2 ➡️ 3 (#59)

Signed-off-by: Louise Poubel <louise@openrobotics.org>
gazebosim · Sep 17, 2020 · 02ccdc2 · 02ccdc2
2 parents 34029dd + 288ce51
commit 02ccdc2
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diff --git a/.gitignore b/.gitignore
@@ -5,8 +5,10 @@ build-*
 
 # OS generated files
 .DS_Store
+*.bak
 *.swp
 *.swo
+*.orig
 
 # C++ compiler generated files
 *.gch

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -114,4 +114,20 @@ ign_create_packages()
 #============================================================================
 # Configure documentation
 #============================================================================
-ign_create_docs()
+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 "${CMAKE_BINARY_DIR}/tutorials.md"
+  TAGFILES
+   "${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} = ${IGNITION-COMMON_API_URL}"
+   "${IGNITION-GAZEBO_DOXYGEN_TAGFILE} = ${IGNITION-GAZEBO_API_URL}"
+   "${IGNITION-GUI_DOXYGEN_TAGFILE} = ${IGNITION-GUI_API_URL}"
+)
diff --git a/Changelog.md b/Changelog.md
@@ -9,7 +9,10 @@
 
 ## Ignition Launch 2.x
 
-### Ignition Launch 2.X.X
+### Ignition Launch 2.1.0 (2020-05-21)
+
+1. Merged ign-launch1 forward.
+    * [Pull request 41](https://github.com/ignitionrobotics/ign-launch/pull/31)
 
 ### Ignition Launch 2.0.0
 
@@ -26,7 +29,48 @@
 
 ## Ignition Launch 1.x
 
-### Ignition Launch 1.X.X
+### Ignition Launch 1.9.0 (2020-08-13)
+
+1. Added HTTP handling support to websocket server and a metrics HTTP endpoint 
+   to monitor websocket server status.
+   * [Pull Request 49](https://github.com/ignitionrobotics/ign-launch/pull/49)
+
+### Ignition Launch 1.8.0 (2020-07-28)
+
+1. Added `<max_connections>` to the websocket server that supports
+   specifying the maximum allowed websocket connections.
+    * [Pull Request 40](https://github.com/ignitionrobotics/ign-launch/pull/40)
+
+### Ignition Launch 1.7.1 (2020-06-23)
+
+1. Improve websocket performance by throttling the busy loop, and fix empty SSL
+   XML elements.
+    * [Pull Request 37](https://github.com/ignitionrobotics/ign-launch/pull/37)
+
+### Ignition Launch 1.7.0 (2020-06-16)
+
+1. Added SSL to websocket server.
+    * [Pull Request 34](https://github.com/ignitionrobotics/ign-launch/pull/34)
+
+### Ignition Launch 1.6.0 (2020-06-11)
+
+1. Improved websockets by: adding simple authentication, access to
+   protobuf message definitions, access to scene and world information, and
+   definition of custom message framing.
+    * [Pull Request 22](https://github.com/ignitionrobotics/ign-launch/pull/22)
+    * [Pull Request 21](https://github.com/ignitionrobotics/ign-launch/pull/21)
+    * [Pull Request 17](https://github.com/ignitionrobotics/ign-launch/pull/17)
+    * [Pull Request 33](https://github.com/ignitionrobotics/ign-launch/pull/33)
+
+### Ignition Launch 1.5.0 (2020-05-20)
+
+1. Added support for spawning multiple entities in the same simulation step.
+    * [Pull Request 30](https://github.com/ignitionrobotics/ign-launch/pull/30)
+
+### Ignition Launch 1.4.2 (2020-05-18)
+
+1.  Use the new GUI API of ign-gazebo. This adds support for saving worlds to SDFormat from the GUI.
+    * [Pull Request 19](https://github.com/ignitionrobotics/ign-launch/pull/19)
 
 ### Ignition Launch 1.4.1 (2019-12-05)
 

diff --git a/README.md b/README.md
@@ -16,7 +16,7 @@ Windows       | [![Build Status](https://build.osrfoundation.org/buildStatus/ico
 
 Ignition Launch, a component of [Ignition
 Robotics](https://ignitionrobotics.org), provides a command line interface
-to run and manager application and plugins. 
+to run and manager application and plugins.
 
 # Table of Contents
 
@@ -112,7 +112,7 @@ necessary prerequisites followed by building from source.
     ```
 
     ```
-    sudo apt-get -y install libignition-cmake2-dev libignition-gazebo2-dev 
+    sudo apt-get -y install libignition-cmake2-dev libignition-gazebo2-dev
     ```
 
 ### Building from source

diff --git a/api.md.in b/api.md.in
@@ -0,0 +1,10 @@
+## Ignition @IGN_DESIGNATION_CAP@
+
+Ignition @IGN_DESIGNATION_CAP@ is a component in Ignition Robotics, a set of libraries
+designed to rapidly develop robot and simulation applications. 
+
+## License
+
+The code associated with this documentation is licensed under an [Apache 2.0 License](https://www.apache.org/licenses/LICENSE-2.0).
+
+This documentation is licensed under a [Creative Commons Attribution 4.0 International License](http://creativecommons.org/licenses/by/4.0/).
diff --git a/codecov.yml b/codecov.yml
@@ -0,0 +1,2 @@
+ignore:
+  - "test"
diff --git a/examples/factory.ign b/examples/factory.ign
@@ -1,28 +1,30 @@
 <?xml version="1.0"?>
 <ignition version='1.0'>
   <plugin name="ignition::launch::GazeboFactory"
-    filename="libignition-launch-gazebo-factory.so">
-    <name>x2</name>
-    <allow_renaming>true</allow_renaming>
-    <pose>1 2 0.5 0 0 0</pose>
+    filename="ignition-launch-gazebo-factory">
+    <spawn>
+      <name>x2</name>
+      <allow_renaming>true</allow_renaming>
+      <pose>1 2 0.5 0 0 0</pose>
 
-    <sdf version='1.6'>
-      <include>
-        <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/X2 UGV/1</uri>
-        <plugin filename="libignition-gazebo-diff-drive-system.so"
-                name="ignition::gazebo::systems::DiffDrive">
-          <left_joint>front_left_wheel_joint</left_joint>
-          <left_joint>rear_left_wheel_joint</left_joint>
-          <right_joint>front_right_wheel_joint</right_joint>
-          <right_joint>rear_right_wheel_joint</right_joint>
-          <wheel_separation>0.33559</wheel_separation>
-          <wheel_radius>0.098</wheel_radius>
-        </plugin>
+      <sdf version='1.6'>
+        <include>
+          <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/X2 UGV/1</uri>
+          <plugin filename="ignition-gazebo-diff-drive-system"
+                  name="ignition::gazebo::systems::DiffDrive">
+            <left_joint>front_left_wheel_joint</left_joint>
+            <left_joint>rear_left_wheel_joint</left_joint>
+            <right_joint>front_right_wheel_joint</right_joint>
+            <right_joint>rear_right_wheel_joint</right_joint>
+            <wheel_separation>0.33559</wheel_separation>
+            <wheel_radius>0.098</wheel_radius>
+          </plugin>
 
-        <!-- Publish robot state information -->
-        <plugin filename="libignition-gazebo-state-publisher-system.so"
-                name="ignition::gazebo::systems::StatePublisher"></plugin>
-      </include>
-    </sdf>
+          <!-- Publish robot joint state information -->
+          <plugin filename="ignition-gazebo-state-publisher-system"
+                  name="ignition::gazebo::systems::JointStatePublisher"></plugin>
+        </include>
+      </sdf>
+    </spawn>
   </plugin>
 </ignition>
diff --git a/examples/gazebo_plugins.ign b/examples/gazebo_plugins.ign
@@ -20,7 +20,7 @@
   <!-- Load a joystick plugin that will read from a device and output to a
        topic -->
   <plugin name="ignition::launch::Joystick"
-          filename="libignition-launch-joystick.so">
+          filename="ignition-launch-joystick">
     <device>/dev/input/js0</device>
     <sticky_buttons>false</sticky_buttons>
     <dead_zone>0.05</dead_zone>
@@ -31,22 +31,22 @@
   <!-- Load a plugin that transforms a joystick message to a
        twist message -->
   <plugin name="ignition::launch::JoyToTwist"
-          filename="libignition-launch-joytotwist.so">
+          filename="ignition-launch-joytotwist">
     <input_topic>/joy</input_topic>
     <output_topic>/model/vehicle_green/cmd_vel</output_topic>
   </plugin>
 
   <!-- Load a plugin that transforms a joystick message to a
        twist message -->
   <plugin name="ignition::launch::JoyToTwist"
-          filename="libignition-launch-joytotwist.so">
+          filename="ignition-launch-joytotwist">
     <input_topic>/joy</input_topic>
     <output_topic>/model/vehicle_blue/cmd_vel</output_topic>
   </plugin>
 
   <!-- Run the gazebo server with a set of plugins -->
   <plugin name="ignition::launch::GazeboServer"
-          filename="libignition-launch-gazebo.so">
+          filename="ignition-launch-gazebo">
     <world_file><%= worldName %>.sdf</world_file>
     <run>true</run>
     <!-- 3000 Hz == 300% RTF == 3x real time -->
@@ -57,26 +57,39 @@
       <!-- Use the <path> element to specify where to create the log file on
            disk. Leaving this empty will cause Gazebo to log into the default
            location of ~/.ignition/gazebo/log -->
-      <!-- <path></path> -->
+      <path>/tmp/ign-launch-demo</path>
+
+      <!-- Use the <overwrite> element to overwrite <path> in case it already
+           exists. Otherwise, logs will be recorded to a new path that has a
+           number appended. -->
+      <overwrite>true</overwrite>
+
+      <!-- Use the <compress> element to zip recorded files in the end of the
+           run. -->
+      <compress>true</compress>
+
+      <!-- Use the <resources> element to store all model resources used during
+           simulation. -->
+      <resources>true</resources>
     </record>
     <seed>123</seed>
     <!-- The diff_drive SDF world has the following plugins defined.
          Uncomment this if you are using a world that doesn't include the
          necessary plugin
     <plugin entity_name="<%= worldName %>"
             entity_type="world"
-            filename="libignition-gazebo1-physics-system.so"
+            filename="ignition-gazebo1-physics-system"
             name="ignition::gazebo::systems::Physics">
     </plugin>
     <plugin entity_name="<%= worldName %>"
             entity_type="world"
-            filename="libignition-gazebo1-scene-broadcaster-system.so"
+            filename="ignition-gazebo1-scene-broadcaster-system"
             name="ignition::gazebo::systems::SceneBroadcaster">
     </plugin>
 
     <plugin entity_name="vehicle_green"
             entity_type="model"
-            filename="libignition-gazebo1-diff-drive-system.so"
+            filename="ignition-gazebo1-diff-drive-system"
             name="ignition::gazebo::systems::DiffDrive">
       <left_joint>left_wheel_joint</left_joint>
       <right_joint>right_wheel_joint</right_joint>
@@ -86,7 +99,7 @@
 
     <plugin entity_name="vehicle_blue"
             entity_type="model"
-            filename="libignition-gazebo1-diff-drive-system.so"
+            filename="ignition-gazebo1-diff-drive-system"
             name="ignition::gazebo::systems::DiffDrive">
       <left_joint>left_wheel_joint</left_joint>
       <right_joint>right_wheel_joint</right_joint>
@@ -99,8 +112,7 @@
 
   <executable_wrapper>
     <plugin name="ignition::launch::GazeboGui"
-          filename="libignition-launch-gazebogui.so">
-      <world_name><%= worldName %></world_name>
+          filename="ignition-launch-gazebogui">
 
       <!-- Override default window title (Gazebo) -->
       <window_title>Ignition Launch</window_title>

diff --git a/examples/multi_factory.ign b/examples/multi_factory.ign
@@ -0,0 +1,28 @@
+<?xml version="1.0"?>
+<ignition version='1.0'>
+  <plugin name="ignition::launch::GazeboFactory"
+    filename="ignition-launch-gazebo-factory">
+    <spawn>
+      <name>x2</name>
+      <allow_renaming>true</allow_renaming>
+      <pose>1 2 0.5 0 0 0</pose>
+
+      <sdf version='1.6'>
+        <include>
+          <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/X3 UAV Config 1</uri>
+        </include>
+      </sdf>
+    </spawn>
+    <spawn>
+      <name>x1</name>
+      <allow_renaming>true</allow_renaming>
+      <pose>4 2 0.5 0 0 0</pose>
+
+      <sdf version='1.6'>
+        <include>
+          <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/X1 Config 1</uri>
+        </include>
+      </sdf>
+    </spawn>
+  </plugin>
+</ignition>
diff --git a/examples/plugins.ign b/examples/plugins.ign
@@ -4,7 +4,7 @@
   <!-- Load a joystick plugin that will read from a device and output to a
        topic -->
   <plugin name="ignition::launch::Joystick"
-          filename="libignition-launch-joystick.so">
+          filename="ignition-launch-joystick">
     <device>/dev/input/js0</device>
     <sticky_buttons>false</sticky_buttons>
     <dead_zone>0.05</dead_zone>
@@ -15,15 +15,15 @@
   <!-- Load a plugin that transforms a joystick message to a
        twist message -->
   <plugin name="ignition::launch::JoyToTwist"
-          filename="libignition-launch-joytotwist.so">
+          filename="ignition-launch-joytotwist">
     <input_topic>/joy</input_topic>
     <output_topic>/model/vehicle_green/cmd_vel</output_topic>
   </plugin>
 
   <!-- Load a plugin that transforms a joystick message to a
        twist message -->
   <plugin name="ignition::launch::JoyToTwist"
-          filename="libignition-launch-joytotwist.so">
+          filename="ignition-launch-joytotwist">
     <!-- Incoming topic that publishes ignition::msgs::Joystick messages -->
     <input_topic>/joy</input_topic>
 

diff --git a/examples/websocket.ign b/examples/websocket.ign
@@ -1,10 +1,28 @@
 <?xml version='1.0'?>
 <ignition version='1.0'>
 
-  <!-- Load a joystick plugin that will read from a device and output to a
-       topic -->
+  <!-- Load a websocket server that provides access to Ignition Transport
+       topics through websockets.-->
   <plugin name="ignition::launch::WebsocketServer"
-          filename="libignition-launch-websocket-server.so">
+          filename="ignition-launch-websocket-server">
+    <publication_hz>30</publication_hz>
+    <port>9002</port>
+    <authorization_key>auth_key</authorization_key>
+    <admin_authorization_key>admin_key</admin_authorization_key>
+
+    <!-- The maximum number of allowed connections. If this element is not
+         defined or negative, then a limit is not enforced. -->
+    <max_connections>0</max_connections>
+
+    <!-- SSL configuration -->
+    <!-- Specify the path to both the certificate and private key. -->
+    <!-- Sample self-signed SSL certifacts are located in the
+         `plugins/websocket_server/` directory with the names `localhost.cert`
+         and `localhost.key`. -->
+    <!--<ssl>
+      <cert_file>PATH_TO_CERT_FILE</cert_file>
+      <private_key_file>PATH_TO_KEY_FILE</private_key_file>
+    </ssl> -->
   </plugin>
 
 </ignition>
-Original file line number
+Diff line change
@@ Expand Up / @@ -5,8 +5,10 @@ build-* @@
     # OS generated files
     .DS_Store
+    *.bak
     *.swp
     *.swo
+    *.orig
     # C++ compiler generated files
     *.gch
@@ Expand Down @@