94 lines
3.8 KiB
Markdown
94 lines
3.8 KiB
Markdown
# Migration Guide for SDF Protocol
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This document contains information about migrating
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between different versions of the SDF protocol.
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The SDF protocol version number is specified in the `version` attribute
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of the `sdf` element (1.4, 1.5, 1.6, etc.)
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and is distinct from sdformat library version
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(2.3, 3.0, 4.0, etc.).
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# Note on backward compatibility
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There are `*.convert` files that allow old sdf files to be migrated
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forward programmatically.
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This document aims to contain similar information to those files
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but with improved human-readability.
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## SDF protocol 1.5 to 1.6
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### Additions
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1. **heightmap_shape.sdf** `sampling` element
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+ description: Samples per heightmap datum.
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For rasterized heightmaps, this indicates the number of samples to take per pixel.
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Using a lower value, e.g. 1, will generally improve the performance
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of the heightmap but lower the heightmap quality.
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+ type: unsigned int
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+ default: 2
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+ required: 0
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+ [pull request 293](https://bitbucket.org/osrf/sdformat/pull-requests/293)
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1. **link.sdf** `enable_wind` element
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+ description: If true, the link is affected by the wind
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+ type: bool
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+ default: false
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+ required: 0
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+ [pull request 240](https://bitbucket.org/osrf/sdformat/pull-requests/240)
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1. **model.sdf** `enable_wind` element
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+ description: If set to true, all links in the model
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will be affected by the wind.
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Can be overriden by the link wind property.
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+ type: bool
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+ default: false
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+ required: 0
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+ [pull request 240](https://bitbucket.org/osrf/sdformat/pull-requests/240)
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1. **model_state.sdf** `scale` element
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+ description: Scale for the 3 dimensions of the model.
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+ type: vector3
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+ default: "1 1 1"
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+ required: 0
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+ [pull request 246](https://bitbucket.org/osrf/sdformat/pull-requests/246)
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1. **physics.sdf** `friction_model` element
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+ description: Name of ODE friction model to use. Valid values include:
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+ pyramid_model: (default) friction forces limited in two directions
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in proportion to normal force.
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+ box_model: friction forces limited to constant in two directions.
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+ cone_model: friction force magnitude limited in proportion to normal force.
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See [gazebo pull request 1522](https://bitbucket.org/osrf/gazebo/pull-request/1522)
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(merged in [gazebo 8c05ad64967c](https://bitbucket.org/osrf/gazebo/commits/8c05ad64967c))
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for the implementation of this feature.
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+ type: string
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+ default: "pyramid_model"
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+ required: 0
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+ [pull request 294](https://bitbucket.org/osrf/sdformat/pull-requests/294)
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1. **world.sdf** `wind` element
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+ description: The wind tag specifies the type and properties of the wind.
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+ required: 0
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+ [pull request 240](https://bitbucket.org/osrf/sdformat/pull-requests/240)
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1. **world.sdf** `wind::linear_velocity` element
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+ description: Linear velocity of the wind.
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+ type: vector3
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+ default: "0 0 0"
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+ required: 0
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+ [pull request 240](https://bitbucket.org/osrf/sdformat/pull-requests/240)
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### Modifications
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1. `gravity` and `magnetic_field` elements are moved
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from `physics` to `world`
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+ [pull request 247](https://bitbucket.org/osrf/sdformat/pull-requests/247)
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+ [gazebo pull request 2090](https://bitbucket.org/osrf/gazebo/pull-requests/2090)
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1. A new style for representing the noise properties of an `imu` was implemented
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in [pull request 199](https://bitbucket.org/osrf/sdformat/pull-requests/199)
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for sdf 1.5 and the old style was declared as deprecated.
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The old style has been removed from sdf 1.6 with the conversion script
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updating to the new style.
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+ [pull request 199](https://bitbucket.org/osrf/sdformat/pull-requests/199)
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+ [pull request 243](https://bitbucket.org/osrf/sdformat/pull-requests/243)
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+ [pull request 244](https://bitbucket.org/osrf/sdformat/pull-requests/244)
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