Merge branch 'gz-sim8' into patch-19

gazebosim · Jun 26, 2024 · 7b995af · 7b995af
2 parents d7488a7 + cd9a855
commit 7b995af
Show file tree

Hide file tree

Showing 65 changed files with 1,963 additions and 215 deletions.
diff --git a/.github/workflows/package_xml.yml 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
@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 #============================================================================
 # Initialize the project
 #============================================================================
-project(gz-sim8 VERSION 8.3.0)
+project(gz-sim8 VERSION 8.4.0)
 set (GZ_DISTRIBUTION "Harmonic")
 
 #============================================================================
@@ -66,7 +66,7 @@ cmake_dependent_option(USE_DIST_PACKAGES_FOR_PYTHON
 #============================================================================
 
 # Setting this policy enables using the protobuf_MODULE_COMPATIBLE
-# set command in CMake versions older than 13.13
+# set command when cmake_minimum_required is less than 3.13
 set(CMAKE_POLICY_DEFAULT_CMP0077 NEW)
 # This option is needed to use the PROTOBUF_GENERATE_CPP
 # in case protobuf is found with the CMake config files
@@ -136,7 +136,7 @@ set(GZ_PHYSICS_VER ${gz-physics7_VERSION_MAJOR})
 
 #--------------------------------------
 # Find gz-sensors
-gz_find_package(gz-sensors8 REQUIRED
+gz_find_package(gz-sensors8 REQUIRED VERSION 8.2.0
   # component order is important
   COMPONENTS
     # non-rendering

diff --git a/Changelog.md b/Changelog.md
@@ -1,5 +1,82 @@
 ## Gazebo Sim 8.x
 
+### Gazebo Sim 8.4.0 (2024-06-12)
+
+1. Add pause run tutorial
+    * [Pull request #2383](https://github.com/gazebosim/gz-sim/pull/2383)
+
+1. Fix warning message to show precise jump back in time duration
+    * [Pull request #2435](https://github.com/gazebosim/gz-sim/pull/2435)
+
+1. Optimize rendering sensor pose updates
+    * [Pull request #2425](https://github.com/gazebosim/gz-sim/pull/2425)
+
+1. Remove a few extra zeros from some sdf files
+    * [Pull request #2426](https://github.com/gazebosim/gz-sim/pull/2426)
+
+1. Use VERSION_GREATER_EQUAL in cmake logic
+    * [Pull request #2418](https://github.com/gazebosim/gz-sim/pull/2418)
+
+1. Support mesh optimization when using AttachMeshShapeFeature
+    * [Pull request #2417](https://github.com/gazebosim/gz-sim/pull/2417)
+
+1. Rephrase cmake comment about CMP0077
+    * [Pull request #2419](https://github.com/gazebosim/gz-sim/pull/2419)
+
+1. Fix CMake warnings in Noble
+    * [Pull request #2397](https://github.com/gazebosim/gz-sim/pull/2397)
+
+1. Update sensors with pending trigger immediately in Sensors system
+    * [Pull request #2408](https://github.com/gazebosim/gz-sim/pull/2408)
+
+1. Add missing algorithm include
+    * [Pull request #2414](https://github.com/gazebosim/gz-sim/pull/2414)
+
+1. Add Track and Follow options in gui EntityContextMenu
+    * [Pull request #2402](https://github.com/gazebosim/gz-sim/pull/2402)
+
+1. ForceTorque system: improve readability
+    * [Pull request #2403](https://github.com/gazebosim/gz-sim/pull/2403)
+
+1. LTA Dynamics System
+    * [Pull request #2241](https://github.com/gazebosim/gz-sim/pull/2241)
+
+1. Remove Empty Test File
+    * [Pull request #2396](https://github.com/gazebosim/gz-sim/pull/2396)
+
+1. Fix GCC/CMake warnings for Noble
+    * [Pull request #2375](https://github.com/gazebosim/gz-sim/pull/2375)
+
+1. Fix warn unused variable in test
+    * [Pull request #2388](https://github.com/gazebosim/gz-sim/pull/2388)
+
+1. Fix name of gz-fuel_tools in package.xml
+    * [Pull request #2386](https://github.com/gazebosim/gz-sim/pull/2386)
+
+1. Add package.xml
+    * [Pull request #2337](https://github.com/gazebosim/gz-sim/pull/2337)
+
+1. Fix namespace and class links in documentation references that use namespace `gz`
+    * [Pull request #2385](https://github.com/gazebosim/gz-sim/pull/2385)
+
+1. Fix ModelPhotoShootTest test failures
+    * [Pull request #2294](https://github.com/gazebosim/gz-sim/pull/2294)
+
+1. Enable StoreResolvedURIs when loading SDF
+    * [Pull request #2349](https://github.com/gazebosim/gz-sim/pull/2349)
+
+1. Drop python3-disttutils from apt packages files
+    * [Pull request #2374](https://github.com/gazebosim/gz-sim/pull/2374)
+
+1. Added example world for `DopplerVelocityLogSystem`
+    * [Pull request #2373](https://github.com/gazebosim/gz-sim/pull/2373)
+
+1. Fix Gazebo/White and refactored MaterialParser
+    * [Pull request #2302](https://github.com/gazebosim/gz-sim/pull/2302)
+
+1. Support for Gazebo materials
+    * [Pull request #2269](https://github.com/gazebosim/gz-sim/pull/2269)
+
 ### Gazebo Sim 8.3.0 (2024-04-11)
 
 1. Use relative install paths for plugin shared libraries and gz-tools data

diff --git a/examples/plugin/custom_sensor_system/CMakeLists.txt b/examples/plugin/custom_sensor_system/CMakeLists.txt
@@ -27,10 +27,11 @@ add_subdirectory(${sensors_clone_SOURCE_DIR}/examples/custom_sensor ${sensors_cl
 
 add_library(${PROJECT_NAME} SHARED ${PROJECT_NAME}.cc)
 target_link_libraries(${PROJECT_NAME}
-  PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
-  PRIVATE gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
-  PRIVATE gz-sensors${GZ_SENSORS_VER}::gz-sensors${GZ_SENSORS_VER}
-  PRIVATE odometer
+  PRIVATE
+    gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
+    gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
+    gz-sensors${GZ_SENSORS_VER}::gz-sensors${GZ_SENSORS_VER}
+    odometer
 )
 target_include_directories(${PROJECT_NAME}
     PUBLIC ${sensors_clone_SOURCE_DIR}/examples/custom_sensor)
diff --git a/examples/standalone/gtest_setup/CMakeLists.txt b/examples/standalone/gtest_setup/CMakeLists.txt
@@ -10,13 +10,14 @@ set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
 include(FetchContent)
 FetchContent_Declare(
   googletest
-  URL https://github.com/google/googletest/archive/609281088cfefc76f9d0ce82e1ff6c30cc3591e5.zip
+  DOWNLOAD_EXTRACT_TIMESTAMP TRUE
+  # Version 1.14. Use commit hash to prevent tag relocation
+  URL https://github.com/google/googletest/archive/f8d7d77c06936315286eb55f8de22cd23c188571.zip
 )
 set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
 FetchContent_MakeAvailable(googletest)
 
 enable_testing()
-include(Dart)
 
 # Generate tests
 foreach(TEST_TARGET

diff --git a/examples/worlds/lighter_than_air_blimp.sdf b/examples/worlds/lighter_than_air_blimp.sdf
@@ -0,0 +1,78 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <world name="blimp">
+
+   <physics name="1ms" type="ode">
+      <max_step_size>0.001</max_step_size>
+      <!-- Zero to run as fast as possible -->
+      <real_time_factor>1</real_time_factor>
+    </physics>
+
+    <gravity>0 0 -9.81</gravity>
+
+    <plugin
+      filename="gz-sim-physics-system"
+      name="gz::sim::systems::Physics">
+    </plugin>
+    <plugin
+      filename="gz-sim-user-commands-system"
+      name="gz::sim::systems::UserCommands">
+    </plugin>
+    <plugin
+      filename="gz-sim-scene-broadcaster-system"
+      name="gz::sim::systems::SceneBroadcaster">
+    </plugin>
+
+    <plugin
+      filename="gz-sim-buoyancy-system"
+      name="gz::sim::systems::Buoyancy">
+      <uniform_fluid_density>1.097</uniform_fluid_density>
+    </plugin>
+
+    <light type="directional" name="sun">
+      <cast_shadows>true</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>1 1 1 1</diffuse>
+      <specular>0.5 0.5 0.5 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+    </light>
+
+    <model name="ground_plane">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <ambient>0.8 0.8 0.8 1</ambient>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.8 0.8 0.8 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+    <include>
+      <uri>
+        https://fuel.gazebosim.org/1.0/hkotze/models/airship
+      </uri>
+    </include>
+  </world>
+</sdf>
diff --git a/include/gz/sim/Link.hh b/include/gz/sim/Link.hh
@@ -24,6 +24,7 @@
 
 #include <gz/math/Inertial.hh>
 #include <gz/math/Matrix3.hh>
+#include <gz/math/Matrix6.hh>
 #include <gz/math/Pose3.hh>
 #include <gz/math/Quaternion.hh>
 #include <gz/math/Vector3.hh>
@@ -277,6 +278,14 @@ namespace gz
       public: std::optional<math::Matrix3d> WorldInertiaMatrix(
           const EntityComponentManager &_ecm) const;
 
+      /// \brief Get the fluid added mass matrix in the world frame.
+      /// \param[in] _ecm Entity-component manager.
+      /// \return Fluide added matrix in world frame, returns nullopt if link
+      /// does not have components components::Inertial and
+      /// components::WorldPose.
+      public: std::optional<math::Matrix6d> WorldFluidAddedMassMatrix(
+          const EntityComponentManager &_ecm) const;
+
       /// \brief Get the rotational and translational kinetic energy of the
       /// link with respect to the world frame.
       /// \param[in] _ecm Entity-component manager.

diff --git a/include/gz/sim/Util.hh b/include/gz/sim/Util.hh
@@ -316,6 +316,13 @@ namespace gz
     /// \return The loaded mesh or null if the mesh can not be loaded.
     GZ_SIM_VISIBLE const common::Mesh *loadMesh(const sdf::Mesh &_meshSdf);
 
+    /// \brief Optimize input mesh.
+    /// \param[in] _meshSdf Mesh SDF DOM with mesh optimization parameters
+    /// \param[in] _mesh Input mesh to optimize.
+    /// \return The optimized mesh or null if the mesh can not be optimized.
+    GZ_SIM_VISIBLE const common::Mesh *optimizeMesh(const sdf::Mesh &_meshSdf,
+        const common::Mesh &_mesh);
+
     /// \brief Environment variable holding resource paths.
     const std::string kResourcePathEnv{"GZ_SIM_RESOURCE_PATH"};
 

diff --git a/include/gz/sim/components/Factory.hh b/include/gz/sim/components/Factory.hh
@@ -17,6 +17,7 @@
 #ifndef GZ_SIM_COMPONENTS_FACTORY_HH_
 #define GZ_SIM_COMPONENTS_FACTORY_HH_
 
+#include <algorithm>
 #include <cstdint>
 #include <cstring>
 #include <deque>

diff --git a/package.xml b/package.xml
@@ -0,0 +1,55 @@
+<?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-sim8</name>
+  <version>8.4.0</version>
+  <description>Gazebo Sim : A Robotic Simulator</description>
+  <maintainer email="mjcarroll@intrinsic.ai">Michael Carroll</maintainer>
+  <license>Apache License 2.0</license>
+  <url type="website">https://github.com/gazebosim/gz-sim</url>
+
+  <buildtool_depend>cmake</buildtool_depend>
+
+  <depend>benchmark</depend>
+  <depend>glut</depend>
+  <depend>gz-cmake3</depend>
+  <depend>gz-common5</depend>
+  <depend>gz-fuel_tools9</depend>
+  <depend>gz-gui8</depend>
+  <depend>gz-math7</depend>
+  <depend>gz-msgs10</depend>
+  <depend>gz-physics7</depend>
+  <depend>gz-plugin2</depend>
+  <depend>gz-rendering8</depend>
+  <depend>gz-sensors8</depend>
+  <depend>gz-tools2</depend>
+  <depend>gz-transport13</depend>
+  <depend>gz-utils2</depend>
+  <depend>libfreeimage-dev</depend>
+  <depend>libglew-dev</depend>
+  <depend>libxi-dev</depend>
+  <depend>libxmu-dev</depend>
+  <depend>protobuf-dev</depend>
+  <depend>pybind11-dev</depend>
+  <depend>python3-distutils</depend>
+  <depend>qml-module-qt-labs-folderlistmodel</depend>
+  <depend>qml-module-qt-labs-settings</depend>
+  <depend>qml-module-qtgraphicaleffects</depend>
+  <depend>qml-module-qtquick-controls2</depend>
+  <depend>qml-module-qtquick-controls</depend>
+  <depend>qml-module-qtquick-dialogs</depend>
+  <depend>qml-module-qtquick-layouts</depend>
+  <depend>qml-module-qtquick2</depend>
+  <depend>qtbase5-dev</depend>
+  <depend>qtdeclarative5-dev</depend>
+  <depend>sdformat14</depend>
+  <depend>tinyxml2</depend>
+  <depend>uuid</depend>
+
+  <test_depend>xvfb</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>cmake</build_type>
+  </export>
+</package>
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -124,7 +124,6 @@ set (gtest_sources
   SimulationRunner_TEST.cc
   SystemLoader_TEST.cc
   SystemManager_TEST.cc
-  System_TEST.cc
   TestFixture_TEST.cc
   Util_TEST.cc
   World_TEST.cc
@@ -310,7 +309,7 @@ foreach(CMD_TEST
   # to the PATH. This is done via the ENVIRONMENT_MODIFICATION that is only available
   # since CMake 3.22. However, if an older CMake is used another trick to install the libraries
   # beforehand
-  if (WIN32 AND CMAKE_VERSION STRGREATER "3.22")
+  if (WIN32 AND ${CMAKE_VERSION} VERSION_GREATER_EQUAL "3.22")
     set_tests_properties(${CMD_TEST} PROPERTIES
       ENVIRONMENT_MODIFICATION "PATH=path_list_prepend:${CMAKE_RUNTIME_OUTPUT_DIRECTORY}")
   endif()

diff --git a/src/Link.cc b/src/Link.cc
@@ -356,6 +356,18 @@ std::optional<math::Matrix3d> Link::WorldInertiaMatrix(
       math::Inertiald(inertial->Data().MassMatrix(), comWorldPose).Moi());
 }
 
+std::optional<math::Matrix6d> Link::WorldFluidAddedMassMatrix(
+    const EntityComponentManager &_ecm) const
+{
+  auto inertial = _ecm.Component<components::Inertial>(this->dataPtr->id);
+  auto worldPose = _ecm.Component<components::WorldPose>(this->dataPtr->id);
+
+  if (!worldPose || !inertial)
+    return std::nullopt;
+
+  return inertial->Data().FluidAddedMass();
+}
+
 //////////////////////////////////////////////////
 std::optional<double> Link::WorldKineticEnergy(
     const EntityComponentManager &_ecm) const

diff --git a/src/ModelCommandAPI_TEST.cc b/src/ModelCommandAPI_TEST.cc
@@ -657,7 +657,7 @@ TEST(ModelCommandAPI, GZ_UTILS_TEST_DISABLED_ON_MAC(RgbdCameraSensor))
       "  - Lens intrinsics Fy: 277\n"
       "  - Lens intrinsics Cx: 160\n"
       "  - Lens intrinsics Cy: 120\n"
-      "  - Lens intrinsics skew: 1\n"
+      "  - Lens intrinsics skew: 0\n"
       "  - Visibility mask: 4294967295\n";
       EXPECT_EQ(expectedOutput, output);
   }