diff --git a/Changelog.md b/Changelog.md
index cdf2bd22..34258cd4 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -1,6 +1,23 @@
## Gazebo Sensors 9
-### Gazebo Sensors 9.0.0 (2024-09-XX)
+### Gazebo Sensors 9.0.0 (2024-09-25)
+
+1. **Baseline:** this includes all changes from 8.2.0 and earlier.
+
+1. Miscellaneous documentation fixes
+ * [Pull request #471](https://github.com/gazebosim/gz-sensors/pull/471)
+ * [Pull request #470](https://github.com/gazebosim/gz-sensors/pull/470)
+ * [Pull request #469](https://github.com/gazebosim/gz-sensors/pull/469)
+ * [Pull request #468](https://github.com/gazebosim/gz-sensors/pull/468)
+
+1. Add boundingbox_camera tutorial to the tutorials list
+ * [Pull request #466](https://github.com/gazebosim/gz-sensors/pull/466)
+
+1. Update badges to point to gz-sensors9
+ * [Pull request #463](https://github.com/gazebosim/gz-sensors/pull/463)
+
+1. Update changelog
+ * [Pull request #459](https://github.com/gazebosim/gz-sensors/pull/459)
1. Fix SphericalCoordinate deprecation warning in DVL sensor
* [Pull request #460](https://github.com/gazebosim/gz-sensors/pull/460)
diff --git a/README.md b/README.md
index b40fc000..3536718d 100644
--- a/README.md
+++ b/README.md
@@ -9,10 +9,10 @@
Build | Status
-- | --
-Test coverage | [](https://codecov.io/gh/gazebosim/gz-sensors/branch/main)
-Ubuntu Noble | [](https://build.osrfoundation.org/job/gz_sensors-ci-main-noble-amd64)
-Homebrew | [](https://build.osrfoundation.org/job/gz_sensors-ci-main-homebrew-amd64)
-Windows | [](https://build.osrfoundation.org/job/gz_sensors-main-win/)
+Test coverage | [](https://codecov.io/gh/gazebosim/gz-sensors/tree/gz-sensors9)
+Ubuntu Noble | [](https://build.osrfoundation.org/job/gz_sensors-ci-gz-sensors9-noble-amd64)
+Homebrew | [](https://build.osrfoundation.org/job/gz_sensors-ci-gz-sensors9-homebrew-amd64)
+Windows | [](https://build.osrfoundation.org/job/gz_sensors-9-win/)
Gazebo Sensors, a component of [Gazebo](https://gazebosim.org),
provides numerous sensor models
@@ -30,7 +30,7 @@ designed to generate realistic data from simulation environments. Gazebo Sensors
[Code of Conduct](#code-of-conduct)
-[Contributing](#code-of-contributing)
+[Contributing](#contributing)
[Versioning](#versioning)
diff --git a/tutorials.md.in b/tutorials.md.in
index 9be0a030..5df81ec2 100644
--- a/tutorials.md.in
+++ b/tutorials.md.in
@@ -11,6 +11,7 @@ Gazebo @GZ_DESIGNATION_CAP@ library and how to use the library effectively.
3. \subpage custom_sensors "Custom sensors": Creating your own sensors
4. \subpage thermalcameraigngazebo "Thermal Camera in Gazebo": Using a thermal camera in Gazebo to detect objects of specific temperatures in camera images.
5. \subpage segmentationcamera_igngazebo "Segmentation Camera in Gazebo"
+6. \subpage boundingbox_camera "Bounding Box Camera in Gazebo"
## License
diff --git a/tutorials/04_boundingbox_camera.md b/tutorials/boundingbox_camera.md
similarity index 99%
rename from tutorials/04_boundingbox_camera.md
rename to tutorials/boundingbox_camera.md
index a3b87395..3c1edd99 100644
--- a/tutorials/04_boundingbox_camera.md
+++ b/tutorials/boundingbox_camera.md
@@ -1,4 +1,4 @@
-# Bounding Box Camera in Gazebo Sim
+\page boundingbox_camera Bounding Box Camera in Gazebo
In this tutorial, we will discuss how to use a bounding box camera sensor in Gazebo Sim.
## Requirements
diff --git a/tutorials/custom_sensors.md b/tutorials/custom_sensors.md
index c2633956..70391717 100644
--- a/tutorials/custom_sensors.md
+++ b/tutorials/custom_sensors.md
@@ -1,5 +1,7 @@
\page custom_sensors Custom sensors
+Next Tutorial: \ref thermalcameraigngazebo
+
Gazebo Sensors comes with various built-in sensor types ready to be used.
Users aren't limited to those sensor types though. This tutorial will go over
the process of implementing a custom sensor that leverages Gazebo Sensors
diff --git a/tutorials/install.md b/tutorials/install.md
index 6c58d59b..3c15701d 100644
--- a/tutorials/install.md
+++ b/tutorials/install.md
@@ -1,5 +1,7 @@
\page installation Installation
+Next Tutorial: \ref custom_sensors
+
We recommend following the binary install instructions to get up and running as quickly and painlessly as possible.
The source install instructions should be used if you need the very latest software improvements, you need to modify the code, or you plan to make a contribution.
@@ -42,7 +44,7 @@ which version you need.
#### Install Prerequisites
-First, follow the [gz-cmake](https://github.com/gazebosim/gz-cmake) tutorial for installing Conda, Visual Studio, CMake, etc., prerequisites, and creating a Conda environment.
+First, follow the [source installation](https://gazebosim.org/docs/ionic/install_windows_src/) tutorial until step 5 included for installing Conda, Visual Studio, CMake, etc., prerequisites, and creating a Conda environment.
Navigate to `condabin` if necessary to use the `conda` command (i.e., if Conda is not in your `PATH` environment variable. You can find the location of `condabin` in Anaconda Prompt, `where conda`).
@@ -159,6 +161,8 @@ This assumes you have created and activated a Conda environment while [installin
cd gz-sensors
mkdir build
cd build
+ cmake .. -DBUILD_TESTING=OFF # Optionally, -DCMAKE_INSTALL_PREFIX=path\to\install
+ cmake --build . --config Release
```
4. Optionally, install. You will likely need to run a terminal with admin privileges for this call to succeed.
diff --git a/tutorials/segmentation_camera.md b/tutorials/segmentation_camera.md
index 826ca735..c1bc2a4e 100644
--- a/tutorials/segmentation_camera.md
+++ b/tutorials/segmentation_camera.md
@@ -1,5 +1,7 @@
\page segmentationcamera_igngazebo Segmentation Camera in Gazebo
+Next Tutorial: \ref boundingbox_camera
+
In this tutorial, we will discuss how to use a segmentation camera sensor in Gazebo.
## Requirements
@@ -376,14 +378,14 @@ For panoptic/instance segmentation, to parse the `labels_map`, click on any pixe
## Processing the segmentation sensor via gz-transport
It's possible to process the segmentation data in real time via `gz-transport`.
-You will need to which topics to subscribe to in order to receive this information.
+You will need to know which topics to subscribe to in order to receive this information.
Consider the following SDF snippet from the segmentation camera:
```xml
- segmentation
+ semantic
```
-In this scenario, the sensor data will publish the label map data to `segmentation/labels_map`, and the colored map data to `segmentation/colored_map`.
+In this scenario, the sensor data will publish the label map data to `semantic/labels_map`, and the colored map data to `semantic/colored_map`.
We can write some c++ code that subscribes to these topics:
```cpp
@@ -443,10 +445,10 @@ int main(int argc, char **argv)
{
gz::transport::Node node;
- if (!node.Subscribe("/segmentation/colored_map", &OnNewColoredMap) ||
- !node.Subscribe("/segmentation/labels_map", &OnNewLabelMap))
+ if (!node.Subscribe("/semantic/colored_map", &OnNewColoredMap) ||
+ !node.Subscribe("/semantic/labels_map", &OnNewLabelMap))
{
- std::cerr << "Error subscribing to the boundingbox camera topic"
+ std::cerr << "Error subscribing to the semantic camera topic"
<< std::endl;
return -1;
}
@@ -457,4 +459,4 @@ int main(int argc, char **argv)
```
If you'd like to gain a better understanding of how the subscriber code works,
-you can go through the [gz-transport tutorials](https://gazebosim.org/api/transport/11.0/tutorials.html).
+you can go through the [gz-transport tutorials](https://gazebosim.org/api/transport/14.0/tutorials.html).
diff --git a/tutorials/thermal_camera.md b/tutorials/thermal_camera.md
index dbe0b603..c96061ff 100644
--- a/tutorials/thermal_camera.md
+++ b/tutorials/thermal_camera.md
@@ -1,5 +1,7 @@
\page thermalcameraigngazebo Thermal Camera in Gazebo
+Next Tutorial: \ref segmentationcamera_igngazebo
+
In this tutorial, we will discuss how to use a thermal camera sensor in [Gazebo](https://gazebosim.org/libs/sim).
There are currently a few limitations with the thermal camera, which will be mentioned at the end of the tutorial.