Merge ign-gazebo6 ➡️ main (part 2)

.github/ci/packages.apt

@@ -23,6 +23,7 @@ libxi-dev
 libxmu-dev
 python3-distutils
 python3-pybind11
+python3-pytest
 qml-module-qt-labs-folderlistmodel
 qml-module-qt-labs-settings
 qml-module-qtqml-models2

Changelog.md

@@ -4,6 +4,137 @@
 
 ## Gazebo Sim 6.x
 
+### Gazebo Sim 6.10.0 (2022-06-24)
+
+1. Expose the ability to stop a server from C++
+    * [Pull request #1551](https://github.com/gazebosim/gz-sim/pull/1551)
+
+1. Fix various Protobuf Windows warnings
+    * [Pull request #1299](https://github.com/gazebosim/gz-sim/pull/1299)
+
+1. New service for adding systems to an entity
+    * [Pull request #1524](https://github.com/gazebosim/gz-sim/pull/1524)
+
+1. Added particle emitters to scene broadcaster
+    * [Pull request #1516](https://github.com/gazebosim/gz-sim/pull/1516)
+
+1. Use more `sdf::Plugin` instead of `sdf::ElementPtr`
+    * [Pull request #1352](https://github.com/gazebosim/gz-sim/pull/1352)
+
+1. Depend on common 4.5.1
+    * [Pull request #1547](https://github.com/gazebosim/gz-sim/pull/1547)
+
+1. Update README links
+    * [Pull request #1546](https://github.com/gazebosim/gz-sim/pull/1546)
+
+1. Add bounding boxes into the label system plugin
+    * [Pull request #1040](https://github.com/gazebosim/gz-sim/pull/1040)
+
+1. Odometry publisher: also publish `Pose_V` (TF)
+    * [Pull request #1534](https://github.com/gazebosim/gz-sim/pull/1534)
+
+1. Fix clang warning from Thruster plugin
+    * [Pull request #1540](https://github.com/gazebosim/gz-sim/pull/1540)
+
+1. Fix locks in Visualize Lidar GUI plugin
+    * [Pull request #1538](https://github.com/gazebosim/gz-sim/pull/1538)
+
+1. Bash completion for flags
+    * [Pull request #1504](https://github.com/gazebosim/gz-sim/pull/1504)
+
+1. Fix sensors battery state test
+    * [Pull request #1529](https://github.com/gazebosim/gz-sim/pull/1529)
+
+1. Add new `GZ_GUI_RESOURCE_PATH` to help message
+    * [Pull request #1470](https://github.com/gazebosim/gz-sim/pull/1470)
+
+1. Fix regression with camera sensors not using the background color set in `<scene>`
+    * [Pull request #1515](https://github.com/gazebosim/gz-sim/pull/1515)
+
+1. Check RGBD camera sensor connection
+    * [Pull request #1513](https://github.com/gazebosim/gz-sim/pull/1513)
+
+1. Optimize sensor updates
+    * [Pull request #1480](https://github.com/gazebosim/gz-sim/pull/1480)
+
+1. System inspector GUI widget
+    * [Pull request #1404](https://github.com/gazebosim/gz-sim/pull/1404)
+
+1. Scene update resource finder
+    * [Pull request #1508](https://github.com/gazebosim/gz-sim/pull/1508)
+
+1. Updating hydrodynamics plugin description
+    * [Pull request #1502](https://github.com/gazebosim/gz-sim/pull/1502)
+
+1. Makes thruster stop when battery runs out.
+    * [Pull request #1495](https://github.com/gazebosim/gz-sim/pull/1495)
+
+1. Fix Documentation Header.
+    * [Pull request #1501](https://github.com/gazebosim/gz-sim/pull/1501)
+
+1. Adding rssi
+    * [Pull request #1482](https://github.com/gazebosim/gz-sim/pull/1482)
+
+1. Delete unused gazebo.hh.in
+    * [Pull request #1490](https://github.com/gazebosim/gz-sim/pull/1490)
+
+1. :books: Fixed broken URL link to gazebo documentation
+    * [Pull request #1486](https://github.com/gazebosim/gz-sim/pull/1486)
+
+1. View polyline collisions on the GUI
+    * [Pull request #1481](https://github.com/gazebosim/gz-sim/pull/1481)
+
+1. Extruded 2D polyline geometries
+    * [Pull request #1456](https://github.com/gazebosim/gz-sim/pull/1456)
+
+1. Fix fuel url
+    * [Pull request #1479](https://github.com/gazebosim/gz-sim/pull/1479)
+
+1. Camera trigger integration test
+    * [Pull request #1384](https://github.com/gazebosim/gz-sim/pull/1384)
+
+1. Extend Multicoptor Control system to include nested model inertial params
+    * [Pull request #1450](https://github.com/gazebosim/gz-sim/pull/1450)
+
+1. Remove dead ign.cc file
+    * [Pull request #1474](https://github.com/gazebosim/gz-sim/pull/1474)
+
+1. Test case to check if velocity limits are applied to joints
+    * [Pull request #1445](https://github.com/gazebosim/gz-sim/pull/1445)
+
+1. SceneBroadcaster: Use double for state publish frequency instead of int
+    * [Pull request #1417](https://github.com/gazebosim/gz-sim/pull/1417)
+
+1. Revert format change
+    * [Pull request #1468](https://github.com/gazebosim/gz-sim/pull/1468)
+
+1. Fix finding DART on macOS
+    * [Pull request #1469](https://github.com/gazebosim/gz-sim/pull/1469)
+
+1. Skip serializing nested model with `//pose/@relative_to` attribute
+    * [Pull request #1454](https://github.com/gazebosim/gz-sim/pull/1454)
+
+1. Fix running simulation with no world specified on the command line
+    * [Pull request #1463](https://github.com/gazebosim/gz-sim/pull/1463)
+
+1. Add repo specific issue templates
+    * [Pull request #1461](https://github.com/gazebosim/gz-sim/pull/1461)
+
+1. python: release GIL when running server
+    * [Pull request #1458](https://github.com/gazebosim/gz-sim/pull/1458)
+
+1. python: remove semicolons
+    * [Pull request #1459](https://github.com/gazebosim/gz-sim/pull/1459)
+
+1. Bump rendering dependency version
+    * [Pull request #1455](https://github.com/gazebosim/gz-sim/pull/1455)
+
+1. Improve contact sensor / visualization performance
+    * [Pull request #1452](https://github.com/gazebosim/gz-sim/pull/1452)
+
+1. Set simulation time to Rendering
+    * [Pull request #1415](https://github.com/gazebosim/gz-sim/pull/1415)
+
 ### Gazebo Sim 6.9.0 (2022-04-14)
 
 1. Add new `RFComms` system

include/gz/sim/Conversions.hh

@@ -27,6 +27,7 @@
 #include <gz/msgs/light.pb.h>
 #include <gz/msgs/material.pb.h>
 #include <gz/msgs/particle_emitter.pb.h>
+#include <gz/msgs/plugin.pb.h>
 #include <gz/msgs/plugin_v.pb.h>
 #include <gz/msgs/physics.pb.h>
 #include <gz/msgs/scene.pb.h>
@@ -41,7 +42,6 @@
 #include <gz/common/Console.hh>
 #include <gz/math/AxisAlignedBox.hh>
 #include <gz/math/Inertial.hh>
-#include <gz/math/Pose3.hh>
 #include <sdf/Actor.hh>
 #include <sdf/Atmosphere.hh>
 #include <sdf/Collision.hh>
@@ -745,6 +745,54 @@ namespace gz
     /// \return Plugin message.
     template<>
     msgs::Plugin convert(const sdf::Plugin &_in);
+
+    /// \brief Generic conversion from an SDF plugins to another type.
+    /// \param[in] _in SDF plugins.
+    /// \return Conversion result.
+    /// \tparam Out Output type.
+    template<class Out>
+    Out convert(const sdf::Plugins &/*_in*/)
+    {
+      Out::ConversionNotImplemented;
+    }
+
+    /// \brief Specialized conversion from an SDF plugins to a plugin_v message.
+    /// \param[in] _in SDF plugins.
+    /// \return Plugin_V message.
+    template<>
+    msgs::Plugin_V convert(const sdf::Plugins &_in);
+
+    /// \brief Generic conversion from a msgs::Plugin to another type.
+    /// \param[in] _in msgs::Plugin.
+    /// \return Conversion result.
+    /// \tparam Out Output type.
+    template<class Out>
+    Out convert(const msgs::Plugin &/*_in*/)
+    {
+      Out::ConversionNotImplemented;
+    }
+
+    /// \brief Specialized conversion from a msgs::Plugin to an sdf::Plugin.
+    /// \param[in] _in msgs::Plugin.
+    /// \return sdf::Plugin.
+    template<>
+    sdf::Plugin convert(const msgs::Plugin &_in);
+
+    /// \brief Generic conversion from a msgs::Plugin_V to another type.
+    /// \param[in] _in msgs::Plugin_V.
+    /// \return Conversion result.
+    /// \tparam Out Output type.
+    template<class Out>
+    Out convert(const msgs::Plugin_V &/*_in*/)
+    {
+      Out::ConversionNotImplemented;
+    }
+
+    /// \brief Specialized conversion from a msgs::Plugin_V to an sdf::Plugins.
+    /// \param[in] _in msgs::Plugin_V.
+    /// \return sdf::Plugins.
+    template<>
+    sdf::Plugins convert(const msgs::Plugin_V &_in);
     }
   }
 }

include/gz/sim/Events.hh

@@ -18,6 +18,7 @@
 #define GZ_SIM_EVENTS_HH_
 
 #include <sdf/Element.hh>
+#include <sdf/Plugin.hh>
 
 #include <gz/common/Event.hh>
 
@@ -53,10 +54,26 @@ namespace gz
       /// \endcode
       using Stop = gz::common::EventT<void(void), struct StopTag>;
 
+      /// \brief Please use the LoadSdfPlugins event. The LoadPlugins event
+      /// is deprecrated in Gazebo 7 (Garden). Also make sure to
+      /// connect to only LoadSdfPlugins or LoadPlugins, and not both events.
+      ///
+      /// Event used to load plugins for an entity into simulation.
+      /// Pass in the entity which will own the plugins, and an SDF element for
+      /// the entity, which may contain multiple `<plugin>` tags.
+      /// \deprecated Use the `sdf::Plugins` interface.
+#ifdef _WIN32
+      using LoadPlugins =
+#else
+      using LoadPlugins GZ_DEPRECATED(7) =
+#endif
+          common::EventT<void(Entity, sdf::ElementPtr), struct LoadPluginsTag>;
+
       /// \brief Event used to load plugins for an entity into simulation.
       /// Pass in the entity which will own the plugins, and an SDF element for
       /// the entity, which may contain multiple `<plugin>` tags.
-      using LoadPlugins = common::EventT<void(Entity, sdf::ElementPtr),
+      /// Makre sure that you don't also connect to the LoadPlugins event.
+      using LoadSdfPlugins = common::EventT<void(Entity, sdf::Plugins),
           struct LoadPluginsTag>;
       }
     }  // namespace events

include/gz/sim/Server.hh

@@ -285,6 +285,9 @@ namespace gz
                                       bool _recursive = true,
                                       const unsigned int _worldIndex = 0);
 
+      /// \brief Stop the server. This will stop all running simulations.
+      public: void Stop();
+
       /// \brief Private data
       private: std::unique_ptr<ServerPrivate> dataPtr;
     };

include/gz/sim/ServerConfig.hh

@@ -24,6 +24,7 @@
 #include <string>
 #include <vector>
 #include <sdf/Element.hh>
+#include <sdf/Plugin.hh>
 #include <sdf/Root.hh>
 #include <gz/sim/config.hh>
 #include <gz/sim/Export.hh>
@@ -86,12 +87,25 @@ namespace gz
         /// \param[in] _name Name of the interface within the plugin library
         /// to load.
         /// \param[in] _sdf Plugin XML elements associated with this plugin.
-        public: PluginInfo(const std::string &_entityName,
+        /// \deprecated Use `sdf::Plugin` interface.
+        public: GZ_DEPRECATED(7) PluginInfo(const std::string &_entityName,
                            const std::string &_entityType,
                            const std::string &_filename,
                            const std::string &_name,
                            const sdf::ElementPtr &_sdf);
 
+        /// \brief Constructor with plugin information specified.
+        /// \param[in] _entityName Name of the entity which should receive
+        /// this plugin. The name is used in conjuction with _entityType to
+        /// uniquely identify an entity.
+        /// \param[in] _entityType Entity type which should receive  this
+        /// plugin. The type is used in conjuction with _entityName to
+        /// uniquely identify an entity.
+        /// \param[in] _plugin SDF Plugin library information.
+        public: PluginInfo(const std::string &_entityName,
+                           const std::string &_entityType,
+                           const sdf::Plugin &_plugin);
+
         /// \brief Copy constructor.
         /// \param[in] _info Plugin to copy.
         public: PluginInfo(const PluginInfo &_info);
@@ -127,31 +141,49 @@ namespace gz
 
         /// \brief Get the plugin library filename.
         /// \return Plugin library filename.
-        public: const std::string &Filename() const;
+        /// \deprecated Use `sdf::Plugin` interface.
+        public: const std::string GZ_DEPRECATED(7) & Filename() const;
 
         /// \brief Set the type of the entity which should receive this
         /// plugin. The type is used in conjuction with EntityName to
         /// uniquely identify an entity.
         /// \param[in] _filename Entity type string.
-        public: void SetFilename(const std::string &_filename);
+        /// \deprecated Use `sdf::Plugin` interface.
+        public: void GZ_DEPRECATED(7) SetFilename(const std::string &_filename);
 
         /// \brief Name of the interface within the plugin library
         /// to load.
         /// \return Interface name.
-        public: const std::string &Name() const;
+        /// \deprecated Use `sdf::Plugin` interface.
+        public: const std::string GZ_DEPRECATED(7) & Name() const;
 
         /// \brief Set the name of the interface within the plugin library
         /// to load.
         /// \param[in] _name Interface name.
-        public: void SetName(const std::string &_name);
+        /// \deprecated Use `sdf::Plugin` interface.
+        public: void GZ_DEPRECATED(7) SetName(const std::string &_name);
 
         /// \brief Plugin XML elements associated with this plugin.
         /// \return SDF pointer.
-        public: const sdf::ElementPtr &Sdf() const;
+        /// \deprecated Use `sdf::Plugin` interface.
+        public: const sdf::ElementPtr GZ_DEPRECATED(7) & Sdf() const;
 
         /// \brief Set the plugin XML elements associated with this plugin.
         /// \param[in] _sdf SDF pointer, it will be cloned.
-        public: void SetSdf(const sdf::ElementPtr &_sdf);
+        /// \deprecated Use `sdf::Plugin` interface.
+        public: void GZ_DEPRECATED(7) SetSdf(const sdf::ElementPtr &_sdf);
+
+        /// \brief Get the SDF plugin information.
+        /// \return The SDF Plugin object.
+        public: const sdf::Plugin &Plugin() const;
+
+        /// \brief Get a mutable version of the SDF plugin information.
+        /// \return The SDF Plugin object.
+        public: sdf::Plugin &Plugin();
+
+        /// \brief Set the SDF plugin information.
+        /// \param[in] _plugin The SDF Plugin object to use.
+        public: void SetPlugin(const sdf::Plugin &_plugin) const;
 
         /// \brief Private data pointer
         private: std::unique_ptr<ServerConfig::PluginInfoPrivate> dataPtr;

include/gz/sim/SystemLoader.hh

@@ -22,6 +22,7 @@
 #include <string>
 
 #include <sdf/Element.hh>
+#include <sdf/Plugin.hh>
 
 #include <gz/sim/Export.hh>
 #include <gz/sim/System.hh>
@@ -53,19 +54,27 @@ namespace gz
       /// \brief Load and instantiate system plugin from an SDF element.
       /// \param[in] _sdf SDF Element describing plugin instance to be loaded.
       /// \returns Shared pointer to system instance or nullptr.
-      public: std::optional<SystemPluginPtr> LoadPlugin(
+      /// \deprecated Use `sdf::Plugin` interface.
+      public: std::optional<SystemPluginPtr> GZ_DEPRECATED(7) LoadPlugin(
                   const sdf::ElementPtr &_sdf);
 
       /// \brief Load and instantiate system plugin from name/filename.
       /// \param[in] _filename Shared library filename to load plugin from.
       /// \param[in] _name Class name to be instantiated.
       /// \param[in] _sdf SDF Element describing plugin instance to be loaded.
       /// \returns Shared pointer to system instance or nullptr.
-      public: std::optional<SystemPluginPtr> LoadPlugin(
+      /// \deprecated Use `sdf::Plugin` interface.
+      public: std::optional<SystemPluginPtr> GZ_DEPRECATED(7) LoadPlugin(
                   const std::string &_filename,
                   const std::string &_name,
                   const sdf::ElementPtr &_sdf);
 
+      /// \brief Load and instantiate system plugin from name/filename.
+      /// \param[in] _plugin SDF Plugin to be loaded.
+      /// \returns Shared pointer to system instance or nullptr.
+      public: std::optional<SystemPluginPtr> LoadPlugin(
+                  const sdf::Plugin &_plugin);
+
       /// \brief Makes a printable string with info about systems
       /// \returns A pretty string
       public: std::string PrettyStr() const;