See: https://github.com/MRPT/mvsim/blob/develop/CHANGELOG.rst

See: https://github.com/MRPT/mvsim/blob/develop/CHANGELOG.rst

See CHANGELOG.rst

See CHANGELOG.rst

See CHANGELOG.rst

0.7.0 (2023-04-21)

• Automatic detection of collision shapes
• Add turtlebot world demo
• Rely on custom build of Box2D to increase the maximum polygon vertices count (8 to 12).
• fix inconsistent use_sim_time value for ROS 2 (it should be false)
• Expose shadow rendering parameters in the XML world file
• Abort simulation on exceptions in headless mode too
• ROS 1 and 2 nodes now quit cleanly and quickly with SIGINT
• Add ros2 launch for turtlebot world demo
• Automatic determination of zmin/zmax for blocks if not explicitly set in XML
• Force c++17 for python module
• Exit simulator on exceptions in GUI-related threads
• More automated testing
• Add unit tests in C++ too
• Refactor collision shape determination
• New UI checkbox: show collision shapes
• Allow simply geometry definitions without external 3D model file for "blocks"
• Light options are now under XML tag.
• Largest default physics simulation timestep changed from 50ms to 5ms
• GUI: change light direction
• Add GUI checkbox to enable/disable shadows
• Add rplidar A2 sensor model

0.6.1 (2023-03-04)

• New XML parameters to enable and tune shadowmap generation
• Use finer timestep for prevent wrong simulation of ramp sliding
• Fix code notation
• Temporary workaround to GH CI problem

0.6.0 (2023-02-26)

• Support for SkyBox rendering (requires MRPT >=2.7.0)
• More camera options in world.xml files (initial azimuth, elevation, etc.)
• Terrain elevation models now support repeated textures (requires MRPT >=2.7.0)
• Faster 3D Lidar rendering (Requires MRPT >=2.7.0)
• Add Ouster OS1 sensor file
• Fix default friction coefficients; draw motor torques too
• More accurate Velodyne simulation based on sensor_rpm parameter
• Clearer code and code style conventions
• Add "" XML tag for large, static world objects
• Support for XML tag <if ...>
• Refactor xml parser as a registry of tag->function
• Examples renamed for conciseness: 'mvsim_demo_' to 'demo_'
• Added a "greenhouse" example world
• Wheels: allow linked-yaw-objects in vehicle viz
• Support several tags in custom visualization models
• pybind11 sources simplification.
  Simplify into one single source tree with conditional compilation for different pybind versions.
• Emit clearer warnings and earlier detection of wrong bounding boxes
• Add reference to (preprint) paper
• Controllers: Made threadsafe
• Contributors: Fernando Cañadas, Jose Luis Blanco-Claraco
• BUGFIX: program did not quit if using a non-existing launch file.
• BUGFIX: unneeded friction coefficient for chassis body
• BUGFIX: bbox for compound vehicle models
• BUGFIX: loops ignored more than one inner tag
• BUGFIX: Add epsilon value for bbox determination in 3D models