Merge pull request #1457 from gazebosim/scpeters/merge_14_main

Merge sdf14 ➡️  main

.github/workflows/ci.yml

@@ -4,7 +4,7 @@ on:
   pull_request:
   push:
     branches:
-      - 'sdf[0-9]?'
+      - 'sdf[1-9]?[0-9]'
       - 'main'
 
 jobs:

Changelog.md

@@ -4,6 +4,47 @@
 
 ## libsdformat 14.X
 
+### libsdformat 14.4.0 (2024-06-20)
+
+1. Add Cone as a primitive parametric shape.
+    * [Pull request #1415](https://github.com/gazebosim/sdformat/pull/1415)
+    * Thanks to Benjamin Perseghetti
+
+1. Add custom attribute to custom element in test
+    * [Pull request #1406](https://github.com/gazebosim/sdformat/pull/1406)
+
+### libsdformat 14.3.0 (2024-06-14)
+
+1. Backport voxel_resolution sdf element
+    * [Pull request #1429](https://github.com/gazebosim/sdformat/pull/1429)
+
+1. Added Automatic Moment of Inertia Calculations for Basic Shapes Python wrappers
+    * [Pull request #1424](https://github.com/gazebosim/sdformat/pull/1424)
+
+1. Add support for no gravity link
+    * [Pull request #1410](https://github.com/gazebosim/sdformat/pull/1410)
+    * [Pull request #1419](https://github.com/gazebosim/sdformat/pull/1419)
+
+1. Update default camera instrinsics skew to 0, which matches spec
+    * [Pull request #1423](https://github.com/gazebosim/sdformat/pull/1423)
+    * [Pull request #1425](https://github.com/gazebosim/sdformat/pull/1425)
+
+1. Allow empty strings in plugin and custom attributes
+    * [Pull request #1407](https://github.com/gazebosim/sdformat/pull/1407)
+
+1. (Backport) Enable 24.04 CI, remove distutils dependency
+    * [Pull request #1413](https://github.com/gazebosim/sdformat/pull/1413)
+
+1. Fix macOS workflow and backport windows fix
+    * [Pull request #1409](https://github.com/gazebosim/sdformat/pull/1409)
+
+1. Fix warning with pybind11 2.12
+    * [Pull request #1389](https://github.com/gazebosim/sdformat/pull/1389)
+
+1. Add bullet and torsional friction DOM
+    * [Pull request #1351](https://github.com/gazebosim/sdformat/pull/1351)
+    * [Pull request #1427](https://github.com/gazebosim/sdformat/pull/1427)
+
 ### libsdformat 14.2.0 (2024-04-23)
 
 1. Fix trivial warning on 24.04 for JointAxis_TEST.cc
@@ -132,6 +173,50 @@
 
 ## libsdformat 13.X
 
+### libsdformat 13.8.0 (2024-06-25)
+
+1. Added `World::ActorByName`
+    * [Pull request #1436](https://github.com/gazebosim/sdformat/pull/1436)
+
+1. Backport #1367 to Garden: Fix find Python3 logic.
+    * [Pull request #1370](https://github.com/gazebosim/sdformat/pull/1370)
+
+### libsdformat 13.7.0 (2024-06-13)
+
+1. Add support for no gravity link
+    * [Pull request #1410](https://github.com/gazebosim/sdformat/pull/1410)
+    * [Pull request #1419](https://github.com/gazebosim/sdformat/pull/1419)
+
+1. Fix macOS workflow and backport windows fix
+    * [Pull request #1409](https://github.com/gazebosim/sdformat/pull/1409)
+
+1. Fix warning with pybind11 2.12
+    * [Pull request #1389](https://github.com/gazebosim/sdformat/pull/1389)
+
+1. Add bullet and torsional friction DOM
+    * [Pull request #1351](https://github.com/gazebosim/sdformat/pull/1351)
+    * [Pull request #1427](https://github.com/gazebosim/sdformat/pull/1427)
+
+1. Resolve URIs relative to file path
+    * [Pull request #1373](https://github.com/gazebosim/sdformat/pull/1373)
+
+1. Bazel updates for Garden build
+    * [Pull request #1239](https://github.com/gazebosim/sdformat/pull/1239)
+
+1. Fix static builds and optimize test compilation
+    * [Pull request #1343](https://github.com/gazebosim/sdformat/pull/1343)
+    * [Pull request #1347](https://github.com/gazebosim/sdformat/pull/1347)
+
+1. Install ruby commands on Windows
+    * [Pull request #1339](https://github.com/gazebosim/sdformat/pull/1339)
+    * [Pull request #1341](https://github.com/gazebosim/sdformat/pull/1341)
+
+1. Update github action workflows
+    * [Pull request #1345](https://github.com/gazebosim/sdformat/pull/1345)
+
+1. URDF->SDF handle links with no inertia or small mass
+    * [Pull request #1238](https://github.com/gazebosim/sdformat/pull/1238)
+
 ### libsdformat 13.6.0 (2023-08-30)
 
 1. Use relative path in an urdf include to avoid confusion between internal and system headers
@@ -594,6 +679,21 @@
 
 ## libsdformat 12.X
 
+### libsdformat 12.8.0 (2024-06-06)
+
+1. Add support for no gravity link
+    * [Pull request #1410](https://github.com/gazebosim/sdformat/pull/1410)
+
+1. Add bullet and torsional friction DOM
+    * [Pull request #1351](https://github.com/gazebosim/sdformat/pull/1351)
+
+1. Fix static builds and optimize test compilation
+    * [Pull request #1343](https://github.com/gazebosim/sdformat/pull/1343)
+    * [Pull request #1347](https://github.com/gazebosim/sdformat/pull/1347)
+
+1. Update github action workflows
+    * [Pull request #1345](https://github.com/gazebosim/sdformat/pull/1345)
+
 ### libsdformat 12.7.2 (2023-09-01)
 
 1. Fixed 1.9/light.sdf

Migration.md

@@ -69,6 +69,9 @@ but with improved human-readability..
 
 ### Modifications
 
+1. The default camera lens intrinsics skew value in the Camera DOM class changed
+   from `1` to `0` to match the SDF specification.
+
 1. World class only renames frames with name collisions if original file version
    is 1.6 or earlier. Name collisions in newer files will cause `DUPLICATE_NAME`
    errors, which now matches the behavior of the Model class.

include/sdf/Link.hh

@@ -408,12 +408,22 @@ namespace sdf
     /// \sa bool Model::EnableWind
     public: bool EnableWind() const;
 
+    /// \brief Check if this link should be subject to gravity.
+    /// If true, this link should be affected by gravity.
+    /// \return true if the model should be subject to gravity, false otherwise.
+    public: bool EnableGravity() const;
+
     /// \brief Set whether this link should be subject to wind.
     /// \param[in] _enableWind True or false depending on whether the link
     /// should be subject to wind.
     /// \sa Model::SetEnableWind(bool)
     public: void SetEnableWind(bool _enableWind);
 
+    /// \brief Set whether this link should be subject to gravity.
+    /// \param[in] _enableGravity True or false depending on whether the link
+    /// should be subject to gravity.
+    public: void SetEnableGravity(bool _enableGravity);
+
     /// \brief Check if this link is kinematic only
     /// \return true if the link is kinematic only, false otherwise.
     public: bool Kinematic() const;

include/sdf/SDFImpl.hh

@@ -80,6 +80,34 @@ namespace sdf
                        bool _searchLocalPath = true,
                        bool _useCallback = false);
 
+  /// \brief Find the absolute path of a file.
+  ///
+  /// The search order in the function is as follows:
+  /// 1. Using the global URI path map, search in paths associated with the URI
+  ///    scheme of the input.
+  /// 2. Seach in the path defined by the macro `SDF_SHARE_PATH`.
+  /// 3. Search in the the libsdformat install path. The path is formed by
+  ///    has the pattern `SDF_SHARE_PATH/sdformat<major version>/<version>/`
+  /// 4. Directly check if the input path exists in the filesystem.
+  /// 5. Seach in the path defined by the environment variable `SDF_PATH`.
+  /// 6. If enabled via _searchLocalPath, prepend the input with the current
+  ///    working directory and check if the result path exists.
+  /// 7. If enabled via _useCallback and the global callback function is set,
+  ///    invoke the function and return its result.
+  ///
+  /// \param[out] _errors Vector of errors.
+  /// \param[in] _filename Name of the file to find.
+  /// \param[in] _searchLocalPath True to search for the file in the current
+  /// working directory.
+  /// \param[in] _useCallback True to find a file based on a registered
+  /// callback if the file is not found via the normal mechanism.
+  /// \return File's full path.
+  SDFORMAT_VISIBLE
+  std::string findFile(sdf::Errors &_errors,
+                       const std::string &_filename,
+                       bool _searchLocalPath = true,
+                       bool _useCallback = false);
+
   /// \brief Find the absolute path of a file.
   ///
   /// This overload uses the URI path map and and the callback function
@@ -99,6 +127,26 @@ namespace sdf
                        bool _useCallback,
                        const ParserConfig &_config);
 
+  /// \brief Find the absolute path of a file.
+  ///
+  /// This overload uses the URI path map and and the callback function
+  /// configured in the input ParserConfig object instead of their global
+  /// counterparts.
+  ///
+  /// \param[out] _errors Vector of errors.
+  /// \param[in] _filename Name of the file to find.
+  /// \param[in] _searchLocalPath True to search for the file in the current
+  /// working directory.
+  /// \param[in] _useCallback True to find a file based on a registered
+  /// callback if the file is not found via the normal mechanism.
+  /// \param[in] _config Custom parser configuration.
+  /// \return File's full path.
+  SDFORMAT_VISIBLE
+  std::string findFile(sdf::Errors &_errors,
+                       const std::string &_filename,
+                       bool _searchLocalPath,
+                       bool _useCallback,
+                       const ParserConfig &_config);
 
   /// \brief Associate paths to a URI.
   /// Example paramters: "model://", "/usr/share/models:~/.gazebo/models"
@@ -121,22 +169,45 @@ namespace sdf
     /// \brief Destructor
     public: ~SDF();
     public: void PrintDescription();
+    public: void PrintDescription(sdf::Errors &_errors);
     public: void PrintDoc();
     public: void Write(const std::string &_filename);
+    public: void Write(sdf::Errors &_errors, const std::string &_filename);
 
     /// \brief Output SDF's values to stdout.
     /// \param[in] _config Configuration for printing the values.
     public: void PrintValues(const PrintConfig &_config = PrintConfig());
 
+    /// \brief Output SDF's values to stdout.
+    /// \param[out] _errors Vector of errrors.
+    /// \param[in] _config Configuration for printing the values.
+    public: void PrintValues(sdf::Errors &_errors,
+                             const PrintConfig &_config = PrintConfig());
+
+    /// \brief Convert the SDF values to a string representation.
+    /// \param[in] _config Configuration for printing the values.
+    /// \return The string representation.
+    public: std::string ToString(
+        const PrintConfig &_config = PrintConfig()) const;
+
     /// \brief Convert the SDF values to a string representation.
+    /// \param[out] _errors Vector of errors.
     /// \param[in] _config Configuration for printing the values.
     /// \return The string representation.
     public: std::string ToString(
+        sdf::Errors &_errors,
         const PrintConfig &_config = PrintConfig()) const;
 
     /// \brief Set SDF values from a string
+    /// \param[in] sdfData String with the values to load.
     public: void SetFromString(const std::string &_sdfData);
 
+    /// \brief Set SDF values from a string
+    /// \param[out] _errors Vector of errors.
+    /// \param[in] sdfData String with the values to load.
+    public: void SetFromString(sdf::Errors &_Errors,
+                               const std::string &_sdfData);
+
     /// \brief Clear the data in this object.
     public: void Clear();
 
@@ -177,6 +248,13 @@ namespace sdf
     /// \return a wrapped clone of the SDF element
     public: static ElementPtr WrapInRoot(const ElementPtr &_sdf);
 
+    /// \brief wraps the SDF element into a root element with the version info.
+    /// \param[out] _errors Vector of errors.
+    /// \param[in] _sdf the sdf element. Will be cloned by this function.
+    /// \return a wrapped clone of the SDF element
+    public: static ElementPtr WrapInRoot(sdf::Errors &_errors,
+                                         const ElementPtr &_sdf);
+
     /// \brief Get a string representation of an SDF specification file.
     /// This function uses a built-in version of a .sdf file located in
     /// the sdf directory. The parser.cc code uses this function, which avoids
@@ -193,6 +271,22 @@ namespace sdf
     public: static const std::string &EmbeddedSpec(
                 const std::string &_filename, const bool _quiet);
 
+    /// \brief Get a string representation of an SDF specification file.
+    /// This function uses a built-in version of a .sdf file located in
+    /// the sdf directory. The parser.cc code uses this function, which avoids
+    /// touching the filesystem.
+    ///
+    /// Most people should not use this function.
+    ///
+    /// \param[out] _errors Vector of errors.
+    /// \param[in] _filename Base name of the SDF specification file to
+    /// load. For example "root.sdf" or "world.sdf".
+    /// \return A string that contains the contents of the specified
+    /// _filename. An empty string is returned if the _filename could not be
+    /// found.
+    public: static const std::string &EmbeddedSpec(
+                sdf::Errors &_errors, const std::string &_filename);
+
     /// \internal
     /// \brief Pointer to private data.
     private: std::unique_ptr<SDFPrivate> dataPtr;