diff --git a/.github/workflows/package_xml.yml b/.github/workflows/package_xml.yml
new file mode 100644
index 000000000..4bd4a9aa0
--- /dev/null
+++ b/.github/workflows/package_xml.yml
@@ -0,0 +1,11 @@
+name: Validate package.xml
+
+on:
+  pull_request:
+
+jobs:
+  package-xml:
+    runs-on: ubuntu-latest
+    name: Validate package.xml
+    steps:
+      - uses: gazebo-tooling/action-gz-ci/validate_package_xml@jammy
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6d3b1cb5d..247aecb05 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -171,6 +171,11 @@ set(GZ_RENDERING_ENGINE_INSTALL_DIR
 if(NOT MSVC)
   #--------------------------------------
   # Find CUDA
+  # Module is being removed in CMake and needs a non trivial
+  # migration https://cmake.org/cmake/help/latest/policy/CMP0146.html
+  if(POLICY CMP0146)
+    cmake_policy(SET CMP0146 OLD)
+  endif()
   find_package(CUDA)
 
   #--------------------------------------
diff --git a/Changelog.md b/Changelog.md
index 5df59a721..d4487f62c 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -6,6 +6,73 @@
 
 ### Gazebo Rendering 8.X
 
+### Gazebo Rendering 8.1.1 (2024-04-10)
+
+1. Use relative install paths for plugin shared libraries and media files
+    * [Pull request #984](https://github.com/gazebosim/gz-rendering/pull/984)
+
+1. Handle null mesh pointers in examples
+    * [Pull request #982](https://github.com/gazebosim/gz-rendering/pull/982)
+
+### Gazebo Rendering 8.1.0 (2024-03-14)
+
+1. Fix setting normal map when not all submeshes have texcoords (ogre2)
+    * [Pull request #976](https://github.com/gazebosim/gz-rendering/pull/976)
+
+1. Update ogre2 symbol visibility macro in private classes
+    * [Pull request #972](https://github.com/gazebosim/gz-rendering/pull/972)
+
+1. Improve Ogre2DepthCamera  performance
+    * [Pull request #971](https://github.com/gazebosim/gz-rendering/pull/971)
+    * [Pull request #965](https://github.com/gazebosim/gz-rendering/pull/965)
+
+1. Fix repeatedly loading engine when calling sceneFromFirstEngine
+    * [Pull request #961](https://github.com/gazebosim/gz-rendering/pull/961)
+
+1. Improve Ogre2GpuRays performance
+    * [Pull request #955](https://github.com/gazebosim/gz-rendering/pull/955)
+    * [Pull request #973](https://github.com/gazebosim/gz-rendering/pull/973)
+
+1. Correctly set position-independent code
+    * [Pull request #950](https://github.com/gazebosim/gz-rendering/pull/950)
+
+1. Remove todo in gpu ray test
+    * [Pull request #949](https://github.com/gazebosim/gz-rendering/pull/949)
+
+1. Update CI badges to point to release branch job
+    * [Pull request #948](https://github.com/gazebosim/gz-rendering/pull/948)
+    * [Pull request #947](https://github.com/gazebosim/gz-rendering/pull/947)
+
+1. Set projector emissive texture
+    * [Pull request #946](https://github.com/gazebosim/gz-rendering/pull/946)
+
+1. Add minor comments to BaseGizmoVisual
+    * [Pull request #881](https://github.com/gazebosim/gz-rendering/pull/881)
+
+1. Update examples to use metal as default graphics API on mac
+    * [Pull request #937](https://github.com/gazebosim/gz-rendering/pull/937)
+
+1. Extend ogre 1.x custom shaders support
+    * [Pull request #908](https://github.com/gazebosim/gz-rendering/pull/908)
+
+1. Support skybox in wide angle cam view
+    * [Pull request #901](https://github.com/gazebosim/gz-rendering/pull/901)
+
+1. Minor fix for projector visibility flags
+    * [Pull request #920](https://github.com/gazebosim/gz-rendering/pull/920)
+
+1. Fix use of srgb format for texture map data
+    * [Pull request #931](https://github.com/gazebosim/gz-rendering/pull/931)
+
+1. Infrastructure
+    * [Pull request #925](https://github.com/gazebosim/gz-rendering/pull/925)
+    * [Pull request #939](https://github.com/gazebosim/gz-rendering/pull/939)
+    * [Pull request #940](https://github.com/gazebosim/gz-rendering/pull/940)
+    * [Pull request #967](https://github.com/gazebosim/gz-rendering/pull/967)
+
+1. Fix float comparison warnings in test
+    * [Pull request #929](https://github.com/gazebosim/gz-rendering/pull/929)
+
 ### Gazebo Rendering 8.0.0 (2023-09-29)
 
 1. Remove gazebo scene viewer example
diff --git a/doc/CMakeLists.txt b/doc/CMakeLists.txt
index b6abfef55..9ea68c931 100644
--- a/doc/CMakeLists.txt
+++ b/doc/CMakeLists.txt
@@ -31,5 +31,5 @@ if (DOXYGEN_FOUND)
     COMMENT "Generating API documentation with Doxygen" VERBATIM)
 
   install(FILES ${CMAKE_BINARY_DIR}/doc/${PROJECT_NAME_LOWER}.tag.xml
-    DESTINATION ${CMAKE_INSTALL_PREFIX}/share/gz/${PROJECT_NAME_LOWER}_${PROJECT_VERSION_MINOR})
+    DESTINATION share/gz/${PROJECT_NAME_LOWER}_${PROJECT_VERSION_MINOR})
 endif()
diff --git a/examples/actor_animation/Main.cc b/examples/actor_animation/Main.cc
index 42d54a658..17dc99a10 100644
--- a/examples/actor_animation/Main.cc
+++ b/examples/actor_animation/Main.cc
@@ -69,6 +69,12 @@ void buildScene(ScenePtr _scene, std::vector<VisualPtr> &_visuals,
   common::MeshManager *meshManager = common::MeshManager::Instance();
   descriptor.mesh = meshManager->Load(descriptor.meshName);
   //! [load mesh]
+  if (!descriptor.mesh)
+  {
+    gzerr << "Failed to load mesh: " << descriptor.meshName << std::endl;
+    // Do not launch example if actor mesh is not found.
+    return;
+  }
 
   // add bvh animation
   //! [add animation]
diff --git a/examples/boundingbox_camera/Main.cc b/examples/boundingbox_camera/Main.cc
index 1cf00c590..0154fe85e 100644
--- a/examples/boundingbox_camera/Main.cc
+++ b/examples/boundingbox_camera/Main.cc
@@ -53,18 +53,26 @@ VisualPtr createDuck(ScenePtr _scene,
   n_ducks++;
 
   // create a mesh
-  VisualPtr mesh = _scene->CreateVisual(
-    "duck" + std::to_string(n_ducks));
-  mesh->SetLocalPosition(_position);
-  mesh->SetLocalRotation(_rotation);
+  VisualPtr mesh;
   MeshDescriptor descriptor;
   descriptor.meshName = common::joinPaths(RESOURCE_PATH, "duck.dae");
   common::MeshManager *meshManager = common::MeshManager::Instance();
   descriptor.mesh = meshManager->Load(descriptor.meshName);
-  MeshPtr meshGeom = _scene->CreateMesh(descriptor);
-  mesh->AddGeometry(meshGeom);
-  mesh->SetMaterial(_material);
-  mesh->SetUserData("label", 5);
+  if (descriptor.mesh)
+  {
+    mesh = _scene->CreateVisual(
+      "duck" + std::to_string(n_ducks));
+    mesh->SetLocalPosition(_position);
+    mesh->SetLocalRotation(_rotation);
+    MeshPtr meshGeom = _scene->CreateMesh(descriptor);
+    mesh->AddGeometry(meshGeom);
+    mesh->SetMaterial(_material);
+    mesh->SetUserData("label", 5);
+  }
+  else
+  {
+    gzerr << "Failed load mesh: " << descriptor.meshName << std::endl;
+  }
 
   return mesh;
 }
@@ -168,7 +176,8 @@ void buildScene(ScenePtr _scene, BoundingBoxType _type)
 
   // create a mesh
   auto duck = createDuck(_scene, math::Vector3d(5, 0, 0), skyBlue);
-  root->AddChild(duck);
+  if (duck)
+    root->AddChild(duck);
 
   // create a sphere1
   auto sphere1 = createSphere(_scene, math::Vector3d(3, -1.5, 0), green);
diff --git a/examples/depth_camera/Main.cc b/examples/depth_camera/Main.cc
index ff90e5f87..ac715ce5c 100644
--- a/examples/depth_camera/Main.cc
+++ b/examples/depth_camera/Main.cc
@@ -57,17 +57,24 @@ void buildScene(ScenePtr _scene)
   root->AddChild(plane);
 
   // create a mesh
-  VisualPtr mesh = _scene->CreateVisual();
-  mesh->SetLocalPosition(3, 0, 0);
-  mesh->SetLocalRotation(1.5708, 0, 2.0);
   MeshDescriptor descriptor;
   descriptor.meshName = common::joinPaths(RESOURCE_PATH, "duck.dae");
   common::MeshManager *meshManager = common::MeshManager::Instance();
   descriptor.mesh = meshManager->Load(descriptor.meshName);
-  MeshPtr meshGeom = _scene->CreateMesh(descriptor);
-  mesh->AddGeometry(meshGeom);
-  mesh->SetUserData("label", 5);
-  root->AddChild(mesh);
+  if (descriptor.mesh)
+  {
+    VisualPtr mesh = _scene->CreateVisual();
+    mesh->SetLocalPosition(3, 0, 0);
+    mesh->SetLocalRotation(1.5708, 0, 2.0);
+    MeshPtr meshGeom = _scene->CreateMesh(descriptor);
+    mesh->AddGeometry(meshGeom);
+    mesh->SetUserData("label", 5);
+    root->AddChild(mesh);
+  }
+  else
+  {
+    gzerr << "Failed load mesh: " << descriptor.meshName << std::endl;
+  }
 
   // create a box
   VisualPtr box = _scene->CreateVisual("box");
diff --git a/examples/global_illumination/Main.cc b/examples/global_illumination/Main.cc
index 6eda827df..a66f75e73 100644
--- a/examples/global_illumination/Main.cc
+++ b/examples/global_illumination/Main.cc
@@ -70,18 +70,25 @@ void buildScene(ScenePtr _scene)
   matPBR->SetEnvironmentMap(environmentMap);
 
   // create mesh for PBR
-  VisualPtr meshPBR = _scene->CreateVisual("pump");
-  meshPBR->SetLocalPosition(2, 0.0, -0.3);
-  meshPBR->SetLocalRotation(0, 0, 0);
   MeshDescriptor descriptorPBR;
   descriptorPBR.meshName = common::joinPaths(RESOURCE_PATH, "pump.dae");
   common::MeshManager *meshManager = common::MeshManager::Instance();
   descriptorPBR.mesh = meshManager->Load(descriptorPBR.meshName);
-  MeshPtr meshPBRGeom = _scene->CreateMesh(descriptorPBR);
-  meshPBRGeom->SetMaterial(matPBR);
-  meshPBR->AddGeometry(meshPBRGeom);
-  meshPBR->SetStatic(true);
-  root->AddChild(meshPBR);
+  if (descriptorPBR.mesh)
+  {
+    VisualPtr meshPBR = _scene->CreateVisual("pump");
+    meshPBR->SetLocalPosition(2, 0.0, -0.3);
+    meshPBR->SetLocalRotation(0, 0, 0);
+    MeshPtr meshPBRGeom = _scene->CreateMesh(descriptorPBR);
+    meshPBRGeom->SetMaterial(matPBR);
+    meshPBR->AddGeometry(meshPBRGeom);
+    meshPBR->SetStatic(true);
+    root->AddChild(meshPBR);
+  }
+  else
+  {
+    gzerr << "Failed load mesh: " << descriptorPBR.meshName << std::endl;
+  }
 
   // create green material
   MaterialPtr green = _scene->CreateMaterial();
diff --git a/examples/lux_core_engine/Main.cc b/examples/lux_core_engine/Main.cc
index 296ea4f89..7191f6f9d 100644
--- a/examples/lux_core_engine/Main.cc
+++ b/examples/lux_core_engine/Main.cc
@@ -123,19 +123,25 @@ void buildScene(ScenePtr _scene)
   box2->SetMaterial(boxMaterial2);
 
   // Duck Scene
-  MaterialPtr matte = _scene->CreateMaterial();
-  matte->SetDiffuse(1.0, 0.0, 0.0);
-
-  VisualPtr mesh = _scene->CreateVisual();
   MeshDescriptor descriptor;
   descriptor.meshName = "media/duck.dae";
   common::MeshManager *meshManager = common::MeshManager::Instance();
   descriptor.mesh = meshManager->Load(descriptor.meshName);
-  MeshPtr meshGeom = _scene->CreateMesh(descriptor);
-  mesh->AddGeometry(meshGeom);
-  mesh->SetLocalRotation(GZ_PI / 2, 0, -GZ_PI / 4);
-  mesh->SetLocalPosition(-0.25, -1.25, 1.25);
-  mesh->SetMaterial(matte);
+  if (descriptor.mesh)
+  {
+    VisualPtr mesh = _scene->CreateVisual();
+    MeshPtr meshGeom = _scene->CreateMesh(descriptor);
+    mesh->AddGeometry(meshGeom);
+    mesh->SetLocalRotation(GZ_PI / 2, 0, -GZ_PI / 4);
+    mesh->SetLocalPosition(-0.25, -1.25, 1.25);
+    MaterialPtr matte = _scene->CreateMaterial();
+    matte->SetDiffuse(1.0, 0.0, 0.0);
+    mesh->SetMaterial(matte);
+  }
+  else
+  {
+    gzerr << "Failed load mesh: " << descriptor.meshName << std::endl;
+  }
 }
 
 //////////////////////////////////////////////////
diff --git a/examples/mesh_viewer/Main.cc b/examples/mesh_viewer/Main.cc
index a0c32a156..03e8c97e0 100644
--- a/examples/mesh_viewer/Main.cc
+++ b/examples/mesh_viewer/Main.cc
@@ -56,27 +56,41 @@ void buildScene(ScenePtr _scene)
   root->AddChild(light0);
 
 //! [create a mesh]
-  VisualPtr mesh = _scene->CreateVisual();
-  mesh->SetLocalPosition(3, 0, 0);
-  mesh->SetLocalRotation(1.5708, 0, 2.0);
   MeshDescriptor descriptor;
   descriptor.meshName = common::joinPaths(RESOURCE_PATH, "duck.dae");
   common::MeshManager *meshManager = common::MeshManager::Instance();
   descriptor.mesh = meshManager->Load(descriptor.meshName);
-  MeshPtr meshGeom = _scene->CreateMesh(descriptor);
-  mesh->AddGeometry(meshGeom);
-  root->AddChild(mesh);
+  if (descriptor.mesh)
+  {
+    VisualPtr mesh = _scene->CreateVisual();
+    mesh->SetLocalPosition(3, 0, 0);
+    mesh->SetLocalRotation(1.5708, 0, 2.0);
+    MeshPtr meshGeom = _scene->CreateMesh(descriptor);
+    mesh->AddGeometry(meshGeom);
+    root->AddChild(mesh);
+  }
+  else
+  {
+    gzerr << "Failed load mesh: " << descriptor.meshName << std::endl;
+  }
 //! [create a mesh]
 
   // create a pbr glb mesh
-  mesh = _scene->CreateVisual();
-  mesh->SetLocalPosition(3, 2, 0);
-  mesh->SetLocalRotation(0, 0, 0);
   descriptor.meshName = common::joinPaths(RESOURCE_PATH, "AmbulanceStretcher.glb");
   descriptor.mesh = meshManager->Load(descriptor.meshName);
-  meshGeom = _scene->CreateMesh(descriptor);
-  mesh->AddGeometry(meshGeom);
-  root->AddChild(mesh);
+  if (descriptor.mesh)
+  {
+    VisualPtr mesh = _scene->CreateVisual();
+    mesh->SetLocalPosition(3, 2, 0);
+    mesh->SetLocalRotation(0, 0, 0);
+    MeshPtr meshGeom = _scene->CreateMesh(descriptor);
+    mesh->AddGeometry(meshGeom);
+    root->AddChild(mesh);
+  }
+  else
+  {
+    gzerr << "Failed load mesh: " << descriptor.meshName << std::endl;
+  }
 
   // create gray material
   MaterialPtr gray = _scene->CreateMaterial();
diff --git a/examples/ogre2_demo/Main.cc b/examples/ogre2_demo/Main.cc
index 999b00252..1007a96eb 100644
--- a/examples/ogre2_demo/Main.cc
+++ b/examples/ogre2_demo/Main.cc
@@ -72,17 +72,24 @@ void buildScene(ScenePtr _scene)
   matPBR->SetEnvironmentMap(environmentMap);
 
   // create mesh for PBR
-  VisualPtr meshPBR = _scene->CreateVisual("pump");
-  meshPBR->SetLocalPosition(2, 0.0, -0.3);
-  meshPBR->SetLocalRotation(0, 0, 0);
   MeshDescriptor descriptorPBR;
   descriptorPBR.meshName = common::joinPaths(RESOURCE_PATH, "pump.dae");
   common::MeshManager *meshManager = common::MeshManager::Instance();
   descriptorPBR.mesh = meshManager->Load(descriptorPBR.meshName);
-  MeshPtr meshPBRGeom = _scene->CreateMesh(descriptorPBR);
-  meshPBRGeom->SetMaterial(matPBR);
-  meshPBR->AddGeometry(meshPBRGeom);
-  root->AddChild(meshPBR);
+  if (descriptorPBR.mesh)
+  {
+    VisualPtr meshPBR = _scene->CreateVisual("pump");
+    meshPBR->SetLocalPosition(2, 0.0, -0.3);
+    meshPBR->SetLocalRotation(0, 0, 0);
+    MeshPtr meshPBRGeom = _scene->CreateMesh(descriptorPBR);
+    meshPBRGeom->SetMaterial(matPBR);
+    meshPBR->AddGeometry(meshPBRGeom);
+    root->AddChild(meshPBR);
+  }
+  else
+  {
+    gzerr << "Failed load mesh: " << descriptorPBR.meshName << std::endl;
+  }
 
   // create green material
   MaterialPtr green = _scene->CreateMaterial();
diff --git a/examples/particles_demo/Main.cc b/examples/particles_demo/Main.cc
index 9ed66c568..1a42127b3 100644
--- a/examples/particles_demo/Main.cc
+++ b/examples/particles_demo/Main.cc
@@ -56,16 +56,23 @@ void buildScene(ScenePtr _scene)
   root->AddChild(light0);
 
   //! [create a mesh]
-  VisualPtr mesh = _scene->CreateVisual();
-  mesh->SetLocalPosition(3, 0, 0);
-  mesh->SetLocalRotation(1.5708, 0, 2.0);
   MeshDescriptor descriptor;
   descriptor.meshName = common::joinPaths(RESOURCE_PATH, "duck.dae");
   common::MeshManager *meshManager = common::MeshManager::Instance();
   descriptor.mesh = meshManager->Load(descriptor.meshName);
-  MeshPtr meshGeom = _scene->CreateMesh(descriptor);
-  mesh->AddGeometry(meshGeom);
-  root->AddChild(mesh);
+  if (descriptor.mesh)
+  {
+    VisualPtr mesh = _scene->CreateVisual();
+    mesh->SetLocalPosition(3, 0, 0);
+    mesh->SetLocalRotation(1.5708, 0, 2.0);
+    MeshPtr meshGeom = _scene->CreateMesh(descriptor);
+    mesh->AddGeometry(meshGeom);
+    root->AddChild(mesh);
+  }
+  else
+  {
+    gzerr << "Failed load mesh: " << descriptor.meshName << std::endl;
+  }
   //! [create a mesh]
 
   // create gray material
diff --git a/examples/segmentation_camera/Main.cc b/examples/segmentation_camera/Main.cc
index 0dda4ecd7..28a45675a 100644
--- a/examples/segmentation_camera/Main.cc
+++ b/examples/segmentation_camera/Main.cc
@@ -57,17 +57,24 @@ void buildScene(ScenePtr _scene)
   root->AddChild(plane);
 
   // create a mesh
-  VisualPtr mesh = _scene->CreateVisual();
-  mesh->SetLocalPosition(3, 0, 0);
-  mesh->SetLocalRotation(1.5708, 0, 2.0);
   MeshDescriptor descriptor;
   descriptor.meshName = common::joinPaths(RESOURCE_PATH, "duck.dae");
   common::MeshManager *meshManager = common::MeshManager::Instance();
   descriptor.mesh = meshManager->Load(descriptor.meshName);
-  MeshPtr meshGeom = _scene->CreateMesh(descriptor);
-  mesh->AddGeometry(meshGeom);
-  mesh->SetUserData("label", 5);
-  root->AddChild(mesh);
+  if (descriptor.mesh)
+  {
+    VisualPtr mesh = _scene->CreateVisual();
+    mesh->SetLocalPosition(3, 0, 0);
+    mesh->SetLocalRotation(1.5708, 0, 2.0);
+    MeshPtr meshGeom = _scene->CreateMesh(descriptor);
+    mesh->AddGeometry(meshGeom);
+    mesh->SetUserData("label", 5);
+    root->AddChild(mesh);
+  }
+  else
+  {
+    gzerr << "Failed load mesh: " << descriptor.meshName << std::endl;
+  }
 
   // create a box
   VisualPtr box = _scene->CreateVisual("box");
diff --git a/examples/thermal_camera/Main.cc b/examples/thermal_camera/Main.cc
index 68157a0c9..abcd3da20 100644
--- a/examples/thermal_camera/Main.cc
+++ b/examples/thermal_camera/Main.cc
@@ -56,18 +56,25 @@ void buildScene(ScenePtr _scene)
   root->AddChild(plane);
 
   // create a mesh
-  VisualPtr mesh = _scene->CreateVisual();
-  mesh->SetLocalPosition(3, 0, 0);
-  mesh->SetLocalRotation(1.5708, 0, 2.0);
+  float temperature = 315.0;
   MeshDescriptor descriptor;
   descriptor.meshName = common::joinPaths(RESOURCE_PATH, "duck.dae");
   common::MeshManager *meshManager = common::MeshManager::Instance();
   descriptor.mesh = meshManager->Load(descriptor.meshName);
-  MeshPtr meshGeom = _scene->CreateMesh(descriptor);
-  mesh->AddGeometry(meshGeom);
-  float temperature = 315.0;
-  mesh->SetUserData("temperature", temperature);
-  root->AddChild(mesh);
+  if (descriptor.mesh)
+  {
+    VisualPtr mesh = _scene->CreateVisual();
+    mesh->SetLocalPosition(3, 0, 0);
+    mesh->SetLocalRotation(1.5708, 0, 2.0);
+    MeshPtr meshGeom = _scene->CreateMesh(descriptor);
+    mesh->AddGeometry(meshGeom);
+    mesh->SetUserData("temperature", temperature);
+    root->AddChild(mesh);
+  }
+  else
+  {
+    gzerr << "Failed load mesh: " << descriptor.meshName << std::endl;
+  }
 
   // create a box
   VisualPtr box = _scene->CreateVisual("box");
diff --git a/examples/waves/Main.cc b/examples/waves/Main.cc
index 44889751e..11a8f691b 100644
--- a/examples/waves/Main.cc
+++ b/examples/waves/Main.cc
@@ -106,18 +106,25 @@ void buildScene(ScenePtr _scene,
   shader->SetVertexShader(vertexShaderPath);
   shader->SetFragmentShader(fragmentShaderPath);
 
-   // create waves visual
-   VisualPtr waves = _scene->CreateVisual("waves");
-   MeshDescriptor descriptor;
-   descriptor.meshName = common::joinPaths(RESOURCE_PATH, "mesh.dae");
-   common::MeshManager *meshManager = common::MeshManager::Instance();
-   descriptor.mesh = meshManager->Load(descriptor.meshName);
-   MeshPtr meshGeom = _scene->CreateMesh(descriptor);
-   waves->AddGeometry(meshGeom);
-   waves->SetLocalPosition(3, 0, 0);
-   waves->SetLocalScale(1, 1, 1);
-   waves->SetMaterial(shader);
-   root->AddChild(waves);
+  // create waves visual
+  MeshDescriptor descriptor;
+  descriptor.meshName = common::joinPaths(RESOURCE_PATH, "mesh.dae");
+  common::MeshManager *meshManager = common::MeshManager::Instance();
+  descriptor.mesh = meshManager->Load(descriptor.meshName);
+  if (descriptor.mesh)
+  {
+    VisualPtr waves = _scene->CreateVisual("waves");
+    MeshPtr meshGeom = _scene->CreateMesh(descriptor);
+    waves->AddGeometry(meshGeom);
+    waves->SetLocalPosition(3, 0, 0);
+    waves->SetLocalScale(1, 1, 1);
+    waves->SetMaterial(shader);
+    root->AddChild(waves);
+  }
+  else
+  {
+    gzerr << "Failed load mesh: " << descriptor.meshName << std::endl;
+  }
 
   // create camera
   CameraPtr camera = _scene->CreateCamera("camera");
diff --git a/include/gz/rendering/Camera.hh b/include/gz/rendering/Camera.hh
index 91dcbbd5a..6e4303509 100644
--- a/include/gz/rendering/Camera.hh
+++ b/include/gz/rendering/Camera.hh
@@ -28,6 +28,13 @@
 #include "gz/rendering/Sensor.hh"
 #include "gz/rendering/Scene.hh"
 
+// overloaded-virtuals warnings appeared on Ubuntu Noble
+// GCC-13. it is not easy to fix them without breaking ABI
+// ignore them to preserve current ABI.
+#if defined(__GNUC__) || defined(__clang__)
+# pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Woverloaded-virtual"
+#endif
 
 namespace gz
 {
@@ -369,4 +376,9 @@ namespace gz
     }
   }
 }
+
+#if defined(__GNUC__) || defined(__clang__)
+# pragma GCC diagnostic pop
+#endif
+
 #endif
diff --git a/include/gz/rendering/Object.hh b/include/gz/rendering/Object.hh
index 90e6ef0aa..573c7edf0 100644
--- a/include/gz/rendering/Object.hh
+++ b/include/gz/rendering/Object.hh
@@ -22,6 +22,14 @@
 #include "gz/rendering/RenderTypes.hh"
 #include "gz/rendering/Export.hh"
 
+// overloaded-virtuals warnings appeared on Ubuntu Noble
+// GCC-13. it is not easy to fix them without breaking ABI
+// ignore them to preserve current ABI.
+#if defined(__GNUC__) || defined(__clang__)
+# pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Woverloaded-virtual"
+#endif
+
 namespace gz
 {
   namespace rendering
@@ -69,4 +77,9 @@ namespace gz
     }
   }
 }
+
+#if defined(__GNUC__) || defined(__clang__)
+# pragma GCC diagnostic pop
+#endif
+
 #endif
diff --git a/include/gz/rendering/Visual.hh b/include/gz/rendering/Visual.hh
index cfabb3708..809855b9d 100644
--- a/include/gz/rendering/Visual.hh
+++ b/include/gz/rendering/Visual.hh
@@ -22,6 +22,14 @@
 #include "gz/rendering/config.hh"
 #include "gz/rendering/Node.hh"
 
+// overloaded-virtuals warnings appeared on Ubuntu Noble
+// GCC-13. it is not easy to fix them without breaking ABI
+// ignore them to preserve current ABI.
+#if defined(__GNUC__) || defined(__clang__)
+# pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Woverloaded-virtual"
+#endif
+
 namespace gz
 {
   namespace rendering
@@ -206,4 +214,9 @@ namespace gz
     }
   }
 }
+
+#if defined(__GNUC__) || defined(__clang__)
+# pragma GCC diagnostic pop
+#endif
+
 #endif
diff --git a/include/gz/rendering/base/BaseRenderTarget.hh b/include/gz/rendering/base/BaseRenderTarget.hh
index b7d3da76e..c1ef16a1c 100644
--- a/include/gz/rendering/base/BaseRenderTarget.hh
+++ b/include/gz/rendering/base/BaseRenderTarget.hh
@@ -25,6 +25,14 @@
 #include "gz/rendering/Scene.hh"
 #include "gz/rendering/base/BaseRenderTypes.hh"
 
+// overloaded-virtuals warnings appeared on Ubuntu Noble
+// GCC-13. it is not easy to fix them without breaking ABI
+// ignore them to preserve current ABI.
+#if defined(__GNUC__) || defined(__clang__)
+# pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Woverloaded-virtual"
+#endif
+
 namespace gz
 {
   namespace rendering
@@ -406,4 +414,9 @@ namespace gz
     }
   }
 }
+
+#if defined(__GNUC__) || defined(__clang__)
+# pragma GCC diagnostic pop
+#endif
+
 #endif
diff --git a/ogre/src/CMakeLists.txt b/ogre/src/CMakeLists.txt
index c50430c0e..ff5615a36 100644
--- a/ogre/src/CMakeLists.txt
+++ b/ogre/src/CMakeLists.txt
@@ -46,7 +46,7 @@ gz_build_tests(TYPE UNIT
                ENVIRONMENT GZ_RENDERING_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX})
 
 # Note that plugins are currently being installed in 2 places: /lib and the engine-plugins dir
-install(TARGETS ${ogre_target} DESTINATION ${GZ_RENDERING_ENGINE_INSTALL_DIR})
+install(TARGETS ${ogre_target} DESTINATION ${GZ_RENDERING_ENGINE_RELATIVE_INSTALL_DIR})
 
 if(WIN32)
   # tests needs .dll in the same directory
@@ -66,7 +66,7 @@ if (WIN32)
   ${GZ_RENDERING_ENGINE_INSTALL_DIR}\/${unversioned})")
 else()
   EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E create_symlink ${versioned} ${unversioned})
-  INSTALL(FILES ${PROJECT_BINARY_DIR}/${unversioned} DESTINATION ${GZ_RENDERING_ENGINE_INSTALL_DIR})
+  INSTALL(FILES ${PROJECT_BINARY_DIR}/${unversioned} DESTINATION ${GZ_RENDERING_ENGINE_RELATIVE_INSTALL_DIR})
 endif()
 
 add_subdirectory(media)
diff --git a/ogre/src/OgreMeshFactory.cc b/ogre/src/OgreMeshFactory.cc
index 81a55bb18..b3d7ff1f6 100644
--- a/ogre/src/OgreMeshFactory.cc
+++ b/ogre/src/OgreMeshFactory.cc
@@ -20,7 +20,6 @@
 
 #include <gz/common/Console.hh>
 #include <gz/common/Material.hh>
-#include <gz/common/MeshManager.hh>
 #include <gz/common/Skeleton.hh>
 #include <gz/common/SkeletonAnimation.hh>
 #include <gz/common/SubMesh.hh>
diff --git a/ogre/src/media/fonts/CMakeLists.txt b/ogre/src/media/fonts/CMakeLists.txt
index 67ee66c4a..5a21ac22b 100644
--- a/ogre/src/media/fonts/CMakeLists.txt
+++ b/ogre/src/media/fonts/CMakeLists.txt
@@ -1,4 +1,4 @@
 file(GLOB files "*ttf" "*png" "*fontdef")
 
-install(FILES ${files} DESTINATION ${GZ_RENDERING_RESOURCE_PATH}/ogre/media/fonts)
-install(DIRECTORY liberation-sans DESTINATION ${GZ_RENDERING_RESOURCE_PATH}/ogre/media/fonts)
+install(FILES ${files} DESTINATION ${GZ_RENDERING_RELATIVE_RESOURCE_PATH}/ogre/media/fonts)
+install(DIRECTORY liberation-sans DESTINATION ${GZ_RENDERING_RELATIVE_RESOURCE_PATH}/ogre/media/fonts)
diff --git a/ogre/src/media/materials/programs/CMakeLists.txt b/ogre/src/media/materials/programs/CMakeLists.txt
index 8d19dd395..a3391dbc7 100644
--- a/ogre/src/media/materials/programs/CMakeLists.txt
+++ b/ogre/src/media/materials/programs/CMakeLists.txt
@@ -1,4 +1,4 @@
 file(GLOB files "*.glsl")
 
-install(FILES ${files} DESTINATION ${GZ_RENDERING_RESOURCE_PATH}/ogre/media/materials/programs)
+install(FILES ${files} DESTINATION ${GZ_RENDERING_RELATIVE_RESOURCE_PATH}/ogre/media/materials/programs)
 
diff --git a/ogre/src/media/materials/scripts/CMakeLists.txt b/ogre/src/media/materials/scripts/CMakeLists.txt
index b739e94f8..3d43bb392 100644
--- a/ogre/src/media/materials/scripts/CMakeLists.txt
+++ b/ogre/src/media/materials/scripts/CMakeLists.txt
@@ -1,4 +1,4 @@
 file(GLOB files "*.material" "*.compositor")
 
-install(FILES ${files} DESTINATION ${GZ_RENDERING_RESOURCE_PATH}/ogre/media/materials/scripts)
+install(FILES ${files} DESTINATION ${GZ_RENDERING_RELATIVE_RESOURCE_PATH}/ogre/media/materials/scripts)
 
diff --git a/ogre/src/media/materials/textures/CMakeLists.txt b/ogre/src/media/materials/textures/CMakeLists.txt
index 90f0fc4de..abcd5f9fb 100644
--- a/ogre/src/media/materials/textures/CMakeLists.txt
+++ b/ogre/src/media/materials/textures/CMakeLists.txt
@@ -1,3 +1,3 @@
 file(GLOB files "*.png")
 
-install(FILES ${files} DESTINATION ${GZ_RENDERING_RESOURCE_PATH}/ogre/media/materials/textures)
+install(FILES ${files} DESTINATION ${GZ_RENDERING_RELATIVE_RESOURCE_PATH}/ogre/media/materials/textures)
diff --git a/ogre/src/media/rtshaderlib150/CMakeLists.txt b/ogre/src/media/rtshaderlib150/CMakeLists.txt
index 2cb12d93f..2aae04baf 100644
--- a/ogre/src/media/rtshaderlib150/CMakeLists.txt
+++ b/ogre/src/media/rtshaderlib150/CMakeLists.txt
@@ -10,5 +10,5 @@ SGXLib_NormalMapLighting.glsl
 SGXLib_PerPixelLighting.glsl
 )
 
-install(FILES ${files} DESTINATION ${GZ_RENDERING_RESOURCE_PATH}/ogre/media/rtshaderlib150)
+install(FILES ${files} DESTINATION ${GZ_RENDERING_RELATIVE_RESOURCE_PATH}/ogre/media/rtshaderlib150)
 
diff --git a/ogre2/src/CMakeLists.txt b/ogre2/src/CMakeLists.txt
index ef328190a..0111d3200 100644
--- a/ogre2/src/CMakeLists.txt
+++ b/ogre2/src/CMakeLists.txt
@@ -72,7 +72,7 @@ set (versioned ${CMAKE_SHARED_LIBRARY_PREFIX}${PROJECT_NAME_LOWER}-${engine_name
 set (unversioned ${CMAKE_SHARED_LIBRARY_PREFIX}${PROJECT_NAME_NO_VERSION_LOWER}-${engine_name}${CMAKE_SHARED_LIBRARY_SUFFIX})
 
 # Note that plugins are currently being installed in 2 places: /lib and the engine-plugins dir
-install(TARGETS ${ogre2_target} DESTINATION ${GZ_RENDERING_ENGINE_INSTALL_DIR})
+install(TARGETS ${ogre2_target} DESTINATION ${GZ_RENDERING_ENGINE_RELATIVE_INSTALL_DIR})
 
 if (WIN32)
   # disable MSVC inherit via dominance warning
@@ -82,7 +82,7 @@ if (WIN32)
   ${GZ_RENDERING_ENGINE_INSTALL_DIR}\/${unversioned})")
 else()
   EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E create_symlink ${versioned} ${unversioned})
-  INSTALL(FILES ${PROJECT_BINARY_DIR}/${unversioned} DESTINATION ${GZ_RENDERING_ENGINE_INSTALL_DIR})
+  INSTALL(FILES ${PROJECT_BINARY_DIR}/${unversioned} DESTINATION ${GZ_RENDERING_ENGINE_RELATIVE_INSTALL_DIR})
 endif()
 
 if (NOT (APPLE OR WIN32))
@@ -100,4 +100,4 @@ gz_build_tests(TYPE UNIT
                LIB_DEPS ${ogre2_target}
                ENVIRONMENT GZ_RENDERING_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX})
 
-install(DIRECTORY "media"  DESTINATION ${GZ_RENDERING_RESOURCE_PATH}/ogre2)
+install(DIRECTORY "media"  DESTINATION ${GZ_RENDERING_RELATIVE_RESOURCE_PATH}/ogre2)
diff --git a/ogre2/src/Ogre2BoundingBoxCamera.cc b/ogre2/src/Ogre2BoundingBoxCamera.cc
index 986a44326..0adb97017 100644
--- a/ogre2/src/Ogre2BoundingBoxCamera.cc
+++ b/ogre2/src/Ogre2BoundingBoxCamera.cc
@@ -31,6 +31,7 @@
 #include <gz/math/Color.hh>
 #include <gz/math/Vector4.hh>
 #include <gz/math/eigen3/Util.hh>
+#include <gz/math/Matrix4.hh>
 #include <gz/math/OrientedBox.hh>
 
 #include "gz/rendering/RenderTypes.hh"
@@ -464,6 +465,21 @@ void Ogre2BoundingBoxCamera::PreRender()
   if (!this->dataPtr->ogreRenderTexture)
     this->CreateBoundingBoxTexture();
 
+  // todo(iche033) Override BaseCamera::SetProjectionMatrix() function in
+  // main / gz-rendering9 instead of checking and setting the custom
+  // projection matrix here
+  if (this->dataPtr->ogreCamera &&
+      this->projectionMatrix != gz::math::Matrix4d::Zero)
+  {
+    if (this->projectionMatrix !=
+        Ogre2Conversions::Convert(
+        this->dataPtr->ogreCamera->getProjectionMatrix()))
+    {
+      this->dataPtr->ogreCamera->setCustomProjectionMatrix(true,
+          Ogre2Conversions::Convert(this->projectionMatrix));
+    }
+  }
+
   this->dataPtr->outputBoxes.clear();
 }
 
diff --git a/ogre2/src/Ogre2DepthCamera.cc b/ogre2/src/Ogre2DepthCamera.cc
index 6d182dbd8..38d0b29a5 100644
--- a/ogre2/src/Ogre2DepthCamera.cc
+++ b/ogre2/src/Ogre2DepthCamera.cc
@@ -1069,6 +1069,19 @@ void Ogre2DepthCamera::PreRender()
   if (!this->dataPtr->ogreCompositorWorkspace)
     this->CreateWorkspaceInstance();
 
+  // todo(iche033) Override BaseCamera::SetProjectionMatrix() function in
+  // main / gz-rendering9 instead of checking and setting the custom
+  // projection matrix here
+  if (this->ogreCamera &&
+      this->projectionMatrix != gz::math::Matrix4d::Zero)
+  {
+    if (this->projectionMatrix !=
+        Ogre2Conversions::Convert(this->ogreCamera->getProjectionMatrix()))
+    {
+      this->ogreCamera->setCustomProjectionMatrix(true,
+          Ogre2Conversions::Convert(this->projectionMatrix));
+    }
+  }
 
   // Disable color target (set to clear pass) if there are no rgb point cloud
   // connections
diff --git a/ogre2/src/Ogre2Marker.cc b/ogre2/src/Ogre2Marker.cc
index 4aaf6af27..f63b79225 100644
--- a/ogre2/src/Ogre2Marker.cc
+++ b/ogre2/src/Ogre2Marker.cc
@@ -27,9 +27,6 @@
 
 #include <gz/common/Console.hh>
 
-#include <gz/common/Mesh.hh>
-#include <gz/common/MeshManager.hh>
-
 #include "gz/rendering/ogre2/Ogre2Capsule.hh"
 #include "gz/rendering/ogre2/Ogre2Conversions.hh"
 #include "gz/rendering/ogre2/Ogre2DynamicRenderable.hh"
diff --git a/ogre2/src/Ogre2MeshFactory.cc b/ogre2/src/Ogre2MeshFactory.cc
index 54bc8e20e..23cf57564 100644
--- a/ogre2/src/Ogre2MeshFactory.cc
+++ b/ogre2/src/Ogre2MeshFactory.cc
@@ -20,7 +20,6 @@
 
 #include <gz/common/Console.hh>
 #include <gz/common/Material.hh>
-#include <gz/common/MeshManager.hh>
 #include <gz/common/Skeleton.hh>
 #include <gz/common/SkeletonAnimation.hh>
 #include <gz/common/SubMesh.hh>
diff --git a/ogre2/src/Ogre2RenderEngine.cc b/ogre2/src/Ogre2RenderEngine.cc
index c83edd987..93ee74c41 100644
--- a/ogre2/src/Ogre2RenderEngine.cc
+++ b/ogre2/src/Ogre2RenderEngine.cc
@@ -1263,6 +1263,22 @@ std::string Ogre2RenderEngine::CreateRenderWindow(const std::string &_handle,
   {
     params["externalGLControl"] = "true";
     params["currentGLContext"] = "true";
+
+#if defined(_MSC_VER)
+    if (!this->winID.empty())
+    {
+      params["externalWindowHandle"] = this->winID;
+    }
+    else
+    {
+      gzerr << "useCurrentGLContext option specified, "
+            << "but no winID specified." << std::endl
+            << "On Windows if useCurrentGLContext is specified, "
+            << "the ogre2 rendering requires that also winID is specified."
+            << std::endl;
+      return std::string();
+    }
+#endif
   }
 
 #if !defined(__APPLE__) && !defined(_MSC_VER)
diff --git a/ogre2/src/Ogre2SegmentationCamera.cc b/ogre2/src/Ogre2SegmentationCamera.cc
index ef0c4e106..4028daccc 100644
--- a/ogre2/src/Ogre2SegmentationCamera.cc
+++ b/ogre2/src/Ogre2SegmentationCamera.cc
@@ -19,6 +19,7 @@
 
 #include <gz/common/Console.hh>
 #include <gz/math/Color.hh>
+#include <gz/math/Matrix4.hh>
 
 #include "gz/rendering/ogre2/Ogre2Camera.hh"
 #include "gz/rendering/ogre2/Ogre2Conversions.hh"
@@ -164,6 +165,20 @@ void Ogre2SegmentationCamera::PreRender()
 {
   if (!this->dataPtr->ogreSegmentationTexture)
     this->CreateSegmentationTexture();
+
+  // todo(iche033) Override BaseCamera::SetProjectionMatrix() function in
+  // main / gz-rendering9 instead of checking and setting the custom
+  // projection matrix here
+  if (this->ogreCamera &&
+      this->projectionMatrix != gz::math::Matrix4d::Zero)
+  {
+    if (this->projectionMatrix !=
+        Ogre2Conversions::Convert(this->ogreCamera->getProjectionMatrix()))
+    {
+      this->ogreCamera->setCustomProjectionMatrix(true,
+          Ogre2Conversions::Convert(this->projectionMatrix));
+    }
+  }
 }
 
 /////////////////////////////////////////////////
diff --git a/ogre2/src/Ogre2ThermalCamera.cc b/ogre2/src/Ogre2ThermalCamera.cc
index 11f2d5bcd..fa06f380f 100644
--- a/ogre2/src/Ogre2ThermalCamera.cc
+++ b/ogre2/src/Ogre2ThermalCamera.cc
@@ -43,6 +43,7 @@
 #include <gz/common/Console.hh>
 #include <gz/common/Filesystem.hh>
 #include <gz/math/Helpers.hh>
+#include <gz/math/Matrix4.hh>
 
 #include "gz/rendering/RenderTypes.hh"
 #include "gz/rendering/ogre2/Ogre2Conversions.hh"
@@ -1130,6 +1131,20 @@ void Ogre2ThermalCamera::PreRender()
 {
   if (!this->dataPtr->ogreThermalTexture)
     this->CreateThermalTexture();
+
+  // todo(iche033) Override BaseCamera::SetProjectionMatrix() function in
+  // main / gz-rendering9 instead of checking and setting the custom
+  // projection matrix here
+  if (this->ogreCamera &&
+      this->projectionMatrix != gz::math::Matrix4d::Zero)
+  {
+    if (this->projectionMatrix !=
+        Ogre2Conversions::Convert(this->ogreCamera->getProjectionMatrix()))
+    {
+      this->ogreCamera->setCustomProjectionMatrix(true,
+          Ogre2Conversions::Convert(this->projectionMatrix));
+    }
+  }
 }
 
 //////////////////////////////////////////////////
diff --git a/optix/src/CMakeLists.txt b/optix/src/CMakeLists.txt
index daa896a29..d8bb16d7b 100644
--- a/optix/src/CMakeLists.txt
+++ b/optix/src/CMakeLists.txt
@@ -46,7 +46,7 @@ gz_build_tests(TYPE UNIT
                ENVIRONMENT GZ_RENDERING_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX})
 
 # Note that plugins are currently being installed in 2 places: /lib and the engine-plugins dir
-install(TARGETS ${optix_target} DESTINATION ${GZ_RENDERING_ENGINE_INSTALL_DIR})
+install(TARGETS ${optix_target} DESTINATION ${GZ_RENDERING_ENGINE_RELATIVE_INSTALL_DIR})
 
 set (versioned ${CMAKE_SHARED_LIBRARY_PREFIX}${PROJECT_NAME_LOWER}-${engine_name}${CMAKE_SHARED_LIBRARY_SUFFIX})
 set (unversioned ${CMAKE_SHARED_LIBRARY_PREFIX}${PROJECT_NAME_NO_VERSION_LOWER}-${engine_name}${CMAKE_SHARED_LIBRARY_SUFFIX})
@@ -59,7 +59,7 @@ if (WIN32)
   ${GZ_RENDERING_ENGINE_INSTALL_DIR}\/${unversioned})")
 else()
   EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E create_symlink ${versioned} ${unversioned})
-  INSTALL(FILES ${PROJECT_BINARY_DIR}/${unversioned} DESTINATION ${GZ_RENDERING_ENGINE_INSTALL_DIR})
+  INSTALL(FILES ${PROJECT_BINARY_DIR}/${unversioned} DESTINATION ${GZ_RENDERING_ENGINE_RELATIVE_INSTALL_DIR})
 endif()
 
 if("${CUDA_VERSION}" VERSION_LESS "9")
diff --git a/package.xml b/package.xml
new file mode 100644
index 000000000..8083274df
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,34 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>gz-rendering9</name>
+  <version>9.0.0</version>
+  <description>Gazebo Rendering: Rendering library for robot applications</description>
+  <maintainer email="ichen@openrobotics.org">Ian Chen</maintainer>
+  <license>Apache License 2.0</license>
+  <url type="website">https://github.com/gazebosim/gz-rendering</url>
+
+  <buildtool_depend>cmake</buildtool_depend>
+
+  <build_depend>gz-cmake4</build_depend>
+
+  <depend>glut</depend>
+  <depend>gz-common6</depend>
+  <depend>gz-math8</depend>
+  <depend>gz-plugin3</depend>
+  <depend>gz-utils3</depend>
+  <depend>libfreeimage-dev</depend>
+  <depend>libglew-dev</depend>
+  <depend>libogre-dev</depend>
+  <depend>libogre-next-2.3-dev</depend>
+  <depend>libvulkan-dev</depend>
+  <depend>libxi-dev</depend>
+  <depend>libxmu-dev</depend>
+  <depend>uuid</depend>
+
+  <test_depend>xvfb</test_depend>
+
+  <export>
+    <build_type>cmake</build_type>
+  </export>
+</package>
diff --git a/src/base/BaseScene.cc b/src/base/BaseScene.cc
index a316053bf..e4161a2aa 100644
--- a/src/base/BaseScene.cc
+++ b/src/base/BaseScene.cc
@@ -21,7 +21,6 @@
 
 #include <gz/common/Console.hh>
 #include <gz/common/Mesh.hh>
-#include <gz/common/MeshManager.hh>
 
 #include "gz/rendering/ArrowVisual.hh"
 #include "gz/rendering/AxisVisual.hh"
diff --git a/src/base/media/materials/textures/CMakeLists.txt b/src/base/media/materials/textures/CMakeLists.txt
index 5d9f3f249..c76e3cd25 100644
--- a/src/base/media/materials/textures/CMakeLists.txt
+++ b/src/base/media/materials/textures/CMakeLists.txt
@@ -1,4 +1,4 @@
 file(GLOB files "*.png")
 
-install(FILES ${files} DESTINATION ${GZ_RENDERING_RESOURCE_PATH}/media/materials/textures)
+install(FILES ${files} DESTINATION ${GZ_RENDERING_RELATIVE_RESOURCE_PATH}/media/materials/textures)
 
diff --git a/test/common_test/MeshDescriptor_TEST.cc b/test/common_test/MeshDescriptor_TEST.cc
index 381552783..07983efd9 100644
--- a/test/common_test/MeshDescriptor_TEST.cc
+++ b/test/common_test/MeshDescriptor_TEST.cc
@@ -29,7 +29,7 @@
 using namespace gz;
 using namespace rendering;
 
-class MeshDescriptorTest : public CommonRenderingTest 
+class MeshDescriptorTest : public CommonRenderingTest
 {
 };
 
diff --git a/test/common_test/Mesh_TEST.cc b/test/common_test/Mesh_TEST.cc
index d4008e734..802f2ce9c 100644
--- a/test/common_test/Mesh_TEST.cc
+++ b/test/common_test/Mesh_TEST.cc
@@ -103,6 +103,7 @@ TEST_F(MeshTest, MeshSkeleton)
   descriptor.meshName = common::joinPaths(TEST_MEDIA_PATH, "walk.dae");
   common::MeshManager *meshManager = common::MeshManager::Instance();
   descriptor.mesh = meshManager->Load(descriptor.meshName);
+  ASSERT_NE(nullptr, descriptor.mesh);
 
   MeshPtr mesh = scene->CreateMesh(descriptor);
   actorVisual->AddGeometry(mesh);
@@ -181,6 +182,7 @@ TEST_F(MeshTest, MeshSkeletonAnimation)
   descriptor.meshName = common::joinPaths(TEST_MEDIA_PATH, "walk.dae");
   common::MeshManager *meshManager = common::MeshManager::Instance();
   descriptor.mesh = meshManager->Load(descriptor.meshName);
+  ASSERT_NE(nullptr, descriptor.mesh);
   MeshPtr mesh = scene->CreateMesh(descriptor);
 
   EXPECT_TRUE(mesh->HasSkeleton());
diff --git a/test/integration/depth_camera.cc b/test/integration/depth_camera.cc
index 5e28a00cd..710bab0e9 100644
--- a/test/integration/depth_camera.cc
+++ b/test/integration/depth_camera.cc
@@ -16,6 +16,7 @@
 */
 
 #include <gtest/gtest.h>
+#include <string>
 
 #include "CommonRenderingTest.hh"
 
@@ -735,3 +736,123 @@ TEST_F(DepthCameraTest, DepthCameraParticles)
 
   engine->DestroyScene(scene);
 }
+
+/////////////////////////////////////////////////
+TEST_F(DepthCameraTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(DepthCameraProjection))
+{
+  CHECK_SUPPORTED_ENGINE("ogre2");
+
+  int imgWidth = 256;
+  int imgHeight = 256;
+  double aspectRatio = imgWidth / imgHeight;
+
+  double unitBoxSize = 1.0;
+  gz::math::Vector3d boxPosition(1.8, 0.0, 0.0);
+
+  gz::rendering::ScenePtr scene = engine->CreateScene("scene");
+  ASSERT_NE(nullptr, scene);
+
+  // Create an scene with a box in it
+  gz::rendering::VisualPtr root = scene->RootVisual();
+
+  // create box visual
+  gz::rendering::VisualPtr box = scene->CreateVisual();
+  box->AddGeometry(scene->CreateBox());
+  box->SetLocalPosition(boxPosition);
+  box->SetLocalScale(unitBoxSize, unitBoxSize, unitBoxSize);
+  root->AddChild(box);
+  {
+    // Create depth camera
+    auto depthCamera = scene->CreateDepthCamera("DepthCamera");
+    ASSERT_NE(depthCamera, nullptr);
+
+    gz::math::Pose3d testPose(gz::math::Vector3d(0, 0, 0),
+        gz::math::Quaterniond::Identity);
+    depthCamera->SetLocalPose(testPose);
+
+    // Set initial camera parameters using a wide horizontal FOV
+    double farDist = 100.0;
+    double nearDist = 0.01;
+    double hfov = 1.5;
+    depthCamera->SetImageWidth(imgWidth);
+    EXPECT_EQ(depthCamera->ImageWidth(),
+      static_cast<unsigned int>(imgWidth));
+    depthCamera->SetImageHeight(imgHeight);
+    EXPECT_EQ(depthCamera->ImageHeight(),
+      static_cast<unsigned int>(imgHeight));
+    depthCamera->SetFarClipPlane(farDist);
+    EXPECT_DOUBLE_EQ(depthCamera->FarClipPlane(), farDist);
+    depthCamera->SetNearClipPlane(nearDist);
+    EXPECT_DOUBLE_EQ(depthCamera->NearClipPlane(), nearDist);
+    depthCamera->SetAspectRatio(aspectRatio);
+    EXPECT_DOUBLE_EQ(depthCamera->AspectRatio(), aspectRatio);
+    depthCamera->SetHFOV(hfov);
+    EXPECT_DOUBLE_EQ(depthCamera->HFOV().Radian(), hfov);
+
+    depthCamera->CreateDepthTexture();
+    scene->RootVisual()->AddChild(depthCamera);
+
+    // Set a callback on the  camera sensor to get a depth camera frame
+    float *scan = new float[imgHeight * imgWidth];
+    gz::common::ConnectionPtr connection =
+      depthCamera->ConnectNewDepthFrame(
+          std::bind(&::OnNewDepthFrame, scan,
+            std::placeholders::_1, std::placeholders::_2, std::placeholders::_3,
+            std::placeholders::_4, std::placeholders::_5));
+
+    g_depthCounter = 0u;
+    depthCamera->Update();
+    scene->SetTime(scene->Time() + std::chrono::milliseconds(16));
+    EXPECT_EQ(1u, g_depthCounter);
+
+    float expectedRange = boxPosition.X() - unitBoxSize * 0.5;
+    unsigned int hasInfValues = 0u;
+    unsigned int hasBoxValues = 0u;
+    for (unsigned int i = 0; i < depthCamera->ImageHeight(); ++i)
+    {
+      for (unsigned int j = 0; j < depthCamera->ImageWidth(); ++j)
+      {
+        float x = scan[i * depthCamera->ImageWidth() + j];
+        if (gz::math::equal(expectedRange, x))
+          hasBoxValues++;
+        else if (std::isinf(x))
+          hasInfValues++;
+        else
+          FAIL() << "Unexpected range value: " << x;
+      }
+    }
+    EXPECT_LT(0u, hasBoxValues);
+    EXPECT_LT(0u, hasInfValues);
+
+    // Now override with a custom projection matrix
+    // This projection matrix corresponds to a small horizontal FOV
+    // (hfov = 0.5)
+    gz::math::Matrix4d projectionMatrix(
+        3.91632, 0, 0, 0,
+        0, 3.91632, 0, 0,
+        0, 0, -1.0002, -0.20002,
+        0, 0, -1, 0);
+    depthCamera->SetProjectionMatrix(projectionMatrix);
+    depthCamera->Update();
+    scene->SetTime(scene->Time() + std::chrono::milliseconds(16));
+    EXPECT_EQ(2u, g_depthCounter);
+
+    // The camera should use the updated projection matrix and
+    // the box should fill the whole image.
+    // Verify all range values at the expected box range
+    for (unsigned int i = 0; i < depthCamera->ImageHeight(); ++i)
+    {
+      for (unsigned int j = 0; j < depthCamera->ImageWidth(); ++j)
+      {
+        float x = scan[i * depthCamera->ImageWidth() + j];
+        EXPECT_FLOAT_EQ(expectedRange, x);
+       }
+    }
+
+    // Clean up
+    connection.reset();
+    delete [] scan;
+  }
+
+  engine->DestroyScene(scene);
+}
diff --git a/test/integration/waves.cc b/test/integration/waves.cc
index 284c4544a..ac24edda7 100644
--- a/test/integration/waves.cc
+++ b/test/integration/waves.cc
@@ -119,6 +119,7 @@ TEST_F(WavesTest, Waves)
       TEST_MEDIA_PATH, "meshes", "mesh.dae");
   common::MeshManager *meshManager = common::MeshManager::Instance();
   descriptor.mesh = meshManager->Load(descriptor.meshName);
+  ASSERT_NE(nullptr, descriptor.mesh);
   MeshPtr meshGeom = scene->CreateMesh(descriptor);
   waves->AddGeometry(meshGeom);
   waves->SetLocalPosition(3, 0, 0);