Merge pull request #1219 from gazebosim/scpeters/merge_13_main

Merge sdf13 ➡️  main

.github/workflows/macos.yml

@@ -16,7 +16,17 @@ jobs:
     - run: brew config
     - run: brew list
 
+    # Workaround for https://github.com/actions/setup-python/issues/577
+    - name: Clean up python binaries
+      run: |
+        rm /usr/local/bin/2to3;
+        rm /usr/local/bin/idle3;
+        rm /usr/local/bin/pydoc3;
+        rm /usr/local/bin/python3;
+        rm /usr/local/bin/python3-config;
     - name: Install base dependencies
+      env:
+        HOMEBREW_NO_INSTALLED_DEPENDENTS_CHECK: 1
       run: |
         brew tap osrf/simulation;
         # check for ci_matching_branch

Changelog.md

@@ -4,6 +4,60 @@
 
 ## libsdformat 13.X
 
+### libsdformat 13.3.0 (2022-12-12)
+
+1. Sensor: add sdf::Errors output to API methods
+    * [Pull request #1138](https://github.com/gazebosim/sdformat/pull/1138)
+
+1. Warn child joint that resolves to world
+    * [Pull request #1211](https://github.com/gazebosim/sdformat/pull/1211)
+
+1. Converter: add sdf::Errors output to API methods
+    * [Pull request #1123](https://github.com/gazebosim/sdformat/pull/1123)
+
+1. ParamPassing: sdfwarns to sdf::Errors when warnings policy set to sdf::EnforcementPolicy::ERR
+    * [Pull request #1135](https://github.com/gazebosim/sdformat/pull/1135)
+
+1. Camera: added HasLensProjection
+    * [Pull request #1203](https://github.com/gazebosim/sdformat/pull/1203)
+
+1. Change default `camera_info_topic` value to `__default__`
+    * [Pull request #1201](https://github.com/gazebosim/sdformat/pull/1201)
+
+1. Check JointAxis expressed-in values during Load
+    * [Pull request #1195](https://github.com/gazebosim/sdformat/pull/1195)
+
+1. Added camera info topic to Camera
+    * [Pull request #1198](https://github.com/gazebosim/sdformat/pull/1198)
+    * [Pull request #1200](https://github.com/gazebosim/sdformat/pull/1200)
+
+1. Fix static URDF models with fixed joints 
+    * [Pull request #1193](https://github.com/gazebosim/sdformat/pull/1193)
+
+### libsdformat 13.2.0 (2022-10-20)
+
+1. sdf/1.10/joint.sdf: add `screw_thread_pitch`
+    * [Pull request #1168](https://github.com/gazebosim/sdformat/pull/1168)
+
+1. sdf/1.10: support //world/joint specification
+    * [Pull request #1117](https://github.com/gazebosim/sdformat/pull/1117)
+    * [Pull request #1189](https://github.com/gazebosim/sdformat/pull/1189)
+
+1. Model: add sdf::Errors output to API methods
+    * [Pull request #1122](https://github.com/gazebosim/sdformat/pull/1122)
+
+1. Added Root::WorldByName
+    * [Pull request #1121](https://github.com/gazebosim/sdformat/pull/1121)
+
+1. Python: add OpticalFrameID APIs to pyCamera
+    * [Pull request #1184](https://github.com/gazebosim/sdformat/pull/1184)
+
+1. Fix `GZ_PYTHON_INSTALL_PATH` value
+    * [Pull request #1183](https://github.com/gazebosim/sdformat/pull/1183)
+
+1. Rename python bindings import library for Windows
+    * [Pull request #1165](https://github.com/gazebosim/sdformat/pull/1165)
+
 ### libsdformat 13.1.0 (2022-10-12)
 
 1. Add test helper python package for encapsulating versioned python packages
@@ -1298,14 +1352,40 @@
 
 ## libsdformat 9.X
 
+### libsdformat 9.10.0 (2022-11-30)
+
+1. Ign to gz header migration.
+    * [Pull request #1118](https://github.com/gazebosim/sdformat/pull/1118)
+
+1. Added HasLensProjection.
+    * [Pull request #1203](https://github.com/gazebosim/sdformat/pull/1203)
+
+1. Added camera info topic to Camera
+    * [Pull request #1198](https://github.com/gazebosim/sdformat/pull/1198)
+    * [Pull request #1201](https://github.com/gazebosim/sdformat/pull/1201)
+
+### libsdformat 9.9.1 (2022-11-08)
+
+1. Fix static URDF models with fixed joints
+    * [Pull request #1193](https://github.com/gazebosim/sdformat/pull/1193)
+
+1. Don't assume `CMAKE_INSTALL_*DIR` variables are relative
+    * [Pull request #1190](https://github.com/gazebosim/sdformat/pull/1190)
+
 ### 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: add //frame for reduced links/joints
+    * [Pull request #1148](https://github.com/gazebosim/sdformat/pull/1148)
+
 1. urdf: fix sensor/light pose for links lumped by fixed joints
     * [Pull request #1114](https://github.com/gazebosim/sdformat/pull/1114)
 
+1. urdf: fix test and clean up internals
+    * [Pull request #1126](https://github.com/gazebosim/sdformat/pull/1126)
+
 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)

Migration.md

@@ -555,6 +555,10 @@ ABI was broken for `sdf::Element`, and restored on version 11.2.1.
 
 ## SDFormat specification 1.9 to 1.10
 
+### Additions
+
+1. **world.sdf**: A joint can be specified directly in a world.
+
 ### Modifications
 
 1. **joint.sdf**: axis limits default values have changed
@@ -563,6 +567,8 @@ ABI was broken for `sdf::Element`, and restored on version 11.2.1.
     + `//limit/velocity`: `inf` (formerly `-1`)
     + `//limit/effort`: `inf` (formerly `-1`)
 
+1. **joint.sdf**: thread_pitch is deprecated in favor of screw_thread_pitch.
+
 1. **plugin.sdf**: name attribute is now optional with empty default value.
 
 ### Removals

include/sdf/Camera.hh

@@ -81,6 +81,14 @@ namespace sdf
     /// an error code and message. An empty vector indicates no error.
     public: Errors Load(ElementPtr _sdf);
 
+    /// \brief Get the camera info topic
+    /// \return Topic for the camera info
+    public: std::string CameraInfoTopic() const;
+
+    /// \brief Set the camera info topic
+    /// \param[in] _cameraInfoTopic Topic for the camera info.
+    public: void SetCameraInfoTopic(const std::string& _cameraInfoTopic);
+
     /// \brief Get a pointer to the SDF element that was used during
     /// load.
     /// \return SDF element pointer. The value will be nullptr if Load has
@@ -558,6 +566,10 @@ namespace sdf
     /// \return True if the camera has instrinsics values set, false otherwise
     public: bool HasLensIntrinsics() const;
 
+    /// \brief Get whether or not the camera has projection values set
+    /// \return True if the camera has projection values set, false otherwise
+    public: bool HasLensProjection() const;
+
     /// \brief Create and return an SDF element filled with data from this
     /// camera.
     /// Note that parameter passing functionality is not captured with this

include/sdf/Error.hh

@@ -168,6 +168,16 @@ namespace sdf
 
     /// \brief Generic warning saved as error due to WarningsPolicy config
     WARNING,
+
+    /// \brief The joint axis expressed-in value does not match the name of an
+    /// existing frame in the current scope.
+    JOINT_AXIS_EXPRESSED_IN_INVALID,
+
+    /// \brief SDF conversion generic error.
+    CONVERSION_ERROR,
+
+    /// \brief Generic error during parsing.
+    PARSING_ERROR,
   };
 
   class SDFORMAT_VISIBLE Error

include/sdf/Joint.hh

@@ -203,12 +203,27 @@ namespace sdf
     /// \param[in] _frame The name of the pose relative-to frame.
     public: void SetPoseRelativeTo(const std::string &_frame);
 
-    /// \brief Get the thread pitch (only valid for screw joints)
-    /// \return The thread pitch
+    /// \brief Get the displacement along the joint axis for each complete
+    /// revolution around the joint axis (only valid for screw joints).
+    /// \return The thread pitch with units of meters per revolution with a
+    /// positive value corresponding to a right-handed thread.
+    public: double ScrewThreadPitch() const;
+
+    /// \brief Set the thread pitch (only valid for screw joints).
+    /// \param[in] _threadPitch The thread pitch with units of meters per
+    /// revolution with a positive value corresponding to a right-handed thread.
+    public: void SetScrewThreadPitch(double _threadPitch);
+
+    /// \brief Get the thread pitch in gazebo-classic format (only valid for
+    /// screw joints). This will be deprecated in a future version.
+    /// \return The thread pitch with units of radians / meters and a positive
+    /// value coresponding to a left-handed thread.
     public: double ThreadPitch() const;
 
-    /// \brief Set the thread pitch (only valid for screw joints)
-    /// \param[in] _threadPitch The thread pitch of the joint
+    /// \brief Set the thread pitch in gazebo-classic format (only valid for
+    /// screw joints). This will be deprecated in a future version.
+    /// \param[in] _threadPitch The thread pitch with units of radians / meters
+    /// and a positive value coresponding to a left-handed thread.
     public: void SetThreadPitch(double _threadPitch);
 
     /// \brief Get a pointer to the SDF element that was used during
@@ -291,6 +306,9 @@ namespace sdf
     /// \brief Allow Model::Load to call SetPoseRelativeToGraph.
     friend class Model;
 
+    /// \brief Allow World::Load to call SetPoseRelativeToGraph.
+    friend class World;
+
     /// \brief Private data pointer.
     GZ_UTILS_IMPL_PTR(dataPtr)
   };

include/sdf/ParserConfig.hh

@@ -166,14 +166,17 @@ class SDFORMAT_VISIBLE ParserConfig
   public: void RegisterCustomModelParser(CustomModelParser _modelParser);
 
   /// \brief Get the registered custom model parsers
+  /// \return Vector of registered model parser callbacks.
   public: const std::vector<CustomModelParser> &CustomModelParsers() const;
 
   /// \brief Set the preserveFixedJoint flag.
-  /// \param[in] _preserveFixedJoint flag value to set
+  /// \param[in] _preserveFixedJoint True to preserve fixed joints, false to
+  /// reduce the fixed joints and merge the child link into the parent.
   public: void URDFSetPreserveFixedJoint(bool _preserveFixedJoint);
 
   /// \brief Get the preserveFixedJoint flag value.
-  /// \return Current flag value
+  /// \return True to preserve fixed joints, false to reduce the fixed joints
+  /// and merge the child link into the parent.
   public: bool URDFPreserveFixedJoint() const;
 
   /// \brief Set the storeResolvedURIs flag value.

include/sdf/Root.hh

@@ -146,6 +146,20 @@ namespace sdf
     /// \sa uint64_t WorldCount() const
     public: World *WorldByIndex(const uint64_t _index);
 
+    /// \brief Get a world based on a name.
+    /// \param[in] _name Name of the world.
+    /// \return Pointer to the world. Nullptr if a world with the given name
+    /// does not exist.
+    /// \sa bool WorldNameExists(const std::string &_name) const
+    public: const World *WorldByName(const std::string &_name) const;
+
+    /// \brief Get a world based on a name.
+    /// \param[in] _name Name of the world.
+    /// \return Pointer to the world. Nullptr if a world with the given name
+    /// does not exist.
+    /// \sa bool WorldNameExists(const std::string &_name) const
+    public: World *WorldByName(const std::string &_name);
+
     /// \brief Get whether a world name exists.
     /// \param[in] _name Name of the world to check.
     /// \return True if there exists a world with the given name.

include/sdf/Sensor.hh

@@ -214,6 +214,14 @@ namespace sdf
     /// \return SDF element pointer with updated sensor values.
     public: sdf::ElementPtr ToElement() const;
 
+    /// \brief Create and return an SDF element filled with data from this
+    /// sensor.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
+    /// \param[in] _errors Vector of errors.
+    /// \return SDF element pointer with updated sensor values.
+    public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
+
     /// \brief Get the sensor type.
     /// \return The sensor type.
     public: SensorType Type() const;

include/sdf/World.hh

@@ -45,6 +45,7 @@ namespace sdf
   class Actor;
   class Frame;
   class InterfaceModel;
+  class Joint;
   class Light;
   class Model;
   class ParserConfig;
@@ -212,6 +213,12 @@ namespace sdf
     /// exists.
     public: bool AddActor(const Actor &_actor);
 
+    /// \brief Add a joint to the world.
+    /// \param[in] _joint Joint to add.
+    /// \return True if successful, false if a joint with the name already
+    /// exists.
+    public: bool AddJoint(const Joint &_joint);
+
     /// \brief Add a light to the world.
     /// \param[in] _light Light to add.
     /// \return True if successful, false if a light with the name already
@@ -233,10 +240,13 @@ namespace sdf
     /// \brief Remove all models.
     public: void ClearModels();
 
-    /// \brief Remove all models.
+    /// \brief Remove all actors.
     public: void ClearActors();
 
-    /// \brief Remove all models.
+    /// \brief Remove all joints.
+    public: void ClearJoints();
+
+    /// \brief Remove all lights.
     public: void ClearLights();
 
     /// \brief Remove all physics.
@@ -316,6 +326,45 @@ namespace sdf
     /// \return True if there exists an explicit frame with the given name.
     public: bool FrameNameExists(const std::string &_name) const;
 
+    /// \brief Get the number of joints.
+    /// \return Number of joints contained in this World object.
+    public: uint64_t JointCount() const;
+
+    /// \brief Get a joint based on an index.
+    /// \param[in] _index Index of the joint. The index should be in the
+    /// range [0..JointCount()).
+    /// \return Pointer to the joint. Nullptr if the index does not exist.
+    /// \sa uint64_t JointCount() const
+    public: const Joint *JointByIndex(uint64_t _index) const;
+
+    /// \brief Get a mutable joint based on an index.
+    /// \param[in] _index Index of the joint. The index should be in the
+    /// range [0..JointCount()).
+    /// \return Pointer to the joint. Nullptr if the index does not exist.
+    /// \sa uint64_t JointCount() const
+    public: Joint *JointByIndex(uint64_t _index);
+
+    /// \brief Get an joint based on a name.
+    /// \param[in] _name Name of the joint.
+    /// To get a joint in a nested model, prefix the joint name with the
+    /// sequence of nested models containing this joint, delimited by "::".
+    /// \return Pointer to the joint. Nullptr if the name does not
+    /// exist.
+    public: const Joint *JointByName(const std::string &_name) const;
+
+    /// \brief Get a mutable joint based on a name.
+    /// \param[in] _name Name of the joint.
+    /// To get a joint in a nested model, prefix the joint name with the
+    /// sequence of nested models containing this joint, delimited by "::".
+    /// \return Pointer to the joint. Nullptr if the name does not
+    /// exist.
+    public: Joint *JointByName(const std::string &_name);
+
+    /// \brief Get whether a joint name exists.
+    /// \param[in] _name Name of the joint to check.
+    /// \return True if there exists a joint with the given name.
+    public: bool JointNameExists(const std::string &_name) const;
+
     /// \brief Get the number of lights.
     /// \return Number of lights contained in this World object.
     public: uint64_t LightCount() const;
@@ -438,6 +487,18 @@ namespace sdf
     public: sdf::ElementPtr ToElement(
         const OutputConfig &_config = OutputConfig::GlobalConfig()) const;
 
+    /// \brief Check if a given name exists in the FrameAttachedTo graph at the
+    /// scope of the world.
+    /// \param[in] _name Name of the implicit or explicit frame to check.
+    /// To check for a frame in a nested model, prefix the frame name with
+    /// the sequence of nested models containing this frame, delimited by "::".
+    /// \return True if the frame name is found in the FrameAttachedTo graph.
+    /// False otherwise, or if the frame graph is invalid.
+    /// \note This function assumes the world has a valid FrameAttachedTo graph.
+    /// It will return false if the graph is invalid.
+    public: bool NameExistsInFrameAttachedToGraph(
+                const std::string &_name) const;
+
     /// \brief Get the plugins attached to this object.
     /// \return A vector of Plugin, which will be empty if there are no
     /// plugins.