Merge branch 'main' into arjo/buoyancy_improvements

examples/worlds/minimal_scene.sdf

@@ -11,6 +11,7 @@ Features:
 * Markers
 * Tape measure
 * Grid config
+* Video recording
 * Select entities
 * Transform controls
 * Spawn entities through GUI
@@ -20,7 +21,6 @@ Features:
 Missing for parity with GzScene3D:
 
 * Context menu
-* Record video
 * Drag and drop from Fuel / meshes
 * ...
 
@@ -245,26 +245,47 @@ Missing for parity with GzScene3D:
         </ignition-gui>
       </plugin>
 
+      <!-- Video recorder -->
+      <plugin filename="VideoRecorder" name="VideoRecorder">
+        <ignition-gui>
+          <property key="resizable" type="bool">false</property>
+          <property key="x" type="double">300</property>
+          <property key="y" type="double">50</property>
+          <property key="width" type="double">50</property>
+          <property key="height" type="double">50</property>
+          <property key="state" type="string">floating</property>
+          <property key="showTitleBar" type="bool">false</property>
+          <property key="cardBackground" type="string">#777777</property>
+        </ignition-gui>
+
+        <record_video>
+          <use_sim_time>true</use_sim_time>
+          <lockstep>true</lockstep>
+          <bitrate>4000000</bitrate>
+        </record_video>
+
+        <!-- disable legacy features used to connect this plugin to GzScene3D -->
+        <legacy>false</legacy>
+      </plugin>
+
       <!-- Inspector -->
       <plugin filename="ComponentInspector" name="Component inspector">
         <ignition-gui>
-          <property type="bool" key="showTitleBar">false</property>
-          <property type="string" key="state">docked</property>
+          <property type="string" key="state">docked_collapsed</property>
         </ignition-gui>
       </plugin>
 
       <!-- Entity tree -->
       <plugin filename="EntityTree" name="Entity tree">
         <ignition-gui>
-          <property type="bool" key="showTitleBar">false</property>
-          <property type="string" key="state">docked</property>
+          <property type="string" key="state">docked_collapsed</property>
         </ignition-gui>
       </plugin>
 
       <!-- View angle -->
       <plugin filename="ViewAngle" name="View angle">
         <ignition-gui>
-          <property type="string" key="state">docked</property>
+          <property type="string" key="state">docked_collapsed</property>
         </ignition-gui>
 
         <!-- disable legacy features used to connect this plugin to GzScene3D -->

include/ignition/gazebo/components/JointTransmittedWrench.hh

@@ -0,0 +1,56 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+#ifndef IGNITION_GAZEBO_COMPONENTS_JOINTTRANSMITTEDWRENCH_HH_
+#define IGNITION_GAZEBO_COMPONENTS_JOINTTRANSMITTEDWRENCH_HH_
+
+#include <ignition/msgs/wrench.pb.h>
+
+#include <ignition/gazebo/components/Factory.hh>
+#include <ignition/gazebo/components/Component.hh>
+#include <ignition/gazebo/components/Serialization.hh>
+#include <ignition/gazebo/config.hh>
+
+namespace ignition
+{
+namespace gazebo
+{
+// Inline bracket to help doxygen filtering.
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
+
+namespace components
+{
+/// \brief Joint Transmitted wrench in SI units (Nm for torque, N for force).
+/// The wrench is expressed in the Joint frame and the force component is
+/// applied at the joint origin.
+/// \note The term Wrench is used here to mean a pair of 3D vectors representing
+/// torque and force quantities expessed in a given frame and where the force is
+/// applied at the origin of the frame. This is different from the Wrench used
+/// in screw theory.
+/// \note The value of force_offset in msgs::Wrench is ignored for this
+/// component. The force is assumed to be applied at the origin of the joint
+/// frame.
+using JointTransmittedWrench =
+    Component<msgs::Wrench, class JointTransmittedWrenchTag,
+              serializers::MsgSerializer>;
+IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.JointTransmittedWrench",
+                              JointTransmittedWrench)
+}  // namespace components
+}
+}
+}
+
+#endif

src/gui/plugins/video_recorder/CMakeLists.txt

@@ -1,4 +1,8 @@
 gz_add_gui_plugin(VideoRecorder
-  SOURCES VideoRecorder.cc
-  QT_HEADERS VideoRecorder.hh
+  SOURCES
+    VideoRecorder.cc
+  QT_HEADERS
+    VideoRecorder.hh
+  PUBLIC_LINK_LIBS
+    ignition-rendering${IGN_RENDERING_VER}::ignition-rendering${IGN_RENDERING_VER}
 )