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Merge sdf13 into main
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
2 parents 3501e02 + 1e5be74 commit 28dcb8c

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‎CMakeLists.txt

+24-15
Original file line numberDiff line numberDiff line change
@@ -22,14 +22,19 @@ find_package(gz-cmake3 REQUIRED)
2222
set(GZ_CMAKE_VER ${gz-cmake3_VERSION_MAJOR})
2323

2424
########################################
25+
option(SKIP_PYBIND11
26+
"Skip generating Python bindings via pybind11"
27+
OFF)
28+
2529
# Python interfaces vars
26-
option(USE_SYSTEM_PATHS_FOR_PYTHON_INSTALLATION
30+
include(CMakeDependentOption)
31+
cmake_dependent_option(USE_SYSTEM_PATHS_FOR_PYTHON_INSTALLATION
2732
"Install python modules in standard system paths in the system"
28-
OFF)
33+
OFF "NOT SKIP_PYBIND11" OFF)
2934

30-
option(USE_DIST_PACKAGES_FOR_PYTHON
35+
cmake_dependent_option(USE_DIST_PACKAGES_FOR_PYTHON
3136
"Use dist-packages instead of site-package to install python modules"
32-
OFF)
37+
OFF "NOT SKIP_PYBIND11" OFF)
3338

3439
set(CMAKE_CXX_STANDARD 17)
3540
set(CMAKE_CXX_STANDARD_REQUIRED ON)
@@ -38,7 +43,7 @@ if (BUILD_SDF)
3843
gz_configure_project(
3944
NO_PROJECT_PREFIX
4045
REPLACE_INCLUDE_PATH sdf
41-
VERSION_SUFFIX pre1)
46+
VERSION_SUFFIX)
4247

4348
#################################################
4449
# Find tinyxml2.
@@ -133,16 +138,20 @@ if (BUILD_SDF)
133138
else()
134139
message (STATUS "Searching for Python - found version ${Python3_VERSION}.")
135140

136-
set(PYBIND11_PYTHON_VERSION 3)
137-
find_package(pybind11 2.4 QUIET)
141+
if (SKIP_PYBIND11)
142+
message(STATUS "SKIP_PYBIND11 set - disabling python bindings")
143+
else()
144+
set(PYBIND11_PYTHON_VERSION 3)
145+
find_package(pybind11 2.4 QUIET)
138146

139-
if (${pybind11_FOUND})
140-
find_package(Python3 ${GZ_PYTHON_VERSION} REQUIRED COMPONENTS Development)
141-
message (STATUS "Searching for pybind11 - found version ${pybind11_VERSION}.")
142-
else()
143-
GZ_BUILD_WARNING("pybind11 is missing: Python interfaces are disabled.")
144-
message (STATUS "Searching for pybind11 - not found.")
145-
endif()
147+
if (${pybind11_FOUND})
148+
find_package(Python3 ${GZ_PYTHON_VERSION} REQUIRED COMPONENTS Development)
149+
message (STATUS "Searching for pybind11 - found version ${pybind11_VERSION}.")
150+
else()
151+
GZ_BUILD_WARNING("pybind11 is missing: Python interfaces are disabled.")
152+
message (STATUS "Searching for pybind11 - not found.")
153+
endif()
154+
endif()
146155
endif()
147156

148157
gz_configure_build(HIDE_SYMBOLS_BY_DEFAULT QUIT_IF_BUILD_ERRORS)
@@ -152,7 +161,7 @@ if (BUILD_SDF)
152161
add_subdirectory(sdf)
153162
add_subdirectory(conf)
154163
add_subdirectory(doc)
155-
if (${pybind11_FOUND})
164+
if (pybind11_FOUND AND NOT SKIP_PYBIND11)
156165
add_subdirectory(python)
157166
endif()
158167
endif(BUILD_SDF)

‎Changelog.md

+261-2
Original file line numberDiff line numberDiff line change
@@ -4,11 +4,245 @@
44

55
## libsdformat 13.X
66

7-
### libsdformat 13.0.0 (202X-XX-XX)
7+
### libsdformat 13.0.1 (2022-09-27)
8+
9+
1. Fix arm tests
10+
* [Pull request #1173](https://github.com/gazebosim/sdformat/pull/1173)
11+
12+
### libsdformat 13.0.0 (2022-09-23)
13+
14+
1. Add camera `optical_frame_id` element
15+
* [Pull request #1109](https://github.com/gazebosim/sdformat/pull/1109)
16+
17+
1. sdf/1.10: remove unused spec files
18+
* [Pull request #1113](https://github.com/gazebosim/sdformat/pull/1113)
19+
20+
1. 1.10/joint.sdf: better default limit values
21+
* [Pull request #1112](https://github.com/gazebosim/sdformat/pull/1112)
22+
23+
1. Remove unused macros from config.hh
24+
* [Pull request #1108](https://github.com/gazebosim/sdformat/pull/1108)
25+
26+
1. Make //plugin/@name optional
27+
* [Pull request #1101](https://github.com/gazebosim/sdformat/pull/1101)
28+
29+
1. Add Error enums and update Migration guide
30+
* [Pull request #1099](https://github.com/gazebosim/sdformat/pull/1099)
31+
32+
1. Warn by default on unrecognized elements
33+
* [Pull request #1096](https://github.com/gazebosim/sdformat/pull/1096)
34+
35+
1. InterfaceElements: remove deprecated data members
36+
* [Pull request #1097](https://github.com/gazebosim/sdformat/pull/1097)
37+
38+
1. Add fluid added mass to inertial
39+
* [Pull request #1077](https://github.com/gazebosim/sdformat/pull/1077)
40+
41+
1. Change Root to non-unique impl pointer
42+
* [Pull request #844](https://github.com/gazebosim/sdformat/pull/844)
43+
44+
1. Add python interfaces
45+
* [Pull request #932](https://github.com/gazebosim/sdformat/pull/932)
46+
* [Pull request #933](https://github.com/gazebosim/sdformat/pull/933)
47+
* [Pull request #934](https://github.com/gazebosim/sdformat/pull/934)
48+
* [Pull request #937](https://github.com/gazebosim/sdformat/pull/937)
49+
* [Pull request #938](https://github.com/gazebosim/sdformat/pull/938)
50+
* [Pull request #940](https://github.com/gazebosim/sdformat/pull/940)
51+
* [Pull request #941](https://github.com/gazebosim/sdformat/pull/941)
52+
* [Pull request #942](https://github.com/gazebosim/sdformat/pull/942)
53+
* [Pull request #944](https://github.com/gazebosim/sdformat/pull/944)
54+
* [Pull request #945](https://github.com/gazebosim/sdformat/pull/945)
55+
* [Pull request #946](https://github.com/gazebosim/sdformat/pull/946)
56+
* [Pull request #947](https://github.com/gazebosim/sdformat/pull/947)
57+
* [Pull request #948](https://github.com/gazebosim/sdformat/pull/948)
58+
* [Pull request #949](https://github.com/gazebosim/sdformat/pull/949)
59+
* [Pull request #950](https://github.com/gazebosim/sdformat/pull/950)
60+
* [Pull request #951](https://github.com/gazebosim/sdformat/pull/951)
61+
* [Pull request #952](https://github.com/gazebosim/sdformat/pull/952)
62+
* [Pull request #953](https://github.com/gazebosim/sdformat/pull/953)
63+
* [Pull request #957](https://github.com/gazebosim/sdformat/pull/957)
64+
* [Pull request #960](https://github.com/gazebosim/sdformat/pull/960)
65+
* [Pull request #961](https://github.com/gazebosim/sdformat/pull/961)
66+
* [Pull request #962](https://github.com/gazebosim/sdformat/pull/962)
67+
* [Pull request #963](https://github.com/gazebosim/sdformat/pull/963)
68+
* [Pull request #964](https://github.com/gazebosim/sdformat/pull/964)
69+
* [Pull request #967](https://github.com/gazebosim/sdformat/pull/967)
70+
* [Pull request #968](https://github.com/gazebosim/sdformat/pull/968)
71+
* [Pull request #969](https://github.com/gazebosim/sdformat/pull/969)
72+
* [Pull request #970](https://github.com/gazebosim/sdformat/pull/970)
73+
* [Pull request #971](https://github.com/gazebosim/sdformat/pull/971)
74+
* [Pull request #972](https://github.com/gazebosim/sdformat/pull/972)
75+
* [Pull request #973](https://github.com/gazebosim/sdformat/pull/973)
76+
* [Pull request #981](https://github.com/gazebosim/sdformat/pull/981)
77+
* [Pull request #982](https://github.com/gazebosim/sdformat/pull/982)
78+
* [Pull request #983](https://github.com/gazebosim/sdformat/pull/983)
79+
* [Pull request #984](https://github.com/gazebosim/sdformat/pull/984)
80+
* [Pull request #988](https://github.com/gazebosim/sdformat/pull/988)
81+
* [Pull request #989](https://github.com/gazebosim/sdformat/pull/989)
82+
* [Pull request #992](https://github.com/gazebosim/sdformat/pull/992)
83+
* [Pull request #993](https://github.com/gazebosim/sdformat/pull/993)
84+
* [Pull request #994](https://github.com/gazebosim/sdformat/pull/994)
85+
* [Pull request #995](https://github.com/gazebosim/sdformat/pull/995)
86+
* [Pull request #996](https://github.com/gazebosim/sdformat/pull/996)
87+
* [Pull request #997](https://github.com/gazebosim/sdformat/pull/997)
88+
* [Pull request #998](https://github.com/gazebosim/sdformat/pull/998)
89+
* [Pull request #999](https://github.com/gazebosim/sdformat/pull/999)
90+
* [Pull request #1001](https://github.com/gazebosim/sdformat/pull/1001)
91+
* [Pull request #1020](https://github.com/gazebosim/sdformat/pull/1020)
92+
* [Pull request #1028](https://github.com/gazebosim/sdformat/pull/1028)
93+
* [Pull request #1029](https://github.com/gazebosim/sdformat/pull/1029)
94+
* [Pull request #1036](https://github.com/gazebosim/sdformat/pull/1036)
95+
* [Pull request #1060](https://github.com/gazebosim/sdformat/pull/1060)
96+
* [Pull request #1061](https://github.com/gazebosim/sdformat/pull/1061)
97+
* [Pull request #1063](https://github.com/gazebosim/sdformat/pull/1063)
98+
* [Pull request #1078](https://github.com/gazebosim/sdformat/pull/1078)
99+
* [Pull request #1083](https://github.com/gazebosim/sdformat/pull/1083)
100+
* [Pull request #1084](https://github.com/gazebosim/sdformat/pull/1084)
101+
* [Pull request #1085](https://github.com/gazebosim/sdformat/pull/1085)
102+
* [Pull request #1106](https://github.com/gazebosim/sdformat/pull/1106)
103+
* [Pull request #1127](https://github.com/gazebosim/sdformat/pull/1127)
104+
* [Pull request #1143](https://github.com/gazebosim/sdformat/pull/1143)
105+
106+
1. Copy skybox uri field to sdf/1.10/scene.sdf
107+
* [Pull request #1082](https://github.com/gazebosim/sdformat/pull/1082)
108+
109+
1. Accept moon and custom surfaces in world spherical coordinates
110+
* [Pull request #1050](https://github.com/gazebosim/sdformat/pull/1050)
111+
112+
1. Migrate ign -> gz
113+
* [Pull request #1008](https://github.com/gazebosim/sdformat/pull/1008)
114+
* [Pull request #1022](https://github.com/gazebosim/sdformat/pull/1022)
115+
* [Pull request #1040](https://github.com/gazebosim/sdformat/pull/1040)
116+
* [Pull request #1045](https://github.com/gazebosim/sdformat/pull/1045)
117+
* [Pull request #1047](https://github.com/gazebosim/sdformat/pull/1047)
118+
* [Pull request #1048](https://github.com/gazebosim/sdformat/pull/1048)
119+
* [Pull request #1052](https://github.com/gazebosim/sdformat/pull/1052)
120+
* [Pull request #1057](https://github.com/gazebosim/sdformat/pull/1057)
121+
* [Pull request #1058](https://github.com/gazebosim/sdformat/pull/1058)
122+
* [Pull request #1067](https://github.com/gazebosim/sdformat/pull/1067)
123+
* [Pull request #1074](https://github.com/gazebosim/sdformat/pull/1074)
124+
* [Pull request #1078](https://github.com/gazebosim/sdformat/pull/1078)
125+
* [Pull request #1092](https://github.com/gazebosim/sdformat/pull/1092)
126+
127+
1. Copy 1.9 spec to 1.10
128+
* [Pull request #1073](https://github.com/gazebosim/sdformat/pull/1073)
129+
* [Pull request #1076](https://github.com/gazebosim/sdformat/pull/1076)
130+
131+
1. Root: get the world name
132+
* [Pull request #1027](https://github.com/gazebosim/sdformat/pull/1027)
133+
134+
1. Add SDF::SetRoot and deprecate non-const SDF::Root
135+
* [Pull request #1070](https://github.com/gazebosim/sdformat/pull/1070)
136+
137+
1. Update GoogleTest to latest version
138+
* [Pull request #1059](https://github.com/gazebosim/sdformat/pull/1059)
139+
* [Pull request #1072](https://github.com/gazebosim/sdformat/pull/1072)
140+
141+
1. Update return types for Plugin's Name and Filename
142+
* [Pull request #1055](https://github.com/gazebosim/sdformat/pull/1055)
143+
144+
1. Surface::ToElement: add //friction/ode/mu
145+
* [Pull request #1049](https://github.com/gazebosim/sdformat/pull/1049)
146+
147+
1. Joint: rename parent/child `*LinkName` APIs
148+
* [Pull request #1053](https://github.com/gazebosim/sdformat/pull/1053)
149+
* [Pull request #1103](https://github.com/gazebosim/sdformat/pull/1103)
150+
151+
1. Deprecate sdf::Inertia class
152+
* [Pull request #1019](https://github.com/gazebosim/sdformat/pull/1019)
153+
154+
1. Don't include the gz/math.hh header from library code
155+
* [Pull request #1043](https://github.com/gazebosim/sdformat/pull/1043)
156+
157+
1. Use pose multiplication instead of subtraction
158+
* [Pull request #1039](https://github.com/gazebosim/sdformat/pull/1039)
159+
160+
1. Remove deprecation warnings
161+
* [Pull request #1014](https://github.com/gazebosim/sdformat/pull/1014)
162+
163+
1. Added light methods to Link, Root and World
164+
* [Pull request #1013](https://github.com/gazebosim/sdformat/pull/1013)
165+
166+
1. Add sdf::Error logging in sdf::Param
167+
* [Pull request #939](https://github.com/gazebosim/sdformat/pull/939)
168+
169+
1. Changes for replacing PythonInterp with Python3
170+
* [Pull request #907](https://github.com/gazebosim/sdformat/pull/907)
171+
172+
1. Combine find_package(ignition-utils) calls
173+
* [Pull request #966](https://github.com/gazebosim/sdformat/pull/966)
174+
175+
1. Change default floating point precision to max
176+
* [Pull request #872](https://github.com/gazebosim/sdformat/pull/872)
177+
178+
1. Clean up compiler warnings
179+
* [Pull request #882](https://github.com/gazebosim/sdformat/pull/882)
180+
181+
1. Switch to utils version of env functions
182+
* [Pull request #854](https://github.com/gazebosim/sdformat/pull/854)
183+
184+
1. Updated tests for ign-math's ostream fix
185+
* [Pull request #847](https://github.com/gazebosim/sdformat/pull/847)
8186

187+
1. Infrastructure
188+
* [Pull request #803](https://github.com/gazebosim/sdformat/pull/803)
189+
* [Pull request #805](https://github.com/gazebosim/sdformat/pull/805)
190+
* [Pull request #878](https://github.com/gazebosim/sdformat/pull/878)
191+
* [Pull request #980](https://github.com/gazebosim/sdformat/pull/980)
192+
* [Pull request #974](https://github.com/gazebosim/sdformat/pull/974)
193+
194+
1. Remove completely unused define
195+
* [Pull request #758](https://github.com/gazebosim/sdformat/pull/758)
9196

10197
## libsdformat 12.X
11198

199+
### libsdformat 12.6.0 (2022-09-07)
200+
201+
1. Reduce the number of include dirs for sdformat.
202+
* [Pull request #1170](https://github.com/gazebosim/sdformat/pull/1170)
203+
204+
1. Add camera `optical_frame_id` element
205+
* [Pull request #1109](https://github.com/gazebosim/sdformat/pull/1109)
206+
207+
1. urdf: fix sensor/light pose for links lumped by fixed joints
208+
* [Pull request #1114](https://github.com/gazebosim/sdformat/pull/1114)
209+
210+
1. Removed USD component from SDFormat and move to gz-usd
211+
* [Pull request #1094](https://github.com/gazebosim/sdformat/pull/1094)
212+
213+
1. Fix URDF fixed joint reduction of SDF joints
214+
* [Pull request #1089](https://github.com/gazebosim/sdformat/pull/1089)
215+
216+
1. Test model name as `placement_frame`
217+
* [Pull request #1079](https://github.com/gazebosim/sdformat/pull/1079)
218+
219+
1. Test using `__model__`, `world` in `@attached_to`, `@relative_to`
220+
* [Pull request #1066](https://github.com/gazebosim/sdformat/pull/1066)
221+
222+
1. Remove unused sdf.hh.in template
223+
* [Pull request #1081](https://github.com/gazebosim/sdformat/pull/1081)
224+
225+
1. Readme: Ignition -> Gazebo
226+
* [Pull request #1080](https://github.com/gazebosim/sdformat/pull/1080)
227+
228+
1. Document major and minor SDFormat version numbers
229+
* [Pull request #1065](https://github.com/gazebosim/sdformat/pull/1065)
230+
231+
1. Add skybox URI
232+
* [Pull request #1037](https://github.com/gazebosim/sdformat/pull/1037)
233+
234+
1. Bash completion for flags
235+
* [Pull request #1042](https://github.com/gazebosim/sdformat/pull/1042)
236+
237+
1. Fix bug with resolving poses for joint sensors.
238+
* [Pull request #1033](https://github.com/gazebosim/sdformat/pull/1033)
239+
240+
1. sdf::Joint: Mutable versions of SensorByName and SensorByIndex
241+
* [Pull request #1031](https://github.com/gazebosim/sdformat/pull/1031)
242+
243+
1. Add Link::ResolveInertial API
244+
* [Pull request #1012](https://github.com/gazebosim/sdformat/pull/1012)
245+
12246
### libsdformat 12.5.0 (2022-05-12)
13247

14248
1. Add visibility mask to Lidar / Ray sensor
@@ -1020,7 +1254,32 @@
10201254

10211255
## libsdformat 9.X
10221256

1023-
### libsdformat 9.X.X (202X-XX-XX)
1257+
### libsdformat 9.9.0 (2022-09-07)
1258+
1259+
1. sdf/camera.sdf: fields for projection matrix
1260+
* [Pull request #1088](https://github.com/gazebosim/sdformat/pull/1088)
1261+
1262+
1. urdf: fix sensor/light pose for links lumped by fixed joints
1263+
* [Pull request #1114](https://github.com/gazebosim/sdformat/pull/1114)
1264+
1265+
1. Ensure relocatable config files
1266+
* [Pull request #419](https://github.com/gazebosim/sdformat/pull/419)
1267+
* [Pull request #1093](https://github.com/gazebosim/sdformat/pull/1093)
1268+
1269+
1. Test using `__model__`, `world` in @attached_to, @relative_to
1270+
* [Pull request #1066](https://github.com/gazebosim/sdformat/pull/1066)
1271+
1272+
1. Readme: Ignition -> Gazebo
1273+
* [Pull request #1080](https://github.com/gazebosim/sdformat/pull/1080)
1274+
1275+
1. Document major and minor SDFormat version numbers
1276+
* [Pull request #1065](https://github.com/gazebosim/sdformat/pull/1065)
1277+
1278+
1. Bash completion for flags
1279+
* [Pull request #1042](https://github.com/gazebosim/sdformat/pull/1042)
1280+
1281+
1. Add Link::ResolveInertial API
1282+
* [Pull request #1012](https://github.com/gazebosim/sdformat/pull/1012)
10241283

10251284
### libsdformat 9.8.0 (2022-04-26)
10261285

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