Merge ign-gazebo3 ➡️ ign-gazebo6

CMakeLists.txt

@@ -80,7 +80,7 @@ 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 4.4
+ign_find_package(ignition-common4 VERSION 4.5.1
   COMPONENTS
     profiler
     events
@@ -161,6 +161,9 @@ set(IGN_MATH_VER ${ignition-math6_VERSION_MAJOR})
 ign_find_package(ignition-tools
                  REQUIRED
                  PKGCONFIG "ignition-tools")
+# Note that CLI files are installed regardless of whether the dependency is
+# available during build time
+set(IGN_TOOLS_VER 1)
 
 #--------------------------------------
 # Find ignition-utils

Changelog.md

@@ -1901,7 +1901,62 @@
 
 ## Ignition Gazebo 3.x
 
-### Ignition Gazebo 3.X.X (20XX-XX-XX)
+### Ignition Gazebo 3.13.0 (2022-06-01)
+
+1. Extruded 2D polyline geometries
+    * [Pull request #1456](https://github.com/gazebosim/gz-sim/pull/1456)
+
+1. Add elevator system
+    * [Pull request #535](https://github.com/gazebosim/gz-sim/pull/535)
+
+1. Add desktop entry and svg logo
+    * [Pull request #1411](https://github.com/gazebosim/gz-sim/pull/1411)
+    * [Pull request #1430](https://github.com/gazebosim/gz-sim/pull/1430)
+
+1. Delete unused `gazebo.hh.in`
+    * [Pull request #1490](https://github.com/gazebosim/gz-sim/pull/1490)
+
+1. Add repo specific issue templates
+    * [Pull request #1461](https://github.com/gazebosim/gz-sim/pull/1461)
+
+1. Added user command to set multiple entities' poses
+    * [Pull request #1394](https://github.com/gazebosim/gz-sim/pull/1394)
+
+1. Component inspector: refactor Pose3d C++ code into a separate class
+    * [Pull request #1400](https://github.com/gazebosim/gz-sim/pull/1400)
+
+1. Added more sensor properties to `scene/info` topic
+    * [Pull request #1344](https://github.com/gazebosim/gz-sim/pull/1344)
+
+1. `JointStatePublisher` publish parent, child and axis data
+    * [Pull request #1345](https://github.com/gazebosim/gz-sim/pull/1345)
+
+1. Removed unused variables in shapes plugin
+    * [Pull request #1321](https://github.com/gazebosim/gz-sim/pull/1321)
+
+1. Log an error if `JointPositionController` cannot find the joint. (citadel retarget)
+    * [Pull request #1314](https://github.com/gazebosim/gz-sim/pull/1314)
+
+1. `Buoyancy`: fix center of volume's reference frame
+    * [Pull request #1302](https://github.com/gazebosim/gz-sim/pull/1302)
+
+1. Remove `EachNew` calls from sensor PreUpdates
+    * [Pull request #1281](https://github.com/gazebosim/gz-sim/pull/1281)
+
+1. Prevent `GzScene3D` 💥 if another scene is already loaded
+    * [Pull request #1294](https://github.com/gazebosim/gz-sim/pull/1294)
+
+1. Add `project()` call to examples
+    * [Pull request #1274](https://github.com/gazebosim/gz-sim/pull/1274)
+
+1. Implement `/server_control::stop`
+    * [Pull request #1240](https://github.com/gazebosim/gz-sim/pull/1240)
+
+1. 👩‍🌾 Make depth camera tests more robust
+    * [Pull request1257](https://github.com/gazebosim/gz-sim/pull/1257)
+
+1. Make tests run as fast as possible
+    * [Pull request #1194](https://github.com/gazebosim/gz-sim/pull/1194)
 
 ### Ignition Gazebo 3.12.0 (2021-11-11)
 

src/cmd/CMakeLists.txt

@@ -117,3 +117,25 @@ set(ign_model_ruby_path "${cmd_model_script_generated_test}")
 configure_file(
   "model.yaml.in"
   "${CMAKE_BINARY_DIR}/test/conf/model${PROJECT_VERSION_MAJOR}.yaml" @ONLY)
+
+#===============================================================================
+# Bash completion
+
+# Tack version onto and install the bash completion script
+configure_file(
+  "gazebo.bash_completion.sh"
+    "${CMAKE_CURRENT_BINARY_DIR}/gazebo${PROJECT_VERSION_MAJOR}.bash_completion.sh" @ONLY)
+install(
+  FILES
+    ${CMAKE_CURRENT_BINARY_DIR}/gazebo${PROJECT_VERSION_MAJOR}.bash_completion.sh
+  DESTINATION
+    ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_DATAROOTDIR}/gz/gz${IGN_TOOLS_VER}.completion.d)
+
+configure_file(
+  "model.bash_completion.sh"
+    "${CMAKE_CURRENT_BINARY_DIR}/model${PROJECT_VERSION_MAJOR}.bash_completion.sh" @ONLY)
+install(
+  FILES
+    ${CMAKE_CURRENT_BINARY_DIR}/model${PROJECT_VERSION_MAJOR}.bash_completion.sh
+  DESTINATION
+    ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_DATAROOTDIR}/gz/gz${IGN_TOOLS_VER}.completion.d)

src/cmd/cmdgazebo.rb.in

@@ -73,8 +73,6 @@ COMMANDS = { 'gazebo' =>
   "                               enable console logging to a console.log          \n"\
   "                               file in the specified path.                      \n"\
   "\n"\
-  "  --headless-rendering         Run rendering in headless mode                   \n"\
-  "\n"\
   "  --record-resources           Implicitly invokes --record, and records         \n"\
   "                               meshes and material files, in addition to        \n"\
   "                               states and console messages.                     \n"\
@@ -109,6 +107,8 @@ COMMANDS = { 'gazebo' =>
   "  --playback [arg]             Use logging system to play back states.          \n"\
   "                               Argument is path to recorded states.             \n"\
   "\n"\
+  "  --headless-rendering         Run rendering in headless mode                   \n"\
+  "\n"\
   "  -r                           Run simulation on start.                         \n"\
   "\n"\
   "  -s                           Run only the server (headless mode). This        \n"\
@@ -160,7 +160,9 @@ COMMANDS = { 'gazebo' =>
   " locate system plugins.                                               \n\n"\
   "  IGN_GAZEBO_SERVER_CONFIG_PATH    Path to server configuration file. \n\n"\
   "  IGN_GUI_PLUGIN_PATH    Colon separated paths used to locate GUI       \n"\
-  " plugins.                                                               \n"\
+  " plugins.                                                             \n\n"\
+  "  GZ_GUI_RESOURCE_PATH    Colon separated paths used to locate GUI      \n"\
+  " resources such as configuration files.                               \n\n"
 }
 
 #

src/cmd/gazebo.bash_completion.sh

@@ -0,0 +1,75 @@
+#!/usr/bin/env bash
+#
+# Copyright (C) 2022 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.
+#
+
+# bash tab-completion
+
+# This is a per-library function definition, used in conjunction with the
+# top-level entry point in ign-tools.
+
+GZ_SIM_COMPLETION_LIST="
+  -g
+  --iterations
+  --levels
+  --network-role
+  --network-secondaries
+  --record
+  --record-path
+  --record-resources
+  --record-topic
+  --log-overwrite
+  --log-compress
+  --playback
+  --headless-rendering
+  -r
+  -s
+  -v --verbose
+  --gui-config
+  --physics-engine
+  --render-engine
+  --render-engine-gui
+  --render-engine-server
+  --version
+  -z
+  -h --help
+  --force-version
+  --versions
+"
+
+# TODO(anyone): In Garden+, replace `gazebo` in function name to align with
+# subcommand, for ign-tools/etc/ign.bash_completion.sh to find this function.
+function _gz_gazebo
+{
+  if [[ ${COMP_WORDS[COMP_CWORD]} == -* ]]; then
+    # Specify options (-*) word list for this subcommand
+    COMPREPLY=($(compgen -W "$GZ_SIM_COMPLETION_LIST" \
+      -- "${COMP_WORDS[COMP_CWORD]}" ))
+    return
+  else
+    # Just use bash default auto-complete, because we never have two
+    # subcommands in the same line. If that is ever needed, change here to
+    # detect subsequent subcommands
+    COMPREPLY=($(compgen -o default -- "${COMP_WORDS[COMP_CWORD]}"))
+    return
+  fi
+}
+
+function _gz_sim_flags
+{
+  for word in $GZ_SIM_COMPLETION_LIST; do
+    echo "$word"
+  done
+}

src/cmd/model.bash_completion.sh

@@ -0,0 +1,55 @@
+#!/usr/bin/env bash
+#
+# Copyright (C) 2022 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.
+#
+
+# bash tab-completion
+
+# This is a per-library function definition, used in conjunction with the
+# top-level entry point in ign-tools.
+
+GZ_MODEL_COMPLETION_LIST="
+  --list
+  -m --model
+  -p --pose
+  -l --link
+  -j --joint
+  -h --help
+  --force-version
+  --versions
+"
+
+function _gz_model
+{
+  if [[ ${COMP_WORDS[COMP_CWORD]} == -* ]]; then
+    # Specify options (-*) word list for this subcommand
+    COMPREPLY=($(compgen -W "$GZ_MODEL_COMPLETION_LIST" \
+      -- "${COMP_WORDS[COMP_CWORD]}" ))
+    return
+  else
+    # Just use bash default auto-complete, because we never have two
+    # subcommands in the same line. If that is ever needed, change here to
+    # detect subsequent subcommands
+    COMPREPLY=($(compgen -o default -- "${COMP_WORDS[COMP_CWORD]}"))
+    return
+  fi
+}
+
+function _gz_model_flags
+{
+  for word in $GZ_MODEL_COMPLETION_LIST; do
+    echo "$word"
+  done
+}

src/ign_TEST.cc

@@ -19,7 +19,9 @@
 #include <cstdio>
 #include <cstdlib>
 
+#include <fstream>
 #include <string>
+#include <ignition/common/Filesystem.hh>
 #include <ignition/common/Util.hh>
 #include <ignition/utilities/ExtraTestMacros.hh>
 
@@ -29,6 +31,8 @@ static const std::string kBinPath(PROJECT_BINARY_PATH);
 
 static const std::string kIgnCommand(
     std::string(BREW_RUBY) + std::string(IGN_PATH) + "/ign gazebo -s ");
+static const std::string kIgnModelCommand(
+    std::string(BREW_RUBY) + std::string(IGN_PATH) + "/ign model ");
 
 /////////////////////////////////////////////////
 std::string customExecStr(std::string _cmd)
@@ -161,3 +165,65 @@ TEST(CmdLine, IGN_UTILS_TEST_DISABLED_ON_WIN32(ResourcePath))
   EXPECT_EQ(output.find("Unable to find file plugins.sdf"), std::string::npos)
       << output;
 }
+
+//////////////////////////////////////////////////
+/// \brief Check --help message and bash completion script for consistent flags
+TEST(CmdLine, IGN_UTILS_TEST_DISABLED_ON_WIN32(GazeboHelpVsCompletionFlags))
+{
+  // Flags in help message
+  std::string helpOutput = customExecStr(kIgnCommand + " gazebo --help");
+
+  // Call the output function in the bash completion script
+  std::string scriptPath = ignition::common::joinPaths(
+    std::string(PROJECT_SOURCE_PATH),
+    "src", "cmd", "gazebo.bash_completion.sh");
+
+  // Equivalent to:
+  // sh -c "bash -c \". /path/to/gazebo.bash_completion.sh; _gz_sim_flags\""
+  std::string cmd = "bash -c \". " + scriptPath + "; _gz_sim_flags\"";
+  std::string scriptOutput = customExecStr(cmd);
+
+  // Tokenize script output
+  std::istringstream iss(scriptOutput);
+  std::vector<std::string> flags((std::istream_iterator<std::string>(iss)),
+    std::istream_iterator<std::string>());
+
+  EXPECT_GT(flags.size(), 0u);
+
+  // Match each flag in script output with help message
+  for (const auto &flag : flags)
+  {
+    EXPECT_NE(std::string::npos, helpOutput.find(flag)) << helpOutput;
+  }
+}
+
+//////////////////////////////////////////////////
+/// \brief Check --help message and bash completion script for consistent flags
+TEST(CmdLine, IGN_UTILS_TEST_DISABLED_ON_WIN32(ModelHelpVsCompletionFlags))
+{
+  // Flags in help message
+  std::string helpOutput = customExecStr(kIgnModelCommand + " --help");
+
+  // Call the output function in the bash completion script
+  std::string scriptPath = ignition::common::joinPaths(
+    std::string(PROJECT_SOURCE_PATH),
+    "src", "cmd", "model.bash_completion.sh");
+
+  // Equivalent to:
+  // sh -c "bash -c \". /path/to/model.bash_completion.sh; _gz_model_flags\""
+  std::string cmd = "bash -c \". " + scriptPath + "; _gz_model_flags\"";
+  std::string scriptOutput = customExecStr(cmd);
+
+  // Tokenize script output
+  std::istringstream iss(scriptOutput);
+  std::vector<std::string> flags((std::istream_iterator<std::string>(iss)),
+    std::istream_iterator<std::string>());
+
+  EXPECT_GT(flags.size(), 0u);
+
+  // Match each flag in script output with help message
+  for (const auto &flag : flags)
+  {
+    EXPECT_NE(std::string::npos, helpOutput.find(flag)) << helpOutput;
+  }
+}

test/integration/log_system.cc

@@ -334,8 +334,7 @@ TEST_F(LogSystemTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LogDefaults))
 
   // Test case 1:
   // No path specified on command line. This does not go through
-  // ign.cc, so ignLogDirectory() is not initialized (empty string). Recording
-  // should not take place.
+  // ign.cc, recording should take place in the `.ignition` directory
   {
     // Load SDF
     sdf::Root recordSdfRoot;
@@ -355,8 +354,12 @@ TEST_F(LogSystemTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LogDefaults))
     recordServer.Run(true, 200, false);
   }
 
-  // Check ignLogDirectory is empty
-  EXPECT_TRUE(ignLogDirectory().empty());
+  // We should expect to see "auto_default.log"  and "state.tlog"
+  EXPECT_FALSE(ignLogDirectory().empty());
+  EXPECT_TRUE(common::exists(
+        common::joinPaths(ignLogDirectory(), "auto_default.log")));
+  EXPECT_TRUE(common::exists(
+        common::joinPaths(ignLogDirectory(), "state.tlog")));
 
   // Remove artifacts. Recreate new directory
   this->RemoveLogsDir();