From c0af1471bb915ee32c0ec6cb95688dcaefc131b9 Mon Sep 17 00:00:00 2001
From: Michael Carroll <michael@openrobotics.org>
Date: Mon, 15 Mar 2021 17:00:47 -0500
Subject: [PATCH 1/2] Add ignition version of nav_msgs/OccupancyGrid (#138)
 (#143)

Signed-off-by: Michael Carroll <michael@openrobotics.org>
---
 proto/ignition/msgs/occupancy_grid.proto | 66 ++++++++++++++++++++++++
 1 file changed, 66 insertions(+)
 create mode 100644 proto/ignition/msgs/occupancy_grid.proto

diff --git a/proto/ignition/msgs/occupancy_grid.proto b/proto/ignition/msgs/occupancy_grid.proto
new file mode 100644
index 00000000..4685a127
--- /dev/null
+++ b/proto/ignition/msgs/occupancy_grid.proto
@@ -0,0 +1,66 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+syntax = "proto3";
+package ignition.msgs;
+option java_package = "com.ignition.msgs";
+option java_outer_classname = "OccpuancyGridProtos";
+
+/// \ingroup ignition.msgs
+/// \interface OccupancyGrid
+/// \brief This message is designed to mimic ROS nav_msgs/OccupancyGrid to
+/// facilitate transfer/conversion of data between Ignition and ROS.
+///
+/// See: http://docs.ros.org/melodic/api/nav_msgs/html/msg/OccupancyGrid.html
+
+import "ignition/msgs/header.proto";
+import "ignition/msgs/pose.proto";
+import "ignition/msgs/time.proto";
+
+
+message OccupancyGrid
+{
+  message MapMetaInfo
+  {
+    /// \brief The map load time
+    Time map_load_time = 1;
+
+    /// \brief The map resolution (meters/cell)
+    double resolution = 2;
+
+    /// \brief The map width (cells)
+    uint32 width = 3;
+
+    /// \brief The map height (cells)
+    uint32 height = 4;
+
+    /// \brief  The origin of the map.  This is the real-world pose of the
+    /// cell (0,0) in the map
+    Pose origin = 5;
+  };
+
+  /// \brief Optional header data. This should contain time of map validity
+  /// and the coordinate frame ID.
+  Header header = 1;
+
+  /// \brief Metadata for the map.
+  MapMetaInfo info = 2;
+
+  /// \brief The map data, in row-major order, starting with (0,0).
+  /// Occupancy probabilities are in the range [0,100].  Unknown is -1.
+  bytes data = 3;
+};

From f000899723315e88bfd6c891a96483623451a202 Mon Sep 17 00:00:00 2001
From: Michael Carroll <michael@openrobotics.org>
Date: Wed, 17 Mar 2021 11:18:59 -0500
Subject: [PATCH 2/2] Prepare for 5.7.0 (#144)

Signed-off-by: Michael Carroll <michael@openrobotics.org>
---
 CMakeLists.txt |  2 +-
 Changelog.md   | 12 ++++++++++++
 2 files changed, 13 insertions(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index fbda45c3..d77976a0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 #============================================================================
 # Initialize the project
 #============================================================================
-project(ignition-msgs5 VERSION 5.6.0)
+project(ignition-msgs5 VERSION 5.7.0)
 
 #============================================================================
 # Find ignition-cmake
diff --git a/Changelog.md b/Changelog.md
index a2b03fcc..cc024274 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -3,6 +3,18 @@
 ### Ignition Msgs 5.X.X (20XX-XX-XX)
 
 
+### Ignition Msgs 5.7.0 (2021-03-17)
+
+1. Add ignition version of nav_msgs/OccupancyGrid (backport #138) 
+    * [Pull request 143](https://github.com/ignitionrobotics/ign-msgs/pull/143)
+    * [Pull request 143](https://github.com/ignitionrobotics/ign-msgs/pull/138)
+
+1. Master branch updates 
+    * [Pull request 141](https://github.com/ignitionrobotics/ign-msgs/pull/141)
+
+1. Add windows installation; move installation in README to tutorial
+    * [Pull request 126](https://github.com/ignitionrobotics/ign-msgs/pull/126)
+
 ### Ignition Msgs 5.6.0 (2020-12-28)
 
 1. Add JointTrajectory message.