replacement public: void SetEnableSensors(bool, std::function< std::string(const gazebo::Entity &, const sdf::Sensor &, const std::string &)>)

  • Log playback using <path> SDF parameter is removed. Use --playback command line argument instead.

  • rendering::SceneManager

    • Deprecated: Entity EntityFromNode(const rendering::NodePtr &_node) const;
    • Replacement: Entity entity = std::get<int>(visual->UserData("gazebo-entity"));

Ignition Gazebo 2.x to 3.x

  • Use ign-rendering3, ign-sensors3 and ign-gui3.

Ignition Gazebo 1.x to 2.x

  • Changed component data types:

    • Altimeter now uses sdf::Sensor
    • JointVelocity now uses std::vector<double>

  • Deprecated components:

    • JointVelocity2: use JointVelocity's vector instead.

  • The --distributed command line argument has been deprecated. Use --network-role instead.

  • The -f/--file command line argument has been deprecated. The SDF file can now be loaded without a flag.

  • The ign-gazebo command line tool is deprecated. The new tool is ign gazebo, which has all the same options, except for --distributed and --file/-f, which have been removed.

  • The entity_name field in the messages published by the imu system is updated to report its scoped name.

  • Log files generated from Ignition Gazebo 1.X are no longer compatible with Gazebo 2+ for playback. BitBucket pull request #257 added an SDF message to the start of log files.

  • Log playback using <path> SDF parameter is deprecated. Use --playback command line argument instead.

Ignition Gazebo 1.0.2 to 1.1.0

  • All headers in gazebo/network are no longer installed.

  • The ignition-gazebo1-gui library has been changed to a gui component of ignition-gazebo. To use the gui component downstream, update the find package call in cmake to request for the component, e.g. ign_find_package(ignition-gazebo1 REQUIRED COMPONENTS gui), and link to the libignition-gazebo1::gui target instead of libignition-gazebo1-gui