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Merge 8 -> main (#2378)
Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai>
2 parents 77f4c00 + 098085b commit ad3ef0a

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‎.github/ci/packages.apt

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@@ -24,7 +24,6 @@ libtinyxml2-dev
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libxi-dev
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libxmu-dev
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libpython3-dev
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python3-distutils
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python3-gz-math8
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python3-gz-msgs11
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python3-gz-transport14

‎CMakeLists.txt

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@@ -225,11 +225,17 @@ else()
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endif()
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endif()
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# Plugin install dirs
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set(GZ_SIM_PLUGIN_RELATIVE_INSTALL_DIR
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${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins
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)
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set(GZ_SIM_PLUGIN_INSTALL_DIR
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${CMAKE_INSTALL_PREFIX}/${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins
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${CMAKE_INSTALL_PREFIX}/${GZ_SIM_PLUGIN_RELATIVE_INSTALL_DIR}
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)
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set(GZ_SIM_GUI_PLUGIN_RELATIVE_INSTALL_DIR
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${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins/gui
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)
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set(GZ_SIM_GUI_PLUGIN_INSTALL_DIR
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${CMAKE_INSTALL_PREFIX}/${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins/gui
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${CMAKE_INSTALL_PREFIX}/${GZ_SIM_GUI_PLUGIN_RELATIVE_INSTALL_DIR}
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)
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#============================================================================

‎Changelog.md

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44

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## Gazebo Sim 8.x
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### Gazebo Sim 8.3.0 (2024-04-11)
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1. Use relative install paths for plugin shared libraries and gz-tools data
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* [Pull request #2358](https://github.com/gazebosim/gz-sim/pull/2358)
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1. Use `steer_p_gain` for UpdateVelocity steer joint speed
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* [Pull request #2355](https://github.com/gazebosim/gz-sim/pull/2355)
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1. Fix TriggeredPublisher test
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* [Pull request #2354](https://github.com/gazebosim/gz-sim/pull/2354)
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1. Use SetComponentData to simplify code and improve coverage
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* [Pull request #2360](https://github.com/gazebosim/gz-sim/pull/2360)
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1. Remove unnecessary sleep
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* [Pull request #2357](https://github.com/gazebosim/gz-sim/pull/2357)
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1. Fixed undefined behavior in thruster.cc
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* [Pull request #2350](https://github.com/gazebosim/gz-sim/pull/2350)
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1. Added mutex to protect stored time variables
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* [Pull request #2345](https://github.com/gazebosim/gz-sim/pull/2345)
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1. Fixed turning error in ackermann steering
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* [Pull request #2342](https://github.com/gazebosim/gz-sim/pull/2342)
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1. Check null mesh
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* [Pull request #2341](https://github.com/gazebosim/gz-sim/pull/2341)
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1. Publish step size in world stats topic
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* [Pull request #2340](https://github.com/gazebosim/gz-sim/pull/2340)
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### Gazebo Sim 8.2.0 (2024-03-14)
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1. Add reference to joint_controller.md tutorial.

‎examples/worlds/dvl_world.sdf

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<?xml version="1.0" ?>
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<!--
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Example showing the usage of the Doppler Velocity Log (DVL) sensor
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on an Autonomous Underwater Vehicle (AUV).
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The world contains the MBARI Tethys LRAUV model along with
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the following plugins:
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* Buoyancy: applies buoyancy forces
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* DopplerVelocityLogSystem: sensor to measure doppler velocity
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* JointPositionController: controls the vertical and horizontal fins
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* LiftDrag: generates forces on the vertical and horizontal fins
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* Thruster: propels the vehicle
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* Hydrodynamics: applies forces such as added mass, drag and coriolis
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The AUV can be controlled using the following commands (to move in a circle):
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1. Move the rudder:
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gz topic -t /model/tethys/joint/vertical_fins_joint/0/cmd_pos \
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-m gz.msgs.Double -p 'data: -0.17'
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2. Propel the vehicle:
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gz topic -t /model/tethys/joint/propeller_joint/cmd_thrust \
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-m gz.msgs.Double -p 'data: -31'
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To see the DVL output run the following command:
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3. gz topic -t /dvl/velocity -e
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-->
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<sdf version="1.6">
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<world name="dvl_world">
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<scene>
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<!-- For turquoise ambient to match particle effect -->
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<ambient>0.0 1.0 1.0</ambient>
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<!-- For default gray ambient -->
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<background>0.0 0.7 0.8</background>
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<grid>false</grid>
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</scene>
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<physics name="1ms" type="ode">
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<max_step_size>0.001</max_step_size>
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<real_time_factor>1.0</real_time_factor>
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</physics>
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<plugin
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filename="gz-sim-physics-system"
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name="gz::sim::systems::Physics">
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</plugin>
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<plugin
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filename="gz-sim-sensors-system"
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name="gz::sim::systems::Sensors">
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</plugin>
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<plugin
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filename="gz-sim-dvl-system"
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name="gz::sim::systems::DopplerVelocityLogSystem">
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</plugin>
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<plugin
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filename="gz-sim-buoyancy-system"
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name="gz::sim::systems::Buoyancy">
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<uniform_fluid_density>1000</uniform_fluid_density>
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</plugin>
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<plugin
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filename="gz-sim-scene-broadcaster-system"
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name="gz::sim::systems::SceneBroadcaster">
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</plugin>
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<plugin
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filename="gz-sim-contact-system"
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name="gz::sim::systems::Contact">
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</plugin>
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<plugin
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filename="gz-sim-user-commands-system"
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name="gz::sim::systems::UserCommands">
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</plugin>
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<light type="directional" name="sun">
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<cast_shadows>true</cast_shadows>
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<pose>0 0 10 0 0 0</pose>
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<diffuse>1 1 1 1</diffuse>
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<specular>0.5 0.5 0.5 1</specular>
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<attenuation>
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<range>1000</range>
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<constant>0.9</constant>
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<linear>0.01</linear>
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<quadratic>0.001</quadratic>
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</attenuation>
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<direction>-0.5 0.1 -0.9</direction>
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</light>
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<!-- This invisible plane helps with orbiting the camera, especially at large scales -->
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<model name="horizontal_plane">
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<static>true</static>
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<link name="link">
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<visual name="visual">
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<!-- 300 km x 300 km -->
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<size>300000 300000</size>
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</plane>
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</geometry>
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<transparency>1.0</transparency>
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</visual>
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</link>
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</model>
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<model name="sea_bottom">
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<static>true</static>
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<pose>0 0 -100 0 0 0</pose>
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<link name="link">
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<collision name="collision">
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<!-- 300 km x 300 km -->
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<size>300000 300000</size>
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</plane>
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</geometry>
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</collision>
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<visual name="visual">
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<material>
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<ambient>0.5 0.5 0.5</ambient>
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<diffuse>0.5 0.5 0.5</diffuse>
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</material>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<!-- 300 km x 300 km -->
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<size>300000 300000</size>
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</plane>
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</geometry>
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</visual>
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</link>
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</model>
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<include>
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<pose>0 0 -80 0 0 1.57</pose>
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<uri>https://fuel.gazebosim.org/1.0/accurrent/models/MBARI Tethys LRAUV</uri>
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<experimental:params>
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<sensor
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element_id="base_link" action="add"
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name="teledyne_pathfinder_dvl"
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type="custom" gz:type="dvl">
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<pose degrees="true">-0.60 0 -0.16 0 0 180</pose>
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<always_on>1</always_on>
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<update_rate>1</update_rate>
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<topic>/dvl/velocity</topic>
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<gz:dvl>
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<type>phased_array</type>
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<arrangement degrees="true">
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<beam id="1">
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<aperture>2</aperture>
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<rotation>45</rotation>
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<tilt>30</tilt>
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</beam>
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<beam>
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<aperture>2</aperture>
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<rotation>135</rotation>
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<tilt>30</tilt>
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</beam>
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<beam>
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<aperture>2</aperture>
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<rotation>-45</rotation>
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<tilt>30</tilt>
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</beam>
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<beam>
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<aperture>2</aperture>
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<rotation>-135</rotation>
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<tilt>30</tilt>
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</beam>
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</arrangement>
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<tracking>
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<bottom_mode>
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<when>best</when>
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<noise type="gaussian">
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<!-- +/- 0.4 cm/s precision at 10 m/s within 2 stddevs -->
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<stddev>0.002</stddev>
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</noise>
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<visualize>false</visualize>
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</bottom_mode>
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</tracking>
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<!-- Roughly 1 m resolution at a 100m -->
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<resolution>0.01</resolution>
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<maximum_range>100.</maximum_range>
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<minimum_range>0.1</minimum_range>
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<!-- ENU to SFM -->
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<reference_frame>0 0 0 0 0 -1.570796</reference_frame>
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</gz:dvl>
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</sensor>
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</experimental:params>
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<!-- Odometry publisher -->
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<plugin
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filename="gz-sim-odometry-publisher-system"
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name="gz::sim::systems::OdometryPublisher">
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</plugin>
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<!-- Joint controllers -->
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<plugin
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filename="gz-sim-joint-position-controller-system"
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name="gz::sim::systems::JointPositionController">
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<joint_name>horizontal_fins_joint</joint_name>
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<p_gain>0.1</p_gain>
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</plugin>
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<plugin
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filename="gz-sim-joint-position-controller-system"
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name="gz::sim::systems::JointPositionController">
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<joint_name>vertical_fins_joint</joint_name>
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<p_gain>0.1</p_gain>
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</plugin>
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<plugin
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filename="gz-sim-thruster-system"
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name="gz::sim::systems::Thruster">
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<namespace>tethys</namespace>
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<use_angvel_cmd>0</use_angvel_cmd>
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<joint_name>propeller_joint</joint_name>
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<thrust_coefficient>0.004422</thrust_coefficient>
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<fluid_density>1000</fluid_density>
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<propeller_diameter>0.2</propeller_diameter>
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</plugin>
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<!-- Lift and drag -->
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<!-- Vertical fin -->
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<plugin
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filename="gz-sim-lift-drag-system"
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name="gz::sim::systems::LiftDrag">
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<air_density>1000</air_density>
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<cla>4.13</cla>
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<cla_stall>-1.1</cla_stall>
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<cda>0.2</cda>
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<cda_stall>0.03</cda_stall>
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<alpha_stall>0.17</alpha_stall>
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<a0>0</a0>
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<area>0.0244</area>
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<upward>0 1 0</upward>
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<forward>1 0 0</forward>
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<link_name>vertical_fins</link_name>
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<cp>0 0 0</cp>
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</plugin>
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<!-- Horizontal fin -->
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<plugin
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filename="gz-sim-lift-drag-system"
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name="gz::sim::systems::LiftDrag">
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<air_density>1000</air_density>
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<cla>4.13</cla>
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<cla_stall>-1.1</cla_stall>
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<cda>0.2</cda>
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<cda_stall>0.03</cda_stall>
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<alpha_stall>0.17</alpha_stall>
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<a0>0</a0>
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<area>0.0244</area>
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<upward>0 0 1</upward>
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<forward>1 0 0</forward>
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<link_name>horizontal_fins</link_name>
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<cp>0 0 0</cp>
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</plugin>
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<!-- Hydrodynamics plugin-->
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<plugin
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filename="gz-sim-hydrodynamics-system"
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name="gz::sim::systems::Hydrodynamics">
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<link_name>base_link</link_name>
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<xDotU>-4.876161</xDotU>
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<yDotV>-126.324739</yDotV>
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<zDotW>-126.324739</zDotW>
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<kDotP>0</kDotP>
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<mDotQ>-33.46</mDotQ>
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<nDotR>-33.46</nDotR>
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<xUabsU>-6.2282</xUabsU>
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<xU>0</xU>
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<yVabsV>-601.27</yVabsV>
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<yV>0</yV>
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<zWabsW>-601.27</zWabsW>
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<zW>0</zW>
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<kPabsP>-0.1916</kPabsP>
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<kP>0</kP>
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<mQabsQ>-632.698957</mQabsQ>
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<mQ>0</mQ>
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<nRabsR>-632.698957</nRabsR>
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<nR>0</nR>
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</plugin>
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</include>
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</world>
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</sdf>

‎include/gz/sim/ServerConfig.hh

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kSdfString,
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};
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/// \brief SDF error behavior
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public: enum class SdfErrorBehavior
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{
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/// \brief Exit the server immediately
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EXIT_IMMEDIATELY,
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/// \brief Continue loading the server if possible
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CONTINUE_LOADING
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};
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class PluginInfoPrivate;
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/// \brief Information about a plugin that should be loaded by the
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const std::string &_apiBackend);
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388396
/// \return Api backend for gui. See SetRenderEngineGuiApiBackend()
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const std::string &RenderEngineGuiApiBackend() const;
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public: const std::string &RenderEngineGuiApiBackend() const;
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/// \brief Set the server behavior when SDF errors are encountered while
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//// loading the server.
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/// \param[in] _behavior Server behavior when SDF errors are encounted.
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public: void SetBehaviorOnSdfErrors(SdfErrorBehavior _behavior);
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/// \brief Get the behavior when SDF errors are encountered while
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//// loading the server.
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/// \return Server behavior when SDF errors are encounted.
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public: SdfErrorBehavior BehaviorOnSdfErrors() const;
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391409
/// \brief Instruct simulation to attach a plugin to a specific
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/// entity when simulation starts.

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