Merge branch 'main' into jrivero/win/missing_visible

Author: j-rivero

.github/ci/packages.apt

@@ -7,7 +7,7 @@ libignition-gui5-dev
 libignition-fuel-tools6-dev
 libignition-math6-eigen3-dev
 libignition-msgs7-dev
-libignition-physics3-dev
+libignition-physics4-dev
 libignition-plugin-dev
 libignition-rendering5-dev
 libignition-sensors5-dev
@@ -17,7 +17,7 @@ libogre-1.9-dev
 libogre-2.1-dev
 libprotobuf-dev
 libprotoc-dev
-libsdformat10-dev
+libsdformat11-dev
 libtinyxml2-dev
 libxi-dev
 libxmu-dev

CMakeLists.txt

@@ -38,8 +38,8 @@ endif()
 # Search for project-specific dependencies
 #============================================================================
 
-ign_find_package(sdformat10 REQUIRED)
-set(SDF_VER ${sdformat10_VERSION_MAJOR})
+ign_find_package(sdformat11 REQUIRED)
+set(SDF_VER ${sdformat11_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-plugin
@@ -87,13 +87,13 @@ ign_find_package (Qt5
 
 #--------------------------------------
 # Find ignition-physics
-ign_find_package(ignition-physics3 VERSION 3.1
+ign_find_package(ignition-physics4
   COMPONENTS
     mesh
     sdf
   REQUIRED
 )
-set(IGN_PHYSICS_VER ${ignition-physics3_VERSION_MAJOR})
+set(IGN_PHYSICS_VER ${ignition-physics4_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-sensors

bitbucket-pipelines.yml

@@ -26,7 +26,7 @@ pipelines:
               libignition-transport8-dev
               libsdformat9-dev
               libignition-fuel-tools4-dev
-              libignition-physics3-dev
+              libignition-physics4-dev
           #    libignition-common3-dev
           #    libignition-gui3-dev
           #    libignition-sensors3-dev
@@ -78,7 +78,7 @@ pipelines:
                 libignition-tools-dev
             # libignition-fuel-tools4-dev
             # libignition-physics2-dev
-            # libsdformat9-dev
+            # libsdformat11-dev
             # libignition-gui3-dev
             # libignition-msgs5-dev
             # libignition-rendering3-dev

docker/Dockerfile.nightly

@@ -16,14 +16,14 @@ RUN apt-get update \
     libignition-fuel-tools6-dev \
     libignition-math6-eigen3-dev \
     libignition-plugin-dev \
-    libignition-physics3-dev \
+    libignition-physics4-dev \
     libignition-rendering5-dev \
     libignition-tools-dev \
     libignition-transport10-dev \
     libignition-gui5-dev \
     libignition-msgs7-dev \
     libignition-sensors5-dev \
-    libsdformat10-dev
+    libsdformat11-dev
 
 COPY . ign-gazebo
 RUN cd ign-gazebo \

examples/standalone/joy_to_twist/CMakeLists.txt

@@ -3,8 +3,8 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 find_package(ignition-transport10 QUIET REQUIRED OPTIONAL_COMPONENTS log)
 set(IGN_TRANSPORT_VER ${ignition-transport10_VERSION_MAJOR})
 
-find_package(sdformat10 REQUIRED)
-set(SDF_VER ${sdformat10_VERSION_MAJOR})
+find_package(sdformat11 REQUIRED)
+set(SDF_VER ${sdformat11_VERSION_MAJOR})
 
 add_executable(joy_to_twist joy_to_twist.cc)
 target_link_libraries(joy_to_twist

examples/standalone/joystick/CMakeLists.txt

@@ -5,8 +5,8 @@ if(${CMAKE_SYSTEM_NAME} STREQUAL "Linux")
   find_package(ignition-transport10 QUIET REQUIRED OPTIONAL_COMPONENTS log)
   set(IGN_TRANSPORT_VER ${ignition-transport10_VERSION_MAJOR})
 
-  find_package(sdformat10 REQUIRED)
-  set(SDF_VER ${sdformat10_VERSION_MAJOR})
+  find_package(sdformat11 REQUIRED)
+  set(SDF_VER ${sdformat11_VERSION_MAJOR})
 
   add_executable(joystick joystick.cc)
   target_link_libraries(joystick

examples/standalone/keyboard/CMakeLists.txt

@@ -4,8 +4,8 @@ if(${CMAKE_SYSTEM_NAME} STREQUAL "Linux")
   find_package(ignition-transport10 QUIET REQUIRED OPTIONAL_COMPONENTS log)
   set(IGN_TRANSPORT_VER ${ignition-transport10_VERSION_MAJOR})
 
-  find_package(sdformat10 REQUIRED)
-  set(SDF_VER ${sdformat10_VERSION_MAJOR})
+  find_package(sdformat11 REQUIRED)
+  set(SDF_VER ${sdformat11_VERSION_MAJOR})
 
   find_package(ignition-msgs7 REQUIRED)
   set(IGN_MSGS_VER ${ignition-msgs7_VERSION_MAJOR})

src/EntityComponentManager.cc

@@ -1215,7 +1215,9 @@ void EntityComponentManager::SetState(
         std::istringstream istr(compMsg.component());
         comp->Deserialize(istr);
         this->SetChanged(entity, compIter.first,
-            ComponentState::OneTimeChange);
+            _stateMsg.has_one_time_component_changes() ?
+            ComponentState::OneTimeChange :
+            ComponentState::PeriodicChange);
       }
     }
   }

src/network/NetworkManagerSecondary.cc

@@ -167,6 +167,8 @@ void NetworkManagerSecondary::OnStep(
   msgs::SerializedStateMap stateMsg;
   if (!entities.empty())
     this->dataPtr->ecm->State(stateMsg, entities);
+  stateMsg.set_has_one_time_component_changes(
+    this->dataPtr->ecm->HasOneTimeComponentChanges());
 
   this->stepAckPub.Publish(stateMsg);
 

tutorials/migrating_ardupilot_plugin.md

@@ -808,7 +808,7 @@ find_package(ignition-common3-all REQUIRED)
 find_package(ignition-gazebo5-all REQUIRED)
 find_package(ignition-math6-all REQUIRED)
 find_package(ignition-msgs7-all REQUIRED)
-find_package(ignition-physics3-all REQUIRED)
+find_package(ignition-physics4-all REQUIRED)
 find_package(ignition-sensors5-all REQUIRED)
 find_package(ignition-transport10-all REQUIRED)
 ```