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pxmlw6n2f/sdformat_for_mpi/sdf/Migration.md

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Migration Guide for SDF Protocol

This document contains information about migrating between different versions of the SDF protocol. The SDF protocol version number is specified in the version attribute of the sdf element (1.4, 1.5, 1.6, etc.) and is distinct from sdformat library version (2.3, 3.0, 4.0, etc.).

Note on backward compatibility

There are *.convert files that allow old sdf files to be migrated forward programmatically. This document aims to contain similar information to those files but with improved human-readability.

SDF protocol 1.5 to 1.6

Additions

  1. heightmap_shape.sdf sampling element

    • description: Samples per heightmap datum. For rasterized heightmaps, this indicates the number of samples to take per pixel. Using a lower value, e.g. 1, will generally improve the performance of the heightmap but lower the heightmap quality.
    • type: unsigned int
    • default: 2
    • required: 0
    • pull request 293

  2. link.sdf enable_wind element

    • description: If true, the link is affected by the wind
    • type: bool
    • default: false
    • required: 0
    • pull request 240

  3. model.sdf enable_wind element

    • description: If set to true, all links in the model will be affected by the wind. Can be overriden by the link wind property.
    • type: bool
    • default: false
    • required: 0
    • pull request 240

  4. model_state.sdf scale element

    • description: Scale for the 3 dimensions of the model.
    • type: vector3
    • default: "1 1 1"
    • required: 0
    • pull request 246

  5. physics.sdf friction_model element

    • description: Name of ODE friction model to use. Valid values include:
      • pyramid_model: (default) friction forces limited in two directions in proportion to normal force.
      • box_model: friction forces limited to constant in two directions.
      • cone_model: friction force magnitude limited in proportion to normal force. See gazebo pull request 1522 (merged in gazebo 8c05ad64967c) for the implementation of this feature.
    • type: string
    • default: "pyramid_model"
    • required: 0
    • pull request 294

  6. world.sdf wind element

    • description: The wind tag specifies the type and properties of the wind.
    • required: 0
    • pull request 240

  7. world.sdf wind::linear_velocity element

    • description: Linear velocity of the wind.
    • type: vector3
    • default: "0 0 0"
    • required: 0
    • pull request 240

Modifications

  1. gravity and magnetic_field elements are moved from physics to world

  2. A new style for representing the noise properties of an imu was implemented in pull request 199 for sdf 1.5 and the old style was declared as deprecated. The old style has been removed from sdf 1.6 with the conversion script updating to the new style.