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Merge 8 -> main #2334

Merged
merged 58 commits into from
Apr 1, 2024
Merged

Merge 8 -> main #2334

merged 58 commits into from
Apr 1, 2024

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iche033
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@iche033 iche033 commented Mar 13, 2024

➡️ Forward port

Port gz-sim8 to main

Branch comparison: main...gz-sim8

Note to maintainers: Remember to Merge with commit (not squash-merge or rebase)

azeey and others added 30 commits October 3, 2023 18:38
@azeey
Bump Fuel model version in test (#2190)
4f8fcda 
The Fuel model being tested has been updated on the Fuel server tests
fail without this fix.

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
@azeey
Merge ign-gazebo3 into ign-gazebo6
85cbf82
@iche033 @azeey
fix INTEGRATION_save_world's SdfGeneratorFixture.ModelWithNestedInclu…
8511623 
…des test

Signed-off-by: Ian Chen <ichen@openrobotics.org>
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
@azeey
Merge pull request #2191 from azeey/3_to_6
eaad78f 
Merge ign-gazebo3 ➡️  ign-gazebo6
@iche033
backport component inspector Vector3d width fix (#2195)
14b0f3b 
Signed-off-by: Ian Chen <ichen@openrobotics.org>
@iche033
Fix another deadlock in sensors system (#2141) (#2200)
2fd1b23 
Signed-off-by: Ian Chen <ichen@openrobotics.org>
@iche033
merge and fix conflicts
e7bc54e 
Signed-off-by: Ian Chen <ichen@openrobotics.org>
@iche033
Merge pull request #2210 from gazebosim/backport_sensors_fix
d7381e5 
Backport sensors system fixes
@ashBabu @mjcarroll @iche033
Fix for sensor pointer null when navsat plugin in included in sdf (#2176
28728c9 
)

Signed-off-by: ashbabu <shyamashi@gmail.com>
Signed-off-by: Michael Carroll <carroll.michael@gmail.com>
Co-authored-by: Michael Carroll <carroll.michael@gmail.com>
Co-authored-by: Ian Chen <ichen@openrobotics.org>
@iche033
Update github issue template (#2222)
f818301 
Signed-off-by: Ian Chen <ichen@openrobotics.org>
@azeey
Fix macOS test failures by registering components in the core library (…
20ee4df 
…#2220)

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
@iche033
Relax pose check in actor no mesh test (#2196)
97450b6 
Signed-off-by: Ian Chen <ichen@openrobotics.org>
@iche033
Merge pull request #2225 from gazebosim/backport_actor_no_mesh_fix
2a9d86c 
Backport ActorTrajectoryNoMesh test fix
@jasmeet0915
Bugfix: Fixed Centre of Mass and Inertia Matrix Calculation Bug `Mesh…
9db8061 
…InertiaCalculator::CalculateMassProperties()` function (#2182)

* Added function to transform inertia matrix to COM using parallel axis theorem
* Corrected mismatch of values in ixz and iyz calculation from integral
* Added doc for TransformInertiaMatrixToCOM() function
* Added correction for rotational offset of inertia matrix after transformation
* Added cylinder with origin at bottom to test world
* Fixed center of mass & inertia matrix calculation in CalculateMassProperties()
* Added test for inertia calculation of cylinder with origin at the bottom
* Updated input params of TransformInertiaMatrixToCOM() to const ref
* Updated tutorial doc
* Removed unused functions from the code


---------

Signed-off-by: Jasmeet Singh <jasmeet0915@gmail.com>
@azeey
Update friction parameters for skid steer example (#2235)
e0e02c4 
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
@scpeters
EnvironmentPreload: ignerr -> gzerr (#2245)
c73c12b 
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
@azeey
Update github action workflows (#2237)
7c786b2 
* Use on `push` only on stable branches to avoid duplicate runs
* Update project automation

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
@scpeters
environment_preload: fix windows compiler warnings (#2246)
81850ce 
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
@scpeters
Disable distortion camera test on Linux (#2247)
14f8796 
Part of #2243.

Signed-off-by: Steve Peters <scpeters@openrobotics.org>
@scpeters
mecanum_drive: use mesh wheels in example world (#2250)
3a21904 
Use the Mecanum wheel meshes from the "Mecanum lift"
model on Gazebo Fuel in the mecanum_drive example world.

Signed-off-by: Steve Peters <scpeters@openrobotics.org>
@mjcarroll
Fix DLL linkage/visibility issues (#2254)
a88340b 
Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai>
@jrutgeer
Allow removal of model that has joint_position_controller plugin. (#2252
8b40b54 
)

* Temporary fix for #2165 until #2217 is resolved.

Signed-off-by: Johan Rutgeerts <johan.rutgeerts@lancewood.eu>

* Added comment to clarify the added code.

Signed-off-by: Johan Rutgeerts <johan.rutgeerts@lancewood.eu>

---------

Signed-off-by: Johan Rutgeerts <johan.rutgeerts@lancewood.eu>
@serkanMzlm
Fix incorrect light direction in tunnel.sdf example (#2264)
8ec622d 
The light on top of the vehicle was facing the wrong direction

---------

Signed-off-by: Serkan Mazlum <74418302+serkanMzlm@users.noreply.github.com>
@iche033
Update CI badges in README (#2271)
f8b1a46 
Signed-off-by: Ian Chen <ichen@openrobotics.org>
@caguero @ahcorde
@crvogt @iche033
Maritime tutorials 💧 - Part 1 of 4 (#2257)
66ae42c 
* Adding maritime tutorials.

Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
Co-authored-by: crvogt <crvogt@users.noreply.github.com>
Co-authored-by: Ian Chen <ichen@openrobotics.org>
@caguero @ahcorde
@crvogt @iche033
Maritime tutorials 💧 - Part 2 of 4 (#2258)
ae0070f 
* Buoyancy and hydrodynamics tutorials.

Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
Co-authored-by: crvogt <crvogt@users.noreply.github.com>
Co-authored-by: Ian Chen <ichen@openrobotics.org>
@caguero @ahcorde
@crvogt @iche033
Maritime tutorials 💧 - Part 3 of 4 (#2259)
beada29 
* Lander and lrauv tutorials.

Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
Co-authored-by: crvogt <crvogt@users.noreply.github.com>
Co-authored-by: Ian Chen <ichen@openrobotics.org>
@caguero @ahcorde
@crvogt @iche033
Maritime tutorials 💧 - Part 4 of 4 (#2260)
8f84b05 
* Adding a maritime surface vehicle tutorial.
---------

Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
Co-authored-by: crvogt <crvogt@users.noreply.github.com>
Co-authored-by: Ian Chen <ichen@openrobotics.org>
@arjo129
Default CMA in LiftDrag pluginto zero (#2272)
4eb9484 
* Default CMA in LiftDrag pluginto zero

The changes in #2189 have caused a regression for our upstream users.
This fix disables moment calculations by defaulting Cma to zero. It
should help mitigate some of the regression. There is also an [ongoing
discussion](#2189 (comment)) as to whether the cos term should be cos^2 or cos.

Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>

* remove cos change to address one problem at a time

Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>

---------

Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
@oysstu
Install the Python libs to system site-packages instead of root (#2274)
9f677bf 
Occurs when using USE_SYSTEM_PATHS_FOR_PYTHON_INSTALLATION flag.

Signed-off-by: Øystein Sture <os@skarvtech.com>
azeey and others added 14 commits January 22, 2024 10:24
@azeey
Merge pull request #2293 from azeey/7_to_8
a267a68 
Merge gz-sim7 ➡️  gz-sim8
@bperseghetti @ahcorde @azeey
Change an entities visual material color by topic. (#2286)
08b5cfe 
This change allows for a simpler mapping from `MaterialColor` msg in gz to the much more cumbersome Visual msg. By doing this and adding a topic listener it allows users to rapidly change the colors of a entities visual material color components, including from the [ROS side using the gz bridge](gazebosim/ros_gz#486). This is especially useful for simulating status lighting.


---------

Signed-off-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
Co-authored-by: Addisu Z. Taddese <addisuzt@intrinsic.ai>
@azeey
Fix INTEGRATION_save_world on windows (#2300)
0c445fb 
Loading the rendering pipeline multiple times in a test doesn't seem to
work well. This removes the Sensors system from the `non_rendering_sensors.sdf`
file so that Ogre2 and the whole rendering pipeline is only loaded once.

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
@scpeters
Explicitly check SKIP_PYBIND11 for python bindings (#2298)
f28f679 
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
@bperseghetti
Light entity match SDF boolean for UserCommands. (#2295)
a4dc7c4 
Signed-off-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>
@quarkytale @ahcorde
Fix Gazebo/White and refactored MaterialParser (#2302)
18c535f 
Edited gazebo.material file to remove multiple passes in solid colors.
Refactored the parser based on Gazebo's style guide.

Signed-off-by: Dharini Dutia <dharini@openrobotics.org>
Signed-off-by: Dharini Dutia <dharinidutia@gmail.com>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
@mabelzhang @azeey
@iche033 @ahcorde
Add tutorial for using components in systems (#2207)
448463a 
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
Signed-off-by: Mabel Zhang <mabel@openrobotics.org>
Signed-off-by: Ian Chen <ichen@openrobotics.org>
Signed-off-by: Mabel Zhang <mabel.m.zhang@gmail.com>
Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org>
Co-authored-by: Ian Chen <ichen@openrobotics.org>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
@azeey
Prepare for 8.1.0 (#2308)
ab458ba 
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
@xela-95
Fix typo in Joint.hh (#2310)
633ce72 
Signed-off-by: Alessandro Croci <57228872+xela-95@users.noreply.github.com>
Add entity validation to OdometryPublisher (#2326)
1349900 
Until SystemManager has the ability to unload system plugins, plugins require an explicit check of the validity of the entities used in the Update methods. Such a check was missing in OdometryPublisher, which led to non-critical but annoying errors in the console.
---------

Signed-off-by: Anton Bogdanov <bogdan0v.am@yandex.ru>
@g-arjones
Add entity and sdf parameters to Server's AddSystem interface (#2324)
2ca64d0 
Signed-off-by: Gabriel Arjones <arjones@arjones.com>
@caguero
Fix wget in maritime tutorials (#2330)
7143110 
* Fix wget in maritime tutorials.

Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
@francocipollone
Add reference to joint_controller.md tutorial. (#2333)
b482a2d 
Signed-off-by: Franco Cipollone <franco.c@ekumenlabs.com>
@iche033
merge from gz-sim8
220236f 
Signed-off-by: Ian Chen <ichen@openrobotics.org>
@github-actions github-actions bot added the 🏛️ ionic Gazebo Ionic label Mar 13, 2024
@iche033 iche033 changed the title Merge 8 main 20240313 Merge 8 -> main Mar 13, 2024
@iche033
merge from gz-sim8
295d6f9 
Signed-off-by: Ian Chen <ichen@openrobotics.org>
@iche033 iche033 force-pushed the merge_8_main_20240313 branch from 97a04de to 295d6f9 Compare March 13, 2024 22:38
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iche033 commented Mar 14, 2024

depends on gazebosim/gz-msgs#430

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iche033 commented Mar 16, 2024 •
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The INTEGRATION_triggered_publisher test is failing because it's receiving more msgs than expected. The test also just started failing on main (failing build). It's likely due to gazebosim/gz-transport#479. If I revert to a gz-transport commit before the merge forward in gz-transport, the test passes.

Interestingly if I run just that problematic test by itself, it passes:

./build/gz-sim9/bin/INTEGRATION_triggered_publisher --gtest_filter="*InputMessagesTriggerServices*"

I think it could be that the test is getting msgs from previous test that uses the same topic name, cc @caguero

Not sure if we should fix the test here or if this exposes an issue in gz-transport

Edit: found the PR that cause the test to fail: gazebosim/gz-transport#470. I think gz-transport is doing what it's supposed to do.

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azeey commented Mar 16, 2024

I also noticed this and went down a rabbit hole. It turns out gz::transport:NodeShared in gz-transport is never destroyed. I thought when all the gz::transport::Node were destroyed, NodeShared would be destroyed as well, but this is not the case, so there is a good chance for tests to interfere with each other. I've worked on a potential solution: gazebosim/gz-transport@gz-transport13...azeey:gz-transport:shared_ptr_for_nodeshared It fixes INTEGRATION_triggered_publisher for me.

@azeey azeey mentioned this pull request Mar 18, 2024
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azeey commented Mar 21, 2024

INTEGRATION_triggered_publisher is also failing on gz-sim8 now (cc @claraberendsen). I'm fairly happy with gazebosim/gz-transport#484, but we probably need a few eyes on it.

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iche033 commented Mar 29, 2024

I think the gz-transport issue may take some time to fix. Can we get this in first?

@iche033 iche033 merged commit 250c939 into main Apr 1, 2024
3 of 6 checks passed
@iche033 iche033 deleted the merge_8_main_20240313 branch April 1, 2024 20:08
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@caguero caguero caguero approved these changes

@bperseghetti bperseghetti bperseghetti approved these changes

@mabelzhang mabelzhang Awaiting requested review from mabelzhang mabelzhang is a code owner

@mjcarroll mjcarroll Awaiting requested review from mjcarroll mjcarroll is a code owner

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