Merge pull request gazebosim#2472 from gazebosim/scpeters/merge_8_main

Merge gz-sim8 ➡️  main

Author: scpeters

Changelog.md

@@ -4,6 +4,103 @@
 
 ## Gazebo Sim 8.x
 
+### Gazebo Sim 8.5.0 (2024-06-26)
+
+1. Backport: Adding cone primitives
+    * [Pull request #2404](https://github.com/gazebosim/gz-sim/pull/2404)
+
+1. Permit to run gz sim -g on Windows
+    * [Pull request #2382](https://github.com/gazebosim/gz-sim/pull/2382)
+
+1. Parse voxel resolution SDF param when decomposing meshes
+    * [Pull request #2445](https://github.com/gazebosim/gz-sim/pull/2445)
+
+1. Fix model command api test
+    * [Pull request #2444](https://github.com/gazebosim/gz-sim/pull/2444)
+
+1. Add tutorial for using the Pose component
+    * [Pull request #2219](https://github.com/gazebosim/gz-sim/pull/2219)
+
+1. Do not update sensors if it a triggered sensor
+    * [Pull request #2443](https://github.com/gazebosim/gz-sim/pull/2443)
+
+### Gazebo Sim 8.4.0 (2024-06-12)
+
+1. Add pause run tutorial
+    * [Pull request #2383](https://github.com/gazebosim/gz-sim/pull/2383)
+
+1. Fix warning message to show precise jump back in time duration
+    * [Pull request #2435](https://github.com/gazebosim/gz-sim/pull/2435)
+
+1. Optimize rendering sensor pose updates
+    * [Pull request #2425](https://github.com/gazebosim/gz-sim/pull/2425)
+
+1. Remove a few extra zeros from some sdf files
+    * [Pull request #2426](https://github.com/gazebosim/gz-sim/pull/2426)
+
+1. Use VERSION_GREATER_EQUAL in cmake logic
+    * [Pull request #2418](https://github.com/gazebosim/gz-sim/pull/2418)
+
+1. Support mesh optimization when using AttachMeshShapeFeature
+    * [Pull request #2417](https://github.com/gazebosim/gz-sim/pull/2417)
+
+1. Rephrase cmake comment about CMP0077
+    * [Pull request #2419](https://github.com/gazebosim/gz-sim/pull/2419)
+
+1. Fix CMake warnings in Noble
+    * [Pull request #2397](https://github.com/gazebosim/gz-sim/pull/2397)
+
+1. Update sensors with pending trigger immediately in Sensors system
+    * [Pull request #2408](https://github.com/gazebosim/gz-sim/pull/2408)
+
+1. Add missing algorithm include
+    * [Pull request #2414](https://github.com/gazebosim/gz-sim/pull/2414)
+
+1. Add Track and Follow options in gui EntityContextMenu
+    * [Pull request #2402](https://github.com/gazebosim/gz-sim/pull/2402)
+
+1. ForceTorque system: improve readability
+    * [Pull request #2403](https://github.com/gazebosim/gz-sim/pull/2403)
+
+1. LTA Dynamics System
+    * [Pull request #2241](https://github.com/gazebosim/gz-sim/pull/2241)
+
+1. Remove Empty Test File
+    * [Pull request #2396](https://github.com/gazebosim/gz-sim/pull/2396)
+
+1. Fix GCC/CMake warnings for Noble
+    * [Pull request #2375](https://github.com/gazebosim/gz-sim/pull/2375)
+
+1. Fix warn unused variable in test
+    * [Pull request #2388](https://github.com/gazebosim/gz-sim/pull/2388)
+
+1. Fix name of gz-fuel_tools in package.xml
+    * [Pull request #2386](https://github.com/gazebosim/gz-sim/pull/2386)
+
+1. Add package.xml
+    * [Pull request #2337](https://github.com/gazebosim/gz-sim/pull/2337)
+
+1. Fix namespace and class links in documentation references that use namespace `gz`
+    * [Pull request #2385](https://github.com/gazebosim/gz-sim/pull/2385)
+
+1. Fix ModelPhotoShootTest test failures
+    * [Pull request #2294](https://github.com/gazebosim/gz-sim/pull/2294)
+
+1. Enable StoreResolvedURIs when loading SDF
+    * [Pull request #2349](https://github.com/gazebosim/gz-sim/pull/2349)
+
+1. Drop python3-disttutils from apt packages files
+    * [Pull request #2374](https://github.com/gazebosim/gz-sim/pull/2374)
+
+1. Added example world for `DopplerVelocityLogSystem`
+    * [Pull request #2373](https://github.com/gazebosim/gz-sim/pull/2373)
+
+1. Fix Gazebo/White and refactored MaterialParser
+    * [Pull request #2302](https://github.com/gazebosim/gz-sim/pull/2302)
+
+1. Support for Gazebo materials
+    * [Pull request #2269](https://github.com/gazebosim/gz-sim/pull/2269)
+
 ### Gazebo Sim 8.3.0 (2024-04-11)
 
 1. Use relative install paths for plugin shared libraries and gz-tools data

examples/worlds/shapes.sdf

@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<sdf version="1.12">
+<sdf version="1.11">
   <!--
     Try moving a model using the command in the following CDATA block::
   -->

include/gz/sim/components/Gravity.hh

@@ -36,6 +36,11 @@ namespace components
   /// \brief Store the gravity acceleration.
   using Gravity = Component<math::Vector3d, class GravityTag>;
   GZ_SIM_REGISTER_COMPONENT("gz_sim_components.Gravity", Gravity)
+
+  /// \brief Store the gravity acceleration.
+  using GravityEnabled = Component<bool, class GravityEnabledTag>;
+  GZ_SIM_REGISTER_COMPONENT(
+      "gz_sim_components.GravityEnabled", GravityEnabled)
 }
 }
 }

src/Conversions.cc

@@ -286,6 +286,10 @@ msgs::Geometry gz::sim::convert(const sdf::Geometry &_in)
       }
     }
   }
+  else if (_in.Type() == sdf::GeometryType::EMPTY)
+  {
+    out.set_type(msgs::Geometry::EMPTY);
+  }
   else
   {
     gzerr << "Geometry type [" << static_cast<int>(_in.Type())
@@ -902,7 +906,7 @@ msgs::Atmosphere gz::sim::convert(const sdf::Atmosphere &_in)
     out.set_type(msgs::Atmosphere::ADIABATIC);
   }
   // todo(anyone) add mass density to sdf::Atmosphere?
-  // out.set_mass_density(_in.MassDensity());k
+  // out.set_mass_density(_in.MassDensity());
 
   return out;
 }
@@ -1735,15 +1739,7 @@ msgs::ParticleEmitter gz::sim::convert(const sdf::ParticleEmitter &_in)
     }
   }
 
-  /// \todo(nkoenig) Modify the particle_emitter.proto file to
-  /// have a topic field.
-  if (!_in.Topic().empty())
-  {
-    auto header = out.mutable_header()->add_data();
-    header->set_key("topic");
-    header->add_value(_in.Topic());
-  }
-
+  out.mutable_topic()->set_data(_in.Topic());
   out.mutable_particle_scatter_ratio()->set_data(_in.ScatterRatio());
   return out;
 }
@@ -1798,15 +1794,8 @@ sdf::ParticleEmitter gz::sim::convert(const msgs::ParticleEmitter &_in)
     out.SetColorRangeImage(_in.color_range_image().data());
   if (_in.has_particle_scatter_ratio())
     out.SetScatterRatio(_in.particle_scatter_ratio().data());
-
-  for (int i = 0; i < _in.header().data_size(); ++i)
-  {
-    auto data = _in.header().data(i);
-    if (data.key() == "topic" && data.value_size() > 0)
-    {
-      out.SetTopic(data.value(0));
-    }
-  }
+  if (_in.has_topic())
+    out.SetTopic(_in.topic().data());
 
   return out;
 }
@@ -1824,10 +1813,7 @@ msgs::Projector gz::sim::convert(const sdf::Projector &_in)
   out.set_fov(_in.HorizontalFov().Radian());
   out.set_texture(_in.Texture().empty() ? "" :
       asFullPath(_in.Texture(), _in.FilePath()));
-
-  auto header = out.mutable_header()->add_data();
-  header->set_key("visibility_flags");
-  header->add_value(std::to_string(_in.VisibilityFlags()));
+  out.set_visibility_flags(_in.VisibilityFlags());
 
   return out;
 }
@@ -1844,26 +1830,7 @@ sdf::Projector gz::sim::convert(const msgs::Projector &_in)
   out.SetHorizontalFov(math::Angle(_in.fov()));
   out.SetTexture(_in.texture());
   out.SetRawPose(msgs::Convert(_in.pose()));
-
-  /// \todo(anyone) add "visibility_flags" field to projector.proto
-  for (int i = 0; i < _in.header().data_size(); ++i)
-  {
-    auto data = _in.header().data(i);
-    if (data.key() == "visibility_flags" && data.value_size() > 0)
-    {
-      try
-      {
-        out.SetVisibilityFlags(std::stoul(data.value(0)));
-      }
-      catch (...)
-      {
-        gzerr << "Failed to parse projector <visibility_flags>: "
-              << data.value(0) << ". Using default value: 0xFFFFFFFF."
-              << std::endl;
-        out.SetVisibilityFlags(0xFFFFFFFF);
-      }
-    }
-  }
+  out.SetVisibilityFlags(_in.visibility_flags());
 
   return out;
 }

src/Conversions_TEST.cc

@@ -1060,10 +1060,7 @@ TEST(Conversions, ParticleEmitter)
   EXPECT_EQ(math::Color(0.4f, 0.5f, 0.6f),
       msgs::Convert(emitterMsg.color_end()));
   EXPECT_EQ("range_image", emitterMsg.color_range_image().data());
-
-  auto header = emitterMsg.header().data(0);
-  EXPECT_EQ("topic", header.key());
-  EXPECT_EQ("my_topic", header.value(0));
+  EXPECT_EQ("my_topic", emitterMsg.topic().data());
 
   EXPECT_FLOAT_EQ(0.9f, emitterMsg.particle_scatter_ratio().data());
 
@@ -1113,10 +1110,7 @@ TEST(Conversions, Projector)
   EXPECT_NEAR(30, projectorMsg.far_clip(), 1e-3);
   EXPECT_NEAR(0.4, projectorMsg.fov(), 1e-3);
   EXPECT_EQ("projector.png", projectorMsg.texture());
-
-  auto header = projectorMsg.header().data(0);
-  EXPECT_EQ("visibility_flags", header.key());
-  EXPECT_EQ(0xFF, std::stoul(header.value(0)));
+  EXPECT_EQ(0xFF, projectorMsg.visibility_flags());
 
   // Convert the message back to SDF.
   sdf::Projector projector2 = convert<sdf::Projector>(projectorMsg);
@@ -1222,3 +1216,13 @@ TEST(Conversions, MsgsPluginToSdf)
   EXPECT_EQ(innerXml, sdfPlugins[1].Contents()[0]->ToString(""));
   EXPECT_EQ(innerXml2, sdfPlugins[1].Contents()[1]->ToString(""));
 }
+
+/////////////////////////////////////////////////
+TEST(Conversions, GeometryEmpty)
+{
+  sdf::Geometry geometry;
+  geometry.SetType(sdf::GeometryType::EMPTY);
+
+  auto geometryMsg = convert<msgs::Geometry>(geometry);
+  EXPECT_EQ(msgs::Geometry::EMPTY, geometryMsg.type());
+}

src/ModelCommandAPI_TEST.cc

@@ -608,7 +608,7 @@ TEST(ModelCommandAPI, GZ_UTILS_TEST_DISABLED_ON_MAC(RgbdCameraSensor))
   // Run without blocking.
   server.Run(false, 0, false);
 
-  // Tested command: gz model -m altimeter_mode -l link -s altimeter_sensor
+  // Tested command: gz model -m rgbd_camera -l rgbd_camera_link -s rgbd_camera
   {
     const std::string cmd = kGzModelCommand
       + "-m rgbd_camera -l rgbd_camera_link -s rgbd_camera";
@@ -657,7 +657,7 @@ TEST(ModelCommandAPI, GZ_UTILS_TEST_DISABLED_ON_MAC(RgbdCameraSensor))
       "  - Lens intrinsics Fy: 277\n"
       "  - Lens intrinsics Cx: 160\n"
       "  - Lens intrinsics Cy: 120\n"
-      "  - Lens intrinsics skew: 1\n"
+      "  - Lens intrinsics skew: 0\n"
       "  - Visibility mask: 4294967295\n";
       EXPECT_EQ(expectedOutput, output);
   }

src/SdfEntityCreator.cc

@@ -587,6 +587,13 @@ Entity SdfEntityCreator::CreateEntities(const sdf::Link *_link)
         linkEntity, components::WindMode(_link->EnableWind()));
   }
 
+  if (!_link->EnableGravity())
+  {
+    // If disable gravity, create a GravityEnabled component to the entity
+    this->dataPtr->ecm->CreateComponent(
+        linkEntity, components::GravityEnabled(false));
+  }
+
   // Visuals
   for (uint64_t visualIndex = 0; visualIndex < _link->VisualCount();
       ++visualIndex)

src/Util.cc

@@ -892,18 +892,18 @@ const common::Mesh *optimizeMesh(const sdf::Mesh &_meshSdf,
   auto &meshManager = *common::MeshManager::Instance();
   std::size_t maxConvexHulls = 16u;
   std::size_t voxelResolution = 200000u;
+  if (_meshSdf.ConvexDecomposition())
+  {
+    // limit max number of convex hulls to generate
+    maxConvexHulls = _meshSdf.ConvexDecomposition()->MaxConvexHulls();
+    voxelResolution = _meshSdf.ConvexDecomposition()->VoxelResolution();
+  }
   if (_meshSdf.Optimization() == sdf::MeshOptimization::CONVEX_HULL)
   {
     /// create 1 convex hull for the whole submesh
     maxConvexHulls = 1u;
   }
-  else if (_meshSdf.ConvexDecomposition())
-  {
-    // set convex decomposition params: max number of convex hulls
-    // and voxel resolution
-    maxConvexHulls = _meshSdf.ConvexDecomposition()->MaxConvexHulls();
-    voxelResolution = _meshSdf.ConvexDecomposition()->VoxelResolution();
-  }
+
   // Check if MeshManager contains the decomposed mesh already. If not
   // add it to the MeshManager so we do not need to decompose it again.
   const std::string convexMeshName =

src/cmd/cmdsim.rb.in

@@ -598,12 +598,6 @@ See https://github.com/gazebosim/gz-sim/issues/168 for more info."
             options['record-period'], options['seed'])
             # Otherwise run the gui
       else options['gui']
-        if plugin.end_with? ".dll"
-          puts "`gz sim` currently only works with the -s argument on Windows.
-See https://github.com/gazebosim/gz-sim/issues/168 for more info."
-          exit(-1)
-        end
-
         ENV['RMT_PORT'] = '1501'
         Importer.runGui(options['gui_config'], options['file'],
                         options['wait_gui'], options['render_engine_gui'],

src/systems/ackermann_steering/AckermannSteering.cc

@@ -508,8 +508,8 @@ void AckermannSteering::PreUpdate(const UpdateInfo &_info,
   if (_info.dt < std::chrono::steady_clock::duration::zero())
   {
     gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
+           << std::chrono::duration<double>(_info.dt).count()
+           << "s]. System may not work properly." << std::endl;
   }
 
   // If the joints haven't been identified yet, look for them

src/systems/advanced_lift_drag/AdvancedLiftDrag.cc

@@ -802,8 +802,8 @@ void AdvancedLiftDrag::PreUpdate(const UpdateInfo &_info,
   if (_info.dt < std::chrono::steady_clock::duration::zero())
   {
     gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
+           << std::chrono::duration<double>(_info.dt).count()
+           << "s]. System may not work properly." << std::endl;
   }
 
   if (!this->dataPtr->initialized)

src/systems/air_pressure/AirPressure.cc

@@ -132,8 +132,8 @@ void AirPressure::PostUpdate(const UpdateInfo &_info,
   if (_info.dt < std::chrono::steady_clock::duration::zero())
   {
     gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
+           << std::chrono::duration<double>(_info.dt).count()
+           << "s]. System may not work properly." << std::endl;
   }
 
   this->dataPtr->CreateSensors(_ecm);

src/systems/air_speed/AirSpeed.cc

@@ -134,8 +134,8 @@ void AirSpeed::PostUpdate(const UpdateInfo &_info,
   if (_info.dt < std::chrono::steady_clock::duration::zero())
   {
     gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
+           << std::chrono::duration<double>(_info.dt).count()
+           << "s]. System may not work properly." << std::endl;
   }
 
   this->dataPtr->CreateSensors(_ecm);

src/systems/altimeter/Altimeter.cc

@@ -132,8 +132,8 @@ void Altimeter::PostUpdate(const UpdateInfo &_info,
   if (_info.dt < std::chrono::steady_clock::duration::zero())
   {
     gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
+           << std::chrono::duration<double>(_info.dt).count()
+           << "s]. System may not work properly." << std::endl;
   }
 
   this->dataPtr->CreateSensors(_ecm);

src/systems/apply_joint_force/ApplyJointForce.cc

@@ -134,8 +134,8 @@ void ApplyJointForce::PreUpdate(const UpdateInfo &_info,
   if (_info.dt < std::chrono::steady_clock::duration::zero())
   {
     gzwarn << "Detected jump back in time ["
-        << std::chrono::duration_cast<std::chrono::seconds>(_info.dt).count()
-        << "s]. System may not work properly." << std::endl;
+           << std::chrono::duration<double>(_info.dt).count()
+           << "s]. System may not work properly." << std::endl;
   }
 
   // If the joint hasn't been identified yet, look for it