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Merge 7 into 8
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
2 parents cc4914a + f2c2da9 commit ab18888

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‎.github/ISSUE_TEMPLATE/bug_report.md

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@@ -5,7 +5,7 @@ labels: bug
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---
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<!-- If you're not sure whether your problem is a bug, please ask a question at
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http://answers.gazebosim.org instead.-->
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https://robotics.stackexchange.com instead.-->
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## Environment
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* OS Version: <!-- e.g, Ubuntu 20.04 -->

‎.github/ISSUE_TEMPLATE/feature_request.md

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@@ -6,7 +6,7 @@ labels: enhancement
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<!-- If you're not sure on the specifics of the feature or would like a broader
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discussion, please consider posting a proposal to
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http://community.gazebosim.org/ instead.-->
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https://robotics.stackexchange.com instead.-->
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## Desired behavior
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<!-- Describe the current problem and the feature you want implemented.-->

‎.github/workflows/ci.yml

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@@ -4,10 +4,9 @@ on:
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pull_request:
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push:
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branches:
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- 'gz-sim8'
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- 'ign-gazebo[0-9]'
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- 'gz-sim[0-9]?'
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- 'main'
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# Every time you make a push to your PR, it cancel immediately the previous checks,
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# and start a new one. The other runner will be available more quickly to your PR.
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concurrency:
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group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
@@ -19,7 +18,7 @@ jobs:
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name: Ubuntu Jammy CI
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steps:
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- name: Checkout
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uses: actions/checkout@v3
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uses: actions/checkout@v4
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- uses: actions/setup-python@v3
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- uses: pre-commit/action@v3.0.0
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with:

‎Changelog.md

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@@ -131,6 +131,83 @@
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## Gazebo Sim 7.x
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### Gazebo Sim 7.7.0 (2024-01-17)
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136+
1. Allow using plugin file names and environment variables compatible with Garden and later
137+
* [Pull request #2275](https://github.com/gazebosim/gz-sim/pull/2275)
138+
139+
1. Added tutorial for Gazebo joint controller plugin
140+
* [Pull request #2263](https://github.com/gazebosim/gz-sim/pull/2263)
141+
142+
1. Fix incorrect light direction in tunnel.sdf example
143+
* [Pull request #2264](https://github.com/gazebosim/gz-sim/pull/2264)
144+
145+
1. Fix DLL linkage/visibility issues
146+
* [Pull request #2254](https://github.com/gazebosim/gz-sim/pull/2254)
147+
148+
1. mecanum_drive: use mesh wheels in example world
149+
* [Pull request #2250](https://github.com/gazebosim/gz-sim/pull/2250)
150+
151+
1. environment_preload: fix windows compiler warnings
152+
* [Pull request #2246](https://github.com/gazebosim/gz-sim/pull/2246)
153+
154+
1. EnvironmentPreload: ignerr -> gzerr
155+
* [Pull request #2245](https://github.com/gazebosim/gz-sim/pull/2245)
156+
157+
1. Update friction parameters for skid steer example
158+
* [Pull request #2235](https://github.com/gazebosim/gz-sim/pull/2235)
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160+
1. Use sdf FindElement API to avoid const_cast
161+
* [Pull request #2236](https://github.com/gazebosim/gz-sim/pull/2236)
162+
163+
1. Use `GZ_PI` instead of `M_PI` to fix windows builds
164+
* [Pull request #2230](https://github.com/gazebosim/gz-sim/pull/2230)
165+
166+
1. Add note about elevator example
167+
* [Pull request #2227](https://github.com/gazebosim/gz-sim/pull/2227)
168+
169+
1. Porting Advanced Lift Drag Plugin to Gazebo
170+
* [Pull request #2185](https://github.com/gazebosim/gz-sim/pull/2185)
171+
* [Pull request #2226](https://github.com/gazebosim/gz-sim/pull/2226)
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173+
1. Fix macOS test failures by registering components in the core library
174+
* [Pull request #2220](https://github.com/gazebosim/gz-sim/pull/2220)
175+
176+
1. Fix for sensor pointer null when navsat plugin in included in sdf
177+
* [Pull request #2176](https://github.com/gazebosim/gz-sim/pull/2176)
178+
179+
1. Fix another deadlock in sensors system
180+
* [Pull request #2200](https://github.com/gazebosim/gz-sim/pull/2200)
181+
182+
1. Fix sensors system parallel updates
183+
* [Pull request #2201](https://github.com/gazebosim/gz-sim/pull/2201)
184+
185+
1. Relax pose check in actor no mesh test
186+
* [Pull request #2196](https://github.com/gazebosim/gz-sim/pull/2196)
187+
188+
1. backport component inspector Vector3d width fix
189+
* [Pull request #2195](https://github.com/gazebosim/gz-sim/pull/2195)
190+
191+
1. fix INTEGRATION_save_world's SdfGeneratorFixture.ModelWithNestedIncludes test
192+
* [Pull request #2197](https://github.com/gazebosim/gz-sim/pull/2197)
193+
194+
1. Lift Drag Bug Fix
195+
* [Pull request #2189](https://github.com/gazebosim/gz-sim/pull/2189)
196+
* [Pull request #2272](https://github.com/gazebosim/gz-sim/pull/2272)
197+
* [Pull request #2273](https://github.com/gazebosim/gz-sim/pull/2273)
198+
* [Issue #2188](https://github.com/gazebosim/gz-sim/issues/2188)
199+
200+
1. Bump Fuel model version in test
201+
* [Pull request #2190](https://github.com/gazebosim/gz-sim/pull/2190)
202+
203+
1. Fix enviroment system loading mechanism
204+
* [Pull request #1842](https://github.com/gazebosim/gz-sim/pull/1842)
205+
206+
1. Infrastructure
207+
* [Pull request #2237](https://github.com/gazebosim/gz-sim/pull/2237)
208+
* [Pull request #2222](https://github.com/gazebosim/gz-sim/pull/2222)
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### Gazebo Sim 7.6.0 (2023-09-26)
135212

136213
1. Documentation updates
@@ -1018,6 +1095,35 @@
10181095

10191096
## Gazebo Sim 6.x
10201097

1098+
### Gazebo Sim 6.16.0 (2024-01-12)
1099+
1100+
1. Allow using plugin file names and environment variables compatible with Garden and later
1101+
* [Pull request #2275](https://github.com/gazebosim/gz-sim/pull/2275)
1102+
1103+
1. Update friction parameters for skid steer example
1104+
* [Pull request #2235](https://github.com/gazebosim/gz-sim/pull/2235)
1105+
1106+
1. Relax pose check in actor no mesh test
1107+
* [Pull request #2196](https://github.com/gazebosim/gz-sim/pull/2196)
1108+
1109+
1. Fix macOS test failures by registering components in the core library
1110+
* [Pull request #2220](https://github.com/gazebosim/gz-sim/pull/2220)
1111+
1112+
1. Fix for sensor pointer null when navsat plugin in included in sdf
1113+
* [Pull request #2176](https://github.com/gazebosim/gz-sim/pull/2176)
1114+
1115+
1. Fix another deadlock in sensors system
1116+
* [Pull request #2200](https://github.com/gazebosim/gz-sim/pull/2200)
1117+
1118+
1. Backport component inspector Vector3d width fix
1119+
* [Pull request #2195](https://github.com/gazebosim/gz-sim/pull/2195)
1120+
1121+
1. Bump Fuel model version in test
1122+
* [Pull request #2190](https://github.com/gazebosim/gz-sim/pull/2190)
1123+
1124+
1. Infrastructure
1125+
* [Pull request #2237](https://github.com/gazebosim/gz-sim/pull/2237)
1126+
* [Pull request #2222](https://github.com/gazebosim/gz-sim/pull/2222)
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### Gazebo Sim 6.15.0 (2023-08-16)
10231129

‎examples/worlds/diff_drive_skid.sdf

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@@ -155,8 +155,10 @@
155155
<surface>
156156
<friction>
157157
<ode>
158-
<mu>0.5</mu>
159-
<mu2>1.0</mu2>
158+
<mu>1</mu>
159+
<mu2>1</mu2>
160+
<slip1>0.035</slip1>
161+
<slip2>0</slip2>
160162
<fdir1>0 0 1</fdir1>
161163
</ode>
162164
<bullet>
@@ -203,8 +205,10 @@
203205
<surface>
204206
<friction>
205207
<ode>
206-
<mu>0.5</mu>
207-
<mu2>1.0</mu2>
208+
<mu>1</mu>
209+
<mu2>1</mu2>
210+
<slip1>0.035</slip1>
211+
<slip2>0</slip2>
208212
<fdir1>0 0 1</fdir1>
209213
</ode>
210214
<bullet>
@@ -251,8 +255,10 @@
251255
<surface>
252256
<friction>
253257
<ode>
254-
<mu>0.5</mu>
255-
<mu2>1.0</mu2>
258+
<mu>1</mu>
259+
<mu2>1</mu2>
260+
<slip1>0.035</slip1>
261+
<slip2>0</slip2>
256262
<fdir1>0 0 1</fdir1>
257263
</ode>
258264
<bullet>
@@ -299,8 +305,10 @@
299305
<surface>
300306
<friction>
301307
<ode>
302-
<mu>0.5</mu>
303-
<mu2>1.0</mu2>
308+
<mu>1</mu>
309+
<mu2>1</mu2>
310+
<slip1>0.035</slip1>
311+
<slip2>0</slip2>
304312
<fdir1>0 0 1</fdir1>
305313
</ode>
306314
<bullet>

‎examples/worlds/joint_controller.sdf

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@@ -91,8 +91,7 @@
9191
</geometry>
9292
<material>
9393
<ambient>0.2 0.8 0.2 1</ambient>
94-
<diffuse>0.2 0.8 0.2 1</diffuse>
95-
<specular>0.2 0.8 0.2 1</specular>
94+
<diffuse>0.8 0 0 1</diffuse>
9695
</material>
9796
</visual>
9897
<collision name="collision">
@@ -179,8 +178,7 @@
179178
</geometry>
180179
<material>
181180
<ambient>0.2 0.8 0.2 1</ambient>
182-
<diffuse>0.2 0.8 0.2 1</diffuse>
183-
<specular>0.2 0.8 0.2 1</specular>
181+
<diffuse>0.8 0 0 1</diffuse>
184182
</material>
185183
</visual>
186184
<collision name="collision">

‎examples/worlds/joint_position_controller.sdf

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@@ -85,6 +85,7 @@
8585
</geometry>
8686
<material>
8787
<ambient>0.2 0.8 0.2 1</ambient>
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<diffuse>0.8 0 0 1</diffuse>
8889
</material>
8990
</visual>
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<collision name="collision">

‎examples/worlds/mecanum_drive.sdf

+24-20
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@@ -128,15 +128,13 @@
128128
</inertia>
129129
</inertial>
130130
<visual name='visual'>
131+
<pose>0 0 0 1.5707 0 0</pose>
131132
<geometry>
132-
<sphere>
133-
<radius>0.3</radius>
134-
</sphere>
135-
<!--box><size>0.6 0.6 0.6</size></box-->
136-
<!--mesh>
137-
<uri>https://raw.githubusercontent.com/robomaster-oss/rmoss_ign_resources/main/models/rmua19_standard_robot/meshes/wheel_left.dae</uri>
138-
<scale>2.4 2.4 2.4</scale>
139-
</mesh-->
133+
<!-- scale mesh to radius == 0.3 -->
134+
<mesh>
135+
<uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Mecanum lift/tip/files/meshes/mecanum_wheel_left.STL</uri>
136+
<scale>0.006 0.006 0.006</scale>
137+
</mesh>
140138
</geometry>
141139
<material>
142140
<ambient>0.2 0.2 0.2 1</ambient>
@@ -176,11 +174,13 @@
176174
</inertia>
177175
</inertial>
178176
<visual name='visual'>
177+
<pose>0 0 0 1.5707 0 0</pose>
179178
<geometry>
180-
<sphere>
181-
<radius>0.3</radius>
182-
</sphere>
183-
<!--box><size>0.6 0.6 0.6</size></box-->
179+
<!-- scale mesh to radius == 0.3 -->
180+
<mesh>
181+
<uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Mecanum lift/tip/files/meshes/mecanum_wheel_right.STL</uri>
182+
<scale>0.006 0.006 0.006</scale>
183+
</mesh>
184184
</geometry>
185185
<material>
186186
<ambient>0.2 0.2 0.2 1</ambient>
@@ -220,11 +220,13 @@
220220
</inertia>
221221
</inertial>
222222
<visual name='visual'>
223+
<pose>0 0 0 1.5707 0 0</pose>
223224
<geometry>
224-
<sphere>
225-
<radius>0.3</radius>
226-
</sphere>
227-
<!--box><size>0.6 0.6 0.6</size></box-->
225+
<!-- scale mesh to radius == 0.3 -->
226+
<mesh>
227+
<uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Mecanum lift/tip/files/meshes/mecanum_wheel_right.STL</uri>
228+
<scale>0.006 0.006 0.006</scale>
229+
</mesh>
228230
</geometry>
229231
<material>
230232
<ambient>0.2 0.2 0.2 1</ambient>
@@ -264,11 +266,13 @@
264266
</inertia>
265267
</inertial>
266268
<visual name='visual'>
269+
<pose>0 0 0 1.5707 0 0</pose>
267270
<geometry>
268-
<sphere>
269-
<radius>0.3</radius>
270-
</sphere>
271-
<!--box><size>0.6 0.6 0.6</size></box-->
271+
<!-- scale mesh to radius == 0.3 -->
272+
<mesh>
273+
<uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Mecanum lift/tip/files/meshes/mecanum_wheel_left.STL</uri>
274+
<scale>0.006 0.006 0.006</scale>
275+
</mesh>
272276
</geometry>
273277
<material>
274278
<ambient>0.2 0.2 0.2 1</ambient>

‎examples/worlds/tunnel.sdf

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Original file line numberDiff line numberDiff line change
@@ -1165,7 +1165,7 @@
11651165
<outer_angle>1.1</outer_angle>
11661166
<falloff>1</falloff>
11671167
</spot>
1168-
<direction>0 -1 0</direction>
1168+
<direction>0 0 -1</direction>
11691169
<cast_shadows>1</cast_shadows>
11701170
</light>
11711171
<sensor name="camera" type="camera">

‎src/CMakeLists.txt

+1-1
Original file line numberDiff line numberDiff line change
@@ -188,7 +188,7 @@ target_link_libraries(${gz_lib_target}
188188
)
189189

190190
# Executable target that runs the GUI without ruby for debugging purposes.
191-
add_executable(runGui gz.cc)
191+
add_executable(runGui cmd/runGui_main.cc)
192192
target_link_libraries(runGui PRIVATE ${gz_lib_target})
193193

194194
# Create the library target

‎src/Conversions.cc

+37-2
Original file line numberDiff line numberDiff line change
@@ -1363,6 +1363,41 @@ sdf::Sensor gz::sim::convert(const msgs::Sensor &_in)
13631363

13641364
out.SetCameraSensor(sensor);
13651365
}
1366+
else if (out.Type() == sdf::SensorType::GPS ||
1367+
out.Type() == sdf::SensorType::NAVSAT)
1368+
{
1369+
sdf::NavSat sensor;
1370+
if (_in.has_gps())
1371+
{
1372+
if (_in.gps().position().has_horizontal_noise())
1373+
{
1374+
sensor.SetHorizontalPositionNoise(sim::convert<sdf::Noise>(
1375+
_in.gps().position().horizontal_noise()));
1376+
}
1377+
if (_in.gps().position().has_vertical_noise())
1378+
{
1379+
sensor.SetVerticalPositionNoise(sim::convert<sdf::Noise>(
1380+
_in.gps().position().vertical_noise()));
1381+
}
1382+
if (_in.gps().velocity().has_horizontal_noise())
1383+
{
1384+
sensor.SetHorizontalVelocityNoise(sim::convert<sdf::Noise>(
1385+
_in.gps().velocity().horizontal_noise()));
1386+
}
1387+
if (_in.gps().velocity().has_vertical_noise())
1388+
{
1389+
sensor.SetVerticalVelocityNoise(sim::convert<sdf::Noise>(
1390+
_in.gps().velocity().vertical_noise()));
1391+
}
1392+
}
1393+
else
1394+
{
1395+
gzerr << "Attempting to convert a navsat sensor message, but the "
1396+
<< "message does not have a navsat nested message.\n";
1397+
}
1398+
1399+
out.SetNavSatSensor(sensor);
1400+
}
13661401
else if (out.Type() == sdf::SensorType::ALTIMETER)
13671402
{
13681403
sdf::Altimeter sensor;
@@ -1637,8 +1672,8 @@ msgs::ParticleEmitter gz::sim::convert(const sdf::ParticleEmitter &_in)
16371672
std::string path = asFullPath(_in.ColorRangeImage(), _in.FilePath());
16381673

16391674
common::SystemPaths systemPaths;
1640-
systemPaths.SetFilePathEnv(kResourcePathEnv);
1641-
std::string absolutePath = systemPaths.FindFile(path);
1675+
std::string absolutePath =
1676+
common::SystemPaths::LocateLocalFile(path, sim::resourcePaths());
16421677

16431678
if (!absolutePath.empty())
16441679
{

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