Port: 7 to main #2103
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…usly (#1962) The main reason that the Resource Spawner took a long time to load is that it tried to fetch the list of all available models on Fuel instead of just the selected owner. And it did that while blocking the Qt thread, so the user was unable to interact with the GUI while the model list was being fetched. The approach I've taken is to only fetch the list of models for the default owner ("openrobotics") and allow users to add/remove any owner they want. The fetching is also done in a separate thread so as to not block the GUI. --------- Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
* Include gz/msgs.hh instead of ignition * Install components.hh to gz/sim Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> Signed-off-by: Steve Peters <scpeters@openrobotics.org> Co-authored-by: Steve Peters <scpeters@openrobotics.org>
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
…ts on a topic (#1994) * Working on marker topic Signed-off-by: Nate Koenig <natekoenig@gmail.com> * Fixed build Signed-off-by: Nate Koenig <natekoenig@gmail.com> * Fixed test Signed-off-by: Nate Koenig <natekoenig@gmail.com> * Cleanup Signed-off-by: Nate Koenig <natekoenig@gmail.com> * codecheck Signed-off-by: Nate Koenig <natekoenig@gmail.com> --------- Signed-off-by: Nate Koenig <natekoenig@gmail.com>
Extending the feature for detachable_joint plugin to support re-attaching the joint again. By publishing to a topic, the child link can be easily reattached with a fixed joint to its parent link. Signed-off-by: Liam Han <liam@openrobotics.org> Signed-off-by: Liam Han <liamhan0905@gmail.com> Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org>
Signed-off-by: Ian Chen <ichen@openrobotics.org>
…in a `<world>` (#1998) Signed-off-by: Henrique-BO <henrique.barrosoliveira@usp.br>
Signed-off-by: Crola1702 <cristobal.arroyo@ekumenlabs.com>
…2006) Signed-off-by: Silvio Traversaro <silvio@traversaro.it> * TriggeredPublisher: don't catch FatalException It has been removed from recent versions of protobuf. Signed-off-by: Steve Peters <scpeters@openrobotics.org> Co-authored-by: Steve Peters <scpeters@openrobotics.org>
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
Merge ign-gazebo3 ➡️ ign-gazebo6
…2006) Signed-off-by: Silvio Traversaro <silvio@traversaro.it> * TriggeredPublisher: don't catch FatalException It has been removed from recent versions of protobuf. Signed-off-by: Steve Peters <scpeters@openrobotics.org> Co-authored-by: Steve Peters <scpeters@openrobotics.org>
…fore `Finalize` (#2047) * Adds a warning if the `Server` method of a `TestFixture` is called before `Finalize This commit adds a warning if someone were to call `Server()` before `Finalize`. The rationale for this is because I made the mistake of not calling `Finalize` ina program I was writing. It took me some time to track down the root cause of the problem. I figure if we warn users it should be immediately obvious. Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * switch to gzwarn over ignwarn Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * ignwarn cause citadel :( Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> --------- Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
Signed-off-by: Ian Chen <ichen@openrobotics.org>
#2052) This fixes errors such as ``` Error [Utils.cc:174] Missing element description for [persistent] ``` Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
* Fix Joint Position Controller Behaviour Described in #1997 There are several issues at play. First the target velcity calculation was wrong as described in #1997. Secondly, even if we corrected that there was still incorrect behaviour. This is due to the fact that we use the PID's CmdMax to determine what the maximum velocity for the joint is. However, in the event a user does not set a `<cmd_max>` this defaults to zero and the joint does not move. Finally this PR updates the tests. Previously our tests were only testing the case where the position command was well above the position's maximum velocity, hence it would slide into position. This PR introduces a test where we snap the position of the joint into place instead. Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Address PR feedback with regards to style. Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Just one more thing Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * style Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * More minor style fixes Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * More minor style fixes Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Tracks periodic changes in scene broadcaster (#2010) * Tracks periodic changes in scene broadcaster This commit proposes a change to the scene broadcaster which enables tracking of all components with periodic changes. This way if a component has a periodic change the scene broadcaster does not miss it. For more info see this discussion #2001 (comment) where @azeey proposes this solution. This commit is WIP and I still need to handle entity/component removal and add tests. Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Rework changes * Removes clone made of BaseComponent. Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * More reworks of added APIs to ECM. Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Fix tests Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Add ECM related tests. Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Address spelling issue Co-authored-by: Michael Carroll <mjcarroll@intrinsic.ai> Signed-off-by: Arjo Chakravarty <arjo129@gmail.com> * Get rid of TODO Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> --------- Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> Signed-off-by: Arjo Chakravarty <arjo129@gmail.com> Co-authored-by: Michael Carroll <mjcarroll@intrinsic.ai> * Migrate to new header. Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Update test paths Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Update include/gz/sim/EntityComponentManager.hh Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org> Signed-off-by: Arjo Chakravarty <arjo129@gmail.com> * Rename methods Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * style Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Flipped data structure around Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Fix GCC warning Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> --------- Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> Signed-off-by: Arjo Chakravarty <arjo129@gmail.com> Co-authored-by: Michael Carroll <mjcarroll@intrinsic.ai> Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org>
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
Merge ign-gazebo3 ➡️ ign-gazebo6
Merge ign-gazebo3 ➡️ ign-gazebo6
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
This fixes the error [Err] [Conversions.cc:1791] Tried to convert SDF [world] into [plugin] The error comes from AddSystem passing an sdf::ElementPtr that corresponds to a <world> tag instead of a <plugin> tag when it's optional _sdf element is empty, which occurs mostly in tests when AddSystem is used to add Relay plugin which doesn't have an associated SDFormat file. --------- Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
Adds support for specifying the offset of the force application point through the GUI in the ApplyForceTorque plugin. This offset is also reflected in the visualization of the force vector. Also adds fields for the magnitude of the force and torque vectors on the interface. Changing the components of a vector automatically updates the value of its magnitude, while changing the vector's magnitude automatically scales its components, maintaining its direction. --------- Signed-off-by: Henrique-BO <henrique.barrosoliveira@usp.br>
Signed-off-by: Ian Chen <ichen@openrobotics.org>
This reverts commit 3f80b37.
Signed-off-by: Ian Chen <ichen@openrobotics.org>
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
Merge ign-gazebo6 ➡️ gz-sim7
This PR adds odometry output to the track controller system, publishing position and instantaneous velocity. That way a conveyor with an encoder and/or resolver for respectively position and velocity feedback can be simulated. The default topic is /model/<model name>/link/<link name>/odometry. An alternative can be chosen by specifying the odometry_topic parameter of the plugin in the SDF. The publication frequency is set through parameter odometry_publish_frequency. --------- Signed-off-by: Johan Rutgeerts <johan.rutgeerts@lancewood.eu>
azeey
reviewed
Aug 31, 2023
src/Server.cc
Outdated
| @@ -160,6 +160,14 @@ Server::Server(const ServerConfig &_config) | |||
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| if (this->dataPtr->sdfRoot.WorldCount() == 0) | |||
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Ah, this shouldn't have made it in gz-sim7 since it's now possible to load a model file.
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I will go ahead and add a PR to fix that so we don't lose it
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I cherry-picked it in here and squashed it down into the merge commit.
Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai>
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azeey
approved these changes
Aug 31, 2023
Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai>
iche033
approved these changes
Aug 31, 2023
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➡️ Forward port
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gz-sim7tomainBranch comparison: main...gz-sim7
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