Python-sdformat

* [BitBucket pull request 135](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/135)
1. Improve performance in loading <include> SDF elements
* [BitBucket pull request 138](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/138)
1. Added urdf gazebo extension option to disable fixed joint lumping
* [BitBucket pull request 133](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/133)
1. Support urdfdom 0.3 (alternative to pull request 122)
* [BitBucket pull request 141](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/141)
1. Update list of supported joint types
* [BitBucket pull request 142](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/142)
1. Ignore unknown elements
* [BitBucket pull request 148](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/148)
1. Physics preset attributes
* [BitBucket pull request 146](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/146)
1. Backport fix for latin locales (pull request 147)
* [BitBucket pull request 150](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/150)

libsdformat 8.X.X (202X-XX-XX)

libsdformat 8.9.0 (2020-09-04)

1. Find python3 in cmake, fix warning
* [Pull request 328](https://github.com/osrf/sdformat/pull/328)

1. Store material file path information
* [Pull request 349](https://github.com/osrf/sdformat/pull/349)

1. Fix Actor copy operators and increase test coverage.
* [Pull request 301](https://github.com/osrf/sdformat/pull/301)

1. Migration to GitHub: CI, links...
* [Pull request 239](https://github.com/osrf/sdformat/pull/239)
* [Pull request 310](https://github.com/osrf/sdformat/pull/310)

1. Increase output precision of URDF to SDF conversion, output -0 as 0.
* [BitBucket pull request 675](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/675)

1. Fix homebrew build with external urdfdom.
* [BitBucket pull request 677](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/677)
* [BitBucket pull request 686](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/686)

libsdformat 8.8.0 (2020-03-18)

1. Add Transparency to visual DOM
* [BitBucket pull request 671](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/671)

1. Install the Windows `.dll` shared libraries to bin folder.
* [BitBucket pull request 659](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/659)
* [BitBucket pull request 663](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/663)

1. Fix cmake type for `tinyxml_INCLUDE_DIRS`.
* [BitBucket pull request 661](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/661)
* [BitBucket pull request 663](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/663)

1. Add functionality to generate aggregated SDFormat descriptions via CMake.
* [BitBucket pull request 665](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/665)

1. Remove URI scheme, if present, when finding files.
* [BitBucket pull request 650](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/650)
* [BitBucket pull request 652](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/652)

1. Rename SDF to SDFormat / libsdformat on documentation
* [BitBucket pull request 666](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/666)

libsdformat 8.7.1 (2020-01-13)

1. Fix memory leaks in move assignment operator.
* [BitBucket pull request 641](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/641)

1. Refactoring based on rule-of-five guidance to address memory leaks
* [BitBucket pull request 644](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/644)

libsdformat 8.7.0 (2019-12-13)

1. Remove some URDF error messages
* [BitBucket pull request 605](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/605)

1. Fix parsing URDF without <material> inside <gazebo>
* [BitBucket pull request 608](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/608)

1. Backport URDF multiplication and linter
* [BitBucket pull request 632](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/632)

1. Add clipping for depth camera on rgbd camera sensor
* [BitBucket pull request 628](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/628)

libsdformat 8.6.1 (2019-12-05)

1. Unversioned lib name for cmds
* [BitBucket pull request 612](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/612)

libsdformat 8.6.0 (2019-11-20)

1. configure.bat: use ign-math6, not gz11
* [BitBucket pull request 595](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/595)

1. Set `sdformat8_PKGCONFIG_*` variables in cmake config instead of `SDFormat_PKGCONFIG*`.
* [BitBucket pull request 594](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/594)

1. Relax cmake check to allow compiling with gcc-7.
* [BitBucket pull request 592](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/592)

1. Use custom callbacks when reading file (support Fuel URIs).
* [BitBucket pull request 591](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/591)

1. Update visual DOM to parse `cast_shadows` property of a visual.
* [BitBucket pull request 590](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/590)

1. Build `Utils_TEST` with Utils.cc explicitly passed since its symbols are not visible.
* [BitBucket pull request 572](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/572)

libsdformat 8.5.0 (2019-11-06)

1. Add `thermal_camera` sensor type
* [BitBucket pull request 586](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/586)

1. Use inline namespaces in Utils.cc
* [BitBucket pull request 574](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/574)

1. Convert `ign sdf` file inputs to absolute paths before processing them
* [BitBucket pull request 583](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/583)

1. Add `emissive_map` to material sdf
* [BitBucket pull request 585](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/585)

1. Converter: fix bug when converting across multiple versions.
* [BitBucket pull request 584](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/584)
* [BitBucket pull request 573](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/573)

libsdformat 8.4.0 (2019-10-22)

1. Accept relative path in `<uri>`.
* [BitBucket pull request 558](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/558)

1. Element: don't print unset attributes.
* [BitBucket pull request 571](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/571)
* [BitBucket pull request 576](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/576)

1. Lidar.hh: remove 'using namespace ignition'.
* [BitBucket pull request 577](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/577)

1. Parse urdf files to sdf 1.5 instead of 1.4 to avoid `use_parent_model_frame`.
* [BitBucket pull request 575](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/575)

1. Set camera intrinsics axis skew (s) default value to 0
* [BitBucket pull request 504](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/504)

1. SDF Root DOM: add ActorCount, ActorByIndex, and ActorNameExists.
* [BitBucket pull request 566](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/566)

1. Avoid hardcoding /machine:x64 flag on 64-bit on MSVC with CMake >= 3.5.
* [BitBucket pull request 565](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/565)

1. Move private headers from include/sdf to src folder.
* [BitBucket pull request 553](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/553)

1. Fix ign library path on macOS.
* [BitBucket pull request 542](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/542)
* [BitBucket pull request 564](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/564)

1. Use `ign sdf --check` to check sibling elements of the same type for non-unique names.
* [BitBucket pull request 554](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/554)

1. Converter: remove all matching elements specified by `<remove>` tag.
* [BitBucket pull request 551](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/551)

libsdformat 8.3.0 (2019-08-17)

1. Added Actor DOM
* [BitBucket pull request 547](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/547)

1. Print cmake build warnings and errors to std_err
* [BitBucket pull request 549](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/549)

libsdformat 8.2.0 (2019-06-18)

1. Added RGBD Camera Sensor type.
* [BitBucket pull request 540](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/540)

libsdformat 8.1.0 (2019-05-20)

1. Change installation path of SDF description files to allow side-by-side installation.
* [BitBucket pull request 538](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/538)

1. Added Lidar Sensor DOM. Also added `lidar` and `gpu_lidar` as sensor
types. These two types are equivalent to `ray` and `gpu_ray`.
* [BitBucket pull request 536](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/536)

1. SDF Sensor DOM: copy update rate in copy constructor.
* [BitBucket pull request 534](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/534)

1. Added IMU Sensor DOM.
* [BitBucket pull request 532](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/532)

1. Added Camera Sensor DOM.
* [BitBucket pull request 531](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/531)

1. Added wind to link dom.
* [BitBucket pull request 530](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/530)

1. Added Sensor DOM `==` operator.
* [BitBucket pull request 529](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/529)

1. Added AirPressure SDF DOM
* [BitBucket pull request 528](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/528)

1. Update SDFormat noise elements
* [BitBucket pull request 525](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/525)
* [BitBucket pull request 522](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/522)

1. Apply rule of five for various DOM classes
* [BitBucket pull request 524](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/524)

1. Support setting sensor types from a string.
* [BitBucket pull request 523](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/523)

1. Added Altimeter SDF DOM
* [BitBucket pull request 527](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/527)

1. Added Magnetometer SDF DOM
* [BitBucket pull request 518](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/518)
* [BitBucket pull request 519](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/519)

1. Add Scene SDF DOM
* [BitBucket pull request 517](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/517)

1. Add PBR material SDF element
* [BitBucket pull request 512](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/512)
* [BitBucket pull request 520](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/520)
* [BitBucket pull request 535](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/535)

1. Set geometry shapes
* [BitBucket pull request 515](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/515)

1. Clarify names of libsdformat parser and SDF specification in Readme.
* [BitBucket pull request 514](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/514)

1. Disable macOS tests failing due to issue 202.
* [BitBucket pull request 511](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/511)
* [Issue 202](https://github.com/osrf/sdformat/issues/202)

libsdformat 8.0.0 (2019-03-01)

1. Rename depth camera from 'depth' to 'depth_camera'
* [BitBucket pull request 507](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/507)

1. Rename enum Ray to Lidar
* [BitBucket pull request 502](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/502)

1. Add support for files that have light tags in the root
* [BitBucket pull request 499](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/499)

1. Fix locale problems of std::stringstream and of Param::ValueFromString
* [BitBucket pull request 492](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/492)
* Contribution by Silvio Traversaro

1. Add functions to set visual dom's geometry and material
* [BitBucket pull request 490](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/490)

1. Change cmake project name to sdformat8, export cmake targets
* [BitBucket pull request 475](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/475)
* [BitBucket pull request 476](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/476)

1. SDF DOM: Add copy constructor and assignment operator to Light. Add lights to Link
* [BitBucket pull request 469](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/469)

1. Make `<limit>` a required element for `<axis2>`
* [BitBucket pull request 472](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/472)

1. SDF DOM: Add DOM methods for setting axis and thread pitch in `sdf::Joint`
* [BitBucket pull request 471](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/471)
* [BitBucket pull request 474](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/474)

1. SDF DOM: Add copy constructors and assignment operator to JointAxis
* [BitBucket pull request 470](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/470)

1. Removed boost
* [BitBucket pull request 438](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/438)

1. Versioned namespace
* [BitBucket pull request 464](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/464)

1. Versioned library install
* [BitBucket pull request 463](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/463)

1. Add SetGeom to Collision
* [BitBucket pull request 465](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/465)

1. SDF DOM: Add copy/move constructors and assignment operator to Geometry
* [BitBucket pull request 460](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/460)

1. SDF DOM: Add copy/move constructors and assignment operator to Material
* [BitBucket pull request 461](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/461)

1. Add collision_detector to dart physics config
* [BitBucket pull request 440](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/440)

1. Fix cpack now that project name has version number
* [BitBucket pull request 478](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/478)

1. Animation tension
* [BitBucket pull request 466](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/466)

1. Add "geometry" for sonar collision shape
* [BitBucket pull request 479](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/479)

1. Fix Gui copy constructor
* [BitBucket pull request 486](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/486)

1. Sensor DOM
* [BitBucket pull request 488](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/488)
* [BitBucket pull request 481](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/481)

libsdformat 7.0.0 (xxxx-xx-xx)

1. Build Utils_TEST with Utils.cc explicitly passed since its symbols are not visible.
* [BitBucket pull request 572](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/572)

1. Parse urdf files to SDFormat 1.5 instead of 1.4 to avoid `use_parent_model_frame`.
* [BitBucket pull request 575](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/575)

1. Set camera intrinsics axis skew (s) default value to 0
* [BitBucket pull request 504](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/504)

1. Avoid hardcoding /machine:x64 flag on 64-bit on MSVC with CMake >= 3.5.
* [BitBucket pull request 565](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/565)

1. Prevent duplicate `use_parent_model_frame` tags during file conversion.
* [BitBucket pull request 573](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/573)

1. Backport inline versioned namespace from version 8.
* [BitBucket pull request 557](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/557)
* [BitBucket pull request 464](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/464)

1. Backport cmake and SDFormat spec changes from version 8.
* [BitBucket pull request 550](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/550)
* [BitBucket pull request 538](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/538)
* [BitBucket pull request 525](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/525)
* [BitBucket pull request 475](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/475)
* [BitBucket pull request 476](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/476)
* [BitBucket pull request 463](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/463)

1. Fix ign library path on macOS.
* [BitBucket pull request 542](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/542)

1. Preserve XML elements that are not part of the SDF specification.
* [BitBucket pull request 449](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/449)

1. Embed SDF specification files directly in libsdformat.so.
* [BitBucket pull request 434](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/434)

libsdformat 6.3.1 (2021-07-06)

1. Fix flattening logic for nested model names
* [Pull request 597](https://github.com/osrf/sdformat/pull/597)

1. Translate poses of nested models inside other nested models
* [Pull request 596](https://github.com/osrf/sdformat/pull/596)

libsdformat 6.3.0 (2021-06-21)

1. Move recursiveSameTypeUniqueNames from ign.cc to parser.cc and make public.
* [Pull request 580](https://github.com/osrf/sdformat/pull/580)

1. Parse rpyOffset as radians
* [Pull request 497](https://github.com/osrf/sdformat/pull/497)

1. Parse urdf files to SDFormat 1.5 instead of 1.4 to avoid `use_parent_model_frame`.
* [BitBucket pull request 575](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/575)

1. Set camera intrinsics axis skew (s) default value to 0
* [BitBucket pull request 504](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/504)

1. Avoid hardcoding /machine:x64 flag on 64-bit on MSVC with CMake >= 3.5.
* [BitBucket pull request 565](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/565)

1. Fix ign library path on macOS.
* [BitBucket pull request 552](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/552)

1. Use `ign sdf --check` to check sibling elements of the same type for non-unique names.
* [BitBucket pull request 554](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/554)

1. Converter: remove all matching elements specified by `<remove>` tag.
* [BitBucket pull request 551](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/551)

libsdformat 6.2.0 (2019-01-17)

1. Add geometry for sonar collision shape
* [BitBucket pull request 495](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/495)

1. Add camera intrinsics (fx, fy, cx, cy, s)
* [BitBucket pull request 496](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/496)

1. Add actor trajectory tension parameter
* [BitBucket pull request 466](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/466)


libsdformat 6.1.0 (2018-10-04)

1. Add collision\_detector to dart physics config
* [BitBucket pull request 440](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/440)

1. Fix Windows support for libsdformat6
* [BitBucket pull request 401](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/401)

libsdformat 4.x.x (2017-xx-xx)

libsdformat 4.4.0 (2017-10-26)

1. Add ODE parallelization parameters: threaded islands and position correction
* [BitBucket pull request 380](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/380)

1. surface.sdf: expand documentation of friction and slip coefficients
* [BitBucket pull request 343](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/343)

1. Add preserveFixedJoint option to the URDF parser
* [BitBucket pull request 352](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/352)

1. Add light as child of link
* [BitBucket pull request 373](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/373)

libsdformat 4.3.2 (2017-07-19)

1. Add documentation for `Element::GetFirstElement()` and `Element::GetNextElement()`
* [BitBucket pull request 341](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/341)

1. Fix parser to read plugin child elements within an `<include>`
* [BitBucket pull request 350](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/350)

libsdformat 4.3.1 (2017-03-24)

1. Fix segmentation Fault in `sdf::getBestSupportedModelVersion`
* [BitBucket pull request 327](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/327)
* [Issue 152](https://github.com/osrf/sdformat/issues/152)

libsdformat 4.3.0 (2017-03-20)

1. Choosing models with more recent SDFormat version with `<include>` tag
* [BitBucket pull request 291](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/291)
* [Issue 123](https://github.com/osrf/sdformat/issues/123)

1. Added `<category_bitmask>` to 1.6 surface contact parameters
* [BitBucket pull request 318](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/318)

1. Support light insertion in state
* [BitBucket pull request 325](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/325)

1. Case insensitive boolean strings
* [BitBucket pull request 322](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/322)

1. Enable coverage testing
* [BitBucket pull request 317](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/317)

1. Add `friction_model` parameter to ode solver
* [BitBucket pull request 294](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/294)
* [Gazebo pull request 1522](https://osrf-migration.github.io/gazebo-gh-pages/#!/osrf/gazebo/pull-requests/1522)

1. Added `sampling` parameter to `<heightmap>` SDF element.
* [BitBucket pull request 293](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/293)

1. Added Migration guide
* [BitBucket pull request 290](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/290)

1. Add cmake `PKG_NAME_LIBRARY_DIRS` variable to cmake config file
* [BitBucket pull request 292](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/292)

libsdformat 4.2.0 (2016-10-10)

1. Added tag to specify ODE friction model.
* [BitBucket pull request 294](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/294)

1. Fix URDF to SDF `self_collide` bug.
* [BitBucket pull request 287](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/287)

1. Added IMU orientation specification to SDF.
* [BitBucket pull request 284](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/284)

libsdformat 4.1.1 (2016-07-08)

1. Added documentation and animation to `<actor>` element.
* [BitBucket pull request 280](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/280)

1. Added tag to specify initial joint position
* [BitBucket pull request 279](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/279)

libsdformat 4.1.0 (2016-04-01)

1. Added SDF conversion functions to parser including sdf::convertFile and sdf::convertString.
* [BitBucket pull request 266](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/266)

1. Added an upload script
* [BitBucket pull request 256](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/256)

libsdformat 4.0.0 (2015-01-12)

1. Boost pointers and boost::function in the public API have been replaced
by their std::equivalents (C++11 standard)
1. Move gravity and magnetic_field tags from physics to world
* [BitBucket pull request 247](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/247)
1. Switch lump link prefix from lump:: to lump_
* [BitBucket pull request 245](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/245)
1. New <wind> element.
A contribution from Olivier Crave
* [BitBucket pull request 240](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/240)
1. Add scale to model state
* [BitBucket pull request 246](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/246)
1. Use stof functions to parse hex strings as floating point params.
A contribution from Rich Mattes
* [BitBucket pull request 250](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/250)
1. Fix memory leaks.
A contribution from Silvio Traversaro
* [BitBucket pull request 249](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/249)
1. Update SDF to version 1.6: new style for representing the noise properties
of an `imu`
* [BitBucket pull request 243](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/243)
* [BitBucket pull request 199](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/199)

libsdformat 3.X.X (201X-XX-XX)

1. Improve precision of floating point parameters
* [BitBucket pull request 273](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/273)
* [BitBucket pull request 276](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/276)

libsdformat 3.7.0 (2015-11-20)

1. Add spring pass through for sdf3
* [Design document](https://osrf-migration.github.io/osrf-others-gh-pages/#!/osrf/gazebo_design/pull-requests/23)
* [BitBucket pull request 242](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/242)

1. Support frame specification in SDF
* [BitBucket pull request 237](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/237)

1. Remove boost from SDFExtension
* [BitBucket pull request 229](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/229)

libsdformat 3.6.0 (2015-10-27)

1. Add light state
* [BitBucket pull request 227](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/227)
1. redo pull request 222 for sdf3 branch
* [BitBucket pull request 232](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/232)
1. Fix links in API documentation
* [BitBucket pull request 231](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/231)

libsdformat 3.5.0 (2015-10-07)

1. Camera lens description (Replaces 213)
* [BitBucket pull request 215](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/215)
1. Fix shared pointer reference loop in Element and memory leak (104)
* [BitBucket pull request 230](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/230)

libsdformat 3.4.0 (2015-10-05)

1. Support nested model states
* [BitBucket pull request 223](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/223)
1. Cleaner way to set SDF_PATH for tests
* [BitBucket pull request 226](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/226)

libsdformat 3.3.0 (2015-09-15)

1. Windows Boost linking errors
* [BitBucket pull request 206](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/206)
1. Nested SDF -> sdf3
* [BitBucket pull request 221](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/221)
1. Pointer types
* [BitBucket pull request 218](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/218)
1. Torsional friction default surface radius not infinity
* [BitBucket pull request 217](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/217)

libsdformat 3.2.2 (2015-08-24)

1. Added battery element (contribution from Olivier Crave)
* [BitBucket pull request 204](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/204)
1. Torsional friction backport
* [BitBucket pull request 211](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/211)
1. Allow Visual Studio 2015
* [BitBucket pull request 208](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/208)

libsdformat 3.1.1 (2015-08-03)

1. Fix tinyxml linking error
* [BitBucket pull request 209](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/209)

libsdformat 3.1.0 (2015-08-02)

1. Added logical camera sensor to SDF
* [BitBucket pull request 207](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/207)

libsdformat 3.0.0 (2015-07-24)

1. Added battery to SDF
* [BitBucket pull request 204](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/204)
1. Added altimeter sensor to SDF
* [BitBucket pull request 197](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/197)
1. Added magnetometer sensor to SDF
* [BitBucket pull request 198](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/198)
1. Fix detection of XML parsing errors
* [BitBucket pull request 190](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/190)
1. Support for fixed joints
* [BitBucket pull request 194](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/194)
1. Adding iterations to state
* [BitBucket pull request 188](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/188)
1. Convert to use ignition-math
* [BitBucket pull request 173](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/173)
1. Add world origin to scene
* [BitBucket pull request 183](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/183)
1. Fix collide bitmask
* [BitBucket pull request 182](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/182)
1. Adding meta information to visuals
* [BitBucket pull request 180](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/180)
1. Add projection type to gui camera
* [BitBucket pull request 178](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/178)
1. Fix print description to include attribute description
* [BitBucket pull request 170](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/170)
1. Add -std=c++11 flag to sdf_config.cmake.in and sdformat.pc.in, needed by downstream code
* [BitBucket pull request 172](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/172)
1. Added boost::any accessor for Param and Element
* [BitBucket pull request 166](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/166)
1. Remove tinyxml from dependency list
* [BitBucket pull request 152](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/152)
1. Added self_collide element for model
* [BitBucket pull request 149](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/149)
1. Added a collision bitmask field to sdf-1.5 and c++11 support
* [BitBucket pull request 145](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/145)
1. Fix problems with latin locales and decimal numbers (issue 60)
* [BitBucket pull request 147](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/147)
* [Issue 60](https://github.com/osrf/sdformat/issues/60)

libsdformat 2.x

1. rename cfm_damping --> implicit_spring_damper
* [BitBucket pull request 59](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/59)
1. add gear_ratio and reference_body for gearbox joint.
* [BitBucket pull request 62](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/62)
1. Update joint stop stiffness and dissipation
* [BitBucket pull request 61](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/61)
1. Support for GNUInstallDirs
* [BitBucket pull request 64](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/64)
1. `<use_true_size>` element used by DEM heightmaps
* [BitBucket pull request 67](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/67)