Prepare for 9.4.0 release

Signed-off-by: Ian Chen <ichen@openrobotics.org>

Author: iche033

CMakeLists.txt

@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 #============================================================================
 # Initialize the project
 #============================================================================
-project(gz-sim9 VERSION 9.3.0)
+project(gz-sim9 VERSION 9.4.0)
 set (GZ_DISTRIBUTION "Ionic")
 
 #============================================================================

Changelog.md

@@ -1,5 +1,52 @@
 ## Gazebo Sim 9.x
 
+### Gazebo Sim 9.4.0 (2025-09-05)
+
+1. Fix crash when setting debug visualization mode while gi is disabled (backport #3059)
+    * [Pull request #3072](https://github.com/gazebosim/gz-sim/pull/3072)
+
+1. Fix crash and synchronize gui when disabling gi with active debug visualization mode (backport #3062)
+    * [Pull request #3067](https://github.com/gazebosim/gz-sim/pull/3067)
+
+1. Add Null Check for Scene Initialization in onRefreshCamerasImpl to Prevent Crash (backport #3051)
+    * [Pull request #3063](https://github.com/gazebosim/gz-sim/pull/3063)
+
+1. Update GUI Runner initial state request timing
+    * [Pull request #3046](https://github.com/gazebosim/gz-sim/pull/3046)
+
+1. Add param in physics system to enforce fixed constraint
+    * [Pull request #2984](https://github.com/gazebosim/gz-sim/pull/2984)
+
+1. Revert "Fix crash when calling setPose service on static and nolink entity (#2988)"
+    * [Pull request #3032](https://github.com/gazebosim/gz-sim/pull/3032)
+
+1. Fix crash when calling setPose service on static and nolink entity
+    * [Pull request #2988](https://github.com/gazebosim/gz-sim/pull/2988)
+
+1. JointController: supported nested joints
+    * [Pull request #2979](https://github.com/gazebosim/gz-sim/pull/2979)
+
+1. Update our usage of workerpools
+    * [Pull request #2995](https://github.com/gazebosim/gz-sim/pull/2995)
+
+1. Assign new gz-sim maintainer
+    * [Pull request #3014](https://github.com/gazebosim/gz-sim/pull/3014)
+
+1. Add support for loading physics engine plugins from static plugin registry
+    * [Pull request #2991](https://github.com/gazebosim/gz-sim/pull/2991)
+
+1. reset_sensors.cc: fix syntax in Stop
+    * [Pull request #3000](https://github.com/gazebosim/gz-sim/pull/3000)
+
+1. Prevent crash in ApplyForceTorque plugin
+    * [Pull request #2987](https://github.com/gazebosim/gz-sim/pull/2987)
+
+1. Fix crash caused by moving ground_plane
+    * [Pull request #2980](https://github.com/gazebosim/gz-sim/pull/2980)
+
+1. Prevent crash in OpticalTactilePlugin by checking contact data validity after world reset
+    * [Pull request #2978](https://github.com/gazebosim/gz-sim/pull/2978)
+
 ### Gazebo Sim 9.3.0 (2025-07-11)
 
 1. JointController: allow braking to be disabled in force mode

package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>gz-sim9</name>
-  <version>9.3.0</version>
+  <version>9.4.0</version>
   <description>Gazebo Sim : A Robotic Simulator</description>
   <maintainer email="mjcarroll@intrinsic.ai">Michael Carroll</maintainer>
   <license>Apache License 2.0</license>