Merge branch 'gz-sim7' into scpeters/merge_7_main

Author: scpeters

.github/workflows/ci.yml

@@ -2,6 +2,12 @@ name: Ubuntu CI
 
 on: [push, pull_request]
 
+# Every time you make a push to your PR, it cancel immediately the previous checks,
+# and start a new one. The other runner will be available more quickly to your PR.
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
+  cancel-in-progress: true
+
 jobs:
   jammy-ci:
     runs-on: ubuntu-latest

.github/workflows/triage.yml

@@ -10,9 +10,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Add ticket to inbox
-        uses: technote-space/create-project-card-action@v1
+        uses: actions/add-to-project@v0.5.0
         with:
-          PROJECT: Core development
-          COLUMN: Inbox
-          GITHUB_TOKEN: ${{ secrets.TRIAGE_TOKEN }}
-          CHECK_ORG_PROJECT: true
+          project-url: https://github.com/orgs/gazebosim/projects/7
+          github-token: ${{ secrets.TRIAGE_TOKEN }}

Changelog.md

@@ -3053,7 +3053,7 @@
 1. Fix generation of systems library symlinks in build directory
     * [Pull request #1160](https://github.com/gazebosim/gz-sim/pull/1160)
 
-1. Backport sim::Util::validTopic() from gz-sim4.
+1. Backport sim::Util::validTopic() from ign-gazebo4.
     * [Pull request #1153](https://github.com/gazebosim/gz-sim/pull/1153)
 
 1. Support setting the background color for sensors

Migration.md

@@ -59,6 +59,11 @@ message's header.
       * CMake `-config` files
       * Paths that depend on the project name
 
+  * The `Scene3D` plugin has been removed and replaced with `gz-gui`'s `MinimalScene` plugin. See
+    this same document for the instructions to replace it when it was deprecated 5.x to 6.x.
+   Setting `<legacy>false</legacy>` is no longer required for `TransformControl` and
+    `ViewAndle` plugins.
+
 * Python library imports such `import ignition.gazebo` and `from ignition import
   gazebo` should be replaced with `import gz.sim7` and `from gz import sim7`.
   Note the change from `ignition` to `gz` and the addition of the major version
@@ -69,7 +74,6 @@ message's header.
    + In the Hydrodynamics plugin, inverted the added mass contribution to make it
      act in the correct direction.
 
-
 ## Gazebo Sim 6.11.X to 6.12.X
 
  * **Modified**:
@@ -126,20 +130,23 @@ since pose information is being logged in the `changed_state` topic.
 * The `GzScene3D` GUI plugin is being deprecated in favor of `MinimalScene`. In
   order to get the same functionality as `GzScene3D`, users need to add the
   following plugins:
-      + `MinimalScene`: base rendering functionality
-      + `GzSceneManager`: adds / removes / moves entities in the scene
-      + `EntityContextMenuPlugin`: right-click menu
-      + `InteractiveViewControl`: orbit controls
-      + `CameraTracking`: Move to, follow, set camera pose
-      + `MarkerManager`: Enables the use of markers
-      + `SelectEntities`: Select entities clicking on the scene
-      + `Spawn`: Functionality to spawn entities into the scene via GUI
-      + `VisualizationCapabilities`: View collisions, inertial, CoM, joints, etc.
-
-    Moreover, legacy mode needs to be turned off for the following plugins
-    for them to work with `MinimalScene` (set `<legacy>false</legacy>`):
-      + `TransformControl`: Translate and rotate
-      + `ViewAndle`: Move camera to preset angles
+    + `MinimalScene`: base rendering functionality
+    + `GzSceneManager`: adds / removes / moves entities in the scene
+    + `EntityContextMenuPlugin`: right-click menu
+    + `InteractiveViewControl`: orbit controls
+    + `CameraTracking`: Move to, follow, set camera pose
+    + `MarkerManager`: Enables the use of markers
+    + `SelectEntities`: Select entities clicking on the scene
+    + `Spawn`: Functionality to spawn entities into the scene via GUI
+    + `VisualizationCapabilities`: View collisions, inertial, CoM, joints, etc.
+
+  SDF code for all these can be found in:
+  https://github.com/gazebosim/gz-sim/blob/ff1c82b41e548dfdc8076374f9500db2df2c35a1/examples/worlds/minimal_scene.sdf#L29-L128
+
+  Moreover, legacy mode needs to be turned off for the following plugins
+  for them to work with `MinimalScene` (set `<legacy>false</legacy>`):
+    + `TransformControl`: Translate and rotate
+    + `ViewAndle`: Move camera to preset angles
 
 * The `gui.config` and `server.config` files are now located in a versioned
   folder inside `$HOME/.gz/sim`, i.e. `$HOME/.gz/sim/6/gui.config`.

include/gz/sim/InstallationDirectories.hh

@@ -0,0 +1,57 @@
+/*
+ * Copyright (C) 2023 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.
+ *
+ */
+
+#ifndef GZ_SIM_INSTALLATION_DIRECTORIES_HH_
+#define GZ_SIM_INSTALLATION_DIRECTORIES_HH_
+
+#include <string>
+
+#include <gz/sim/config.hh>
+#include <gz/sim/Export.hh>
+
+namespace gz
+{
+  namespace sim
+  {
+    inline namespace GZ_SIM_VERSION_NAMESPACE {
+
+    /// \brief getInstallPrefix return the install prefix of the library
+    /// i.e. CMAKE_INSTALL_PREFIX unless the library has been moved
+    GZ_SIM_VISIBLE std::string getInstallPrefix();
+
+    /// \brief getGUIConfigPath return the GUI config path
+    GZ_SIM_VISIBLE std::string getGUIConfigPath();
+
+    /// \brief getSystemConfigPath return the system config path
+    GZ_SIM_VISIBLE std::string getSystemConfigPath();
+
+    /// \brief getServerConfigPath return the server config path
+    GZ_SIM_VISIBLE std::string getServerConfigPath();
+
+    /// \brief getPluginInstallDir return the plugin install dir
+    GZ_SIM_VISIBLE std::string getPluginInstallDir();
+
+    /// \brief getGUIPluginInstallDir return the GUI plugin install dir
+    GZ_SIM_VISIBLE std::string getGUIPluginInstallDir();
+
+    /// \brief getWorldInstallDir return the world install dir
+    GZ_SIM_VISIBLE std::string getWorldInstallDir();
+    }
+  }
+}
+
+#endif

include/gz/sim/Link.hh

@@ -306,6 +306,19 @@ namespace gz
                                  const math::Vector3d &_force,
                                  const math::Vector3d &_torque) const;
 
+      /// \brief Add a wrench expressed in world coordinates and applied to
+      /// the link at an offset from the link's origin. This wrench
+      /// is applied for one simulation step.
+      /// \param[in] _ecm Mutable Entity-component manager.
+      /// \param[in] _force Force to be applied expressed in world coordinates
+      /// \param[in] _torque Torque to be applied expressed in world coordinates
+      /// \param[in] _offset The point of application of the force expressed
+      /// in the link frame
+      public: void AddWorldWrench(EntityComponentManager &_ecm,
+                                  const math::Vector3d &_force,
+                                  const math::Vector3d &_torque,
+                                  const math::Vector3d &_offset) const;
+
       /// \brief Pointer to private data.
       private: std::unique_ptr<LinkPrivate> dataPtr;
     };

include/gz/sim/ServerConfig.hh

@@ -324,14 +324,14 @@ namespace gz
               UpdatePeriod() const;
 
       /// \brief Path to where simulation resources, such as models downloaded
-      /// from fuel.ignitionrobotics.org, should be stored.
+      /// from fuel.gazebosim.org, should be stored.
       /// \return Path to a location on disk. An empty string indicates that
       /// the default value will be used, which is currently
       /// ~/.gz/fuel.
       public: const std::string &ResourceCache() const;
 
       /// \brief Set the path to where simulation resources, such as models
-      /// downloaded from fuel.ignitionrobotics.org, should be stored.
+      /// downloaded from fuel.gazebosim.org, should be stored.
       /// \param[in] _path Path to a location on disk. An empty string
       /// indicates that the default value will be used, which is currently
       /// ~/.gz/fuel.

include/gz/sim/Util.hh

@@ -24,7 +24,9 @@
 #include <unordered_set>
 #include <vector>
 
+#include <gz/common/Mesh.hh>
 #include <gz/math/Pose3.hh>
+#include <sdf/Mesh.hh>
 
 #include "gz/sim/components/Environment.hh"
 #include "gz/sim/config.hh"
@@ -309,6 +311,11 @@ namespace gz
       const math::Vector3d& _worldPosition,
       const std::shared_ptr<components::EnvironmentalData>& _gridField);
 
+    /// \brief Load a mesh from a Mesh SDF DOM
+    /// \param[in] _meshSdf Mesh SDF DOM
+    /// \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 Environment variable holding resource paths.
     const std::string kResourcePathEnv{"GZ_SIM_RESOURCE_PATH"};
 

include/gz/sim/config.hh.in

@@ -33,12 +33,12 @@
 
 #define GZ_SIM_VERSION_HEADER "Gazebo Sim, version ${PROJECT_VERSION_FULL}\nCopyright (C) 2018 Open Source Robotics Foundation.\nReleased under the Apache 2.0 License.\n\n"
 
-#define GZ_SIM_GUI_CONFIG_PATH "${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}/gui"
-#define GZ_SIM_SYSTEM_CONFIG_PATH "${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}/systems"
-#define GZ_SIM_SERVER_CONFIG_PATH "${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}"
-#define GZ_SIM_PLUGIN_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins"
-#define GZ_SIM_GUI_PLUGIN_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins/gui"
-#define GZ_SIM_WORLD_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}/worlds"
+#define GZ_SIM_GUI_CONFIG_PATH _Pragma ("GCC warning \"'GZ_SIM_GUI_CONFIG_PATH' macro is deprecated, use gz::sim::getGUIConfigPath() function instead. \"") "${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}/gui"
+#define GZ_SIM_SYSTEM_CONFIG_PATH _Pragma ("GCC warning \"'GZ_SIM_SYSTEM_CONFIG_PATH' macro is deprecated, use gz::sim::getSystemConfigPath() function instead. \"") "${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}/systems"
+#define GZ_SIM_SERVER_CONFIG_PATH _Pragma ("GCC warning \"'GZ_SIM_SERVER_CONFIG_PATH' macro is deprecated, use gz::sim::getServerConfigPath() function instead. \"") "${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}"
+#define GZ_SIM_PLUGIN_INSTALL_DIR _Pragma ("GCC warning \"'GZ_SIM_PLUGIN_INSTALL_DIR' macro is deprecated, use gz::sim::getPluginInstallDir() function instead. \"") "${CMAKE_INSTALL_PREFIX}/${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins"
+#define GZ_SIM_GUI_PLUGIN_INSTALL_DIR _Pragma ("GCC warning \"'GZ_SIM_GUI_PLUGIN_INSTALL_DIR' macro is deprecated, use gz::sim::getGUIPluginInstallDir() function instead. \"") "${CMAKE_INSTALL_PREFIX}/${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins/gui"
+#define GZ_SIM_WORLD_INSTALL_DIR _Pragma ("GCC warning \"'GZ_SIM_WORLD_INSTALL_DIR' macro is deprecated, use gz::sim::getWorldInstallDir() function instead. \"") "${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}/worlds"
 #define GZ_DISTRIBUTION "${GZ_DISTRIBUTION}"
 
 #endif

include/gz/sim/rendering/MarkerManager.hh

@@ -20,6 +20,7 @@
 #include <memory>
 #include <string>
 
+#include <gz/sim/config.hh>
 #include <gz/sim/rendering/Export.hh>
 
 #include "gz/rendering/RenderTypes.hh"

include/gz/sim/rendering/WrenchVisualizer.hh

@@ -0,0 +1,85 @@
+/*
+ * Copyright (C) 2023 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.
+ *
+*/
+#ifndef GZ_SIM_WRENCHVISUALIZER_HH_
+#define GZ_SIM_WRENCHVISUALIZER_HH_
+
+#include <memory>
+
+#include <gz/sim/config.hh>
+#include <gz/sim/rendering/Export.hh>
+#include <gz/utils/ImplPtr.hh>
+
+#include <gz/math/Vector3.hh>
+#include <gz/rendering/RenderTypes.hh>
+
+namespace gz
+{
+namespace sim
+{
+// Inline bracket to help doxygen filtering.
+inline namespace GZ_SIM_VERSION_NAMESPACE
+{
+namespace detail
+{
+  /// \brief Creates, deletes, and maintains force and torque visuals
+  class GZ_SIM_RENDERING_VISIBLE WrenchVisualizer
+  {
+    /// \brief Constructor
+    public: WrenchVisualizer();
+
+    /// \brief Destructor
+    public: ~WrenchVisualizer();
+
+    /// \brief Initialize the Wrench visualizer
+    /// \param[in] _scene The rendering scene where the visuals are created
+    /// \return True if the scene is valid
+    bool Init(rendering::ScenePtr _scene);
+
+    /// \brief Create a new force visual
+    /// \param[in] _material The material used for the visual
+    /// \return Pointer to the created ArrowVisual
+    public: rendering::ArrowVisualPtr CreateForceVisual(
+      rendering::MaterialPtr _material);
+
+    /// \brief Create a new torque visual
+    /// \param[in] _material The material used for the visual
+    /// \return Pointer to the created Visual
+    public: rendering::VisualPtr CreateTorqueVisual(
+      rendering::MaterialPtr _material);
+
+    /// \brief Update the visual of a vector to match its direction and position
+    /// \param[in] _visual Pointer to the vector visual to be updated
+    /// \param[in] _direction Direction of the vector
+    /// \param[in] _position Position of the arrow
+    /// \param[in] _size Size of the arrow in meters
+    /// \param[in] _tip True if _position specifies the tip of the vector,
+    /// false if it specifies tha base of the vector
+    public: void UpdateVectorVisual(rendering::VisualPtr _visual,
+                                    const math::Vector3d &_direction,
+                                    const math::Vector3d &_position,
+                                    const double _size,
+                                    const bool _tip = false);
+
+    /// \internal
+    /// \brief Private data pointer
+    GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr)
+  };
+}
+}
+}
+}
+#endif

src/CMakeLists.txt

@@ -50,6 +50,7 @@ set (sources
   ComponentFactory.cc
   EntityComponentManager.cc
   EntityComponentManagerDiff.cc
+  InstallationDirectories.cc
   Joint.cc
   LevelManager.cc
   Light.cc
@@ -163,6 +164,21 @@ target_link_libraries(${gz_lib_target}
 
 # Create the library target
 gz_create_core_library(SOURCES ${sources} CXX_STANDARD 17)
+gz_add_get_install_prefix_impl(GET_INSTALL_PREFIX_FUNCTION gz::sim::getInstallPrefix
+                               GET_INSTALL_PREFIX_HEADER gz/sim/InstallationDirectories.hh
+                               OVERRIDE_INSTALL_PREFIX_ENV_VARIABLE GZ_SIM_INSTALL_PREFIX)
+
+set_property(
+  SOURCE InstallationDirectories.cc
+  PROPERTY COMPILE_DEFINITIONS
+  GZ_SIM_GUI_CONFIG_RELATIVE_PATH="${GZ_DATA_INSTALL_DIR}/gui"
+  GZ_SIM_SYSTEM_CONFIG_RELATIVE_PATH="${GZ_DATA_INSTALL_DIR}/systems"
+  GZ_SIM_SERVER_CONFIG_RELATIVE_PATH="${GZ_DATA_INSTALL_DIR}"
+  GZ_SIM_PLUGIN_RELATIVE_INSTALL_DIR="${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins"
+  GZ_SIM_GUI_PLUGIN_RELATIVE_INSTALL_DIR="${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins/gui"
+  GZ_SIM_WORLD_RELATIVE_INSTALL_DIR="${GZ_DATA_INSTALL_DIR}/worlds"
+)
+
 target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
   PUBLIC
   gz-math${GZ_MATH_VER}
@@ -208,6 +224,8 @@ gz_build_tests(TYPE UNIT
     ${PROJECT_LIBRARY_TARGET_NAME}
     ${EXTRA_TEST_LIB_DEPS}
     gz-sim${PROJECT_VERSION_MAJOR}
+  ENVIRONMENT
+    GZ_SIM_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
 )
 
 # Some server unit tests require rendering.