From ff46d5eca5015e90531619120a2ba66cd529a7a0 Mon Sep 17 00:00:00 2001
From: Louise Poubel <louise@openrobotics.org>
Date: Fri, 29 May 2020 18:39:16 -0700
Subject: [PATCH 01/13] Operation Close-The-Gap

Signed-off-by: Louise Poubel <louise@openrobotics.org>
---
 citadel/comparison.md | 238 +++++++++++++++++++++++++-----------------
 1 file changed, 140 insertions(+), 98 deletions(-)

diff --git a/citadel/comparison.md b/citadel/comparison.md
index 1dc8fcdefa..525473eb46 100644
--- a/citadel/comparison.md
+++ b/citadel/comparison.md
@@ -1,7 +1,8 @@
 # Feature comparison
 
-A list of features present in [Gazebo-classic](https://bitbucket.org/osrf/gazebo/) and
-the status of their migration to [Ignition](https://ignitionrobotics.org/).
+A list of features present in [Gazebo-classic](https://bitbucket.org/osrf/gazebo/)
+version 11 and the status of their migration to
+[Ignition](https://ignitionrobotics.org/).
 
 ## Sensors
 
@@ -12,133 +13,174 @@ Altimeter | ✓ | ✓
 Camera | ✓ | ✓
 Contact sensor | ✓ | ✓
 Depth camera | ✓ | ✓
-Force-torque | ✓ |
-GPS | ✓ |
+Force-torque | ✓ | [Issue](https://github.com/ignitionrobotics/ign-sensors/issues/25)
+GPS | ✓ | [Issue](https://github.com/ignitionrobotics/ign-sensors/issues/23)
 GPU Ray | ✓ | ✓ Renamed to GPU Lidar
 IMU | ✓ | ✓
 Logical camera | ✓ | ✓
 Magnetometer | ✓ | ✓
-Multi-camera | ✓ |
-Ray | ✓ |
-RFID | ✓ |
-RFIDTag | ✓ |
-Sonar | ✓ |
+Multi-camera | ✓ | ✕  Use individual cameras with same update rate
+Ray | ✓ | [Issue](https://github.com/ignitionrobotics/ign-sensors/issues/26)
+RFID sensor and tag | ✓ | [Issue](https://github.com/ignitionrobotics/ign-sensors/issues/27)
+Sonar | ✓ | [Issue](https://github.com/ignitionrobotics/ign-sensors/issues/19)
 Thermal camera | ✕  | ✓
-Wide-angle camera | ✓ |
-Wireless receiver | ✓ |
-Wireless transceiver | ✓ |
-Wireless transmitter | ✓ |
+Wide-angle camera | ✓ | [Issue](https://github.com/ignitionrobotics/ign-sensors/issues/24)
+Wireless | ✓ | [Issue](https://github.com/ignitionrobotics/ign-sensors/issues/28)
 
 Sensor features | Gazebo-classic | Ignition Gazebo
 -- | -- | --
 Custom update rate | ✓ | ✓
 Gaussian noise | ✓ | ✓
-Custom sensors | ✓ | ✓ (barrel and pincushion distorsions not supported yet)
+Distortions? | ✓ |  (barrel and pincushion distorsions not supported yet)
+Custom sensors | ✓ | [Issue](https://github.com/ignitionrobotics/ign-sensors/issues/9)
 
 ## Plugins
 
+### Model plugins
+
 Plugin | Gazebo-classic | Ignition Gazebo
 -- | -- | --
-ActorPlugin | ✓ |
-ActuatorPlugin | ✓ |
-AmbientOcclusionVisualPlugin | ✓ |
-ArduCopterPlugin | ✓ |
-ArrangePlugin | ✓ |
+ActorPlugin | ✓ | TODO
+ActuatorPlugin | ✓ | TODO
+ArduCopterPlugin | ✓ | TODO
 AttachLightPlugin | ✓ | ✕ Does not apply, use SDF
-BlinkVisualPlugin | ✓ |
 Breadcrumbs | ✕ | ✓
-BreakableJointPlugin | ✓ |
-BuoyancyPlugin | ✓ |
-CameraPlugin | ✓ |
-CartDemoPlugin | ✓ |
-CessnaPlugin | ✓ |
-ContactPlugin | ✓ | ✓
-ContainPlugin | ✓ |
-DepthCameraPlugin | ✓ |
+BuoyancyPlugin | ✓ | [issue](https://github.com/ignitionrobotics/ign-gazebo/issues/159)
+CartDemoPlugin | ✓ | TODO
+CessnaPlugin | ✓ | TODO
 DiffDrivePlugin | ✓ | ✓
-FiducialCameraPlugin | ✓ |
-FlashLightPlugin | ✓ |
-FollowerPlugin | ✓ |
-ForceTorquePlugin | ✓ |
-GimbalSmall2dPlugin | ✓ |
-GpuRayPlugin | ✓ |
-HarnessPlugin | ✓ |
-HeightmapLODPlugin | ✓ |
-ImuSensorPlugin | ✓ |
-InitialVelocityPlugin | ✓ |
+ElevatorPlugin | ✓ |
+FlashLightPlugin | ✓ | TODO
+FollowerPlugin | ✓ | TODO
+GimbalSmall2dPlugin | ✓ | TODO
+GravityCompensationPlugin | ✓ |
+HarnessPlugin | ✓ | TODO
+HydraDemoPlugin | ✓ | TODO
+InitialVelocityPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/50)
 JointControlPlugin | ✓ (force / pos / vel, from SDF) | ✓ (vel, from msg)
 JointStatePublisher | ✕ | ✓
-JointTrajectoryPlugin | ✓ |
-KeysToJointsPlugin | ✓ |
-LedPlugin | ✓ |
-LensFlareSensorPlugin | ✓ |
+JointTrajectoryPlugin | ✓ | TODO
+KeysToCmdVelPlugin | ✓ | TODO
+KeysToJointsPlugin | ✓ | TODO
+LedPlugin | ✓ | TODO
 LiftDragPlugin | ✓ | ✓
 LinearBatteryConsumerPlugin | ✓ | ✓
 LinearBatteryPlugin | ✓ | ✓
-LinkPlot3DPlugin | ✓ |
-ModelPropShop | ✓ |
-MudPlugin | ✓ |
+LinkPlot3DPlugin | ✓ | TODO
+MudPlugin | ✓ | TODO
 MulticopterMotorModel | ✕ | ✓
-PlaneDemoPlugin | ✓ |
+PlaneDemoPlugin | ✓ | TODO
 PosePublisher | ✕ | ✓
-PressurePlugin | ✓ |
-RayPlugin | ✓ | Provided through Ignition Sensors
-RaySensorNoisePlugin | ✓ |
-RubblePlugin | ✓ |
-ShaderParamVisualPlugin | ✓ |
+RandomVelocityPlugin | ✓ | TODO
+RegionEventBoxPlugin | ✓ | TODO
 SkidSteerDrivePlugin | ✓ | ✓
-SonarPlugin | ✓ |
-SphereAtlasDemoPlugin | ✓ |
-StaticMapPlugin | ✓ |
-StopWorldPlugin | ✓ |
+SphereAtlasDemoPlugin | ✓ | TODO
 TouchPlugin | ✓ | ✓
-VehiclePlugin | ✓ |
-WheelSlipPlugin | ✓ |
-WindPlugin | ✓ | ✓
-ElevatorPlugin | ✓ |
-RandomVelocityPlugin | ✓ |
-TransporterPlugin | ✓ |
-HydraPlugin | ✓ |
-HydraDemoPlugin | ✓ |
+TrackedVehiclePlugin | ✓ | TODO
+VariableGearboxPlugin | ✓ | TODO
+VehiclePlugin | ✓ | TODO
+WheelSlipPlugin | ✓ | TODO
+
+### World plugins
+
+Plugin | Gazebo-classic | Ignition Gazebo
+-- | -- | --
+ArrangePlugin | ✓ | TODO
+ContainPlugin | ✓ | Partial port, [issue](https://github.com/ignitionrobotics/ign-gazebo/issues/162)
+HydraPlugin | ✓ | TODO
 JoyPlugin | ✓ | ✓ Migrated as an Ignition Launch plugin
-CessnaGUIPlugin | ✓ |
-KeyboardGUIPlugin | ✓ |
-LookAtDemoPlugin | ✓ |
-TimerGUIPlugin | ✓ |
-GravityCompensationPlugin | ✓ |
+MisalignmentPlugin | ✓ | TODO
+RubblePlugin | ✓ | TODO
+StaticMapPlugin | ✓ | TODO
+TransporterPlugin | ✓ | TODO
+WindPlugin | ✓ | ✓
+
+### Sensor plugins
+
+Plugin | Gazebo-classic | Ignition Gazebo
+-- | -- | --
+BreakableJointPlugin | ✓ | TODO
+CameraPlugin | ✓ | TODO
+ContactPlugin | ✓ | ✓
+DepthCameraPlugin | ✓ | TODO
+FiducialCameraPlugin | ✓ | TODO
+ForceTorquePlugin | ✓ | TODO
+GpuRayPlugin | ✓ | TODO
+ImuSensorPlugin | ✓ | TODO
+LensFlareSensorPlugin | ✓ | TODO
+PressurePlugin | ✓ | TODO
+RayPlugin | ✓ | Provided through Ignition Sensors
+RaySensorNoisePlugin | ✓ | TODO
+SonarPlugin | ✓ | TODO
+
+### Visual plugins
+
+Plugin | Gazebo-classic | Ignition Gazebo
+-- | -- | --
+AmbientOcclusionVisualPlugin | ✓ | TODO
+BlinkVisualPlugin | ✓ | TODO
+HeightmapLODPlugin | ✓ | TODO
+ShaderParamVisualPlugin | ✓ | TODO
+
+### GUI plugins
+
+Plugin | Gazebo-classic | Ignition Gazebo
+-- | -- | --
+CessnaGUIPlugin | ✓ | TODO
+KeyboardGUIPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gui/issues/67)
+LookAtDemoPlugin | ✓ | TODO
+TimerGUIPlugin | ✓ | TODO
+
+### System plugins
+
+Plugin | Gazebo-classic | Ignition Gazebo
+-- | -- | --
+ModelPropShop | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/100)
+RestUiPlugin | ✓ | TODO
+RestWebPlugin | ✓ | TODO
+StopWorldPlugin | ✓ | TODO
 
 ## GUI
 
 Feature | Gazebo-classic | Ignition Gazebo
 -- | -- | --
 Play / pause / step | ✓ | ✓
-Reset world / models | ✓ |
+Reset world / models | ✓ | TODO
 World stats | ✓ | ✓
 Topic echo | ✓ | ✓
 Image viewer | ✓ | ✓
 Translate / rotate | ✓ | ✓
-Scale models | ✓ |
-Insert models / lights | ✓ | ✓ (dragging Fuel URL)
+Scale models | ✓ | TODO
+Insert models from Fuel | Partial support | ✓
+Insert models from disk | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/123)
+Insert simple shapes | ✓ | ✓
+Insert simple lights | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/119)
 Delete models | ✓ | ✓
-World tree | ✓ | ✓ (no properties yet)
+World tree | ✓ | ✓
+Scene properties | ✓ | TODO
 Log recording / playback | ✓ | ✓
-Plotting | ✓ |
+Plotting | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gui/issues/66)
 Video recording | ✓ | ✓
-Screenshot | ✓ |
-View angles | ✓ |
-Apply force / torque | ✓ |
-Introspection visualizations (transparent, joints...) | ✓ |
+Screenshot | ✓ | TODO
+View angles | ✓ | ✓
+Apply force / torque | ✓ | TODO
+Visualize joints | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/106)
+Visualize collisions | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/105)
+Visualize inertia | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/111)
+Visualize CoM | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/110)
+Visualize contacts | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/112)
 Follow / move to | ✓ | ✓
-Copy / paste | ✓ |
-Building editor | ✓ |
-Model editor | ✓ |
-FPS view control | ✓ |
-Orthographic projection | ✓ |
-Save world | ✓ |
+Copy / paste | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/102)
+Building editor | ✓ | TODO
+Model editor | ✓ | [Design](TODO)
+FPS view control | ✓ | TODO
+Orthographic projection | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/103)
+Undo / redo | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/104)
+Save world | ✓ | ✓
 Save GUI configuration | ✓ | ✓
 Color scheme and themes | ✕ | ✓
 Position, resize and configure widgets | ✕ | ✓
-Load plugins from menu | ✕ | ✓
+Load GUI plugins from menu | ✕ | ✓
 
 ## Physics
 
@@ -148,10 +190,10 @@ in Gazebo.
 
 Feature | Gazebo-classic | Ignition Gazebo
 -- | -- | --
-ODE engine | ✓ |
-Bullet engine | ✓ |
+ODE engine | ✓ | TODO
+Bullet engine | ✓ | [Issue](https://github.com/ignitionrobotics/ign-physics/issues/44)
 DART engine | ✓ | ✓ Plugin shipped with ign-physics
-Simbody engine | ✓ |
+Simbody engine | ✓ | ✕
 Custom engine plugins | ✕ | ✓
 
 ## Rendering
@@ -165,8 +207,8 @@ Ogre 1.x engine | ✓ | ✓
 Ogre 2.x engine | ✕ | ✓
 Optix engine | ✕ | ✓ Partial support
 Custom engine plugins | ✕ | (coming up)
-Sky | ✓ |
-Fog | ✓ |
+Sky | ✓ | TODO
+Fog | ✓ | TODO
 Material scripts | ✓ (Ogre 1.x scripts) | Does not apply
 
 ## ROS integration
@@ -184,27 +226,27 @@ Supported versions:
 
 Feature | Gazebo-classic | Ignition Gazebo
 -- | -- | --
-Nested models | ✓ | Partial support
+Nested models | ✓ | [SDF Issue](https://github.com/osrf/sdformat/issues/283), [Physics issue](https://github.com/ignitionrobotics/ign-physics/issues/10)
 Log / playback | ✓ | ✓
-Web client (GzWeb) | ✓ |
-Populations | ✓ |
+Web client (GzWeb) | ✓ | TODO
+Populations | ✓ | TODO
 Actors | ✓ | ✓
 Markers | ✓ | ✓
-Heightmaps | ✓ |
-DEM (Digital Elevation Models) | ✓ |
+Heightmaps | ✓ | TODO
+DEM (Digital Elevation Models) | ✓ | TODO
 COLLADA meshes | ✓ | ✓
 OBJ meshes | ✓ | ✓
 STL meshes | ✓ | ✓
-Polylines | ✓ |
+Polylines | ✓ | TODO
 Code introspection | ✓ | All simulation state is accessible from system plugins or through the `SceneBroadcaster`'s state topic
 World plugins | ✓ | ✓ Now called System plugin
 Model plugins | ✓ | ✓ Now called System plugin
 Sensor plugins | ✓ | ✓ Now called System plugin
-Visual plugins | ✓ |
+Visual plugins | ✓ | TODO
 GUI plugins | ✓ | ✓ Ignition GUI plugins and Gazebo GUI systems
 System plugins | ✓ | ✓ Through Ignition Launch
 Distribute simulation across processes | ✕ | (coming up)
 Incrementally load levels | ✕ | ✓
 Online model database | [gazebo_models repository](https://bitbucket.org/osrf/gazebo_models/) | [Ignition Fuel](https://app.ignitionrobotics.org/fuel/models)
-SDF frame semantics |✓| ✓
-Saved simulation states | ✓ |
+SDF frame semantics |✓ | ✓
+Saved simulation states | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/137)

From 4ec1f1f1432a5d43713d7d86b409831e50a5945a Mon Sep 17 00:00:00 2001
From: Louise Poubel <louise@openrobotics.org>
Date: Fri, 29 May 2020 18:53:30 -0700
Subject: [PATCH 02/13] more

Signed-off-by: Louise Poubel <louise@openrobotics.org>
---
 citadel/comparison.md | 12 ++++++++----
 1 file changed, 8 insertions(+), 4 deletions(-)

diff --git a/citadel/comparison.md b/citadel/comparison.md
index 525473eb46..21793525cf 100644
--- a/citadel/comparison.md
+++ b/citadel/comparison.md
@@ -4,6 +4,10 @@ A list of features present in [Gazebo-classic](https://bitbucket.org/osrf/gazebo
 version 11 and the status of their migration to
 [Ignition](https://ignitionrobotics.org/).
 
+All the issues below are labeled with
+[close the gap](https://github.com/search?q=org%3Aignitionrobotics+label%3A%22close+the+gap%22&type=Issues)
+on GitHub.
+
 ## Sensors
 
 Sensor | Gazebo-classic | Ignition Gazebo
@@ -46,14 +50,14 @@ ArduCopterPlugin | ✓ | TODO
 AttachLightPlugin | ✓ | ✕ Does not apply, use SDF
 Breadcrumbs | ✕ | ✓
 BuoyancyPlugin | ✓ | [issue](https://github.com/ignitionrobotics/ign-gazebo/issues/159)
-CartDemoPlugin | ✓ | TODO
+CartDemoPlugin | ✓ | ✕
 CessnaPlugin | ✓ | TODO
 DiffDrivePlugin | ✓ | ✓
-ElevatorPlugin | ✓ |
+ElevatorPlugin | ✓ | TODO
 FlashLightPlugin | ✓ | TODO
 FollowerPlugin | ✓ | TODO
 GimbalSmall2dPlugin | ✓ | TODO
-GravityCompensationPlugin | ✓ |
+GravityCompensationPlugin | ✓ | TODO
 HarnessPlugin | ✓ | TODO
 HydraDemoPlugin | ✓ | TODO
 InitialVelocityPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/50)
@@ -109,7 +113,7 @@ GpuRayPlugin | ✓ | TODO
 ImuSensorPlugin | ✓ | TODO
 LensFlareSensorPlugin | ✓ | TODO
 PressurePlugin | ✓ | TODO
-RayPlugin | ✓ | Provided through Ignition Sensors
+RayPlugin | ✓ | TODO
 RaySensorNoisePlugin | ✓ | TODO
 SonarPlugin | ✓ | TODO
 

From d328cd5dbc3ccec6a063cd3aef7e20fefbaf46f4 Mon Sep 17 00:00:00 2001
From: Louise Poubel <louise@openrobotics.org>
Date: Mon, 1 Jun 2020 14:15:52 -0700
Subject: [PATCH 03/13] physics engines, plstforms

Signed-off-by: Louise Poubel <louise@openrobotics.org>
---
 citadel/comparison.md | 12 ++++++++++--
 1 file changed, 10 insertions(+), 2 deletions(-)

diff --git a/citadel/comparison.md b/citadel/comparison.md
index 21793525cf..452ee09e0b 100644
--- a/citadel/comparison.md
+++ b/citadel/comparison.md
@@ -194,10 +194,10 @@ in Gazebo.
 
 Feature | Gazebo-classic | Ignition Gazebo
 -- | -- | --
-ODE engine | ✓ | TODO
+ODE engine | ✓ | [Issue](https://github.com/ignitionrobotics/ign-physics/issues/63)
 Bullet engine | ✓ | [Issue](https://github.com/ignitionrobotics/ign-physics/issues/44)
 DART engine | ✓ | ✓ Plugin shipped with ign-physics
-Simbody engine | ✓ | ✕
+Simbody engine | ✓ | [Issue](https://github.com/ignitionrobotics/ign-physics/issues/63)
 Custom engine plugins | ✕ | ✓
 
 ## Rendering
@@ -226,6 +226,14 @@ Supported versions:
 * ROS 1 Melodic
 * ROS 2 Dashing
 
+## Platforms
+
+Platform | Gazebo-classic | Ignition Gazebo
+-- | -- | --
+Ubuntu | ✓ | ✓
+OSX | ✓ | Most of the stack works, outstanding issues: [command line](https://github.com/ignitionrobotics/ign-gazebo/issues/25), [render window](https://github.com/ignitionrobotics/ign-gazebo/issues/44)
+Windows | ✓ | The stack works up to ign-gazebo: [issue](https://github.com/ignitionrobotics/ign-gazebo/issues/168)
+
 ## Others
 
 Feature | Gazebo-classic | Ignition Gazebo

From 80fa0873cc07cb10a04955cfbe8ffd5877400a6a Mon Sep 17 00:00:00 2001
From: Louise Poubel <louise@openrobotics.org>
Date: Tue, 9 Jun 2020 18:21:07 -0700
Subject: [PATCH 04/13] A couple more issues

Signed-off-by: Louise Poubel <louise@openrobotics.org>
---
 citadel/comparison.md | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/citadel/comparison.md b/citadel/comparison.md
index 452ee09e0b..131b0166d3 100644
--- a/citadel/comparison.md
+++ b/citadel/comparison.md
@@ -154,7 +154,7 @@ World stats | ✓ | ✓
 Topic echo | ✓ | ✓
 Image viewer | ✓ | ✓
 Translate / rotate | ✓ | ✓
-Scale models | ✓ | TODO
+Scale models | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/195)
 Insert models from Fuel | Partial support | ✓
 Insert models from disk | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/123)
 Insert simple shapes | ✓ | ✓
@@ -249,7 +249,7 @@ DEM (Digital Elevation Models) | ✓ | TODO
 COLLADA meshes | ✓ | ✓
 OBJ meshes | ✓ | ✓
 STL meshes | ✓ | ✓
-Polylines | ✓ | TODO
+Polylines | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/186)
 Code introspection | ✓ | All simulation state is accessible from system plugins or through the `SceneBroadcaster`'s state topic
 World plugins | ✓ | ✓ Now called System plugin
 Model plugins | ✓ | ✓ Now called System plugin

From bee1c5c4b7c2f728e5234815f743a8c2429b467f Mon Sep 17 00:00:00 2001
From: Louise Poubel <louise@openrobotics.org>
Date: Thu, 11 Jun 2020 19:55:32 -0700
Subject: [PATCH 05/13] some more issues

Signed-off-by: Louise Poubel <louise@openrobotics.org>
---
 citadel/comparison.md | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/citadel/comparison.md b/citadel/comparison.md
index 131b0166d3..3919dbde1a 100644
--- a/citadel/comparison.md
+++ b/citadel/comparison.md
@@ -149,7 +149,7 @@ StopWorldPlugin | ✓ | TODO
 Feature | Gazebo-classic | Ignition Gazebo
 -- | -- | --
 Play / pause / step | ✓ | ✓
-Reset world / models | ✓ | TODO
+Reset world / models | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/203)
 World stats | ✓ | ✓
 Topic echo | ✓ | ✓
 Image viewer | ✓ | ✓
@@ -198,7 +198,7 @@ ODE engine | ✓ | [Issue](https://github.com/ignitionrobotics/ign-physics/issue
 Bullet engine | ✓ | [Issue](https://github.com/ignitionrobotics/ign-physics/issues/44)
 DART engine | ✓ | ✓ Plugin shipped with ign-physics
 Simbody engine | ✓ | [Issue](https://github.com/ignitionrobotics/ign-physics/issues/63)
-Custom engine plugins | ✕ | ✓
+Custom engine plugins | ✕ | [Issue](https://github.com/ignitionrobotics/ign-rendering/issues/100)
 
 ## Rendering
 
@@ -211,7 +211,7 @@ Ogre 1.x engine | ✓ | ✓
 Ogre 2.x engine | ✕ | ✓
 Optix engine | ✕ | ✓ Partial support
 Custom engine plugins | ✕ | (coming up)
-Sky | ✓ | TODO
+Sky | ✓ | [Issue](https://github.com/ignitionrobotics/ign-rendering/issues/98)
 Fog | ✓ | TODO
 Material scripts | ✓ (Ogre 1.x scripts) | Does not apply
 

From 643da53417933fddc33ec4017189bac3940a74fe Mon Sep 17 00:00:00 2001
From: Louise Poubel <louise@openrobotics.org>
Date: Wed, 1 Jul 2020 21:16:29 -0700
Subject: [PATCH 06/13] more issues

Signed-off-by: Louise Poubel <louise@openrobotics.org>
---
 citadel/comparison.md | 30 +++++++++++++++---------------
 1 file changed, 15 insertions(+), 15 deletions(-)

diff --git a/citadel/comparison.md b/citadel/comparison.md
index 3919dbde1a..560c6ee235 100644
--- a/citadel/comparison.md
+++ b/citadel/comparison.md
@@ -44,7 +44,7 @@ Custom sensors | ✓ | [Issue](https://github.com/ignitionrobotics/ign-sensors/i
 
 Plugin | Gazebo-classic | Ignition Gazebo
 -- | -- | --
-ActorPlugin | ✓ | TODO
+ActorPlugin | ✓ | ✕ See [FollowActor](https://github.com/ignitionrobotics/ign-gazebo/blob/master/src/systems/follow_actor/FollowActor.hh) for a demo of Actor APIs
 ActuatorPlugin | ✓ | TODO
 ArduCopterPlugin | ✓ | TODO
 AttachLightPlugin | ✓ | ✕ Does not apply, use SDF
@@ -64,13 +64,13 @@ InitialVelocityPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-ga
 JointControlPlugin | ✓ (force / pos / vel, from SDF) | ✓ (vel, from msg)
 JointStatePublisher | ✕ | ✓
 JointTrajectoryPlugin | ✓ | TODO
-KeysToCmdVelPlugin | ✓ | TODO
-KeysToJointsPlugin | ✓ | TODO
+KeysToCmdVelPlugin | ✓ | Use `ignition::gui::KeyPublisher` with `ignition::gazebo::systems::TriggeredPublisher`
+KeysToJointsPlugin | ✓ | Use `ignition::gui::KeyPublisher` with `ignition::gazebo::systems::TriggeredPublisher`
 LedPlugin | ✓ | TODO
 LiftDragPlugin | ✓ | ✓
 LinearBatteryConsumerPlugin | ✓ | ✓
 LinearBatteryPlugin | ✓ | ✓
-LinkPlot3DPlugin | ✓ | TODO
+LinkPlot3DPlugin | ✓ | [issue](https://github.com/ignitionrobotics/ign-gazebo/issues/231)
 MudPlugin | ✓ | TODO
 MulticopterMotorModel | ✕ | ✓
 PlaneDemoPlugin | ✓ | TODO
@@ -78,12 +78,12 @@ PosePublisher | ✕ | ✓
 RandomVelocityPlugin | ✓ | TODO
 RegionEventBoxPlugin | ✓ | TODO
 SkidSteerDrivePlugin | ✓ | ✓
-SphereAtlasDemoPlugin | ✓ | TODO
+SphereAtlasDemoPlugin | ✓ | ✕
 TouchPlugin | ✓ | ✓
 TrackedVehiclePlugin | ✓ | TODO
 VariableGearboxPlugin | ✓ | TODO
 VehiclePlugin | ✓ | TODO
-WheelSlipPlugin | ✓ | TODO
+WheelSlipPlugin | ✓ | [pull request](https://github.com/ignitionrobotics/ign-gazebo/pull/134)
 
 ### World plugins
 
@@ -104,18 +104,18 @@ WindPlugin | ✓ | ✓
 Plugin | Gazebo-classic | Ignition Gazebo
 -- | -- | --
 BreakableJointPlugin | ✓ | TODO
-CameraPlugin | ✓ | TODO
+CameraPlugin | ✓ | [issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
 ContactPlugin | ✓ | ✓
-DepthCameraPlugin | ✓ | TODO
+DepthCameraPlugin | ✓ | [issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
 FiducialCameraPlugin | ✓ | TODO
-ForceTorquePlugin | ✓ | TODO
-GpuRayPlugin | ✓ | TODO
-ImuSensorPlugin | ✓ | TODO
+ForceTorquePlugin | ✓ | [issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
+GpuRayPlugin | ✓ | [issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
+ImuSensorPlugin | ✓ | [issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
 LensFlareSensorPlugin | ✓ | TODO
 PressurePlugin | ✓ | TODO
-RayPlugin | ✓ | TODO
-RaySensorNoisePlugin | ✓ | TODO
-SonarPlugin | ✓ | TODO
+RayPlugin | ✓ | [issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
+RaySensorNoisePlugin | ✓ | ✕ Use SDF
+SonarPlugin | ✓ | [issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
 
 ### Visual plugins
 
@@ -131,7 +131,7 @@ ShaderParamVisualPlugin | ✓ | TODO
 Plugin | Gazebo-classic | Ignition Gazebo
 -- | -- | --
 CessnaGUIPlugin | ✓ | TODO
-KeyboardGUIPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gui/issues/67)
+KeyboardGUIPlugin | ✓ | `ignition::gui::KeyPublisher`
 LookAtDemoPlugin | ✓ | TODO
 TimerGUIPlugin | ✓ | TODO
 

From 3337e05a1a27c2d249159f2aca9f6c2b807a7264 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@osrfoundation.org>
Date: Wed, 8 Jul 2020 23:20:11 +0200
Subject: [PATCH 07/13] Update comparison.md

---
 citadel/comparison.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/citadel/comparison.md b/citadel/comparison.md
index 560c6ee235..8f98272240 100644
--- a/citadel/comparison.md
+++ b/citadel/comparison.md
@@ -245,7 +245,7 @@ Populations | ✓ | TODO
 Actors | ✓ | ✓
 Markers | ✓ | ✓
 Heightmaps | ✓ | TODO
-DEM (Digital Elevation Models) | ✓ | TODO
+DEM (Digital Elevation Models) | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/235)
 COLLADA meshes | ✓ | ✓
 OBJ meshes | ✓ | ✓
 STL meshes | ✓ | ✓

From 6a64bd49906f7b17ae94ca60207fd377ce1b56e2 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@osrfoundation.org>
Date: Fri, 10 Jul 2020 22:55:12 +0200
Subject: [PATCH 08/13] Update comparison.md

---
 citadel/comparison.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/citadel/comparison.md b/citadel/comparison.md
index 8f98272240..52c645c5af 100644
--- a/citadel/comparison.md
+++ b/citadel/comparison.md
@@ -244,7 +244,7 @@ Web client (GzWeb) | ✓ | TODO
 Populations | ✓ | TODO
 Actors | ✓ | ✓
 Markers | ✓ | ✓
-Heightmaps | ✓ | TODO
+Heightmaps | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/237)
 DEM (Digital Elevation Models) | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/235)
 COLLADA meshes | ✓ | ✓
 OBJ meshes | ✓ | ✓

From a34b199b164d859b238b71f8e6b4304ace0b1d27 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@osrfoundation.org>
Date: Wed, 15 Jul 2020 00:16:54 +0200
Subject: [PATCH 09/13] Update comparison.md

---
 citadel/comparison.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/citadel/comparison.md b/citadel/comparison.md
index 52c645c5af..13867b43ea 100644
--- a/citadel/comparison.md
+++ b/citadel/comparison.md
@@ -241,7 +241,7 @@ Feature | Gazebo-classic | Ignition Gazebo
 Nested models | ✓ | [SDF Issue](https://github.com/osrf/sdformat/issues/283), [Physics issue](https://github.com/ignitionrobotics/ign-physics/issues/10)
 Log / playback | ✓ | ✓
 Web client (GzWeb) | ✓ | TODO
-Populations | ✓ | TODO
+Populations | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/240)
 Actors | ✓ | ✓
 Markers | ✓ | ✓
 Heightmaps | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/237)

From 4d6ebc23920660cf8b11aa0f81dc23ab0f0e574d Mon Sep 17 00:00:00 2001
From: Louise Poubel <louise@openrobotics.org>
Date: Wed, 15 Jul 2020 16:34:32 -0700
Subject: [PATCH 10/13] more issues

Signed-off-by: Louise Poubel <louise@openrobotics.org>
---
 citadel/comparison.md | 28 ++++++++++++++--------------
 1 file changed, 14 insertions(+), 14 deletions(-)

diff --git a/citadel/comparison.md b/citadel/comparison.md
index 13867b43ea..d5f6743d84 100644
--- a/citadel/comparison.md
+++ b/citadel/comparison.md
@@ -49,7 +49,7 @@ ActuatorPlugin | ✓ | TODO
 ArduCopterPlugin | ✓ | TODO
 AttachLightPlugin | ✓ | ✕ Does not apply, use SDF
 Breadcrumbs | ✕ | ✓
-BuoyancyPlugin | ✓ | [issue](https://github.com/ignitionrobotics/ign-gazebo/issues/159)
+BuoyancyPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/159)
 CartDemoPlugin | ✓ | ✕
 CessnaPlugin | ✓ | TODO
 DiffDrivePlugin | ✓ | ✓
@@ -70,7 +70,7 @@ LedPlugin | ✓ | TODO
 LiftDragPlugin | ✓ | ✓
 LinearBatteryConsumerPlugin | ✓ | ✓
 LinearBatteryPlugin | ✓ | ✓
-LinkPlot3DPlugin | ✓ | [issue](https://github.com/ignitionrobotics/ign-gazebo/issues/231)
+LinkPlot3DPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/231)
 MudPlugin | ✓ | TODO
 MulticopterMotorModel | ✕ | ✓
 PlaneDemoPlugin | ✓ | TODO
@@ -90,7 +90,7 @@ WheelSlipPlugin | ✓ | [pull request](https://github.com/ignitionrobotics/ign-g
 Plugin | Gazebo-classic | Ignition Gazebo
 -- | -- | --
 ArrangePlugin | ✓ | TODO
-ContainPlugin | ✓ | Partial port, [issue](https://github.com/ignitionrobotics/ign-gazebo/issues/162)
+ContainPlugin | ✓ | Partial port, [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/162)
 HydraPlugin | ✓ | TODO
 JoyPlugin | ✓ | ✓ Migrated as an Ignition Launch plugin
 MisalignmentPlugin | ✓ | TODO
@@ -104,18 +104,18 @@ WindPlugin | ✓ | ✓
 Plugin | Gazebo-classic | Ignition Gazebo
 -- | -- | --
 BreakableJointPlugin | ✓ | TODO
-CameraPlugin | ✓ | [issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
+CameraPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
 ContactPlugin | ✓ | ✓
-DepthCameraPlugin | ✓ | [issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
+DepthCameraPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
 FiducialCameraPlugin | ✓ | TODO
-ForceTorquePlugin | ✓ | [issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
-GpuRayPlugin | ✓ | [issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
-ImuSensorPlugin | ✓ | [issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
+ForceTorquePlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
+GpuRayPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
+ImuSensorPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
 LensFlareSensorPlugin | ✓ | TODO
 PressurePlugin | ✓ | TODO
-RayPlugin | ✓ | [issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
+RayPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
 RaySensorNoisePlugin | ✓ | ✕ Use SDF
-SonarPlugin | ✓ | [issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
+SonarPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
 
 ### Visual plugins
 
@@ -161,11 +161,11 @@ Insert simple shapes | ✓ | ✓
 Insert simple lights | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/119)
 Delete models | ✓ | ✓
 World tree | ✓ | ✓
-Scene properties | ✓ | TODO
+Scene properties | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/246)
 Log recording / playback | ✓ | ✓
 Plotting | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gui/issues/66)
 Video recording | ✓ | ✓
-Screenshot | ✓ | TODO
+Screenshot | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gui/issues/95)
 View angles | ✓ | ✓
 Apply force / torque | ✓ | TODO
 Visualize joints | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/106)
@@ -176,7 +176,7 @@ Visualize contacts | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazeb
 Follow / move to | ✓ | ✓
 Copy / paste | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/102)
 Building editor | ✓ | TODO
-Model editor | ✓ | [Design](TODO)
+Model editor | ✓ | [Issues](https://github.com/ignitionrobotics/ign-gazebo/issues?q=is%3Aissue+is%3Aopen+label%3Aeditor)
 FPS view control | ✓ | TODO
 Orthographic projection | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/103)
 Undo / redo | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/104)
@@ -232,7 +232,7 @@ Platform | Gazebo-classic | Ignition Gazebo
 -- | -- | --
 Ubuntu | ✓ | ✓
 OSX | ✓ | Most of the stack works, outstanding issues: [command line](https://github.com/ignitionrobotics/ign-gazebo/issues/25), [render window](https://github.com/ignitionrobotics/ign-gazebo/issues/44)
-Windows | ✓ | The stack works up to ign-gazebo: [issue](https://github.com/ignitionrobotics/ign-gazebo/issues/168)
+Windows | ✓ | The stack works up to ign-gazebo: [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/168)
 
 ## Others
 

From 9341f1473e43fbd209a1c4bb44b87ac97d0bebcb Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@osrfoundation.org>
Date: Tue, 28 Jul 2020 22:59:41 +0200
Subject: [PATCH 11/13] Update comparison.md

---
 citadel/comparison.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/citadel/comparison.md b/citadel/comparison.md
index d5f6743d84..0aa21ee127 100644
--- a/citadel/comparison.md
+++ b/citadel/comparison.md
@@ -254,7 +254,7 @@ Code introspection | ✓ | All simulation state is accessible from system plugin
 World plugins | ✓ | ✓ Now called System plugin
 Model plugins | ✓ | ✓ Now called System plugin
 Sensor plugins | ✓ | ✓ Now called System plugin
-Visual plugins | ✓ | TODO
+Visual plugins | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/265)
 GUI plugins | ✓ | ✓ Ignition GUI plugins and Gazebo GUI systems
 System plugins | ✓ | ✓ Through Ignition Launch
 Distribute simulation across processes | ✕ | (coming up)

From 07a07061d595fae0669785efd2f0e6ee249a9b86 Mon Sep 17 00:00:00 2001
From: Louise Poubel <louise@openrobotics.org>
Date: Tue, 25 Aug 2020 17:18:55 -0700
Subject: [PATCH 12/13] update blueprint

Signed-off-by: Louise Poubel <louise@openrobotics.org>
---
 blueprint/comparison.md | 266 ++++++++++++++++++++++++----------------
 citadel/comparison.md   |   6 +-
 2 files changed, 160 insertions(+), 112 deletions(-)

diff --git a/blueprint/comparison.md b/blueprint/comparison.md
index 23b57f4930..330dc7249a 100644
--- a/blueprint/comparison.md
+++ b/blueprint/comparison.md
@@ -1,7 +1,12 @@
 # Feature comparison
 
-A list of features present in [Gazebo-classic](https://bitbucket.org/osrf/gazebo/) and
-the status of their migration to [Ignition](https://ignitionrobotics.org/).
+A list of features present in [Gazebo-classic](https://bitbucket.org/osrf/gazebo/)
+version 11 and the status of their migration to
+[Ignition Blueprint](https://ignitionrobotics.org/).
+
+All the issues below are labeled with
+[close the gap](https://github.com/search?q=org%3Aignitionrobotics+label%3A%22close+the+gap%22&type=Issues)
+on GitHub.
 
 ## Sensors
 
@@ -12,162 +17,198 @@ Altimeter | ✓ | ✓
 Camera | ✓ | ✓
 Contact sensor | ✓ | ✓
 Depth camera | ✓ | ✓
-Force-torque | ✓ |
-GPS | ✓ |
+Force-torque | ✓ | [Issue](https://github.com/ignitionrobotics/ign-sensors/issues/25)
+GPS | ✓ | [Issue](https://github.com/ignitionrobotics/ign-sensors/issues/23)
 GPU Ray | ✓ | ✓ Renamed to GPU Lidar
 IMU | ✓ | ✓
 Logical camera | ✓ | ✓
 Magnetometer | ✓ | ✓
-Multi-camera | ✓ |
-Ray | ✓ |
-RFID | ✓ |
-RFIDTag | ✓ |
-Sonar | ✓ |
-Thermal camera | ✕  | ✕ (available in Citadel)
-Wide-angle camera | ✓ |
-Wireless receiver | ✓ |
-Wireless transceiver | ✓ |
-Wireless transmitter | ✓ |
+Multi-camera | ✓ | ✕  Use individual cameras with same update rate
+Ray | ✓ | [Issue](https://github.com/ignitionrobotics/ign-sensors/issues/26)
+RFID sensor and tag | ✓ | [Issue](https://github.com/ignitionrobotics/ign-sensors/issues/27)
+Sonar | ✓ | [Issue](https://github.com/ignitionrobotics/ign-sensors/issues/19)
+Thermal camera | ✕  | ✕ (available from Citadel)
+Wide-angle camera | ✓ | [Issue](https://github.com/ignitionrobotics/ign-sensors/issues/24)
+Wireless | ✓ | [Issue](https://github.com/ignitionrobotics/ign-sensors/issues/28)
 
 Sensor features | Gazebo-classic | Ignition Gazebo
 -- | -- | --
 Custom update rate | ✓ | ✓
 Gaussian noise | ✓ | ✓
-Custom sensors | ✓ | ✓ (barrel and pincushion distorsions not supported yet)
+Custom sensors | ✓ | [Issue](https://github.com/ignitionrobotics/ign-sensors/issues/9)
 
 ## SDF Features
 
 Feature | Gazebo-classic | Ignition Gazebo
 -- | -- | --
-SDF frame semantics |✓| ✕ (available in Citadel)
+SDF frame semantics |✓| ✕ (available from Citadel)
 Load models from local files | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/123)
 Closed kinematic chains | ✓  | [✕](https://github.com/ignitionrobotics/ign-physics/issues/25)
 Nested models | ✓ | Partial support
-Populations | ✓ | 
-Actors | ✓ |  ✕ (available in Citadel)
-Markers | ✓ |  ✕ (available in Citadel)
-Heightmaps | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/237)
-DEM (Digital Elevation Models) | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/235)
-Polylines | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/186)
+Populations | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/240)
+Actors | ✓ |  ✕ (available from Citadel)
+Markers | ✓ |  ✕ (available from Citadel)
+Heightmaps | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/237)
+DEM (Digital Elevation Models) | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/235)
+Polylines | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/186)
 World plugins | ✓ | ✓ Now called System plugin
 Model plugins | ✓ | ✓ Now called System plugin
 Sensor plugins | ✓ | ✓ Now called System plugin
-Visual plugins | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/265)
+Visual plugins | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/265)
 GUI plugins | ✓ | ✓ Ignition GUI plugins and Gazebo GUI systems
 System plugins | ✓ | ✓ Through Ignition Launch
 
 ## Plugins
 
+### Model plugins
+
 Plugin | Gazebo-classic | Ignition Gazebo
 -- | -- | --
-ActorPlugin | ✓ |
-ActuatorPlugin | ✓ |
-AmbientOcclusionVisualPlugin | ✓ |
-ArduCopterPlugin | ✓ |
-ArrangePlugin | ✓ |
+ActorPlugin | ✓ | ✕ See [FollowActor](https://github.com/ignitionrobotics/ign-gazebo/blob/master/src/systems/follow_actor/FollowActor.hh) for a demo of Actor APIs
+ActuatorPlugin | ✓ | TODO
+ArduCopterPlugin | ✓ | TODO
 AttachLightPlugin | ✓ | ✕ Does not apply, use SDF
-BlinkVisualPlugin | ✓ |
 Breadcrumbs | ✕ | ✓
-BreakableJointPlugin | ✓ |
-BuoyancyPlugin | ✓ |
-CameraPlugin | ✓ |
-CartDemoPlugin | ✓ |
-CessnaPlugin | ✓ |
-ContactPlugin | ✓ | ✓
-ContainPlugin | ✓ |
-DepthCameraPlugin | ✓ |
+BuoyancyPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/159)
+CartDemoPlugin | ✓ | ✕
+CessnaPlugin | ✓ | TODO
 DiffDrivePlugin | ✓ | ✓
-FiducialCameraPlugin | ✓ |
-FlashLightPlugin | ✓ |
-FollowerPlugin | ✓ |
-ForceTorquePlugin | ✓ |
-GimbalSmall2dPlugin | ✓ |
-GpuRayPlugin | ✓ |
-HarnessPlugin | ✓ |
-HeightmapLODPlugin | ✓ |
-ImuSensorPlugin | ✓ |
-InitialVelocityPlugin | ✓ |
+ElevatorPlugin | ✓ | TODO
+FlashLightPlugin | ✓ | TODO
+FollowerPlugin | ✓ | TODO
+GimbalSmall2dPlugin | ✓ | TODO
+GravityCompensationPlugin | ✓ | TODO
+HarnessPlugin | ✓ | TODO
+HydraDemoPlugin | ✓ | TODO
+InitialVelocityPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/50)
 JointControlPlugin | ✓ (force / pos / vel, from SDF) | ✓ (vel, from msg)
 JointStatePublisher | ✕ | ✓
-JointTrajectoryPlugin | ✓ |
-KeysToJointsPlugin | ✓ |
-LedPlugin | ✓ |
-LensFlareSensorPlugin | ✓ |
+JointTrajectoryPlugin | ✓ | TODO
+KeysToCmdVelPlugin | ✓ | Use `ignition::gui::KeyPublisher` with `ignition::gazebo::systems::TriggeredPublisher`
+KeysToJointsPlugin | ✓ | Use `ignition::gui::KeyPublisher` with `ignition::gazebo::systems::TriggeredPublisher`
+LedPlugin | ✓ | TODO
 LiftDragPlugin | ✓ | ✓
 LinearBatteryConsumerPlugin | ✓ | ✓
 LinearBatteryPlugin | ✓ | ✓
-LinkPlot3DPlugin | ✓ |
-ModelPropShop | ✓ |
-MudPlugin | ✓ |
+LinkPlot3DPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/231)
+MudPlugin | ✓ | TODO
 MulticopterMotorModel | ✕ | ✓
-PlaneDemoPlugin | ✓ |
+PlaneDemoPlugin | ✓ | TODO
 PosePublisher | ✕ | ✓
-PressurePlugin | ✓ |
-RayPlugin | ✓ | Provided through Ignition Sensors
-RaySensorNoisePlugin | ✓ |
-RubblePlugin | ✓ |
-ShaderParamVisualPlugin | ✓ |
+RandomVelocityPlugin | ✓ | TODO
+RegionEventBoxPlugin | ✓ | TODO
 SimpleTrackedVehiclePlugin | ✓ |
 SkidSteerDrivePlugin | ✓ | ✓
-SonarPlugin | ✓ |
-SphereAtlasDemoPlugin | ✓ |
-StaticMapPlugin | ✓ |
-StopWorldPlugin | ✓ |
+SphereAtlasDemoPlugin | ✓ | ✕
 TouchPlugin | ✓ | ✓
-VehiclePlugin | ✓ |
-WheelSlipPlugin | ✓ |
-WindPlugin | ✓ | ✓
+TrackedVehiclePlugin | ✓ | TODO
+VariableGearboxPlugin | ✓ | TODO
+VehiclePlugin | ✓ | TODO
+WheelSlipPlugin | ✓ | [pull request](https://github.com/ignitionrobotics/ign-gazebo/pull/134)
 WheelTrackedVehiclePlugin | ✓ | ✓ ([partially via DiffDrivePlugin](https://github.com/ignitionrobotics/ign-gazebo/blob/44951e3ddfd238f24182d4d80b1376f0d426bd43/examples/worlds/track_drive.sdf#L2141))
-ElevatorPlugin | ✓ |
-RandomVelocityPlugin | ✓ |
-TransporterPlugin | ✓ |
-HydraPlugin | ✓ |
-HydraDemoPlugin | ✓ |
+
+### World plugins
+
+Plugin | Gazebo-classic | Ignition Gazebo
+-- | -- | --
+ArrangePlugin | ✓ | TODO
+ContainPlugin | ✓ | Partial port, [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/162)
+HydraPlugin | ✓ | TODO
 JoyPlugin | ✓ | ✓ Migrated as an Ignition Launch plugin
-CessnaGUIPlugin | ✓ |
-KeyboardGUIPlugin | ✓ |
-LookAtDemoPlugin | ✓ |
-TimerGUIPlugin | ✓ |
-GravityCompensationPlugin | ✓ |
+MisalignmentPlugin | ✓ | TODO
+RubblePlugin | ✓ | TODO
+StaticMapPlugin | ✓ | TODO
+TransporterPlugin | ✓ | TODO
+WindPlugin | ✓ | ✓
+
+### Sensor plugins
+
+Plugin | Gazebo-classic | Ignition Gazebo
+-- | -- | --
+BreakableJointPlugin | ✓ | TODO
+CameraPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
+ContactPlugin | ✓ | ✓
+DepthCameraPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
+FiducialCameraPlugin | ✓ | TODO
+ForceTorquePlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
+GpuRayPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
+ImuSensorPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
+LensFlareSensorPlugin | ✓ | TODO
+PressurePlugin | ✓ | TODO
+RayPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
+RaySensorNoisePlugin | ✓ | ✕ Use SDF
+SonarPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
+
+### Visual plugins
+
+Plugin | Gazebo-classic | Ignition Gazebo
+-- | -- | --
+AmbientOcclusionVisualPlugin | ✓ | TODO
+BlinkVisualPlugin | ✓ | TODO
+HeightmapLODPlugin | ✓ | TODO
+ShaderParamVisualPlugin | ✓ | TODO
+
+### GUI plugins
+
+Plugin | Gazebo-classic | Ignition Gazebo
+-- | -- | --
+CessnaGUIPlugin | ✓ | TODO
+KeyboardGUIPlugin | ✓ | `ignition::gui::KeyPublisher`
+LookAtDemoPlugin | ✓ | TODO
+TimerGUIPlugin | ✓ | TODO
+
+### System plugins
+
+Plugin | Gazebo-classic | Ignition Gazebo
+-- | -- | --
+ModelPropShop | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/100)
+RestUiPlugin | ✓ | TODO
+RestWebPlugin | ✓ | TODO
+StopWorldPlugin | ✓ | TODO
 
 ## GUI
 
 Feature | Gazebo-classic | Ignition Gazebo
 -- | -- | --
 Play / pause / step | ✓ | ✓
-Reset world / models | ✓ |
+Reset world / models | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/203)
 World stats | ✓ | ✓
 Topic echo | ✓ | ✓
 Image viewer | ✓ | ✓
 Translate / rotate | ✓ | ✓
-Scale models | ✓ |
-Insert models / lights | ✓ | ✓ (dragging Fuel URL)
+Scale models | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/195)
+Insert models from Fuel | Partial support | ✓
+Insert models from disk | ✓ | ✓
+Insert simple shapes | ✓ | ✓
+Insert simple lights | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/119)
 Delete models | ✓ | ✓
-World tree | ✓ | ✓ (no properties yet)
+World tree | ✓ | ✓
+Scene properties | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/246)
 Log recording / playback | ✓ | ✓
-Plotting | ✓ |
+Plotting | ✓ | ✕ (available from Dome)
 Video recording | ✓ | ✓
-Screenshot | ✓ |
-View angles | ✓ |
-Apply force / torque | ✓ |
-Visualize model as transparent | ✓ | ✕
-Visualize model as wireframe | ✓ | ✕
-Visualize contacts | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/pull/234)
-Visualize link inertia | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/111)
-Visualize centers of mass | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/110)
-Visualize joints | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/106)
-Visualize collision shapes | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/105)
+Screenshot | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gui/issues/95)
+View angles | ✓ | ✓
+Apply force / torque | ✓ | TODO
+Visualize as transparent | ✓ | TODO
+Visualize as wireframe | ✓ | TODO
+Visualize joints | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/106)
+Visualize collisions | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/105)
+Visualize inertia | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/111)
+Visualize CoM | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/110)
+Visualize contacts | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/112)
 Follow / move to | ✓ | ✓
-Copy / paste | ✓ |
-Building editor | ✓ |
-Model editor | ✓ |
-FPS view control | ✓ |
-Orthographic projection | ✓ |
-Save world | ✓ |
+Copy / paste | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/102)
+Building editor | ✓ | TODO
+Model editor | ✓ | [Issues](https://github.com/ignitionrobotics/ign-gazebo/issues?q=is%3Aissue+is%3Aopen+label%3Aeditor)
+FPS view control | ✓ | TODO
+Orthographic projection | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/103)
+Undo / redo | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/104)
+Save world | ✓ | ✓
 Save GUI configuration | ✓ | ✓
 Color scheme and themes | ✕ | ✓
 Position, resize and configure widgets | ✕ | ✓
-Load plugins from menu | ✕ | ✓
+Load GUI plugins from menu | ✕ | ✓
 
 ## Physics
 
@@ -177,11 +218,11 @@ in Gazebo.
 
 Feature | Gazebo-classic | Ignition Gazebo
 -- | -- | --
-ODE engine | ✓ |
-Bullet engine | ✓ |
+ODE engine | ✓ | [Issue](https://github.com/ignitionrobotics/ign-physics/issues/63)
+Bullet engine | ✓ | [Issue](https://github.com/ignitionrobotics/ign-physics/issues/44)
 DART engine | ✓ | ✓ Plugin shipped with ign-physics
-Simbody engine | ✓ |
-TPE engine | ✕ | ✕ (available in Citadel)
+Simbody engine | ✓ | [Issue](https://github.com/ignitionrobotics/ign-physics/issues/63)
+TPE engine | ✕ | ✕ (available from Citadel)
 Custom engine plugins | ✕ | ✓
 
 ## Rendering
@@ -194,9 +235,9 @@ Feature | Gazebo-classic | Ignition Gazebo
 Ogre 1.x engine | ✓ | ✓
 Ogre 2.x engine | ✕ | ✓
 Optix engine | ✕ | ✓ Partial support
-Custom engine plugins | ✕ | ✓
-Sky | ✓ |
-Fog | ✓ |
+Custom engine plugins | ✕ | [Issue](https://github.com/ignitionrobotics/ign-rendering/issues/100)
+Sky | ✓ | [Issue](https://github.com/ignitionrobotics/ign-rendering/issues/98)
+Fog | ✓ | TODO
 Material scripts | ✓ (Ogre 1.x scripts) | Does not apply
 
 ## ROS integration
@@ -210,12 +251,21 @@ Supported versions:
 * ROS 1 Melodic
 * ROS 2 Dashing
 
+## Platforms
+
+Platform | Gazebo-classic | Ignition Gazebo
+-- | -- | --
+Ubuntu | ✓ | ✓
+OSX | ✓ | Most of the stack works, outstanding issues: [command line](https://github.com/ignitionrobotics/ign-gazebo/issues/25), [render window](https://github.com/ignitionrobotics/ign-gazebo/issues/44)
+Windows | ✓ | The stack works up to ign-gazebo: [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/168)
+
 ## Others
 
 Feature | Gazebo-classic | Ignition Gazebo
 -- | -- | --
+Nested models | ✓ | [SDF Issue](https://github.com/osrf/sdformat/issues/283), [Physics issue](https://github.com/ignitionrobotics/ign-physics/issues/10)
 Log / playback | ✓ | ✓
-Web client (GzWeb) | ✓ |
+Web client (GzWeb) | ✓ | TODO
 COLLADA meshes | ✓ | ✓
 OBJ meshes | ✓ | ✓
 STL meshes | ✓ | ✓
@@ -223,4 +273,4 @@ Code introspection | ✓ | All simulation state is accessible from system plugin
 Distribute simulation across processes | ✕ | (coming up)
 Incrementally load levels | ✕ | ✓
 Online model database | [gazebo_models repository](https://bitbucket.org/osrf/gazebo_models/) | [Ignition Fuel](https://app.ignitionrobotics.org/fuel/models)
-Saved simulation states | ✓ |
+Saved simulation states | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/137)
diff --git a/citadel/comparison.md b/citadel/comparison.md
index 60fefecca5..ccdb7df6f1 100644
--- a/citadel/comparison.md
+++ b/citadel/comparison.md
@@ -2,7 +2,7 @@
 
 A list of features present in [Gazebo-classic](https://bitbucket.org/osrf/gazebo/)
 version 11 and the status of their migration to
-[Ignition](https://ignitionrobotics.org/).
+[Ignition Citadel](https://ignitionrobotics.org/).
 
 All the issues below are labeled with
 [close the gap](https://github.com/search?q=org%3Aignitionrobotics+label%3A%22close+the+gap%22&type=Issues)
@@ -35,7 +35,6 @@ Sensor features | Gazebo-classic | Ignition Gazebo
 -- | -- | --
 Custom update rate | ✓ | ✓
 Gaussian noise | ✓ | ✓
-Distortions? | ✓ |  (barrel and pincushion distorsions not supported yet)
 Custom sensors | ✓ | [Issue](https://github.com/ignitionrobotics/ign-sensors/issues/9)
 
 ## SDF Features
@@ -59,7 +58,6 @@ Visual plugins | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/is
 GUI plugins | ✓ | ✓ Ignition GUI plugins and Gazebo GUI systems
 System plugins | ✓ | ✓ Through Ignition Launch
 
-
 ## Plugins
 
 ### Model plugins
@@ -187,7 +185,7 @@ Delete models | ✓ | ✓
 World tree | ✓ | ✓
 Scene properties | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/246)
 Log recording / playback | ✓ | ✓
-Plotting | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gui/issues/66)
+Plotting | ✓ | ✕ (available from Dome)
 Video recording | ✓ | ✓
 Screenshot | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gui/issues/95)
 View angles | ✓ | ✓

From ea6fad61a40b609b21a6423210328747c1e079ff Mon Sep 17 00:00:00 2001
From: Louise Poubel <louise@openrobotics.org>
Date: Tue, 25 Aug 2020 17:20:56 -0700
Subject: [PATCH 13/13] Remove TODOs for now

Signed-off-by: Louise Poubel <louise@openrobotics.org>
---
 blueprint/comparison.md | 92 ++++++++++++++++++++---------------------
 citadel/comparison.md   | 92 ++++++++++++++++++++---------------------
 2 files changed, 92 insertions(+), 92 deletions(-)

diff --git a/blueprint/comparison.md b/blueprint/comparison.md
index 330dc7249a..764158f0f0 100644
--- a/blueprint/comparison.md
+++ b/blueprint/comparison.md
@@ -65,45 +65,45 @@ System plugins | ✓ | ✓ Through Ignition Launch
 Plugin | Gazebo-classic | Ignition Gazebo
 -- | -- | --
 ActorPlugin | ✓ | ✕ See [FollowActor](https://github.com/ignitionrobotics/ign-gazebo/blob/master/src/systems/follow_actor/FollowActor.hh) for a demo of Actor APIs
-ActuatorPlugin | ✓ | TODO
-ArduCopterPlugin | ✓ | TODO
+ActuatorPlugin | ✓ |
+ArduCopterPlugin | ✓ |
 AttachLightPlugin | ✓ | ✕ Does not apply, use SDF
 Breadcrumbs | ✕ | ✓
 BuoyancyPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/159)
 CartDemoPlugin | ✓ | ✕
-CessnaPlugin | ✓ | TODO
+CessnaPlugin | ✓ |
 DiffDrivePlugin | ✓ | ✓
-ElevatorPlugin | ✓ | TODO
-FlashLightPlugin | ✓ | TODO
-FollowerPlugin | ✓ | TODO
-GimbalSmall2dPlugin | ✓ | TODO
-GravityCompensationPlugin | ✓ | TODO
-HarnessPlugin | ✓ | TODO
-HydraDemoPlugin | ✓ | TODO
+ElevatorPlugin | ✓ |
+FlashLightPlugin | ✓ |
+FollowerPlugin | ✓ |
+GimbalSmall2dPlugin | ✓ |
+GravityCompensationPlugin | ✓ |
+HarnessPlugin | ✓ |
+HydraDemoPlugin | ✓ |
 InitialVelocityPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/50)
 JointControlPlugin | ✓ (force / pos / vel, from SDF) | ✓ (vel, from msg)
 JointStatePublisher | ✕ | ✓
-JointTrajectoryPlugin | ✓ | TODO
+JointTrajectoryPlugin | ✓ |
 KeysToCmdVelPlugin | ✓ | Use `ignition::gui::KeyPublisher` with `ignition::gazebo::systems::TriggeredPublisher`
 KeysToJointsPlugin | ✓ | Use `ignition::gui::KeyPublisher` with `ignition::gazebo::systems::TriggeredPublisher`
-LedPlugin | ✓ | TODO
+LedPlugin | ✓ |
 LiftDragPlugin | ✓ | ✓
 LinearBatteryConsumerPlugin | ✓ | ✓
 LinearBatteryPlugin | ✓ | ✓
 LinkPlot3DPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/231)
-MudPlugin | ✓ | TODO
+MudPlugin | ✓ |
 MulticopterMotorModel | ✕ | ✓
-PlaneDemoPlugin | ✓ | TODO
+PlaneDemoPlugin | ✓ |
 PosePublisher | ✕ | ✓
-RandomVelocityPlugin | ✓ | TODO
-RegionEventBoxPlugin | ✓ | TODO
+RandomVelocityPlugin | ✓ |
+RegionEventBoxPlugin | ✓ |
 SimpleTrackedVehiclePlugin | ✓ |
 SkidSteerDrivePlugin | ✓ | ✓
 SphereAtlasDemoPlugin | ✓ | ✕
 TouchPlugin | ✓ | ✓
-TrackedVehiclePlugin | ✓ | TODO
-VariableGearboxPlugin | ✓ | TODO
-VehiclePlugin | ✓ | TODO
+TrackedVehiclePlugin | ✓ |
+VariableGearboxPlugin | ✓ |
+VehiclePlugin | ✓ |
 WheelSlipPlugin | ✓ | [pull request](https://github.com/ignitionrobotics/ign-gazebo/pull/134)
 WheelTrackedVehiclePlugin | ✓ | ✓ ([partially via DiffDrivePlugin](https://github.com/ignitionrobotics/ign-gazebo/blob/44951e3ddfd238f24182d4d80b1376f0d426bd43/examples/worlds/track_drive.sdf#L2141))
 
@@ -111,30 +111,30 @@ WheelTrackedVehiclePlugin | ✓ | ✓ ([partially via DiffDrivePlugin](https://g
 
 Plugin | Gazebo-classic | Ignition Gazebo
 -- | -- | --
-ArrangePlugin | ✓ | TODO
+ArrangePlugin | ✓ |
 ContainPlugin | ✓ | Partial port, [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/162)
-HydraPlugin | ✓ | TODO
+HydraPlugin | ✓ |
 JoyPlugin | ✓ | ✓ Migrated as an Ignition Launch plugin
-MisalignmentPlugin | ✓ | TODO
-RubblePlugin | ✓ | TODO
-StaticMapPlugin | ✓ | TODO
-TransporterPlugin | ✓ | TODO
+MisalignmentPlugin | ✓ |
+RubblePlugin | ✓ |
+StaticMapPlugin | ✓ |
+TransporterPlugin | ✓ |
 WindPlugin | ✓ | ✓
 
 ### Sensor plugins
 
 Plugin | Gazebo-classic | Ignition Gazebo
 -- | -- | --
-BreakableJointPlugin | ✓ | TODO
+BreakableJointPlugin | ✓ |
 CameraPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
 ContactPlugin | ✓ | ✓
 DepthCameraPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
-FiducialCameraPlugin | ✓ | TODO
+FiducialCameraPlugin | ✓ |
 ForceTorquePlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
 GpuRayPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
 ImuSensorPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
-LensFlareSensorPlugin | ✓ | TODO
-PressurePlugin | ✓ | TODO
+LensFlareSensorPlugin | ✓ |
+PressurePlugin | ✓ |
 RayPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
 RaySensorNoisePlugin | ✓ | ✕ Use SDF
 SonarPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
@@ -143,28 +143,28 @@ SonarPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issue
 
 Plugin | Gazebo-classic | Ignition Gazebo
 -- | -- | --
-AmbientOcclusionVisualPlugin | ✓ | TODO
-BlinkVisualPlugin | ✓ | TODO
-HeightmapLODPlugin | ✓ | TODO
-ShaderParamVisualPlugin | ✓ | TODO
+AmbientOcclusionVisualPlugin | ✓ |
+BlinkVisualPlugin | ✓ |
+HeightmapLODPlugin | ✓ |
+ShaderParamVisualPlugin | ✓ |
 
 ### GUI plugins
 
 Plugin | Gazebo-classic | Ignition Gazebo
 -- | -- | --
-CessnaGUIPlugin | ✓ | TODO
+CessnaGUIPlugin | ✓ |
 KeyboardGUIPlugin | ✓ | `ignition::gui::KeyPublisher`
-LookAtDemoPlugin | ✓ | TODO
-TimerGUIPlugin | ✓ | TODO
+LookAtDemoPlugin | ✓ |
+TimerGUIPlugin | ✓ |
 
 ### System plugins
 
 Plugin | Gazebo-classic | Ignition Gazebo
 -- | -- | --
 ModelPropShop | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/100)
-RestUiPlugin | ✓ | TODO
-RestWebPlugin | ✓ | TODO
-StopWorldPlugin | ✓ | TODO
+RestUiPlugin | ✓ |
+RestWebPlugin | ✓ |
+StopWorldPlugin | ✓ |
 
 ## GUI
 
@@ -189,9 +189,9 @@ Plotting | ✓ | ✕ (available from Dome)
 Video recording | ✓ | ✓
 Screenshot | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gui/issues/95)
 View angles | ✓ | ✓
-Apply force / torque | ✓ | TODO
-Visualize as transparent | ✓ | TODO
-Visualize as wireframe | ✓ | TODO
+Apply force / torque | ✓ |
+Visualize as transparent | ✓ |
+Visualize as wireframe | ✓ |
 Visualize joints | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/106)
 Visualize collisions | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/105)
 Visualize inertia | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/111)
@@ -199,9 +199,9 @@ Visualize CoM | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/iss
 Visualize contacts | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/112)
 Follow / move to | ✓ | ✓
 Copy / paste | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/102)
-Building editor | ✓ | TODO
+Building editor | ✓ |
 Model editor | ✓ | [Issues](https://github.com/ignitionrobotics/ign-gazebo/issues?q=is%3Aissue+is%3Aopen+label%3Aeditor)
-FPS view control | ✓ | TODO
+FPS view control | ✓ |
 Orthographic projection | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/103)
 Undo / redo | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/104)
 Save world | ✓ | ✓
@@ -237,7 +237,7 @@ Ogre 2.x engine | ✕ | ✓
 Optix engine | ✕ | ✓ Partial support
 Custom engine plugins | ✕ | [Issue](https://github.com/ignitionrobotics/ign-rendering/issues/100)
 Sky | ✓ | [Issue](https://github.com/ignitionrobotics/ign-rendering/issues/98)
-Fog | ✓ | TODO
+Fog | ✓ |
 Material scripts | ✓ (Ogre 1.x scripts) | Does not apply
 
 ## ROS integration
@@ -265,7 +265,7 @@ Feature | Gazebo-classic | Ignition Gazebo
 -- | -- | --
 Nested models | ✓ | [SDF Issue](https://github.com/osrf/sdformat/issues/283), [Physics issue](https://github.com/ignitionrobotics/ign-physics/issues/10)
 Log / playback | ✓ | ✓
-Web client (GzWeb) | ✓ | TODO
+Web client (GzWeb) | ✓ |
 COLLADA meshes | ✓ | ✓
 OBJ meshes | ✓ | ✓
 STL meshes | ✓ | ✓
diff --git a/citadel/comparison.md b/citadel/comparison.md
index ccdb7df6f1..2fcf4767d2 100644
--- a/citadel/comparison.md
+++ b/citadel/comparison.md
@@ -65,45 +65,45 @@ System plugins | ✓ | ✓ Through Ignition Launch
 Plugin | Gazebo-classic | Ignition Gazebo
 -- | -- | --
 ActorPlugin | ✓ | ✕ See [FollowActor](https://github.com/ignitionrobotics/ign-gazebo/blob/master/src/systems/follow_actor/FollowActor.hh) for a demo of Actor APIs
-ActuatorPlugin | ✓ | TODO
-ArduCopterPlugin | ✓ | TODO
+ActuatorPlugin | ✓ |
+ArduCopterPlugin | ✓ |
 AttachLightPlugin | ✓ | ✕ Does not apply, use SDF
 Breadcrumbs | ✕ | ✓
 BuoyancyPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/159)
 CartDemoPlugin | ✓ | ✕
-CessnaPlugin | ✓ | TODO
+CessnaPlugin | ✓ |
 DiffDrivePlugin | ✓ | ✓
-ElevatorPlugin | ✓ | TODO
-FlashLightPlugin | ✓ | TODO
-FollowerPlugin | ✓ | TODO
-GimbalSmall2dPlugin | ✓ | TODO
-GravityCompensationPlugin | ✓ | TODO
-HarnessPlugin | ✓ | TODO
-HydraDemoPlugin | ✓ | TODO
+ElevatorPlugin | ✓ |
+FlashLightPlugin | ✓ |
+FollowerPlugin | ✓ |
+GimbalSmall2dPlugin | ✓ |
+GravityCompensationPlugin | ✓ |
+HarnessPlugin | ✓ |
+HydraDemoPlugin | ✓ |
 InitialVelocityPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/50)
 JointControlPlugin | ✓ (force / pos / vel, from SDF) | ✓ (vel, from msg)
 JointStatePublisher | ✕ | ✓
-JointTrajectoryPlugin | ✓ | TODO
+JointTrajectoryPlugin | ✓ |
 KeysToCmdVelPlugin | ✓ | Use `ignition::gui::KeyPublisher` with `ignition::gazebo::systems::TriggeredPublisher`
 KeysToJointsPlugin | ✓ | Use `ignition::gui::KeyPublisher` with `ignition::gazebo::systems::TriggeredPublisher`
-LedPlugin | ✓ | TODO
+LedPlugin | ✓ |
 LiftDragPlugin | ✓ | ✓
 LinearBatteryConsumerPlugin | ✓ | ✓
 LinearBatteryPlugin | ✓ | ✓
 LinkPlot3DPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/231)
-MudPlugin | ✓ | TODO
+MudPlugin | ✓ |
 MulticopterMotorModel | ✕ | ✓
-PlaneDemoPlugin | ✓ | TODO
+PlaneDemoPlugin | ✓ |
 PosePublisher | ✕ | ✓
-RandomVelocityPlugin | ✓ | TODO
-RegionEventBoxPlugin | ✓ | TODO
+RandomVelocityPlugin | ✓ |
+RegionEventBoxPlugin | ✓ |
 SimpleTrackedVehiclePlugin | ✓ |
 SkidSteerDrivePlugin | ✓ | ✓
 SphereAtlasDemoPlugin | ✓ | ✕
 TouchPlugin | ✓ | ✓
-TrackedVehiclePlugin | ✓ | TODO
-VariableGearboxPlugin | ✓ | TODO
-VehiclePlugin | ✓ | TODO
+TrackedVehiclePlugin | ✓ |
+VariableGearboxPlugin | ✓ |
+VehiclePlugin | ✓ |
 WheelSlipPlugin | ✓ | [pull request](https://github.com/ignitionrobotics/ign-gazebo/pull/134)
 WheelTrackedVehiclePlugin | ✓ | ✓ ([partially via DiffDrivePlugin](https://github.com/ignitionrobotics/ign-gazebo/blob/44951e3ddfd238f24182d4d80b1376f0d426bd43/examples/worlds/track_drive.sdf#L2141))
 
@@ -111,30 +111,30 @@ WheelTrackedVehiclePlugin | ✓ | ✓ ([partially via DiffDrivePlugin](https://g
 
 Plugin | Gazebo-classic | Ignition Gazebo
 -- | -- | --
-ArrangePlugin | ✓ | TODO
+ArrangePlugin | ✓ |
 ContainPlugin | ✓ | Partial port, [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/162)
-HydraPlugin | ✓ | TODO
+HydraPlugin | ✓ |
 JoyPlugin | ✓ | ✓ Migrated as an Ignition Launch plugin
-MisalignmentPlugin | ✓ | TODO
-RubblePlugin | ✓ | TODO
-StaticMapPlugin | ✓ | TODO
-TransporterPlugin | ✓ | TODO
+MisalignmentPlugin | ✓ |
+RubblePlugin | ✓ |
+StaticMapPlugin | ✓ |
+TransporterPlugin | ✓ |
 WindPlugin | ✓ | ✓
 
 ### Sensor plugins
 
 Plugin | Gazebo-classic | Ignition Gazebo
 -- | -- | --
-BreakableJointPlugin | ✓ | TODO
+BreakableJointPlugin | ✓ |
 CameraPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
 ContactPlugin | ✓ | ✓
 DepthCameraPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
-FiducialCameraPlugin | ✓ | TODO
+FiducialCameraPlugin | ✓ |
 ForceTorquePlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
 GpuRayPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
 ImuSensorPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
-LensFlareSensorPlugin | ✓ | TODO
-PressurePlugin | ✓ | TODO
+LensFlareSensorPlugin | ✓ |
+PressurePlugin | ✓ |
 RayPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
 RaySensorNoisePlugin | ✓ | ✕ Use SDF
 SonarPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/49)
@@ -143,28 +143,28 @@ SonarPlugin | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issue
 
 Plugin | Gazebo-classic | Ignition Gazebo
 -- | -- | --
-AmbientOcclusionVisualPlugin | ✓ | TODO
-BlinkVisualPlugin | ✓ | TODO
-HeightmapLODPlugin | ✓ | TODO
-ShaderParamVisualPlugin | ✓ | TODO
+AmbientOcclusionVisualPlugin | ✓ |
+BlinkVisualPlugin | ✓ |
+HeightmapLODPlugin | ✓ |
+ShaderParamVisualPlugin | ✓ |
 
 ### GUI plugins
 
 Plugin | Gazebo-classic | Ignition Gazebo
 -- | -- | --
-CessnaGUIPlugin | ✓ | TODO
+CessnaGUIPlugin | ✓ |
 KeyboardGUIPlugin | ✓ | `ignition::gui::KeyPublisher`
-LookAtDemoPlugin | ✓ | TODO
-TimerGUIPlugin | ✓ | TODO
+LookAtDemoPlugin | ✓ |
+TimerGUIPlugin | ✓ |
 
 ### System plugins
 
 Plugin | Gazebo-classic | Ignition Gazebo
 -- | -- | --
 ModelPropShop | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/100)
-RestUiPlugin | ✓ | TODO
-RestWebPlugin | ✓ | TODO
-StopWorldPlugin | ✓ | TODO
+RestUiPlugin | ✓ |
+RestWebPlugin | ✓ |
+StopWorldPlugin | ✓ |
 
 ## GUI
 
@@ -189,9 +189,9 @@ Plotting | ✓ | ✕ (available from Dome)
 Video recording | ✓ | ✓
 Screenshot | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gui/issues/95)
 View angles | ✓ | ✓
-Apply force / torque | ✓ | TODO
-Visualize as transparent | ✓ | TODO
-Visualize as wireframe | ✓ | TODO
+Apply force / torque | ✓ |
+Visualize as transparent | ✓ |
+Visualize as wireframe | ✓ |
 Visualize joints | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/106)
 Visualize collisions | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/105)
 Visualize inertia | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/111)
@@ -199,9 +199,9 @@ Visualize CoM | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/iss
 Visualize contacts | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/112)
 Follow / move to | ✓ | ✓
 Copy / paste | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/102)
-Building editor | ✓ | TODO
+Building editor | ✓ |
 Model editor | ✓ | [Issues](https://github.com/ignitionrobotics/ign-gazebo/issues?q=is%3Aissue+is%3Aopen+label%3Aeditor)
-FPS view control | ✓ | TODO
+FPS view control | ✓ |
 Orthographic projection | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/103)
 Undo / redo | ✓ | [Issue](https://github.com/ignitionrobotics/ign-gazebo/issues/104)
 Save world | ✓ | ✓
@@ -237,7 +237,7 @@ Ogre 2.x engine | ✕ | ✓
 Optix engine | ✕ | ✓ Partial support
 Custom engine plugins | ✕ | [Issue](https://github.com/ignitionrobotics/ign-rendering/issues/100)
 Sky | ✓ | [Issue](https://github.com/ignitionrobotics/ign-rendering/issues/98)
-Fog | ✓ | TODO
+Fog | ✓ |
 Material scripts | ✓ (Ogre 1.x scripts) | Does not apply
 
 ## ROS integration
@@ -265,7 +265,7 @@ Feature | Gazebo-classic | Ignition Gazebo
 -- | -- | --
 Nested models | ✓ | [SDF Issue](https://github.com/osrf/sdformat/issues/283), [Physics issue](https://github.com/ignitionrobotics/ign-physics/issues/10)
 Log / playback | ✓ | ✓
-Web client (GzWeb) | ✓ | TODO
+Web client (GzWeb) | ✓ |
 COLLADA meshes | ✓ | ✓
 OBJ meshes | ✓ | ✓
 STL meshes | ✓ | ✓