## 0.4 - 0.9

This file is outdated. Updated information can be found in the The Gazebo wiki.

## 0.4.0

This release of Gazebo includes a number of new models and interfaces, and is built around an all-new rendering engine. New features include:

- Pioner2Sonars, Pioneer2Gripper models (thanks to Carle Cote).
- Terrain model (creates realistic outdoor terrains from elevation data).
- Textures on primitives (ground planes, boxes, etc.).
- Improved control of lighting (user placeable light-sources).
- Improved GUI, including the ability to manipulate (translate) objects.

Installation notes:

- Gazebo requires the Open Dynamics Engine (ODE) version 0.039 (with the OpCode option enabled). ODE must be installed before Gazebo.
- Gazebo uses the Geospatial Data Abstraction Library (GDAL) version 1.1.9 or above; GDAL must be installed before Gazebo.
- (Optional) Gazebo 0.4.0 is compatible with Player version 1.5; Player must be installed after Gazebo.

With the exception of the packages noted above, Gazebo should build on any reasonably modern Linux distribution. It has also been tested on Mac OS X 10.2 using the Apple X11 package and Fink (see the manual for OS X specific build instructions).

A utility script called `depMerge` is included in the distribution; this script will automatically install ODE and GDAL on most Linux systems.

Installation example: for a default system-wide install (requires root access), use the following steps...

- Use the `depMerge` script to install ODE and GDAL (or install these manually according to the instructions included with those packages).
- Install Gazebo:
  `$ ./configure; make; make install`
- (Re-)Install Player
  `$ ./configure; make; make install`

For an alternate user-local-only install (does not require root access), read the FAQ entry.

In addition to these Release Notes, please read the General Usage chapter of the Gazebo Manual, available online here.

## 0.3.0

In addition to these Release Notes, please read the General Usage chapter of the Gazebo Manual, available online here.

This release includes a number of new models and interfaces, and sports improved integration with the Player device server. Features include:

- New interfaces: camera, gps, power, ptz and truth.
- New models: GarminGPS, TruthWidget, Shrimp.
- Inverted pendulum controller for the Segway RMP.
- Fix for the 180 degree rotation in the MapExtruder model.

Installation notes:

- Gazebo relies on the ODE engine for modelling rigid body dynamics; you will need to download and install this package before building Gazebo. ODE can be obtained from http://opende.sourceforge.net/ode.html. Unpack the tarball and follow the instructions in the INSTALL file.
- The MapExtruder model requires libpnm, which can be found in the netpbm package. Make sure this is installed on your system if you wish to use extruded maps.
- Player users will need to install (or re-install) Player after installing Gazebo. To make use of the Gazebo drivers, use the `--enable-gazebo` configuration option when building Player.

Compatability (version) notes:

- Gazebo is compatable with ODE versions 0.039 (and above), and Player version 1.4rc2 (and above).
- Gazebo should work on any reasonably modern Linux distribution. It has also been tested on Mac OS X 10.2 using the Apple X11 package and Fink (see the manual for OS X specific build instructions).

Installation example: for a default system-wide install (requires root access), use the following steps...

- Build ODE according to the instructions included with that package. Copy the header files to `/usr/local/include/ode` and the library to `/usr/local/lib`.
- Install Gazebo:
  `$ ./configure; make; make install`
- (Re-)Install Player
  `$ ./configure --enable-gazebo; make; make install`

Installation example: for an alternate user-only install (does not require root access), use the following steps...

- Build ODE according to the instructions included with that package. Copy the header files to `/home/username/local/include/ode` and the library to `/home/username/local/lib`.
- Install Gazebo:
  `$ ./configure --prefix=/home/username/local; make; make install`
- (Re-)Install Player
  `$ ./configure --prefix=/home/username/local --enable-gazebo; make; make install`

## 0.2.0

This release includes a number of new models, minor bugfixes, and significant performance enhancements. The Pioneer2DX and ClodBuster models have been added, the MapExtruder now supports positional placement in the world, and OpenGL is now the core rendering library (reduced number of files and architecture complexity). Collision detection no longer occurs within a model to increase speed and stability. In addition to these Release Notes, please read the General Usage chapter of the Gazebo Manual, available online here.

This release includes the following models:

- ActivMedia Pioneer2AT robot
- ActivMedia Pioneer2DX robot
- SegwayRMP robot
- ClodBuster robot (thanks to Pranav Srivastava at UPenn)
- SICK LMS200 scanning laser range-finder
- Sony VID30 pan-tilt-zoom camera
- MapExtruder for generating "extruded" worlds from image files
- SimpleSolid for generating simple shapes (boxes, spheres, etc)

Some additional important notes:

- Two new properties have been added to objects: retro-reflectivity and a fiducial ID. The SickLMS200 model will now return both the reflectivity of an object (through the {\tt gz_laser} interface) and the objects fiducial ID (through the {\tt gz_fiducial} interface). Note, however, that this functionality is not supported in Player 1.4rc1 (it will appear in the next Player release).
- While the camera is fully functional, Player does not yet support image capture (on the way).
- The world file format is still in flux, and is likely to change in future version.
- The internal API for writing models has not been finalized; expect some changes in future versions.

Installation notes:

- Gazebo relies on the ODE engine for modelling rigid body dynamics; you will need to download and install this package before building Gazebo. ODE can be obtained from http://opende.sourceforge.net/ode.html. Unpack the tarball and follow the instructions in the INSTALL file.
- The MapExtruder model requires libpnm, which can be found in the netpbm package. Make sure this is installed on your system if you wish to use extruded maps.
- Player users will need to install (or re-install) Player after installing Gazebo. To make use of the Gazebo drivers, use the `--enable-gazebo` configuration option when building Player.

Compatability notes:

- Gazebo is known to work with ODE versions 0.035 and 0.039, and Player version 1.4rc1.
- Gazebo should work on any reasonably modern Linux distribution. It has also been tested on Mac OS X 10.2 using the Apple X11 package and Fink (see the manual for OS X specific build instructions).

Installation example: for a default system-wide install (requires root access), use the following steps...

- Build ODE according to the instructions included with that package. Copy the header files to `/usr/local/include/ode` and the library to `/usr/local/lib`.
- Install Gazebo:
  `$ ./configure; make; make install`
- (Re-)Install Player
  `$ ./configure --enable-gazebo; make; make install`

Installation example: for an alternate user-only install (does not require root access), use the following steps...

- Build ODE according to the instructions included with that package. Copy the header files to `/home/username/local/include/ode` and the library to `/home/username/local/lib`.
- Install Gazebo:
  `$ ./configure --prefix=/home/username/local; make; make install`
- (Re-)Install Player
  `$ ./configure --prefix=/home/username/local --enable-gazebo; make; make install`

## 0.1.1

This is "perfomance enhancement" release of the Gazebo simulation engine, addressing some of the performance issues observed with version 0.1.0 when using large worlds. This version runs at least an order of magnitude faster. A new model, SimpleSolid, has also been added. In addition to these Release Notes, please read the General Usage chapter of the Gazebo Manual, available online here.

This release includes the following models:

- ActivMedia Pioneer2AT robot
- SegwayRMP robot
- SICK LMS200 scanning laser range-finder
- Sony VID30 pan-tilt-zoom camera
- MapExtruder for generating "extruded" worlds from image files
- SimpleSolid for generating simple shapes (boxes, spheres, etc)

Some additional important notes:

- While the camera is fully functional, Player does not yet support image capture (on the way).
- The world file format is still in flux, and is likely to change in future version.
- The internal API for writing models has not been finalized; expect some changes in future versions.

Installation notes:

- Gazebo relies on the ODE engine for modelling rigid body dynamics; you will need to download and install this package before building Gazebo. ODE can be obtained from http://opende.sourceforge.net/ode.html. Unpack the tarball and follow the instructions in the INSTALL file.
- The MapExtruder model requires libpnm, which can be found in the netpbm package. Make sure this is installed on your system if you wish to use extruded maps.
- Player users will need to install (or re-install) Player after installing Gazebo. To make use of the Gazebo drivers, use the `--enable-gazebo` configuration option.

Compatability notes:

- Gazebo is known to work with ODE versions 0.035 and 0.039, and Player version 1.4rc1.
- Gazebo should work on any reasonably modern Linux distribution. It has also been tested on Mac OS X 10.2 using the Apple X11 package and Fink (see the manual for OS X specific build instructions).

Installation example: for a default system-wide install (requires root access), use the following steps...

- Build ODE according to the instructions included with that package. Copy the header files to `/usr/local/include/ode` and the library to `/usr/local/lib`.
- Install Gazebo:
  `$ ./configure; make; make install`
- (Re-)Install Player
  `$ ./configure --enable-gazebo; make; make install`

Installation example: for an alternate user-only install (does not require root access), use the following steps...

- Build ODE according to the instructions included with that package. Copy the header files to `/home/username/local/include/ode` and the library to `/home/username/local/lib`.
- Install Gazebo:
  `$ ./configure --prefix=/home/username/local; make; make install`
- (Re-)Install Player
  `$ ./configure --prefix=/home/username/local --enable-gazebo; make; make install`

## 0.1.0

This is the first official release of the Gazebo simulation engine (hooray). In addition to these Release Notes, please read the General Usage chapter of the Gazebo Manual, available online here.

This release includes the following models:

- ActivMedia Pioneer2AT robot
- SegwayRMP robot
- SICK LMS200 scanning laser range-finder
- Sony VID30 pan-tilt-zoom camera
- MapExtruder for generating "extruded" worlds from image files

Some additional important notes:

- While the camera is fully functional, Player does not yet support image capture (on the way).
- The world file format is still in flux, and is likely to change in future version.
- The internal API for writing models has not been finalized; expect some changes in future versions.

Installation notes:

- Gazebo relies on the ODE engine for modelling rigid body dynamics; you will need to download and install this package before building Gazebo. ODE can be obtained from http://opende.sourceforge.net/ode.html. Unpack the tarball and follow the instructions in the INSTALL file.
- Player users will need to install (or re-install) Player after installing Gazebo. To make use of the Gazebo drivers, use the `--enable-gazebo` configuration option.

Compatability notes:

- Gazebo is known to work with ODE versions 0.035 and 0.039, and Player version 1.4rc1.
- Gazebo should work on any reasonable modern Linux distribution. It has also been tested on Mac OS X 10.2 using the Apple X11 package and Fink (see the manual for OS X specific build instructions).

Installation example: for a default system-wide install (requires root access), use the following steps...

- Build ODE according to the instructions included with that package. Copy the header files to `/usr/local/include/ode` and the library to `/usr/local/lib`.
- Install Gazebo:
  `$ ./configure; make; make install`
- (Re-)Install Player
  `$ ./configure --enable-gazebo; make; make install`

Installation example: for an alternate user-only install (does not require root access), use the following steps...

- Build ODE according to the instructions included with that package. Copy the header files to `/home/username/local/include/ode` and the library to `/home/username/local/lib`.
- Install Gazebo:
  `$ ./configure --prefix=/home/username/local; make; make install`
- (Re-)Install Player
  `$ ./configure --prefix=/home/username/local --enable-gazebo; make; make install`