Fork update

CMakeLists.txt

@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.5.1 FATAL_ERROR)
 #============================================================================
 # Initialize the project
 #============================================================================
-project(ignition-gazebo4 VERSION 4.0.0)
+project(ignition-gazebo4 VERSION 4.1.0)
 
 #============================================================================
 # Find ignition-cmake
@@ -48,7 +48,7 @@ set(IGN_PLUGIN_VER ${ignition-plugin1_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-transport
-ign_find_package(ignition-transport9 REQUIRED COMPONENTS log)
+ign_find_package(ignition-transport9 REQUIRED COMPONENTS log VERSION 9.1)
 set(IGN_TRANSPORT_VER ${ignition-transport9_VERSION_MAJOR})
 
 #--------------------------------------
@@ -75,7 +75,7 @@ set(IGN_FUEL_TOOLS_VER ${ignition-fuel_tools5_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-gui
-ign_find_package(ignition-gui4 REQUIRED)
+ign_find_package(ignition-gui4 REQUIRED VERSION 4.1.1)
 set(IGN_GUI_VER ${ignition-gui4_VERSION_MAJOR})
 ign_find_package (Qt5
   COMPONENTS
@@ -158,19 +158,24 @@ ign_create_packages()
 configure_file(${CMAKE_SOURCE_DIR}/api.md.in ${CMAKE_BINARY_DIR}/api.md)
 configure_file(${CMAKE_SOURCE_DIR}/tutorials.md.in ${CMAKE_BINARY_DIR}/tutorials.md)
 
-ign_create_docs(
-  API_MAINPAGE_MD "${CMAKE_BINARY_DIR}/api.md"
-  TUTORIALS_MAINPAGE_MD "${CMAKE_BINARY_DIR}/tutorials.md"
-  ADDITIONAL_INPUT_DIRS "${CMAKE_SOURCE_DIR}/src/systems ${CMAKE_SOURCE_DIR}/src/gui/plugins"
-  TAGFILES
-   "${IGNITION-MATH_DOXYGEN_TAGFILE} = ${IGNITION-MATH_API_URL}"
-   "${IGNITION-MSGS_DOXYGEN_TAGFILE} = ${IGNITION-MSGS_API_URL}"
-   "${IGNITION-PHYSICS_DOXYGEN_TAGFILE} = ${IGNITION-PHYSICS_API_URL}"
-   "${IGNITION-PLUGIN_DOXYGEN_TAGFILE} = ${IGNITION-PLUGIN_API_URL}"
-   "${IGNITION-TRANSPORT_DOXYGEN_TAGFILE} = ${IGNITION-TRANSPORT_API_URL}"
-   "${IGNITION-SENSORS_DOXYGEN_TAGFILE} = ${IGNITION-SENSORS_API_URL}"
-   "${IGNITION-COMMON_DOXYGEN_TAGFILE} = ${IGNITION-COMMON_API_URL}"
-)
+# disable doxygen on macOS due to issues with doxygen 1.9.0
+# there is an unreleased fix; revert this when 1.9.1 is released
+# https://github.com/ignitionrobotics/ign-gazebo/issues/520
+if (NOT APPLE)
+  ign_create_docs(
+    API_MAINPAGE_MD "${CMAKE_BINARY_DIR}/api.md"
+    TUTORIALS_MAINPAGE_MD "${CMAKE_BINARY_DIR}/tutorials.md"
+    ADDITIONAL_INPUT_DIRS "${CMAKE_SOURCE_DIR}/src/systems ${CMAKE_SOURCE_DIR}/src/gui/plugins"
+    TAGFILES
+     "${IGNITION-MATH_DOXYGEN_TAGFILE} = ${IGNITION-MATH_API_URL}"
+     "${IGNITION-MSGS_DOXYGEN_TAGFILE} = ${IGNITION-MSGS_API_URL}"
+     "${IGNITION-PHYSICS_DOXYGEN_TAGFILE} = ${IGNITION-PHYSICS_API_URL}"
+     "${IGNITION-PLUGIN_DOXYGEN_TAGFILE} = ${IGNITION-PLUGIN_API_URL}"
+     "${IGNITION-TRANSPORT_DOXYGEN_TAGFILE} = ${IGNITION-TRANSPORT_API_URL}"
+     "${IGNITION-SENSORS_DOXYGEN_TAGFILE} = ${IGNITION-SENSORS_API_URL}"
+     "${IGNITION-COMMON_DOXYGEN_TAGFILE} = ${IGNITION-COMMON_API_URL}"
+  )
+endif()
 
 if(TARGET doc)
   file(COPY ${CMAKE_SOURCE_DIR}/tutorials/files/ DESTINATION ${CMAKE_BINARY_DIR}/doxygen/html/files/)

Changelog.md

@@ -2,6 +2,64 @@
 
 ### Ignition Gazebo 4.X.X (20XX-XX-XX)
 
+### Ignition Gazebo 4.1.0 (2020-12-11)
+
+1. Update Dockerfiles to use focal images
+    * [pull request 388](https://github.com/ignitionrobotics/ign-gazebo/pull/388)
+
+1. Updated source build instructions for ign-gazebo4
+    * [pull request 404](https://github.com/ignitionrobotics/ign-gazebo/pull/404)
+
+1. Add tests for the AnimationTime component
+    * [pull request 433](https://github.com/ignitionrobotics/ign-gazebo/pull/433)
+
+1. Fix pose msg conversion when msg is missing orientation
+    * [pull request 450](https://github.com/ignitionrobotics/ign-gazebo/pull/450)
+    * [pull request 459](https://github.com/ignitionrobotics/ign-gazebo/pull/459)
+
+1. Resolved updated codecheck issues
+    * [pull request 443](https://github.com/ignitionrobotics/ign-gazebo/pull/443)
+    * [pull request 457](https://github.com/ignitionrobotics/ign-gazebo/pull/457)
+    * [pull request 459](https://github.com/ignitionrobotics/ign-gazebo/pull/459)
+
+1. Use new backpack version in tests
+    * [pull request 455](https://github.com/ignitionrobotics/ign-gazebo/pull/455)
+    * [pull request 457](https://github.com/ignitionrobotics/ign-gazebo/pull/457)
+    * [pull request 459](https://github.com/ignitionrobotics/ign-gazebo/pull/459)
+
+1. Fix segfault in the Breadcrumb system when associated model is unloaded
+    * [pull request 454](https://github.com/ignitionrobotics/ign-gazebo/pull/454)
+    * [pull request 457](https://github.com/ignitionrobotics/ign-gazebo/pull/457)
+    * [pull request 459](https://github.com/ignitionrobotics/ign-gazebo/pull/459)
+
+1. Added user commands to example thermal camera world
+    * [pull request 442](https://github.com/ignitionrobotics/ign-gazebo/pull/442)
+    * [pull request 459](https://github.com/ignitionrobotics/ign-gazebo/pull/459)
+
+1. Helper function to set component data
+    * [pull request 436](https://github.com/ignitionrobotics/ign-gazebo/pull/436)
+    * [pull request 469](https://github.com/ignitionrobotics/ign-gazebo/pull/469)
+
+1. Remove unneeded if statement
+    * [pull request 432](https://github.com/ignitionrobotics/ign-gazebo/pull/432)
+    * [pull request 469](https://github.com/ignitionrobotics/ign-gazebo/pull/469)
+
+1. Fix flaky RecordAndPlayback test in INTEGRATION_log_system
+    * [pull request 463](https://github.com/ignitionrobotics/ign-gazebo/pull/463)
+    * [pull request 469](https://github.com/ignitionrobotics/ign-gazebo/pull/469)
+
+1. Make PeerTracker test more robust
+    * [pull request 452](https://github.com/ignitionrobotics/ign-gazebo/pull/452)
+    * [pull request 469](https://github.com/ignitionrobotics/ign-gazebo/pull/469)
+
+1. Use a [std::promise](https://en.cppreference.com/w/cpp/thread/promise)/[std::future](https://en.cppreference.com/w/cpp/thread/future) mechanism to avoid waiting in a looop until all `stepAck` messages are received
+    * [pull request 470](https://github.com/ignitionrobotics/ign-gazebo/pull/470)
+
+1. Optical Tactile Sensor Plugin
+    * [pull request 229](https://github.com/ignitionrobotics/ign-gazebo/pull/229)
+
+1. All changes up to and including those in version 3.5.0 and version 2.25.0
+
 ### Ignition Gazebo 4.0.0 (2020-09-30)
 
 1. Names with spaces: add string serializer
@@ -99,6 +157,68 @@
 
 ### Ignition Gazebo 3.X.X (20XX-XX-XX)
 
+### Ignition Gazebo 3.6.0 (2020-12-30)
+
+1. Fix pose msg conversion when msg is missing orientation
+    * [Pull Request 450](https://github.com/ignitionrobotics/ign-gazebo/pull/450)
+
+1. Address code checker warnings
+    * [Pull Request 443](https://github.com/ignitionrobotics/ign-gazebo/pull/443)
+    * [Pull Request 491](https://github.com/ignitionrobotics/ign-gazebo/pull/491)
+    * [Pull Request 499](https://github.com/ignitionrobotics/ign-gazebo/pull/499)
+    * [Pull Request 502](https://github.com/ignitionrobotics/ign-gazebo/pull/502)
+
+1. Test fixes
+    * [Pull Request 455](https://github.com/ignitionrobotics/ign-gazebo/pull/455)
+    * [Pull Request 463](https://github.com/ignitionrobotics/ign-gazebo/pull/463)
+    * [Pull Request 452](https://github.com/ignitionrobotics/ign-gazebo/pull/452)
+    * [Pull Request 480](https://github.com/ignitionrobotics/ign-gazebo/pull/480)
+
+1. Documentation updates
+    * [Pull Request 472](https://github.com/ignitionrobotics/ign-gazebo/pull/472)
+
+1. Fix segfault in the Breadcrumb system when associated model is unloaded
+    * [Pull Request 454](https://github.com/ignitionrobotics/ign-gazebo/pull/454)
+
+1. Added user commands to example thermal camera world
+    * [Pull Request 442](https://github.com/ignitionrobotics/ign-gazebo/pull/442)
+
+1. Helper function to set component data
+    * [Pull Request 436](https://github.com/ignitionrobotics/ign-gazebo/pull/436)
+
+1. Remove unneeded if statement in EntityComponentManager
+    * [Pull Request 432](https://github.com/ignitionrobotics/ign-gazebo/pull/432)
+
+1. Clarify how time is represented in each phase of a System step
+    * [Pull Request 467](https://github.com/ignitionrobotics/ign-gazebo/pull/467)
+
+1. Switch to async state service request
+    * [Pull Request 461](https://github.com/ignitionrobotics/ign-gazebo/pull/461)
+
+1. Update key event handling
+    * [Pull Request 466](https://github.com/ignitionrobotics/ign-gazebo/pull/466)
+
+1. Tape Measure Plugin
+    * [Pull Request 456](https://github.com/ignitionrobotics/ign-gazebo/pull/456)
+
+1. Move deselect and preview termination to render thread
+    * [Pull Request 493](https://github.com/ignitionrobotics/ign-gazebo/pull/493)
+
+1. Logical audio sensor plugin
+    * [Pull Request 401](https://github.com/ignitionrobotics/ign-gazebo/pull/401)
+
+1. add frame_id and child_frame_id attribute support for DiffDrive
+    * [Pull Request 361](https://github.com/ignitionrobotics/ign-gazebo/pull/361)
+
+1. Add ability to record video based on sim time
+    * [Pull Request 414](https://github.com/ignitionrobotics/ign-gazebo/pull/414)
+
+1. Add lockstep mode to video recording
+    * [Pull Request 419](https://github.com/ignitionrobotics/ign-gazebo/pull/419)
+
+1. Disable right click menu when using measuring tool
+    * [Pull Request 458](https://github.com/ignitionrobotics/ign-gazebo/pull/458)
+
 ### Ignition Gazebo 3.5.0 (2020-11-03)
 
 1. Updated source build instructions

Migration.md

@@ -5,6 +5,13 @@ Deprecated code produces compile-time warnings. These warning serve as
 notification to users that their code should be upgraded. The next major
 release will remove the deprecated code.
 
+## Ignition Gazebo 4.0.0 to 4.X.X
+
+* Ignition Gazebo 4.0.0 enabled double sided material by default but this
+caused shadow artifacts to appear on some meshes. Double sided material is
+now disabled and made an opt-in feature. Users can configure this property
+in SDF by setting the `<visual><material><double_sided>` SDF element.
+
 ## Ignition Gazebo 3.x to 4.x
 
 * The `RenderUtil::SetEnabledSensors` callback in gazebo rendering has a new

examples/worlds/kinetic_energy_monitor.sdf

@@ -0,0 +1,116 @@
+<?xml version="1.0" ?>
+<!--
+  Ignition Gazebo kinetic energy monitory plugin demo
+
+  Monitor output using:
+
+    ign topic -et "/model/sphere/kinetic_energy"
+-->
+<sdf version="1.6">
+  <world name="kinetic_energy_monitor">
+
+    <physics name="1ms" type="ignored">
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+    </physics>
+    <plugin
+      filename="ignition-gazebo-physics-system"
+      name="ignition::gazebo::systems::Physics">
+    </plugin>
+    <plugin
+      filename="ignition-gazebo-user-commands-system"
+      name="ignition::gazebo::systems::UserCommands">
+    </plugin>
+    <plugin
+      filename="ignition-gazebo-scene-broadcaster-system"
+      name="ignition::gazebo::systems::SceneBroadcaster">
+    </plugin>
+
+    <light type="directional" name="sun">
+      <cast_shadows>true</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>1 1 1 1</diffuse>
+      <specular>0.5 0.5 0.5 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+    </light>
+
+    <model name="ground_plane">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+            </plane>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <ambient>0.8 0.8 0.8 1</ambient>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.8 0.8 0.8 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+    <model name="sphere">
+      <pose>0 0 5 0 0 0</pose>
+      <link name="sphere_link">
+        <inertial>
+          <inertia>
+            <ixx>3</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>3</iyy>
+            <iyz>0</iyz>
+            <izz>3</izz>
+          </inertia>
+          <mass>3.0</mass>
+        </inertial>
+        <collision name="sphere_collision">
+          <geometry>
+            <sphere>
+              <radius>0.5</radius>
+            </sphere>
+          </geometry>
+        </collision>
+
+        <visual name="sphere_visual">
+          <geometry>
+            <sphere>
+              <radius>0.5</radius>
+            </sphere>
+          </geometry>
+          <material>
+            <ambient>0 0 1 1</ambient>
+            <diffuse>0 0 1 1</diffuse>
+            <specular>0 0 1 1</specular>
+          </material>
+        </visual>
+      </link>
+
+      <plugin
+        filename="ignition-gazebo-kinetic-energy-monitor-system"
+        name="ignition::gazebo::systems::KineticEnergyMonitor">
+        <link_name>sphere_link</link_name>
+        <kinetic_energy_threshold>100</kinetic_energy_threshold>
+      </plugin>
+
+    </model>
+
+  </world>
+</sdf>
+