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Merge branch 'gz-sim8' into gz-sim8
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‎.github/ci/packages.apt

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Original file line numberDiff line numberDiff line change
@@ -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-math7
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python3-gz-msgs10
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python3-gz-transport13

‎.github/workflows/package_xml.yml

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name: Validate package.xml
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on:
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pull_request:
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jobs:
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package-xml:
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runs-on: ubuntu-latest
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name: Validate package.xml
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steps:
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- uses: gazebo-tooling/action-gz-ci/validate_package_xml@jammy

‎CMakeLists.txt

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@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
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#============================================================================
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# Initialize the project
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#============================================================================
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project(gz-sim8 VERSION 8.2.0)
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project(gz-sim8 VERSION 8.5.0)
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set (GZ_DISTRIBUTION "Harmonic")
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#============================================================================
@@ -66,7 +66,7 @@ cmake_dependent_option(USE_DIST_PACKAGES_FOR_PYTHON
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#============================================================================
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# Setting this policy enables using the protobuf_MODULE_COMPATIBLE
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# set command in CMake versions older than 13.13
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# set command when cmake_minimum_required is less than 3.13
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set(CMAKE_POLICY_DEFAULT_CMP0077 NEW)
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# This option is needed to use the PROTOBUF_GENERATE_CPP
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# in case protobuf is found with the CMake config files
@@ -136,7 +136,7 @@ set(GZ_PHYSICS_VER ${gz-physics7_VERSION_MAJOR})
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#--------------------------------------
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# Find gz-sensors
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gz_find_package(gz-sensors8 REQUIRED
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gz_find_package(gz-sensors8 REQUIRED VERSION 8.2.0
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# component order is important
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COMPONENTS
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# non-rendering
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endif()
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endif()
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# Plugin install dirs
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set(GZ_SIM_PLUGIN_RELATIVE_INSTALL_DIR
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${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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## Gazebo Sim 8.x
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### Gazebo Sim 8.5.0 (2024-06-26)
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1. Backport: Adding cone primitives
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* [Pull request #2404](https://github.com/gazebosim/gz-sim/pull/2404)
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1. Permit to run gz sim -g on Windows
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* [Pull request #2382](https://github.com/gazebosim/gz-sim/pull/2382)
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1. Parse voxel resolution SDF param when decomposing meshes
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* [Pull request #2445](https://github.com/gazebosim/gz-sim/pull/2445)
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1. Fix model command api test
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* [Pull request #2444](https://github.com/gazebosim/gz-sim/pull/2444)
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1. Add tutorial for using the Pose component
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* [Pull request #2219](https://github.com/gazebosim/gz-sim/pull/2219)
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1. Do not update sensors if it a triggered sensor
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* [Pull request #2443](https://github.com/gazebosim/gz-sim/pull/2443)
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### Gazebo Sim 8.4.0 (2024-06-12)
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1. Add pause run tutorial
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* [Pull request #2383](https://github.com/gazebosim/gz-sim/pull/2383)
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1. Fix warning message to show precise jump back in time duration
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* [Pull request #2435](https://github.com/gazebosim/gz-sim/pull/2435)
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1. Optimize rendering sensor pose updates
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* [Pull request #2425](https://github.com/gazebosim/gz-sim/pull/2425)
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1. Remove a few extra zeros from some sdf files
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* [Pull request #2426](https://github.com/gazebosim/gz-sim/pull/2426)
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1. Use VERSION_GREATER_EQUAL in cmake logic
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* [Pull request #2418](https://github.com/gazebosim/gz-sim/pull/2418)
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1. Support mesh optimization when using AttachMeshShapeFeature
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* [Pull request #2417](https://github.com/gazebosim/gz-sim/pull/2417)
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1. Rephrase cmake comment about CMP0077
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* [Pull request #2419](https://github.com/gazebosim/gz-sim/pull/2419)
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1. Fix CMake warnings in Noble
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* [Pull request #2397](https://github.com/gazebosim/gz-sim/pull/2397)
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1. Update sensors with pending trigger immediately in Sensors system
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* [Pull request #2408](https://github.com/gazebosim/gz-sim/pull/2408)
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1. Add missing algorithm include
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* [Pull request #2414](https://github.com/gazebosim/gz-sim/pull/2414)
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1. Add Track and Follow options in gui EntityContextMenu
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* [Pull request #2402](https://github.com/gazebosim/gz-sim/pull/2402)
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1. ForceTorque system: improve readability
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* [Pull request #2403](https://github.com/gazebosim/gz-sim/pull/2403)
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1. LTA Dynamics System
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* [Pull request #2241](https://github.com/gazebosim/gz-sim/pull/2241)
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1. Remove Empty Test File
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* [Pull request #2396](https://github.com/gazebosim/gz-sim/pull/2396)
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1. Fix GCC/CMake warnings for Noble
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* [Pull request #2375](https://github.com/gazebosim/gz-sim/pull/2375)
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1. Fix warn unused variable in test
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* [Pull request #2388](https://github.com/gazebosim/gz-sim/pull/2388)
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1. Fix name of gz-fuel_tools in package.xml
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* [Pull request #2386](https://github.com/gazebosim/gz-sim/pull/2386)
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1. Add package.xml
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* [Pull request #2337](https://github.com/gazebosim/gz-sim/pull/2337)
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1. Fix namespace and class links in documentation references that use namespace `gz`
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* [Pull request #2385](https://github.com/gazebosim/gz-sim/pull/2385)
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1. Fix ModelPhotoShootTest test failures
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* [Pull request #2294](https://github.com/gazebosim/gz-sim/pull/2294)
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1. Enable StoreResolvedURIs when loading SDF
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* [Pull request #2349](https://github.com/gazebosim/gz-sim/pull/2349)
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1. Drop python3-disttutils from apt packages files
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* [Pull request #2374](https://github.com/gazebosim/gz-sim/pull/2374)
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1. Added example world for `DopplerVelocityLogSystem`
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* [Pull request #2373](https://github.com/gazebosim/gz-sim/pull/2373)
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1. Fix Gazebo/White and refactored MaterialParser
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* [Pull request #2302](https://github.com/gazebosim/gz-sim/pull/2302)
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1. Support for Gazebo materials
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* [Pull request #2269](https://github.com/gazebosim/gz-sim/pull/2269)
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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/plugin/custom_sensor_system/CMakeLists.txt

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add_library(${PROJECT_NAME} SHARED ${PROJECT_NAME}.cc)
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target_link_libraries(${PROJECT_NAME}
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PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
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PRIVATE gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
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PRIVATE gz-sensors${GZ_SENSORS_VER}::gz-sensors${GZ_SENSORS_VER}
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PRIVATE odometer
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PRIVATE
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gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
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gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
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gz-sensors${GZ_SENSORS_VER}::gz-sensors${GZ_SENSORS_VER}
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odometer
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)
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target_include_directories(${PROJECT_NAME}
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PUBLIC ${sensors_clone_SOURCE_DIR}/examples/custom_sensor)

‎examples/standalone/gtest_setup/CMakeLists.txt

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include(FetchContent)
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FetchContent_Declare(
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googletest
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URL https://github.com/google/googletest/archive/609281088cfefc76f9d0ce82e1ff6c30cc3591e5.zip
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DOWNLOAD_EXTRACT_TIMESTAMP TRUE
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# Version 1.14. Use commit hash to prevent tag relocation
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URL https://github.com/google/googletest/archive/f8d7d77c06936315286eb55f8de22cd23c188571.zip
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)
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set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
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FetchContent_MakeAvailable(googletest)
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enable_testing()
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include(Dart)
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# Generate tests
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foreach(TEST_TARGET

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