Merge remote-tracking branch 'refs/remotes/origin/arjo/examples/rl_ex…

…ample' into arjo/examples/rl_example
gazebosim · Feb 7, 2025 · e602467 · e602467
2 parents 5117071 + 120c1ec
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diff --git a/.github/ci/packages.apt b/.github/ci/packages.apt
@@ -5,7 +5,7 @@ libglew-dev
 libgz-cmake4-dev
 libgz-common6-dev
 libgz-fuel-tools10-dev
-libgz-gui9-dev
+libgz-gui10-dev
 libgz-math8-eigen3-dev
 libgz-msgs11-dev
 libgz-physics8-dev

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -15,25 +15,6 @@ concurrency:
   cancel-in-progress: true
 
 jobs:
-  jammy-ci:
-    runs-on: ubuntu-latest
-    name: Ubuntu Jammy CI
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v4
-      - uses: actions/setup-python@v3
-      - uses: pre-commit/action@v3.0.0
-        with:
-          extra_args: --all-files
-      - name: Compile and test
-        id: ci
-        uses: gazebo-tooling/action-gz-ci@jammy
-        with:
-          # per bug https://github.com/gazebosim/gz-sim/issues/1409
-          cmake-args: '-DCMAKE_INSTALL_PREFIX=/usr -DBUILD_DOCS=OFF'
-          codecov-enabled: true
-          cppcheck-enabled: true
-          cpplint-enabled: true
   noble-ci:
     runs-on: ubuntu-latest
     name: Ubuntu Noble CI

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 #============================================================================
 # Initialize the project
 #============================================================================
-project(gz-sim9 VERSION 9.0.0)
+project(gz-sim10 VERSION 10.0.0)
 set (GZ_DISTRIBUTION "Ionic")
 
 #============================================================================
@@ -18,7 +18,7 @@ find_package(gz-cmake4 REQUIRED)
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-gz_configure_project(VERSION_SUFFIX)
+gz_configure_project(VERSION_SUFFIX pre1)
 
 #============================================================================
 # Set project-specific options
@@ -113,8 +113,8 @@ set(GZ_FUEL_TOOLS_VER ${gz-fuel_tools10_VERSION_MAJOR})
 
 #--------------------------------------
 # Find gz-gui
-gz_find_package(gz-gui9 REQUIRED)
-set(GZ_GUI_VER ${gz-gui9_VERSION_MAJOR})
+gz_find_package(gz-gui10 REQUIRED)
+set(GZ_GUI_VER ${gz-gui10_VERSION_MAJOR})
 gz_find_package (Qt5
   COMPONENTS
     Core

diff --git a/Changelog.md b/Changelog.md
@@ -1,3 +1,7 @@
+## Gazebo Sim 10.x
+
+### Gazebo Sim 10.0.0 (20XX-XX-XX)
+
 ## Gazebo Sim 9.x
 
 ### Gazebo Sim 9.0.0 (2024-09-25)

diff --git a/Migration.md b/Migration.md
@@ -5,6 +5,37 @@ 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.
 
+## Gazebo Sim 9.x to 10.0
+
+### Removals
+
+- **config.hh**:
+   + The macro `GZ_SIM_GUI_CONFIG_PATH` has been removed.
+     Please use `gz::sim::getGUIConfigPath()` instead.
+
+   + The macro `GZ_SIM_SYSTEM_CONFIG_PATH` has been removed.
+     Please use `gz::sim::getSystemConfigPath()` instead.
+
+   + The macro `GZ_SIM_SERVER_CONFIG_PATH` has been removed.
+     Please use `gz::sim::getServerConfigPath()` instead.
+
+   + The macro `GZ_SIM_PLUGIN_INSTALL_DIR` has been removed.
+     Please use `gz::sim::getPluginInstallDir()` instead.
+
+   + The macro `GZ_SIM_GUI_PLUGIN_INSTALL_DIR` has been removed.
+     Please use `gz::sim::getGUIPluginInstallDir()` instead.
+
+   + The macro `GZ_SIM_WORLD_INSTALL_DIR` has been removed.
+     Please use `gz::sim::getWorldInstallDir()` instead.
+
+  **components/Factory.hh**:
+    + `gz::sim::components::Factory::Register(const std::string &_type, ComponentDescriptorBase *_compDesc)` and
+      `gz::sim::components::Factory::Register(const std::string &_type, ComponentDescriptorBase *_compDesc, RegistrationObjectId _regObjId)`
+       have been removed. Instead, please use
+       `gz::sim::components::Factory::Register(const char *_type, ComponentDescriptorBase *_compDesc, RegistrationObjectId  _regObjId)`
+    + `gz::sim::components::Factory::Unregister()` has been removed. Instead, please use
+       `gz::sim::components::Factory::Unregister(RegistrationObjectId  _regObjId)`.
+
 ## Gazebo Sim 8.x to 9.0
 
  * **Modified**:

diff --git a/README.md b/README.md
@@ -9,10 +9,10 @@
 
 Build | Status
 -- | --
-Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-sim/tree/gz-sim9/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-sim/tree/gz-sim9)
-Ubuntu Noble  | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_sim-ci-gz-sim9-noble-amd64)](https://build.osrfoundation.org/job/gz_sim-ci-gz-sim9-noble-amd64)
-Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_sim-ci-gz-sim9-homebrew-amd64)](https://build.osrfoundation.org/job/gz_sim-ci-gz-sim9-homebrew-amd64)
-Windows       | [![Build Status](https://build.osrfoundation.org/job/gz_sim-9-win/badge/icon)](https://build.osrfoundation.org/job/gz_sim-9-win/)
+Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-sim/tree/main/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-sim/tree/main)
+Ubuntu Noble  | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_sim-ci-main-noble-amd64)](https://build.osrfoundation.org/job/gz_sim-ci-main-noble-amd64)
+Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_sim-ci-main-homebrew-amd64)](https://build.osrfoundation.org/job/gz_sim-ci-main-homebrew-amd64)
+Windows       | [![Build Status](https://build.osrfoundation.org/job/gz_sim-main-win/badge/icon)](https://build.osrfoundation.org/job/gz_sim-main-win/)
 
 Gazebo Sim is an open source robotics simulator. Through Gazebo Sim, users have access to high fidelity physics, rendering, and sensor models. Additionally, users and developers have multiple points of entry to simulation including a graphical user interface, plugins, and asynchronous message passing and services.
 

diff --git a/docker/Dockerfile.nightly b/docker/Dockerfile.nightly
@@ -20,7 +20,7 @@ RUN apt-get update \
     libgz-rendering9-dev \
     libgz-tools2-dev \
     libgz-transport14-dev \
-    libgz-gui9-dev \
+    libgz-gui10-dev \
     libgz-msgs11-dev \
     libgz-sensors9-dev \
     libsdformat15-dev

diff --git a/examples/plugin/command_actor/CMakeLists.txt b/examples/plugin/command_actor/CMakeLists.txt
@@ -7,9 +7,9 @@ project(CommandActor)
 find_package(gz-plugin3 REQUIRED COMPONENTS register)
 set(GZ_PLUGIN_VER ${gz-plugin3_VERSION_MAJOR})
 
-find_package(gz-sim9 REQUIRED)
+find_package(gz-sim10 REQUIRED)
 add_library(CommandActor SHARED CommandActor.cc)
 set_property(TARGET CommandActor PROPERTY CXX_STANDARD 17)
 target_link_libraries(CommandActor
   PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
-  PRIVATE gz-sim9::gz-sim9)
+  PRIVATE gz-sim10::gz-sim10)
diff --git a/examples/plugin/custom_component/CMakeLists.txt b/examples/plugin/custom_component/CMakeLists.txt
@@ -7,11 +7,11 @@ project(CustomComponentPlugin)
 find_package(gz-plugin3 REQUIRED COMPONENTS register)
 set(GZ_PLUGIN_VER ${gz-plugin3_VERSION_MAJOR})
 
-find_package(gz-sim9 REQUIRED)
+find_package(gz-sim10 REQUIRED)
 add_library(CustomComponentPlugin SHARED
   CustomComponentPlugin.cc
 )
 set_property(TARGET CustomComponentPlugin PROPERTY CXX_STANDARD 17)
 target_link_libraries(CustomComponentPlugin
   PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
-  PRIVATE gz-sim9::gz-sim9)
+  PRIVATE gz-sim10::gz-sim10)
diff --git a/examples/plugin/custom_sensor_system/CMakeLists.txt b/examples/plugin/custom_sensor_system/CMakeLists.txt
@@ -7,8 +7,8 @@ project(OdometerSystem)
 gz_find_package(gz-plugin3 REQUIRED COMPONENTS register)
 set(GZ_PLUGIN_VER ${gz-plugin3_VERSION_MAJOR})
 
-gz_find_package(gz-sim9 REQUIRED)
-set(GZ_SIM_VER ${gz-sim9_VERSION_MAJOR})
+gz_find_package(gz-sim10 REQUIRED)
+set(GZ_SIM_VER ${gz-sim10_VERSION_MAJOR})
 
 find_package(gz-sensors9 REQUIRED)
 set(GZ_SENSORS_VER ${gz-sensors9_VERSION_MAJOR})
@@ -20,7 +20,7 @@ include(FetchContent)
 FetchContent_Declare(
   sensors_clone
   GIT_REPOSITORY https://github.com/gazebosim/gz-sensors
-  GIT_TAG main
+  GIT_TAG gz-sensors${GZ_SENSORS_VER}
 )
 FetchContent_Populate(sensors_clone)
 add_subdirectory(${sensors_clone_SOURCE_DIR}/examples/custom_sensor ${sensors_clone_BINARY_DIR})

diff --git a/examples/plugin/gui_system_plugin/CMakeLists.txt b/examples/plugin/gui_system_plugin/CMakeLists.txt
@@ -8,7 +8,7 @@ project(GuiSystemPlugin)
 
 set(CMAKE_AUTOMOC ON)
 
-find_package(gz-sim9 REQUIRED COMPONENTS gui)
+find_package(gz-sim10 REQUIRED COMPONENTS gui)
 
 QT5_ADD_RESOURCES(resources_RCC ${PROJECT_NAME}.qrc)
 
@@ -17,5 +17,5 @@ add_library(${PROJECT_NAME} SHARED
   ${resources_RCC}
 )
 target_link_libraries(${PROJECT_NAME}
-  PRIVATE gz-sim9::gui
+  PRIVATE gz-sim10::gui
 )
diff --git a/examples/plugin/hello_world/CMakeLists.txt b/examples/plugin/hello_world/CMakeLists.txt
@@ -7,8 +7,8 @@ project(Hello_world)
 gz_find_package(gz-plugin3 REQUIRED COMPONENTS register)
 set(GZ_PLUGIN_VER ${gz-plugin3_VERSION_MAJOR})
 
-gz_find_package(gz-sim9 REQUIRED)
-set(GZ_SIM_VER ${gz-sim9_VERSION_MAJOR})
+gz_find_package(gz-sim10 REQUIRED)
+set(GZ_SIM_VER ${gz-sim10_VERSION_MAJOR})
 
 add_library(HelloWorld SHARED HelloWorld.cc)
 set_property(TARGET HelloWorld PROPERTY CXX_STANDARD 17)

diff --git a/examples/plugin/priority_printer_plugin/CMakeLists.txt b/examples/plugin/priority_printer_plugin/CMakeLists.txt
@@ -7,8 +7,8 @@ project(Priority_printer)
 gz_find_package(gz-plugin3 REQUIRED COMPONENTS register)
 set(GZ_PLUGIN_VER ${gz-plugin3_VERSION_MAJOR})
 
-gz_find_package(gz-sim9 REQUIRED)
-set(GZ_SIM_VER ${gz-sim9_VERSION_MAJOR})
+gz_find_package(gz-sim10 REQUIRED)
+set(GZ_SIM_VER ${gz-sim10_VERSION_MAJOR})
 
 add_library(PriorityPrinter SHARED PriorityPrinter.cc)
 set_property(TARGET PriorityPrinter PROPERTY CXX_STANDARD 17)

diff --git a/examples/plugin/rendering_plugins/CMakeLists.txt b/examples/plugin/rendering_plugins/CMakeLists.txt
@@ -14,7 +14,7 @@ set(GUI_PLUGIN RenderingGuiPlugin)
 
 set(CMAKE_AUTOMOC ON)
 
-find_package(gz-gui9 REQUIRED)
+find_package(gz-gui10 REQUIRED)
 
 QT5_ADD_RESOURCES(resources_RCC ${GUI_PLUGIN}.qrc)
 
@@ -24,21 +24,21 @@ add_library(${GUI_PLUGIN} SHARED
 )
 target_link_libraries(${GUI_PLUGIN}
   PRIVATE
-    gz-gui9::gz-gui9
+    gz-gui10::gz-gui10
     gz-rendering9::gz-rendering9
 )
 
 # Server plugin
 set(SERVER_PLUGIN RenderingServerPlugin)
 
 find_package(gz-plugin3 REQUIRED COMPONENTS register)
-find_package(gz-sim9 REQUIRED)
+find_package(gz-sim10 REQUIRED)
 
 add_library(${SERVER_PLUGIN} SHARED ${SERVER_PLUGIN}.cc)
 set_property(TARGET ${SERVER_PLUGIN} PROPERTY CXX_STANDARD 17)
 target_link_libraries(${SERVER_PLUGIN}
   PRIVATE
     gz-plugin3::gz-plugin3
-    gz-sim9::gz-sim9
+    gz-sim10::gz-sim10
     gz-rendering9::gz-rendering9
 )
diff --git a/examples/plugin/reset_plugin/CMakeLists.txt b/examples/plugin/reset_plugin/CMakeLists.txt
@@ -5,8 +5,8 @@ project(ResetPlugins)
 find_package(gz-plugin3 REQUIRED COMPONENTS register)
 set(GZ_PLUGIN_VER ${gz-plugin3_VERSION_MAJOR})
 
-find_package(gz-sim9 REQUIRED)
-set(GZ_SIM_VER ${gz-sim9_VERSION_MAJOR})
+find_package(gz-sim10 REQUIRED)
+set(GZ_SIM_VER ${gz-sim10_VERSION_MAJOR})
 
 add_library(JointPositionRandomizer SHARED JointPositionRandomizer.cc)
 target_link_libraries(JointPositionRandomizer

diff --git a/examples/plugin/system_plugin/CMakeLists.txt b/examples/plugin/system_plugin/CMakeLists.txt
@@ -7,9 +7,9 @@ project(SampleSystem)
 find_package(gz-plugin3 REQUIRED COMPONENTS register)
 set(GZ_PLUGIN_VER ${gz-plugin3_VERSION_MAJOR})
 
-find_package(gz-sim9 REQUIRED)
+find_package(gz-sim10 REQUIRED)
 add_library(SampleSystem SHARED SampleSystem.cc SampleSystem2.cc)
 set_property(TARGET SampleSystem PROPERTY CXX_STANDARD 17)
 target_link_libraries(SampleSystem
   PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
-  PRIVATE gz-sim9::gz-sim9)
+  PRIVATE gz-sim10::gz-sim10)
diff --git a/examples/scripts/python_api/systems/test_system.py b/examples/scripts/python_api/systems/test_system.py
@@ -13,7 +13,7 @@
 # limitations under the License.
 
 from gz.math8 import Vector3d
-from gz.sim9 import Model, Link
+from gz.sim10 import Model, Link
 import random
 
 

diff --git a/examples/scripts/python_api/testFixture.py b/examples/scripts/python_api/testFixture.py
@@ -25,7 +25,7 @@
 import os
 
 from gz.common6 import set_verbosity
-from gz.sim9 import TestFixture, World, world_entity
+from gz.sim10 import TestFixture, World, world_entity
 from gz.math8 import Vector3d
 
 set_verbosity(4)

diff --git a/examples/standalone/acoustic_comms_demo/CMakeLists.txt b/examples/standalone/acoustic_comms_demo/CMakeLists.txt
@@ -5,8 +5,8 @@ project(gz-sim-acoustic-comms-demo)
 find_package(gz-transport14 QUIET REQUIRED OPTIONAL_COMPONENTS log)
 set(GZ_TRANSPORT_VER ${gz-transport14_VERSION_MAJOR})
 
-find_package(gz-sim9 REQUIRED)
-set(GZ_SIM_VER ${gz-sim9_VERSION_MAJOR})
+find_package(gz-sim10 REQUIRED)
+set(GZ_SIM_VER ${gz-sim10_VERSION_MAJOR})
 
 add_executable(acoustic_comms_demo acoustic_comms_demo.cc)
 target_link_libraries(acoustic_comms_demo

diff --git a/examples/standalone/custom_server/CMakeLists.txt b/examples/standalone/custom_server/CMakeLists.txt
@@ -3,8 +3,8 @@ cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 project(gz-sim-custom-server)
 
 if(${CMAKE_SYSTEM_NAME} STREQUAL "Linux")
-  find_package(gz-sim9 REQUIRED)
-  set(GZ_SIM_VER ${gz-sim9_VERSION_MAJOR})
+  find_package(gz-sim10 REQUIRED)
+  set(GZ_SIM_VER ${gz-sim10_VERSION_MAJOR})
 
   add_executable(custom_server custom_server.cc)
   target_link_libraries(custom_server

diff --git a/examples/standalone/each_performance/CMakeLists.txt b/examples/standalone/each_performance/CMakeLists.txt
@@ -2,8 +2,8 @@ cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 project(gz-sim-each-performance)
 
-find_package(gz-sim9 QUIET REQUIRED)
+find_package(gz-sim10 QUIET REQUIRED)
 
 add_executable(each each.cc)
 target_link_libraries(each
-  gz-sim9::core)
+  gz-sim10::core)
diff --git a/examples/standalone/external_ecm/CMakeLists.txt b/examples/standalone/external_ecm/CMakeLists.txt
@@ -2,8 +2,8 @@ cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 project(gz-sim-external-ecm)
 
-find_package(gz-sim9 REQUIRED)
+find_package(gz-sim10 REQUIRED)
 
 add_executable(external_ecm external_ecm.cc)
 target_link_libraries(external_ecm
-  gz-sim9::core)
+  gz-sim10::core)
diff --git a/examples/standalone/gtest_setup/CMakeLists.txt b/examples/standalone/gtest_setup/CMakeLists.txt
@@ -3,8 +3,8 @@ cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 project(GTestSetup)
 
 # Find Gazebo
-find_package(gz-sim9 REQUIRED)
-set(GZ_SIM_VER ${gz-sim9_VERSION_MAJOR})
+find_package(gz-sim10 REQUIRED)
+set(GZ_SIM_VER ${gz-sim10_VERSION_MAJOR})
 
 # Fetch and configure GTest
 include(FetchContent)

diff --git a/examples/standalone/light_control/CMakeLists.txt b/examples/standalone/light_control/CMakeLists.txt
@@ -5,8 +5,8 @@ project(gz-sim-light-control)
 find_package(gz-transport14 QUIET REQUIRED OPTIONAL_COMPONENTS log)
 set(GZ_TRANSPORT_VER ${gz-transport14_VERSION_MAJOR})
 
-find_package(gz-sim9 REQUIRED)
-set(GZ_SIM_VER ${gz-sim9_VERSION_MAJOR})
+find_package(gz-sim10 REQUIRED)
+set(GZ_SIM_VER ${gz-sim10_VERSION_MAJOR})
 
 add_executable(light_control light_control.cc)
 target_link_libraries(light_control

diff --git a/examples/standalone/lrauv_control/CMakeLists.txt b/examples/standalone/lrauv_control/CMakeLists.txt
@@ -5,8 +5,8 @@ project(gz-sim-lrauv-control)
 find_package(gz-transport14 QUIET REQUIRED OPTIONAL_COMPONENTS log)
 set(GZ_TRANSPORT_VER ${gz-transport14_VERSION_MAJOR})
 
-find_package(gz-sim9 REQUIRED)
-set(GZ_SIM_VER ${gz-sim9_VERSION_MAJOR})
+find_package(gz-sim10 REQUIRED)
+set(GZ_SIM_VER ${gz-sim10_VERSION_MAJOR})
 
 add_executable(lrauv_control lrauv_control.cc)
 target_link_libraries(lrauv_control

diff --git a/examples/standalone/multi_lrauv_race/CMakeLists.txt b/examples/standalone/multi_lrauv_race/CMakeLists.txt
@@ -5,8 +5,8 @@ project(gz-sim-multi-lrauv-race)
 find_package(gz-transport14 QUIET REQUIRED OPTIONAL_COMPONENTS log)
 set(GZ_TRANSPORT_VER ${gz-transport14_VERSION_MAJOR})
 
-find_package(gz-sim9 REQUIRED)
-set(GZ_SIM_VER ${gz-sim9_VERSION_MAJOR})
+find_package(gz-sim10 REQUIRED)
+set(GZ_SIM_VER ${gz-sim10_VERSION_MAJOR})
 
 add_executable(multi_lrauv_race multi_lrauv_race.cc)
 target_link_libraries(multi_lrauv_race

diff --git a/include/gz/sim/Server.hh b/include/gz/sim/Server.hh
@@ -340,6 +340,10 @@ namespace gz
 
       /// \brief Reset all runners in this simulation
       public: void ResetAll();
+      /// \brief Reset a specific runner in this server
+      /// \param[in] runnerId - The runner which you want to reset
+      /// \ return False if the runner does not exist, true otherwise.
+      public: bool Reset(const std::size_t _runnerId);
 
       /// \brief Private data
       private: std::unique_ptr<ServerPrivate> dataPtr;