Bump to ign-msgs 7.1 / sdformat 11.1, Windows fixes (#758)

Signed-off-by: Louise Poubel <[email protected]>

Author: chapulina

CMakeLists.txt

@@ -38,7 +38,7 @@ endif()
 # Search for project-specific dependencies
 #============================================================================
 
-ign_find_package(sdformat11 REQUIRED)
+ign_find_package(sdformat11 REQUIRED VERSION 11.1)
 set(SDF_VER ${sdformat11_VERSION_MAJOR})
 
 #--------------------------------------
@@ -53,7 +53,7 @@ set(IGN_TRANSPORT_VER ${ignition-transport10_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-msgs
-ign_find_package(ignition-msgs7 REQUIRED)
+ign_find_package(ignition-msgs7 REQUIRED VERSION 7.1)
 set(IGN_MSGS_VER ${ignition-msgs7_VERSION_MAJOR})
 
 #--------------------------------------

include/ignition/gazebo/Util.hh

@@ -170,7 +170,8 @@ namespace ignition
     /// \return An Ignition Transport topic name based on the scoped name of
     /// the provided entity, or empty string if a topic name could not be
     /// generated.
-    std::string topicFromScopedName(const Entity &_entity,
+    std::string IGNITION_GAZEBO_VISIBLE topicFromScopedName(
+        const Entity &_entity,
         const EntityComponentManager &_ecm,
         bool _excludeWorld = true);
 

src/rendering/SceneManager.cc

@@ -1308,8 +1308,6 @@ rendering::ParticleEmitterPtr SceneManager::UpdateParticleEmitter(Entity _id,
       if (data.key() == "particle_scatter_ratio" && data.value_size() > 0)
       {
         emitter->SetParticleScatterRatio(math::parseFloat(data.value(0)));
-        // TODO(anyone) Remove deprecated user data on ign-gazebo6
-        emitter->SetUserData(key, math::parseFloat(data.value(0)));
         break;
       }
     }

src/systems/odometry_publisher/OdometryPublisher.cc

@@ -25,6 +25,7 @@
 #include <vector>
 
 #include <ignition/common/Profiler.hh>
+#include <ignition/math/Helpers.hh>
 #include <ignition/math/Pose3.hh>
 #include <ignition/math/Quaternion.hh>
 #include <ignition/math/RollingMean.hh>
@@ -233,8 +234,8 @@ void OdometryPublisherPrivate::UpdateOdometry(
 
   double currentYaw = pose.Rot().Yaw();
   const double lastYaw = this->lastUpdatePose.Rot().Yaw();
-  while (currentYaw < lastYaw - M_PI) currentYaw += 2 * M_PI;
-  while (currentYaw > lastYaw + M_PI) currentYaw -= 2 * M_PI;
+  while (currentYaw < lastYaw - IGN_PI) currentYaw += 2 * IGN_PI;
+  while (currentYaw > lastYaw + IGN_PI) currentYaw -= 2 * IGN_PI;
   const float angularDiff = currentYaw - lastYaw;
 
   // Get velocities in robotBaseFrame and add to message.

src/systems/odometry_publisher/OdometryPublisher.hh

@@ -52,7 +52,7 @@ namespace systems
   /// `<odom_topic>`: Custom topic on which this system will publish odometry
   /// messages. This element is optional, and the default value is
   /// `/model/{name_of_model}/odometry`.
-  class IGNITION_GAZEBO_VISIBLE OdometryPublisher
+  class OdometryPublisher
       : public System,
         public ISystemConfigure,
         public ISystemPreUpdate,

src/systems/particle_emitter2/ParticleEmitter2.hh

@@ -45,7 +45,7 @@ namespace systems
   ///     3. Copy ParticleEmitter2 to ParticleEmitter in Ignition G.
   ///     4. Deprecrate ParticleEmitter2 in Ignition G.
   ///     5. Remove ParticleEmitter2 in Ignition H.
-  class IGNITION_GAZEBO_VISIBLE ParticleEmitter2
+  class ParticleEmitter2
       : public System,
         public ISystemConfigure,
         public ISystemPreUpdate

test/integration/odometry_publisher.cc

@@ -17,6 +17,7 @@
 
 #include <gtest/gtest.h>
 #include <ignition/common/Console.hh>
+#include <ignition/common/Util.hh>
 #include <ignition/math/Pose3.hh>
 #include <ignition/transport/Node.hh>
 
@@ -46,8 +47,8 @@ class OdometryPublisherTest : public ::testing::TestWithParam<int>
   protected: void SetUp() override
   {
     common::Console::SetVerbosity(4);
-    setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str(), 1);
+    common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
+           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str());
   }
 
   /// \param[in] _sdfFile SDF file to load.

test/integration/particle_emitter2.cc

@@ -19,6 +19,7 @@
 
 #include <string>
 
+#include <ignition/common/Util.hh>
 #include <ignition/math/Color.hh>
 #include <ignition/msgs/Utility.hh>
 
@@ -41,8 +42,8 @@ class ParticleEmitter2Test : public ::testing::Test
   protected: void SetUp() override
   {
     ignition::common::Console::SetVerbosity(4);
-    setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
-           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str(), 1);
+    common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH",
+           (std::string(PROJECT_BINARY_PATH) + "/lib").c_str());
   }
   public: void LoadWorld(const std::string &_path, bool _useLevels = false)
   {