Merge branch 'ignitionrobotics:ign-gazebo6' into wlew/light_commands

.github/ci/packages.apt

@@ -3,22 +3,22 @@ libfreeimage-dev
 libglew-dev
 libignition-cmake2-dev
 libignition-common4-dev
-libignition-gui5-dev
-libignition-fuel-tools6-dev
+libignition-gui6-dev
+libignition-fuel-tools7-dev
 libignition-math6-eigen3-dev
-libignition-msgs7-dev
-libignition-physics4-dev
+libignition-msgs8-dev
+libignition-physics5-dev
 libignition-plugin-dev
-libignition-rendering5-dev
-libignition-sensors5-dev
+libignition-rendering6-dev
+libignition-sensors6-dev
 libignition-tools-dev
-libignition-transport10-dev
+libignition-transport11-dev
 libignition-utils1-cli-dev
 libogre-1.9-dev
 libogre-2.1-dev
 libprotobuf-dev
 libprotoc-dev
-libsdformat11-dev
+libsdformat12-dev
 libtinyxml2-dev
 libxi-dev
 libxmu-dev

CMakeLists.txt

@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 #============================================================================
 # Initialize the project
 #============================================================================
-project(ignition-gazebo5 VERSION 5.1.0)
+project(ignition-gazebo6 VERSION 6.2.0)
 
 #============================================================================
 # Find ignition-cmake
@@ -34,18 +34,24 @@ else()
   set (EXTRA_TEST_LIB_DEPS)
 endif()
 
+include(test/find_dri.cmake)
+FindDRI()
+
 #============================================================================
 # Search for project-specific dependencies
 #============================================================================
 
+# Setting this policy enables using the protobuf_MODULE_COMPATIBLE
+# set command in CMake versions older than 13.13
+set(CMAKE_POLICY_DEFAULT_CMP0077 NEW)
 # This option is needed to use the PROTOBUF_GENERATE_CPP
 # in case protobuf is found with the CMake config files
 # It needs to be set before any find_package(...) call
 # as protobuf could be find transitively by any dependency
 set(protobuf_MODULE_COMPATIBLE TRUE)
 
-ign_find_package(sdformat11 REQUIRED VERSION 11.2.1)
-set(SDF_VER ${sdformat11_VERSION_MAJOR})
+ign_find_package(sdformat12 REQUIRED)
+set(SDF_VER ${sdformat12_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-plugin
@@ -54,18 +60,18 @@ set(IGN_PLUGIN_VER ${ignition-plugin1_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-transport
-ign_find_package(ignition-transport10 REQUIRED COMPONENTS log)
-set(IGN_TRANSPORT_VER ${ignition-transport10_VERSION_MAJOR})
+ign_find_package(ignition-transport11 REQUIRED COMPONENTS log)
+set(IGN_TRANSPORT_VER ${ignition-transport11_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-msgs
-ign_find_package(ignition-msgs7 REQUIRED VERSION 7.1)
-set(IGN_MSGS_VER ${ignition-msgs7_VERSION_MAJOR})
+ign_find_package(ignition-msgs8 REQUIRED)
+set(IGN_MSGS_VER ${ignition-msgs8_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-common
 # Always use the profiler component to get the headers, regardless of status.
-ign_find_package(ignition-common4 VERSION 4.2
+ign_find_package(ignition-common4 VERSION 4.4
   COMPONENTS
     profiler
     events
@@ -76,13 +82,13 @@ set(IGN_COMMON_VER ${ignition-common4_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-fuel_tools
-ign_find_package(ignition-fuel_tools6 REQUIRED)
-set(IGN_FUEL_TOOLS_VER ${ignition-fuel_tools6_VERSION_MAJOR})
+ign_find_package(ignition-fuel_tools7 REQUIRED)
+set(IGN_FUEL_TOOLS_VER ${ignition-fuel_tools7_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-gui
-ign_find_package(ignition-gui5 REQUIRED VERSION 5.2)
-set(IGN_GUI_VER ${ignition-gui5_VERSION_MAJOR})
+ign_find_package(ignition-gui6 REQUIRED VERSION 6.1)
+set(IGN_GUI_VER ${ignition-gui6_VERSION_MAJOR})
 ign_find_package (Qt5
   COMPONENTS
     Core
@@ -93,40 +99,50 @@ ign_find_package (Qt5
 
 #--------------------------------------
 # Find ignition-physics
-ign_find_package(ignition-physics4
+ign_find_package(ignition-physics5 VERSION 5.1
   COMPONENTS
     heightmap
     mesh
     sdf
   REQUIRED
 )
-set(IGN_PHYSICS_VER ${ignition-physics4_VERSION_MAJOR})
+set(IGN_PHYSICS_VER ${ignition-physics5_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-sensors
-ign_find_package(ignition-sensors5 REQUIRED
+ign_find_package(ignition-sensors6 REQUIRED
+  # component order is important
   COMPONENTS
-    rendering
+    # non-rendering
     air_pressure
     altimeter
-    camera
-    gpu_lidar
     imu
+    force_torque
     logical_camera
     magnetometer
+
+    # rendering
+    rendering
+    lidar
+    gpu_lidar
+
+    # cameras
+    camera
+    segmentation_camera
     depth_camera
+    rgbd_camera
     thermal_camera
 )
-set(IGN_SENSORS_VER ${ignition-sensors5_VERSION_MAJOR})
+set(IGN_SENSORS_VER ${ignition-sensors6_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-rendering
-ign_find_package(ignition-rendering5 REQUIRED VERSION 5.1)
-set(IGN_RENDERING_VER ${ignition-rendering5_VERSION_MAJOR})
+ign_find_package(ignition-rendering6 REQUIRED)
+set(IGN_RENDERING_VER ${ignition-rendering6_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-math
-ign_find_package(ignition-math6 REQUIRED COMPONENTS eigen3 VERSION 6.8)
+ign_find_package(ignition-math6 REQUIRED COMPONENTS eigen3 VERSION 6.9)
 set(IGN_MATH_VER ${ignition-math6_VERSION_MAJOR})
 
 #--------------------------------------
@@ -148,7 +164,7 @@ ign_find_package(IgnProtobuf
                  REQUIRED
                  COMPONENTS all
                  PRETTY Protobuf)
-set(Protobuf_IMPORT_DIRS ${ignition-msgs7_INCLUDE_DIRS})
+set(Protobuf_IMPORT_DIRS ${ignition-msgs8_INCLUDE_DIRS})
 
 # Plugin install dirs
 set(IGNITION_GAZEBO_PLUGIN_INSTALL_DIR