Roadmap

All releases mentioned here are relatively recent.

libsdformat Releases

For more information, see Changelog.

The following list provides a high-level summary of the specification and C++ version supported by the given release of the library:

• libsdformat4: For use in Gazebo 7.
  • 4.4.0 (released): C++11, SDFormat 1.6.
• libsdformat6: For use in Gazebo 9, 10.
  • 6.2.0 (released): C++11, SDFormat 1.6.
• libsdformat7:
  • 7.0.0 (not released): C++14, SDFormat 1.7. This was an intermediate version that will not be released.
• libsdformat8: For use in Gazebo Blueprint.
  • 8.5.0 (released): C++17, SDFormat 1.6.
• libsdformat9: For use in Gazebo 11, Gazebo Citadel.
  • 9.0.0 (released): C++17, SDFormat 1.7.
• libsdformat10: For use in Gazebo Dome.
  • 10.0.0 (released): C++17, SDFormat 1.7.
• libsdformat11: For use in Gazebo Edifice.
  • 11.0.0 (released): C++17, SDFormat 1.8.
• libsdformat12: For use in Gazebo Fortress.
  • 12.0.0 (released): C++17, SDFormat 1.9.
• libsdformat13: For use in Gazebo Garden.
  • 13.0.0 (planned): C++17, TBD

Downstream Library Support

In order to promote consistent support of the SDFormat specification, we list recent releases of some downstream projects and their support of the specification (as well as the caveats):

• Classic Gazebo
  • 7 (released): libsdformat4, SDFormat 1.6
  • 9 (released): libsdformat6, SDFormat 1.6
  • 10 (released): libsdformat6, SDFormat 1.6
  • 11 (released): libsdformat9, SDFormat 1.7
• Gazebo
  • Blueprint (released): libsdformat8, SDFormat 1.6, but supports only a subset:
    • Does not support directly nested models
  • Citadel (released): libsdformat9, SDFormat 1.7, but only a subset:
    • Does not support directly nested models
  • Dome (released): libsdformat10, SDFormat 1.7, but only a subset:
    • Does not support directly nested models
  • Edifice (released): libsdformat11, SDFormat 1.8
  • Fortress (released): libsdformat12, SDFormat 1.9
  • Garden (planned): libsdformat13, TBD
• Drake:
  • 0.10.0 - 0.13.0 (released): SDFormat 1.6, but deviates:
    • Does not support directly nested models
    • Does not support specifying poses of free-floating bodies (as initial conditions).
    • Adds extra semantics to //pose/frame and //frame elements.
  • 0.14.0 (released): SDFormat 1.7.

If you would like your project listed here, please make a pull request.