ros · sloretz · Jun 8, 2022 · Jun 3, 2022 · Jun 3, 2022 · Jun 3, 2022
diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
@@ -0,0 +1,24 @@
+name: gh-ci
+on:
+  pull_request
+jobs:
+  test_sdformat_urdf:
+    runs-on: ubuntu-20.04
+    strategy:
+      matrix:
+        ros-distro: ["galactic"]
+        gz-version:
+          - "citadel"  # libsdformat9
+          - "edifice"  # libsdformat11
+          - "fortress"  # libsdformat12
+    env:
+       GZ_VERSION: ${{ matrix.gz-version }}
+    steps:
+      - uses: ros-tooling/setup-ros@v0.3
+        with:
+          required-ros-distributions: ${{ matrix.ros-distro }}
+      - name: Build and test all packages
+        uses: ros-tooling/action-ros-ci@v0.2
+        with:
+          target-ros2-distro: ${{ matrix.ros-distro }}
+
diff --git a/README.md b/README.md
@@ -11,3 +11,22 @@ See the [README in the `sdformat_urdf` package](./sdformat_urdf/README.md) for m
   * provides a library and a `urdf_parser_plugin` using that library to convert SDFormat XML to URDF C++ DOM structures
 * [`sdformat_test_files`](./sdformat_test_files/README.md)
   * provides SDFormat models using different parts of the SDFormat XML specification for testing
+
+## Version combinations
+
+This package can be compiled against different Gazebo versions.
+
+Set the `GZ_VERSION` environment variable to the Gazebo version you'd
+like to compile against. For example:
+
+    export GZ_VERSION=fortress
+
+> You only need to set this variable when compiling, not when running.
+
+ROS version | Gazebo version | Branch | Binaries hosted at
+-- | -- | -- | --
+Galactic | Citadel | [galactic](https://github.com/ros/ros_ign/tree/galactic) | https://packages.ros.org
+Galactic | Edifice | [galactic](https://github.com/ros/ros_ign/tree/galactic) | only from source
+Galactic | Fortress | [galactic](https://github.com/ros/ros_ign/tree/galactic) | only from source
+Humble | Fortress | [ros2](https://github.com/ros/ros_ign/tree/ros2) | https://packages.ros.org
+Rolling | Fortress | [ros2](https://github.com/ros/ros_ign/tree/ros2) | https://packages.ros.org
diff --git a/sdformat_urdf/CMakeLists.txt b/sdformat_urdf/CMakeLists.txt
@@ -14,18 +14,59 @@ find_package(ament_cmake_ros REQUIRED)
 
 find_package(pluginlib REQUIRED)
 find_package(rcutils REQUIRED)
-find_package(sdformat9 REQUIRED)
 find_package(urdfdom_headers REQUIRED)
 find_package(urdf_parser_plugin REQUIRED)
 find_package(tinyxml2_vendor REQUIRED)
 find_package(TinyXML2 REQUIRED)
 
+# Choose SDF version
+
+# Default to Citadel
+set(SDF_VER 9)
+
+# If the user didn't specify a GZ distribution, pick the one matching the ROS distribution according to REP 2000
+if(NOT DEFINED ENV{GZ_VERSION} AND DEFINED ENV{ROS_DISTRO})
+  if("$ENV{ROS_DISTRO}" STREQUAL "foxy")
+    set(ENV{GZ_VERSION} "citadel")
+  elseif("$ENV{ROS_DISTRO}" STREQUAL "galactic")
+    set(ENV{GZ_VERSION} "edifice")
+  elseif("$ENV{ROS_DISTRO}" STREQUAL "humble")
+    set(ENV{GZ_VERSION} "fortress")
+  endif()
+endif()
+
+# Find libsdformat matching the picked GZ distribution
+if("$ENV{GZ_VERSION}" STREQUAL "citadel")
+  find_package(sdformat9 REQUIRED)
+  set(SDF_VER ${sdformat9_VERSION_MAJOR})
+  message(STATUS "Compiling against Gazebo Citadel (libSDFormat 9)")
+elseif("$ENV{GZ_VERSION}" STREQUAL "edifice")
+  find_package(sdformat11 REQUIRED)
+  set(SDF_VER ${sdformat11_VERSION_MAJOR})
+  message(STATUS "Compiling against Gazebo Edifice (libSDFormat 11)")
+elseif("$ENV{GZ_VERSION}" STREQUAL "fortress")
+  find_package(sdformat12 REQUIRED)
+  set(SDF_VER ${sdformat12_VERSION_MAJOR})
+  message(STATUS "Compiling against Gazebo Fortress (libSDFormat 12)")
+# No GZ distribution specified, find any version of libsdformat we can
+else()
+  foreach(major RANGE 13 9)
+    find_package(sdformat${major} QUIET)
+    if(sdformat${major}_FOUND)
+      # Next `find_package` call will be a noop
+      set(SDF_VER ${major})
+      message(STATUS "Compiling against libSDFormat ${major}")
+      break()
+    endif()
+  endforeach()
+endif()
+
 # Add sdformat_urdf shared library
 add_library(sdformat_urdf SHARED
   src/sdformat_urdf.cpp
 )
 target_link_libraries(sdformat_urdf PUBLIC
-    sdformat9::sdformat9
+    sdformat${SDF_VER}::sdformat${SDF_VER}
 )
 target_link_libraries(sdformat_urdf PRIVATE
   rcutils::rcutils
@@ -50,7 +91,7 @@ target_link_libraries(sdformat_urdf_plugin PRIVATE
 )
 
 ament_export_dependencies(urdfdom_headers)
-ament_export_dependencies(sdformat9)
+ament_export_dependencies(sdformat${SDF_VER})
 
 install(TARGETS sdformat_urdf EXPORT sdformat_urdf-export
   ARCHIVE DESTINATION lib

diff --git a/sdformat_urdf/package.xml b/sdformat_urdf/package.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
   <name>sdformat_urdf</name>
   <version>0.1.0</version>
   <description>
@@ -17,7 +17,22 @@
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
   <buildtool_export_depend>ament_cmake_ros</buildtool_export_depend>
 
-  <depend>sdformat</depend>
+  <!-- Edifice - should have been the default with Galactic per REP-2000 -->
+  <depend condition="$GZ_VERSION == edifice">sdformat11</depend>
+
+  <!-- Fortress -->
+  <depend condition="$ROS_DISTRO == 'humble'">sdformat12</depend>
+  <depend condition="$ROS_DISTRO == 'rolling'">sdformat12</depend>
+  <depend condition="$GZ_VERSION == fortress">sdformat12</depend>
+
+  <!--
+      For backwards compatibility, default to version 9, which comes with
+      the unversioned `sdformat` key on Focal. That's Gazebo Citadel.
+  -->
+  <depend condition="$ROS_DISTRO == 'galactic'">sdformat</depend>
+  <depend condition="$GZ_VERSION == 'citadel'">sdformat</depend>
+  <depend condition="$GZ_VERSION == ''">sdformat</depend>
+
   <depend>urdf</depend>
 
   <build_depend>liburdfdom-headers-dev</build_depend>

diff --git a/sdformat_urdf/src/sdformat_urdf.cpp b/sdformat_urdf/src/sdformat_urdf.cpp
@@ -13,6 +13,9 @@
 // limitations under the License.
 
 #include <ignition/math/Pose3.hh>
+#if SDF_MAJOR_VERSION >= 11
+  #include <ignition/utils/SuppressWarning.hh>
+#endif
 #include <rcutils/logging_macros.h>
 #include <sdf/sdf.hh>
 #include <urdf_world/types.h>
@@ -66,6 +69,13 @@ sdformat_urdf::sdf_to_urdf(const sdf::Root & sdf_dom, sdf::Errors & errors)
       "SDFormat xml has a world; but only a single model is supported");
     return nullptr;
   }
+  // Multiple models per root is deprecated on SDF 11 and removed on 12.
+  // To keep test expectations consistent across all versions, we use
+  // the deprecated APIs for 11.
+#if SDF_MAJOR_VERSION <= 11
+#if SDF_MAJOR_VERSION >= 11
+  IGN_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
+#endif
   if (0u == sdf_dom.ModelCount()) {
     errors.emplace_back(
       sdf::ErrorCode::STRING_READ,
@@ -78,8 +88,19 @@ sdformat_urdf::sdf_to_urdf(const sdf::Root & sdf_dom, sdf::Errors & errors)
       "SDFormat xml has multiple models; but only a single model is supported");
     return nullptr;
   }
-
   return convert_model(*sdf_dom.ModelByIndex(0), errors);
+#if SDF_MAJOR_VERSION >= 11
+  IGN_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
+#endif
+#else
+  if (nullptr == sdf_dom.Model()) {
+    errors.emplace_back(
+      sdf::ErrorCode::ELEMENT_MISSING,
+      "SDFormat xml has no models; need at least one");
+    return nullptr;
+  }
+  return convert_model(*sdf_dom.Model(), errors);
+#endif
 }
 
 urdf::ModelInterfaceSharedPtr

diff --git a/sdformat_urdf/test/graph_tests.cpp b/sdformat_urdf/test/graph_tests.cpp
@@ -14,7 +14,7 @@
 
 
 #include <gtest/gtest.h>
-#include <sdf/sdf.hh>
+#include <sdf/Types.hh>
 #include <sdformat_urdf/sdformat_urdf.hpp>
 #include <urdf_model/model.h>
 #include <urdf_model/types.h>

diff --git a/sdformat_urdf/test/include/test_tools.hpp b/sdformat_urdf/test/include/test_tools.hpp
@@ -81,12 +81,15 @@ get_file(const char * path)
     } \
   } while (false)
 
+
+#if SDF_MAJOR_VERSION < 11
 std::ostream & operator<<(std::ostream & os, const sdf::Errors & errors)
 {
   for (const auto & error : errors) {
     os << error;
   }
   return os;
 }
+#endif
 
 #endif  // TEST_TOOLS_HPP_
diff --git a/sdformat_urdf/test/joint_tests.cpp b/sdformat_urdf/test/joint_tests.cpp
@@ -14,11 +14,13 @@
 
 
 #include <gtest/gtest.h>
-#include <sdf/sdf.hh>
+#include <sdf/Types.hh>
 #include <sdformat_urdf/sdformat_urdf.hpp>
 #include <urdf_model/model.h>
 #include <urdf_model/types.h>
 
+#include <limits>
+
 #include "sdf_paths.hpp"
 #include "test_tools.hpp"
 
@@ -112,8 +114,13 @@ TEST(Joint, joint_prismatic)
   ASSERT_NE(nullptr, joint->limits);
   EXPECT_DOUBLE_EQ(-0.2, joint->limits->lower);
   EXPECT_DOUBLE_EQ(0.2, joint->limits->upper);
+#if SDF_MAJOR_VERSION < 11
   EXPECT_DOUBLE_EQ(-1, joint->limits->effort);  // SDFormat default
   EXPECT_DOUBLE_EQ(-1, joint->limits->velocity);  // SDFormat default
+#else
+  EXPECT_DOUBLE_EQ(std::numeric_limits<double>::infinity(), joint->limits->effort);
+  EXPECT_DOUBLE_EQ(std::numeric_limits<double>::infinity(), joint->limits->velocity);
+#endif
   ASSERT_EQ(nullptr, joint->safety);
   ASSERT_EQ(nullptr, joint->calibration);
   ASSERT_EQ(nullptr, joint->mimic);
@@ -139,8 +146,13 @@ TEST(Joint, joint_revolute)
   ASSERT_NE(nullptr, joint->limits);
   EXPECT_DOUBLE_EQ(-1.5, joint->limits->lower);
   EXPECT_DOUBLE_EQ(1.5, joint->limits->upper);
+#if SDF_MAJOR_VERSION < 11
   EXPECT_DOUBLE_EQ(-1, joint->limits->effort);  // SDFormat default
   EXPECT_DOUBLE_EQ(-1, joint->limits->velocity);  // SDFormat default
+#else
+  EXPECT_DOUBLE_EQ(std::numeric_limits<double>::infinity(), joint->limits->effort);
+  EXPECT_DOUBLE_EQ(std::numeric_limits<double>::infinity(), joint->limits->velocity);
+#endif
   ASSERT_EQ(nullptr, joint->safety);
   ASSERT_EQ(nullptr, joint->calibration);
   ASSERT_EQ(nullptr, joint->mimic);
@@ -224,8 +236,13 @@ TEST(Joint, joint_revolute_default_limits)
   ASSERT_NE(nullptr, joint->limits);
   EXPECT_DOUBLE_EQ(-1e16, joint->limits->lower);  // SDFormat default
   EXPECT_DOUBLE_EQ(1e16, joint->limits->upper);  // SDFormat default
+#if SDF_MAJOR_VERSION < 11
   EXPECT_DOUBLE_EQ(-1, joint->limits->effort);  // SDFormat default
   EXPECT_DOUBLE_EQ(-1, joint->limits->velocity);  // SDFormat default
+#else
+  EXPECT_DOUBLE_EQ(std::numeric_limits<double>::infinity(), joint->limits->effort);
+  EXPECT_DOUBLE_EQ(std::numeric_limits<double>::infinity(), joint->limits->velocity);
+#endif
 }
 
 TEST(Joint, joint_revolute_two_joints_two_links)

diff --git a/sdformat_urdf/test/link_tests.cpp b/sdformat_urdf/test/link_tests.cpp
@@ -14,7 +14,7 @@
 
 
 #include <gtest/gtest.h>
-#include <sdf/sdf.hh>
+#include <sdf/Types.hh>
 #include <sdformat_urdf/sdformat_urdf.hpp>
 #include <urdf_model/model.h>
 #include <urdf_model/types.h>

diff --git a/sdformat_urdf/test/material_tests.cpp b/sdformat_urdf/test/material_tests.cpp
@@ -14,7 +14,7 @@
 
 
 #include <gtest/gtest.h>
-#include <sdf/sdf.hh>
+#include <sdf/Types.hh>
 #include <sdformat_urdf/sdformat_urdf.hpp>
 #include <urdf_model/model.h>
 #include <urdf_model/types.h>

diff --git a/sdformat_urdf/test/pose_tests.cpp b/sdformat_urdf/test/pose_tests.cpp
@@ -15,7 +15,7 @@
 
 #include <gtest/gtest.h>
 #include <ignition/math/Pose3.hh>
-#include <sdf/sdf.hh>
+#include <sdf/Types.hh>
 #include <sdformat_urdf/sdformat_urdf.hpp>
 #include <urdf_model/model.h>
 #include <urdf_model/types.h>