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Merge sdf13 to main
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13 ➡️ main
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@azeey
azeey authored Oct 13, 2022
2 parents 3501e02 + 5ada88a commit 94cdc7d
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41 changes: 25 additions & 16 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -22,14 +22,19 @@ find_package(gz-cmake3 REQUIRED)
set(GZ_CMAKE_VER ${gz-cmake3_VERSION_MAJOR})

########################################
option(SKIP_PYBIND11
"Skip generating Python bindings via pybind11"
OFF)

# Python interfaces vars
option(USE_SYSTEM_PATHS_FOR_PYTHON_INSTALLATION
include(CMakeDependentOption)
cmake_dependent_option(USE_SYSTEM_PATHS_FOR_PYTHON_INSTALLATION
"Install python modules in standard system paths in the system"
OFF)
OFF "NOT SKIP_PYBIND11" OFF)

option(USE_DIST_PACKAGES_FOR_PYTHON
cmake_dependent_option(USE_DIST_PACKAGES_FOR_PYTHON
"Use dist-packages instead of site-package to install python modules"
OFF)
OFF "NOT SKIP_PYBIND11" OFF)

set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
Expand All @@ -38,7 +43,7 @@ if (BUILD_SDF)
gz_configure_project(
NO_PROJECT_PREFIX
REPLACE_INCLUDE_PATH sdf
VERSION_SUFFIX pre1)
VERSION_SUFFIX)

#################################################
# Find tinyxml2.
Expand Down Expand Up @@ -133,16 +138,20 @@ if (BUILD_SDF)
else()
message (STATUS "Searching for Python - found version ${Python3_VERSION}.")

set(PYBIND11_PYTHON_VERSION 3)
find_package(pybind11 2.4 QUIET)
if (SKIP_PYBIND11)
message(STATUS "SKIP_PYBIND11 set - disabling python bindings")
else()
set(PYBIND11_PYTHON_VERSION 3)
find_package(pybind11 2.4 QUIET)

if (${pybind11_FOUND})
find_package(Python3 ${GZ_PYTHON_VERSION} REQUIRED COMPONENTS Development)
message (STATUS "Searching for pybind11 - found version ${pybind11_VERSION}.")
else()
GZ_BUILD_WARNING("pybind11 is missing: Python interfaces are disabled.")
message (STATUS "Searching for pybind11 - not found.")
endif()
if (${pybind11_FOUND})
find_package(Python3 ${GZ_PYTHON_VERSION} REQUIRED COMPONENTS Development)
message (STATUS "Searching for pybind11 - found version ${pybind11_VERSION}.")
else()
GZ_BUILD_WARNING("pybind11 is missing: Python interfaces are disabled.")
message (STATUS "Searching for pybind11 - not found.")
endif()
endif()
endif()

gz_configure_build(HIDE_SYMBOLS_BY_DEFAULT QUIT_IF_BUILD_ERRORS)
Expand All @@ -152,8 +161,8 @@ if (BUILD_SDF)
add_subdirectory(sdf)
add_subdirectory(conf)
add_subdirectory(doc)
if (${pybind11_FOUND})
add_subdirectory(python)
if (pybind11_FOUND AND NOT SKIP_PYBIND11)
add_subdirectory(python)
endif()
endif(BUILD_SDF)

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307 changes: 305 additions & 2 deletions Changelog.md
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Original file line number Diff line number Diff line change
Expand Up @@ -4,11 +4,289 @@

## libsdformat 13.X

### libsdformat 13.0.0 (202X-XX-XX)
### libsdformat 13.1.0 (2022-10-12)

1. Add test helper python package for encapsulating versioned python packages
* [Pull request #1180](https://github.com/gazebosim/sdformat/pull/1180)

1. Add a configuration option to resolve URIs
* [Pull request #1147](https://github.com/gazebosim/sdformat/pull/1147)

1. World: sdfwarns to sdf::Errors when warnings policy set to sdf::EnforcementPolicy::ERR
* [Pull request #1131](https://github.com/gazebosim/sdformat/pull/1131)

1. PrintConfig: add sdf::Errors output to API methods
* [Pull request #1098](https://github.com/gazebosim/sdformat/pull/1098)

1. Element: add sdf::Errors output to API methods
* [Pull request #1095](https://github.com/gazebosim/sdformat/pull/1095)

1. python: Import gz.math at startup to fix #1129
* [Pull request #1130](https://github.com/gazebosim/sdformat/pull/#1130)
* [Issue 1129](https://github.com/osrf/sdformat/issues/1129)

1. parser_urdf: add //frame for reduced links/joints
* [Pull request #1148](https://github.com/gazebosim/sdformat/pull/1148)
* [Pull request #1182](https://github.com/gazebosim/sdformat/pull/1182)

1. Param::Set: fix truncation of floating-point values
* [Pull request #1137](https://github.com/gazebosim/sdformat/pull/1137)

1. Reduce the number of include dirs for sdformat
* [Pull request #1170](https://github.com/gazebosim/sdformat/pull/1170)

1. urdf: fix test and clean up internals
* [Pull request #1126](https://github.com/gazebosim/sdformat/pull/1126)

1. sdf/camera.sdf: fields for projection matrix
* [Pull request #1088](https://github.com/gazebosim/sdformat/pull/1088)
* [Pull request #1133](https://github.com/gazebosim/sdformat/pull/1133)
* [Pull request #1177](https://github.com/gazebosim/sdformat/pull/1177)

1. Add camera optical_frame_id element
* [Pull request #1109](https://github.com/gazebosim/sdformat/pull/1109)
* [Pull request #1133](https://github.com/gazebosim/sdformat/pull/1133)
* [Pull request #1177](https://github.com/gazebosim/sdformat/pull/1177)

### libsdformat 13.0.1 (2022-09-27)

1. Fix arm tests
* [Pull request #1173](https://github.com/gazebosim/sdformat/pull/1173)

### libsdformat 13.0.0 (2022-09-23)

1. Add camera `optical_frame_id` element
* [Pull request #1109](https://github.com/gazebosim/sdformat/pull/1109)

1. sdf/1.10: remove unused spec files
* [Pull request #1113](https://github.com/gazebosim/sdformat/pull/1113)

1. 1.10/joint.sdf: better default limit values
* [Pull request #1112](https://github.com/gazebosim/sdformat/pull/1112)

1. Remove unused macros from config.hh
* [Pull request #1108](https://github.com/gazebosim/sdformat/pull/1108)

1. Make //plugin/@name optional
* [Pull request #1101](https://github.com/gazebosim/sdformat/pull/1101)

1. Add Error enums and update Migration guide
* [Pull request #1099](https://github.com/gazebosim/sdformat/pull/1099)

1. Warn by default on unrecognized elements
* [Pull request #1096](https://github.com/gazebosim/sdformat/pull/1096)

1. InterfaceElements: remove deprecated data members
* [Pull request #1097](https://github.com/gazebosim/sdformat/pull/1097)

1. Add fluid added mass to inertial
* [Pull request #1077](https://github.com/gazebosim/sdformat/pull/1077)

1. Change Root to non-unique impl pointer
* [Pull request #844](https://github.com/gazebosim/sdformat/pull/844)

1. Add python interfaces
* [Pull request #932](https://github.com/gazebosim/sdformat/pull/932)
* [Pull request #933](https://github.com/gazebosim/sdformat/pull/933)
* [Pull request #934](https://github.com/gazebosim/sdformat/pull/934)
* [Pull request #937](https://github.com/gazebosim/sdformat/pull/937)
* [Pull request #938](https://github.com/gazebosim/sdformat/pull/938)
* [Pull request #940](https://github.com/gazebosim/sdformat/pull/940)
* [Pull request #941](https://github.com/gazebosim/sdformat/pull/941)
* [Pull request #942](https://github.com/gazebosim/sdformat/pull/942)
* [Pull request #944](https://github.com/gazebosim/sdformat/pull/944)
* [Pull request #945](https://github.com/gazebosim/sdformat/pull/945)
* [Pull request #946](https://github.com/gazebosim/sdformat/pull/946)
* [Pull request #947](https://github.com/gazebosim/sdformat/pull/947)
* [Pull request #948](https://github.com/gazebosim/sdformat/pull/948)
* [Pull request #949](https://github.com/gazebosim/sdformat/pull/949)
* [Pull request #950](https://github.com/gazebosim/sdformat/pull/950)
* [Pull request #951](https://github.com/gazebosim/sdformat/pull/951)
* [Pull request #952](https://github.com/gazebosim/sdformat/pull/952)
* [Pull request #953](https://github.com/gazebosim/sdformat/pull/953)
* [Pull request #957](https://github.com/gazebosim/sdformat/pull/957)
* [Pull request #960](https://github.com/gazebosim/sdformat/pull/960)
* [Pull request #961](https://github.com/gazebosim/sdformat/pull/961)
* [Pull request #962](https://github.com/gazebosim/sdformat/pull/962)
* [Pull request #963](https://github.com/gazebosim/sdformat/pull/963)
* [Pull request #964](https://github.com/gazebosim/sdformat/pull/964)
* [Pull request #967](https://github.com/gazebosim/sdformat/pull/967)
* [Pull request #968](https://github.com/gazebosim/sdformat/pull/968)
* [Pull request #969](https://github.com/gazebosim/sdformat/pull/969)
* [Pull request #970](https://github.com/gazebosim/sdformat/pull/970)
* [Pull request #971](https://github.com/gazebosim/sdformat/pull/971)
* [Pull request #972](https://github.com/gazebosim/sdformat/pull/972)
* [Pull request #973](https://github.com/gazebosim/sdformat/pull/973)
* [Pull request #981](https://github.com/gazebosim/sdformat/pull/981)
* [Pull request #982](https://github.com/gazebosim/sdformat/pull/982)
* [Pull request #983](https://github.com/gazebosim/sdformat/pull/983)
* [Pull request #984](https://github.com/gazebosim/sdformat/pull/984)
* [Pull request #988](https://github.com/gazebosim/sdformat/pull/988)
* [Pull request #989](https://github.com/gazebosim/sdformat/pull/989)
* [Pull request #992](https://github.com/gazebosim/sdformat/pull/992)
* [Pull request #993](https://github.com/gazebosim/sdformat/pull/993)
* [Pull request #994](https://github.com/gazebosim/sdformat/pull/994)
* [Pull request #995](https://github.com/gazebosim/sdformat/pull/995)
* [Pull request #996](https://github.com/gazebosim/sdformat/pull/996)
* [Pull request #997](https://github.com/gazebosim/sdformat/pull/997)
* [Pull request #998](https://github.com/gazebosim/sdformat/pull/998)
* [Pull request #999](https://github.com/gazebosim/sdformat/pull/999)
* [Pull request #1001](https://github.com/gazebosim/sdformat/pull/1001)
* [Pull request #1020](https://github.com/gazebosim/sdformat/pull/1020)
* [Pull request #1028](https://github.com/gazebosim/sdformat/pull/1028)
* [Pull request #1029](https://github.com/gazebosim/sdformat/pull/1029)
* [Pull request #1036](https://github.com/gazebosim/sdformat/pull/1036)
* [Pull request #1060](https://github.com/gazebosim/sdformat/pull/1060)
* [Pull request #1061](https://github.com/gazebosim/sdformat/pull/1061)
* [Pull request #1063](https://github.com/gazebosim/sdformat/pull/1063)
* [Pull request #1078](https://github.com/gazebosim/sdformat/pull/1078)
* [Pull request #1083](https://github.com/gazebosim/sdformat/pull/1083)
* [Pull request #1084](https://github.com/gazebosim/sdformat/pull/1084)
* [Pull request #1085](https://github.com/gazebosim/sdformat/pull/1085)
* [Pull request #1106](https://github.com/gazebosim/sdformat/pull/1106)
* [Pull request #1127](https://github.com/gazebosim/sdformat/pull/1127)
* [Pull request #1143](https://github.com/gazebosim/sdformat/pull/1143)

1. Copy skybox uri field to sdf/1.10/scene.sdf
* [Pull request #1082](https://github.com/gazebosim/sdformat/pull/1082)

1. Accept moon and custom surfaces in world spherical coordinates
* [Pull request #1050](https://github.com/gazebosim/sdformat/pull/1050)

1. Migrate ign -> gz
* [Pull request #1008](https://github.com/gazebosim/sdformat/pull/1008)
* [Pull request #1022](https://github.com/gazebosim/sdformat/pull/1022)
* [Pull request #1040](https://github.com/gazebosim/sdformat/pull/1040)
* [Pull request #1045](https://github.com/gazebosim/sdformat/pull/1045)
* [Pull request #1047](https://github.com/gazebosim/sdformat/pull/1047)
* [Pull request #1048](https://github.com/gazebosim/sdformat/pull/1048)
* [Pull request #1052](https://github.com/gazebosim/sdformat/pull/1052)
* [Pull request #1057](https://github.com/gazebosim/sdformat/pull/1057)
* [Pull request #1058](https://github.com/gazebosim/sdformat/pull/1058)
* [Pull request #1067](https://github.com/gazebosim/sdformat/pull/1067)
* [Pull request #1074](https://github.com/gazebosim/sdformat/pull/1074)
* [Pull request #1078](https://github.com/gazebosim/sdformat/pull/1078)
* [Pull request #1092](https://github.com/gazebosim/sdformat/pull/1092)

1. Copy 1.9 spec to 1.10
* [Pull request #1073](https://github.com/gazebosim/sdformat/pull/1073)
* [Pull request #1076](https://github.com/gazebosim/sdformat/pull/1076)

1. Root: get the world name
* [Pull request #1027](https://github.com/gazebosim/sdformat/pull/1027)

1. Add SDF::SetRoot and deprecate non-const SDF::Root
* [Pull request #1070](https://github.com/gazebosim/sdformat/pull/1070)

1. Update GoogleTest to latest version
* [Pull request #1059](https://github.com/gazebosim/sdformat/pull/1059)
* [Pull request #1072](https://github.com/gazebosim/sdformat/pull/1072)

1. Update return types for Plugin's Name and Filename
* [Pull request #1055](https://github.com/gazebosim/sdformat/pull/1055)

1. Surface::ToElement: add //friction/ode/mu
* [Pull request #1049](https://github.com/gazebosim/sdformat/pull/1049)

1. Joint: rename parent/child `*LinkName` APIs
* [Pull request #1053](https://github.com/gazebosim/sdformat/pull/1053)
* [Pull request #1103](https://github.com/gazebosim/sdformat/pull/1103)

1. Deprecate sdf::Inertia class
* [Pull request #1019](https://github.com/gazebosim/sdformat/pull/1019)

1. Don't include the gz/math.hh header from library code
* [Pull request #1043](https://github.com/gazebosim/sdformat/pull/1043)

1. Use pose multiplication instead of subtraction
* [Pull request #1039](https://github.com/gazebosim/sdformat/pull/1039)

1. Remove deprecation warnings
* [Pull request #1014](https://github.com/gazebosim/sdformat/pull/1014)

1. Added light methods to Link, Root and World
* [Pull request #1013](https://github.com/gazebosim/sdformat/pull/1013)

1. Add sdf::Error logging in sdf::Param
* [Pull request #939](https://github.com/gazebosim/sdformat/pull/939)

1. Changes for replacing PythonInterp with Python3
* [Pull request #907](https://github.com/gazebosim/sdformat/pull/907)

1. Combine find_package(ignition-utils) calls
* [Pull request #966](https://github.com/gazebosim/sdformat/pull/966)

1. Change default floating point precision to max
* [Pull request #872](https://github.com/gazebosim/sdformat/pull/872)

1. Clean up compiler warnings
* [Pull request #882](https://github.com/gazebosim/sdformat/pull/882)

1. Switch to utils version of env functions
* [Pull request #854](https://github.com/gazebosim/sdformat/pull/854)

1. Updated tests for ign-math's ostream fix
* [Pull request #847](https://github.com/gazebosim/sdformat/pull/847)

1. Infrastructure
* [Pull request #803](https://github.com/gazebosim/sdformat/pull/803)
* [Pull request #805](https://github.com/gazebosim/sdformat/pull/805)
* [Pull request #878](https://github.com/gazebosim/sdformat/pull/878)
* [Pull request #980](https://github.com/gazebosim/sdformat/pull/980)
* [Pull request #974](https://github.com/gazebosim/sdformat/pull/974)

1. Remove completely unused define
* [Pull request #758](https://github.com/gazebosim/sdformat/pull/758)

## libsdformat 12.X

### libsdformat 12.6.0 (2022-09-07)

1. Reduce the number of include dirs for sdformat.
* [Pull request #1170](https://github.com/gazebosim/sdformat/pull/1170)

1. Add camera `optical_frame_id` element
* [Pull request #1109](https://github.com/gazebosim/sdformat/pull/1109)

1. urdf: fix sensor/light pose for links lumped by fixed joints
* [Pull request #1114](https://github.com/gazebosim/sdformat/pull/1114)

1. Removed USD component from SDFormat and move to gz-usd
* [Pull request #1094](https://github.com/gazebosim/sdformat/pull/1094)

1. Fix URDF fixed joint reduction of SDF joints
* [Pull request #1089](https://github.com/gazebosim/sdformat/pull/1089)

1. Test model name as `placement_frame`
* [Pull request #1079](https://github.com/gazebosim/sdformat/pull/1079)

1. Test using `__model__`, `world` in `@attached_to`, `@relative_to`
* [Pull request #1066](https://github.com/gazebosim/sdformat/pull/1066)

1. Remove unused sdf.hh.in template
* [Pull request #1081](https://github.com/gazebosim/sdformat/pull/1081)

1. Readme: Ignition -> Gazebo
* [Pull request #1080](https://github.com/gazebosim/sdformat/pull/1080)

1. Document major and minor SDFormat version numbers
* [Pull request #1065](https://github.com/gazebosim/sdformat/pull/1065)

1. Add skybox URI
* [Pull request #1037](https://github.com/gazebosim/sdformat/pull/1037)

1. Bash completion for flags
* [Pull request #1042](https://github.com/gazebosim/sdformat/pull/1042)

1. Fix bug with resolving poses for joint sensors.
* [Pull request #1033](https://github.com/gazebosim/sdformat/pull/1033)

1. sdf::Joint: Mutable versions of SensorByName and SensorByIndex
* [Pull request #1031](https://github.com/gazebosim/sdformat/pull/1031)

1. Add Link::ResolveInertial API
* [Pull request #1012](https://github.com/gazebosim/sdformat/pull/1012)

### libsdformat 12.5.0 (2022-05-12)

1. Add visibility mask to Lidar / Ray sensor
Expand Down Expand Up @@ -1020,7 +1298,32 @@

## libsdformat 9.X

### libsdformat 9.X.X (202X-XX-XX)
### libsdformat 9.9.0 (2022-09-07)

1. sdf/camera.sdf: fields for projection matrix
* [Pull request #1088](https://github.com/gazebosim/sdformat/pull/1088)

1. urdf: fix sensor/light pose for links lumped by fixed joints
* [Pull request #1114](https://github.com/gazebosim/sdformat/pull/1114)

1. Ensure relocatable config files
* [Pull request #419](https://github.com/gazebosim/sdformat/pull/419)
* [Pull request #1093](https://github.com/gazebosim/sdformat/pull/1093)

1. Test using `__model__`, `world` in @attached_to, @relative_to
* [Pull request #1066](https://github.com/gazebosim/sdformat/pull/1066)

1. Readme: Ignition -> Gazebo
* [Pull request #1080](https://github.com/gazebosim/sdformat/pull/1080)

1. Document major and minor SDFormat version numbers
* [Pull request #1065](https://github.com/gazebosim/sdformat/pull/1065)

1. Bash completion for flags
* [Pull request #1042](https://github.com/gazebosim/sdformat/pull/1042)

1. Add Link::ResolveInertial API
* [Pull request #1012](https://github.com/gazebosim/sdformat/pull/1012)

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

Expand Down
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