From e5f22e3b3a9617d55160d585b5b2fc479325470a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= Date: Wed, 31 Aug 2022 00:24:17 +0200 Subject: [PATCH 01/28] Add topic parameter to thrust plugin (#1681) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * Add topic parameter. Signed-off-by: Carlos Agüero --- src/systems/thruster/Thruster.cc | 21 +++++++++++++++++++-- src/systems/thruster/Thruster.hh | 4 +++- test/integration/thruster.cc | 26 +++++++++++++++++--------- test/worlds/thruster_battery.sdf | 1 + 4 files changed, 40 insertions(+), 12 deletions(-) diff --git a/src/systems/thruster/Thruster.cc b/src/systems/thruster/Thruster.cc index 92a74bb3a7..b775cf26e4 100644 --- a/src/systems/thruster/Thruster.cc +++ b/src/systems/thruster/Thruster.cc @@ -104,6 +104,9 @@ class ignition::gazebo::systems::ThrusterPrivateData /// \brief Diameter of propeller in m, default: 0.02 public: double propellerDiameter = 0.02; + /// \brief Topic name used to control thrust. + public: std::string topic = ""; + /// \brief Callback for handling thrust update public: void OnCmdThrust(const msgs::Double &_msg); @@ -171,6 +174,13 @@ void Thruster::Configure( this->dataPtr->fluidDensity = _sdf->Get("fluid_density"); } + // Get a custom topic. + if (_sdf->HasElement("topic")) + { + this->dataPtr->topic = transport::TopicUtils::AsValidTopic( + _sdf->Get("topic")); + } + this->dataPtr->jointEntity = model.JointByName(_ecm, jointName); if (kNullEntity == this->dataPtr->jointEntity) { @@ -191,14 +201,21 @@ void Thruster::Configure( std::string thrusterTopicOld = ignition::transport::TopicUtils::AsValidTopic( "/model/" + ns + "/joint/" + jointName + "/cmd_pos"); + ignwarn << thrusterTopicOld << " topic is deprecated" << std::endl; + this->dataPtr->node.Subscribe( thrusterTopicOld, &ThrusterPrivateData::OnCmdThrust, this->dataPtr.get()); // Subscribe to force commands - std::string thrusterTopic = ignition::transport::TopicUtils::AsValidTopic( - "/model/" + ns + "/joint/" + jointName + "/cmd_thrust"); + std::string thrusterTopic = + "/model/" + ns + "/joint/" + jointName + "/cmd_thrust"; + + if (!this->dataPtr->topic.empty()) + thrusterTopic = ns + "/" + this->dataPtr->topic; + + thrusterTopic = transport::TopicUtils::AsValidTopic(thrusterTopic); this->dataPtr->node.Subscribe( thrusterTopic, diff --git a/src/systems/thruster/Thruster.hh b/src/systems/thruster/Thruster.hh index 6380eb7972..415fa8b660 100644 --- a/src/systems/thruster/Thruster.hh +++ b/src/systems/thruster/Thruster.hh @@ -40,8 +40,10 @@ namespace systems /// /// ## System Parameters /// - - The namespace in which the robot exists. The plugin will - /// listen on the topic `/model/{namespace}/joint/{joint_name}/cmd_thrust`. + /// listen on the topic `/model/{namespace}/joint/{joint_name}/cmd_thrust` + /// or on {namespace}/{topic} if {topic} is set. /// [Optional] + /// - - The topic for receiving thrust commands. [Optional] /// - - This is the joint in the model which corresponds to the /// propeller. [Required] /// - - The fluid density of the liquid in which the thruster diff --git a/test/integration/thruster.cc b/test/integration/thruster.cc index 1d28df8d5d..1e147bfe69 100644 --- a/test/integration/thruster.cc +++ b/test/integration/thruster.cc @@ -43,19 +43,20 @@ class ThrusterTest : public InternalFixture<::testing::Test> /// \brief Test a world file /// \param[in] _world Path to world file /// \param[in] _namespace Namespace for topic + /// \param[in] _topic Thrust topic /// \param[in] _coefficient Thrust coefficient /// \param[in] _density Fluid density /// \param[in] _diameter Propeller diameter /// \param[in] _baseTol Base tolerance for most quantities public: void TestWorld(const std::string &_world, - const std::string &_namespace, double _coefficient, double _density, - double _diameter, double _baseTol); + const std::string &_namespace, const std::string &_topic, + double _coefficient, double _density, double _diameter, double _baseTol); }; ////////////////////////////////////////////////// void ThrusterTest::TestWorld(const std::string &_world, - const std::string &_namespace, double _coefficient, double _density, - double _diameter, double _baseTol) + const std::string &_namespace, const std::string &_topic, + double _coefficient, double _density, double _diameter, double _baseTol) { // Start server ServerConfig serverConfig; @@ -122,8 +123,7 @@ void ThrusterTest::TestWorld(const std::string &_world, // Publish command and check that vehicle moved transport::Node node; - auto pub = node.Advertise( - "/model/" + _namespace + "/joint/propeller_joint/cmd_thrust"); + auto pub = node.Advertise(_topic); int sleep{0}; int maxSleep{30}; @@ -234,31 +234,39 @@ void ThrusterTest::TestWorld(const std::string &_world, // See https://github.com/ignitionrobotics/ign-gazebo/issues/1175 TEST_F(ThrusterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(PIDControl)) { + const std::string ns{"sub"}; + const std::string topic = "/model/" + ns + + "/joint/propeller_joint/cmd_thrust"; auto world = common::joinPaths(std::string(PROJECT_SOURCE_PATH), "test", "worlds", "thruster_pid.sdf"); // Tolerance could be lower (1e-6) if the joint pose had a precise 180 // rotation - this->TestWorld(world, "sub", 0.004, 1000, 0.2, 1e-4); + this->TestWorld(world, ns, topic, 0.004, 1000, 0.2, 1e-4); } ///////////////////////////////////////////////// TEST_F(ThrusterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(VelocityControl)) { + const std::string ns = "custom"; + const std::string topic = "/model/" + ns + + "/joint/propeller_joint/cmd_thrust"; auto world = common::joinPaths(std::string(PROJECT_SOURCE_PATH), "test", "worlds", "thruster_vel_cmd.sdf"); // Tolerance is high because the joint command disturbs the vehicle body - this->TestWorld(world, "custom", 0.005, 950, 0.25, 1e-2); + this->TestWorld(world, ns, topic, 0.005, 950, 0.25, 1e-2); } ///////////////////////////////////////////////// TEST_F(ThrusterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(BatteryIntegration)) { + const std::string ns = "lowbattery"; + const std::string topic = ns + "/thrust"; auto world = common::joinPaths(std::string(PROJECT_SOURCE_PATH), "test", "worlds", "thruster_battery.sdf"); // Tolerance is high because the joint command disturbs the vehicle body - this->TestWorld(world, "lowbattery", 0.005, 950, 0.25, 1e-2); + this->TestWorld(world, ns, topic, 0.005, 950, 0.25, 1e-2); } diff --git a/test/worlds/thruster_battery.sdf b/test/worlds/thruster_battery.sdf index 3cf5a3495e..0a76710429 100644 --- a/test/worlds/thruster_battery.sdf +++ b/test/worlds/thruster_battery.sdf @@ -105,6 +105,7 @@ true 300 0 + thrust Date: Tue, 30 Aug 2022 19:16:32 -0700 Subject: [PATCH 02/28] =?UTF-8?q?=F0=9F=8E=88=206.12.0:=20bumped=20minor?= =?UTF-8?q?=20and=20updated=20changelog=20(#1682)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * bumped minor and updated changelog Signed-off-by: Dharini Dutia * fixed changelog as per feedback and updated migration guide Signed-off-by: Dharini Dutia Signed-off-by: Dharini Dutia --- CMakeLists.txt | 2 +- Changelog.md | 14 ++++++++++++++ Migration.md | 6 ++++++ 3 files changed, 21 insertions(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 5efa74bd84..897ea591a0 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR) #============================================================================ # Initialize the project #============================================================================ -project(ignition-gazebo6 VERSION 6.11.0) +project(ignition-gazebo6 VERSION 6.12.0) set (GZ_DISTRIBUTION "Fortress") #============================================================================ diff --git a/Changelog.md b/Changelog.md index d9bb90509e..2487f3b1ce 100644 --- a/Changelog.md +++ b/Changelog.md @@ -1,5 +1,19 @@ ## Ignition Gazebo 6.x +### Gazebo Sim 6.12.0 (2022-08-30) + +1. Add topic parameter to thrust plugin + * [Pull request #1681](https://github.com/gazebosim/gz-sim/pull/1681) + +1. Add information about `` system parameter + * [Pull request #1671](https://github.com/gazebosim/gz-sim/pull/1671) + +1. Adding tests for hydrodynamics + * [Pull request #1617](https://github.com/gazebosim/gz-sim/pull/1617) + +1. Fix Windows and Doxygen + * [Pull request #1643](https://github.com/gazebosim/gz-sim/pull/1643) + ### Gazebo Sim 6.11.0 (2022-08-17) 1. Add support for specifying log record period diff --git a/Migration.md b/Migration.md index 58a4e5c815..ea3bdeea7c 100644 --- a/Migration.md +++ b/Migration.md @@ -5,6 +5,12 @@ Deprecated code produces compile-time warnings. These warning serve as notification to users that their code should be upgraded. The next major release will remove the deprecated code. +## Ignition Gazebo 6.11.X to 6.12.X + + * **Modified**: + + In the Hydrodynamics plugin, inverted the added mass contribution to make it + act in the correct direction. + ## Ignition Gazebo 6.1 to 6.2 * If no `` is given to the `Thruster` plugin, the namespace now From 545b36467c315a2ff45c337d3afce748ee109eff Mon Sep 17 00:00:00 2001 From: Kenji Brameld Date: Thu, 1 Sep 2022 16:29:57 +0900 Subject: [PATCH 03/28] Fix reference link in ackermann steering (#1683) Signed-off-by: Kenji Brameld --- src/systems/ackermann_steering/AckermannSteering.hh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/systems/ackermann_steering/AckermannSteering.hh b/src/systems/ackermann_steering/AckermannSteering.hh index 11aacd9159..19b3f8d18c 100644 --- a/src/systems/ackermann_steering/AckermannSteering.hh +++ b/src/systems/ackermann_steering/AckermannSteering.hh @@ -111,7 +111,7 @@ namespace systems /// right_steering_joint /// /// References: - /// https://github.com/ignitionrobotics/ign-gazebo/tree/main/src/systems/diff_drive + /// https://github.com/gazebosim/gz-sim/tree/main/src/systems/ackermann_steering /// https://www.auto.tuwien.ac.at/bib/pdf_TR/TR0183.pdf /// https://github.com/froohoo/ackermansteer/blob/master/ackermansteer/ From 69e77571904c4f1888bbeb5dad0eb6637123dbae Mon Sep 17 00:00:00 2001 From: Silvio Traversaro Date: Fri, 2 Sep 2022 20:38:37 +0200 Subject: [PATCH 04/28] Fix installation instructions on Ubuntu 22.04 (#1686) Signed-off-by: Silvio Traversaro --- tutorials/install.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tutorials/install.md b/tutorials/install.md index 3260f10154..1b1694f402 100644 --- a/tutorials/install.md +++ b/tutorials/install.md @@ -61,7 +61,7 @@ feature which hasn't been released yet. 1. Install tools ``` - sudo apt install -y build-essential cmake g++-8 git gnupg lsb-release wget + sudo apt install -y build-essential cmake git gnupg lsb-release wget ``` 2. Enable the Ignition software repositories: From 0cbe6e7d23c74f481c3a1758b4c62a2559137bc2 Mon Sep 17 00:00:00 2001 From: Liam Han Date: Wed, 7 Sep 2022 09:23:55 -0700 Subject: [PATCH 05/28] Add a service to trigger functionality (#1611) * initial commit to allow plugin to call a service Signed-off-by: Liam Han * adding tutorial and modifying the world sdf Signed-off-by: Liam Han * added test for single input and single service output Signed-off-by: Liam Han * added test for single input and multiple service output Signed-off-by: Liam Han * added test for invalid matching service name => timeout Signed-off-by: Liam Han * modified variables the camelCase Signed-off-by: Liam Han * fixed typo, indentation, grammar, lines that exceeded 80 char Signed-off-by: Liam Han * fixing ubuntu bionic ci issue Signed-off-by: Liam Han * silly syntax mistake on expect_eq Signed-off-by: Liam Han * added three more test cases that addesses incorrect response type, incorrect request type and false result Signed-off-by: Liam Han * WIP: major restructuring and currently working. Requires more cleanup and test Signed-off-by: Liam Han * WIP: fixed preprocessor define bug Signed-off-by: Liam Han * WIP: working but extremely convoluted Signed-off-by: Liam Han * WIP major modification but a lot of errors and tests failed Signed-off-by: Liam Han * stable version: had to revert back to previous work. all tests passed Signed-off-by: Liam Han * modified to use blocking Request method as well as reduce a service worker thread to just one thread with the publisher. all tests passed Signed-off-by: Liam Han * stable version: had to revert back to previous work. all tests passed Signed-off-by: Liam Han * successfully reverted and tested Signed-off-by: Liam Han * fixing PR suggestions Signed-off-by: Liam Han * changed string with 'serv' to 'srv' and included to the header Signed-off-by: Liam Han * fixed indentation and removed rep.set_data since it's unused on the client service Signed-off-by: Liam Han * getting rid of the id Signed-off-by: Liam Han * fixed race condition resulting seldom test failure Signed-off-by: Liam Han * changed from triggerSrv to serviceCount. This compensates for the two threads running at different rate Signed-off-by: Liam Han * braces indentation Signed-off-by: Mabel Zhang * addressing gnu c compiler (gcc) warnings Signed-off-by: Liam Han Signed-off-by: Liam Han Signed-off-by: Mabel Zhang Co-authored-by: Mabel Zhang --- examples/worlds/triggered_publisher.sdf | 35 ++- .../triggered_publisher/TriggeredPublisher.cc | 158 ++++++++-- .../triggered_publisher/TriggeredPublisher.hh | 57 +++- test/integration/triggered_publisher.cc | 269 ++++++++++++++++++ test/worlds/triggered_publisher.sdf | 161 +++++++++-- tutorials/triggered_publisher.md | 39 ++- 6 files changed, 664 insertions(+), 55 deletions(-) diff --git a/examples/worlds/triggered_publisher.sdf b/examples/worlds/triggered_publisher.sdf index 303f78beca..98b7c52c64 100644 --- a/examples/worlds/triggered_publisher.sdf +++ b/examples/worlds/triggered_publisher.sdf @@ -387,13 +387,17 @@ start falling. true - + body box1 box_body /box1/detach - + body box2 box_body @@ -448,19 +452,40 @@ start falling. - + linear: {x: 3} - + + + + linear: {x: 0} + + + + + data: true - + -7.5 diff --git a/src/systems/triggered_publisher/TriggeredPublisher.cc b/src/systems/triggered_publisher/TriggeredPublisher.cc index 94a63b7ac8..cc7a4f88ad 100644 --- a/src/systems/triggered_publisher/TriggeredPublisher.cc +++ b/src/systems/triggered_publisher/TriggeredPublisher.cc @@ -252,7 +252,9 @@ FullMatcher::FullMatcher(const std::string &_msgType, bool _logicType, : InputMatcher(_msgType), logicType(_logicType) { if (nullptr == this->matchMsg || !this->matchMsg->IsInitialized()) + { return; + } this->valid = google::protobuf::TextFormat::ParseFromString( _matchString, this->matchMsg.get()); @@ -273,7 +275,9 @@ FieldMatcher::FieldMatcher(const std::string &_msgType, bool _logicType, fieldName(_fieldName) { if (nullptr == this->matchMsg || !this->matchMsg->IsInitialized()) + { return; + } transport::ProtoMsg *matcherSubMsg{nullptr}; if (!FindFieldSubMessage(this->matchMsg.get(), _fieldName, @@ -294,7 +298,9 @@ FieldMatcher::FieldMatcher(const std::string &_msgType, bool _logicType, } if (nullptr == matcherSubMsg) + { return; + } bool result = google::protobuf::TextFormat::ParseFieldValueFromString( _fieldString, this->fieldDescMatcher.back(), matcherSubMsg); @@ -548,7 +554,9 @@ void TriggeredPublisher::Configure(const Entity &, { int ms = sdfClone->Get("delay_ms"); if (ms > 0) + { this->delay = std::chrono::milliseconds(ms); + } } if (sdfClone->HasElement("output")) @@ -595,9 +603,52 @@ void TriggeredPublisher::Configure(const Entity &, } } } - else + + if (sdfClone->HasElement("service")) { - ignerr << "No ouptut specified" << std::endl; + for (auto serviceElem = sdfClone->GetElement("service"); serviceElem; + serviceElem = serviceElem->GetNextElement("service")) + { + SrvOutputInfo serviceInfo; + serviceInfo.srvName = serviceElem->Get("name"); + if (serviceInfo.srvName.empty()) + { + ignerr << "Service name cannot be empty\n"; + return; + } + serviceInfo.reqType = serviceElem->Get("reqType"); + if (serviceInfo.reqType.empty()) + { + ignerr << "Service request type cannot be empty\n"; + return; + } + serviceInfo.repType = serviceElem->Get("repType"); + if (serviceInfo.repType.empty()) + { + ignerr << "Service reply type cannot be empty\n"; + return; + } + serviceInfo.reqMsg = serviceElem->Get("reqMsg"); + if (serviceInfo.reqMsg.empty()) + { + ignerr << "Service request message cannot be empty\n"; + return; + } + std::string timeoutInfo = serviceElem->Get("timeout"); + if (timeoutInfo.empty()) + { + ignerr << "Timeout value cannot be empty\n"; + return; + } + + serviceInfo.timeout = std::stoi(timeoutInfo); + this->srvOutputInfo.push_back(std::move(serviceInfo)); + } + } + if (!sdfClone->HasElement("service") && !sdfClone->HasElement("output")) + { + ignerr << "No output and service specified. Make sure to specify at least" + "one of them." << std::endl; return; } @@ -606,23 +657,27 @@ void TriggeredPublisher::Configure(const Entity &, { if (this->MatchInput(_msg)) { + if (this->delay > 0ms) + { + std::lock_guard lock(this->publishQueueMutex); + this->publishQueue.push_back(this->delay); + } + else { - if (this->delay > 0ms) - { - std::lock_guard lock(this->publishQueueMutex); - this->publishQueue.push_back(this->delay); - } - else { - { - std::lock_guard lock(this->publishCountMutex); - ++this->publishCount; - } - this->newMatchSignal.notify_one(); + std::lock_guard lock(this->publishCountMutex); + ++this->publishCount; } + this->newMatchSignal.notify_one(); + } + if (this->srvOutputInfo.size() > 0) + { + std::lock_guard lock(this->triggerSrvMutex); + ++this->serviceCount; } } }); + if (!this->node.Subscribe(this->inputTopic, msgCb)) { ignerr << "Input subscriber could not be created for topic [" @@ -645,11 +700,69 @@ void TriggeredPublisher::Configure(const Entity &, std::thread(std::bind(&TriggeredPublisher::DoWork, this)); } +////////////////////////////////////////////////// +void TriggeredPublisher::PublishMsg(std::size_t pending) +{ + for (auto &info : this->outputInfo) + { + for (std::size_t i = 0; i < pending; ++i) + { + info.pub.Publish(*info.msgData); + } + } +} + +////////////////////////////////////////////////// +void TriggeredPublisher::CallService(std::size_t pendingSrv) +{ + for (auto &serviceInfo : this->srvOutputInfo) + { + for (std::size_t i = 0; i < pendingSrv; ++i) + { + bool result; + auto req = msgs::Factory::New(serviceInfo.reqType, serviceInfo.reqMsg); + if (!req) + { + ignerr << "Unable to create request for type [" + << serviceInfo.reqType << "].\n"; + return; + } + + auto rep = msgs::Factory::New(serviceInfo.repType); + if (!rep) + { + ignerr << "Unable to create response for type [" + << serviceInfo.repType << "].\n"; + return; + } + + bool executed = this->node.Request(serviceInfo.srvName, *req, + serviceInfo.timeout, *rep, result); + if (executed) + { + if (!result) + { + ignerr << "Service call [" << serviceInfo.srvName << "] failed\n"; + } + else + { + ignmsg << "Service call [" << serviceInfo.srvName << "] succeeded\n"; + } + } + else + { + ignerr << "Service call [" << serviceInfo.srvName << "] timed out\n"; + } + } + } +} + ////////////////////////////////////////////////// void TriggeredPublisher::DoWork() { while (!this->done) { + // check whether to publish a msg by checking publishCount std::size_t pending{0}; { using namespace std::chrono_literals; @@ -661,18 +774,25 @@ void TriggeredPublisher::DoWork() }); if (this->publishCount == 0 || this->done) + { continue; - + } std::swap(pending, this->publishCount); } - for (auto &info : this->outputInfo) + PublishMsg(pending); + + // check whether to call a service by checking serviceCount + std::size_t pendingSrv{0}; { - for (std::size_t i = 0; i < pending; ++i) - { - info.pub.Publish(*info.msgData); + std::lock_guard lock(this->triggerSrvMutex); + if (this->serviceCount == 0 || this->done){ + continue; } + std::swap(pendingSrv, this->serviceCount); } + + CallService(pendingSrv); } } @@ -712,7 +832,9 @@ void TriggeredPublisher::PreUpdate(const ignition::gazebo::UpdateInfo &_info, } if (notify) + { this->newMatchSignal.notify_one(); + } } ////////////////////////////////////////////////// diff --git a/src/systems/triggered_publisher/TriggeredPublisher.hh b/src/systems/triggered_publisher/TriggeredPublisher.hh index f524b119ab..2560e67722 100644 --- a/src/systems/triggered_publisher/TriggeredPublisher.hh +++ b/src/systems/triggered_publisher/TriggeredPublisher.hh @@ -20,7 +20,7 @@ #include #include #include - +#include #include #include "ignition/gazebo/System.hh" @@ -37,8 +37,10 @@ namespace systems /// \brief The triggered publisher system publishes a user specified message /// on an output topic in response to an input message that matches user - /// specified criteria. An optional simulation time delay can be used - /// delay message publication. + /// specified criteria. It can also call a user specified service as an + /// output in response to an input message. It currently supports blocking + /// service call. An optional simulation time delay can be used delay message + /// publication. /// /// ## System Parameters /// @@ -75,9 +77,19 @@ namespace systems /// the human-readable representation of a protobuf message as used by /// `ign topic` for publishing messages /// - /// ``: Integer number of milliseconds, in simulation time, to + /// - ``: Integer number of milliseconds, in simulation time, to /// delay publication. /// + /// - ``: Contains configuration for service to call: Multiple + /// `` tags are possible. A service will be called for each input + /// that matches. + /// * Attributes: + /// * `name`: Service name (eg. `/world/triggered_publisher/set_pose`) + /// * `timeout`: Service timeout + /// * `reqType`: Service request message type (eg. ignition.msgs.Pose) + /// * `repType`: Service response message type (eg. ignition.msgs.Empty) + /// * `reqMsg`: String used to construct the service protobuf message. + /// /// Examples: /// 1. Any receipt of a Boolean messages on the input topic triggers an output /// \code{.xml} @@ -182,6 +194,12 @@ namespace systems /// \brief Thread that handles publishing output messages public: void DoWork(); + /// \brief Method that calls a service + private: void CallService(std::size_t pendingSrv); + + /// \brief Method that publishes a message + private: void PublishMsg(std::size_t pending); + /// \brief Helper function that calls Match on every InputMatcher available /// \param[in] _inputMsg Input message /// \return True if all of the matchers return true @@ -210,21 +228,49 @@ namespace systems transport::Node::Publisher pub; }; + /// \brief Class that holds necessary bits for each specified service output + private: struct SrvOutputInfo + { + /// \brief Service name + std::string srvName; + + /// \brief Service request type + std::string reqType; + + /// \brief Service reply type + std::string repType; + + /// \brief Service request message + std::string reqMsg; + + /// \brief Serivce timeout + int timeout; + }; + /// \brief List of InputMatchers private: std::vector> matchers; /// \brief List of outputs private: std::vector outputInfo; + /// \brief List of service outputs + private: std::vector srvOutputInfo; + /// \brief Ignition communication node. private: transport::Node node; + /// \brief Counter that tells how manny times to call the service + private: std::size_t serviceCount{0}; + /// \brief Counter that tells the publisher how many times to publish private: std::size_t publishCount{0}; /// \brief Mutex to synchronize access to publishCount private: std::mutex publishCountMutex; + /// \brief Mutex to synchronize access to serviceCount + private: std::mutex triggerSrvMutex; + /// \brief Condition variable to signal that new matches have occured private: std::condition_variable newMatchSignal; @@ -244,9 +290,8 @@ namespace systems /// \brief Mutex to synchronize access to publishQueue private: std::mutex publishQueueMutex; }; - } } } } - +} #endif diff --git a/test/integration/triggered_publisher.cc b/test/integration/triggered_publisher.cc index 9590a7c421..3ae1070d12 100644 --- a/test/integration/triggered_publisher.cc +++ b/test/integration/triggered_publisher.cc @@ -637,3 +637,272 @@ TEST_F(TriggeredPublisherTest, EXPECT_EQ(0u, recvCount); } + +///////////////////////////////////////////////// +/// Test for invalid service name. A service, `/srv-dummy-test` is advertised +/// and the callback is also provided in this test. Everytime an input msg is +/// published to `/in_14` topic, triggered_publisher plugin will call the +/// service `srv-test`, specified in the test/worlds/triggered_publisher.sdf. +/// However, since the two service names do not match, the callback provided in +/// this test will not be invoked. Therefore, the pubCount, which is set to 10, +/// will not equal to recvCount. The recvCount will be 0, since the callback +/// isn't invoked. +TEST_F(TriggeredPublisherTest, + IGN_UTILS_TEST_DISABLED_ON_WIN32(InvalidServiceName)) +{ + transport::Node node; + auto inputPub = node.Advertise("/in_14"); + std::atomic recvCount{0}; + + auto srvEchoCb = std::function( + [&recvCount](const auto &req, auto &) + { + EXPECT_EQ(req.data(), "test"); + if (req.data() == "test") + { + ++recvCount; + return true; + } + return false; + }); + + // Advertise a dummy service + std::string service = "/srv-dummy-test"; + node.Advertise(service, srvEchoCb); + + const std::size_t pubCount{10}; + for (std::size_t i = 0; i < pubCount; ++i) + { + EXPECT_TRUE(inputPub.Publish(msgs::Empty())); + IGN_SLEEP_MS(100); + } + + waitUntil(5000, [&]{return recvCount == 0u;}); + EXPECT_EQ(recvCount, 0u); +} + +///////////////////////////////////////////////// +/// Test for triggering a service call in response to an input msg. A service, +/// `srv-test` is advertised and the callback is also provided in this test. +/// Everytime an input msg is published to `/in_14` topic, triggered_publisher +/// plugin will call the service `/srv-test`, specified in the test/worlds/ +/// triggered_publisher.sdf. This time, the name of the services match. By +/// publishing input msg 10 times, the service callback will also be invoked 10 +/// times. The `pubCount` is set to 10 and recvCount is increased everytime +/// request data matches the string "test" inside the service callback. For a +/// successful test, the pubCount will equal to recvCount. +TEST_F(TriggeredPublisherTest, + IGN_UTILS_TEST_DISABLED_ON_WIN32(InputMessagesTriggerServices)) +{ + transport::Node node; + auto inputPub = node.Advertise("/in_14"); + std::atomic recvCount{0}; + + auto srvEchoCb = std::function( + [&recvCount](const auto &req, auto &) + { + EXPECT_EQ(req.data(), "test"); + if (req.data() == "test") + { + ++recvCount; + return true; + } + return false; + }); + + std::string service = "/srv-test"; + node.Advertise(service, srvEchoCb); + + const std::size_t pubCount{10}; + for (std::size_t i = 0; i < pubCount; ++i) + { + EXPECT_TRUE(inputPub.Publish(msgs::Empty())); + IGN_SLEEP_MS(100); + } + + waitUntil(5000, [&]{return pubCount == recvCount;}); + EXPECT_EQ(pubCount, recvCount); +} + +///////////////////////////////////////////////// +/// Test for triggering multiple services (in sequence) in response to an input +/// msg by publishing 10 times. Two services, `srv-test-0` and `srv-test-1` are +/// specified in the test/worlds/triggered_publisher.sdf. Everytime an input msg +/// is published, triggered_publisher will call the service and invoke the +/// callback. std::vector is passed as a reference and will be populated with +/// the request message, which will be a boolean value of `true`. If successful, +/// `recvMsg0` and `recvMsg1` vectors should both have a size of 10 with all +/// true boolean values. +TEST_F(TriggeredPublisherTest, + IGN_UTILS_TEST_DISABLED_ON_WIN32(MultipleServiceForOneInput)) +{ + transport::Node node; + auto inputPub = node.Advertise("/in_15"); + std::mutex recvMsgMutex; + std::vector recvMsgs0; + std::vector recvMsgs1; + auto cbCreator = [&recvMsgMutex](std::vector &_msgVector) + { + return std::function( + [&_msgVector, &recvMsgMutex](const auto &req, auto &) + { + std::lock_guard lock(recvMsgMutex); + if (req.data()) + { + _msgVector.push_back(req.data()); + return true; + } + return false; + }); + }; + + auto msgCb0 = cbCreator(recvMsgs0); + auto msgCb1 = cbCreator(recvMsgs1); + + // Advertise two dummy services + node.Advertise("/srv-test-0", msgCb0); + node.Advertise("/srv-test-1", msgCb1); + + const int pubCount{10}; + for (int i = 0; i < pubCount; ++i) + { + EXPECT_TRUE(inputPub.Publish(msgs::Empty())); + IGN_SLEEP_MS(100); + } + + waitUntil(5000, [&] + { + std::lock_guard lock(recvMsgMutex); + return static_cast(pubCount) == recvMsgs0.size() && + static_cast(pubCount) == recvMsgs1.size(); + }); + + EXPECT_EQ(static_cast(pubCount), recvMsgs0.size()); + EXPECT_EQ(static_cast(pubCount), recvMsgs1.size()); + + // The plugin has two outputs. We expect 10 messages in each output topic + EXPECT_EQ(pubCount, std::count(recvMsgs0.begin(), recvMsgs0.end(), true)); + EXPECT_EQ(pubCount, std::count(recvMsgs1.begin(), recvMsgs1.end(), true)); +} + +///////////////////////////////////////////////// +/// Test for triggering a service call with incorrect request type or reply +/// type specified in test/worlds/triggered_publisher.sdf. `InvalidReqType` and +/// `InvalidRepType` do not exist. Hence, the callback will never be invoked and +/// the recvCount will be 0. +TEST_F(TriggeredPublisherTest, + IGN_UTILS_TEST_DISABLED_ON_WIN32(WrongRequestOrResponseType)) +{ + transport::Node node; + auto inputPub = node.Advertise("/in_16"); + std::atomic recvCount{0}; + + auto srvEchoCb = std::function( + [&recvCount](const auto &req, auto &) + { + EXPECT_EQ(req.data(), "test"); + if (req.data() == "test") + { + ++recvCount; + return true; + } + return false; + }); + + // Advertise a dummy service + std::string service = "/srv-test"; + node.Advertise(service, srvEchoCb); + + const std::size_t pubCount{10}; + for (std::size_t i = 0; i < pubCount; ++i) + { + EXPECT_TRUE(inputPub.Publish(msgs::Empty())); + IGN_SLEEP_MS(100); + } + + waitUntil(5000, [&]{return recvCount == 0u;}); + EXPECT_EQ(0u, recvCount); +} + +///////////////////////////////////////////////// +/// Test for triggering a service call with different request (Boolean) and +/// reply type (StringMsg). Check `InputMessagesTriggerServices` test for more +/// details on how the test works. This test is very similar except that it has +/// different request and reply type. +TEST_F(TriggeredPublisherTest, + IGN_UTILS_TEST_DISABLED_ON_WIN32(BooleanReqStringMsgRep)) +{ + transport::Node node; + auto inputPub = node.Advertise("/in_18"); + std::atomic recvCount{0}; + + auto srvEchoCb = std::function( + [&recvCount](const auto &req, auto &) + { + EXPECT_EQ(req.data(), true); + if (req.data() == true) + { + ++recvCount; + return true; + } + return false; + }); + + // Advertise a dummy service + std::string service = "/srv-diff-type-0"; + node.Advertise(service, srvEchoCb); + + const std::size_t pubCount{10}; + for (std::size_t i = 0; i < pubCount; ++i) + { + EXPECT_TRUE(inputPub.Publish(msgs::Empty())); + IGN_SLEEP_MS(100); + } + + waitUntil(5000, [&]{return pubCount == recvCount;}); + EXPECT_EQ(pubCount, recvCount); +} + +///////////////////////////////////////////////// +/// Test for triggering a service call with different request (StringMsg) and +/// reply type (Boolean). Check `InputMessagesTriggerServices` test for more +/// details on how the test works. This test is very similar except that it has +/// different request and reply type. +TEST_F(TriggeredPublisherTest, + IGN_UTILS_TEST_DISABLED_ON_WIN32(StringMsgReqBooleanRep)) +{ + transport::Node node; + auto inputPub = node.Advertise("/in_19"); + std::atomic recvCount{0}; + + auto srvEchoCb = std::function( + [&recvCount](const auto &req, auto &) + { + EXPECT_EQ(req.data(), "test"); + if (req.data() == "test") + { + ++recvCount; + return true; + } + return false; + }); + + // Advertise a dummy service + std::string service = "/srv-diff-type-1"; + node.Advertise(service, srvEchoCb); + + const std::size_t pubCount{10}; + for (std::size_t i = 0; i < pubCount; ++i) + { + EXPECT_TRUE(inputPub.Publish(msgs::Empty())); + IGN_SLEEP_MS(100); + } + + waitUntil(5000, [&]{return pubCount == recvCount;}); + EXPECT_EQ(recvCount, recvCount); +} diff --git a/test/worlds/triggered_publisher.sdf b/test/worlds/triggered_publisher.sdf index 7c9f21c568..2ce7ab2394 100644 --- a/test/worlds/triggered_publisher.sdf +++ b/test/worlds/triggered_publisher.sdf @@ -5,19 +5,25 @@ 0 - + - + data: true - + data: false @@ -27,7 +33,9 @@ - + data: true @@ -36,7 +44,9 @@ - + data: 0 @@ -45,7 +55,9 @@ - + data: 0 @@ -54,7 +66,9 @@ - + data: -5 @@ -75,7 +89,9 @@ - + 1.0 2.0 @@ -83,7 +99,9 @@ - + 1.0 2.0 @@ -91,7 +109,9 @@ - + { @@ -102,7 +122,9 @@ - + { @@ -120,53 +142,152 @@ - + data: 0, data: 1 - + data: 0.5 - + 0.5 - + "value1" - + 1000 - - + + data: 0, data: 1 - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - diff --git a/tutorials/triggered_publisher.md b/tutorials/triggered_publisher.md index d07c74c318..ff4759c3ef 100644 --- a/tutorials/triggered_publisher.md +++ b/tutorials/triggered_publisher.md @@ -1,17 +1,20 @@ \page triggeredpublisher Triggered Publisher The `TriggeredPublisher` system publishes a user specified message on an output -topic in response to an input message that matches user specified criteria. The -system works by checking the input against a set of Matchers. Matchers -contain string representations of protobuf messages which are compared for -equality or containment with the input message. Matchers can match the whole -input message or only a specific field inside the message. +topic in response to an input message that matches user specified criteria. It +can also call a user specified service in response to an input +message. The system works by checking the input against a set of Matchers. +Matchers contain string representations of protobuf messages which are compared +for equality or containment with the input message. Matchers can match the +whole input message or only a specific field inside the message. + This tutorial describes how the Triggered Publisher system can be used to cause a box to fall from its initial position by detaching a detachable joint in response to the motion of a vehicle. The tutorial also covers how Triggered Publisher systems can be chained together by showing how the falling of the box -can trigger another box to fall. The finished world SDFormat file for this +can trigger another box to fall. Last, it covers how a service call can be +triggered to reset the robot pose. The finished world SDFormat file for this tutorial can be found in [examples/worlds/triggered_publisher.sdf](https://github.com/ignitionrobotics/ign-gazebo/blob/ign-gazebo2/examples/worlds/triggered_publisher.sdf) @@ -263,3 +266,27 @@ and publish the start message ``` ign topic -t "/start" -m ignition.msgs.Empty -p " " ``` + +Once both boxes have fallen, we can publish a message to invoke a service call +to reset the robot position as well as set the speed to 0. As shown below, the +`` sets the linear x speed to 0, and the `` tag contains +metadata to invoke a service call to `/world/triggered_publisher/set_pose`. The +`reqMsg` is expressed in the human-readable form of Google Protobuf meesages. +Multiple `` tags can be used as well as with the `` tag. + +```xml + + + + linear: {x: 0} + + + + +``` From 721bc356a827b26b4edd893110e065f2f74c0963 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Fri, 9 Sep 2022 06:30:23 -0700 Subject: [PATCH 06/28] Fix loading render engine plugins in GUI (#1694) Signed-off-by: Ian Chen --- include/ignition/gazebo/rendering/RenderUtil.hh | 4 ++++ src/gui/plugins/scene_manager/GzSceneManager.cc | 9 +++++++++ src/rendering/RenderUtil.cc | 12 +++++++++--- 3 files changed, 22 insertions(+), 3 deletions(-) diff --git a/include/ignition/gazebo/rendering/RenderUtil.hh b/include/ignition/gazebo/rendering/RenderUtil.hh index a757ec5378..444d9c0daa 100644 --- a/include/ignition/gazebo/rendering/RenderUtil.hh +++ b/include/ignition/gazebo/rendering/RenderUtil.hh @@ -201,6 +201,10 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { /// \brief Clears the set of selected entities and lowlights all of them. public: void DeselectAllEntities(); + /// \brief Init render engine plugins paths. This lets gz-rendering know + /// paths to find render engine plugins + public: void InitRenderEnginePluginPaths(); + /// \brief Helper function to get all child links of a model entity. /// \param[in] _entity Entity to find child links /// \return Vector of child links found for the parent entity diff --git a/src/gui/plugins/scene_manager/GzSceneManager.cc b/src/gui/plugins/scene_manager/GzSceneManager.cc index f04c61d07a..9d0c6b1338 100644 --- a/src/gui/plugins/scene_manager/GzSceneManager.cc +++ b/src/gui/plugins/scene_manager/GzSceneManager.cc @@ -59,6 +59,9 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { /// \brief Rendering utility public: RenderUtil renderUtil; + /// \brief True if render engine plugins paths are initialized + public: bool renderEnginePluginPathsInit{false}; + /// \brief List of new entities from a gui event public: std::set newEntities; @@ -123,6 +126,12 @@ void GzSceneManager::Update(const UpdateInfo &_info, IGN_PROFILE("GzSceneManager::Update"); + if (!this->dataPtr->renderEnginePluginPathsInit) + { + this->dataPtr->renderUtil.InitRenderEnginePluginPaths(); + this->dataPtr->renderEnginePluginPathsInit = true; + } + this->dataPtr->renderUtil.UpdateECM(_info, _ecm); std::lock_guard lock(this->dataPtr->newRemovedEntityMutex); diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc index 415908ff9c..6f4ef07941 100644 --- a/src/rendering/RenderUtil.cc +++ b/src/rendering/RenderUtil.cc @@ -2496,6 +2496,14 @@ bool RenderUtil::HeadlessRendering() const return this->dataPtr->isHeadlessRendering; } +///////////////////////////////////////////////// +void RenderUtil::InitRenderEnginePluginPaths() +{ + ignition::common::SystemPaths pluginPath; + pluginPath.SetPluginPathEnv(kRenderPluginPathEnv); + rendering::setPluginPaths(pluginPath.PluginPaths()); +} + ///////////////////////////////////////////////// void RenderUtil::Init() { @@ -2503,9 +2511,7 @@ void RenderUtil::Init() if (nullptr != this->dataPtr->scene) return; - ignition::common::SystemPaths pluginPath; - pluginPath.SetPluginPathEnv(kRenderPluginPathEnv); - rendering::setPluginPaths(pluginPath.PluginPaths()); + this->InitRenderEnginePluginPaths(); std::map params; if (this->dataPtr->useCurrentGLContext) From 6b48eea5e74636ddde6445a167478663cc0f49c2 Mon Sep 17 00:00:00 2001 From: Benjamin Perseghetti Date: Thu, 22 Sep 2022 09:48:40 -0400 Subject: [PATCH 07/28] Enable inherited model topic name. (#1689) Allows for inheriting model name for robotNamespace when SDF element is not set and provides a debug message showing the topics it subscribes to. Signed-off-by: Benjamin Perseghetti Co-authored-by: Nate Koenig --- .../multicopter_motor_model/MulticopterMotorModel.cc | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/src/systems/multicopter_motor_model/MulticopterMotorModel.cc b/src/systems/multicopter_motor_model/MulticopterMotorModel.cc index dbb5102d00..db6552555b 100644 --- a/src/systems/multicopter_motor_model/MulticopterMotorModel.cc +++ b/src/systems/multicopter_motor_model/MulticopterMotorModel.cc @@ -6,6 +6,7 @@ * Copyright 2015 Markus Achtelik, ASL, ETH Zurich, Switzerland * Copyright 2016 Geoffrey Hunter * Copyright (C) 2019 Open Source Robotics Foundation + * Copyright (C) 2022 Benjamin Perseghetti, Rudis Laboratories * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. @@ -49,6 +50,7 @@ #include "ignition/gazebo/components/Wind.hh" #include "ignition/gazebo/Link.hh" #include "ignition/gazebo/Model.hh" +#include "ignition/gazebo/Util.hh" // from rotors_gazebo_plugins/include/rotors_gazebo_plugins/common.h /// \brief This class can be used to apply a first order filter on a signal. @@ -250,7 +252,8 @@ void MulticopterMotorModel::Configure(const Entity &_entity, } else { - ignerr << "Please specify a robotNamespace.\n"; + ignwarn << "No robotNamespace set using entity name.\n"; + this->dataPtr->robotNamespace = this->dataPtr->model.Name(_ecm); } // Get params from SDF @@ -365,6 +368,10 @@ void MulticopterMotorModel::Configure(const Entity &_entity, << "]" << std::endl; return; } + else + { + igndbg << "Listening to topic: " << topic << std::endl; + } this->dataPtr->node.Subscribe(topic, &MulticopterMotorModelPrivate::OnActuatorMsg, this->dataPtr.get()); } From 96b282b872a0a96d54589643e3d8e03d5160d0a3 Mon Sep 17 00:00:00 2001 From: Jose Luis Rivero Date: Fri, 23 Sep 2022 14:14:41 +0200 Subject: [PATCH 08/28] Add ResourceSpawner example file (#1701) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Add an example file for the ResourceSpawner plugin. I'm using this to link from https://github.com/gazebosim/docs/blob/master/garden/Model_insertion_fuel.md. To improve gazebosim/garden-tutorial-party#1991. Signed-off-by: Jose Luis Rivero Co-authored-by: Alejandro Hernández Cordero --- examples/worlds/resource_spawner.sdf | 167 +++++++++++++++++++++++++++ 1 file changed, 167 insertions(+) create mode 100644 examples/worlds/resource_spawner.sdf diff --git a/examples/worlds/resource_spawner.sdf b/examples/worlds/resource_spawner.sdf new file mode 100644 index 0000000000..ec9eb90392 --- /dev/null +++ b/examples/worlds/resource_spawner.sdf @@ -0,0 +1,167 @@ + + + + + + 0.001 + 1.0 + + + + + ogre2 + + + + + + + + + 3D View + false + docked + + ogre2 + scene + 0.4 0.4 0.4 + 0.8 0.8 0.8 + -6 0 6 0 0.5 0 + + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + World control + false + false + 72 + 121 + 1 + floating + + + + + + true + true + true + true + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + docked + + + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + true + + + + + 20 20 0.1 + + + + + + + 20 20 0.1 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + + + From 5330437e4eb31dfa1432a7b989ac2e5a83259808 Mon Sep 17 00:00:00 2001 From: Liam Han Date: Mon, 26 Sep 2022 06:07:14 -0700 Subject: [PATCH 09/28] Update triggered_publisher.sdf (#1737) found a silly typo that was pushed back in PR (https://github.com/gazebosim/gz-sim/pull/1611) --- examples/worlds/triggered_publisher.sdf | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/worlds/triggered_publisher.sdf b/examples/worlds/triggered_publisher.sdf index 98b7c52c64..07c7eb7396 100644 --- a/examples/worlds/triggered_publisher.sdf +++ b/examples/worlds/triggered_publisher.sdf @@ -472,7 +472,7 @@ start falling. reqType="ignition.msgs.Pose" repType="ignition.msgs.Boolean" timeout="3000" - reqMsg="name: 'blue_vehicle', position: {x: -3, z: 0.325}"> + reqMsg="name: 'vehicle_blue', position: {x: -3, z: 0.325}"> Date: Wed, 28 Sep 2022 08:50:05 -0700 Subject: [PATCH 10/28] Adds sky cubemap URI to the sky.proto's header (#1739) * Adds sky cubemap URI to the sky.proto's header Signed-off-by: Nate Koenig * require sdf 12.6 Signed-off-by: Nate Koenig Signed-off-by: Nate Koenig Co-authored-by: Nate Koenig --- CMakeLists.txt | 2 +- src/Conversions.cc | 17 +++++++++++++++++ src/Conversions_TEST.cc | 6 ++++++ 3 files changed, 24 insertions(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 897ea591a0..38008583c9 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -60,7 +60,7 @@ set(CMAKE_POLICY_DEFAULT_CMP0077 NEW) # as protobuf could be find transitively by any dependency set(protobuf_MODULE_COMPATIBLE TRUE) -ign_find_package(sdformat12 REQUIRED VERSION 12.4) +ign_find_package(sdformat12 REQUIRED VERSION 12.6) set(SDF_VER ${sdformat12_VERSION_MAJOR}) #-------------------------------------- diff --git a/src/Conversions.cc b/src/Conversions.cc index ac2bda406a..c5db3be557 100644 --- a/src/Conversions.cc +++ b/src/Conversions.cc @@ -863,6 +863,13 @@ msgs::Scene ignition::gazebo::convert(const sdf::Scene &_in) skyMsg->set_mean_cloud_size(_in.Sky()->CloudMeanSize()); msgs::Set(skyMsg->mutable_cloud_ambient(), _in.Sky()->CloudAmbient()); + + if (!_in.Sky()->CubemapUri().empty()) + { + auto header = skyMsg->mutable_header()->add_data(); + header->set_key("cubemap_uri"); + header->add_value(_in.Sky()->CubemapUri()); + } } return out; @@ -893,6 +900,16 @@ sdf::Scene ignition::gazebo::convert(const msgs::Scene &_in) sky.SetCloudHumidity(_in.sky().humidity()); sky.SetCloudMeanSize(_in.sky().mean_cloud_size()); sky.SetCloudAmbient(msgs::Convert(_in.sky().cloud_ambient())); + + for (int i = 0; i < _in.sky().header().data_size(); ++i) + { + auto data = _in.sky().header().data(i); + if (data.key() == "cubemap_uri" && data.value_size() > 0) + { + sky.SetCubemapUri(data.value(0)); + } + } + out.SetSky(sky); } return out; diff --git a/src/Conversions_TEST.cc b/src/Conversions_TEST.cc index f1876943b4..9033949c9d 100644 --- a/src/Conversions_TEST.cc +++ b/src/Conversions_TEST.cc @@ -710,6 +710,7 @@ TEST(Conversions, Scene) sky.SetCloudHumidity(0.11); sky.SetCloudMeanSize(0.88); sky.SetCloudAmbient(math::Color::Red); + sky.SetCubemapUri("test.dds"); scene.SetSky(sky); auto sceneSkyMsg = convert(scene); @@ -723,6 +724,10 @@ TEST(Conversions, Scene) EXPECT_DOUBLE_EQ(0.88, sceneSkyMsg.sky().mean_cloud_size()); EXPECT_EQ(math::Color::Red, msgs::Convert(sceneSkyMsg.sky().cloud_ambient())); + ASSERT_GT(sceneSkyMsg.sky().header().data_size(), 0); + auto header = sceneSkyMsg.sky().header().data(0); + EXPECT_EQ("cubemap_uri", header.key()); + EXPECT_EQ("test.dds", header.value(0)); auto newSceneSky = convert(sceneSkyMsg); ASSERT_NE(nullptr, newSceneSky.Sky()); @@ -734,6 +739,7 @@ TEST(Conversions, Scene) EXPECT_DOUBLE_EQ(0.11, newSceneSky.Sky()->CloudHumidity()); EXPECT_DOUBLE_EQ(0.88, newSceneSky.Sky()->CloudMeanSize()); EXPECT_EQ(math::Color::Red, newSceneSky.Sky()->CloudAmbient()); + EXPECT_EQ("test.dds", newSceneSky.Sky()->CubemapUri()); } ///////////////////////////////////////////////// From aff92493203bdd72de7a85fa2f1c114f3d23c834 Mon Sep 17 00:00:00 2001 From: Nate Koenig Date: Wed, 28 Sep 2022 08:50:26 -0700 Subject: [PATCH 11/28] Return absolute path when finding a resource (#1741) * Adds sky cubemap URI to the sky.proto's header Signed-off-by: Nate Koenig * Return absolute path when finding a resource Signed-off-by: Nate Koenig Signed-off-by: Nate Koenig Co-authored-by: Nate Koenig --- src/ServerPrivate.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/ServerPrivate.cc b/src/ServerPrivate.cc index 0381c96660..6f1929b82e 100644 --- a/src/ServerPrivate.cc +++ b/src/ServerPrivate.cc @@ -490,9 +490,9 @@ bool ServerPrivate::ResourcePathsResolveService( std::string req = _req.data(); // Handle the case where the request is already a valid path - if (common::exists(req)) + if (common::exists(common::absPath(req))) { - _res.set_data(req); + _res.set_data(common::absPath(req)); return true; } From cdc9dc291c6d71aa9f2bdf24a45d86fae23c9007 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Mon, 3 Oct 2022 11:59:15 -0700 Subject: [PATCH 12/28] Restore Add System GUI plugin (#1685) * cherry pick aef3020cf6d982b483553fd56cf2acea4a3d3f5f Signed-off-by: Ian Chen --- include/ignition/gazebo/SystemLoader.hh | 8 +- src/SystemLoader.cc | 43 ++++-- src/SystemLoader_TEST.cc | 36 +++++ src/SystemManager.cc | 60 +++++++- src/SystemManager.hh | 8 ++ .../component_inspector/ComponentInspector.cc | 129 +++++++++++++++++- .../component_inspector/ComponentInspector.hh | 30 ++++ .../ComponentInspector.qml | 128 ++++++++++++++++- test/integration/entity_system.cc | 48 +++++++ test/worlds/diff_drive_no_plugin.sdf | 4 + 10 files changed, 477 insertions(+), 17 deletions(-) diff --git a/include/ignition/gazebo/SystemLoader.hh b/include/ignition/gazebo/SystemLoader.hh index 592027394a..2ba237bcd3 100644 --- a/include/ignition/gazebo/SystemLoader.hh +++ b/include/ignition/gazebo/SystemLoader.hh @@ -17,6 +17,7 @@ #ifndef IGNITION_GAZEBO_SYSTEMLOADER_HH_ #define IGNITION_GAZEBO_SYSTEMLOADER_HH_ +#include #include #include #include @@ -61,7 +62,8 @@ namespace ignition /// \brief Load and instantiate system plugin from name/filename. /// \param[in] _filename Shared library filename to load plugin from. - /// \param[in] _name Class name to be instantiated. + /// \param[in] _name Class name to be instantiated. If empty, the first + /// plugin in the shared library will be loaded. /// \param[in] _sdf SDF Element describing plugin instance to be loaded. /// \returns Shared pointer to system instance or nullptr. /// \note This will be deprecated in Gazebo 7 (Garden), please the use @@ -81,6 +83,10 @@ namespace ignition /// \returns A pretty string public: std::string PrettyStr() const; + /// \brief Get the plugin search paths used for loading system plugins + /// \return Paths to search for plugins + public: std::list PluginPaths() const; + /// \brief Pointer to private data. private: std::unique_ptr dataPtr; }; diff --git a/src/SystemLoader.cc b/src/SystemLoader.cc index fbf7ae020e..fd8556cb7f 100644 --- a/src/SystemLoader.cc +++ b/src/SystemLoader.cc @@ -41,8 +41,7 @@ class ignition::gazebo::SystemLoaderPrivate public: explicit SystemLoaderPrivate() = default; ////////////////////////////////////////////////// - public: bool InstantiateSystemPlugin(const sdf::Plugin &_sdfPlugin, - ignition::plugin::PluginPtr &_gzPlugin) + public: std::list PluginPaths() const { ignition::common::SystemPaths systemPaths; systemPaths.SetPluginPathEnv(pluginPathEnv); @@ -52,9 +51,24 @@ class ignition::gazebo::SystemLoaderPrivate std::string homePath; ignition::common::env(IGN_HOMEDIR, homePath); - systemPaths.AddPluginPaths(homePath + "/.ignition/gazebo/plugins"); + systemPaths.AddPluginPaths(common::joinPaths( + homePath, ".ignition", "gazebo", "plugins")); systemPaths.AddPluginPaths(IGN_GAZEBO_PLUGIN_INSTALL_DIR); + return systemPaths.PluginPaths(); + } + + ////////////////////////////////////////////////// + public: bool InstantiateSystemPlugin(const sdf::Plugin &_sdfPlugin, + ignition::plugin::PluginPtr &_gzPlugin) + { + std::list paths = this->PluginPaths(); + common::SystemPaths systemPaths; + for (const auto &p : paths) + { + systemPaths.AddPluginPaths(p); + } + auto pathToLib = systemPaths.FindSharedLibrary(_sdfPlugin.Filename()); if (pathToLib.empty()) { @@ -85,7 +99,11 @@ class ignition::gazebo::SystemLoaderPrivate return false; } - _gzPlugin = this->loader.Instantiate(_sdfPlugin.Name()); + // use the first plugin name in the library if not specified + std::string pluginToInstantiate = _sdfPlugin.Name().empty() ? + pluginName : _sdfPlugin.Name(); + + _gzPlugin = this->loader.Instantiate(pluginToInstantiate); if (!_gzPlugin) { ignerr << "Failed to load system plugin [" << _sdfPlugin.Name() << @@ -129,6 +147,12 @@ SystemLoader::SystemLoader() ////////////////////////////////////////////////// SystemLoader::~SystemLoader() = default; +////////////////////////////////////////////////// +std::list SystemLoader::PluginPaths() const +{ + return this->dataPtr->PluginPaths(); +} + ////////////////////////////////////////////////// void SystemLoader::AddSystemPluginPath(const std::string &_path) { @@ -141,11 +165,10 @@ std::optional SystemLoader::LoadPlugin( const std::string &_name, const sdf::ElementPtr &_sdf) { - if (_filename == "" || _name == "") + if (_filename == "") { ignerr << "Failed to instantiate system plugin: empty argument " - "[(filename): " << _filename << "] " << - "[(name): " << _name << "]." << std::endl; + "[(filename): " << _filename << "] " << std::endl; return {}; } @@ -175,18 +198,16 @@ std::optional SystemLoader::LoadPlugin( { ignition::plugin::PluginPtr plugin; - if (_plugin.Filename() == "" || _plugin.Name() == "") + if (_plugin.Filename() == "") { ignerr << "Failed to instantiate system plugin: empty argument " - "[(filename): " << _plugin.Filename() << "] " << - "[(name): " << _plugin.Name() << "]." << std::endl; + "[(filename): " << _plugin.Filename() << "] " << std::endl; return {}; } auto ret = this->dataPtr->InstantiateSystemPlugin(_plugin, plugin); if (ret && plugin) return plugin; - return {}; } diff --git a/src/SystemLoader_TEST.cc b/src/SystemLoader_TEST.cc index 8ca53aff47..d1c8b38bd6 100644 --- a/src/SystemLoader_TEST.cc +++ b/src/SystemLoader_TEST.cc @@ -27,6 +27,7 @@ #include "ignition/gazebo/test_config.hh" // NOLINT(build/include) using namespace ignition; +using namespace gazebo; ///////////////////////////////////////////////// TEST(SystemLoader, Constructor) @@ -67,3 +68,38 @@ TEST(SystemLoader, EmptyNames) auto system = sm.LoadPlugin(plugin); ASSERT_FALSE(system.has_value()); } + +///////////////////////////////////////////////// +TEST(SystemLoader, PluginPaths) +{ + SystemLoader sm; + + // verify that there should exist some default paths + std::list paths = sm.PluginPaths(); + unsigned int pathCount = paths.size(); + EXPECT_LT(0u, pathCount); + + // Add test path and verify that the loader now contains this path + auto testBuildPath = common::joinPaths( + std::string(PROJECT_BINARY_PATH), "lib"); + sm.AddSystemPluginPath(testBuildPath); + paths = sm.PluginPaths(); + + // Number of paths should increase by 1 + EXPECT_EQ(pathCount + 1, paths.size()); + + // verify newly added paths exists + bool hasPath = false; + for (const auto &s : paths) + { + // the returned path string may not be exact match due to extra '/' + // appended at the end of the string. So use absPath to generate + // a path string that matches the format returned by joinPaths + if (common::absPath(s) == testBuildPath) + { + hasPath = true; + break; + } + } + EXPECT_TRUE(hasPath); +} diff --git a/src/SystemManager.cc b/src/SystemManager.cc index 8440364fc8..ff3bc2f65b 100644 --- a/src/SystemManager.cc +++ b/src/SystemManager.cc @@ -15,6 +15,11 @@ * */ +#include +#include + +#include + #include "ignition/gazebo/components/SystemPluginInfo.hh" #include "ignition/gazebo/Conversions.hh" #include "SystemManager.hh" @@ -34,11 +39,15 @@ SystemManager::SystemManager(const SystemLoaderPtr &_systemLoader, transport::NodeOptions opts; opts.SetNameSpace(_namespace); this->node = std::make_unique(opts); - std::string entitySystemService{"entity/system/add"}; - this->node->Advertise(entitySystemService, + std::string entitySystemAddService{"entity/system/add"}; + this->node->Advertise(entitySystemAddService, &SystemManager::EntitySystemAddService, this); ignmsg << "Serving entity system service on [" - << "/" << entitySystemService << "]" << std::endl; + << "/" << entitySystemAddService << "]" << std::endl; + + std::string entitySystemInfoService{"system/info"}; + this->node->Advertise(entitySystemInfoService, + &SystemManager::EntitySystemInfoService, this); } ////////////////////////////////////////////////// @@ -215,6 +224,51 @@ bool SystemManager::EntitySystemAddService(const msgs::EntityPlugin_V &_req, return true; } +////////////////////////////////////////////////// +bool SystemManager::EntitySystemInfoService(const msgs::Empty &, + msgs::EntityPlugin_V &_res) +{ + // loop through all files in paths and populate the list of + // plugin libraries. + std::list paths = this->systemLoader->PluginPaths(); + std::set filenames; + for (const auto &p : paths) + { + if (common::exists(p)) + { + for (common::DirIter file(p); + file != common::DirIter(); ++file) + { + std::string current(*file); + std::string filename = common::basename(current); + if (common::isFile(current) && + (common::EndsWith(filename, ".so") || + common::EndsWith(filename, ".dll") || + common::EndsWith(filename, ".dylib"))) + { + // remove extension and lib prefix + size_t extensionIndex = filename.rfind("."); + std::string nameWithoutExtension = + filename.substr(0, extensionIndex); + if (common::StartsWith(nameWithoutExtension, "lib")) + { + nameWithoutExtension = nameWithoutExtension.substr(3); + } + filenames.insert(nameWithoutExtension); + } + } + } + } + + for (const auto &fn : filenames) + { + auto plugin = _res.add_plugins(); + plugin->set_filename(fn); + } + + return true; +} + ////////////////////////////////////////////////// void SystemManager::ProcessPendingEntitySystems() { diff --git a/src/SystemManager.hh b/src/SystemManager.hh index c23ee38cee..a7bf1484ee 100644 --- a/src/SystemManager.hh +++ b/src/SystemManager.hh @@ -142,6 +142,14 @@ namespace ignition private: bool EntitySystemAddService(const msgs::EntityPlugin_V &_req, msgs::Boolean &_res); + /// \brief Callback for entity info system service. + /// \param[in] _req Empty request message + /// \param[out] _res Response containing a list of plugin names + /// and filenames + /// \return True if request received. + private: bool EntitySystemInfoService(const msgs::Empty &_req, + msgs::EntityPlugin_V &_res); + /// \brief All the systems. private: std::vector systems; diff --git a/src/gui/plugins/component_inspector/ComponentInspector.cc b/src/gui/plugins/component_inspector/ComponentInspector.cc index d235fce439..0c9fe29d50 100644 --- a/src/gui/plugins/component_inspector/ComponentInspector.cc +++ b/src/gui/plugins/component_inspector/ComponentInspector.cc @@ -18,6 +18,7 @@ #include #include #include +#include #include #include #include @@ -68,6 +69,7 @@ #include "ignition/gazebo/components/Volume.hh" #include "ignition/gazebo/components/WindMode.hh" #include "ignition/gazebo/components/World.hh" +#include "ignition/gazebo/config.hh" #include "ignition/gazebo/EntityComponentManager.hh" #include "ignition/gazebo/gui/GuiEvents.hh" @@ -118,9 +120,35 @@ namespace ignition::gazebo /// \brief Handles all system info components. public: std::unique_ptr systemInfo; + + /// \brief A list of system plugin human readable names. + public: QStringList systemNameList; + + /// \brief Maps plugin display names to their filenames. + public: std::unordered_map systemMap; }; } +// Helper to remove a prefix from a string if present +void removePrefix(const std::string &_prefix, std::string &_s) +{ + auto id = _s.find(_prefix); + if (id != std::string::npos) + { + _s = _s.substr(_prefix.length()); + } +} + +// Helper to remove a suffix from a string if present +void removeSuffix(const std::string &_suffix, std::string &_s) +{ + auto id = _s.find(_suffix); + if (id != std::string::npos && id + _suffix.length() == _s.length()) + { + _s.erase(id, _suffix.length()); + } +} + using namespace ignition; using namespace gazebo; @@ -895,7 +923,6 @@ void ComponentInspector::Update(const UpdateInfo &, auto comp = _ecm.Component(this->dataPtr->entity); if (comp) { - this->SetType("material"); setData(item, comp->Data()); } } @@ -1216,6 +1243,106 @@ transport::Node &ComponentInspector::TransportNode() return this->dataPtr->node; } +///////////////////////////////////////////////// +void ComponentInspector::QuerySystems() +{ + msgs::Empty req; + msgs::EntityPlugin_V res; + bool result; + unsigned int timeout = 5000; + std::string service{"/world/" + this->dataPtr->worldName + + "/system/info"}; + if (!this->dataPtr->node.Request(service, req, timeout, res, result)) + { + ignerr << "Unable to query available systems." << std::endl; + return; + } + + this->dataPtr->systemNameList.clear(); + this->dataPtr->systemMap.clear(); + for (const auto &plugin : res.plugins()) + { + if (plugin.filename().empty()) + { + ignerr << "Received empty plugin name. This shouldn't happen." + << std::endl; + continue; + } + + // Remove common prefixes and suffixes + auto humanReadable = plugin.filename(); + removePrefix("ignition-gazebo-", humanReadable); + removePrefix("ignition-gazebo" + + std::string(IGNITION_GAZEBO_MAJOR_VERSION_STR) + "-", humanReadable); + removeSuffix("-system", humanReadable); + removeSuffix("system", humanReadable); + removeSuffix("-plugin", humanReadable); + removeSuffix("plugin", humanReadable); + + // Replace - with space, capitalize + std::replace(humanReadable.begin(), humanReadable.end(), '-', ' '); + humanReadable[0] = std::toupper(humanReadable[0]); + + this->dataPtr->systemMap[humanReadable] = plugin.filename(); + this->dataPtr->systemNameList.push_back( + QString::fromStdString(humanReadable)); + } + this->dataPtr->systemNameList.sort(); + this->dataPtr->systemNameList.removeDuplicates(); + this->SystemNameListChanged(); +} + +///////////////////////////////////////////////// +QStringList ComponentInspector::SystemNameList() const +{ + return this->dataPtr->systemNameList; +} + +///////////////////////////////////////////////// +void ComponentInspector::SetSystemNameList(const QStringList &_list) +{ + this->dataPtr->systemNameList = _list; +} + +///////////////////////////////////////////////// +void ComponentInspector::OnAddSystem(const QString &_name, + const QString &_filename, const QString &_innerxml) +{ + auto filenameStr = _filename.toStdString(); + auto it = this->dataPtr->systemMap.find(filenameStr); + if (it == this->dataPtr->systemMap.end()) + { + ignerr << "Internal error: failed to find [" << filenameStr + << "] in system map." << std::endl; + return; + } + + msgs::EntityPlugin_V req; + auto ent = req.mutable_entity(); + ent->set_id(this->dataPtr->entity); + auto plugin = req.add_plugins(); + std::string name = _name.toStdString(); + std::string filename = this->dataPtr->systemMap[filenameStr]; + std::string innerxml = _innerxml.toStdString(); + plugin->set_name(name); + plugin->set_filename(filename); + plugin->set_innerxml(innerxml); + + msgs::Boolean res; + bool result; + unsigned int timeout = 5000; + std::string service{"/world/" + this->dataPtr->worldName + + "/entity/system/add"}; + if (!this->dataPtr->node.Request(service, req, timeout, res, result)) + { + ignerr << "Error adding new system to entity: " + << this->dataPtr->entity << "\n" + << "Name: " << name << "\n" + << "Filename: " << filename << "\n" + << "Inner XML: " << innerxml << std::endl; + } +} + // Register this plugin IGNITION_ADD_PLUGIN(ignition::gazebo::ComponentInspector, ignition::gui::Plugin) diff --git a/src/gui/plugins/component_inspector/ComponentInspector.hh b/src/gui/plugins/component_inspector/ComponentInspector.hh index a4800795e2..9e8735a928 100644 --- a/src/gui/plugins/component_inspector/ComponentInspector.hh +++ b/src/gui/plugins/component_inspector/ComponentInspector.hh @@ -212,6 +212,14 @@ namespace gazebo NOTIFY NestedModelChanged ) + /// \brief System display name list + Q_PROPERTY( + QStringList systemNameList + READ SystemNameList + WRITE SetSystemNameList + NOTIFY SystemNameListChanged + ) + /// \brief Constructor public: ComponentInspector(); @@ -372,6 +380,28 @@ namespace gazebo /// \return Transport node public: transport::Node &TransportNode(); + /// \brief Query system plugin info. + public: Q_INVOKABLE void QuerySystems(); + + /// \brief Get the system plugin display name list + /// \return A list of names that are potentially system plugins + public: Q_INVOKABLE QStringList SystemNameList() const; + + /// \brief Set the system plugin display name list + /// \param[in] _systempFilenameList A list of system plugin display names + public: Q_INVOKABLE void SetSystemNameList( + const QStringList &_systemNameList); + + /// \brief Notify that system plugin display name list has changed + signals: void SystemNameListChanged(); + + /// \brief Callback when a new system is to be added to an entity + /// \param[in] _name Name of system + /// \param[in] _filename Filename of system + /// \param[in] _innerxml Inner XML content of the system + public: Q_INVOKABLE void OnAddSystem(const QString &_name, + const QString &_filename, const QString &_innerxml); + /// \internal /// \brief Pointer to private data. private: std::unique_ptr dataPtr; diff --git a/src/gui/plugins/component_inspector/ComponentInspector.qml b/src/gui/plugins/component_inspector/ComponentInspector.qml index 21f43e9506..14bbee7153 100644 --- a/src/gui/plugins/component_inspector/ComponentInspector.qml +++ b/src/gui/plugins/component_inspector/ComponentInspector.qml @@ -15,9 +15,9 @@ * */ import QtQuick 2.9 -import QtQuick.Controls 1.4 import QtQuick.Controls 2.2 import QtQuick.Controls.Material 2.1 +import QtQuick.Dialogs 1.1 import QtQuick.Layouts 1.3 import QtQuick.Controls.Styles 1.4 import IgnGazebo 1.0 as IgnGazebo @@ -216,6 +216,27 @@ Rectangle { } } + ToolButton { + id: addSystemButton + checkable: false + text: "\u002B" + contentItem: Text { + text: addSystemButton.text + color: "#b5b5b5" + horizontalAlignment: Text.AlignHCenter + verticalAlignment: Text.AlignVCenter + } + visible: (entityType == "model" || entityType == "visual" || + entityType == "sensor" || entityType == "world") + ToolTip.text: "Add a system to this entity" + ToolTip.visible: hovered + ToolTip.delay: Qt.styleHints.mousePressAndHoldInterval + onClicked: { + addSystemDialog.open() + } + } + + Label { id: entityLabel text: 'Entity ' + ComponentInspector.entity @@ -227,6 +248,111 @@ Rectangle { } } + Dialog { + id: addSystemDialog + modal: false + focus: true + title: "Add System" + closePolicy: Popup.CloseOnEscape + width: parent.width + + ColumnLayout { + width: parent.width + GridLayout { + columns: 2 + columnSpacing: 30 + Text { + text: "Name" + Layout.row: 0 + Layout.column: 0 + } + + TextField { + id: nameField + selectByMouse: true + Layout.row: 0 + Layout.column: 1 + Layout.fillWidth: true + Layout.minimumWidth: 250 + onTextEdited: { + addSystemDialog.updateButtonState(); + } + placeholderText: "Leave empty to load first plugin" + } + + Text { + text: "Filename" + Layout.row: 1 + Layout.column: 0 + } + + ComboBox { + id: filenameCB + Layout.row: 1 + Layout.column: 1 + Layout.fillWidth: true + Layout.minimumWidth: 250 + model: ComponentInspector.systemNameList + currentIndex: 0 + onCurrentIndexChanged: { + if (currentIndex < 0) + return; + addSystemDialog.updateButtonState(); + } + ToolTip.visible: hovered + ToolTip.delay: tooltipDelay + ToolTip.text: currentText + } + } + + Text { + id: innerxmlLabel + text: "Inner XML" + } + + Flickable { + id: innerxmlFlickable + Layout.minimumHeight: 300 + Layout.fillWidth: true + Layout.fillHeight: true + + flickableDirection: Flickable.VerticalFlick + TextArea.flickable: TextArea { + id: innerxmlField + wrapMode: Text.WordWrap + selectByMouse: true + textFormat: TextEdit.PlainText + font.pointSize: 10 + } + ScrollBar.vertical: ScrollBar { + policy: ScrollBar.AlwaysOn + } + } + } + + footer: DialogButtonBox { + id: buttons + standardButtons: Dialog.Ok | Dialog.Cancel + } + + onOpened: { + ComponentInspector.QuerySystems(); + addSystemDialog.updateButtonState(); + } + + onAccepted: { + ComponentInspector.OnAddSystem(nameField.text.trim(), + filenameCB.currentText.trim(), innerxmlField.text.trim()) + } + + function updateButtonState() { + buttons.standardButton(Dialog.Ok).enabled = + (filenameCB.currentText.trim() != '') + } + } + + + ListView { anchors.top: header.bottom anchors.bottom: parent.bottom diff --git a/test/integration/entity_system.cc b/test/integration/entity_system.cc index d4ea7ce57c..338cf4e685 100644 --- a/test/integration/entity_system.cc +++ b/test/integration/entity_system.cc @@ -158,6 +158,54 @@ TEST_P(EntitySystemTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(PublishCmd)) "/model/vehicle/cmd_vel"); } +///////////////////////////////////////////////// +TEST_P(EntitySystemTest, SystemInfo) +{ + // Start server + ServerConfig serverConfig; + const auto sdfFile = std::string(PROJECT_SOURCE_PATH) + + "/test/worlds/empty.sdf"; + serverConfig.SetSdfFile(sdfFile); + + Server server(serverConfig); + EXPECT_FALSE(server.Running()); + EXPECT_FALSE(*server.Running(0)); + + // get info on systems available + msgs::Empty req; + msgs::EntityPlugin_V res; + bool result; + unsigned int timeout = 5000; + std::string service{"/world/empty/system/info"}; + transport::Node node; + EXPECT_TRUE(node.Request(service, req, timeout, res, result)); + EXPECT_TRUE(result); + + // verify plugins are not empty + EXPECT_FALSE(res.plugins().empty()); + + // check for a few known plugins that we know should exist in gazebo + std::set knownPlugins; + knownPlugins.insert("user-commands-system"); + knownPlugins.insert("physics-system"); + knownPlugins.insert("scene-broadcaster-system"); + knownPlugins.insert("sensors-system"); + + for (const auto &plugin : res.plugins()) + { + for (const auto &kp : knownPlugins) + { + if (plugin.filename().find(kp) != std::string::npos) + { + knownPlugins.erase(kp); + break; + } + } + } + // verify all known plugins are found and removed from the set + EXPECT_TRUE(knownPlugins.empty()); +} + // Run multiple times INSTANTIATE_TEST_SUITE_P(ServerRepeat, EntitySystemTest, ::testing::Range(1, 2)); diff --git a/test/worlds/diff_drive_no_plugin.sdf b/test/worlds/diff_drive_no_plugin.sdf index 1792199086..1a70e4eff1 100644 --- a/test/worlds/diff_drive_no_plugin.sdf +++ b/test/worlds/diff_drive_no_plugin.sdf @@ -10,6 +10,10 @@ filename="ignition-gazebo-physics-system" name="ignition::gazebo::systems::Physics"> + + true From 4dd1858d3a7f35c06f51535b4539690356a9da5f Mon Sep 17 00:00:00 2001 From: "Marco A. Gutierrez" Date: Fri, 7 Oct 2022 01:17:36 +0800 Subject: [PATCH 13/28] Adding thrust coefficient calculation (#1652) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * adding thrust coefficient calculation Signed-off-by: Marco A. Gutierrez * Update src/systems/thruster/Thruster.cc Co-authored-by: Alejandro Hernández Cordero Signed-off-by: Marco A. Gutierrez * Update src/systems/thruster/Thruster.cc Co-authored-by: Alejandro Hernández Cordero Signed-off-by: Marco A. Gutierrez * Update src/systems/thruster/Thruster.cc Co-authored-by: Alejandro Hernández Cordero Signed-off-by: Marco A. Gutierrez * Update src/systems/thruster/Thruster.cc Co-authored-by: Alejandro Hernández Cordero Signed-off-by: Marco A. Gutierrez * Update src/systems/thruster/Thruster.cc Co-authored-by: Alejandro Hernández Cordero Signed-off-by: Marco A. Gutierrez * Update src/systems/thruster/Thruster.cc Co-authored-by: Alejandro Hernández Cordero Signed-off-by: Marco A. Gutierrez * Update src/systems/thruster/Thruster.cc Co-authored-by: Alejandro Hernández Cordero Signed-off-by: Marco A. Gutierrez * Update src/systems/thruster/Thruster.cc Co-authored-by: Alejandro Hernández Cordero Signed-off-by: Marco A. Gutierrez * Update src/systems/thruster/Thruster.hh Co-authored-by: Alejandro Hernández Cordero Signed-off-by: Marco A. Gutierrez * thrust coefficient test and behavior updates Signed-off-by: Marco A. Gutierrez * making float comparision more robust Signed-off-by: Marco A. Gutierrez * fix float comparision and lint Signed-off-by: Marco A. Gutierrez Signed-off-by: Marco A. Gutierrez Co-authored-by: Alejandro Hernández Cordero --- src/systems/thruster/Thruster.cc | 82 +++++++++++++++++++++ src/systems/thruster/Thruster.hh | 16 ++++ test/integration/thruster.cc | 64 ++++++++++++++-- test/worlds/thrust_coefficient.sdf | 114 +++++++++++++++++++++++++++++ 4 files changed, 270 insertions(+), 6 deletions(-) create mode 100644 test/worlds/thrust_coefficient.sdf diff --git a/src/systems/thruster/Thruster.cc b/src/systems/thruster/Thruster.cc index b775cf26e4..bae8bb04d5 100644 --- a/src/systems/thruster/Thruster.cc +++ b/src/systems/thruster/Thruster.cc @@ -16,6 +16,7 @@ */ #include #include +#include #include #include @@ -98,18 +99,39 @@ class ignition::gazebo::systems::ThrusterPrivateData /// thrust public: double thrustCoefficient = 1; + /// \brief True if the thrust coefficient was set by configuration. + public: bool thrustCoefficientSet = false; + + /// \brief Relative speed reduction between the water at the propeller vs + /// behind the vessel. + public: double wakeFraction = 0.2; + + /// \brief Constant given by the open water propeller diagram. Used in the + /// calculation of the thrust coefficient. + public: double alpha1 = 1; + + /// \brief Constant given by the open water propeller diagram. Used in the + /// calculation of the thrust coefficient. + public: double alpha2 = 0; + /// \brief Density of fluid in kgm^-3, default: 1000kgm^-3 public: double fluidDensity = 1000; /// \brief Diameter of propeller in m, default: 0.02 public: double propellerDiameter = 0.02; + /// \brief Linear velocity of the vehicle. + public: double linearVelocity = 0.0; + /// \brief Topic name used to control thrust. public: std::string topic = ""; /// \brief Callback for handling thrust update public: void OnCmdThrust(const msgs::Double &_msg); + /// \brief Recalculates and updates the thrust coefficient. + public: void UpdateThrustCoefficient(); + /// \brief Function which computes angular velocity from thrust /// \param[in] _thrust Thrust in N /// \return Angular velocity in rad/s @@ -160,6 +182,7 @@ void Thruster::Configure( if (_sdf->HasElement("thrust_coefficient")) { this->dataPtr->thrustCoefficient = _sdf->Get("thrust_coefficient"); + this->dataPtr->thrustCoefficientSet = true; } // Get propeller diameter @@ -174,6 +197,40 @@ void Thruster::Configure( this->dataPtr->fluidDensity = _sdf->Get("fluid_density"); } + // Get wake fraction number, default 0.2 otherwise + if (_sdf->HasElement("wake_fraction")) + { + this->dataPtr->wakeFraction = _sdf->Get("wake_fraction"); + } + + // Get alpha_1, default to 1 othwewise + if (_sdf->HasElement("alpha_1")) + { + this->dataPtr->alpha1 = _sdf->Get("alpha_1"); + if (this->dataPtr->thrustCoefficientSet) + { + ignwarn << " The [alpha_2] value will be ignored as a " + << "[thrust_coefficient] was also defined through the SDF file." + << " If you want the system to use the alpha values to calculate" + << " and update the thrust coefficient please remove the " + << "[thrust_coefficient] value from the SDF file." << std::endl; + } + } + + // Get alpha_2, default to 1 othwewise + if (_sdf->HasElement("alpha_2")) + { + this->dataPtr->alpha2 = _sdf->Get("alpha_2"); + if (this->dataPtr->thrustCoefficientSet) + { + ignwarn << " The [alpha_2] value will be ignored as a " + << "[thrust_coefficient] was also defined through the SDF file." + << " If you want the system to use the alpha values to calculate" + << " and update the thrust coefficient please remove the " + << "[thrust_coefficient] value from the SDF file." << std::endl; + } + } + // Get a custom topic. if (_sdf->HasElement("topic")) { @@ -235,6 +292,8 @@ void Thruster::Configure( enableComponent(_ecm, this->dataPtr->linkEntity); enableComponent(_ecm, this->dataPtr->linkEntity); + enableComponent(_ecm, + this->dataPtr->linkEntity); double minThrustCmd = this->dataPtr->cmdMin; double maxThrustCmd = this->dataPtr->cmdMax; @@ -321,6 +380,14 @@ void ThrusterPrivateData::OnCmdThrust(const msgs::Double &_msg) ///////////////////////////////////////////////// double ThrusterPrivateData::ThrustToAngularVec(double _thrust) { + // Only update if the thrust coefficient was not set by configuration + // and angular velocity is not zero. Some velocity is needed to calculate + // the thrust coefficient otherwise it will never start moving. + if (!this->thrustCoefficientSet && + std::abs(this->propellerAngVel) > std::numeric_limits::epsilon()) + { + this->UpdateThrustCoefficient(); + } // Thrust is proportional to the Rotation Rate squared // See Thor I Fossen's "Guidance and Control of ocean vehicles" p. 246 auto propAngularVelocity = sqrt(abs( @@ -333,6 +400,14 @@ double ThrusterPrivateData::ThrustToAngularVec(double _thrust) return propAngularVelocity; } +///////////////////////////////////////////////// +void ThrusterPrivateData::UpdateThrustCoefficient() +{ + this->thrustCoefficient = this->alpha1 + this->alpha2 * + (((1 - this->wakeFraction) * this->linearVelocity) + / (this->propellerAngVel * this->propellerDiameter)); +} + ///////////////////////////////////////////////// bool ThrusterPrivateData::HasSufficientBattery( const EntityComponentManager &_ecm) const @@ -384,6 +459,8 @@ void Thruster::PreUpdate( { std::lock_guard lock(this->dataPtr->mtx); desiredThrust = this->dataPtr->thrust; + this->dataPtr->propellerAngVel = + this->dataPtr->ThrustToAngularVec(this->dataPtr->thrust); desiredPropellerAngVel = this->dataPtr->propellerAngVel; } @@ -422,6 +499,11 @@ void Thruster::PreUpdate( _ecm, unitVector * desiredThrust, unitVector * torque); + + // Update the LinearVelocity of the vehicle + this->dataPtr->linearVelocity = + _ecm.Component( + this->dataPtr->linkEntity)->Data().Length(); } ///////////////////////////////////////////////// diff --git a/src/systems/thruster/Thruster.hh b/src/systems/thruster/Thruster.hh index 415fa8b660..e40627d465 100644 --- a/src/systems/thruster/Thruster.hh +++ b/src/systems/thruster/Thruster.hh @@ -70,6 +70,22 @@ namespace systems /// defaults to 1000N] /// - - Minimum thrust command. [Optional, /// defaults to -1000N] + /// - - Relative speed reduction between the water + /// at the propeller (Va) vs behind the vessel. + /// [Optional, defults to 0.2] + /// See Thor I Fossen's "Guidance and Control of ocean vehicles" p. 95: + /// + /// Va = (1 - wake_fraction) * advance_speed + /// + /// - - Constant given by the open water propeller diagram. Used + /// in the calculation of the thrust coefficient (Kt). + /// [Optional, defults to 1] + /// - - Constant given by the open water propeller diagram. Used + /// in the calculation of the thrust coefficient (Kt). + /// [Optional, defults to 0] + /// See Thor I Fossen's "Guidance and Control of ocean vehicles" p. 95: + /// + /// Kt = alpha_1 * alpha_2 * (Va/(propeller_revolution * propeller_diameter)) /// /// ## Example /// An example configuration is installed with Gazebo. The example diff --git a/test/integration/thruster.cc b/test/integration/thruster.cc index 1e147bfe69..92c60a7d89 100644 --- a/test/integration/thruster.cc +++ b/test/integration/thruster.cc @@ -32,6 +32,9 @@ #include "ignition/gazebo/Util.hh" #include "ignition/gazebo/World.hh" +#include "ignition/gazebo/components/JointAxis.hh" +#include "ignition/gazebo/components/Pose.hh" + #include "ignition/gazebo/test_config.hh" #include "../helpers/EnvTestFixture.hh" @@ -50,13 +53,17 @@ class ThrusterTest : public InternalFixture<::testing::Test> /// \param[in] _baseTol Base tolerance for most quantities public: void TestWorld(const std::string &_world, const std::string &_namespace, const std::string &_topic, - double _coefficient, double _density, double _diameter, double _baseTol); + double _thrustCoefficient, double _density, double _diameter, + double _baseTol, double _wakeFraction = 0.2, double _alpha_1 = 1, + double _alpha_2 = 0, bool _calculateCoefficient = false); }; ////////////////////////////////////////////////// void ThrusterTest::TestWorld(const std::string &_world, const std::string &_namespace, const std::string &_topic, - double _coefficient, double _density, double _diameter, double _baseTol) + double _thrustCoefficient, double _density, double _diameter, + double _baseTol, double _wakeFraction, double _alpha1, double _alpha2, + bool _calculateCoefficient) { // Start server ServerConfig serverConfig; @@ -68,6 +75,9 @@ void ThrusterTest::TestWorld(const std::string &_world, Link propeller; std::vector modelPoses; std::vector propellerAngVels; + std::vector propellerLinVels; + ignition::math::Pose3d jointPose, linkWorldPose; + ignition::math::Vector3d jointAxis; double dt{0.0}; fixture. OnConfigure( @@ -82,11 +92,19 @@ void ThrusterTest::TestWorld(const std::string &_world, EXPECT_NE(modelEntity, kNullEntity); model = Model(modelEntity); + auto jointEntity = model.JointByName(_ecm, "propeller_joint"); + jointAxis = + _ecm.Component( + jointEntity)->Data().Xyz(); + jointPose = _ecm.Component( + jointEntity)->Data(); + auto propellerEntity = model.LinkByName(_ecm, "propeller"); EXPECT_NE(propellerEntity, kNullEntity); propeller = Link(propellerEntity); propeller.EnableVelocityChecks(_ecm); + }). OnPostUpdate([&](const gazebo::UpdateInfo &_info, const gazebo::EntityComponentManager &_ecm) @@ -99,6 +117,10 @@ void ThrusterTest::TestWorld(const std::string &_world, auto propellerAngVel = propeller.WorldAngularVelocity(_ecm); ASSERT_TRUE(propellerAngVel); propellerAngVels.push_back(propellerAngVel.value()); + + auto proellerLinVel = propeller.WorldLinearVelocity(_ecm); + ASSERT_TRUE(proellerLinVel); + propellerLinVels.push_back(proellerLinVel.value()); }). Finalize(); @@ -106,6 +128,7 @@ void ThrusterTest::TestWorld(const std::string &_world, fixture.Server()->Run(true, 100, false); EXPECT_EQ(100u, modelPoses.size()); EXPECT_EQ(100u, propellerAngVels.size()); + EXPECT_EQ(100u, propellerLinVels.size()); EXPECT_NE(model.Entity(), kNullEntity); EXPECT_NE(propeller.Entity(), kNullEntity); @@ -120,6 +143,7 @@ void ThrusterTest::TestWorld(const std::string &_world, EXPECT_EQ(math::Vector3d::Zero, vel); } propellerAngVels.clear(); + propellerLinVels.clear(); // Publish command and check that vehicle moved transport::Node node; @@ -146,8 +170,10 @@ void ThrusterTest::TestWorld(const std::string &_world, EXPECT_DOUBLE_EQ(0.0, modelPoses.back().Pos().X()); EXPECT_EQ(100u, modelPoses.size()); EXPECT_EQ(100u, propellerAngVels.size()); + EXPECT_EQ(100u, propellerLinVels.size()); modelPoses.clear(); propellerAngVels.clear(); + propellerLinVels.clear(); // input force cmd this should be capped to 300 forceCmd = 1000.0; @@ -168,6 +194,7 @@ void ThrusterTest::TestWorld(const std::string &_world, EXPECT_EQ(100u * sleep, modelPoses.size()); EXPECT_EQ(100u * sleep, propellerAngVels.size()); + EXPECT_EQ(100u * sleep, propellerLinVels.size()); } // max allowed force @@ -205,13 +232,26 @@ void ThrusterTest::TestWorld(const std::string &_world, EXPECT_NEAR(0.0, pose.Rot().Roll(), _baseTol); } - // See Thor I Fossen's "Guidance and Control of ocean vehicles" p. 246 - // omega = sqrt(thrust / - // (fluid_density * thrust_coefficient * propeller_diameter ^ 4)) - auto omega = sqrt(force / (_density * _coefficient * pow(_diameter, 4))); + auto jointWorldPose = linkWorldPose * jointPose; + auto unitVector = jointWorldPose.Rot().RotateVector(jointAxis).Normalize(); + double omegaTol{1e-1}; for (unsigned int i = 0; i < propellerAngVels.size(); ++i) { + auto angularVelocity = propellerAngVels[i].Dot(unitVector); + // See Thor I Fossen's "Guidance and Control of ocean vehicles" p. 246: + // thrust_coefficient = alpha_1 + alpha_2 * (((1-wake_fraction) * + // linear_velocity) / (angular_velocity * propeller_diameter)) + // omega = sqrt(thrust / + // (fluid_density * thrust_coefficient * propeller_diameter ^ 4)) + if (_calculateCoefficient && angularVelocity != 0) + { + _thrustCoefficient = _alpha1 + _alpha2 * (((1 - _wakeFraction) * + propellerLinVels[i].Length()) / (angularVelocity * _diameter)); + } + auto omega = sqrt(abs(force / (_density * _thrustCoefficient * + pow(_diameter, 4)))); + auto angVel = propellerAngVels[i]; // It takes a few iterations to reach the speed if (i > 25) @@ -270,3 +310,15 @@ TEST_F(ThrusterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(BatteryIntegration)) this->TestWorld(world, ns, topic, 0.005, 950, 0.25, 1e-2); } +///////////////////////////////////////////////// +TEST_F(ThrusterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(ThrustCoefficient)) +{ + const std::string ns = "custom"; + const std::string topic = "/model/" + ns + + "/joint/propeller_joint/cmd_thrust"; + auto world = common::joinPaths(std::string(PROJECT_SOURCE_PATH), + "test", "worlds", "thrust_coefficient.sdf"); + + // Tolerance is high because the joint command disturbs the vehicle body + this->TestWorld(world, ns, topic, 1, 950, 0.25, 1e-2, 0.2, 0.9, 0.01, true); +} diff --git a/test/worlds/thrust_coefficient.sdf b/test/worlds/thrust_coefficient.sdf new file mode 100644 index 0000000000..f45c5cb1c7 --- /dev/null +++ b/test/worlds/thrust_coefficient.sdf @@ -0,0 +1,114 @@ + + + + + + + 0 + + + + 0 0 0 + + + + + + + + true + 0 0 10 0 0 0 + 1 1 1 1 + 0.5 0.5 0.5 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + + + 0 0 0 0 1.57 0 + + 100 + + 33.89 + 0 + 0 + 33.89 + 0 + 1.125 + + + + + + 2 + 0.15 + + + + + + + -1.05 0 0 0 0 0 + + 0.1 + + 0.000354167 + 0 + 0 + 0.000021667 + 0 + 0.000334167 + + + + + + 0.01 0.25 0.05 + + + + + + + body + propeller + + 1 0 0 + + -1e+12 + 1e+12 + 1e6 + 1e6 + + + + + + custom + propeller_joint + 950 + 0.25 + true + 300 + 0 + 0.2 + 0.9 + 0.01 + + + + + From e502e9fd36544d4dd936ccde2308dc5938ec1950 Mon Sep 17 00:00:00 2001 From: Arjo Chakravarty Date: Tue, 11 Oct 2022 17:04:21 +0800 Subject: [PATCH 14/28] Enable/Disable individual hydrodynamic components. (#1692) This commit enables and disables individual components of the hydrodynamics. This is often useful for debugging odd behaviours of a hydrodynamic model. --- src/systems/hydrodynamics/Hydrodynamics.cc | 22 +- src/systems/hydrodynamics/Hydrodynamics.hh | 3 + test/integration/CMakeLists.txt | 1 + test/integration/hydrodynamics_flags.cc | 151 +++++++++ test/worlds/hydrodynamics_flags.sdf | 352 +++++++++++++++++++++ 5 files changed, 528 insertions(+), 1 deletion(-) create mode 100644 test/integration/hydrodynamics_flags.cc create mode 100644 test/worlds/hydrodynamics_flags.sdf diff --git a/src/systems/hydrodynamics/Hydrodynamics.cc b/src/systems/hydrodynamics/Hydrodynamics.cc index ac7f8fdf3d..1a59c06c11 100644 --- a/src/systems/hydrodynamics/Hydrodynamics.cc +++ b/src/systems/hydrodynamics/Hydrodynamics.cc @@ -103,6 +103,14 @@ class ignition::gazebo::systems::HydrodynamicsPrivateData /// \brief The ignition transport node public: transport::Node node; + /// \brief Plugin Parameter: Disable coriolis as part of equation. This is + /// occasionally useful for testing. + public: bool disableCoriolis = false; + + /// \brief Plugin Parameter: Disable added mass as part of equation. This is + /// occasionally useful for testing. + public: bool disableAddedMass = false; + /// \brief Ocean current experienced by this body public: math::Vector3d currentVector {0, 0, 0}; @@ -232,6 +240,9 @@ void Hydrodynamics::Configure( this->dataPtr->paramNr = SdfParamDouble(_sdf, "nR" , 20); this->dataPtr->paramNrr = SdfParamDouble(_sdf, "nRR" , 0); + _sdf->Get("disable_coriolis", this->dataPtr->disableCoriolis, false); + _sdf->Get("disable_added_mass", this->dataPtr->disableAddedMass, false); + // Create model object, to access convenient functions auto model = ignition::gazebo::Model(_entity); @@ -389,7 +400,16 @@ void Hydrodynamics::PreUpdate( const Eigen::VectorXd kDvec = Dmat * state; - const Eigen::VectorXd kTotalWrench = kAmassVec + kDvec + kCmatVec; + Eigen::VectorXd kTotalWrench = kDvec; + + if (!this->dataPtr->disableAddedMass) + { + kTotalWrench += kAmassVec; + } + if (!this->dataPtr->disableCoriolis) + { + kTotalWrench += kCmatVec; + } ignition::math::Vector3d totalForce(-kTotalWrench(0), -kTotalWrench(1), -kTotalWrench(2)); diff --git a/src/systems/hydrodynamics/Hydrodynamics.hh b/src/systems/hydrodynamics/Hydrodynamics.hh index f9f87cfe4c..4719703ac7 100644 --- a/src/systems/hydrodynamics/Hydrodynamics.hh +++ b/src/systems/hydrodynamics/Hydrodynamics.hh @@ -77,6 +77,9 @@ namespace systems /// listens on `/model/{namespace name}/ocean_current`.[String, Optional] /// * - A generic current. /// [vector3d m/s, optional, default = [0,0,0]m/s] + /// * - Disable Coriolis force [Boolean, Default: false] + /// * - Disable Added Mass [Boolean, Default: false]. + /// To be deprecated in Garden. /// /// # Example /// An example configuration is provided in the examples folder. The example diff --git a/test/integration/CMakeLists.txt b/test/integration/CMakeLists.txt index ad026ed661..d5776ad20f 100644 --- a/test/integration/CMakeLists.txt +++ b/test/integration/CMakeLists.txt @@ -25,6 +25,7 @@ set(tests fuel_cached_server.cc halt_motion.cc hydrodynamics.cc + hydrodynamics_flags.cc imu_system.cc joint_controller_system.cc joint_position_controller_system.cc diff --git a/test/integration/hydrodynamics_flags.cc b/test/integration/hydrodynamics_flags.cc new file mode 100644 index 0000000000..a997be5826 --- /dev/null +++ b/test/integration/hydrodynamics_flags.cc @@ -0,0 +1,151 @@ +/* + * Copyright (C) 2022 Open Source Robotics Foundation + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + */ + +#include + +#include + +#include +#include +#include +#include + +#include "ignition/gazebo/Link.hh" +#include "ignition/gazebo/Model.hh" +#include "ignition/gazebo/Server.hh" +#include "ignition/gazebo/SystemLoader.hh" +#include "ignition/gazebo/TestFixture.hh" +#include "ignition/gazebo/Util.hh" +#include "ignition/gazebo/World.hh" + +#include "ignition/gazebo/test_config.hh" +#include "../helpers/EnvTestFixture.hh" + +using namespace ignition; +using namespace gazebo; + +class HydrodynamicsFlagsTest : public InternalFixture<::testing::Test> +{ + /// \brief Test a world file. + /// \param[in] _world Path to world file. + /// \param[in] _modelName Name of the model. + /// \param[in] _numsteps Number of steps to run the server. + /// \param[out] _linearVel Linear velocityies after each step. + /// \param[out] _angularVel Linear velocityies after each step. + public: void TestWorld(const std::string &_world, + const std::string &_modelName, const unsigned int &_numsteps, + std::vector &_linearVel, + std::vector &_angularVel); +}; + +////////////////////////////////////////////////// +void HydrodynamicsFlagsTest::TestWorld(const std::string &_world, + const std::string &_modelName, const unsigned int &_numsteps, + std::vector &_linearVel, + std::vector &_angularVel) +{ + // Maximum verbosity for debugging + ignition::common::Console::SetVerbosity(4); + + // Start server + ServerConfig serverConfig; + serverConfig.SetSdfFile(_world); + + TestFixture fixture(serverConfig); + + Model model; + Link body; + std::vector bodyVels; + fixture. + OnConfigure( + [&](const Entity &_worldEntity, + const std::shared_ptr &/*_sdf*/, + EntityComponentManager &_ecm, + EventManager &/*eventMgr*/) + { + World world(_worldEntity); + + auto modelEntity = world.ModelByName(_ecm, _modelName); + EXPECT_NE(modelEntity, kNullEntity); + model = Model(modelEntity); + + auto bodyEntity = model.LinkByName(_ecm, "base_link"); + EXPECT_NE(bodyEntity, kNullEntity); + + body = Link(bodyEntity); + body.EnableVelocityChecks(_ecm); + + // Forces in Y and Z are needed to make the coriolis + // force appear. + math::Vector3d force(0.0, 1000.0, 1000.0); + math::Vector3d torque(0.0, 0.0, 10.0); + body.AddWorldWrench(_ecm, force, torque); + + }). + OnPostUpdate([&](const UpdateInfo &/*_info*/, + const EntityComponentManager &_ecm) + { + auto bodyVel = body.WorldLinearVelocity(_ecm); + ASSERT_TRUE(bodyVel); + _linearVel.push_back(bodyVel.value()); + auto bodyAngularVel = body.WorldAngularVelocity(_ecm); + ASSERT_TRUE(bodyAngularVel); + _angularVel.push_back(bodyAngularVel.value()); + }). + Finalize(); + + fixture.Server()->Run(true, _numsteps, false); + EXPECT_EQ(_numsteps, _linearVel.size()); + EXPECT_EQ(_numsteps, _angularVel.size()); + + EXPECT_NE(model.Entity(), kNullEntity); + EXPECT_NE(body.Entity(), kNullEntity); + +} + +///////////////////////////////////////////////// +/// This test makes sure that the linear velocity is reuduced +/// disbling the coriolis force and also when disabling the added mass. +TEST_F(HydrodynamicsFlagsTest, AddedMassCoriolisFlags) +{ + auto world = common::joinPaths(std::string(PROJECT_SOURCE_PATH), + "test", "worlds", "hydrodynamics_flags.sdf"); + + unsigned int numsteps = 1000; + + std::vector angularVels, angularCoriolisVels, + angularAddedMassVels; + std::vector linearVels, linearCoriolisVels, + linearAddedMassVels; + + this->TestWorld(world, "tethys", numsteps, linearVels, angularVels); + this->TestWorld(world, "triton", numsteps, linearCoriolisVels, + angularCoriolisVels); + this->TestWorld(world, "daphne", numsteps, linearAddedMassVels, + angularAddedMassVels); + + // Wait a couple of iterations for the body to move + for (unsigned int i = 4; i < numsteps; ++i) + { + // Angular and linear velocity should be lower + // with the produced coriolis and added mass + EXPECT_LT(angularCoriolisVels[i].Z(), angularVels[i].Z()); + EXPECT_LT(linearCoriolisVels[i].Z(), linearVels[i].Z()); + EXPECT_LT(angularAddedMassVels[i].Z(), angularVels[i].Z()); + EXPECT_LT(linearAddedMassVels[i].Z(), linearVels[i].Z()); + } +} diff --git a/test/worlds/hydrodynamics_flags.sdf b/test/worlds/hydrodynamics_flags.sdf new file mode 100644 index 0000000000..51ae7a93bd --- /dev/null +++ b/test/worlds/hydrodynamics_flags.sdf @@ -0,0 +1,352 @@ + + + + + + + + + 0.0 1.0 1.0 + 0.0 0.7 0.8 + + + + 0.001 + 1.0 + + + + + + + + + + + + 1000 + + + + true + 0 0 10 0 0 0 + 1 1 1 1 + 0.5 0.5 0.5 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + 0 0 1 0 0 1.57 + https://fuel.ignitionrobotics.org/1.0/accurrent/models/MBARI Tethys LRAUV + + + + horizontal_fins_joint + 0.1 + + + + vertical_fins_joint + 0.1 + + + + tethys + propeller_joint + 0.004422 + 1000 + 0.2 + + + + + + + 1000 + 4.13 + -1.1 + 0.2 + 0.03 + 0.17 + 0 + 0.0244 + 0 1 0 + 1 0 0 + vertical_fins + 0 0 0 + + + + + 1000 + 4.13 + -1.1 + 0.2 + 0.03 + 0.17 + 0 + 0.0244 + 0 0 1 + 1 0 0 + horizontal_fins + 0 0 0 + + + + base_link + -4.876161 + -126.324739 + -126.324739 + 0 + -33.46 + -33.46 + -6.2282 + 0 + -601.27 + 0 + -601.27 + 0 + -0.1916 + 0 + -632.698957 + 0 + -632.698957 + 0 + true + true + + + + + + 5 0 1 0 0 1.57 + https://fuel.ignitionrobotics.org/1.0/accurrent/models/MBARI Tethys LRAUV + triton + + + + horizontal_fins_joint + 0.1 + + + + vertical_fins_joint + 0.1 + + + + triton + propeller_joint + 0.004422 + 1000 + 0.2 + + + + + + + 1000 + 4.13 + -1.1 + 0.2 + 0.03 + 0.17 + 0 + 0.0244 + 0 1 0 + 1 0 0 + vertical_fins + 0 0 0 + + + + + 1000 + 4.13 + -1.1 + 0.2 + 0.03 + 0.17 + 0 + 0.0244 + 0 0 1 + 1 0 0 + horizontal_fins + 0 0 0 + + + + base_link + -4.876161 + -126.324739 + -126.324739 + 0 + -33.46 + -33.46 + -6.2282 + 0 + -601.27 + 0 + -601.27 + 0 + -0.1916 + 0 + -632.698957 + 0 + -632.698957 + 0 + true + + + + + + -5 0 1 0 0 1.57 + https://fuel.ignitionrobotics.org/1.0/accurrent/models/MBARI Tethys LRAUV + daphne + + + + horizontal_fins_joint + 0.1 + + + + vertical_fins_joint + 0.1 + + + + daphne + propeller_joint + 0.004422 + 1000 + 0.2 + + + + + + + 1000 + 4.13 + -1.1 + 0.2 + 0.03 + 0.17 + 0 + 0.0244 + 0 1 0 + 1 0 0 + vertical_fins + 0 0 0 + + + + + 1000 + 4.13 + -1.1 + 0.2 + 0.03 + 0.17 + 0 + 0.0244 + 0 0 1 + 1 0 0 + horizontal_fins + 0 0 0 + + + + base_link + -4.876161 + -126.324739 + -126.324739 + 0 + -33.46 + -33.46 + -6.2282 + 0 + -601.27 + 0 + -601.27 + 0 + -0.1916 + 0 + -632.698957 + 0 + -632.698957 + 0 + true + + + + + + 0 0 -1 0 0 3.1415926 + https://fuel.ignitionrobotics.org/1.0/mabelzhang/models/ABCSign_5m + start_line + + + 0 -25 -1 0 0 3.1415926 + https://fuel.ignitionrobotics.org/1.0/mabelzhang/models/ABCSign_5m + finish_line + + + + From f91d031184e417d10c680d16ab74ff7b0069dc3e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= Date: Tue, 11 Oct 2022 13:48:48 +0200 Subject: [PATCH 15/28] Fortress: Removed warnings (#1754) * Fortress: Removed warnings --- .../optical_tactile_plugin/OpticalTactilePlugin.cc | 3 +-- src/systems/optical_tactile_plugin/Visualization.cc | 6 ++---- src/systems/optical_tactile_plugin/Visualization.hh | 8 +------- test/integration/thruster.cc | 3 ++- 4 files changed, 6 insertions(+), 14 deletions(-) diff --git a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc index 492666b0ec..3fc0458e08 100644 --- a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc +++ b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc @@ -615,8 +615,7 @@ void OpticalTactilePluginPrivate::Load(const EntityComponentManager &_ecm) this->sensorSize, this->forceLength, this->cameraUpdateRate, - this->depthCameraOffset, - this->visualizationResolution); + this->depthCameraOffset); this->initialized = true; } diff --git a/src/systems/optical_tactile_plugin/Visualization.cc b/src/systems/optical_tactile_plugin/Visualization.cc index 22ba842ebb..d330e6a9d4 100644 --- a/src/systems/optical_tactile_plugin/Visualization.cc +++ b/src/systems/optical_tactile_plugin/Visualization.cc @@ -32,14 +32,12 @@ OpticalTactilePluginVisualization::OpticalTactilePluginVisualization( ignition::math::Vector3d &_sensorSize, double &_forceLength, float &_cameraUpdateRate, - ignition::math::Pose3f &_depthCameraOffset, - int &_visualizationResolution) : + ignition::math::Pose3f &_depthCameraOffset) : modelName(_modelName), sensorSize(_sensorSize), forceLength(_forceLength), cameraUpdateRate(_cameraUpdateRate), - depthCameraOffset(_depthCameraOffset), - visualizationResolution(_visualizationResolution) + depthCameraOffset(_depthCameraOffset) { } diff --git a/src/systems/optical_tactile_plugin/Visualization.hh b/src/systems/optical_tactile_plugin/Visualization.hh index a5e863e139..96c8b46cc0 100644 --- a/src/systems/optical_tactile_plugin/Visualization.hh +++ b/src/systems/optical_tactile_plugin/Visualization.hh @@ -52,15 +52,12 @@ namespace optical_tactile_sensor /// \param[in] _forceLength Value of the forceLength attribute /// \param[in] _cameraUpdateRate Value of the cameraUpdateRate attribute /// \param[in] _depthCameraOffset Value of the depthCameraOffset attribute - /// \param[in] _visualizationResolution Value of the - /// visualizationResolution attribute public: OpticalTactilePluginVisualization( std::string &_modelName, ignition::math::Vector3d &_sensorSize, double &_forceLength, float &_cameraUpdateRate, - ignition::math::Pose3f &_depthCameraOffset, - int &_visualizationResolution); + ignition::math::Pose3f &_depthCameraOffset); /// \brief Initialize the marker message representing the optical tactile /// sensor @@ -153,9 +150,6 @@ namespace optical_tactile_sensor /// \brief Offset between depth camera pose and model pose private: ignition::math::Pose3f depthCameraOffset; - /// \brief Resolution of the sensor in pixels to skip. - private: int visualizationResolution; - /// \brief Whether the normal forces messages are initialized or not private: bool normalForcesMsgsAreInitialized{false}; }; diff --git a/test/integration/thruster.cc b/test/integration/thruster.cc index 92c60a7d89..d92b3f15c3 100644 --- a/test/integration/thruster.cc +++ b/test/integration/thruster.cc @@ -21,6 +21,7 @@ #include #include +#include #include #include @@ -244,7 +245,7 @@ void ThrusterTest::TestWorld(const std::string &_world, // linear_velocity) / (angular_velocity * propeller_diameter)) // omega = sqrt(thrust / // (fluid_density * thrust_coefficient * propeller_diameter ^ 4)) - if (_calculateCoefficient && angularVelocity != 0) + if (_calculateCoefficient && gz::math::equal(angularVelocity, 0.0)) { _thrustCoefficient = _alpha1 + _alpha2 * (((1 - _wakeFraction) * propellerLinVels[i].Length()) / (angularVelocity * _diameter)); From a53c1936ad70390e0a46c8e288b801a27a0afaa6 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= Date: Thu, 13 Oct 2022 22:29:14 +0200 Subject: [PATCH 16/28] Removed unused speedlimit file (#1761) Signed-off-by: ahcorde --- .../ackermann_steering/SpeedLimiter.hh | 130 ------------------ 1 file changed, 130 deletions(-) delete mode 100644 src/systems/ackermann_steering/SpeedLimiter.hh diff --git a/src/systems/ackermann_steering/SpeedLimiter.hh b/src/systems/ackermann_steering/SpeedLimiter.hh deleted file mode 100644 index 34286bc3ae..0000000000 --- a/src/systems/ackermann_steering/SpeedLimiter.hh +++ /dev/null @@ -1,130 +0,0 @@ -/********************************************************************* - * Software License Agreement (BSD License) - * - * Copyright (c) 2013, PAL Robotics, S.L. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of the PAL Robotics nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - *********************************************************************/ - -/* - * Author: Enrique Fernández - * Modified: Carlos Agüero - */ - -#ifndef IGNITION_GAZEBO_SYSTEMS_SPEEDLIMITER_HH_ -#define IGNITION_GAZEBO_SYSTEMS_SPEEDLIMITER_HH_ - -#include - -#include - -namespace ignition -{ -namespace gazebo -{ -// Inline bracket to help doxygen filtering. -inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { -namespace systems -{ - // Forward declaration. - class SpeedLimiterPrivate; - - /// \brief Class to limit velocity, acceleration and jerk. - /// \ref https://github.com/ros-controls/ros_controllers/tree/melodic-devel/diff_drive_controller - class SpeedLimiter - { - /// \brief Constructor. - /// \param [in] _hasVelocityLimits if true, applies velocity limits. - /// \param [in] _hasAccelerationLimits if true, applies acceleration limits. - /// \param [in] _hasJerkLimits if true, applies jerk limits. - /// \param [in] _minVelocity Minimum velocity [m/s], usually <= 0. - /// \param [in] _maxVelocity Maximum velocity [m/s], usually >= 0. - /// \param [in] _minAcceleration Minimum acceleration [m/s^2], usually <= 0. - /// \param [in] _maxAcceleration Maximum acceleration [m/s^2], usually >= 0. - /// \param [in] _minJerk Minimum jerk [m/s^3], usually <= 0. - /// \param [in] _maxJerk Maximum jerk [m/s^3], usually >= 0. - public: SpeedLimiter(bool _hasVelocityLimits = false, - bool _hasAccelerationLimits = false, - bool _hasJerkLimits = false, - double _minVelocity = 0.0, - double _maxVelocity = 0.0, - double _minAcceleration = 0.0, - double _maxAcceleration = 0.0, - double _minJerk = 0.0, - double _maxJerk = 0.0); - - /// \brief Destructor. - public: ~SpeedLimiter(); - - /// \brief Limit the velocity and acceleration. - /// \param [in, out] _v Velocity [m/s]. - /// \param [in] _v0 Previous velocity to v [m/s]. - /// \param [in] _v1 Previous velocity to v0 [m/s]. - /// \param [in] _dt Time step [s]. - /// \return Limiting factor (1.0 if none). - public: double Limit(double &_v, - double _v0, - double _v1, - double _dt) const; - - /// \brief Limit the velocity. - /// \param [in, out] _v Velocity [m/s]. - /// \return Limiting factor (1.0 if none). - public: double LimitVelocity(double &_v) const; - - /// \brief Limit the acceleration. - /// \param [in, out] _v Velocity [m/s]. - /// \param [in] _v0 Previous velocity [m/s]. - /// \param [in] _dt Time step [s]. - /// \return Limiting factor (1.0 if none). - public: double LimitAcceleration(double &_v, - double _v0, - double _dt) const; - - /// \brief Limit the jerk. - /// \param [in, out] _v Velocity [m/s]. - /// \param [in] _v0 Previous velocity to v [m/s]. - /// \param [in] _v1 Previous velocity to v0 [m/s]. - /// \param [in] _dt Time step [s]. - /// \return Limiting factor (1.0 if none). - /// \see http://en.wikipedia.org/wiki/Jerk_%28physics%29#Motion_control. - public: double LimitJerk(double &_v, - double _v0, - double _v1, - double _dt) const; - - /// \brief Private data pointer. - private: std::unique_ptr dataPtr; - }; - } -} -} -} - -#endif From 4e10c35624b554eb9bd4cfaabea5dd4e2dd0f0ab Mon Sep 17 00:00:00 2001 From: Silvio Traversaro Date: Thu, 20 Oct 2022 01:41:04 +0200 Subject: [PATCH 17/28] Enable use of ign gazebo -s on Windows (take two) (#1764) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * Enable use of ign gazebo -s on Windows Signed-off-by: Silvio * Update src/CMakeLists.txt Co-authored-by: Alejandro Hernández Cordero Signed-off-by: Silvio * Fix cmdmodel6.rb and cmdgazebo6.rb contining the same code Signed-off-by: Silvio Signed-off-by: Silvio Co-authored-by: Alejandro Hernández Cordero --- src/CMakeLists.txt | 32 ++++++++-- src/cmd/CMakeLists.txt | 121 +++++++++++++++++++++---------------- src/cmd/ModelCommandAPI.hh | 6 +- src/cmd/cmdgazebo.rb.in | 16 ++++- src/cmd/cmdmodel.rb.in | 4 +- src/ign.hh | 16 ++--- src/ign_TEST.cc | 13 ++-- src/systems/CMakeLists.txt | 7 +-- 8 files changed, 136 insertions(+), 79 deletions(-) diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index ff178007c3..d4ea8bc402 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -92,7 +92,6 @@ set (gtest_sources TestFixture_TEST.cc Util_TEST.cc World_TEST.cc - ign_TEST.cc comms/Broker_TEST.cc comms/MsgManager_TEST.cc network/NetworkConfig_TEST.cc @@ -100,11 +99,22 @@ set (gtest_sources network/NetworkManager_TEST.cc ) +# ign_TEST and ModelCommandAPI_TEST are not supported with multi config +# CMake generators, see also cmd/CMakeLists.txt +get_property(GENERATOR_IS_MULTI_CONFIG GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG) +if(NOT GENERATOR_IS_MULTI_CONFIG) + list(APPEND gtest_sources ign_TEST.cc) +endif() + + # Tests that require a valid display set(tests_needing_display - ModelCommandAPI_TEST.cc ) +if(NOT GENERATOR_IS_MULTI_CONFIG) + list(APPEND tests_needing_display ModelCommandAPI_TEST.cc) +endif() + # Add systems that need a valid display here. # \todo(anyone) Find a way to run these tests with a virtual display such Xvfb # or Xdummy instead of skipping them @@ -222,9 +232,19 @@ foreach(CMD_TEST set_tests_properties(${CMD_TEST} PROPERTIES ENVIRONMENT "${_env_vars}") -endforeach() + # On Windows there is no RPATH, so an alternative way for tests for finding .dll libraries + # in build directory in necessary. For regular tests, the trick is to place all libraries + # and executables in a common CMAKE_RUNTIME_OUTPUT_DIRECTORY, so that the .dll are found + # as they are in the same directory where the executable is loaded. For tests that are + # launched via Ruby, this does not work, so we need to manually add CMAKE_RUNTIME_OUTPUT_DIRECTORY + # to the PATH. This is done via the ENVIRONMENT_MODIFICATION that is only available + # since CMake 3.22. However, if an older CMake is used another trick to install the libraries + # beforehand + if (WIN32 AND CMAKE_VERSION STRGREATER "3.22") + set_tests_properties(${CMD_TEST} PROPERTIES + ENVIRONMENT_MODIFICATION "PATH=path_list_prepend:${CMAKE_RUNTIME_OUTPUT_DIRECTORY}") + endif() -if(NOT WIN32) - add_subdirectory(cmd) -endif() +endforeach() +add_subdirectory(cmd) diff --git a/src/cmd/CMakeLists.txt b/src/cmd/CMakeLists.txt index 11e7ef7e00..f19fd0d6af 100644 --- a/src/cmd/CMakeLists.txt +++ b/src/cmd/CMakeLists.txt @@ -2,12 +2,19 @@ # Generate the ruby script. # Note that the major version of the library is included in the name. # Ex: cmdgazebo0.rb -set(cmd_script_generated "${CMAKE_CURRENT_BINARY_DIR}/cmd${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}.rb") -set(cmd_script_configured "${cmd_script_generated}.configured") +set(cmd_script_name "cmd${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}.rb") +set(cmd_script_generated "${CMAKE_CURRENT_BINARY_DIR}/$_${cmd_script_name}") +set(cmd_script_configured "${CMAKE_CURRENT_BINARY_DIR}/${cmd_script_name}.configured") # Set the library_location variable to the relative path to the library file # within the install directory structure. -set(library_location "../../../${CMAKE_INSTALL_LIBDIR}/$") +if(WIN32) + set(plugin_location ${CMAKE_INSTALL_BINDIR}) +else() + set(plugin_location ${CMAKE_INSTALL_LIBDIR}) +endif() + +set(library_location "../../../${plugin_location}/$") configure_file( "cmd${IGN_DESIGNATION}.rb.in" @@ -19,7 +26,7 @@ file(GENERATE INPUT "${cmd_script_configured}") # Install the ruby command line library in an unversioned location. -install(FILES ${cmd_script_generated} DESTINATION lib/ruby/ignition) +install(FILES ${cmd_script_generated} DESTINATION lib/ruby/ignition RENAME ${cmd_script_name}) set(ign_library_path "${CMAKE_INSTALL_PREFIX}/lib/ruby/ignition/cmd${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}") @@ -40,8 +47,9 @@ install( FILES # Used for the installed model command version. # Generate the ruby script that gets installed. # Note that the major version of the library is included in the name. -set(cmd_model_script_generated "${CMAKE_CURRENT_BINARY_DIR}/cmdmodel${PROJECT_VERSION_MAJOR}.rb") -set(cmd_model_script_configured "${cmd_model_script_generated}.configured") +set(cmd_model_script_name "cmdmodel${PROJECT_VERSION_MAJOR}.rb") +set(cmd_model_script_generated "${CMAKE_CURRENT_BINARY_DIR}/$_${cmd_model_script_name}") +set(cmd_model_script_configured "${CMAKE_CURRENT_BINARY_DIR}/${cmd_model_script_name}.configured") configure_file( "cmdmodel.rb.in" @@ -51,7 +59,7 @@ file(GENERATE OUTPUT "${cmd_model_script_generated}" INPUT "${cmd_model_script_configured}") -install(FILES ${cmd_model_script_generated} DESTINATION lib/ruby/ignition) +install(FILES ${cmd_model_script_generated} DESTINATION lib/ruby/ignition RENAME ${cmd_model_script_name}) # Used for the installed version. set(ign_model_ruby_path "${CMAKE_INSTALL_PREFIX}/lib/ruby/ignition/cmdmodel${PROJECT_VERSION_MAJOR}") @@ -68,55 +76,64 @@ install(FILES ${model_configured} DESTINATION ${CMAKE_INSTALL_PREFIX}/${CMAKE_IN # Generate the ruby script for internal testing. # Note that the major version of the library is included in the name. # Ex: cmdgazebo0.rb -set(cmd_script_generated_test "${CMAKE_BINARY_DIR}/test/lib/ruby/ignition/cmd${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}.rb") -set(cmd_script_configured_test "${cmd_script_generated_test}.configured") - -# Set the library_location variable to the relative path to the library file -# within the install directory structure. -set(library_location "$") - -configure_file( - "cmd${IGN_DESIGNATION}.rb.in" - "${cmd_script_configured_test}" - @ONLY) - -file(GENERATE - OUTPUT "${cmd_script_generated_test}" - INPUT "${cmd_script_configured_test}") - -# Used only for internal testing. -set(ign_library_path - "${CMAKE_BINARY_DIR}/test/lib/ruby/ignition/cmd${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}") - -# Generate a configuration file for internal testing. -# Note that the major version of the library is included in the name. -# Ex: gazebo0.yaml -configure_file( - "${IGN_DESIGNATION}.yaml.in" - "${CMAKE_BINARY_DIR}/test/conf/${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}.yaml" @ONLY) +# The logic is valid only for single-config CMake generators, so no script is +# generated if a multiple-config CMake geneator is used +get_property(GENERATOR_IS_MULTI_CONFIG GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG) +if(NOT GENERATOR_IS_MULTI_CONFIG) + set(cmd_script_generated_test "${CMAKE_BINARY_DIR}/test/lib/ruby/ignition/cmd${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}.rb") + set(cmd_script_configured_test "${cmd_script_generated_test}.configured") + + # Set the library_location variable to the relative path to the library file + # within the install directory structure. + set(library_location "$") + + configure_file( + "cmd${IGN_DESIGNATION}.rb.in" + "${cmd_script_configured_test}" + @ONLY) + + file(GENERATE + OUTPUT "${cmd_script_generated_test}" + INPUT "${cmd_script_configured_test}") + + # Used only for internal testing. + set(ign_library_path + "${CMAKE_BINARY_DIR}/test/lib/ruby/ignition/cmd${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}") + + # Generate a configuration file for internal testing. + # Note that the major version of the library is included in the name. + # Ex: gazebo0.yaml + configure_file( + "${IGN_DESIGNATION}.yaml.in" + "${CMAKE_BINARY_DIR}/test/conf/${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}.yaml" @ONLY) +endif() #=============================================================================== # Generate the ruby script for internal testing. # Note that the major version of the library is included in the name. -set(cmd_model_ruby_test_dir "${CMAKE_BINARY_DIR}/test/lib/ruby/ignition") -set(cmd_model_script_generated_test "${cmd_model_ruby_test_dir}/cmdmodel${PROJECT_VERSION_MAJOR}.rb") -set(cmd_model_script_configured_test "${cmd_model_script_generated_test}.configured") - -configure_file( - "cmdmodel.rb.in" - "${cmd_model_script_configured_test}" - @ONLY) - -file(GENERATE - OUTPUT "${cmd_model_script_generated_test}" - INPUT "${cmd_model_script_configured_test}") - -# Used for internal testing. -set(ign_model_ruby_path "${cmd_model_script_generated_test}") - -configure_file( - "model.yaml.in" - "${CMAKE_BINARY_DIR}/test/conf/model${PROJECT_VERSION_MAJOR}.yaml" @ONLY) +# The logic is valid only for single-config CMake generators, so no script is +# generated if a multiple-config CMake geneator is used +if(NOT GENERATOR_IS_MULTI_CONFIG) + set(cmd_model_ruby_test_dir "${CMAKE_BINARY_DIR}/test/lib/ruby/ignition") + set(cmd_model_script_generated_test "${cmd_model_ruby_test_dir}/cmdmodel${PROJECT_VERSION_MAJOR}.rb") + set(cmd_model_script_configured_test "${cmd_model_script_generated_test}.configured") + + configure_file( + "cmdmodel.rb.in" + "${cmd_model_script_configured_test}" + @ONLY) + + file(GENERATE + OUTPUT "${cmd_model_script_generated_test}" + INPUT "${cmd_model_script_configured_test}") + + # Used for internal testing. + set(ign_model_ruby_path "${cmd_model_script_generated_test}") + + configure_file( + "model.yaml.in" + "${CMAKE_BINARY_DIR}/test/conf/model${PROJECT_VERSION_MAJOR}.yaml" @ONLY) +endif() #=============================================================================== # Bash completion diff --git a/src/cmd/ModelCommandAPI.hh b/src/cmd/ModelCommandAPI.hh index 2ca7248c60..c941936471 100644 --- a/src/cmd/ModelCommandAPI.hh +++ b/src/cmd/ModelCommandAPI.hh @@ -15,8 +15,10 @@ * */ +#include "ignition/gazebo/Export.hh" + /// \brief External hook to get a list of available models. -extern "C" void cmdModelList(); +extern "C" IGNITION_GAZEBO_VISIBLE void cmdModelList(); /// \brief External hook to dump model information. /// \param[in] _modelName Model name. @@ -24,7 +26,7 @@ extern "C" void cmdModelList(); /// \param[in] _linkName Link name. /// \param[in] _jointName Joint name. /// \param[in] _sensorName Sensor name. -extern "C" void cmdModelInfo( +extern "C" IGNITION_GAZEBO_VISIBLE void cmdModelInfo( const char *_modelName, int _pose, const char *_linkName, const char *_jointName, const char *_sensorName); diff --git a/src/cmd/cmdgazebo.rb.in b/src/cmd/cmdgazebo.rb.in index 16ee5e1cac..023843ce1d 100755 --- a/src/cmd/cmdgazebo.rb.in +++ b/src/cmd/cmdgazebo.rb.in @@ -27,6 +27,7 @@ end require 'optparse' require 'erb' +require 'pathname' # Constants. LIBRARY_NAME = '@library_location@' @@ -337,7 +338,8 @@ class Cmd def execute(args) options = parse(args) - if LIBRARY_NAME[0] == '/' + library_name_path = Pathname.new(LIBRARY_NAME) + if library_name_path.absolute? # If the first character is a slash, we'll assume that we've been given an # absolute path to the library. This is only used during test mode. plugin = LIBRARY_NAME @@ -467,6 +469,12 @@ See https://github.com/ignitionrobotics/ign-gazebo/issues/44 for more info." exit(-1) end + if plugin.end_with? ".dll" + puts "`ign gazebo` currently only works with the -s argument on Windows. +See https://github.com/gazebosim/gz-sim/issues/168 for more info." + exit(-1) + end + serverPid = Process.fork do ENV['RMT_PORT'] = '1500' Process.setpgid(0, 0) @@ -526,6 +534,12 @@ See https://github.com/ignitionrobotics/ign-gazebo/issues/44 for more info." exit(-1) end + if plugin.end_with? ".dll" + puts "`ign gazebo` currently only works with the -s argument on Windows. +See https://github.com/gazebosim/gz-sim/issues/168 for more info." + exit(-1) + end + ENV['RMT_PORT'] = '1501' Importer.runGui(options['gui_config'], options['file'], options['wait_gui'], options['render_engine_gui']) diff --git a/src/cmd/cmdmodel.rb.in b/src/cmd/cmdmodel.rb.in index 88e65a50f3..e49eb30749 100644 --- a/src/cmd/cmdmodel.rb.in +++ b/src/cmd/cmdmodel.rb.in @@ -26,6 +26,7 @@ else end require 'optparse' +require 'pathname' # Constants. LIBRARY_NAME = '@library_location@' @@ -157,7 +158,8 @@ class Cmd options = parse(args) # Read the plugin that handles the command. - if LIBRARY_NAME[0] == '/' + library_name_path = Pathname.new(LIBRARY_NAME) + if library_name_path.absolute? # If the first character is a slash, we'll assume that we've been given an # absolute path to the library. This is only used during test mode. plugin = LIBRARY_NAME diff --git a/src/ign.hh b/src/ign.hh index 38de2a88e6..18eac3cfc5 100644 --- a/src/ign.hh +++ b/src/ign.hh @@ -21,18 +21,18 @@ /// \brief External hook to read the library version. /// \return C-string representing the version. Ex.: 0.1.2 -extern "C" char *ignitionGazeboVersion(); +extern "C" IGNITION_GAZEBO_VISIBLE char *ignitionGazeboVersion(); /// \brief Get the Gazebo version header. /// \return C-string containing the Gazebo version information. -extern "C" char *gazeboVersionHeader(); +extern "C" IGNITION_GAZEBO_VISIBLE char *gazeboVersionHeader(); /// \brief Set verbosity level /// \param[in] _verbosity 0 to 4 -extern "C" void cmdVerbosity( +extern "C" IGNITION_GAZEBO_VISIBLE void cmdVerbosity( const char *_verbosity); -extern "C" const char *worldInstallDir(); +extern "C" IGNITION_GAZEBO_VISIBLE const char *worldInstallDir(); /// \brief External hook to run simulation server. /// \param[in] _sdfString SDF file to run, as a string. @@ -59,7 +59,7 @@ extern "C" const char *worldInstallDir(); /// \param[in] _headless True if server rendering should run headless /// \param[in] _recordPeriod --record-period option /// \return 0 if successful, 1 if not. -extern "C" int runServer(const char *_sdfString, +extern "C" IGNITION_GAZEBO_VISIBLE int runServer(const char *_sdfString, int _iterations, int _run, float _hz, int _levels, const char *_networkRole, int _networkSecondaries, int _record, const char *_recordPath, int _recordResources, int _logOverwrite, @@ -77,14 +77,14 @@ extern "C" int runServer(const char *_sdfString, /// it receives a world path from GUI. /// \param[in] _renderEngine --render-engine-gui option /// \return 0 if successful, 1 if not. -extern "C" int runGui(const char *_guiConfig, const char *_file, int _waitGui, - const char *_renderEngine); +extern "C" IGNITION_GAZEBO_VISIBLE int runGui(const char *_guiConfig, + const char *_file, int _waitGui, const char *_renderEngine); /// \brief External hook to find or download a fuel world provided a URL. /// \param[in] _pathToResource Path to the fuel world resource, ie, /// https://staging-fuel.ignitionrobotics.org/1.0/gmas/worlds/ShapesClone /// \return C-string containing the path to the local world sdf file -extern "C" const char *findFuelResource( +extern "C" IGNITION_GAZEBO_VISIBLE const char *findFuelResource( char *_pathToResource); #endif diff --git a/src/ign_TEST.cc b/src/ign_TEST.cc index fbf01162bf..397441bed4 100644 --- a/src/ign_TEST.cc +++ b/src/ign_TEST.cc @@ -59,8 +59,7 @@ std::string customExecStr(std::string _cmd) } ///////////////////////////////////////////////// -// See https://github.com/ignitionrobotics/ign-gazebo/issues/1175 -TEST(CmdLine, IGN_UTILS_TEST_DISABLED_ON_WIN32(Server)) +TEST(CmdLine, Server) { std::string cmd = kIgnCommand + " -r -v 4 --iterations 5 " + std::string(PROJECT_SOURCE_PATH) + "/test/worlds/plugins.sdf"; @@ -75,6 +74,9 @@ TEST(CmdLine, IGN_UTILS_TEST_DISABLED_ON_WIN32(Server)) << output; } +// Disable on WIN32 as on Windows it is not support to prepend +// a command with the env variable to set +#ifndef _WIN32 // Use IGN_GAZEBO_RESOURCE_PATH instead of specifying the complete path cmd = std::string("IGN_GAZEBO_RESOURCE_PATH=") + PROJECT_SOURCE_PATH + "/test/worlds " + kIgnCommand + @@ -89,10 +91,11 @@ TEST(CmdLine, IGN_UTILS_TEST_DISABLED_ON_WIN32(Server)) EXPECT_NE(output.find("iteration " + std::to_string(i)), std::string::npos) << output; } +#endif } ///////////////////////////////////////////////// -TEST(CmdLine, IGN_UTILS_TEST_DISABLED_ON_WIN32(CachedFuelWorld)) +TEST(CmdLine, CachedFuelWorld) { std::string projectPath = std::string(PROJECT_SOURCE_PATH) + "/test/worlds"; ignition::common::setenv("IGN_FUEL_CACHE_PATH", projectPath.c_str()); @@ -106,7 +109,7 @@ TEST(CmdLine, IGN_UTILS_TEST_DISABLED_ON_WIN32(CachedFuelWorld)) } ///////////////////////////////////////////////// -TEST(CmdLine, IGN_UTILS_TEST_DISABLED_ON_WIN32(GazeboServer)) +TEST(CmdLine, GazeboServer) { std::string cmd = kIgnCommand + " -r -v 4 --iterations 5 " + std::string(PROJECT_SOURCE_PATH) + "/test/worlds/plugins.sdf"; @@ -123,7 +126,7 @@ TEST(CmdLine, IGN_UTILS_TEST_DISABLED_ON_WIN32(GazeboServer)) } ///////////////////////////////////////////////// -TEST(CmdLine, IGN_UTILS_TEST_DISABLED_ON_WIN32(Gazebo)) +TEST(CmdLine, Gazebo) { std::string cmd = kIgnCommand + " -r -v 4 --iterations 5 " + std::string(PROJECT_SOURCE_PATH) + "/test/worlds/plugins.sdf"; diff --git a/src/systems/CMakeLists.txt b/src/systems/CMakeLists.txt index 303c6fc7d9..330b267f25 100644 --- a/src/systems/CMakeLists.txt +++ b/src/systems/CMakeLists.txt @@ -82,10 +82,9 @@ function(gz_add_system system_name) set(unversioned ${CMAKE_SHARED_LIBRARY_PREFIX}${PROJECT_NAME_NO_VERSION_LOWER}-${system_name}${CMAKE_SHARED_LIBRARY_SUFFIX}) if(WIN32) # symlinks on Windows require admin priviledges, fallback to copy - ADD_CUSTOM_COMMAND(TARGET ${system_target} POST_BUILD - COMMAND "${CMAKE_COMMAND}" -E copy - "$" - "$/${unversioned}") + INSTALL(CODE "EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E copy + ${IGNITION_GAZEBO_PLUGIN_INSTALL_DIR}\/${versioned} + ${IGNITION_GAZEBO_PLUGIN_INSTALL_DIR}\/${unversioned})") else() file(MAKE_DIRECTORY "${PROJECT_BINARY_DIR}/lib") EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E create_symlink ${versioned} ${unversioned} WORKING_DIRECTORY "${PROJECT_BINARY_DIR}/lib") From 205bc32949e06b9dccde248be2c249321db7c588 Mon Sep 17 00:00:00 2001 From: Andrej Orsula Date: Fri, 21 Oct 2022 13:55:40 +0900 Subject: [PATCH 18/28] Script and tutorial for generating procedural datasets with Blender (#1412) Signed-off-by: Andrej Orsula --- .../blender/procedural_dataset_generator.py | 1945 +++++++++++++++++ tutorials.md.in | 1 + tutorials/blender_procedural_datasets.md | 257 +++ .../blender_instructions.png | Bin 0 -> 43374 bytes .../demo_blender_rock.gif | Bin 0 -> 751047 bytes .../demo_blender_woodland.gif | Bin 0 -> 756691 bytes .../demo_gazebo_rock.png | Bin 0 -> 793502 bytes .../demo_gazebo_woodland.png | Bin 0 -> 971531 bytes .../blender_procedural_datasets/rock.blend | Bin 0 -> 1439687 bytes .../woodland.blend | Bin 0 -> 336259 bytes 10 files changed, 2203 insertions(+) create mode 100755 examples/scripts/blender/procedural_dataset_generator.py create mode 100644 tutorials/blender_procedural_datasets.md create mode 100644 tutorials/files/blender_procedural_datasets/blender_instructions.png create mode 100644 tutorials/files/blender_procedural_datasets/demo_blender_rock.gif create mode 100644 tutorials/files/blender_procedural_datasets/demo_blender_woodland.gif create mode 100644 tutorials/files/blender_procedural_datasets/demo_gazebo_rock.png create mode 100644 tutorials/files/blender_procedural_datasets/demo_gazebo_woodland.png create mode 100644 tutorials/files/blender_procedural_datasets/rock.blend create mode 100644 tutorials/files/blender_procedural_datasets/woodland.blend diff --git a/examples/scripts/blender/procedural_dataset_generator.py b/examples/scripts/blender/procedural_dataset_generator.py new file mode 100755 index 0000000000..ee0b7b50eb --- /dev/null +++ b/examples/scripts/blender/procedural_dataset_generator.py @@ -0,0 +1,1945 @@ +#!/usr/bin/env -S blender --python +""" +This script contains a Blender exporter of SDF models `sdf_model_exporter` for Gazebo +and a generator of procedural SDF datasets `procedural_dataset_generator`. + +The SDF exporter outputs models that are compatible with Fuel. It processes all selected +objects in the Blender scene (or all existing objects if none is selected). The exporter +is fully configurable via CLI arguments. It can export separate visual and collision +geometry at different resolution levels. It supports automatic estimation of inertial +properties for non-static models by `trimesh` Python module. Several attributes such as +model mass and surface friction can be randomized via uniform distribution by specifying +a range of minimum and maximum values. + +The dataset generator is based on Blender's `Geometry Nodes` modifiers with support +for variations via `random_seed` input attribute (seed for the pseudorandom generation). +This module-based class inherits all functionalities of the SDF model exporter. + +You can run this script in multiple ways: +a) Directly in Blender's [Text Editor] tab | with the default parameters (configurable) + 1. Copy this script into a [New Text] data block in your 'file.blend' + 2. Configure the default script parameters for your model via constants below + 3. Run the script using the [Run script] button at the top of the [Text Editor] tab +b) Running an internal script (saved within 'file.blend') | with CLI args (configurable) + $ blender [blender options] file.blend --python-text script.py -- [script options] +c) Running an external script | with CLI args (configurable) + $ blender [blender options] file.blend --python external_script.py -- [script options] + +Show the help message of this script ([script options]): + $ blender -b file.blend --python-text script.py -- -h + $ blender -b file.blend --python external_script.py -- -h + +Show the help message of Blender ([blender options]): + $ blender -h +""" +from __future__ import annotations + +# Raise an informative error in case the script is run outside Python env of Blender +try: + import bpy +except ImportError as err: + raise ImportError( + "Python module of Blender 'bpy' not found! Please, execute this script inside " + "a Blender environment (e.g. run inside the Scripting tab of Blender)." + ) from err + +import argparse +import enum +import os +import random +import shutil +import sys +from os import path +from types import ModuleType +from typing import Any, Dict, Iterable, List, Optional, TextIO, Tuple, Union +from xml.dom import minidom +from xml.etree import ElementTree + +# Last tested and working version of Blender for this script (MAJOR, MINOR) +LAST_WORKING_VERSION: Tuple(int, int) = (3, 2) + +### Default script parameters (adjustable via CLI arguments) +## Parameters for SDF model exporter `sdf_model_exporter` +OUTPUT_DIR: str = path.join(os.getcwd(), "sdf_models") +MODEL_VERSION: Optional[int] = None +## Parameters for procedural dataset generator `procedural_dataset_generator` +FIRST_SEED: int = 0 +NUMBER_OF_VARIANTS: int = 8 + +### Default model-specific parameters (adjustable via CLI arguments) +## Default level of detail for exported geometry, e.g. subdivision level +DETAIL_LEVEL_VISUAL: int = 1 +DETAIL_LEVEL_COLLISION: int = 0 +## Default objects to ignore while exporting visual/collision geometry, even if selected +IGNORE_OBJECTS_VISUAL: List[str] = [] +IGNORE_OBJECTS_COLLISION: List[str] = [] +## Default source of textures for the model +# Options: "collada" == "dae" | "wavefront" == "obj" | "stl" +FILETYPE_VISUAL: str = "wavefront" +FILETYPE_COLLISION: str = "stl" +## Default source of textures for the model +# If true, symbolic links will be created for all textures instead of copies +SYMLINK_EXTERNAL_TEXTURES: bool = True +# Options: "none" | "path" +TEXTURE_SOURCE_MODE: str = "none" +TEXTURE_SOURCE_VALUE: Optional[str] = None +MATERIAL_TEXTURE_DIFFUSE: Optional[Tuple[float, float, float]] = (1.0, 1.0, 1.0) +MATERIAL_TEXTURE_SPECULAR: Optional[Tuple[float, float, float]] = (0.2, 0.2, 0.2) +## Default inertial and dynamic properties of exported models +# If true, the model is immovable and it won't be updated by physics engine +STATIC: bool = False +# Options: "none" | "density" | "random_density" | "mass" | "random_mass" +INERTIAL_ESTIMATION_MODE: str = "none" +INERTIAL_ESTIMATION_VALUE: Optional[List[float]] = None +# (Random) coefficient of the surface friction (equal in both directions) +FRICTION_COEFFICIENT: List[float] = [1.0] + +### Default keyword arguments for additional parameters (overwritten by CLI arguments) +DEFAULT_KWARGS: Any = {} + + +class sdf_model_exporter(ModuleType): + """ + Blender exporter of objects as SDF models. + + Note: This class is designed as a "module class" to enable simple copy-pasting + among Blender projects and environments, i.e. methods do not require an instance + during their call while still supporting inheritance. + """ + + ## Directory structure compatible with Gazebo Fuel + MODEL_ROOT: str = "" + BASENAME_SDF: str = path.join(MODEL_ROOT, "model.sdf") + BASENAME_SDF_MODEL_CONFIG: str = path.join(MODEL_ROOT, "model.config") + DIRNAME_MESHES: str = path.join(MODEL_ROOT, "meshes") + DIRNAME_MESHES_VISUAL: str = path.join(DIRNAME_MESHES, "visual") + DIRNAME_MESHES_COLLISION: str = path.join(DIRNAME_MESHES, "collision") + DIRNAME_MATERIALS: str = path.join(MODEL_ROOT, "materials") + DIRNAME_TEXTURES: str = path.join(DIRNAME_MATERIALS, "textures") + DIRNAME_THUMBNAILS: str = path.join(MODEL_ROOT, "thumbnails") + + # Targeted version of SDF + SDF_VERSION: str = "1.9" + + @enum.unique + class ExportFormat(enum.Enum): + """ + Helper enum of supported mesh file formats coupled with their configured + exporters. + """ + + COLLADA = enum.auto() + STL = enum.auto() + WAVEFRONT = enum.auto() + + def export(self, filepath: str) -> str: + """ + Use Blender exporter of the corresponding mesh format. The desired + `filepath` might be adjusted to include the appropriate file extension. Upon + success, the absolute filepath of the exported mesh is returned. Note, that + only the selected object(s) will be exported. + """ + + # Make sure the file has the correct extension + if not filepath.endswith(self.extension): + # Truncate incorrect extension(s) if there are any + split_path = path.basename(filepath).split(".") + if len(split_path) > 1: + filepath = path.join(path.dirname(filepath), split_path[0]) + # Append the correct extension + filepath += self.extension + filepath = path.abspath(filepath) + os.makedirs(name=path.dirname(filepath), exist_ok=True) + + # Export with Blender based on the file format + if self.COLLADA == self: + bpy.ops.wm.collada_export( + filepath=filepath, + check_existing=False, + filter_blender=False, + filter_backup=False, + filter_image=False, + filter_movie=False, + filter_python=False, + filter_font=False, + filter_sound=False, + filter_text=False, + filter_archive=False, + filter_btx=False, + filter_collada=True, + filter_alembic=False, + filter_usd=False, + filter_obj=False, + filter_volume=False, + filter_folder=True, + filter_blenlib=False, + filemode=8, + display_type="DEFAULT", + sort_method="DEFAULT", + prop_bc_export_ui_section="main", + apply_modifiers=True, + export_mesh_type=0, + export_mesh_type_selection="view", + export_global_forward_selection="Y", + export_global_up_selection="Z", + apply_global_orientation=False, + selected=True, + include_children=False, + include_armatures=False, + include_shapekeys=False, + deform_bones_only=False, + include_animations=False, + include_all_actions=False, + export_animation_type_selection="sample", + sampling_rate=1, + keep_smooth_curves=False, + keep_keyframes=False, + keep_flat_curves=False, + active_uv_only=False, + use_texture_copies=True, + triangulate=True, + use_object_instantiation=True, + use_blender_profile=True, + sort_by_name=False, + export_object_transformation_type=0, + export_object_transformation_type_selection="matrix", + export_animation_transformation_type=0, + export_animation_transformation_type_selection="matrix", + open_sim=False, + limit_precision=False, + keep_bind_info=False, + ) + elif self.STL == self: + bpy.ops.export_mesh.stl( + filepath=filepath, + check_existing=False, + use_selection=True, + axis_forward="Y", + axis_up="Z", + global_scale=1, + use_scene_unit=False, + ascii=False, + use_mesh_modifiers=True, + ) + elif self.WAVEFRONT == self: + bpy.ops.export_scene.obj( + filepath=filepath, + check_existing=False, + axis_forward="Y", + axis_up="Z", + use_selection=True, + use_animation=False, + use_mesh_modifiers=True, + use_edges=True, + use_smooth_groups=False, + use_smooth_groups_bitflags=False, + use_normals=True, + use_uvs=True, + use_materials=True, + use_triangles=True, + use_nurbs=False, + use_vertex_groups=False, + use_blen_objects=True, + group_by_object=False, + group_by_material=False, + keep_vertex_order=False, + global_scale=1, + path_mode="AUTO", + ) + else: + raise ValueError(f"Filetype '{self}' is not supported for export.") + + return filepath + + @classmethod + def from_str(cls, filetype_str: str) -> sdf_model_exporter.ExportFormat: + """ + Return ExportFormat that corresponds with a matched `filetype_str` string. + """ + + filetype_str = filetype_str.strip().upper() + if "COLLADA" in filetype_str or "DAE" in filetype_str: + return cls.COLLADA + elif "STL" in filetype_str: + return cls.STL + elif "WAVEFRONT" in filetype_str or "OBJ" in filetype_str: + return cls.WAVEFRONT + else: + raise ValueError(f"Unknown '{filetype_str}' filetype.") + + @classmethod + def default_visual(cls) -> sdf_model_exporter.ExportFormat: + """ + Return the default filetype for visual mesh geometry. + """ + + return cls.from_str(FILETYPE_VISUAL) + + @classmethod + def default_collision(cls) -> sdf_model_exporter.ExportFormat: + """ + Return the default filetype for collision mesh geometry. + """ + + return cls.from_str(FILETYPE_COLLISION) + + @property + def extension(self) -> str: + """ + Return file extension of the corresponding filetype. + """ + + if self.COLLADA == self: + return ".dae" + elif self.STL == self: + return ".stl" + elif self.WAVEFRONT == self: + return ".obj" + else: + raise ValueError(f"Unknown extension for '{self}' filetype.") + + @enum.unique + class TextureSource(enum.Enum): + """ + Helper enum of possible sources for textures. Each source should provide a path + to searchable directory with the following structure (each texture type is + optional and image format must be supported by Gazebo): + ├── ./ + ├── texture_0/ + ├── *albedo*.png || *color*.png + ├── *normal*.png + ├── *roughness*.png + └── *specular*.png || *metalness*.png + ├── ... + └── texture_n/ + Alternatively, it can point to a directory that directly contains textures and + no other subdirectories. + """ + + NONE = enum.auto() + BLENDER_MODEL = enum.auto() + FILEPATH = enum.auto() + ONLINE = enum.auto() + + def get_path(self, value: Optional[str] = None) -> Optional[str]: + """ + Return a path to a directory with PBR textures. + """ + + if self.NONE == self: + return None + elif self.BLENDER_MODEL == self: + return path.abspath(self._generate_baked_textures()) + elif self.FILEPATH == self: + if not value or not path.isdir(value): + raise ValueError( + f"Value '{value}' is an invalid path to a directory with " + "textures." + ) + return path.abspath(value) + elif self.ONLINE == self: + return path.abspath(self._pull_online_textures(value)) + else: + raise ValueError(f"Texture source '{self}' is not supported.") + + def is_enabled(self) -> bool: + """ + Returns true if textures are enabled. + """ + + return not self.NONE == self + + @classmethod + def from_str(cls, source_str: str) -> sdf_model_exporter.TextureSource: + """ + Return TextureSource that corresponds with a matched `source_str` string. + """ + + source_str = source_str.strip().upper() + if not source_str or "NONE" in source_str: + return cls.NONE + elif "BLENDER" in source_str: + return cls.BLENDER_MODEL + elif "PATH" in source_str: + return cls.FILEPATH + elif "ONLINE" in source_str: + return cls.ONLINE + else: + raise ValueError(f"Unknown '{source_str}' texture source.") + + @classmethod + def default(cls) -> sdf_model_exporter.TextureSource: + """ + Return the default texture source. + """ + + return cls.from_str(TEXTURE_SOURCE_MODE) + + def _generate_baked_textures( + cls, + ) -> str: + """ + Bake PBR textures for the model and return a path to a directory that + contains them. + """ + + # TODO[feature]: Implement baking of textures from Blender materials + return NotImplementedError("Baking of textures is not yet implemented!") + + def _pull_online_textures( + cls, + value: Optional[Any] = None, + ) -> str: + """ + Get PBR textures from an online source. + """ + + # TODO[feature]: Add option for pulling PBR textures from an online source + return NotImplementedError( + "Getting textures from an online source is not yet implemented!" + ) + + @enum.unique + class InertialEstimator(enum.Enum): + """ + Helper enum for estimating inertial properties of a model. + """ + + ## Modes of estimation + NONE = enum.auto() + DENSITY = enum.auto() + RANDOM_DENSITY = enum.auto() + MASS = enum.auto() + RANDOM_MASS = enum.auto() + + def estimate_inertial_properties( + self, + analysed_mesh_filepath: str, + value: List[float], + ) -> Dict[ + str, + Union[ + float, + Tuple[float, float, float], + Tuple[ + Tuple[float, float, float], + Tuple[float, float, float], + Tuple[float, float, float], + ], + ], + ]: + """ + Estimate inertial properties of the mesh assuming uniform density. + """ + + # Try to import trimesh or try to install it within the Python environment + # Note: This step might throw an exception if it is not possible + # TODO[enhancement]: Add other methods for estimating inertial properties + self._try_install_trimesh() + import trimesh + + # Load the mesh + mesh = trimesh.load( + analysed_mesh_filepath, force="mesh", ignore_materials=True + ) + + # Extract or sample a floating point value from the input + value = self.sample_value(value) + + # Set the density (either via density or mass) + if self.DENSITY == self or self.RANDOM_DENSITY == self: + mesh.density = value + elif self.MASS == self or self.RANDOM_MASS == self: + mesh.density = value / mesh.volume + else: + raise ValueError( + f"Mode for estimation of inertial properties '{self}' is not " + "supported." + ) + + return { + "mass": mesh.mass, + "inertia": mesh.moment_inertia, + "centre_of_mass": mesh.center_mass, + } + + def sample_value(self, value: Optional[List[float]] = None) -> Optional[float]: + """ + Extract or sample a value that should be used when estimating inertial + properties. + """ + + if self.NONE == self: + return None + elif self.DENSITY == self or self.MASS == self: + if not value or (isinstance(value, Iterable) and len(value) != 1): + raise ValueError( + "Exactly a single value must be provided when estimating " + "inertial properties with either target density of mass." + ) + return value[0] if isinstance(value, Iterable) else value + elif self.RANDOM_DENSITY == self or self.RANDOM_MASS == self: + if not value or (isinstance(value, Iterable) and len(value) != 2): + raise ValueError( + "A range with two values (MIN and MAX) must be provided when " + "sampling a random density of mass during estimation of " + "inertial properties." + ) + return random.uniform(value[0], value[1]) + else: + raise ValueError( + f"Mode for estimation of inertial properties '{self}' is not " + "supported." + ) + + def is_enabled(self) -> bool: + """ + Returns true if estimation of inertial properties is enabled. + """ + + return not self.NONE == self + + @classmethod + def from_str(cls, source_str: str) -> sdf_model_exporter.InertialEstimator: + """ + Return InertialEstimator that corresponds with a matched `source_str` + string. + """ + + source_str = source_str.strip().upper() + if not source_str or "NONE" in source_str: + return cls.NONE + elif "RANDOM" in source_str: + if "DENSITY" in source_str: + return cls.RANDOM_DENSITY + elif "MASS" in source_str: + return cls.RANDOM_MASS + elif "DENSITY" in source_str: + return cls.DENSITY + elif "MASS" in source_str: + return cls.MASS + else: + raise ValueError( + f"Unknown '{source_str}' mode for estimation of inertial " + "properties." + ) + + @classmethod + def default(cls) -> sdf_model_exporter.InertialEstimator: + """ + Return the default mode for estimating inertial properties. + """ + + return cls.from_str(INERTIAL_ESTIMATION_MODE) + + @classmethod + def _try_install_trimesh(cls): + """ + Return the default mode for estimating inertial properties. + """ + + try: + import trimesh + except ImportError as err: + import site + import subprocess + + cls._print_bpy( + "Warn: Python module 'trimesh' could not found! This module is " + "necessary to estimate inertial properties of objects. Attempting " + "to install the module automatically via 'pip'...", + file=sys.stderr, + ) + try: + subprocess.check_call([sys.executable, "-m", "ensurepip", "--user"]) + subprocess.check_call( + [ + sys.executable, + "-m", + "pip", + "install", + "--upgrade", + "trimesh", + "pycollada", + "--target", + str(site.getsitepackages()[0]), + ] + ) + import trimesh + except subprocess.CalledProcessError as err: + err_msg = ( + "Python module 'trimesh' cannot be installed automatically! To " + "enable estimation of inertial properties, please install the " + "module manually (within Blender's Python environment) or use " + "the Python environment of your system (by passing Blender " + "option `--python-use-system-env`). Alternatively, you can " + "disable the estimation of inertial properties via script " + "argument `--inertial-estimation-mode none`." + ) + cls._print_bpy( + f"Err: {err_msg}", + file=sys.stderr, + ) + raise ImportError(err_msg) from err + + @classmethod + def export( + cls, + output_dir: Optional[str] = OUTPUT_DIR, + model_version: Optional[int] = MODEL_VERSION, + model_name_prefix: str = "", + model_name_suffix: str = "", + filetype_visual: Union[ExportFormat, str] = ExportFormat.default_visual(), + filetype_collision: Union[ExportFormat, str] = ExportFormat.default_collision(), + detail_level_visual: int = DETAIL_LEVEL_VISUAL, + detail_level_collision: int = DETAIL_LEVEL_COLLISION, + ignore_objects_visual: List[str] = IGNORE_OBJECTS_VISUAL, + ignore_objects_collision: List[str] = IGNORE_OBJECTS_COLLISION, + symlink_external_textures: bool = SYMLINK_EXTERNAL_TEXTURES, + texture_source_mode: Union[TextureSource, str] = TextureSource.default(), + texture_source_value: Optional[str] = TEXTURE_SOURCE_VALUE, + material_texture_diffuse: Optional[ + Tuple[float, float, float] + ] = MATERIAL_TEXTURE_DIFFUSE, + material_texture_specular: Optional[ + Tuple[float, float, float] + ] = MATERIAL_TEXTURE_SPECULAR, + static: bool = STATIC, + inertial_estimation_mode: Union[ + InertialEstimator, str + ] = InertialEstimator.default(), + inertial_estimation_value: Optional[List[float]] = INERTIAL_ESTIMATION_VALUE, + inertial_estimation_use_collision_mesh: bool = True, + friction_coefficient: Optional[ + Union[float, Tuple[float, float]] + ] = FRICTION_COEFFICIENT, + generate_thumbnails: bool = True, + **kwargs, + ): + """ + The primary function enables exporting of a single SDF model. + """ + + # Store the list of originally selected objects + selected_objects_original = bpy.context.selected_objects + # Create a list of objects to process + if selected_objects_original: + # Use currently selected objects if any is selected + objects_to_process = selected_objects_original + else: + # Otherwise, use all objects if nothing is selected + objects_to_process = bpy.context.selectable_objects + + # Separate different object types to process them differently + # Note: Not all types are currently supported by this script + # TODO[feature]: Support exporting of cameras and lights as SDF entities + meshes_to_process = cameras_to_process = lights_to_process = [] + for obj in objects_to_process: + if obj.type == "MESH": + meshes_to_process.append(obj) + cls._print_bpy( + f"Info: Processing mesh '{obj.name}'...", + ) + # elif obj.type == "CAMERA": + # cameras_to_process.append(obj) + # cls._print_bpy( + # f"Info: Processing camera '{obj.name}'...", + # ) + # elif obj.type == "LIGHT": + # lights_to_process.append(obj) + # cls._print_bpy( + # f"Info: Processing light '{obj.name}'...", + # ) + else: + cls._print_bpy( + f"Warn: Blender object '{obj.name}' with type '{obj.type}' will " + "not be processed.", + file=sys.stderr, + ) + + # Determine name of the exported model + if len(meshes_to_process) == 0: + raise EnvironmentError("Blender scene has no mesh models to export.") + elif len(meshes_to_process) == 1: + # Use object name as the model name if there is only one + model_name = meshes_to_process[0].name + else: + # Use the project name as a joint model name if there are multiple meshes + model_name = bpy.path.basename(bpy.data.filepath).split(".")[0] + # Add prefix and suffix if desired + model_name = f"{model_name_prefix}{model_name}{model_name_suffix}" + + # If output directory is not set (None), use the default Fuel model path + if output_dir is None: + output_dir = path.join( + os.environ.get( + "GZ_FUEL_CACHE_PATH", + default=path.join(path.expanduser("~"), ".gazebo", "fuel"), + ), + "fuel.gazebosim.org", + os.getlogin(), + "models", + ) + # Fuel requires model versioning, therefore, default to the next available + # version if the model already exists (begins with version 1) + if model_version is None: + model_version = -1 + + # Get the absolute path and create the directory if it does not already exist + output_dir = path.abspath(output_dir) + os.makedirs(name=output_dir, exist_ok=True) + + # Get a versioned model path (if desired) + output_path = cls._try_get_versioned_model_path( + output_dir=output_dir, + model_name=model_name, + model_version=model_version, + ) + + # Store all data necessary for SDF creation inside a dictionary + sdf_data = {} + + # Process and export meshes + exported_meshes = cls._process_meshes( + meshes_to_process=meshes_to_process, + output_path=output_path, + model_name=model_name, + filetype_visual=filetype_visual, + filetype_collision=filetype_collision, + detail_level_visual=detail_level_visual, + detail_level_collision=detail_level_collision, + ignore_objects_visual=ignore_objects_visual, + ignore_objects_collision=ignore_objects_collision, + ) + sdf_data.update(exported_meshes) + + # Sample textures + texture_source = ( + texture_source_mode + if isinstance(texture_source_mode, cls.TextureSource) + else cls.TextureSource.from_str(texture_source_mode) + ) + if texture_source.is_enabled(): + textures_dirpath = texture_source.get_path(texture_source_value) + textures = cls._sample_textures(textures_dirpath=textures_dirpath) + sdf_data.update(textures) + + # Estimate inertial properties (if enabled) + if not static: + inertial_estimator = ( + inertial_estimation_mode + if isinstance(inertial_estimation_mode, cls.InertialEstimator) + else cls.InertialEstimator.from_str(inertial_estimation_mode) + ) + if inertial_estimator.is_enabled(): + analysis_mesh_filepath = path.join( + output_path, + exported_meshes["filepath_mesh_collision"] + if inertial_estimation_use_collision_mesh + else exported_meshes["filepath_mesh_visual"], + ) + inertial_properties = inertial_estimator.estimate_inertial_properties( + analysed_mesh_filepath=analysis_mesh_filepath, + value=inertial_estimation_value, + ) + sdf_data.update(inertial_properties) + + # Write data into an SDF file + cls._generate_sdf_file( + output_path=output_path, + model_name=model_name, + static=static, + friction_coefficient=friction_coefficient, + symlink_external_textures=symlink_external_textures, + material_texture_diffuse=material_texture_diffuse, + material_texture_specular=material_texture_specular, + **sdf_data, + ) + + # Create a corresponding config file for the SDF model + cls._generate_model_config_file(output_path=output_path, model_name=model_name) + + # Render few images to generate thumbnails + if not bpy.app.background and generate_thumbnails: + cls._generate_thumbnails(output_path=output_path) + + cls._print_bpy( + f"Info: Model '{model_name}' exported to 'file://{output_path}'." + ) + + # Select the original objects again to keep the UI (almost) the same + bpy.ops.object.select_all(action="DESELECT") + # Select all desired meshes at the same time + for obj in selected_objects_original: + obj.select_set(True) + + def _print_bpy(msg: Any, file: Optional[TextIO] = sys.stdout, *args, **kwargs): + """ + Helper print function that also provides output inside the Blender console, + in addition to the system console. + """ + + print(msg, file=file, *args, **kwargs) + for window in bpy.context.window_manager.windows: + for area in window.screen.areas: + if area.type == "CONSOLE": + with bpy.context.temp_override( + window=window, screen=window.screen, area=area + ): + bpy.ops.console.scrollback_append( + text=str(msg), + type="ERROR" if file == sys.stderr else "OUTPUT", + ) + + @classmethod + def _process_meshes( + cls, + meshes_to_process: List, + output_path: str, + model_name: str, + filetype_visual: Union[ExportFormat, str], + filetype_collision: Union[ExportFormat, str], + detail_level_visual: int, + detail_level_collision: int, + ignore_objects_visual: List[str], + ignore_objects_collision: List[str], + ) -> Dict[str, str]: + """ + Process and export meshes of the model. + """ + + # Convert to Enum if strings were passed + if isinstance(filetype_visual, str): + filetype_visual = cls.ExportFormat.from_str(filetype_visual) + if isinstance(filetype_collision, str): + filetype_collision = cls.ExportFormat.from_str(filetype_collision) + + # Keep only object names that need processing in the ignore list + meshes_to_process_names = [mesh.name for mesh in meshes_to_process] + ignore_objects_visual = [ + name for name in ignore_objects_visual if name in meshes_to_process_names + ] + ignore_objects_collision = [ + name for name in ignore_objects_collision if name in meshes_to_process_names + ] + + # Deselect all objects + bpy.ops.object.select_all(action="DESELECT") + # Select all desired meshes at the same time + for obj in meshes_to_process: + obj.select_set(True) + + return cls._export_geometry( + output_path=output_path, + model_name=model_name, + filetype_visual=filetype_visual, + filetype_collision=filetype_collision, + detail_level_visual=detail_level_visual, + detail_level_collision=detail_level_collision, + ignore_objects_visual=ignore_objects_visual, + ignore_objects_collision=ignore_objects_collision, + ) + + @classmethod + def _export_geometry( + cls, + output_path: str, + model_name: str, + filetype_visual: ExportFormat, + filetype_collision: ExportFormat, + detail_level_visual: int, + detail_level_collision: int, + ignore_objects_visual: List[str], + ignore_objects_collision: List[str], + ) -> Dict[str, str]: + """ + Export both visual and collision mesh geometry. + """ + + filepath_collision = cls._export_geometry_collision( + output_path=output_path, + model_name=model_name, + filetype=filetype_collision, + detail_level=detail_level_collision, + ignore_object_names=ignore_objects_collision, + ) + filepath_visual = cls._export_geometry_visual( + output_path=output_path, + model_name=model_name, + filetype=filetype_visual, + detail_level=detail_level_visual, + ignore_object_names=ignore_objects_visual, + ) + + return { + "filepath_mesh_collision": path.relpath( + path=filepath_collision, start=output_path + ), + "filepath_mesh_visual": path.relpath( + path=filepath_visual, start=output_path + ), + } + + @classmethod + def _export_geometry_collision( + cls, + output_path: str, + model_name: str, + filetype: ExportFormat, + detail_level: int, + ignore_object_names: List[str], + ) -> str: + """ + Export collision geometry of the model with the specified `filetype`. + Method `_pre_export_geometry_collision()` is called before the export. + Method `_post_export_geometry_collision()` is called after the export. + """ + + # Hook call before export of collision geometry + cls._pre_export_geometry_collision( + detail_level=detail_level, ignore_object_names=ignore_object_names + ) + + resulting_output_path = filetype.export( + path.join(output_path, cls.DIRNAME_MESHES_COLLISION, model_name) + ) + + # Hook call after export of collision geometry + cls._post_export_geometry_collision(ignore_object_names=ignore_object_names) + + return resulting_output_path + + @classmethod + def _export_geometry_visual( + cls, + output_path: str, + model_name: str, + filetype: ExportFormat, + detail_level: int, + ignore_object_names: List[str], + ) -> str: + """ + Export visual geometry of the model with the specified `filetype`. + Method `_pre_export_geometry_visual()` is called before the export. + Method `_post_export_geometry_visual()` is called after the export. + """ + + # Hook call before export of visual geometry + cls._pre_export_geometry_visual( + detail_level=detail_level, + ignore_object_names=ignore_object_names, + ) + + resulting_output_path = filetype.export( + path.join(output_path, cls.DIRNAME_MESHES_VISUAL, model_name) + ) + + # Hook call after export of visual geometry + cls._post_export_geometry_collision(ignore_object_names=ignore_object_names) + + return resulting_output_path + + @classmethod + def _sample_textures( + cls, textures_dirpath: Optional[str] + ) -> Dict[str, Optional[str]]: + """ + Get PBR textures for the exported model from `textures_dirpath`. If the + directory contains multiple texture sets, it is selected at random. + """ + + # Do not process if the texture directory is None + if not textures_dirpath: + return {} + + # Get the content of the texture directory + textures = os.listdir(textures_dirpath) + + # Determine whether the directory contains multiple sets of textures + choose_sample_random: bool = False + for texture in textures: + if path.isdir(path.join(textures_dirpath, texture)): + choose_sample_random = True + break + + if choose_sample_random: + # Select a random set of PBR textures + texture_dirpath = path.join(textures_dirpath, random.choice(textures)) + else: + # The directory already points to a set of PBR textures + texture_dirpath = textures_dirpath + + # Get the appropriate texture files + texture_albedo: Optional[str] = None + texture_roughness: Optional[str] = None + texture_metalness: Optional[str] = None + texture_normal: Optional[str] = None + for texture in os.listdir(texture_dirpath): + texture_cmp = cls._unify_string(texture) + if not texture_albedo and ( + "color" in texture_cmp or "albedo" in texture_cmp + ): + texture_albedo = path.join(texture_dirpath, texture) + elif not texture_roughness and "roughness" in texture_cmp: + texture_roughness = path.join(texture_dirpath, texture) + elif not texture_metalness and ( + "specular" in texture_cmp or "metalness" in texture_cmp + ): + texture_metalness = path.join(texture_dirpath, texture) + elif not texture_normal and "normal" in texture_cmp: + texture_normal = path.join(texture_dirpath, texture) + else: + cls._print_bpy( + f"Warn: File 'file://{path.join(texture_dirpath, texture)}' is " + "not a recognized texture type or there are multiple textures " + "of the same type inside 'file://{texture_dirpath}'.", + file=sys.stderr, + ) + + return { + "texture_albedo": texture_albedo, + "texture_roughness": texture_roughness, + "texture_metalness": texture_metalness, + "texture_normal": texture_normal, + } + + @classmethod + def _generate_sdf_file( + cls, + output_path: str, + model_name: str, + filepath_mesh_visual: str, + filepath_mesh_collision: str, + texture_albedo: Optional[str] = None, + texture_roughness: Optional[str] = None, + texture_metalness: Optional[str] = None, + texture_normal: Optional[str] = None, + material_texture_diffuse: Optional[ + Tuple[float, float, float] + ] = MATERIAL_TEXTURE_DIFFUSE, + material_texture_specular: Optional[ + Tuple[float, float, float] + ] = MATERIAL_TEXTURE_SPECULAR, + symlink_external_textures: bool = SYMLINK_EXTERNAL_TEXTURES, + static: bool = STATIC, + mass: Optional[float] = None, + inertia: Optional[ + Tuple[ + Tuple[float, float, float], + Tuple[float, float, float], + Tuple[float, float, float], + ] + ] = None, + centre_of_mass: Optional[Tuple[float, float, float]] = None, + friction_coefficient: Optional[ + Union[float, Tuple[float, float]] + ] = FRICTION_COEFFICIENT, + ): + """ + Generate SDF file from passed arguments and export to `output_path`. + """ + + # Initialize SDF with a single model and a link + sdf = ElementTree.Element("sdf", attrib={"version": cls.SDF_VERSION}) + model = ElementTree.SubElement(sdf, "model", attrib={"name": model_name}) + statit_xml = ElementTree.SubElement(model, "static") + statit_xml.text = str(static) + link = ElementTree.SubElement( + model, "link", attrib={"name": f"{model_name}_link"} + ) + + # Visual geometry + visual = ElementTree.SubElement( + link, "visual", attrib={"name": f"{model_name}_visual"} + ) + visual_geometry = ElementTree.SubElement(visual, "geometry") + visual_mesh = ElementTree.SubElement(visual_geometry, "mesh") + visual_mesh_uri = ElementTree.SubElement(visual_mesh, "uri") + visual_mesh_uri.text = filepath_mesh_visual + # Material + textures = ( + texture_albedo, + texture_roughness, + texture_metalness, + texture_normal, + ) + if any(texture for texture in textures): + material = ElementTree.SubElement(visual, "material") + pbr = ElementTree.SubElement(material, "pbr") + metal = ElementTree.SubElement(pbr, "metal") + + texture_albedo, texture_roughness, texture_metalness, texture_normal = ( + cls._preprocess_texture_path( + texture, + output_path=output_path, + symlink_external_textures=symlink_external_textures, + ) + for texture in textures + ) + + if texture_albedo: + diffuse = ElementTree.SubElement(material, "diffuse") + if material_texture_diffuse: + diffuse.text = " ".join(map(str, material_texture_diffuse)) + specular = ElementTree.SubElement(material, "specular") + if material_texture_specular: + specular.text = " ".join(map(str, material_texture_specular)) + albedo_map = ElementTree.SubElement(metal, "albedo_map") + albedo_map.text = texture_albedo + if texture_roughness: + roughness_map = ElementTree.SubElement(metal, "roughness_map") + roughness_map.text = texture_roughness + if texture_metalness: + metalness_map = ElementTree.SubElement(metal, "metalness_map") + metalness_map.text = texture_metalness + if texture_normal: + normal_map = ElementTree.SubElement(metal, "normal_map") + normal_map.text = texture_normal + + # Collision geometry + collision = ElementTree.SubElement( + link, "collision", attrib={"name": f"{model_name}_collision"} + ) + collision_geometry = ElementTree.SubElement(collision, "geometry") + collision_mesh = ElementTree.SubElement(collision_geometry, "mesh") + collision_mesh_uri = ElementTree.SubElement(collision_mesh, "uri") + collision_mesh_uri.text = filepath_mesh_collision + # Surface friction + surface = ElementTree.SubElement(collision, "surface") + surface_friction = ElementTree.SubElement(surface, "friction") + ode_friction = ElementTree.SubElement(surface_friction, "ode") + ode_friction_mu = ElementTree.SubElement(ode_friction, "mu") + ode_friction_mu2 = ElementTree.SubElement(ode_friction, "mu2") + if isinstance(friction_coefficient, Iterable): + if len(friction_coefficient) == 2: + # Randomize friction coefficient if a range is passed + friction_coefficient = random.uniform( + friction_coefficient[0], friction_coefficient[1] + ) + else: + friction_coefficient = friction_coefficient[0] + + ode_friction_mu.text = ode_friction_mu2.text = str(friction_coefficient) + bullet_friction = ElementTree.SubElement(surface_friction, "bullet") + bullet_friction_coef = ElementTree.SubElement(bullet_friction, "friction") + bullet_friction_coef2 = ElementTree.SubElement(bullet_friction, "friction2") + bullet_friction_coef.text = bullet_friction_coef2.text = str( + friction_coefficient + ) + + # Inertial + if not static and ( + centre_of_mass is not None and mass is not None and inertia is not None + ): + inertial = ElementTree.SubElement(link, "inertial") + pose = ElementTree.SubElement(inertial, "pose") + pose.text = f"{' '.join(map(str, centre_of_mass))} 0.0 0.0 0.0" + mass_xml = ElementTree.SubElement(inertial, "mass") + mass_xml.text = str(mass) + inertia_xml = ElementTree.SubElement(inertial, "inertia") + inertia_xx = ElementTree.SubElement(inertia_xml, "ixx") + inertia_xx.text = str(inertia[0][0]) + inertia_xy = ElementTree.SubElement(inertia_xml, "ixy") + inertia_xy.text = str(inertia[0][1]) + inertia_xz = ElementTree.SubElement(inertia_xml, "ixz") + inertia_xz.text = str(inertia[0][2]) + inertia_yy = ElementTree.SubElement(inertia_xml, "iyy") + inertia_yy.text = str(inertia[1][1]) + inertia_yz = ElementTree.SubElement(inertia_xml, "iyz") + inertia_yz.text = str(inertia[1][2]) + inertia_zz = ElementTree.SubElement(inertia_xml, "izz") + inertia_zz.text = str(inertia[2][2]) + + # Convert SDF to xml string and write to file + sdf_xml_string = minidom.parseString( + ElementTree.tostring(sdf, encoding="unicode") + ).toprettyxml(indent=" ") + sdf_file = open(path.join(output_path, cls.BASENAME_SDF), "w") + sdf_file.write(sdf_xml_string) + sdf_file.close() + + @classmethod + def _generate_model_config_file( + cls, + output_path: str, + model_name: str, + ): + """ + Generate model config for the SDF model. + """ + + # Initialize model config with its corresponding name + model_config = ElementTree.Element("model") + name = ElementTree.SubElement(model_config, "name") + name.text = model_name + + # Version of the model (try to match version from the exported path) + maybe_version = path.basename(output_path) + if maybe_version.isnumeric(): + version = ElementTree.SubElement(model_config, "version") + version.text = maybe_version + + # Path to SDF + sdf_tag = ElementTree.SubElement( + model_config, "sdf", attrib={"version": cls.SDF_VERSION} + ) + sdf_tag.text = cls.BASENAME_SDF + + # Author name is based on ${USER} + author = ElementTree.SubElement(model_config, "author") + name = ElementTree.SubElement(author, "name") + name.text = os.getlogin() + # Keep track of Blender version that produced the model + producer = ElementTree.SubElement(author, "producer") + producer.text = f"Blender {bpy.app.version_string}" + + # Describe how the model was generated + description = ElementTree.SubElement(model_config, "description") + description.text = ( + f"Model generated from '{bpy.path.basename(bpy.data.filepath)}' by " + f"'{path.relpath(path=__file__, start=bpy.data.filepath)}' Python script" + ) + + # Convert config to xml string and write to file + model_config_xml_string = minidom.parseString( + ElementTree.tostring(model_config, encoding="unicode") + ).toprettyxml(indent=" ") + model_config_file = open( + path.join(output_path, cls.BASENAME_SDF_MODEL_CONFIG), "w" + ) + model_config_file.write(model_config_xml_string) + model_config_file.close() + + @classmethod + def _generate_thumbnails(cls, output_path: str): + """ + Render thumbnails for the SDF model. + Currently, only a single viewport render is created using OpenGL. + """ + + # Create thumbnails directory for the model + thumbnails_dir = path.join(output_path, cls.DIRNAME_THUMBNAILS) + os.makedirs(name=thumbnails_dir, exist_ok=True) + + # Specify path for the thumbnail + bpy.context.scene.render.filepath = path.join(thumbnails_dir, "0") + + # Set render parameters + bpy.context.scene.render.resolution_x = 256 + bpy.context.scene.render.resolution_y = 256 + bpy.context.scene.render.pixel_aspect_x = 1.0 + bpy.context.scene.render.pixel_aspect_x = 1.0 + + # Render image through viewport + bpy.ops.render.opengl(write_still=True) + + @classmethod + def _pre_export_geometry_collision( + cls, detail_level: int, ignore_object_names: List[str] = [] + ): + """ + A hook that is called before exporting collision geometry. Always chain up the + parent implementation. + By default, this hook handles reselecting objects from `ignore_object_names`. + """ + + cls._select_objects(names=ignore_object_names, type_filter="MESH", select=False) + + @classmethod + def _post_export_geometry_collision(cls, ignore_object_names: List[str] = []): + """ + A hook that is called after exporting collision geometry. Always chain up the + parent implementation. + By default, this hook handles deselecting objects from `ignore_object_names`. + """ + + cls._select_objects(names=ignore_object_names, type_filter="MESH", select=True) + + @classmethod + def _pre_export_geometry_visual( + cls, + detail_level: int, + ignore_object_names: List[str] = [], + ): + """ + A hook that is called before exporting visual geometry. Always chain up the + parent implementation. + By default, this hook handles reselecting objects from `ignore_object_names`. + """ + + cls._select_objects(names=ignore_object_names, type_filter="MESH", select=False) + + @classmethod + def _post_export_geometry_visual(cls, ignore_object_names: List[str] = []): + """ + A hook that is called after exporting visual geometry. Always chain up the + parent implementation. + By default, this hook handles deselecting objects from `ignore_object_names`. + """ + + cls._select_objects(names=ignore_object_names, type_filter="MESH", select=True) + + def _select_objects( + names=List[str], type_filter: Optional[str] = None, select: bool = True + ): + """ + (De)select list of objects based on their `names`. List can be filtered + according to the object type via `type_filter`. + """ + + for obj in bpy.context.selectable_objects: + if type_filter and obj.type != type_filter: + continue + if obj.name in names: + obj.select_set(select) + + def _unify_string( + string: str, + chars_to_remove: Union[str, Iterable[str]] = ( + " ", + "_", + "-", + "(", + ")", + "[", + "]", + "{", + "}", + ), + lowercase: bool = True, + ) -> str: + """ + Helper function unifies string for a more robust matching. The strings is + changed to lower-case and `chars_to_remove` are removed. + """ + + string = string.strip() + for char in chars_to_remove: + string = string.replace(char, "") + if lowercase: + return string.lower() + else: + return string.upper() + + @classmethod + def _preprocess_texture_path( + cls, + texture_original_filepath: Optional[str], + output_path: str, + symlink_external_textures: bool, + ): + """ + Preprocess filepath of a texture such that it is in the local model directory + path. If `symlink_external_textures` is enabled, symbolic links will be + created. No copy or symlink will be made if the `texture_original_filepath` is + already a subpath of `output_path`. + This can fail due to the lack of filesystem permissions. + """ + + # Skip processing of unset textures + if not texture_original_filepath: + return None + + # Make sure the texture is valid + if not path.exists(texture_original_filepath): + raise ValueError( + f"Texture 'file://{texture_original_filepath}' does not exist!" + ) + + # Copy over the texture inside the model directory, or create a symbolic link + # Only do this if the texture is not already under the export directory + if texture_original_filepath.startswith(output_path): + texture_target_filepath = texture_original_filepath + else: + texture_dir = path.join(output_path, cls.DIRNAME_TEXTURES) + texture_target_filepath = path.join( + texture_dir, path.basename(texture_original_filepath) + ) + os.makedirs(name=texture_dir, exist_ok=True) + if symlink_external_textures: + try: + os.symlink( + src=texture_original_filepath, dst=texture_target_filepath + ) + except OSError as err: + import errno + + if err.errno == errno.EEXIST: + os.remove(texture_target_filepath) + os.symlink( + src=texture_original_filepath, dst=texture_target_filepath + ) + else: + raise err + else: + shutil.copy(src=texture_original_filepath, dst=texture_target_filepath) + + return path.relpath(path=texture_target_filepath, start=output_path) + + @classmethod + def _try_get_versioned_model_path( + cls, output_dir: str, model_name: str, model_version: Optional[int] + ) -> str: + """ + Return versioned model directory path if `model_version` is specified. For + negative `model_version` and an existing model directory, the next version will + be used to avoid overwriting. + """ + + unversioned_model_path = path.join(output_dir, model_name) + + if model_version is None: + return unversioned_model_path + elif model_version < 0: + return path.join( + unversioned_model_path, + str(cls._get_next_model_version(model_path=unversioned_model_path)), + ) + else: + return path.join(unversioned_model_path, model_version) + + def _get_next_model_version(model_path: str) -> int: + """ + Return the next version if model already exists. Otherwise, return '1' as the + initial (first) version. + """ + + if path.exists(model_path): + last_version = max( + [ + int(path.basename(subdir)) + for subdir in os.scandir(model_path) + if subdir.is_dir() and path.basename(subdir).isnumeric() + ] + ) + return last_version + 1 + else: + return 1 + + +class procedural_dataset_generator(sdf_model_exporter): + """ + Generator of procedural datasets using Blender's Geometry Nodes. + """ + + # The following lookup phrases are used to find the corresponding input attributes + # of the node system (exact match, insensitive to case, insensitive to '_'/'-'/...) + LOOKUP_PHRASES_RANDOM_SEED: List[str] = [ + "rng", + "seed", + "randomseed", + "pseodorandomseed", + ] + LOOKUP_PHRASES_DETAIL_LEVEL: List[str] = [ + "detail", + "detaillevel", + "detailobject", + "levelofdetail", + "subdivisionlevel", + "subdivlevel", + ] + + @classmethod + def generate( + cls, + first_seed: int = FIRST_SEED, + number_of_variants: int = NUMBER_OF_VARIANTS, + redraw_viewport_during_processing: bool = True, + **kwargs, + ): + """ + Generate `number_of_variants` different models by changing the random seed in + the Geometry Nodes system of the individual meshes. + """ + + cls._print_bpy( + f"Info: Generating {number_of_variants} model variants in the seed range " + f"[{first_seed}:{first_seed + number_of_variants}]." + ) + + # Export models for the entire range of random seeds + global current_seed + for seed in range(first_seed, first_seed + number_of_variants): + current_seed = seed + random.seed(seed) + name_suffix = str(seed) + if "model_name_suffix" in kwargs: + name_suffix = f'{kwargs.pop("model_name_suffix")}{name_suffix}' + cls.export(model_name_suffix=name_suffix, **kwargs) + + # Update the viewport to keep track of progress (only if GUI is enabled) + # Performance might be lowered because the scene needs to be re-rendered + if not bpy.app.background and redraw_viewport_during_processing: + bpy.ops.wm.redraw_timer(type="DRAW_WIN_SWAP", iterations=1) + + @classmethod + def _pre_export_geometry_collision( + cls, detail_level: int, ignore_object_names: List[str] = [] + ): + """ + A hook that is called before exporting collision geometry. This implementation + adjusts input attributes of the Geometry Nodes system for each mesh. + """ + + # Call parent impl + sdf_model_exporter._pre_export_geometry_collision( + detail_level=detail_level, + ignore_object_names=ignore_object_names, + ) + + global current_seed + selected_meshes = bpy.context.selected_objects + for obj in selected_meshes: + for nodes_modifier in cls._get_all_nodes_modifiers(obj): + cls._try_set_nodes_input_attribute( + obj, + nodes_modifier, + cls.LOOKUP_PHRASES_RANDOM_SEED, + current_seed, + print_warning=True, + ) + cls._try_set_nodes_input_attribute( + obj, + nodes_modifier, + cls.LOOKUP_PHRASES_DETAIL_LEVEL, + detail_level, + ) + cls._trigger_modifier_update(obj) + + @classmethod + def _pre_export_geometry_visual( + cls, + detail_level: int, + ignore_object_names: List[str] = [], + ): + """ + A hook that is called before exporting visual geometry. This implementation + adjusts input attributes of the Geometry Nodes system for each mesh. + """ + + # Call parent impl + sdf_model_exporter._pre_export_geometry_visual( + detail_level=detail_level, + ignore_object_names=ignore_object_names, + ) + + global current_seed + selected_meshes = bpy.context.selected_objects + for obj in selected_meshes: + for nodes_modifier in cls._get_all_nodes_modifiers(obj): + cls._try_set_nodes_input_attribute( + obj, + nodes_modifier, + cls.LOOKUP_PHRASES_RANDOM_SEED, + current_seed, + print_warning=True, + ) + cls._try_set_nodes_input_attribute( + obj, + nodes_modifier, + cls.LOOKUP_PHRASES_DETAIL_LEVEL, + detail_level, + ) + + cls._trigger_modifier_update(obj) + + def _get_all_nodes_modifiers(obj: bpy.types.Object) -> List[bpy.types.Modifier]: + """ + Return all node-based modifiers of an object. + """ + + return [modifier for modifier in obj.modifiers if modifier.type == "NODES"] + + @classmethod + def _try_set_nodes_input_attribute( + cls, + obj: bpy.types.Object, + modifier: bpy.types.NodesModifier, + lookup_phrases: Iterable[str], + value: Any, + print_warning: bool = False, + ): + """ + Try to set an input attribute of a nodes system to a `value`. The attribute + looked is performed by using `lookup_phrases`. + """ + + # Try to find the corresponding ID of the input attribute + input_id: Optional[str] = None + for attribute in modifier.node_group.inputs: + if cls._unify_string(attribute.name) in lookup_phrases: + input_id = attribute.identifier + break + if input_id is None: + if print_warning: + cls._print_bpy( + "Warn: Unable to find a matching input attribute of the object's " + f"'{obj.name}' modifier '{modifier.name}' for any of the requested " + f"lookup phrases {lookup_phrases}. You can ignore this warning if " + "the modifier is not supposed to have the requested input.", + file=sys.stderr, + ) + return + + # Set the attribute + modifier[input_id] = value + + def _trigger_modifier_update(obj: bpy.types.Object): + """ + Trigger an update of object's modifiers after changing its attributes. + """ + + # Not sure how else to trigger update of the modifiers, but setting the index + # of any modifier does the trick (even if the index stays the same) + # TODO[enhancement]: Improve updating of modifiers after programmatic changes + bpy.context.view_layer.objects.active = obj + if len(obj.modifiers.values()): + bpy.ops.object.modifier_move_to_index( + modifier=obj.modifiers.values()[0].name, + index=0, + ) + + +def main(**kwargs): + + # Warn the user in case an untested version of Blender is used + if bpy.app.version[0] != LAST_WORKING_VERSION[0]: + sdf_model_exporter._print_bpy( + f"Err: Untested major version of Blender ({bpy.app.version_string})! " + "This script will likely fail. Please, use Blender version " + f"[~{LAST_WORKING_VERSION[0]}.{LAST_WORKING_VERSION[1]}].", + file=sys.stderr, + ) + elif bpy.app.version[1] < LAST_WORKING_VERSION[1]: + sdf_model_exporter._print_bpy( + f"Warn: Untested minor version of Blender ({bpy.app.version_string})! " + "This script might not work as intended. Please, consider using Blender " + f"version [~{LAST_WORKING_VERSION[0]}.{LAST_WORKING_VERSION[1]}].", + file=sys.stderr, + ) + + # Update default keyword arguments with parsed arguments + export_kwargs = DEFAULT_KWARGS + export_kwargs.update(kwargs) + + if export_kwargs.pop("export_dataset"): + # Generate a dataset of procedural models + procedural_dataset_generator.generate(**export_kwargs) + sdf_model_exporter._print_bpy( + f'Info: A dataset with {export_kwargs["number_of_variants"]} models was ' + "exported." + ) + else: + # Export a single SDF model + sdf_model_exporter.export(**export_kwargs) + sdf_model_exporter._print_bpy("Info: A single SDF models was exported.") + + # Inform user how to make the models discoverable by Gazebo + if export_kwargs["output_dir"] is not None: + output_dir = path.abspath(export_kwargs["output_dir"]) + sdf_model_exporter._print_bpy( + "Info: Please, set GZ_SIM_RESOURCE_PATH environment variable to make the " + "exported models discoverable." + f'\n\texport GZ_SIM_RESOURCE_PATH="{output_dir}' + '${GZ_SIM_RESOURCE_PATH:+:${GZ_SIM_RESOURCE_PATH}}"', + ) + + +if __name__ == "__main__": + + # Setup argument parser + parser = argparse.ArgumentParser( + description="Generate a procedural dataset of SDF models using Blender.", + usage=( + f"\n\t{sys.argv[0]} [blender options] file.blend --python-text " + "script.py -- [script options]" + f"\n\t{sys.argv[0]} [blender options] file.blend --python " + "external_script.py -- [script options]" + "\nlist script options:" + f"\n\t{sys.argv[0]} -b file.blend --python-text script.py -- -h" + f"\n\t{sys.argv[0]} -b file.blend --python external_script.py -- -h" + "\nlist blender options:" + f"\n\t{sys.argv[0]} -h" + ), + epilog=f"Default keyword arguments of the script (model): {DEFAULT_KWARGS}" + if DEFAULT_KWARGS + else "", + argument_default=argparse.SUPPRESS, + formatter_class=argparse.ArgumentDefaultsHelpFormatter, + ) + + # Append example to usage (with the specific internal/external script) + if "--python-text" in sys.argv and bpy.data.filepath: + blend_relpath = path.relpath(path=bpy.data.filepath, start=os.getcwd()) + py_relpath = path.relpath(path=__file__, start=bpy.data.filepath) + parser.usage += ( + f"\nexample:\n\t{sys.argv[0]} {blend_relpath} --python-text {py_relpath} " + f"-- -o {OUTPUT_DIR}" + ) + else: + py_relpath = path.relpath(path=__file__, start=os.getcwd()) + parser.usage += ( + f"\nexample:\n\t{sys.argv[0]} file.blend --python {py_relpath} " + f"-- -o {OUTPUT_DIR}" + ) + + # Exit if opened without a Blender project + if not bpy.data.filepath: + print( + "Err: Blender project was not opened before running the script.", + file=sys.stderr, + ) + parser.print_usage() + + sys.exit(22) + + ### Specify all CLI arguments + ## Helper argparse types + def str2bool(value: Union[str, bool]) -> bool: + """ + Convert logical string to boolean. Can be used as argparse type. + """ + + if isinstance(value, bool): + return value + if value.lower() in ("yes", "true", "t", "y", "1"): + return True + elif value.lower() in ("no", "false", "f", "n", "0"): + return False + else: + raise argparse.ArgumentTypeError("Boolean value expected.") + + def str_empty2none(value: Optional[str]) -> Optional[str]: + """ + If string is empty, convert to None. Can be used as argparse type. + """ + + return str(value) if value else None + + ## Command mode of the script + parser.add_argument( + "--export-dataset", + action="store_true", + default=True, + help="[default mode] Generate a procedural dataset.", + ) + parser.add_argument( + "--export-model", + dest="export_dataset", + action="store_false", + help="[alternative mode] Export a single model.", + ) + ## Parameters for SDF model exporter `sdf_model_exporter` + parser.add_argument( + "-o", + "--output-dir", + type=str_empty2none, + default=OUTPUT_DIR, + help="The output directory for all models (each model is located under its own " + "subdirectory). When exporting a single SDF model, its output path is " + "'OUTPUT_DIR/MODEL_NAME'. For datasets, the path of each SDF model name is " + "appended by the random seed used during its generation as " + "'OUTPUT_DIR/MODEL_NAME+VARIANT_SEED'. If set to empty, Fuel cache " + "'${GZ_FUEL_CACHE_PATH}/fuel.gazebosim.org/${USER}/models' is used.", + ) + parser.add_argument( + "-v", + "--model-version", + type=int, + default=MODEL_VERSION, + help="The version of exported model path that is joined with the model output " + "path 'OUTPUT_DIR/MODEL_NAME/MODEL_VERSION', or " + "'OUTPUT_DIR/MODEL_NAME+VARIANT_SEED/MODEL_VERSION'. The output path is " + "modified only if 'MODEL_VERSION' is set (not None). For negative values " + "and an existing model directory, the next unique version is used to avoid " + "overwriting. If 'OUTPUT_DIR' is empty (export to Fuel cache), a negative " + "value is used to guarantee a unique version.", + ) + parser.add_argument( + "--model-name-prefix", + type=str, + help="Prefix of exported model as 'OUTPUT_DIR/MODEL_NAME_PREFIX+MODEL_NAME' " + ", or 'OUTPUT_DIR/MODEL_NAME_PREFIX+MODEL_NAME+VARIANT_SEED' (default: '').", + ) + parser.add_argument( + "--model-name-suffix", + type=str, + help="Suffix of exported model as 'OUTPUT_DIR/MODEL_NAME+MODEL_NAME_SUFFIX' " + ", or 'OUTPUT_DIR/MODEL_NAME+MODEL_NAME_SUFFIX+VARIANT_SEED' (default: '').", + ) + ## Parameters for procedural dataset generator `procedural_dataset_generator` + parser.add_argument( + "-s", + "--first-seed", + type=int, + default=FIRST_SEED, + help="The random seed of the first model when generating a dataset.", + ) + parser.add_argument( + "-n", + "--number-of-variants", + type=int, + default=NUMBER_OF_VARIANTS, + help="Number of model variants to export when generating a dataset.", + ) + ## Filetypes of exported geometry + parser.add_argument( + "--filetype-visual", + type=str, + default=FILETYPE_VISUAL, + choices=["collada", "dae", "wavefront", "obj", "stl"], + help="The format of exported visual geometry ['collada' == 'dae', " + "'wavefront' == 'obj'].", + ) + parser.add_argument( + "--filetype-collision", + type=str, + default=FILETYPE_COLLISION, + choices=["collada", "dae", "wavefront", "obj", "stl"], + help="The format of exported collision geometry ['collada' == 'dae', " + "'wavefront' == 'obj'].", + ) + ## Level of detail for exported visual/collision geometry, e.g. subdivision level + parser.add_argument( + "--detail-level-visual", + type=int, + default=DETAIL_LEVEL_VISUAL, + help="Level of detail for exported visual geometry, e.g. subdivision level.", + ) + parser.add_argument( + "--detail-level-collision", + type=int, + default=DETAIL_LEVEL_COLLISION, + help="Level of detail for exported collision geometry, e.g. subdivision level.", + ) + ## Objects to ignore while exporting visual/collision geometry, even if selected + parser.add_argument( + "--ignore-objects-visual", + type=str, + nargs="+", + default=IGNORE_OBJECTS_VISUAL, + help="List of objects to ignore when exporting visual geometry.", + ) + parser.add_argument( + "--ignore-objects-collision", + type=str, + nargs="+", + default=IGNORE_OBJECTS_COLLISION, + help="List of objects to ignore when exporting collision geometry.", + ) + ## Source of textures for the model + parser.add_argument( + "--symlink-external-textures", + type=str2bool, + default=SYMLINK_EXTERNAL_TEXTURES, + help="If true, symbolic links will be created for all textures instead of " + "copies. No copy or symlink will be if the texture is already under the output " + "path.", + ) + parser.add_argument( + "--texture-source-mode", + type=str, + choices=["none", "path", "online", "blender"], + default=TEXTURE_SOURCE_MODE, + help="The source from which to select/extract (PBR) textures for the model. " + "Option 'none' disables texturing in SDF and relies on mesh exporters. " + "Option 'path' should either point to a single set of textures or a number of " + "texture sets, from which a set would be sampled at random. " + "Options 'online' (textures from an online source) and 'blender' (baking of " + "textures) are currently not implemented. " + "The value must be specified using the 'TEXTURE_SOURCE_VALUE' option.", + ) + parser.add_argument( + "--texture-source-value", + type=str_empty2none, + default=TEXTURE_SOURCE_VALUE, + help="Value for the texture source, with the context based on the selected " + "'TEXTURE_SOURCE_MODE'. For example, this value expresses path to a directory " + "with textures or a name of the environment.", + ) + parser.add_argument( + "--material-texture-diffuse", + type=float, + nargs="+", + default=MATERIAL_TEXTURE_DIFFUSE, + help="Diffuse intensity of the albedo texture map. " + "Please, enter values for each channel as `--material-texture-diffuse R G B`.", + ) + parser.add_argument( + "--material-texture-specular", + type=float, + nargs="+", + default=MATERIAL_TEXTURE_SPECULAR, + help="Specular intensity of the albedo texture map. " + "Please, enter values for each channel as `--material-texture-specular R G B`.", + ) + ## Inertial and dynamic properties of exported models + parser.add_argument( + "--static", + type=str2bool, + default=STATIC, + help="If true, the SDF model is exported as immovable and it won't be updated " + "by the physics engine.", + ) + parser.add_argument( + "--inertial-estimation-mode", + type=str, + choices=["none", "density", "random_density", "mass", "random_mass"], + default=INERTIAL_ESTIMATION_MODE, + help="The mode used during the estimation of inertial properties. " + "Option 'none' disables estimation of inertial properties. " + "Option '[random_]density' assumes a uniform density of the model. " + "Option '[random_]mass' determines a uniform density based on the target mass. " + "Random options uniformly sample the target value from a specified range. " + "The value must be specified using the 'INERTIAL_ESTIMATION_VALUE' option. " + "Estimation of inertial properties is always disabled for 'STATIC' models.", + ) + parser.add_argument( + "--inertial-estimation-value", + type=float, + nargs="+", + default=INERTIAL_ESTIMATION_VALUE, + help="Value for the inertial estimation, with the context based on the " + "selected 'INERTIAL_ESTIMATION_MODE'. " + "For non-random modes, please use a single value as " + "`--inertial-estimation-value TARGER_VALUE`. " + "For a random range, please enter min and max values as " + "`--inertial-estimation-value MIN MAX`.", + ) + parser.add_argument( + "--inertial-estimation-use-collision-mesh", + type=str2bool, + help="If true, collision geometry will be used for the estimation of inertial " + "properties instead of the visual geometry of the model. (default: True)", + ) + parser.add_argument( + "--friction-coefficient", + type=float, + nargs="+", + default=FRICTION_COEFFICIENT, + help="Coefficient of the surface friction, equal in both directions. " + "For a random range, please enter min and max values as " + "`--friction-coefficient MIN MAX`.", + ) + ## Miscellaneous + parser.add_argument( + "--generate-thumbnails", + type=str2bool, + help="If true, thumbnails will be generated for the exported models. Only " + "applicable if Blender is run in the foreground without `-b`. (default: True)", + ) + + # Parse arguments + if "--" in sys.argv: + args = parser.parse_args(sys.argv[sys.argv.index("--") + 1 :]) + else: + args, unknown_args = parser.parse_known_args() + sdf_model_exporter._print_bpy( + f"Warn: The following arguments are not recognized by '{py_relpath}'!" + f"\n\t{unknown_args}\nHint: Please, delimit your arguments for Python " + "script with '--' (see usage).", + file=sys.stderr, + ) + + # Pass as keyword arguments to the main function + main(**vars(args)) diff --git a/tutorials.md.in b/tutorials.md.in index 74988a1c5c..60bc3172d2 100644 --- a/tutorials.md.in +++ b/tutorials.md.in @@ -33,6 +33,7 @@ Ignition @IGN_DESIGNATION_CAP@ library and how to use the library effectively. * \subpage underwater_vehicles "Underwater Vehicles": Understand how to simulate underwater vehicles. * \subpage particle_emitter "Particle emitter": Using particle emitters in simulation * \subpage blender_sdf_exporter "Blender SDF Exporter": Use a blender script to export a model to the SDF format. +* \subpage blender_procedural_datasets "Generation of Procedural Datasets with Blender": Use Blender with a Python script to generate procedural datasets of SDF models. * \subpage model_and_optimize_meshes "Model and optimize meshes": Some recomendations when creating meshes in blender for simulations. * \subpage model_command "Model Command": Use the CLI to get information about the models in a simulation. * \subpage test_fixture "Test Fixture": Writing automated CI tests diff --git a/tutorials/blender_procedural_datasets.md b/tutorials/blender_procedural_datasets.md new file mode 100644 index 0000000000..4f8104c186 --- /dev/null +++ b/tutorials/blender_procedural_datasets.md @@ -0,0 +1,257 @@ +\page blender_procedural_datasets Generation of Procedural Datasets with Blender + +Procedurally-generated datasets of 3D models allow us to create diverse +simulation environments with nearly unlimited variety. Such environments enable +developers to evaluate their algorithms under various conditions that their +robots might experience. Furthermore, it is a simple way of producing a large +quantity of synthetic training data for applications within machine learning. + +## Overview + +[Blender](https://blender.org) is a free and open-source 3D software suite with +several tools and features for creating models that can be utilized inside +robotics simulators like Gazebo. In addition to manually modelling, sculpting +and texturing models, Blender also enables procedural generation of datasets +that can facilitate diversity in simulation environments. Furthermore, its +Python API allows us to generate such datasets programmatically. + +### Procedural Geometry + +[Geometry Nodes](https://docs.blender.org/manual/en/latest/modeling/geometry_nodes/introduction.html) +is a system of Blender for creating and modifying geometry through node-based +operations. It enables the synthesis of many model variations by combining +procedural operations with randomization. Although it enables a relatively +simple and fast method for creating datasets, it can be tricky to get started. +Fortunately, there are several helpful resources that can help you with the +creation of your own custom 3D models, e.g. an [overview video](https://www.youtube.com/watch?v=kMDB7c0ZiKA), +[demo files](https://blender.org/download/demo-files/#geometry-nodes), +[training from Blender Studio](https://studio.blender.org/training/geometry-nodes-from-scratch), +[tutorial by Blender Guru](https://www.youtube.com/watch?v=aO0eUnu0hO0) and many +others. + + + +### Python Script for Generating Procedural Datasets of SDF models + +Python script [`procedural_dataset_generator.py`](https://github.com/gazebosim/gz-sim/tree/gz-sim7/examples/scripts/blender/procedural_dataset_generator.py) +contains a Blender exporter of SDF models and a generator of procedural SDF +dataset. The exporter outputs models that are compatible with the SDF format +and the directory structure of [Fuel](https://app.gazebosim.org), which can be +used with any existing `.blend` project. The dataset generator leverages +Blender's Geometry Nodes modifiers that are configured to generate countless +model variations via the Random Seed input attribute (seed for the pseudorandom +generation). + +This script processes all selected objects in the opened Blender scene (or all +existing objects if none is selected). The exporter is configurable via CLI +arguments (or by adjusting default model-specific parameters). Currently, the +following features are supported: + +- Export of mesh geometry as COLLADA (`.dae`), Wavefront (`.obj`) or STL + (`.stl`) file formats. +- Option to exclude specific Blender objects from being exported to visual or + collision geometry. +- Export separate visual and collision geometry at different levels of + resolution to improve collision-checking performance with low-poly geometry. +- Estimation of inertial properties while assuming a uniform density. +- Optional randomization of model properties via uniform distribution, e.g. mass + and surface friction. +- Linking of PBR textures sets via symbolic links or copies. +- Generation of thumbnails for the exported models. + +## Instructions + +### Dependencies + +Blender is required to open `.blend` projects and run the script that employs +the Python API of Blender (`bpy`). Versions `[>=3.0, <3.3]` were tested with the +script, but newer versions are also expected to work. + +- [Blender `[>=3.0]`](https://blender.org/download) + +### Run the Python Script + +#### Option A — Run Script Inside Blender + +The first option is to run the Python script directly in Blender's *Text Editor* +tab for scripting while using the default parameters that are configurable via +constants at the beginning of the script. For new projects, you can follow these +steps: + +1. Open the desired Blender `.blend` project. It is recommended to open Blender + using a console to get full access to the standard output and error. + +```bash +blender [blender options] file.blend +``` + +2. Copy the [`procedural_dataset_generator.py`](https://github.com/gazebosim/gz-sim/tree/gz-sim7/examples/scripts/blender/procedural_dataset_generator.py) + Python script into a new text data block in your `.blend` under the + *Text Editor* tab. +3. Configure the default parameters of the script for your specific models via + constants at the beginning of the file. +4. Run the script using the *Run script* button in the panel of the + *Text Editor* tab at the top of the screen. + +@image html https://github.com/gazebosim/gz-sim/tree/gz-sim7/tutorials/files/blender_procedural_datasets/blender_instructions.png "Instructions in Blender" width=100% + +Once you follow these steps and configure the script for your `.blend` project, +you can save it and use Option B in the future. + +#### Option B — Run an Internal Script + +The second option is to run a script that is already saved inside a `.blend` +project, i.e. saved and configured through the procedure above. Therefore, this +approach is applicable only for `.blend` projects previously configured with the +[`procedural_dataset_generator.py`](https://github.com/gazebosim/gz-sim/tree/gz-sim7/examples/scripts/blender/procedural_dataset_generator.py) +Python script. This option enables configuring the script via CLI arguments +instead of modifying its contents, which is unnecessary if the project is +already configured. + +```bash +# Note: `procedural_dataset_generator.py` is the name of the Python script inside the `file.blend` +blender [blender options] file.blend --python-text procedural_dataset_generator.py -- [script options] +``` + +#### Option C — Run an External Script + +It is also possible to run the Python script externally without configuring it +first inside a `.blend` project. This option also enables configuring the script +via CLI arguments, which is often required for new models. + +```bash +# Note: `/path/to/procedural_dataset_generator.py` can be an absolute or relative system path +blender [blender options] file.blend --python /path/to/procedural_dataset_generator.py -- [script options] +``` + +## Examples + +In order to demonstrate the generation of procedural datasets, the following two +`.blend` projects are provided: + +- [rock.blend](https://github.com/gazebosim/gz-sim/tree/gz-sim7/tutorials/files/blender_procedural_datasets/rock.blend) + — Models of randomized rocks for Gazebo that robots can interact with +- [woodland.blend](https://github.com/gazebosim/gz-sim/tree/gz-sim7/tutorials/files/blender_procedural_datasets/woodland.blend) + — Static environments of natural scenery with randomly scattered assets of + low-poly trees, rocks, grass and flowers (these assets were adapted from + [Blender Studio](https://studio.blender.org)) + +You need to download these `.blend` projects to follow the examples. You can do +that either manually on GitHub or via `wget`/`curl`. + +```bash +wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim7/tutorials/files/blender_procedural_datasets/rock.blend +wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim7/tutorials/files/blender_procedural_datasets/woodland.blend +``` + +### Try Demo Files + +Now you can open these projects with Blender and run the scripts. Alternatively, +you could run the pre-configured Python scripts for each `.blend` project +directly from the console and configure CLI arguments as desired. + +```bash +blender rock.blend --python-text procedural_dataset_generator.py -- -o sdf_models/rock +blender woodland.blend --python-text procedural_dataset_generator.py -- -o sdf_models/woodland +``` + +@image html https://github.com/gazebosim/gz-sim/tree/gz-sim7/tutorials/files/blender_procedural_datasets/demo_blender_rock.gif "Example of generating a dataset of rock SDF models" width=100% + +@image html https://github.com/gazebosim/gz-sim/tree/gz-sim7/tutorials/files/blender_procedural_datasets/demo_blender_woodland.gif "Example of generating a dataset of woodland SDF models" width=100% + +You can configure the script in several ways (see +`blender rock.blend --python-text procedural_dataset_generator.py -- -h`). For +example, you can set a combination of `--texture-source-mode` and +`--texture-source-value` arguments to link models to (random) PBR textures. + +```bash +## Configure `--texture-source-value` with a path to one of the following directories +# ├── ./ # <-- Here to randomly sample a texture set +# ├── texture0/ # <-- Here to use texture0 +# ├── *albedo*.png || *color*.png +# ├── *normal*.png +# ├── *roughness*.png +# └── *specular*.png || *metalness*.png +# ├── texture1/ +# └── ... +blender rock.blend --python-text procedural_dataset_generator.py -- --texture-source-mode path --texture-source-value /path/to/textures +``` + +### Expected Output + +Once the models are generated, you can see the generated directory structure for +each model. + +```bash +./sdf_models/ +├── rock/ # Parent directory of the generated dataset for rock models + ├── rock0/ # SDF Model directory of the 1st model + │ ├── meshes/ # Directory for mesh geometry + │ │ ├── collision/ # Collision geometry, defaults to `.stl` + │ │ └── visual/ # Visual geometry, defaults to `.obj`+`.mtl` + │ ├── thumbnails/ # Directory for the generated thumbnail + │ ├── model.config # Meta data about the model + │ └── model.sdf # SDF description of the model + ├── rock1/ # SDF Model directory of the 2nd model + └── ... +└── woodland/ # Identical structure for the dataset of woodland models ... +  ├── woodland0/ + ├── woodland1/ + └── ... +``` + +### `GZ_SIM_RESOURCE_PATH` Environment Variable + +In order to make the models discoverable by Gazebo, you need to set the +`GZ_SIM_RESOURCE_PATH` environment variable such that it includes the path to +the parent directory of the models. + +Note that the Python script will always print the adequate command with the +exact path after the export of models is finished. + +```bash +export GZ_SIM_RESOURCE_PATH="${PWD}/sdf_models/rock${GZ_SIM_RESOURCE_PATH:+:${GZ_SIM_RESOURCE_PATH}}" +export GZ_SIM_RESOURCE_PATH="${PWD}/sdf_models/woodland${GZ_SIM_RESOURCE_PATH:+:${GZ_SIM_RESOURCE_PATH}}" +``` + +### Spawn Models in Gazebo + +Hereafter, you can spawn the generated models inside Gazebo with your preferred +approach, e.g. via the Resource Spawner GUI plugin. Below are some examples of +Gazebo environments using the rock and woodland SDF models. + +@image html https://github.com/gazebosim/gz-sim/tree/gz-sim7/tutorials/files/blender_procedural_datasets/demo_gazebo_rock.png "Example of the generated rock SDF models in Gazebo" width=100% + +@image html https://github.com/gazebosim/gz-sim/tree/gz-sim7/tutorials/files/blender_procedural_datasets/demo_gazebo_woodland.png "Example of the generated woodland SDF models in Gazebo" width=100% + +Every object that uses Geometry Nodes in these projects has several input +attributes that can be configured. You can open the `.blend` projects again, +navigate to the `Modifier Properties` tab for each object, and try tweaking them +yourself. + +## Known Issues + +### Installation of Modules in Blender's Python Environment (`trimesh`) + +The [trimesh](https://trimsh.org) Python module is used to estimate inertial +properties. This module is not included by default with the Python environment +of Blender and thus needs to be installed. It is installed automatically during +the first run of the Python script. However, installing a new Python module +within Blender will not be possible if you use it from +[Snap Store](https://snapcraft.io/blender). If this is the case, you must use +the `--python-use-system-env` Blender option when running the Python script. +Furthermore, you might need to run the script as `sudo` for the first time if +the installation fails due to a lack of permission. + +## Future Work + +The Python script is not fully featured yet. Below is a list of features that +could be eventually added to improve its functionality: + +- Add support for exporting processed objects as separate `` and + `` entities of a single SDF model. +- Add support for baking textures for all processed models. Separate `` + entities would be required to prevent overlapping of UV maps. +- Add support for pulling PBR textures from an online source, e.g. repository. +- Add support for exporting lights as SDF entities. +- Add support for exporting cameras as SDF entities. diff --git a/tutorials/files/blender_procedural_datasets/blender_instructions.png b/tutorials/files/blender_procedural_datasets/blender_instructions.png new file mode 100644 index 0000000000000000000000000000000000000000..3fbf50619a28f1ad87cffcc0193061bfd279d5dc GIT binary patch literal 43374 zcmZ5{1yogA)b2sLyOHkhP(m63DQW2jk?!u02I(#VDUp`$5)qK@l9KLz>v;cvyf@ys zN5dUuqUFYY$a=cJ6Mb5jZC!Z#MPT0|GIv5DwJS5l?=h=-X3SD3`RZms z`O)j=SheBi#YO#bX{Y&yp_9=YSO#wWo2YWVgp>Ew&QfbgfUdn=OYj z?ASfUJU26yms_h^BWeb*w>8Wn+jIF`cfavkPvgY-^wsZAe=bmn{gNWP^)luDaAD;^ z)9!C8j{==@?GHNt8;?i3E-}x=7962rp~Tm_XCPK zohcY6qf85o#=yq%iZ!P3J@uxvLsX_U48*R7+Y4<@3yQwF)1_5>qSTqrU}GRW$%>LM zd=)$>9i_+||33LmyqbEA8YXON|5Vm5%cNG-nH@~GH7?%~{S_MK*<0P~ 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zyaE6KfD`}#`#}Hz^qm0!aM1t&sMrGl0owoo0qYC^qS*idK*j+84FCWD0I}+lkB^lN A2LJ#7 literal 0 HcmV?d00001 From 36dda06bc24e7f2599cdf473a9d6c8a6b0db71b2 Mon Sep 17 00:00:00 2001 From: Nate Koenig Date: Fri, 21 Oct 2022 05:06:33 -0700 Subject: [PATCH 19/28] Fix scene_broadcaster_system test (#1766) Signed-off-by: Nate Koenig Signed-off-by: Nate Koenig Co-authored-by: Nate Koenig --- test/worlds/shapes_scene_broadcaster_only.sdf | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/test/worlds/shapes_scene_broadcaster_only.sdf b/test/worlds/shapes_scene_broadcaster_only.sdf index dff73115c5..dc2d4540eb 100644 --- a/test/worlds/shapes_scene_broadcaster_only.sdf +++ b/test/worlds/shapes_scene_broadcaster_only.sdf @@ -3,7 +3,7 @@ 0.001 - 0 + 1 Date: Fri, 21 Oct 2022 10:58:57 -0700 Subject: [PATCH 20/28] Fix thruster integration test (#1767) Signed-off-by: Nate Koenig Signed-off-by: Nate Koenig Co-authored-by: Nate Koenig --- test/integration/thruster.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/test/integration/thruster.cc b/test/integration/thruster.cc index d92b3f15c3..b6b0e589f1 100644 --- a/test/integration/thruster.cc +++ b/test/integration/thruster.cc @@ -245,7 +245,7 @@ void ThrusterTest::TestWorld(const std::string &_world, // linear_velocity) / (angular_velocity * propeller_diameter)) // omega = sqrt(thrust / // (fluid_density * thrust_coefficient * propeller_diameter ^ 4)) - if (_calculateCoefficient && gz::math::equal(angularVelocity, 0.0)) + if (_calculateCoefficient && !gz::math::equal(angularVelocity, 0.0)) { _thrustCoefficient = _alpha1 + _alpha2 * (((1 - _wakeFraction) * propellerLinVels[i].Length()) / (angularVelocity * _diameter)); From 132555a7635cd5cd1684810d9fbec768a35dc658 Mon Sep 17 00:00:00 2001 From: Arjo Chakravarty Date: Fri, 28 Oct 2022 21:23:08 +0800 Subject: [PATCH 21/28] Some minor changes to hydrodynamic flags test (#1772) This commit changes the url to use the more recent url. It also removes the scene-broadcaster plugin as we don't need it in the test itself. Signed-off-by: Arjo Chakravarty --- test/worlds/hydrodynamics_flags.sdf | 34 ++--------------------------- 1 file changed, 2 insertions(+), 32 deletions(-) diff --git a/test/worlds/hydrodynamics_flags.sdf b/test/worlds/hydrodynamics_flags.sdf index 51ae7a93bd..a109f5f4a4 100644 --- a/test/worlds/hydrodynamics_flags.sdf +++ b/test/worlds/hydrodynamics_flags.sdf @@ -1,16 +1,7 @@ - - - - - 0.0 1.0 1.0 - 0.0 0.7 0.8 - - 0.001 1.0 @@ -19,14 +10,6 @@ filename="ignition-gazebo-physics-system" name="ignition::gazebo::systems::Physics"> - - - - @@ -54,7 +37,7 @@ 0 0 1 0 0 1.57 - https://fuel.ignitionrobotics.org/1.0/accurrent/models/MBARI Tethys LRAUV + https://fuel.gazebosim.org/1.0/accurrent/models/MBARI Tethys LRAUV 5 0 1 0 0 1.57 - https://fuel.ignitionrobotics.org/1.0/accurrent/models/MBARI Tethys LRAUV + https://fuel.gazebosim.org/1.0/accurrent/models/MBARI Tethys LRAUV triton @@ -335,18 +318,5 @@ true - - - - 0 0 -1 0 0 3.1415926 - https://fuel.ignitionrobotics.org/1.0/mabelzhang/models/ABCSign_5m - start_line - - - 0 -25 -1 0 0 3.1415926 - https://fuel.ignitionrobotics.org/1.0/mabelzhang/models/ABCSign_5m - finish_line - - From 61df2c3abe88bd8c428dde3e823227ff9a4671ed Mon Sep 17 00:00:00 2001 From: Nate Koenig Date: Thu, 3 Nov 2022 12:17:07 -0700 Subject: [PATCH 22/28] 3 to 6 20221013 (#1762) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * 🎈 3.14.0~pre1 (#1650) Signed-off-by: Louise Poubel * Remove redundant namespace references (#1635) Signed-off-by: methylDragon * 🎈 3.14.0 (#1657) Signed-off-by: Louise Poubel Signed-off-by: Louise Poubel * readd namespaces for Q_ARGS (#1670) * Remove actors from screen when they are supposed to (#1699) # 🦟 Bug fix Supercedes #1697. Note: When forward porting we will have to update the hashmaps to erase the new hashmaps created. Fixes # ## Summary Found that when actors are De-spawned the actor visuals are not destroyed. This commit addresses this bug by adding the missing remove logic in RenderUtils. ## Before ![bug](https://user-images.githubusercontent.com/542272/189558600-196d98c5-1dcf-4d6c-93d6-7493df38c0e4.gif) ## After ![no_bug](https://user-images.githubusercontent.com/542272/189558924-3f2e3c5d-68f3-4d80-aee4-3dc3ce6742a1.gif) ## Notes: Theres a lot of hashmaps being populated in RenderUtils whenever a new actor is spawned. I hope I've caught them all. Also while I need these working in garden (as all the projects Im working on use garden), should I backport these changes? Signed-off-by: Arjo Chakravarty * Update examples to use gazebosim.org Signed-off-by: Nate Koenig * Citadel: Removed warnings (#1753) Signed-off-by: ahcorde * Added collection name to About Dialog (#1756) Signed-off-by: ahcorde * Convert ignitionrobotics to gazebosim in tests directory (#1757) * Convert ignitionrobotics to gaazebosim in tests directory Signed-off-by: Nate Koenig * fix gz-gazebo Signed-off-by: Nate Koenig Signed-off-by: Nate Koenig Co-authored-by: Nate Koenig * Convert ignitionrobotics to gazebosim in sources and includes (#1758) Signed-off-by: Nate Koenig Signed-off-by: Nate Koenig Co-authored-by: Nate Koenig * Convert ignitionrobotics to gazebosim in tutorials (#1759) Signed-off-by: Nate Koenig Signed-off-by: Nate Koenig Co-authored-by: Nate Koenig * Final update of ignitionrobotics to gazebosim for citadel (#1760) Signed-off-by: Nate Koenig Signed-off-by: Nate Koenig Co-authored-by: Nate Koenig * remove PlotIcon (#1658) Signed-off-by: youhy Signed-off-by: youhy * Fix UNIT_ign_TEST Signed-off-by: Nate Koenig Signed-off-by: Louise Poubel Signed-off-by: methylDragon Signed-off-by: Arjo Chakravarty Signed-off-by: Nate Koenig Signed-off-by: ahcorde Signed-off-by: youhy Co-authored-by: Louise Poubel Co-authored-by: methylDragon Co-authored-by: Jenn Nguyen Co-authored-by: Arjo Chakravarty Co-authored-by: Nate Koenig Co-authored-by: Alejandro Hernández Cordero Co-authored-by: AzulRadio <50132891+AzulRadio@users.noreply.github.com> --- CMakeLists.txt | 2 +- CODE_OF_CONDUCT.md | 2 +- CONTRIBUTING.md | 2 +- Changelog.md | 549 ++++++++++-------- NEWS | 2 +- docker/README.md | 2 +- docker/scripts/build_ign.sh | 6 +- docker/scripts/upload_json_benchmark.sh | 8 +- examples/standalone/joy_to_twist/README.md | 4 +- examples/standalone/joystick/README.md | 2 +- examples/worlds/actor.sdf | 6 +- examples/worlds/actors_population.sdf.erb | 4 +- examples/worlds/breadcrumbs.sdf | 2 +- examples/worlds/camera_sensor.sdf | 2 +- examples/worlds/depth_camera_sensor.sdf | 2 +- examples/worlds/elevator.sdf | 2 +- examples/worlds/fuel.sdf | 14 +- examples/worlds/fuel_textured_mesh.sdf | 4 +- examples/worlds/gpu_lidar_sensor.sdf | 2 +- examples/worlds/import_mesh.sdf | 2 +- examples/worlds/log_record_resources.sdf | 2 +- .../worlds/multicopter_velocity_control.sdf | 4 +- examples/worlds/plot_3d.sdf | 2 +- examples/worlds/quadcopter.sdf | 2 +- examples/worlds/sensors_demo.sdf | 2 +- examples/worlds/tracked_vehicle_simple.sdf | 2 +- examples/worlds/tunnel.sdf | 279 +++++---- include/ignition/gazebo/Entity.hh | 3 +- include/ignition/gazebo/ServerConfig.hh | 4 +- src/Component_TEST.cc | 4 +- src/Conversions.cc | 126 ++-- src/Conversions_TEST.cc | 28 +- src/EntityComponentManager.cc | 14 +- src/EntityComponentManager_TEST.cc | 66 +-- src/SdfEntityCreator_TEST.cc | 80 +-- src/SdfGenerator_TEST.cc | 12 +- src/ServerConfig.cc | 38 +- src/ServerConfig_TEST.cc | 8 +- src/ServerPrivate.cc | 8 +- src/Server_TEST.cc | 30 +- src/SimulationRunner.cc | 28 +- src/SimulationRunner_TEST.cc | 396 ++++++------- src/SystemLoader_TEST.cc | 2 +- src/TestFixture.cc | 6 +- src/Util_TEST.cc | 2 +- src/World.cc | 8 +- src/cmd/cmdgazebo.rb.in | 4 +- src/gui/AboutDialogHandler.cc | 9 +- src/gui/GuiFileHandler.cc | 2 +- src/gui/GuiRunner.cc | 2 +- src/gui/Gui_TEST.cc | 12 +- src/gui/plugins/align_tool/AlignTool.cc | 18 +- .../component_inspector/ComponentInspector.cc | 42 +- src/gui/plugins/entity_tree/EntityTree.cc | 6 +- .../JointPositionController.cc | 12 +- src/gui/plugins/modules/EntityContextMenu.cc | 18 +- .../playback_scrubber/PlaybackScrubber.cc | 2 +- src/gui/plugins/plot_3d/Plot3D.cc | 6 +- .../resource_spawner/ResourceSpawner.cc | 12 +- src/gui/plugins/scene3d/Scene3D.cc | 40 +- src/gui/plugins/shapes/Shapes.cc | 2 +- .../transform_control/TransformControl.cc | 10 +- .../plugins/video_recorder/VideoRecorder.cc | 16 +- src/gui/plugins/view_angle/ViewAngle.cc | 2 +- src/ign.cc | 54 +- src/ign.hh | 2 +- src/ign_TEST.cc | 13 +- src/network/NetworkManagerPrimary.cc | 2 +- src/network/PeerInfo.cc | 28 +- src/network/PeerTracker.cc | 2 +- src/rendering/MarkerManager.cc | 122 ++-- src/rendering/RenderUtil.cc | 12 +- src/rendering/SceneManager.cc | 28 +- .../ackermann_steering/AckermannSteering.cc | 34 +- src/systems/altimeter/Altimeter.cc | 1 - .../apply_joint_force/ApplyJointForce.cc | 8 +- .../battery_plugin/LinearBatteryPlugin.cc | 14 +- .../battery_plugin/LinearBatteryPlugin.hh | 2 +- src/systems/breadcrumbs/Breadcrumbs.cc | 6 +- src/systems/buoyancy/Buoyancy.cc | 10 +- .../CameraVideoRecorder.cc | 6 +- .../CameraVideoRecorder.hh | 2 +- .../ColladaWorldExporter.cc | 10 +- src/systems/contact/Contact.cc | 2 +- .../detachable_joint/DetachableJoint.cc | 6 +- src/systems/diff_drive/DiffDrive.cc | 36 +- src/systems/imu/Imu.cc | 2 +- .../joint_controller/JointController.cc | 10 +- .../JointPositionController.cc | 10 +- .../JointStatePublisher.cc | 6 +- src/systems/lift_drag/LiftDrag.cc | 32 +- src/systems/log/LogPlayback.cc | 6 +- src/systems/log/LogRecord.cc | 8 +- .../log_video_recorder/LogVideoRecorder.cc | 18 +- .../LogicalAudioSensorPlugin.cc | 26 +- src/systems/magnetometer/Magnetometer.cc | 2 +- .../MulticopterVelocityControl.cc | 8 +- .../MulticopterMotorModel.cc | 14 +- .../performer_detector/PerformerDetector.cc | 6 +- src/systems/physics/EntityFeatureMap_TEST.cc | 4 +- src/systems/physics/Physics.cc | 124 ++-- src/systems/pose_publisher/PosePublisher.cc | 14 +- .../scene_broadcaster/SceneBroadcaster.cc | 36 +- src/systems/sensors/Sensors.cc | 2 +- src/systems/thermal/Thermal.cc | 4 +- src/systems/touch_plugin/TouchPlugin.cc | 2 +- .../track_controller/TrackController.cc | 50 +- src/systems/tracked_vehicle/TrackedVehicle.cc | 50 +- .../triggered_publisher/TriggeredPublisher.cc | 2 +- .../velocity_control/VelocityControl.cc | 28 +- src/systems/wheel_slip/WheelSlip.cc | 2 +- src/systems/wind_effects/WindEffects.cc | 2 +- test/integration/ackermann_steering_system.cc | 16 +- test/integration/air_pressure_system.cc | 6 +- test/integration/altimeter_system.cc | 6 +- test/integration/apply_joint_force_system.cc | 2 +- test/integration/battery_plugin.cc | 16 +- test/integration/breadcrumbs.cc | 30 +- test/integration/buoyancy.cc | 16 +- .../integration/camera_video_record_system.cc | 6 +- test/integration/components.cc | 14 +- test/integration/depth_camera.cc | 4 +- test/integration/detachable_joint.cc | 8 +- test/integration/diff_drive_system.cc | 16 +- test/integration/each_new_removed.cc | 2 +- test/integration/elevator_system.cc | 2 +- test/integration/entity_erase.cc | 4 +- test/integration/examples_build.cc | 14 +- test/integration/gpu_lidar.cc | 4 +- test/integration/imu_system.cc | 8 +- test/integration/joint_controller_system.cc | 16 +- .../joint_position_controller_system.cc | 8 +- test/integration/level_manager.cc | 22 +- .../level_manager_runtime_performers.cc | 22 +- test/integration/lift_drag_system.cc | 8 +- test/integration/log_system.cc | 20 +- .../logical_audio_sensor_plugin.cc | 6 +- test/integration/logical_camera_system.cc | 22 +- test/integration/magnetometer_system.cc | 8 +- test/integration/multicopter.cc | 18 +- test/integration/network_handshake.cc | 10 +- test/integration/performer_detector.cc | 4 +- test/integration/physics_system.cc | 184 +++--- test/integration/play_pause.cc | 14 +- test/integration/pose_publisher_system.cc | 14 +- test/integration/rgbd_camera.cc | 4 +- test/integration/save_world.cc | 2 +- test/integration/scene_broadcaster_system.cc | 34 +- test/integration/sdf_frame_semantics.cc | 22 +- test/integration/sdf_include.cc | 6 +- test/integration/sensors_system.cc | 4 +- test/integration/thermal_system.cc | 6 +- test/integration/touch_plugin.cc | 4 +- test/integration/tracked_vehicle_system.cc | 22 +- test/integration/user_commands.cc | 20 +- test/integration/velocity_control_system.cc | 8 +- test/integration/wheel_slip.cc | 57 +- test/integration/wind_effects.cc | 6 +- test/performance/level_manager.cc | 10 +- test/performance/sdf_runner.cc | 18 +- test/plugins/TestSystem.cc | 2 +- test/worlds/breadcrumbs.sdf | 2 +- .../worlds/test%20world/2/test.sdf | 5 + .../worlds/test%20world/2/test.world | 5 + .../worlds/test%20world/2/thumbnails/1.png | Bin 0 -> 6279 bytes test/worlds/include.sdf | 2 +- test/worlds/log_record_resources.sdf | 2 +- test/worlds/save_world.sdf | 6 +- tutorials/battery.md | 2 +- tutorials/detachable_joints.md | 2 +- tutorials/distributed_simulation.md | 2 +- tutorials/erb_template.md | 8 +- tutorials/gui_config.md | 8 +- tutorials/levels.md | 12 +- tutorials/log.md | 2 +- tutorials/logical_audio_sensor.md | 6 +- tutorials/mesh_to_fuel.md | 18 +- tutorials/migrating_ardupilot_plugin.md | 6 +- tutorials/migration_link_api.md | 2 +- tutorials/migration_model_api.md | 2 +- tutorials/migration_sdf.md | 2 +- tutorials/migration_world_api.md | 2 +- tutorials/physics.md | 4 +- tutorials/point_cloud_to_mesh.md | 22 +- tutorials/rendering_plugins.md | 12 +- tutorials/resources.md | 24 +- tutorials/server_config.md | 8 +- tutorials/terminology.md | 2 +- tutorials/test_fixture.md | 2 +- tutorials/triggered_publisher.md | 4 +- tutorials/video_recorder.md | 2 +- 191 files changed, 1949 insertions(+), 1860 deletions(-) create mode 100644 test/worlds/fuel.gazebosim.org/openrobotics/worlds/test%20world/2/test.sdf create mode 100644 test/worlds/fuel.gazebosim.org/openrobotics/worlds/test%20world/2/test.world create mode 100644 test/worlds/fuel.gazebosim.org/openrobotics/worlds/test%20world/2/thumbnails/1.png diff --git a/CMakeLists.txt b/CMakeLists.txt index 38008583c9..c97405df04 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -235,7 +235,7 @@ configure_file(${CMAKE_SOURCE_DIR}/tools/desktop/ignition-gazebo.svg.in ${CMAKE_ # disable doxygen on macOS due to issues with doxygen 1.9.0 # there is an unreleased fix; revert this when 1.9.1 is released -# https://github.com/ignitionrobotics/ign-gazebo/issues/520 +# https://github.com/gazebosim/gz-sim/issues/520 if (NOT APPLE) ign_create_docs( API_MAINPAGE_MD "${CMAKE_BINARY_DIR}/api.md" diff --git a/CODE_OF_CONDUCT.md b/CODE_OF_CONDUCT.md index 820e43fdbb..65eec816ef 100644 --- a/CODE_OF_CONDUCT.md +++ b/CODE_OF_CONDUCT.md @@ -56,7 +56,7 @@ further defined and clarified by project maintainers. ## Enforcement Instances of abusive, harassing, or otherwise unacceptable behavior may be -reported by contacting the project team at [https://ignitionrobotics.org/support](https://ignitionrobotics.org/support). All +reported by contacting the project team at [https://gazebosim.org/support](https://gazebosim.org/support). All complaints will be reviewed and investigated and will result in a response that is deemed necessary and appropriate to the circumstances. The project team is obligated to maintain confidentiality with regard to the reporter of an incident. diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md index 147239ce5f..fbcac678cf 100644 --- a/CONTRIBUTING.md +++ b/CONTRIBUTING.md @@ -1 +1 @@ -See the [Ignition Robotics contributing guide](https://ignitionrobotics.org/docs/all/contributing). +See [Gazebo's contribution guide](https://gazebosim.org/docs/all/contributing). diff --git a/Changelog.md b/Changelog.md index 2487f3b1ce..3e0257d495 100644 --- a/Changelog.md +++ b/Changelog.md @@ -2122,7 +2122,56 @@ 1. Add window focus upon mouse entering the render window * [Github pull request 97](https://github.com/ignitionrobotics/ign-gazebo/pull/97) -## Ignition Gazebo 3.x +## Gazebo Sim 3.x + +### Gazebo Sim 3.14.0 (2022-08-17) + +1. Change `CODEOWNERS` and maintainer to Michael + * [Pull request #1644](https://github.com/gazebosim/gz-sim/pull/1644) + +1. Replace pose in `ViewAngle` with `GzPose` + * [Pull request #1641](https://github.com/gazebosim/gz-sim/pull/1641) + +1. Fix loading worlds from CLI + * [Pull request #1627](https://github.com/gazebosim/gz-sim/pull/1627) + +1. Quick start dialog + * [Pull request #1536](https://github.com/gazebosim/gz-sim/pull/1536) + +1. Quiet `libSDFormat` console on --verbose 0 + * [Pull request #1621](https://github.com/gazebosim/gz-sim/pull/1621) + +1. Add Ackermann Steering system (backport from Fortress) + * [Pull request #1613](https://github.com/gazebosim/gz-sim/pull/1613) + +1. New Apply Link Wrench system + * [Pull request #1593](https://github.com/gazebosim/gz-sim/pull/1593) + +1. Implement Component Inspector `Vector3` with common widget `Vector3` + * [Pull request #1569](https://github.com/gazebosim/gz-sim/pull/1569) + +1. Helper function to get an entity from an entity message + * [Pull request #1595](https://github.com/gazebosim/gz-sim/pull/1595) + +1. Ignition -> Gazebo + * [Pull request #1596](https://github.com/gazebosim/gz-sim/pull/1596) + +1. Add Model::CanonicalLink getter + * [Pull request #1594](https://github.com/gazebosim/gz-sim/pull/1594) + +1. Implement Pose3d with common widget pose + * [Pull request #1571](https://github.com/gazebosim/gz-sim/pull/1571) + +1. Test fixes and updates + * [Pull request #1545](https://github.com/gazebosim/gz-sim/pull/1545) + * [Pull request #1531](https://github.com/gazebosim/gz-sim/pull/1531) + * [Pull request #1599](https://github.com/gazebosim/gz-sim/pull/1599) + +1. Bash completion for flags + * [Pull request #1504](https://github.com/gazebosim/gz-sim/pull/1504) + +1. Add new `GZ_GUI_RESOURCE_PATH` to help message + * [Pull request #1470](https://github.com/gazebosim/gz-sim/pull/1470) ### Ignition Gazebo 3.13.0 (2022-06-01) @@ -2184,606 +2233,610 @@ ### Ignition Gazebo 3.12.0 (2021-11-11) 1. Prevent creation of spurious `` elements when saving worlds - * [Pull request #1192](https://github.com/ignitionrobotics/ign-gazebo/pull/1192) + * [Pull request #1192](https://github.com/gazebosim/gz-sim/pull/1192) 1. Added support for tracked vehicles - * [Pull request #869](https://github.com/ignitionrobotics/ign-gazebo/pull/869) + * [Pull request #869](https://github.com/gazebosim/gz-sim/pull/869) 1. Add components to dynamically set joint limits - * [Pull request #847](https://github.com/ignitionrobotics/ign-gazebo/pull/847) + * [Pull request #847](https://github.com/gazebosim/gz-sim/pull/847) 1. Fix updating a component's data via SerializedState msg - * [Pull request #1149](https://github.com/ignitionrobotics/ign-gazebo/pull/1149) + * [Pull request #1149](https://github.com/gazebosim/gz-sim/pull/1149) 1. Sensor systems work if loaded after sensors - * [Pull request #1104](https://github.com/ignitionrobotics/ign-gazebo/pull/1104) + * [Pull request #1104](https://github.com/gazebosim/gz-sim/pull/1104) 1. Fix generation of systems library symlinks in build directory - * [Pull request #1160](https://github.com/ignitionrobotics/ign-gazebo/pull/1160) + * [Pull request #1160](https://github.com/gazebosim/gz-sim/pull/1160) 1. Backport gazebo::Util::validTopic() from ign-gazebo4. - * [Pull request #1153](https://github.com/ignitionrobotics/ign-gazebo/pull/1153) + * [Pull request #1153](https://github.com/gazebosim/gz-sim/pull/1153) 1. Support setting the background color for sensors - * [Pull request #1147](https://github.com/ignitionrobotics/ign-gazebo/pull/1147) + * [Pull request #1147](https://github.com/gazebosim/gz-sim/pull/1147) 1. Use uint64_t for ComponentInspector Entity IDs - * [Pull request #1144](https://github.com/ignitionrobotics/ign-gazebo/pull/1144) + * [Pull request #1144](https://github.com/gazebosim/gz-sim/pull/1144) 1. Fix integers and floats on component inspector - * [Pull request #1143](https://github.com/ignitionrobotics/ign-gazebo/pull/1143) + * [Pull request #1143](https://github.com/gazebosim/gz-sim/pull/1143) ### Ignition Gazebo 3.11.0 (2021-10-21) 1. Updates to camera video record from subt. - * [Pull request #1117](https://github.com/ignitionrobotics/ign-gazebo/pull/1117) + * [Pull request #1117](https://github.com/gazebosim/gz-sim/pull/1117) 1. Fix performance level test flakiness. - * [Pull request #1129](https://github.com/ignitionrobotics/ign-gazebo/pull/1129) + * [Pull request #1129](https://github.com/gazebosim/gz-sim/pull/1129) ### Ignition Gazebo 3.10.0 (2021-10-15) 1. Performance: use std::unordered_map where possible in SceneManager - * [Pull request #1083](https://github.com/ignitionrobotics/ign-gazebo/pull/1083) + * [Pull request #1083](https://github.com/gazebosim/gz-sim/pull/1083) 1. Enable new CMake policy to fix protobuf compilation - * [Pull request #1059](https://github.com/ignitionrobotics/ign-gazebo/pull/1059) + * [Pull request #1059](https://github.com/gazebosim/gz-sim/pull/1059) 1. Fix setting cast_shadows for visuals without material - * [Pull request #1015](https://github.com/ignitionrobotics/ign-gazebo/pull/1015) + * [Pull request #1015](https://github.com/gazebosim/gz-sim/pull/1015) 1. Remove duplicate XML tag in pendulum_links example world - * [Pull request #1002](https://github.com/ignitionrobotics/ign-gazebo/pull/1002) + * [Pull request #1002](https://github.com/gazebosim/gz-sim/pull/1002) 1. Enable sensor metrics on example worlds - * [Pull request #982](https://github.com/ignitionrobotics/ign-gazebo/pull/982) + * [Pull request #982](https://github.com/gazebosim/gz-sim/pull/982) 1. Improved doxygen - * [Pull request #996](https://github.com/ignitionrobotics/ign-gazebo/pull/996) + * [Pull request #996](https://github.com/gazebosim/gz-sim/pull/996) 1. JointPositionController: Improve misleading error message - * [Pull request #1098](https://github.com/ignitionrobotics/ign-gazebo/pull/1098) + * [Pull request #1098](https://github.com/gazebosim/gz-sim/pull/1098) 1. Adjust pose decimals based on element width - * [Pull request #1089](https://github.com/ignitionrobotics/ign-gazebo/pull/1089) + * [Pull request #1089](https://github.com/gazebosim/gz-sim/pull/1089) 1. Fixed IMU system plugin - * [Pull request #1043](https://github.com/ignitionrobotics/ign-gazebo/pull/1043) + * [Pull request #1043](https://github.com/gazebosim/gz-sim/pull/1043) 1. Use QTimer to update plugins in the Qt thread - * [Pull request #1095](https://github.com/ignitionrobotics/ign-gazebo/pull/1095) + * [Pull request #1095](https://github.com/gazebosim/gz-sim/pull/1095) ### Ignition Gazebo 3.9.0 (2021-08-16) 1. Entity tree: prevent creation of repeated entity items - * [Pull request #974](https://github.com/ignitionrobotics/ign-gazebo/pull/974) + * [Pull request #974](https://github.com/gazebosim/gz-sim/pull/974) 1. Don't use $HOME on most tests (InternalFixture) - * [Pull request #971](https://github.com/ignitionrobotics/ign-gazebo/pull/971) + * [Pull request #971](https://github.com/gazebosim/gz-sim/pull/971) 1. Be more specific when looking for physics plugins - * [Pull request #965](https://github.com/ignitionrobotics/ign-gazebo/pull/965) + * [Pull request #965](https://github.com/gazebosim/gz-sim/pull/965) 1. Drag and drop meshes into scene - * [Pull request #939](https://github.com/ignitionrobotics/ign-gazebo/pull/939) + * [Pull request #939](https://github.com/gazebosim/gz-sim/pull/939) 1. Set protobuf_MODULE_COMPATIBLE before any find_package call - * [Pull request #957](https://github.com/ignitionrobotics/ign-gazebo/pull/957) + * [Pull request #957](https://github.com/gazebosim/gz-sim/pull/957) 1. [DiffDrive] add enable/disable - * [Pull request #772](https://github.com/ignitionrobotics/ign-gazebo/pull/772) + * [Pull request #772](https://github.com/gazebosim/gz-sim/pull/772) 1. Fix component inspector shutdown crash - * [Pull request #724](https://github.com/ignitionrobotics/ign-gazebo/pull/724) + * [Pull request #724](https://github.com/gazebosim/gz-sim/pull/724) 1. Add UserCommands Plugin. - * [Pull request #719](https://github.com/ignitionrobotics/ign-gazebo/pull/719) + * [Pull request #719](https://github.com/gazebosim/gz-sim/pull/719) 1. Setting the intiial velocity for a model or joint - * [Pull request #693](https://github.com/ignitionrobotics/ign-gazebo/pull/693) + * [Pull request #693](https://github.com/gazebosim/gz-sim/pull/693) 1. Examples and tutorial on using rendering API from plugins - * [Pull request #596](https://github.com/ignitionrobotics/ign-gazebo/pull/596) + * [Pull request #596](https://github.com/gazebosim/gz-sim/pull/596) 1. Add missing IGNITION_GAZEBO_VISIBLE macros - * [Pull request #563](https://github.com/ignitionrobotics/ign-gazebo/pull/563) + * [Pull request #563](https://github.com/gazebosim/gz-sim/pull/563) 1. Fix visibility macro names when used by a different component (Windows) - * [Pull request #564](https://github.com/ignitionrobotics/ign-gazebo/pull/564) + * [Pull request #564](https://github.com/gazebosim/gz-sim/pull/564) 1. No install apt recommends and clear cache - * [Pull request #423](https://github.com/ignitionrobotics/ign-gazebo/pull/423) + * [Pull request #423](https://github.com/gazebosim/gz-sim/pull/423) 1. Add 25percent darker view angle icons - * [Pull request #426](https://github.com/ignitionrobotics/ign-gazebo/pull/426) + * [Pull request #426](https://github.com/gazebosim/gz-sim/pull/426) 1. Expose a test fixture helper class - * [Pull request #926](https://github.com/ignitionrobotics/ign-gazebo/pull/926) + * [Pull request #926](https://github.com/gazebosim/gz-sim/pull/926) 1. Fix logic to disable server default plugins loading - * [Pull request #953](https://github.com/ignitionrobotics/ign-gazebo/pull/953) + * [Pull request #953](https://github.com/gazebosim/gz-sim/pull/953) 1. removed unneeded plugin update - * [Pull request #944](https://github.com/ignitionrobotics/ign-gazebo/pull/944) + * [Pull request #944](https://github.com/gazebosim/gz-sim/pull/944) 1. Functions to enable velocity and acceleration checks on Link - * [Pull request #935](https://github.com/ignitionrobotics/ign-gazebo/pull/935) + * [Pull request #935](https://github.com/gazebosim/gz-sim/pull/935) 1. Support adding systems that don't come from a plugin - * [Pull request #936](https://github.com/ignitionrobotics/ign-gazebo/pull/936) + * [Pull request #936](https://github.com/gazebosim/gz-sim/pull/936) 1. 3D plot GUI plugin - * [Pull request #917](https://github.com/ignitionrobotics/ign-gazebo/pull/917) + * [Pull request #917](https://github.com/gazebosim/gz-sim/pull/917) 1. Add a convenience function for getting possibly non-existing components. - * [Pull request #629](https://github.com/ignitionrobotics/ign-gazebo/pull/629) + * [Pull request #629](https://github.com/gazebosim/gz-sim/pull/629) 1. Fix topLevelModel method - * [Pull request #600](https://github.com/ignitionrobotics/ign-gazebo/pull/600) + * [Pull request #600](https://github.com/gazebosim/gz-sim/pull/600) 1. World exporter - * [Pull request #474](https://github.com/ignitionrobotics/ign-gazebo/pull/474) + * [Pull request #474](https://github.com/gazebosim/gz-sim/pull/474) 1. Fix finding PBR materials - * [Pull request #575](https://github.com/ignitionrobotics/ign-gazebo/pull/575) + * [Pull request #575](https://github.com/gazebosim/gz-sim/pull/575) 1. Handle multiple logical cameras - * [Pull request #539](https://github.com/ignitionrobotics/ign-gazebo/pull/539) + * [Pull request #539](https://github.com/gazebosim/gz-sim/pull/539) 1. Make some tests more robust - * [Pull request #314](https://github.com/ignitionrobotics/ign-gazebo/pull/314) + * [Pull request #314](https://github.com/gazebosim/gz-sim/pull/314) 1. Fix codecheck - * [Pull request #887](https://github.com/ignitionrobotics/ign-gazebo/pull/887) + * [Pull request #887](https://github.com/gazebosim/gz-sim/pull/887) 1. Hello world plugin added - * [Pull request #699](https://github.com/ignitionrobotics/ign-gazebo/pull/699) + * [Pull request #699](https://github.com/gazebosim/gz-sim/pull/699) 1. Model info CLI `ign model` - * [Pull request #893](https://github.com/ignitionrobotics/ign-gazebo/pull/893) + * [Pull request #893](https://github.com/gazebosim/gz-sim/pull/893) 1. Don't create components for entities that don't exist - * [Pull request #927](https://github.com/ignitionrobotics/ign-gazebo/pull/927) + * [Pull request #927](https://github.com/gazebosim/gz-sim/pull/927) 1. Adds Mesh Tutorial - * [Pull request #915](https://github.com/ignitionrobotics/ign-gazebo/pull/915) + * [Pull request #915](https://github.com/gazebosim/gz-sim/pull/915) 1. Fix updating GUI plugin on load - * [Pull request #904](https://github.com/ignitionrobotics/ign-gazebo/pull/904) + * [Pull request #904](https://github.com/gazebosim/gz-sim/pull/904) 1. Fix documentation for the Sensor component - * [Pull request #898](https://github.com/ignitionrobotics/ign-gazebo/pull/898) + * [Pull request #898](https://github.com/gazebosim/gz-sim/pull/898) 1. Use UINT64_MAX for kComponentTpyeIDInvalid instead of relying on underflow - * [Pull request #889](https://github.com/ignitionrobotics/ign-gazebo/pull/889) + * [Pull request #889](https://github.com/gazebosim/gz-sim/pull/889) 1. Fix mouse view control target position - * [Pull request #879](https://github.com/ignitionrobotics/ign-gazebo/pull/879) + * [Pull request #879](https://github.com/gazebosim/gz-sim/pull/879) 1. Set GUI camera pose - * [Pull request #863](https://github.com/ignitionrobotics/ign-gazebo/pull/863) + * [Pull request #863](https://github.com/gazebosim/gz-sim/pull/863) 1. Enables confirmation dialog when closing Gazebo. - * [Pull request #850](https://github.com/ignitionrobotics/ign-gazebo/pull/850) + * [Pull request #850](https://github.com/gazebosim/gz-sim/pull/850) 1. Depend on ign-rendering 3.5 - * [Pull request #867](https://github.com/ignitionrobotics/ign-gazebo/pull/867) + * [Pull request #867](https://github.com/gazebosim/gz-sim/pull/867) 1. Using math::SpeedLimiter on the diff_drive controller. - * [Pull request #833](https://github.com/ignitionrobotics/ign-gazebo/pull/833) + * [Pull request #833](https://github.com/gazebosim/gz-sim/pull/833) 1. New example: get an ECM snapshot from an external program - * [Pull request #859](https://github.com/ignitionrobotics/ign-gazebo/pull/859) + * [Pull request #859](https://github.com/gazebosim/gz-sim/pull/859) 1. Fix WindEffects Plugin bug, not configuring new links - * [Pull request #844](https://github.com/ignitionrobotics/ign-gazebo/pull/844) + * [Pull request #844](https://github.com/gazebosim/gz-sim/pull/844) 1. Fix potentially flaky integration component test case - * [Pull request #848](https://github.com/ignitionrobotics/ign-gazebo/pull/848) + * [Pull request #848](https://github.com/gazebosim/gz-sim/pull/848) 1. Cleanup and alphabetize plugin headers - * [Pull request #838](https://github.com/ignitionrobotics/ign-gazebo/pull/838) + * [Pull request #838](https://github.com/gazebosim/gz-sim/pull/838) 1. Removed duplicated code with rendering::sceneFromFirstRenderEngine - * [Pull request #819](https://github.com/ignitionrobotics/ign-gazebo/pull/819) + * [Pull request #819](https://github.com/gazebosim/gz-sim/pull/819) 1. Remove unused headers in video_recoder plugin - * [Pull request #834](https://github.com/ignitionrobotics/ign-gazebo/pull/834) + * [Pull request #834](https://github.com/gazebosim/gz-sim/pull/834) 1. Use moveToHelper from ign-rendering - * [Pull request #825](https://github.com/ignitionrobotics/ign-gazebo/pull/825) + * [Pull request #825](https://github.com/gazebosim/gz-sim/pull/825) 1. Remove tools/code_check and update codecov - * [Pull request #814](https://github.com/ignitionrobotics/ign-gazebo/pull/814) + * [Pull request #814](https://github.com/gazebosim/gz-sim/pull/814) 1. Add service and GUI to configure physics parameters - * [Pull request #536](https://github.com/ignitionrobotics/ign-gazebo/pull/536) - * [Pull request #812](https://github.com/ignitionrobotics/ign-gazebo/pull/812) + * [Pull request #536](https://github.com/gazebosim/gz-sim/pull/536) + * [Pull request #812](https://github.com/gazebosim/gz-sim/pull/812) 1. Fix documentation for EntityComponentManager::EachNew - * [Pull request #795](https://github.com/ignitionrobotics/ign-gazebo/pull/795) + * [Pull request #795](https://github.com/gazebosim/gz-sim/pull/795) 1. Fix macOS build: components::Name in benchmark - * [Pull request #784](https://github.com/ignitionrobotics/ign-gazebo/pull/784) + * [Pull request #784](https://github.com/gazebosim/gz-sim/pull/784) 1. Don't store duplicate ComponentTypeId in ECM - * [Pull request #751](https://github.com/ignitionrobotics/ign-gazebo/pull/751) + * [Pull request #751](https://github.com/gazebosim/gz-sim/pull/751) 1. [TPE] Support setting individual link velocity - * [Pull request #427](https://github.com/ignitionrobotics/ign-gazebo/pull/427) + * [Pull request #427](https://github.com/gazebosim/gz-sim/pull/427) 1. 👩‍🌾 Enable Focal CI - * [Pull request #646](https://github.com/ignitionrobotics/ign-gazebo/pull/646) + * [Pull request #646](https://github.com/gazebosim/gz-sim/pull/646) 1. Update benchmark comparison instructions - * [Pull request #766](https://github.com/ignitionrobotics/ign-gazebo/pull/766) + * [Pull request #766](https://github.com/gazebosim/gz-sim/pull/766) 1. Use Protobuf_IMPORT_DIRS instead of PROTOBUF_IMPORT_DIRS for compatibility with Protobuf CMake config - * [Pull request #715](https://github.com/ignitionrobotics/ign-gazebo/pull/715) + * [Pull request #715](https://github.com/gazebosim/gz-sim/pull/715) 1. Do not pass -Wno-unused-parameter to MSVC compiler - * [Pull request #716](https://github.com/ignitionrobotics/ign-gazebo/pull/716) + * [Pull request #716](https://github.com/gazebosim/gz-sim/pull/716) 1. Scenebroadcaster sensors - * [Pull request #698](https://github.com/ignitionrobotics/ign-gazebo/pull/698) + * [Pull request #698](https://github.com/gazebosim/gz-sim/pull/698) 1. Make it so joint state publisher is quieter - * [Pull request #696](https://github.com/ignitionrobotics/ign-gazebo/pull/696) + * [Pull request #696](https://github.com/gazebosim/gz-sim/pull/696) ### Ignition Gazebo 3.8.0 (2021-03-17) 1. Add joint position controller GUI, also enable tests for GUI plugins - * [Pull request #534](https://github.com/ignitionrobotics/ign-gazebo/pull/534) + * [Pull request #534](https://github.com/gazebosim/gz-sim/pull/534) 1. Remove visibility from headers that are not installed - * [Pull request #665](https://github.com/ignitionrobotics/ign-gazebo/pull/665) + * [Pull request #665](https://github.com/gazebosim/gz-sim/pull/665) 1. Added screenshot to toolbar - * [Pull request #588](https://github.com/ignitionrobotics/ign-gazebo/pull/588) + * [Pull request #588](https://github.com/gazebosim/gz-sim/pull/588) 1. Improve ign tool support on macOS - * [Pull request #477](https://github.com/ignitionrobotics/ign-gazebo/pull/477) + * [Pull request #477](https://github.com/gazebosim/gz-sim/pull/477) 1. change nullptr to a int ptr for qt 5.15.2 bug - * [Pull request #527](https://github.com/ignitionrobotics/ign-gazebo/pull/527) + * [Pull request #527](https://github.com/gazebosim/gz-sim/pull/527) 1. Kinetic energy monitor plugin - * [Pull request #492](https://github.com/ignitionrobotics/ign-gazebo/pull/492) + * [Pull request #492](https://github.com/gazebosim/gz-sim/pull/492) 1. Use a std::promise/std::future to avoid busy waiting the step ack messages in NetworkManagerPrimary - * [Pull request #470](https://github.com/ignitionrobotics/ign-gazebo/pull/470) + * [Pull request #470](https://github.com/gazebosim/gz-sim/pull/470) 1. clarified performer example - * [Pull request #390](https://github.com/ignitionrobotics/ign-gazebo/pull/390) + * [Pull request #390](https://github.com/gazebosim/gz-sim/pull/390) 1. Add tutorial tweaks - * [Pull request #380](https://github.com/ignitionrobotics/ign-gazebo/pull/380) + * [Pull request #380](https://github.com/gazebosim/gz-sim/pull/380) 1. Fix Qt5 warnings for using anchors - * [Pull request #363](https://github.com/ignitionrobotics/ign-gazebo/pull/363) + * [Pull request #363](https://github.com/gazebosim/gz-sim/pull/363) 1. Update codeowners - * [Pull request #305](https://github.com/ignitionrobotics/ign-gazebo/pull/305) + * [Pull request #305](https://github.com/gazebosim/gz-sim/pull/305) 1. Qt auto scale factor for HiDPI displays - * [Pull request #291](https://github.com/ignitionrobotics/ign-gazebo/pull/291) + * [Pull request #291](https://github.com/gazebosim/gz-sim/pull/291) 1. Fix yaw units - * [Pull request #238](https://github.com/ignitionrobotics/ign-gazebo/pull/238) + * [Pull request #238](https://github.com/gazebosim/gz-sim/pull/238) 1. Fixed docblock showGrid - * [Pull request #152](https://github.com/ignitionrobotics/ign-gazebo/pull/152) + * [Pull request #152](https://github.com/gazebosim/gz-sim/pull/152) 1. Fix entity tree for large worlds - * [Pull request #673](https://github.com/ignitionrobotics/ign-gazebo/pull/673) + * [Pull request #673](https://github.com/gazebosim/gz-sim/pull/673) 1. Master branch updates - * [Pull request #672](https://github.com/ignitionrobotics/ign-gazebo/pull/672) + * [Pull request #672](https://github.com/gazebosim/gz-sim/pull/672) 1. Backport #561: Use common::setenv - * [Pull request #666](https://github.com/ignitionrobotics/ign-gazebo/pull/666) + * [Pull request #666](https://github.com/gazebosim/gz-sim/pull/666) 1. Use a custom data structure to manage entity feature maps - * [Pull request #586](https://github.com/ignitionrobotics/ign-gazebo/pull/586) + * [Pull request #586](https://github.com/gazebosim/gz-sim/pull/586) 1. Limit scene broadcast publications when paused - * [Pull request #497](https://github.com/ignitionrobotics/ign-gazebo/pull/497) + * [Pull request #497](https://github.com/gazebosim/gz-sim/pull/497) 1. Fix flaky SceneBoradcaster test - * [Pull request #641](https://github.com/ignitionrobotics/ign-gazebo/pull/641) + * [Pull request #641](https://github.com/gazebosim/gz-sim/pull/641) 1. Add TF/Pose_V publisher in DiffDrive - * [Pull request #548](https://github.com/ignitionrobotics/ign-gazebo/pull/548) + * [Pull request #548](https://github.com/gazebosim/gz-sim/pull/548) 1. 👩‍🌾 Relax performance test - * [Pull request #640](https://github.com/ignitionrobotics/ign-gazebo/pull/640) + * [Pull request #640](https://github.com/gazebosim/gz-sim/pull/640) 1. 👩‍🌾 Improve velocity control test - * [Pull request #642](https://github.com/ignitionrobotics/ign-gazebo/pull/642) + * [Pull request #642](https://github.com/gazebosim/gz-sim/pull/642) 1. Add `laser_retro` support - * [Pull request #603](https://github.com/ignitionrobotics/ign-gazebo/pull/603) + * [Pull request #603](https://github.com/gazebosim/gz-sim/pull/603) 1. Fix pose of plane visual with non-default normal vector - * [Pull request #574](https://github.com/ignitionrobotics/ign-gazebo/pull/574) + * [Pull request #574](https://github.com/gazebosim/gz-sim/pull/574) 1. Add About dialog - * [Pull request #609](https://github.com/ignitionrobotics/ign-gazebo/pull/609) + * [Pull request #609](https://github.com/gazebosim/gz-sim/pull/609) 1. Make topics configurable for joint controllers - * [Pull request #584](https://github.com/ignitionrobotics/ign-gazebo/pull/584) + * [Pull request #584](https://github.com/gazebosim/gz-sim/pull/584) 1. Also use Ignition GUI render event - * [Pull request #598](https://github.com/ignitionrobotics/ign-gazebo/pull/598) + * [Pull request #598](https://github.com/gazebosim/gz-sim/pull/598) 1. Tutorial on migrating SDF files from Gazebo classic - * [Pull request #400](https://github.com/ignitionrobotics/ign-gazebo/pull/400) + * [Pull request #400](https://github.com/gazebosim/gz-sim/pull/400) 1. Visualize collisions - * [Pull request #531](https://github.com/ignitionrobotics/ign-gazebo/pull/531) + * [Pull request #531](https://github.com/gazebosim/gz-sim/pull/531) 1. Backport state update changes from pull request #486 - * [Pull request #583](https://github.com/ignitionrobotics/ign-gazebo/pull/583) + * [Pull request #583](https://github.com/gazebosim/gz-sim/pull/583) 1. Publish all periodic change components in Scene Broadcaster - * [Pull request #544](https://github.com/ignitionrobotics/ign-gazebo/pull/544) + * [Pull request #544](https://github.com/gazebosim/gz-sim/pull/544) 1. added size to `ground_plane` in examples - * [Pull request #573](https://github.com/ignitionrobotics/ign-gazebo/pull/573) + * [Pull request #573](https://github.com/gazebosim/gz-sim/pull/573) 1. Parallelize State call in ECM - * [Pull request #451](https://github.com/ignitionrobotics/ign-gazebo/pull/451) + * [Pull request #451](https://github.com/gazebosim/gz-sim/pull/451) 1. Non-blocking paths request - * [Pull request #555](https://github.com/ignitionrobotics/ign-gazebo/pull/555) + * [Pull request #555](https://github.com/gazebosim/gz-sim/pull/555) ### Ignition Gazebo 3.7.0 (2021-01-13) 1. Fix examples in migration plugins tutorial. - * [Pull Request 543](https://github.com/ignitionrobotics/ign-gazebo/pull/543) + * [Pull Request 543](https://github.com/gazebosim/gz-sim/pull/543) 1. Added missing namespace in `detail/EntityComponentManager.hh`. - * [Pull Request 541](https://github.com/ignitionrobotics/ign-gazebo/pull/541) + * [Pull Request 541](https://github.com/gazebosim/gz-sim/pull/541) 1. Automatically load a subset of world plugins. - * [Pull Request 281](https://github.com/ignitionrobotics/ign-gazebo/pull/281) + * [Pull Request 281](https://github.com/gazebosim/gz-sim/pull/281) 1. Update gtest to 1.10.0 for Windows compilation. - * [Pull Request 506](https://github.com/ignitionrobotics/ign-gazebo/pull/506) + * [Pull Request 506](https://github.com/gazebosim/gz-sim/pull/506) 1. Updates to ardupilot migration tutorial. - * [Pull Request 525](https://github.com/ignitionrobotics/ign-gazebo/pull/525) + * [Pull Request 525](https://github.com/gazebosim/gz-sim/pull/525) 1. Don't make docs on macOS. - * [Pull Request 528](https://github.com/ignitionrobotics/ign-gazebo/pull/528) + * [Pull Request 528](https://github.com/gazebosim/gz-sim/pull/528) ### Ignition Gazebo 3.6.0 (2020-12-30) 1. Fix pose msg conversion when msg is missing orientation - * [Pull Request 450](https://github.com/ignitionrobotics/ign-gazebo/pull/450) + * [Pull Request 450](https://github.com/gazebosim/gz-sim/pull/450) 1. Address code checker warnings - * [Pull Request 443](https://github.com/ignitionrobotics/ign-gazebo/pull/443) - * [Pull Request 491](https://github.com/ignitionrobotics/ign-gazebo/pull/491) - * [Pull Request 499](https://github.com/ignitionrobotics/ign-gazebo/pull/499) - * [Pull Request 502](https://github.com/ignitionrobotics/ign-gazebo/pull/502) + * [Pull Request 443](https://github.com/gazebosim/gz-sim/pull/443) + * [Pull Request 491](https://github.com/gazebosim/gz-sim/pull/491) + * [Pull Request 499](https://github.com/gazebosim/gz-sim/pull/499) + * [Pull Request 502](https://github.com/gazebosim/gz-sim/pull/502) 1. Test fixes - * [Pull Request 455](https://github.com/ignitionrobotics/ign-gazebo/pull/455) - * [Pull Request 463](https://github.com/ignitionrobotics/ign-gazebo/pull/463) - * [Pull Request 452](https://github.com/ignitionrobotics/ign-gazebo/pull/452) - * [Pull Request 480](https://github.com/ignitionrobotics/ign-gazebo/pull/480) + * [Pull Request 455](https://github.com/gazebosim/gz-sim/pull/455) + * [Pull Request 463](https://github.com/gazebosim/gz-sim/pull/463) + * [Pull Request 452](https://github.com/gazebosim/gz-sim/pull/452) + * [Pull Request 480](https://github.com/gazebosim/gz-sim/pull/480) 1. Documentation updates - * [Pull Request 472](https://github.com/ignitionrobotics/ign-gazebo/pull/472) + * [Pull Request 472](https://github.com/gazebosim/gz-sim/pull/472) 1. Fix segfault in the Breadcrumb system when associated model is unloaded - * [Pull Request 454](https://github.com/ignitionrobotics/ign-gazebo/pull/454) + * [Pull Request 454](https://github.com/gazebosim/gz-sim/pull/454) 1. Added user commands to example thermal camera world - * [Pull Request 442](https://github.com/ignitionrobotics/ign-gazebo/pull/442) + * [Pull Request 442](https://github.com/gazebosim/gz-sim/pull/442) 1. Helper function to set component data - * [Pull Request 436](https://github.com/ignitionrobotics/ign-gazebo/pull/436) + * [Pull Request 436](https://github.com/gazebosim/gz-sim/pull/436) 1. Remove unneeded if statement in EntityComponentManager - * [Pull Request 432](https://github.com/ignitionrobotics/ign-gazebo/pull/432) + * [Pull Request 432](https://github.com/gazebosim/gz-sim/pull/432) 1. Clarify how time is represented in each phase of a System step - * [Pull Request 467](https://github.com/ignitionrobotics/ign-gazebo/pull/467) + * [Pull Request 467](https://github.com/gazebosim/gz-sim/pull/467) 1. Switch to async state service request - * [Pull Request 461](https://github.com/ignitionrobotics/ign-gazebo/pull/461) + * [Pull Request 461](https://github.com/gazebosim/gz-sim/pull/461) 1. Update key event handling - * [Pull Request 466](https://github.com/ignitionrobotics/ign-gazebo/pull/466) + * [Pull Request 466](https://github.com/gazebosim/gz-sim/pull/466) 1. Tape Measure Plugin - * [Pull Request 456](https://github.com/ignitionrobotics/ign-gazebo/pull/456) + * [Pull Request 456](https://github.com/gazebosim/gz-sim/pull/456) 1. Move deselect and preview termination to render thread - * [Pull Request 493](https://github.com/ignitionrobotics/ign-gazebo/pull/493) + * [Pull Request 493](https://github.com/gazebosim/gz-sim/pull/493) 1. Logical audio sensor plugin - * [Pull Request 401](https://github.com/ignitionrobotics/ign-gazebo/pull/401) + * [Pull Request 401](https://github.com/gazebosim/gz-sim/pull/401) 1. add frame_id and child_frame_id attribute support for DiffDrive - * [Pull Request 361](https://github.com/ignitionrobotics/ign-gazebo/pull/361) + * [Pull Request 361](https://github.com/gazebosim/gz-sim/pull/361) 1. Add ability to record video based on sim time - * [Pull Request 414](https://github.com/ignitionrobotics/ign-gazebo/pull/414) + * [Pull Request 414](https://github.com/gazebosim/gz-sim/pull/414) 1. Add lockstep mode to video recording - * [Pull Request 419](https://github.com/ignitionrobotics/ign-gazebo/pull/419) + * [Pull Request 419](https://github.com/gazebosim/gz-sim/pull/419) 1. Disable right click menu when using measuring tool - * [Pull Request 458](https://github.com/ignitionrobotics/ign-gazebo/pull/458) + * [Pull Request 458](https://github.com/gazebosim/gz-sim/pull/458) ### Ignition Gazebo 3.5.0 (2020-11-03) 1. Updated source build instructions - * [Pull Request 403](https://github.com/ignitionrobotics/ign-gazebo/pull/403) + * [Pull Request 403](https://github.com/gazebosim/gz-sim/pull/403) 1. More world APIs, helper function ComponentData - * [Pull Request 378](https://github.com/ignitionrobotics/ign-gazebo/pull/378) + * [Pull Request 378](https://github.com/gazebosim/gz-sim/pull/378) 1. Improve fork experience - * [Pull Request 411](https://github.com/ignitionrobotics/ign-gazebo/pull/411) + * [Pull Request 411](https://github.com/gazebosim/gz-sim/pull/411) 1. Fix a crash in the grid config plugin, set grid material - * [Pull Request 412](https://github.com/ignitionrobotics/ign-gazebo/pull/412) + * [Pull Request 412](https://github.com/gazebosim/gz-sim/pull/412) 1. Document deprecation of log playback `` SDF param - * [Pull Request 424](https://github.com/ignitionrobotics/ign-gazebo/pull/424) - * [Pull Request 425](https://github.com/ignitionrobotics/ign-gazebo/pull/425) + * [Pull Request 424](https://github.com/gazebosim/gz-sim/pull/424) + * [Pull Request 425](https://github.com/gazebosim/gz-sim/pull/425) 1. Enable mouse highlighting selection on resource spawner - * [Pull Request 402](https://github.com/ignitionrobotics/ign-gazebo/pull/402) + * [Pull Request 402](https://github.com/gazebosim/gz-sim/pull/402) 1. Add support for custom render engines - * [Pull Request 373](https://github.com/ignitionrobotics/ign-gazebo/pull/373) + * [Pull Request 373](https://github.com/gazebosim/gz-sim/pull/373) 1. Component Vector -> Map ECM Optimization - * [Pull Request 416](https://github.com/ignitionrobotics/ign-gazebo/pull/416) + * [Pull Request 416](https://github.com/gazebosim/gz-sim/pull/416) ### Ignition Gazebo 3.4.0 (2020-10-14) 1. Fix gui sendEvent memory leaks - * [Pull Request 365](https://github.com/ignitionrobotics/ign-gazebo/pull/365) + * [Pull Request 365](https://github.com/gazebosim/gz-sim/pull/365) 1. Support nested models - * [Pull Request 258](https://github.com/ignitionrobotics/ign-gazebo/pull/258) + * [Pull Request 258](https://github.com/gazebosim/gz-sim/pull/258) 1. Generalize actor count and pose in actor population erb SDF - * [Pull Request 336](https://github.com/ignitionrobotics/ign-gazebo/pull/336) + * [Pull Request 336](https://github.com/gazebosim/gz-sim/pull/336) 1. Add more link APIs, with tutorial - * [Pull Request 375](https://github.com/ignitionrobotics/ign-gazebo/pull/375) + * [Pull Request 375](https://github.com/gazebosim/gz-sim/pull/375) 1. Add screenshots to GUI config tutorial - * [Pull Request 406](https://github.com/ignitionrobotics/ign-gazebo/pull/406) + * [Pull Request 406](https://github.com/gazebosim/gz-sim/pull/406) 1. Fix adding performers to entity tree - * [Pull Request 374](https://github.com/ignitionrobotics/ign-gazebo/pull/374) + * [Pull Request 374](https://github.com/gazebosim/gz-sim/pull/374) 1. Remove sidebar and put world control in bottom left for joint controller examples - * [Pull Request 384](https://github.com/ignitionrobotics/ign-gazebo/pull/384) + * [Pull Request 384](https://github.com/gazebosim/gz-sim/pull/384) 1. Allow executing a blocking single Server run in both paused and unpaused states - * [Pull Request 297](https://github.com/ignitionrobotics/ign-gazebo/pull/297) + * [Pull Request 297](https://github.com/gazebosim/gz-sim/pull/297) 1. Add camera video recorder system - * [Pull Request 316](https://github.com/ignitionrobotics/ign-gazebo/pull/316) + * [Pull Request 316](https://github.com/gazebosim/gz-sim/pull/316) 1. Decrease time step for quadcopter world - * [Pull Request 372](https://github.com/ignitionrobotics/ign-gazebo/pull/372) + * [Pull Request 372](https://github.com/gazebosim/gz-sim/pull/372) 1. Add support for moving the GUI camera to a pose - * [Pull Request 352](https://github.com/ignitionrobotics/ign-gazebo/pull/352) + * [Pull Request 352](https://github.com/gazebosim/gz-sim/pull/352) 1. Remove `lib`+`.so` from plugin's name - * [Pull Request 279](https://github.com/ignitionrobotics/ign-gazebo/pull/279) - * [Pull Request 335](https://github.com/ignitionrobotics/ign-gazebo/pull/335) + * [Pull Request 279](https://github.com/gazebosim/gz-sim/pull/279) + * [Pull Request 335](https://github.com/gazebosim/gz-sim/pull/335) 1. EntityComponentManager::EachRemoved documentation fix. - * [Pull Request 348](https://github.com/ignitionrobotics/ign-gazebo/pull/348) + * [Pull Request 348](https://github.com/gazebosim/gz-sim/pull/348) 1. Add more model APIs. - * [Pull Request 349](https://github.com/ignitionrobotics/ign-gazebo/pull/349) + * [Pull Request 349](https://github.com/gazebosim/gz-sim/pull/349) 1. Update dimensions of the grid config. - * [Pull Request 383](https://github.com/ignitionrobotics/ign-gazebo/pull/383) + * [Pull Request 383](https://github.com/gazebosim/gz-sim/pull/383) 1. Fix top-left toolbar layout so magnet shows. - * [Pull Request 381](https://github.com/ignitionrobotics/ign-gazebo/pull/381) + * [Pull Request 381](https://github.com/gazebosim/gz-sim/pull/381) 1. Add instructions to bitmask world. - * [Pull Request 377](https://github.com/ignitionrobotics/ign-gazebo/pull/377) + * [Pull Request 377](https://github.com/gazebosim/gz-sim/pull/377) 1. Add search and sort for resource spawner. - * [Pull Request 359](https://github.com/ignitionrobotics/ign-gazebo/pull/359) + * [Pull Request 359](https://github.com/gazebosim/gz-sim/pull/359) 1. Fix source build instructions for ign-gazebo3. - * [Pull Request 395](https://github.com/ignitionrobotics/ign-gazebo/pull/395) + * [Pull Request 395](https://github.com/gazebosim/gz-sim/pull/395) 1. Added playback scrubber GUI - * [Pull Request 299](https://github.com/ignitionrobotics/ign-gazebo/pull/299) - * [Pull Request 362](https://github.com/ignitionrobotics/ign-gazebo/pull/362) + * [Pull Request 299](https://github.com/gazebosim/gz-sim/pull/299) + * [Pull Request 362](https://github.com/gazebosim/gz-sim/pull/362) 1. Added wheel slip system plugin. - * [Pull Request 134](https://github.com/ignitionrobotics/ign-gazebo/pull/134) - * [Pull Request 357](https://github.com/ignitionrobotics/ign-gazebo/pull/357) - * [Pull Request 362](https://github.com/ignitionrobotics/ign-gazebo/pull/362) + * [Pull Request 134](https://github.com/gazebosim/gz-sim/pull/134) + * [Pull Request 357](https://github.com/gazebosim/gz-sim/pull/357) + * [Pull Request 362](https://github.com/gazebosim/gz-sim/pull/362) 1. Enhanced log playback performance. - * [Pull Request 351](https://github.com/ignitionrobotics/ign-gazebo/pull/351) - * [Pull Request 362](https://github.com/ignitionrobotics/ign-gazebo/pull/362) + * [Pull Request 351](https://github.com/gazebosim/gz-sim/pull/351) + * [Pull Request 362](https://github.com/gazebosim/gz-sim/pull/362) 1. Tests & Warnings: Qt 5.14, breadcrumbs, Gui, ign_TEST - * [Pull Request 327](https://github.com/ignitionrobotics/ign-gazebo/pull/327) + * [Pull Request 327](https://github.com/gazebosim/gz-sim/pull/327) 1. Added support for specifying topics to record. - * [Pull Request 315](https://github.com/ignitionrobotics/ign-gazebo/pull/315) + * [Pull Request 315](https://github.com/gazebosim/gz-sim/pull/315) 1. Make sure OpenGL core profile context is used by GzScene3D. - * [Pull Request 339](https://github.com/ignitionrobotics/ign-gazebo/pull/339) + * [Pull Request 339](https://github.com/gazebosim/gz-sim/pull/339) 1. Support relative paths for PBR materials - * [Pull Request 328](https://github.com/ignitionrobotics/ign-gazebo/pull/328) - * [Pull Request 362](https://github.com/ignitionrobotics/ign-gazebo/pull/362) + * [Pull Request 328](https://github.com/gazebosim/gz-sim/pull/328) + * [Pull Request 362](https://github.com/gazebosim/gz-sim/pull/362) 1. Add file extension automatically for record plugin. - * [Pull Request 303](https://github.com/ignitionrobotics/ign-gazebo/pull/303) - * [Pull Request 362](https://github.com/ignitionrobotics/ign-gazebo/pull/362) + * [Pull Request 303](https://github.com/gazebosim/gz-sim/pull/303) + * [Pull Request 362](https://github.com/gazebosim/gz-sim/pull/362) 1. Support spawning during log playback. - * [Pull Request 346](https://github.com/ignitionrobotics/ign-gazebo/pull/346) + * [Pull Request 346](https://github.com/gazebosim/gz-sim/pull/346) + +1. Added wheel slip system plugin. + * [Pull Request 134](https://github.com/gazebosim/gz-sim/pull/134) + * [Pull Request 357](https://github.com/gazebosim/gz-sim/pull/357) 1. Add Render Engine Cmd Line option - * [Pull Request 331](https://github.com/ignitionrobotics/ign-gazebo/pull/331) + * [Pull Request 331](https://github.com/gazebosim/gz-sim/pull/331) ### Ignition Gazebo 3.3.0 (2020-08-31) 1. Added marker array service. - * [pull request 302](https://github.com/ignitionrobotics/ign-gazebo/pull/302) + * [pull request 302](https://github.com/gazebosim/gz-sim/pull/302) 1. Introduced a new parameter in the scene3D plugin to launch in fullscreen. - * [pull request 254](https://github.com/ignitionrobotics/ign-gazebo/pull/254) + * [pull request 254](https://github.com/gazebosim/gz-sim/pull/254) 1. Fix issue #285 by adding checks for a marker's parent. - * [pull request 290](https://github.com/ignitionrobotics/ign-gazebo/pull/290) + * [pull request 290](https://github.com/gazebosim/gz-sim/pull/290) 1. Fix non-specified material error. - * [pull request 292](https://github.com/ignitionrobotics/ign-gazebo/pull/292) + * [pull request 292](https://github.com/gazebosim/gz-sim/pull/292) 1. Added simulation world with large number of entities. - * [pull request 283](https://github.com/ignitionrobotics/ign-gazebo/pull/283) + * [pull request 283](https://github.com/gazebosim/gz-sim/pull/283) 1. Fixed parsing of the touch plugin' enabled flag. - * [pull request 275](https://github.com/ignitionrobotics/ign-gazebo/pull/275) + * [pull request 275](https://github.com/gazebosim/gz-sim/pull/275) 1. Added buoyancy system plugin. - * [pull request 252](https://github.com/ignitionrobotics/ign-gazebo/pull/252) + * [pull request 252](https://github.com/gazebosim/gz-sim/pull/252) 1. Implemented shift + drag = rotate in the GUI. - * [pull request 247](https://github.com/ignitionrobotics/ign-gazebo/pull/247) + * [pull request 247](https://github.com/gazebosim/gz-sim/pull/247) 1. Backport collision bitmask changes - * [pull request 223](https://github.com/ignitionrobotics/ign-gazebo/pull/223) + * [pull request 223](https://github.com/gazebosim/gz-sim/pull/223) 1. Added velocity command to TPE. - * [pull request 169](https://github.com/ignitionrobotics/ign-gazebo/pull/169) + * [pull request 169](https://github.com/gazebosim/gz-sim/pull/169) 1. This version includes all features in Gazebo 2.23.0 ### Ignition Gazebo 3.2.0 (2020-05-20) 1. Merge ign-gazebo2 to ign-gazebo3 - * [pull request 149](https://github.com/ignitionrobotics/ign-gazebo/pull/149) + * [pull request 149](https://github.com/gazebosim/gz-sim/pull/149) ### Ignition Gazebo 3.1.0 (2020-05-19) 1. Port support for computing model bounding box in physics system - * [pull request 127](https://github.com/ignitionrobotics/ign-gazebo/pull/127) + * [pull request 127](https://github.com/gazebosim/gz-sim/pull/127) 1. Add DetachableJoint: A system that initially attaches two models via a fixed joint and allows for the models to get detached during simulation via a topic. * [BitBucket pull request 440](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/440) @@ -2812,7 +2865,7 @@ * [BitBucket pull request 514](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/514) 1. Add window focus upon mouse entering the render window - * [Github pull request 96](https://github.com/ignitionrobotics/ign-gazebo/pull/96) + * [Github pull request 96](https://github.com/gazebosim/gz-sim/pull/96) ### Ignition Gazebo 3.0.0 (2019-12-10) @@ -2853,154 +2906,154 @@ ### Ignition Gazebo 2.25.0 (2020-09-17) 1. Added wheel slip system plugin. - * [Pull Request 134](https://github.com/ignitionrobotics/ign-gazebo/pull/134) - * [Pull Request 357](https://github.com/ignitionrobotics/ign-gazebo/pull/357) + * [Pull Request 134](https://github.com/gazebosim/gz-sim/pull/134) + * [Pull Request 357](https://github.com/gazebosim/gz-sim/pull/357) 1. Enhanced log playback performance. - * [Pull Request 351](https://github.com/ignitionrobotics/ign-gazebo/pull/351) + * [Pull Request 351](https://github.com/gazebosim/gz-sim/pull/351) 1. Tests & Warnings: Qt 5.14, breadcrumbs, Gui, ign_TEST - * [Pull Request 327](https://github.com/ignitionrobotics/ign-gazebo/pull/327) + * [Pull Request 327](https://github.com/gazebosim/gz-sim/pull/327) 1. Added support for specifying topics to record. - * [Pull Request 315](https://github.com/ignitionrobotics/ign-gazebo/pull/315) + * [Pull Request 315](https://github.com/gazebosim/gz-sim/pull/315) 1. Make sure OpenGL core profile context is used by GzScene3D. - * [Pull Request 339](https://github.com/ignitionrobotics/ign-gazebo/pull/339) + * [Pull Request 339](https://github.com/gazebosim/gz-sim/pull/339) 1. Support relative paths for PBR materials - * [Pull Request 328](https://github.com/ignitionrobotics/ign-gazebo/pull/328) + * [Pull Request 328](https://github.com/gazebosim/gz-sim/pull/328) 1. Add file extension automatically for record plugin. - * [Pull Request 303](https://github.com/ignitionrobotics/ign-gazebo/pull/303) + * [Pull Request 303](https://github.com/gazebosim/gz-sim/pull/303) 1. Support spawning during log playback. - * [Pull Request 346](https://github.com/ignitionrobotics/ign-gazebo/pull/346) + * [Pull Request 346](https://github.com/gazebosim/gz-sim/pull/346) ### Ignition Gazebo 2.24.0 (2020-09-03) 1. Resource env var, with transport interface. - * [Pull Request 172](https://github.com/ignitionrobotics/ign-gazebo/pull/172) + * [Pull Request 172](https://github.com/gazebosim/gz-sim/pull/172) 1. Save http URIs (fix tests) - * [Pull Request 271](https://github.com/ignitionrobotics/ign-gazebo/pull/271) + * [Pull Request 271](https://github.com/gazebosim/gz-sim/pull/271) 1. Insert Local Models. - * [Pull Request 173](https://github.com/ignitionrobotics/ign-gazebo/pull/173) + * [Pull Request 173](https://github.com/gazebosim/gz-sim/pull/173) 1. Modernize actions CI. - * [Pull Request 269](https://github.com/ignitionrobotics/ign-gazebo/pull/269) + * [Pull Request 269](https://github.com/gazebosim/gz-sim/pull/269) 1. Sensor topics available through components and GUI. - * [Pull Request 266](https://github.com/ignitionrobotics/ign-gazebo/pull/266) + * [Pull Request 266](https://github.com/gazebosim/gz-sim/pull/266) 1. Customizable layouts - fully functional. - * [Pull Request 278](https://github.com/ignitionrobotics/ign-gazebo/pull/278) + * [Pull Request 278](https://github.com/gazebosim/gz-sim/pull/278) 1. Add Fuel World Support. - * [Pull Request 274](https://github.com/ignitionrobotics/ign-gazebo/pull/274) + * [Pull Request 274](https://github.com/gazebosim/gz-sim/pull/274) 1. Insert Fuel Models. - * [Pull Request 263](https://github.com/ignitionrobotics/ign-gazebo/pull/263) + * [Pull Request 263](https://github.com/gazebosim/gz-sim/pull/263) 1. Disable rendering tests on macOS that are known to fail. - * [Pull Request 209](https://github.com/ignitionrobotics/ign-gazebo/pull/209) + * [Pull Request 209](https://github.com/gazebosim/gz-sim/pull/209) 1. Fix tests on Blueprint. - * [Pull Request 295](https://github.com/ignitionrobotics/ign-gazebo/pull/295) + * [Pull Request 295](https://github.com/gazebosim/gz-sim/pull/295) 1. Publish remaining breadcrumb deployments. - * [Pull Request 308](https://github.com/ignitionrobotics/ign-gazebo/pull/308) + * [Pull Request 308](https://github.com/gazebosim/gz-sim/pull/308) ### Ignition Gazebo 2.23.0 (2020-07-28) 1. Deactivate PerformerDetector if its parent model gets removed. - * [Pull Request 260](https://github.com/ignitionrobotics/ign-gazebo/pull/260) + * [Pull Request 260](https://github.com/gazebosim/gz-sim/pull/260) 1. Backport support for s from Fuel #255 - * [Pull Request 255](https://github.com/ignitionrobotics/ign-gazebo/pull/255) + * [Pull Request 255](https://github.com/gazebosim/gz-sim/pull/255) ### Ignition Gazebo 2.22.0 (2020-07-22) 1. Allow zero or more key/value pairs to be added to detection header information. - * [Pull Request 257](https://github.com/ignitionrobotics/ign-gazebo/pull/257) + * [Pull Request 257](https://github.com/gazebosim/gz-sim/pull/257) ### Ignition Gazebo 2.21.0 (2020-07-16) 1. Added support for controlling which joints are published by the JointStatePublisher. - * [Pull Request 222](https://github.com/ignitionrobotics/ign-gazebo/pull/222) + * [Pull Request 222](https://github.com/gazebosim/gz-sim/pull/222) 1. Added an additional pose offset for the performer detector plugin. - * [Pull Request 236](https://github.com/ignitionrobotics/ign-gazebo/pull/236) + * [Pull Request 236](https://github.com/gazebosim/gz-sim/pull/236) 1. Fixed battery issues and updated tutorial. - * [Pull Request 230](https://github.com/ignitionrobotics/ign-gazebo/pull/230) + * [Pull Request 230](https://github.com/gazebosim/gz-sim/pull/230) ### Ignition Gazebo 2.20.1 (2020-06-18) 1. Properly add new models into the scenegraph. With this fix, when a model is spawned it will be added into the graph and resulting calls to the `scene/info` service will return a correct `msgs::Scene`. - * [Pull Request 212](https://github.com/ignitionrobotics/ign-gazebo/pull/212) + * [Pull Request 212](https://github.com/gazebosim/gz-sim/pull/212) ### Ignition Gazebo 2.20.0 (2020-06-09) 1. Updated battery model to stop battery drain when there is no joint velocity/force command, and added a recharging trigger. - * [Pull Request 183](https://github.com/ignitionrobotics/ign-gazebo/pull/183) + * [Pull Request 183](https://github.com/gazebosim/gz-sim/pull/183) 1. Fix segfault in the Breadcrumbs system - * [Pull Request 180](https://github.com/ignitionrobotics/ign-gazebo/pull/180) + * [Pull Request 180](https://github.com/gazebosim/gz-sim/pull/180) 1. Added an `` element to the DiffDrive system so that a custom odometry topic can be used. - * [Pull Request 179](https://github.com/ignitionrobotics/ign-gazebo/pull/179) + * [Pull Request 179](https://github.com/gazebosim/gz-sim/pull/179) ### Ignition Gazebo 2.19.0 (2020-06-02) 1. Use updated model names for spawned models when generating SDFormat - * [Pull Request 166](https://github.com/ignitionrobotics/ign-gazebo/pull/166) + * [Pull Request 166](https://github.com/gazebosim/gz-sim/pull/166) 1. Allow joint force commands (JointForceCmd) to dscharge a battery. - * [Pull Request 165](https://github.com/ignitionrobotics/ign-gazebo/pull/165) + * [Pull Request 165](https://github.com/gazebosim/gz-sim/pull/165) 1. Allow renaming breadcrumb models if there is a name conflict - * [Pull Request 155](https://github.com/ignitionrobotics/ign-gazebo/pull/155) + * [Pull Request 155](https://github.com/gazebosim/gz-sim/pull/155) 1. Add TriggeredPublisher system - * [Pull Request 139](https://github.com/ignitionrobotics/ign-gazebo/pull/139) + * [Pull Request 139](https://github.com/gazebosim/gz-sim/pull/139) 1. Add PerformerDetector, a system for detecting when performers enter a specified region - * [Pull Request 125](https://github.com/ignitionrobotics/ign-gazebo/pull/125) + * [Pull Request 125](https://github.com/gazebosim/gz-sim/pull/125) ### Ignition Gazebo 2.18.0 (2020-05-20) 1. Added a `/world//create_multiple` service that parallels the current `/world//create` service. The `create_multiple` service can handle an `ignition::msgs::EntityFactory_V` message that may contain one or more entities to spawn. - * [Pull Request 146](https://github.com/ignitionrobotics/ign-gazebo/pull/146) + * [Pull Request 146](https://github.com/gazebosim/gz-sim/pull/146) 1. DetachableJoint system: Add option to suppress warning about missing child model - * [Pull Request 132](https://github.com/ignitionrobotics/ign-gazebo/pull/132) + * [Pull Request 132](https://github.com/gazebosim/gz-sim/pull/132) ### Ignition Gazebo 2.17.0 (2020-05-13) 1. Allow battery plugin to work with joint force systems. - * [Pull Request 120](https://github.com/ignitionrobotics/ign-gazebo/pull/120) + * [Pull Request 120](https://github.com/gazebosim/gz-sim/pull/120) 1. Make breadcrumb static after specified time - * [Pull Request 90](https://github.com/ignitionrobotics/ign-gazebo/pull/90) + * [Pull Request 90](https://github.com/gazebosim/gz-sim/pull/90) 1. Disable breadcrumbs if the `max_deployments` == 0. - * [Pull Request 88](https://github.com/ignitionrobotics/ign-gazebo/pull/88) + * [Pull Request 88](https://github.com/gazebosim/gz-sim/pull/88) 1. Add static pose publisher and support pose\_v msg type in pose publisher system - * [Pull Request 65](https://github.com/ignitionrobotics/ign-gazebo/pull/65) + * [Pull Request 65](https://github.com/gazebosim/gz-sim/pull/65) 1. Refactor Gui.hh so that the Gazebo GUI can be ran from other packages - * [Pull Request 79](https://github.com/ignitionrobotics/ign-gazebo/pull/79) + * [Pull Request 79](https://github.com/gazebosim/gz-sim/pull/79) 1. Add ability to save worlds to SDFormat * [BitBucket pull request 545](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/545) 1. Add window focus upon mouse entering the render window - * [Github pull request 95](https://github.com/ignitionrobotics/ign-gazebo/pull/95) + * [Github pull request 95](https://github.com/gazebosim/gz-sim/pull/95) ### Ignition Gazebo 2.16.0 (2020-03-24) diff --git a/NEWS b/NEWS index 604eba6656..a73d9b7c1a 100644 --- a/NEWS +++ b/NEWS @@ -1 +1 @@ -http://ignitionrobotics.org +http://gazebosim.org diff --git a/docker/README.md b/docker/README.md index 052ad65f2b..8a9e390c72 100644 --- a/docker/README.md +++ b/docker/README.md @@ -10,7 +10,7 @@ section below for usage information about This section describes how to build and run a docker image based on nightly builds of downstream -[Ignition libraries](https://ignitionrobotics.org/libs). The Docker image will +[Ignition libraries](https://gazebosim.org/libs). The Docker image will use the Ignition Gazebo code found in the current source tree. **Requirements** diff --git a/docker/scripts/build_ign.sh b/docker/scripts/build_ign.sh index dd12c6479d..b98e5d6133 100755 --- a/docker/scripts/build_ign.sh +++ b/docker/scripts/build_ign.sh @@ -1,8 +1,8 @@ #!/bin/bash # Command line parameters: -# 1 - github organization name. For example ignitionrobotics or osrf. -# 2 - the name of the ignition repository. For example ign-math. -# 3 - the name of the branch. For example ign-math6 +# 1 - github organization name. For example gazebosim or osrf. +# 2 - the name of the ignition repository. For example gz-sim. +# 3 - the name of the branch. For example gz-math7 set -o errexit set -o verbose diff --git a/docker/scripts/upload_json_benchmark.sh b/docker/scripts/upload_json_benchmark.sh index 528b7afa95..9376494c56 100755 --- a/docker/scripts/upload_json_benchmark.sh +++ b/docker/scripts/upload_json_benchmark.sh @@ -1,12 +1,12 @@ #!/bin/bash # Command line parameters: -# 1 - github organization name. For example ignitionrobotics or osrf. -# 2 - the name of the ignition repository. For example ign-math. -# 3 - the name of the branch. For example ign-math6 +# 1 - github organization name. For example gazebosim or osrf. +# 2 - the name of the ignition repository. For example gz-math. +# 3 - the name of the branch. For example gz-math7 set -o errexit set -o verbose # todo(nkoenig) Update the database to handle templated names. # todo(nkoenig) Use application tokens instead of jwt, which can expire. -curl -k -X POST -d @$1 https://api.ignitionrobotics.org/1.0/benchmarks/gazebo --header 'authorization: Bearer '$AUTH0_JWT_TOKEN +curl -k -X POST -d @$1 https://api.gazebosim.org/1.0/benchmarks/gazebo --header 'authorization: Bearer '$AUTH0_JWT_TOKEN diff --git a/examples/standalone/joy_to_twist/README.md b/examples/standalone/joy_to_twist/README.md index 893bdeed1d..1dbc40f6a4 100644 --- a/examples/standalone/joy_to_twist/README.md +++ b/examples/standalone/joy_to_twist/README.md @@ -1,9 +1,9 @@ # Joy to Twist Standalone program that subscribes to -[ignition::msgs::Joy](https://ignitionrobotics.org/api/msgs/5.6/classignition_1_1msgs_1_1Joy.html) +[ignition::msgs::Joy](https://gazebosim.org/api/msgs/5.6/classignition_1_1msgs_1_1Joy.html) messages and converts publishes -[ignition::msgs::Twist](https://ignitionrobotics.org/api/msgs/5.6/classignition_1_1msgs_1_1Twist.html) +[ignition::msgs::Twist](https://gazebosim.org/api/msgs/5.6/classignition_1_1msgs_1_1Twist.html) messages according to user-defined configuration. ## Build diff --git a/examples/standalone/joystick/README.md b/examples/standalone/joystick/README.md index 9e05e2e172..9292b6bd9e 100644 --- a/examples/standalone/joystick/README.md +++ b/examples/standalone/joystick/README.md @@ -1,7 +1,7 @@ # Joystick Standalone program that publishes -[ignition::msgs::Joy](https://ignitionrobotics.org/api/msgs/5.6/classignition_1_1msgs_1_1Joy.html) +[ignition::msgs::Joy](https://gazebosim.org/api/msgs/5.6/classignition_1_1msgs_1_1Joy.html) messages from a joystick device using Ignition Transport. The mapping of joystick buttons to fields in the message is the same as [this](http://wiki.ros.org/joy). diff --git a/examples/worlds/actor.sdf b/examples/worlds/actor.sdf index fc6af99daa..5c50c7b501 100644 --- a/examples/worlds/actor.sdf +++ b/examples/worlds/actor.sdf @@ -67,16 +67,16 @@ demo_actor 0 0 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor + https://fuel.gazebosim.org/1.0/Mingfei/models/actor - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor/tip/files/meshes/talk_b.dae + https://fuel.gazebosim.org/1.0/Mingfei/models/actor/tip/files/meshes/talk_b.dae 1.0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor/tip/files/meshes/talk_b.dae + https://fuel.gazebosim.org/1.0/Mingfei/models/actor/tip/files/meshes/talk_b.dae 0.055 true diff --git a/examples/worlds/actors_population.sdf.erb b/examples/worlds/actors_population.sdf.erb index c885588bde..620677263d 100644 --- a/examples/worlds/actors_population.sdf.erb +++ b/examples/worlds/actors_population.sdf.erb @@ -84,11 +84,11 @@ - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor/tip/files/meshes/talk_b.dae + https://fuel.gazebosim.org/1.0/Mingfei/models/actor/tip/files/meshes/talk_b.dae 1.0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor/tip/files/meshes/talk_b.dae + https://fuel.gazebosim.org/1.0/Mingfei/models/actor/tip/files/meshes/talk_b.dae 0.055 true diff --git a/examples/worlds/breadcrumbs.sdf b/examples/worlds/breadcrumbs.sdf index b3ade84636..79cccff819 100644 --- a/examples/worlds/breadcrumbs.sdf +++ b/examples/worlds/breadcrumbs.sdf @@ -404,7 +404,7 @@ -2 0 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/X2 Config 1 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/X2 Config 1 diff --git a/examples/worlds/camera_sensor.sdf b/examples/worlds/camera_sensor.sdf index 8e8c090728..443321eebc 100644 --- a/examples/worlds/camera_sensor.sdf +++ b/examples/worlds/camera_sensor.sdf @@ -307,7 +307,7 @@ 0 1 3 0.0 0.0 1.57 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Construction Cone + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Construction Cone diff --git a/examples/worlds/depth_camera_sensor.sdf b/examples/worlds/depth_camera_sensor.sdf index 80ce0abf93..2c0560063e 100644 --- a/examples/worlds/depth_camera_sensor.sdf +++ b/examples/worlds/depth_camera_sensor.sdf @@ -216,7 +216,7 @@ 0 1 3 0.0 0.0 1.57 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Construction Barrel + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Construction Barrel diff --git a/examples/worlds/elevator.sdf b/examples/worlds/elevator.sdf index d2b1238e6b..77d01899cb 100644 --- a/examples/worlds/elevator.sdf +++ b/examples/worlds/elevator.sdf @@ -73,7 +73,7 @@ - https://fuel.ignitionrobotics.org/1.0/nlamprian/models/Elevator + https://fuel.gazebosim.org/1.0/nlamprian/models/Elevator diff --git a/examples/worlds/fuel.sdf b/examples/worlds/fuel.sdf index 4d50302e1a..69e856b847 100644 --- a/examples/worlds/fuel.sdf +++ b/examples/worlds/fuel.sdf @@ -1,6 +1,6 @@ @@ -62,27 +62,27 @@ Double pendulum -3 0 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Double pendulum with base + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Double pendulum with base 3 -1 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Backpack + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Backpack Gazebo (relative paths) 2 5 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Gazebo - relative paths + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Gazebo - relative paths Actor Test 0 0 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/actor - relative paths + https://fuel.gazebosim.org/1.0/OpenRobotics/models/actor - relative paths @@ -93,14 +93,14 @@ - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Radio/4/files/meshes/Radio.dae + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Radio/4/files/meshes/Radio.dae - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Radio/4/files/meshes/Radio.dae + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Radio/4/files/meshes/Radio.dae diff --git a/examples/worlds/fuel_textured_mesh.sdf b/examples/worlds/fuel_textured_mesh.sdf index 2f42cf7608..b4955a4e52 100644 --- a/examples/worlds/fuel_textured_mesh.sdf +++ b/examples/worlds/fuel_textured_mesh.sdf @@ -202,7 +202,7 @@ true Rescue Randy 0 0 0 0 0 1.57 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Rescue Randy + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Rescue Randy @@ -210,7 +210,7 @@ true Tube Light 1.5 0 3 0 0.78 0 - https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Tube Light + https://fuel.gazebosim.org/1.0/openrobotics/models/Tube Light diff --git a/examples/worlds/gpu_lidar_sensor.sdf b/examples/worlds/gpu_lidar_sensor.sdf index 07020dda9b..c8efaaefda 100644 --- a/examples/worlds/gpu_lidar_sensor.sdf +++ b/examples/worlds/gpu_lidar_sensor.sdf @@ -169,7 +169,7 @@ 0 0 0 0 0 1.57 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Playground + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Playground diff --git a/examples/worlds/import_mesh.sdf b/examples/worlds/import_mesh.sdf index 685bace5d0..720f830789 100644 --- a/examples/worlds/import_mesh.sdf +++ b/examples/worlds/import_mesh.sdf @@ -75,7 +75,7 @@ true Electrical Box 0 0 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Electrical Box + https://fuel.gazebosim.org/1.0/openrobotics/models/Electrical Box diff --git a/examples/worlds/log_record_resources.sdf b/examples/worlds/log_record_resources.sdf index 222181127e..cd1d3f73aa 100644 --- a/examples/worlds/log_record_resources.sdf +++ b/examples/worlds/log_record_resources.sdf @@ -55,7 +55,7 @@ false staging_area 0 0 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/X2 Config 1 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/X2 Config 1 diff --git a/examples/worlds/multicopter_velocity_control.sdf b/examples/worlds/multicopter_velocity_control.sdf index 33d45db9d0..a238cce704 100644 --- a/examples/worlds/multicopter_velocity_control.sdf +++ b/examples/worlds/multicopter_velocity_control.sdf @@ -102,7 +102,7 @@ You can use the velocity controller and command linear velocity and yaw angular - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/X3 UAV/4 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/X3 UAV/4 0 3 1 0 0 0 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/X4 UAV Config 1 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/X4 UAV Config 1 Double_pendulum - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Double pendulum with base + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Double pendulum with base diff --git a/examples/worlds/quadcopter.sdf b/examples/worlds/quadcopter.sdf index 224a11cda9..89a507d1ff 100644 --- a/examples/worlds/quadcopter.sdf +++ b/examples/worlds/quadcopter.sdf @@ -78,7 +78,7 @@ - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/X3 UAV/4 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/X3 UAV/4 0 1 3 0.0 0.0 1.57 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Construction Cone + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Construction Cone diff --git a/examples/worlds/tracked_vehicle_simple.sdf b/examples/worlds/tracked_vehicle_simple.sdf index cf9cd29acc..fbc77a7d0d 100644 --- a/examples/worlds/tracked_vehicle_simple.sdf +++ b/examples/worlds/tracked_vehicle_simple.sdf @@ -1719,7 +1719,7 @@ pallet 2 -2 0.1 0 0 0 - https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Euro pallet + https://fuel.gazebosim.org/1.0/openrobotics/models/Euro pallet diff --git a/examples/worlds/tunnel.sdf b/examples/worlds/tunnel.sdf index 583b313641..ffd0b99437 100644 --- a/examples/worlds/tunnel.sdf +++ b/examples/worlds/tunnel.sdf @@ -1,11 +1,6 @@ @@ -216,7 +211,7 @@ true staging_area 0 0 -0.005 0 0 0 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/subt_tunnel_staging_area + https://fuel.gazebosim.org/1.0/OpenRobotics/models/subt_tunnel_staging_area @@ -248,168 +243,168 @@ tile_0 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 2 240.000000 240.000000 -15.000000 0 0 0.000000 tile_1 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 5 260.000000 240.000000 -15.000000 0 0 1.570796 tile_2 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Constrained Tunnel Tile Tall + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Constrained Tunnel Tile Tall 280.000000 240.000000 -15.000000 0 0 1.570796 tile_3 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 2 300.000000 240.000000 -15.000000 0 0 4.712389 tile_4 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile Blocker + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile Blocker 160.000000 211.000000 -15.000000 0 0 0.000000 tile_5 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 5 240.000000 220.000000 -15.000000 0 0 0.000000 radio_1 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Radio + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Radio 241.500000 220.000000 -15.000000 0 0 0.000000 tile_6 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 5 300.000000 220.000000 -15.000000 0 0 0.000000 tile_7 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile Blocker + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile Blocker 69.000000 200.000000 -15.000000 0 0 0.000000 tile_8 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 5 80.000000 200.000000 -15.000000 0 0 1.570796 tile_9 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 5 100.000000 200.000000 -15.000000 0 0 1.570796 tile_10 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 5 120.000000 200.000000 -15.000000 0 0 1.570796 tile_11 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 5 140.000000 200.000000 -15.000000 0 0 1.570796 tile_12 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 1 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 1 160.000000 200.000000 -15.000000 0 0 0.000000 tile_13 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 5 180.000000 200.000000 -15.000000 0 0 1.570796 tile_14 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 5 200.000000 200.000000 -15.000000 0 0 1.570796 tile_15 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 5 220.000000 200.000000 -15.000000 0 0 1.570796 tile_16 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 2 240.000000 200.000000 -15.000000 0 0 3.141593 tile_17 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 5 300.000000 200.000000 -15.000000 0 0 0.000000 tile_18 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 5 160.000000 180.000000 -15.000000 0 0 0.000000 backpack_1 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Backpack + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Backpack 219.000000 202.000000 -15.000000 0 0 0.000000 tile_19 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 2 260.000000 180.000000 -15.000000 0 0 0.000000 tile_20 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 5 280.000000 180.000000 -15.000000 0 0 1.570796 tile_21 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 1 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 1 300.000000 180.000000 -15.000000 0 0 0.000000 tile_22 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 5 320.000000 180.000000 -15.000000 0 0 1.570796 tile_23 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 2 340.000000 180.000000 -15.000000 0 0 4.712389 tile_24 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Constrained Tunnel Tile Tall + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Constrained Tunnel Tile Tall 160.000000 160.000000 -15.000000 0 0 0.000000 @@ -417,509 +412,509 @@ phone_1 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Phone + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Phone 260.000000 160.000000 -14.996000 -1.570796 0 0.000000 tile_25 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 5 260.000000 160.000000 -15.000000 0 0 0.000000 tile_26 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile Blocker + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile Blocker 300.000000 169.000000 -15.000000 0 0 0.000000 tile_27 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 5 340.000000 160.000000 -15.000000 0 0 0.000000 toolbox_1 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Toolbox + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Toolbox 342.000000 160.000000 -15.000000 0 0 0.000000 tile_28 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile Blocker + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile Blocker 60.000000 131.000000 -15.000000 0 0 0.000000 tile_29 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile Blocker + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile Blocker 80.000000 131.000000 -15.000000 0 0 0.000000 tile_30 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 5 160.000000 140.000000 -15.000000 0 0 0.000000 extinguisher_1 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Extinguisher + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Extinguisher 158.000000 140.000000 -15.000000 0 0 0.000000 tile_31 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile Blocker + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile Blocker 260.000000 149.000000 -15.000000 0 0 0.000000 tile_32 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile Blocker + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile Blocker 340.000000 149.000000 -15.000000 0 0 0.000000 tile_33 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 2 60.000000 120.000000 -15.000000 0 0 1.570796 tile_34 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 1 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 1 80.000000 120.000000 -15.000000 0 0 0.000000 tile_35 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 5 100.000000 120.000000 -15.000000 0 0 1.570796 tile_36 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 5 120.000000 120.000000 -15.000000 0 0 1.570796 tile_37 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 5 140.000000 120.000000 -15.000000 0 0 1.570796 tile_38 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 2 160.000000 120.000000 -15.000000 0 0 3.141593 tile_39 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 5 80.000000 100.000000 -15.000000 0 0 0.000000 tile_40 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 2 200.000000 100.000000 -15.000000 0 0 0.000000 tile_41 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 5 220.000000 100.000000 -15.000000 0 0 1.570796 tile_42 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 5 240.000000 100.000000 -15.000000 0 0 1.570796 tile_43 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 2 260.000000 100.000000 -15.000000 0 0 4.712389 radio_2 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Radio + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Radio 260.000000 82.300000 -15.000000 0 0 0.000000 tile_44 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 5 80.000000 80.000000 -15.000000 0 0 0.000000 tile_45 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 5 200.000000 80.000000 -15.000000 0 0 0.000000 tile_46 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 2 260.000000 80.000000 -15.000000 0 0 1.570796 tile_47 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 2 280.000000 80.000000 -15.000000 0 0 4.712389 tile_48 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 6 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 6 80.000000 60.000000 -15.000000 0 0 3.141593 tile_49 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 5 200.000000 60.000000 -15.000000 0 0 0.000000 tile_50 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 5 280.000000 60.000000 -15.000000 0 0 0.000000 toolbox_2 - 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https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 1 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 1 280.000000 0.000000 -15.000000 0 0 0.000000 tile_73 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 6 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 6 300.000000 0.000000 -20.000000 0 0 1.570796 tile_74 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 1 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 1 320.000000 0.000000 -20.000000 0 0 0.000000 tile_75 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 5 340.000000 0.000000 -20.000000 0 0 1.570796 tile_76 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 1 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 1 360.000000 0.000000 -20.000000 0 0 0.000000 tile_77 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 5 380.000000 0.000000 -20.000000 0 0 1.570796 tile_78 - 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https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 2 80.000000 -80.000000 -5.000000 0 0 1.570796 tile_96 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 7 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 7 100.000000 -80.000000 -10.000000 0 0 1.570796 tile_97 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 2 120.000000 -80.000000 -10.000000 0 0 4.712389 phone_3 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Phone + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Phone 120.800000 -98.400000 -9.996000 1.570796 0 0.000000 @@ -927,174 +922,174 @@ valve_1 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Valve + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Valve 240.000000 -58.000000 -15.000000 0 0 0.000000 tile_98 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 2 120.000000 -100.000000 -10.000000 0 0 1.570796 tile_99 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 2 140.000000 -100.000000 -10.000000 0 0 4.712389 tile_100 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 5 140.000000 -120.000000 -10.000000 0 0 0.000000 valve_2 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Valve + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Valve 141.750000 -119.000000 -10.000000 0 0 0.000000 tile_101 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 5 140.000000 -140.000000 -10.000000 0 0 0.000000 tile_102 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Constrained Tunnel Tile Short + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Constrained Tunnel Tile Short 140.000000 -160.000000 -10.000000 0 0 0.000000 tile_103 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile Blocker + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile Blocker 280.000000 -169.000000 -10.000000 0 0 0.000000 electrical_box_2 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Electrical Box + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Electrical Box 138.000000 -180.000000 -10.000000 0 0 0.000000 tile_104 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 5 140.000000 -180.000000 -10.000000 0 0 0.000000 backpack_3 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Backpack + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Backpack 180.000000 -198.000000 -10.000000 0 0 0.000000 tile_105 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 5 280.000000 -180.000000 -10.000000 0 0 0.000000 tile_106 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 5 140.000000 -200.000000 -10.000000 0 0 0.000000 tile_107 - 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https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 2 160.000000 -220.000000 -10.000000 0 0 3.141593 tile_114 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 5 220.000000 -220.000000 -10.000000 0 0 0.000000 tile_115 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 5 280.000000 -220.000000 -10.000000 0 0 0.000000 extinguisher_2 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Extinguisher + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Extinguisher 278.000000 -220.000000 -10.000000 0 0 0.000000 tile_116 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 2 220.000000 -240.000000 -10.000000 0 0 1.570796 tile_117 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 5 240.000000 -240.000000 -10.000000 0 0 1.570796 tile_118 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 5 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 5 260.000000 -240.000000 -10.000000 0 0 1.570796 tile_119 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 2 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 2 280.000000 -240.000000 -10.000000 0 0 3.141593 diff --git a/include/ignition/gazebo/Entity.hh b/include/ignition/gazebo/Entity.hh index 4ac16e82de..0db6365417 100644 --- a/include/ignition/gazebo/Entity.hh +++ b/include/ignition/gazebo/Entity.hh @@ -21,8 +21,7 @@ #include #include -/// \brief This library is part of the [Ignition -/// Robotics](https://ignitionrobotics.org) project. +/// \brief This library is part of the [Gazebo](https://gazebosim.org) project. namespace ignition { /// \brief Gazebo is a leading open source robotics simulator, that diff --git a/include/ignition/gazebo/ServerConfig.hh b/include/ignition/gazebo/ServerConfig.hh index ff4941b41d..7116029009 100644 --- a/include/ignition/gazebo/ServerConfig.hh +++ b/include/ignition/gazebo/ServerConfig.hh @@ -374,14 +374,14 @@ namespace ignition UpdatePeriod() const; /// \brief Path to where simulation resources, such as models downloaded - /// from fuel.ignitionrobotics.org, should be stored. + /// from fuel.gazebosim.org, should be stored. /// \return Path to a location on disk. An empty string indicates that /// the default value will be used, which is currently /// ~/.ignition/fuel. public: const std::string &ResourceCache() const; /// \brief Set the path to where simulation resources, such as models - /// downloaded from fuel.ignitionrobotics.org, should be stored. + /// downloaded from fuel.gazebosim.org, should be stored. /// \param[in] _path Path to a location on disk. An empty string /// indicates that the default value will be used, which is currently /// ~/.ignition/fuel. diff --git a/src/Component_TEST.cc b/src/Component_TEST.cc index 7e6864710d..6d7a664a7f 100644 --- a/src/Component_TEST.cc +++ b/src/Component_TEST.cc @@ -332,7 +332,7 @@ TEST_F(ComponentTest, OStream) EXPECT_EQ("Mass: 0", ostr.str()); } - // Component with a ignition::msgs type that gets serialized by the default + // Component with a msgs type that gets serialized by the default // serializer { using Custom = components::ComponentMassMatrix().Mass()); } - // Component with a ignition::msgs type that gets deserialized by the message + // Component with a msgs type that gets deserialized by the message // deserializer { using Custom = components::Component IGNITION_GAZEBO_VISIBLE -msgs::Entity_Type ignition::gazebo::convert(const std::string &_in) +msgs::Entity_Type gazebo::convert(const std::string &_in) { msgs::Entity_Type out = msgs::Entity_Type_NONE; @@ -117,7 +117,7 @@ msgs::Entity_Type ignition::gazebo::convert(const std::string &_in) ////////////////////////////////////////////////// template<> IGNITION_GAZEBO_VISIBLE -math::Pose3d ignition::gazebo::convert(const msgs::Pose &_in) +math::Pose3d gazebo::convert(const msgs::Pose &_in) { math::Pose3d out(_in.position().x(), _in.position().y(), @@ -134,7 +134,7 @@ math::Pose3d ignition::gazebo::convert(const msgs::Pose &_in) ////////////////////////////////////////////////// template<> IGNITION_GAZEBO_VISIBLE -msgs::Collision ignition::gazebo::convert(const sdf::Collision &_in) +msgs::Collision gazebo::convert(const sdf::Collision &_in) { msgs::Collision out; out.set_name(_in.Name()); @@ -147,7 +147,7 @@ msgs::Collision ignition::gazebo::convert(const sdf::Collision &_in) ////////////////////////////////////////////////// template<> IGNITION_GAZEBO_VISIBLE -sdf::Collision ignition::gazebo::convert(const msgs::Collision &_in) +sdf::Collision gazebo::convert(const msgs::Collision &_in) { sdf::Collision out; out.SetName(_in.name()); @@ -159,7 +159,7 @@ sdf::Collision ignition::gazebo::convert(const msgs::Collision &_in) ////////////////////////////////////////////////// template<> IGNITION_GAZEBO_VISIBLE -msgs::Geometry ignition::gazebo::convert(const sdf::Geometry &_in) +msgs::Geometry gazebo::convert(const sdf::Geometry &_in) { msgs::Geometry out; if (_in.Type() == sdf::GeometryType::BOX && _in.BoxShape()) @@ -268,7 +268,7 @@ msgs::Geometry ignition::gazebo::convert(const sdf::Geometry &_in) ////////////////////////////////////////////////// template<> IGNITION_GAZEBO_VISIBLE -sdf::Geometry ignition::gazebo::convert(const msgs::Geometry &_in) +sdf::Geometry gazebo::convert(const msgs::Geometry &_in) { sdf::Geometry out; if (_in.type() == msgs::Geometry::BOX && _in.has_box()) @@ -405,7 +405,7 @@ sdf::Geometry ignition::gazebo::convert(const msgs::Geometry &_in) ////////////////////////////////////////////////// template<> IGNITION_GAZEBO_VISIBLE -msgs::Material ignition::gazebo::convert(const sdf::Material &_in) +msgs::Material gazebo::convert(const sdf::Material &_in) { msgs::Material out; msgs::Set(out.mutable_ambient(), _in.Ambient()); @@ -464,7 +464,7 @@ msgs::Material ignition::gazebo::convert(const sdf::Material &_in) ////////////////////////////////////////////////// template<> IGNITION_GAZEBO_VISIBLE -sdf::Material ignition::gazebo::convert(const msgs::Material &_in) +sdf::Material gazebo::convert(const msgs::Material &_in) { sdf::Material out; out.SetAmbient(msgs::Convert(_in.ambient())); @@ -507,7 +507,7 @@ sdf::Material ignition::gazebo::convert(const msgs::Material &_in) ////////////////////////////////////////////////// template<> IGNITION_GAZEBO_VISIBLE -msgs::Actor ignition::gazebo::convert(const sdf::Actor &_in) +msgs::Actor gazebo::convert(const sdf::Actor &_in) { msgs::Actor out; out.mutable_entity()->set_name(_in.Name()); @@ -547,7 +547,7 @@ msgs::Actor ignition::gazebo::convert(const sdf::Actor &_in) ////////////////////////////////////////////////// template<> IGNITION_GAZEBO_VISIBLE -sdf::Actor ignition::gazebo::convert(const msgs::Actor &_in) +sdf::Actor gazebo::convert(const msgs::Actor &_in) { sdf::Actor out; out.SetName(_in.entity().name()); @@ -590,7 +590,7 @@ sdf::Actor ignition::gazebo::convert(const msgs::Actor &_in) ////////////////////////////////////////////////// template<> IGNITION_GAZEBO_VISIBLE -msgs::Light ignition::gazebo::convert(const sdf::Light &_in) +msgs::Light gazebo::convert(const sdf::Light &_in) { msgs::Light out; out.set_name(_in.Name()); @@ -638,7 +638,7 @@ msgs::Light ignition::gazebo::convert(const sdf::Light &_in) ////////////////////////////////////////////////// template<> IGNITION_GAZEBO_VISIBLE -sdf::Light ignition::gazebo::convert(const msgs::Light &_in) +sdf::Light gazebo::convert(const msgs::Light &_in) { sdf::Light out; out.SetName(_in.name()); @@ -704,7 +704,7 @@ sdf::Light ignition::gazebo::convert(const msgs::Light &_in) ////////////////////////////////////////////////// template<> IGNITION_GAZEBO_VISIBLE -msgs::GUI ignition::gazebo::convert(const sdf::Gui &_in) +msgs::GUI gazebo::convert(const sdf::Gui &_in) { msgs::GUI out; @@ -728,12 +728,12 @@ msgs::GUI ignition::gazebo::convert(const sdf::Gui &_in) ////////////////////////////////////////////////// template<> IGNITION_GAZEBO_VISIBLE -msgs::Time ignition::gazebo::convert( +msgs::Time gazebo::convert( const std::chrono::steady_clock::duration &_in) { msgs::Time out; - auto secNsec = ignition::math::durationToSecNsec(_in); + auto secNsec = math::durationToSecNsec(_in); out.set_sec(secNsec.first); out.set_nsec(secNsec.second); @@ -744,7 +744,7 @@ msgs::Time ignition::gazebo::convert( ////////////////////////////////////////////////// template<> IGNITION_GAZEBO_VISIBLE -std::chrono::steady_clock::duration ignition::gazebo::convert( +std::chrono::steady_clock::duration gazebo::convert( const msgs::Time &_in) { return std::chrono::seconds(_in.sec()) + std::chrono::nanoseconds(_in.nsec()); @@ -753,7 +753,7 @@ std::chrono::steady_clock::duration ignition::gazebo::convert( ////////////////////////////////////////////////// template<> IGNITION_GAZEBO_VISIBLE -msgs::Inertial ignition::gazebo::convert(const math::Inertiald &_in) +msgs::Inertial gazebo::convert(const math::Inertiald &_in) { msgs::Inertial out; msgs::Set(out.mutable_pose(), _in.Pose()); @@ -770,7 +770,7 @@ msgs::Inertial ignition::gazebo::convert(const math::Inertiald &_in) ////////////////////////////////////////////////// template<> IGNITION_GAZEBO_VISIBLE -math::Inertiald ignition::gazebo::convert(const msgs::Inertial &_in) +math::Inertiald gazebo::convert(const msgs::Inertial &_in) { math::MassMatrix3d massMatrix; massMatrix.SetMass(_in.mass()); @@ -790,7 +790,7 @@ math::Inertiald ignition::gazebo::convert(const msgs::Inertial &_in) ////////////////////////////////////////////////// template<> IGNITION_GAZEBO_VISIBLE -msgs::Axis ignition::gazebo::convert(const sdf::JointAxis &_in) +msgs::Axis gazebo::convert(const sdf::JointAxis &_in) { msgs::Axis out; msgs::Set(out.mutable_xyz(), _in.Xyz()); @@ -820,7 +820,7 @@ msgs::Axis ignition::gazebo::convert(const sdf::JointAxis &_in) ////////////////////////////////////////////////// template<> IGNITION_GAZEBO_VISIBLE -sdf::JointAxis ignition::gazebo::convert(const msgs::Axis &_in) +sdf::JointAxis gazebo::convert(const msgs::Axis &_in) { sdf::JointAxis out; sdf::Errors errors = out.SetXyz(msgs::Convert(_in.xyz())); @@ -840,7 +840,7 @@ sdf::JointAxis ignition::gazebo::convert(const msgs::Axis &_in) ////////////////////////////////////////////////// template<> IGNITION_GAZEBO_VISIBLE -msgs::Scene ignition::gazebo::convert(const sdf::Scene &_in) +msgs::Scene gazebo::convert(const sdf::Scene &_in) { msgs::Scene out; // todo(anyone) add Name to sdf::Scene? @@ -878,7 +878,7 @@ msgs::Scene ignition::gazebo::convert(const sdf::Scene &_in) ////////////////////////////////////////////////// template<> IGNITION_GAZEBO_VISIBLE -sdf::Scene ignition::gazebo::convert(const msgs::Scene &_in) +sdf::Scene gazebo::convert(const msgs::Scene &_in) { sdf::Scene out; // todo(anyone) add SetName to sdf::Scene? @@ -918,7 +918,7 @@ sdf::Scene ignition::gazebo::convert(const msgs::Scene &_in) ////////////////////////////////////////////////// template<> IGNITION_GAZEBO_VISIBLE -msgs::Atmosphere ignition::gazebo::convert(const sdf::Atmosphere &_in) +msgs::Atmosphere gazebo::convert(const sdf::Atmosphere &_in) { msgs::Atmosphere out; out.set_temperature(_in.Temperature().Kelvin()); @@ -936,7 +936,7 @@ msgs::Atmosphere ignition::gazebo::convert(const sdf::Atmosphere &_in) ////////////////////////////////////////////////// template<> IGNITION_GAZEBO_VISIBLE -sdf::Atmosphere ignition::gazebo::convert(const msgs::Atmosphere &_in) +sdf::Atmosphere gazebo::convert(const msgs::Atmosphere &_in) { sdf::Atmosphere out; out.SetTemperature(math::Temperature(_in.temperature())); @@ -952,16 +952,16 @@ sdf::Atmosphere ignition::gazebo::convert(const msgs::Atmosphere &_in) } ////////////////////////////////////////////////// -void ignition::gazebo::set(msgs::Time *_msg, +void gazebo::set(msgs::Time *_msg, const std::chrono::steady_clock::duration &_in) { - auto secNsec = ignition::math::durationToSecNsec(_in); + auto secNsec = math::durationToSecNsec(_in); _msg->set_sec(secNsec.first); _msg->set_nsec(secNsec.second); } ////////////////////////////////////////////////// -void ignition::gazebo::set(msgs::WorldStatistics *_msg, +void gazebo::set(msgs::WorldStatistics *_msg, const gazebo::UpdateInfo &_in) { set(_msg->mutable_sim_time(), _in.simTime); @@ -974,7 +974,7 @@ void ignition::gazebo::set(msgs::WorldStatistics *_msg, ////////////////////////////////////////////////// template<> IGNITION_GAZEBO_VISIBLE -msgs::Physics ignition::gazebo::convert(const sdf::Physics &_in) +msgs::Physics gazebo::convert(const sdf::Physics &_in) { msgs::Physics out; out.set_max_step_size(_in.MaxStepSize()); @@ -985,7 +985,7 @@ msgs::Physics ignition::gazebo::convert(const sdf::Physics &_in) ////////////////////////////////////////////////// template<> IGNITION_GAZEBO_VISIBLE -sdf::Physics ignition::gazebo::convert(const msgs::Physics &_in) +sdf::Physics gazebo::convert(const msgs::Physics &_in) { sdf::Physics out; out.SetRealTimeFactor(_in.real_time_factor()); @@ -994,7 +994,7 @@ sdf::Physics ignition::gazebo::convert(const msgs::Physics &_in) } ////////////////////////////////////////////////// -void ignition::gazebo::set(msgs::SensorNoise *_msg, const sdf::Noise &_sdf) +void gazebo::set(msgs::SensorNoise *_msg, const sdf::Noise &_sdf) { switch (_sdf.Type()) { @@ -1061,7 +1061,7 @@ sdf::LightType ignition::gazebo::convert(const std::string &_in) ////////////////////////////////////////////////// template<> IGNITION_GAZEBO_VISIBLE -sdf::Noise ignition::gazebo::convert(const msgs::SensorNoise &_in) +sdf::Noise gazebo::convert(const msgs::SensorNoise &_in) { sdf::Noise out; @@ -1094,7 +1094,7 @@ sdf::Noise ignition::gazebo::convert(const msgs::SensorNoise &_in) ////////////////////////////////////////////////// template<> IGNITION_GAZEBO_VISIBLE -msgs::Sensor ignition::gazebo::convert(const sdf::Sensor &_in) +msgs::Sensor gazebo::convert(const sdf::Sensor &_in) { msgs::Sensor out; out.set_name(_in.Name()); @@ -1110,17 +1110,17 @@ msgs::Sensor ignition::gazebo::convert(const sdf::Sensor &_in) msgs::MagnetometerSensor *sensor = out.mutable_magnetometer(); if (_in.MagnetometerSensor()->XNoise().Type() != sdf::NoiseType::NONE) { - ignition::gazebo::set(sensor->mutable_x_noise(), + gazebo::set(sensor->mutable_x_noise(), _in.MagnetometerSensor()->XNoise()); } if (_in.MagnetometerSensor()->YNoise().Type() != sdf::NoiseType::NONE) { - ignition::gazebo::set(sensor->mutable_y_noise(), + gazebo::set(sensor->mutable_y_noise(), _in.MagnetometerSensor()->YNoise()); } if (_in.MagnetometerSensor()->ZNoise().Type() != sdf::NoiseType::NONE) { - ignition::gazebo::set(sensor->mutable_z_noise(), + gazebo::set(sensor->mutable_z_noise(), _in.MagnetometerSensor()->ZNoise()); } } @@ -1208,13 +1208,13 @@ msgs::Sensor ignition::gazebo::convert(const sdf::Sensor &_in) if (_in.AltimeterSensor()->VerticalPositionNoise().Type() != sdf::NoiseType::NONE) { - ignition::gazebo::set(sensor->mutable_vertical_position_noise(), + gazebo::set(sensor->mutable_vertical_position_noise(), _in.AltimeterSensor()->VerticalPositionNoise()); } if (_in.AltimeterSensor()->VerticalVelocityNoise().Type() != sdf::NoiseType::NONE) { - ignition::gazebo::set(sensor->mutable_vertical_velocity_noise(), + gazebo::set(sensor->mutable_vertical_velocity_noise(), _in.AltimeterSensor()->VerticalVelocityNoise()); } } @@ -1233,7 +1233,7 @@ msgs::Sensor ignition::gazebo::convert(const sdf::Sensor &_in) if (_in.AirPressureSensor()->PressureNoise().Type() != sdf::NoiseType::NONE) { - ignition::gazebo::set(sensor->mutable_pressure_noise(), + gazebo::set(sensor->mutable_pressure_noise(), _in.AirPressureSensor()->PressureNoise()); } sensor->set_reference_altitude( @@ -1254,38 +1254,38 @@ msgs::Sensor ignition::gazebo::convert(const sdf::Sensor &_in) if (sdfImu->LinearAccelerationXNoise().Type() != sdf::NoiseType::NONE) { - ignition::gazebo::set( + gazebo::set( sensor->mutable_linear_acceleration()->mutable_x_noise(), sdfImu->LinearAccelerationXNoise()); } if (sdfImu->LinearAccelerationYNoise().Type() != sdf::NoiseType::NONE) { - ignition::gazebo::set( + gazebo::set( sensor->mutable_linear_acceleration()->mutable_y_noise(), sdfImu->LinearAccelerationYNoise()); } if (sdfImu->LinearAccelerationZNoise().Type() != sdf::NoiseType::NONE) { - ignition::gazebo::set( + gazebo::set( sensor->mutable_linear_acceleration()->mutable_z_noise(), sdfImu->LinearAccelerationZNoise()); } if (sdfImu->AngularVelocityXNoise().Type() != sdf::NoiseType::NONE) { - ignition::gazebo::set( + gazebo::set( sensor->mutable_angular_velocity()->mutable_x_noise(), sdfImu->AngularVelocityXNoise()); } if (sdfImu->AngularVelocityYNoise().Type() != sdf::NoiseType::NONE) { - ignition::gazebo::set( + gazebo::set( sensor->mutable_angular_velocity()->mutable_y_noise(), sdfImu->AngularVelocityYNoise()); } if (sdfImu->AngularVelocityZNoise().Type() != sdf::NoiseType::NONE) { - ignition::gazebo::set( + gazebo::set( sensor->mutable_angular_velocity()->mutable_z_noise(), sdfImu->AngularVelocityZNoise()); } @@ -1319,7 +1319,7 @@ msgs::Sensor ignition::gazebo::convert(const sdf::Sensor &_in) if (sdfLidar->LidarNoise().Type() != sdf::NoiseType::NONE) { - ignition::gazebo::set(sensor->mutable_noise(), sdfLidar->LidarNoise()); + gazebo::set(sensor->mutable_noise(), sdfLidar->LidarNoise()); } sensor->set_horizontal_samples(sdfLidar->HorizontalScanSamples()); sensor->set_horizontal_resolution(sdfLidar->HorizontalScanResolution()); @@ -1349,7 +1349,7 @@ msgs::Sensor ignition::gazebo::convert(const sdf::Sensor &_in) ////////////////////////////////////////////////// template<> IGNITION_GAZEBO_VISIBLE -sdf::Sensor ignition::gazebo::convert(const msgs::Sensor &_in) +sdf::Sensor gazebo::convert(const msgs::Sensor &_in) { sdf::Sensor out; out.SetName(_in.name()); @@ -1366,17 +1366,17 @@ sdf::Sensor ignition::gazebo::convert(const msgs::Sensor &_in) { if (_in.magnetometer().has_x_noise()) { - sensor.SetXNoise(ignition::gazebo::convert( + sensor.SetXNoise(gazebo::convert( _in.magnetometer().x_noise())); } if (_in.magnetometer().has_y_noise()) { - sensor.SetYNoise(ignition::gazebo::convert( + sensor.SetYNoise(gazebo::convert( _in.magnetometer().y_noise())); } if (_in.magnetometer().has_z_noise()) { - sensor.SetZNoise(ignition::gazebo::convert( + sensor.SetZNoise(gazebo::convert( _in.magnetometer().z_noise())); } } @@ -1431,13 +1431,13 @@ sdf::Sensor ignition::gazebo::convert(const msgs::Sensor &_in) { if (_in.altimeter().has_vertical_position_noise()) { - sensor.SetVerticalPositionNoise(ignition::gazebo::convert( + sensor.SetVerticalPositionNoise(gazebo::convert( _in.altimeter().vertical_position_noise())); } if (_in.altimeter().has_vertical_velocity_noise()) { - sensor.SetVerticalVelocityNoise(ignition::gazebo::convert( + sensor.SetVerticalVelocityNoise(gazebo::convert( _in.altimeter().vertical_velocity_noise())); } } @@ -1456,7 +1456,7 @@ sdf::Sensor ignition::gazebo::convert(const msgs::Sensor &_in) { if (_in.air_pressure().has_pressure_noise()) { - sensor.SetPressureNoise(ignition::gazebo::convert( + sensor.SetPressureNoise(gazebo::convert( _in.air_pressure().pressure_noise())); } @@ -1480,19 +1480,19 @@ sdf::Sensor ignition::gazebo::convert(const msgs::Sensor &_in) if (_in.imu().linear_acceleration().has_x_noise()) { sensor.SetLinearAccelerationXNoise( - ignition::gazebo::convert( + gazebo::convert( _in.imu().linear_acceleration().x_noise())); } if (_in.imu().linear_acceleration().has_y_noise()) { sensor.SetLinearAccelerationYNoise( - ignition::gazebo::convert( + gazebo::convert( _in.imu().linear_acceleration().y_noise())); } if (_in.imu().linear_acceleration().has_z_noise()) { sensor.SetLinearAccelerationZNoise( - ignition::gazebo::convert( + gazebo::convert( _in.imu().linear_acceleration().z_noise())); } } @@ -1502,19 +1502,19 @@ sdf::Sensor ignition::gazebo::convert(const msgs::Sensor &_in) if (_in.imu().angular_velocity().has_x_noise()) { sensor.SetAngularVelocityXNoise( - ignition::gazebo::convert( + gazebo::convert( _in.imu().angular_velocity().x_noise())); } if (_in.imu().angular_velocity().has_y_noise()) { sensor.SetAngularVelocityYNoise( - ignition::gazebo::convert( + gazebo::convert( _in.imu().angular_velocity().y_noise())); } if (_in.imu().angular_velocity().has_z_noise()) { sensor.SetAngularVelocityZNoise( - ignition::gazebo::convert( + gazebo::convert( _in.imu().angular_velocity().z_noise())); } } @@ -1571,7 +1571,7 @@ sdf::Sensor ignition::gazebo::convert(const msgs::Sensor &_in) if (_in.lidar().has_noise()) { - sensor.SetLidarNoise(ignition::gazebo::convert( + sensor.SetLidarNoise(gazebo::convert( _in.lidar().noise())); } } @@ -1589,7 +1589,7 @@ sdf::Sensor ignition::gazebo::convert(const msgs::Sensor &_in) ////////////////////////////////////////////////// template<> IGNITION_GAZEBO_VISIBLE -msgs::WorldStatistics ignition::gazebo::convert(const gazebo::UpdateInfo &_in) +msgs::WorldStatistics gazebo::convert(const gazebo::UpdateInfo &_in) { msgs::WorldStatistics out; set(&out, _in); @@ -1599,7 +1599,7 @@ msgs::WorldStatistics ignition::gazebo::convert(const gazebo::UpdateInfo &_in) ////////////////////////////////////////////////// template<> IGNITION_GAZEBO_VISIBLE -gazebo::UpdateInfo ignition::gazebo::convert(const msgs::WorldStatistics &_in) +gazebo::UpdateInfo gazebo::convert(const msgs::WorldStatistics &_in) { gazebo::UpdateInfo out; out.iterations = _in.iterations(); @@ -1613,7 +1613,7 @@ gazebo::UpdateInfo ignition::gazebo::convert(const msgs::WorldStatistics &_in) ////////////////////////////////////////////////// template<> IGNITION_GAZEBO_VISIBLE -msgs::AxisAlignedBox ignition::gazebo::convert(const math::AxisAlignedBox &_in) +msgs::AxisAlignedBox gazebo::convert(const math::AxisAlignedBox &_in) { msgs::AxisAlignedBox out; msgs::Set(out.mutable_min_corner(), _in.Min()); @@ -1624,7 +1624,7 @@ msgs::AxisAlignedBox ignition::gazebo::convert(const math::AxisAlignedBox &_in) ////////////////////////////////////////////////// template<> IGNITION_GAZEBO_VISIBLE -math::AxisAlignedBox ignition::gazebo::convert(const msgs::AxisAlignedBox &_in) +math::AxisAlignedBox gazebo::convert(const msgs::AxisAlignedBox &_in) { math::AxisAlignedBox out; out.Min() = msgs::Convert(_in.min_corner()); diff --git a/src/Conversions_TEST.cc b/src/Conversions_TEST.cc index 9033949c9d..f1a3809381 100644 --- a/src/Conversions_TEST.cc +++ b/src/Conversions_TEST.cc @@ -57,8 +57,8 @@ TEST(Conversions, Light) light.SetRawPose({3, 2, 1, 0, IGN_PI, 0}); light.SetPoseRelativeTo("world"); light.SetCastShadows(true); - light.SetDiffuse(ignition::math::Color(0.4f, 0.5f, 0.6f, 1.0)); - light.SetSpecular(ignition::math::Color(0.8f, 0.9f, 0.1f, 1.0)); + light.SetDiffuse(math::Color(0.4f, 0.5f, 0.6f, 1.0)); + light.SetSpecular(math::Color(0.8f, 0.9f, 0.1f, 1.0)); light.SetAttenuationRange(3.2); light.SetConstantAttenuationFactor(0.5); light.SetLinearAttenuationFactor(0.1); @@ -241,10 +241,10 @@ TEST(Conversions, Time) TEST(Conversions, Material) { sdf::Material material; - material.SetDiffuse(ignition::math::Color(0.1f, 0.2f, 0.3f, 0.4f)); - material.SetSpecular(ignition::math::Color(0.5f, 0.6f, 0.7f, 0.8f)); - material.SetAmbient(ignition::math::Color(0.9f, 1.0f, 1.1f, 1.2f)); - material.SetEmissive(ignition::math::Color(1.3f, 1.4f, 1.5f, 1.6f)); + material.SetDiffuse(math::Color(0.1f, 0.2f, 0.3f, 0.4f)); + material.SetSpecular(math::Color(0.5f, 0.6f, 0.7f, 0.8f)); + material.SetAmbient(math::Color(0.9f, 1.0f, 1.1f, 1.2f)); + material.SetEmissive(math::Color(1.3f, 1.4f, 1.5f, 1.6f)); material.SetLighting(true); material.SetRenderOrder(2.5); material.SetDoubleSided(true); @@ -336,7 +336,7 @@ TEST(Conversions, GeometryBox) geometry.SetType(sdf::GeometryType::BOX); sdf::Box boxShape; - boxShape.SetSize(ignition::math::Vector3d(1, 2, 3)); + boxShape.SetSize(math::Vector3d(1, 2, 3)); geometry.SetBoxShape(boxShape); auto geometryMsg = convert(geometry); @@ -450,7 +450,7 @@ TEST(Conversions, GeometryMesh) geometry.SetType(sdf::GeometryType::MESH); sdf::Mesh meshShape; - meshShape.SetScale(ignition::math::Vector3d(1, 2, 3)); + meshShape.SetScale(math::Vector3d(1, 2, 3)); meshShape.SetUri("file://watermelon"); meshShape.SetSubmesh("grape"); meshShape.SetCenterSubmesh(true); @@ -481,8 +481,8 @@ TEST(Conversions, GeometryPlane) geometry.SetType(sdf::GeometryType::PLANE); sdf::Plane planeShape; - planeShape.SetSize(ignition::math::Vector2d(1, 2)); - planeShape.SetNormal(ignition::math::Vector3d::UnitY); + planeShape.SetSize(math::Vector2d(1, 2)); + planeShape.SetNormal(math::Vector3d::UnitY); geometry.SetPlaneShape(planeShape); auto geometryMsg = convert(geometry); @@ -676,8 +676,8 @@ TEST(Conversions, JointAxis) TEST(Conversions, Scene) { sdf::Scene scene; - scene.SetAmbient(ignition::math::Color(0.1f, 0.2f, 0.3f, 0.4f)); - scene.SetBackground(ignition::math::Color(0.5f, 0.6f, 0.7f, 0.8f)); + scene.SetAmbient(math::Color(0.1f, 0.2f, 0.3f, 0.4f)); + scene.SetBackground(math::Color(0.5f, 0.6f, 0.7f, 0.8f)); scene.SetShadows(true); scene.SetGrid(true); scene.SetOriginVisual(true); @@ -769,7 +769,7 @@ TEST(Conversions, MagnetometerSensor) sensor.SetType(sdf::SensorType::MAGNETOMETER); sensor.SetUpdateRate(12.4); sensor.SetTopic("my_topic"); - sensor.SetRawPose(ignition::math::Pose3d(1, 2, 3, 0, 0, 0)); + sensor.SetRawPose(math::Pose3d(1, 2, 3, 0, 0, 0)); sdf::Noise noise; noise.SetType(sdf::NoiseType::GAUSSIAN); @@ -809,7 +809,7 @@ TEST(Conversions, AltimeterSensor) sensor.SetType(sdf::SensorType::ALTIMETER); sensor.SetUpdateRate(12.4); sensor.SetTopic("my_topic"); - sensor.SetRawPose(ignition::math::Pose3d(1, 2, 3, 0, 0, 0)); + sensor.SetRawPose(math::Pose3d(1, 2, 3, 0, 0, 0)); sdf::Noise noise; noise.SetType(sdf::NoiseType::GAUSSIAN); diff --git a/src/EntityComponentManager.cc b/src/EntityComponentManager.cc index b5f0eb8310..1695e89e01 100644 --- a/src/EntityComponentManager.cc +++ b/src/EntityComponentManager.cc @@ -1515,9 +1515,9 @@ void EntityComponentManager::AddEntityToMessage(msgs::SerializedStateMap &_msg, } ////////////////////////////////////////////////// -ignition::msgs::SerializedState EntityComponentManager::ChangedState() const +msgs::SerializedState EntityComponentManager::ChangedState() const { - ignition::msgs::SerializedState stateMsg; + msgs::SerializedState stateMsg; // New entities for (const auto &entity : this->dataPtr->newlyCreatedEntities) @@ -1542,7 +1542,7 @@ ignition::msgs::SerializedState EntityComponentManager::ChangedState() const ////////////////////////////////////////////////// void EntityComponentManager::ChangedState( - ignition::msgs::SerializedStateMap &_state) const + msgs::SerializedStateMap &_state) const { // New entities for (const auto &entity : this->dataPtr->newlyCreatedEntities) @@ -1610,11 +1610,11 @@ void EntityComponentManagerPrivate::CalculateStateThreadLoad() } ////////////////////////////////////////////////// -ignition::msgs::SerializedState EntityComponentManager::State( +msgs::SerializedState EntityComponentManager::State( const std::unordered_set &_entities, const std::unordered_set &_types) const { - ignition::msgs::SerializedState stateMsg; + msgs::SerializedState stateMsg; for (const auto &it : this->dataPtr->componentTypeIndex) { auto entity = it.first; @@ -1680,7 +1680,7 @@ void EntityComponentManager::State( ////////////////////////////////////////////////// void EntityComponentManager::SetState( - const ignition::msgs::SerializedState &_stateMsg) + const msgs::SerializedState &_stateMsg) { IGN_PROFILE("EntityComponentManager::SetState Non-map"); // Create / remove / update entities @@ -1778,7 +1778,7 @@ void EntityComponentManager::SetState( ////////////////////////////////////////////////// void EntityComponentManager::SetState( - const ignition::msgs::SerializedStateMap &_stateMsg) + const msgs::SerializedStateMap &_stateMsg) { IGN_PROFILE("EntityComponentManager::SetState Map"); // Create / remove / update entities diff --git a/src/EntityComponentManager_TEST.cc b/src/EntityComponentManager_TEST.cc index ac8cb416ab..c627d5d3e4 100644 --- a/src/EntityComponentManager_TEST.cc +++ b/src/EntityComponentManager_TEST.cc @@ -52,27 +52,27 @@ using IntComponent = components::Component; IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.IntComponent", IntComponent) -using UIntComponent = components::Component; +using UIntComponent = Component; IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.UIntComponent", UIntComponent) -using DoubleComponent = components::Component; +using DoubleComponent = Component; IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.DoubleComponent", DoubleComponent) using StringComponent = - components::Component; + Component; IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.StringComponent", StringComponent) -using BoolComponent = components::Component; +using BoolComponent = Component; IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.BoolComponent", BoolComponent) -using Even = components::Component; +using Even = Component; IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.Even", Even) -using Odd = components::Component; +using Odd = Component; IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.Odd", Odd) struct Custom @@ -80,7 +80,7 @@ struct Custom int dummy{123}; }; -using CustomComponent = components::Component; +using CustomComponent = Component; IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.CustomComponent", CustomComponent) } @@ -394,19 +394,19 @@ TEST_P(EntityComponentManagerFixture, } { - const auto *value = manager.Component(ePose); + const auto *value = manager.Component(ePose); ASSERT_NE(nullptr, value); EXPECT_EQ(math::Pose3d(1, 2, 3, 0, 0, 0), value->Data()); - auto data = manager.ComponentData(ePose); + auto data = manager.ComponentData(ePose); EXPECT_EQ(math::Pose3d(1, 2, 3, 0, 0, 0), data); - EXPECT_TRUE(manager.SetComponentData(ePose, + EXPECT_TRUE(manager.SetComponentData(ePose, {4, 5, 6, 0, 0, 0})); - data = manager.ComponentData(ePose); + data = manager.ComponentData(ePose); EXPECT_EQ(math::Pose3d(4, 5, 6, 0, 0, 0), data); - EXPECT_FALSE(manager.SetComponentData(ePose, + EXPECT_FALSE(manager.SetComponentData(ePose, {4, 5, 6, 0, 0, 0})); } @@ -1533,11 +1533,11 @@ TEST_P(EntityComponentManagerFixture, EXPECT_TRUE(manager.SetParentEntity(e6, e2)); EXPECT_TRUE(manager.SetParentEntity(e7, e2)); - EXPECT_FALSE(manager.SetParentEntity(e1, gazebo::Entity(1000))); - EXPECT_FALSE(manager.SetParentEntity(gazebo::Entity(1000), e1)); + EXPECT_FALSE(manager.SetParentEntity(e1, Entity(1000))); + EXPECT_FALSE(manager.SetParentEntity(Entity(1000), e1)); // Check their parents - EXPECT_EQ(gazebo::kNullEntity, manager.ParentEntity(e1)); + EXPECT_EQ(kNullEntity, manager.ParentEntity(e1)); EXPECT_EQ(e1, manager.ParentEntity(e2)); EXPECT_EQ(e1, manager.ParentEntity(e3)); EXPECT_EQ(e2, manager.ParentEntity(e4)); @@ -1546,8 +1546,8 @@ TEST_P(EntityComponentManagerFixture, EXPECT_EQ(e2, manager.ParentEntity(e7)); // Detach from graph - EXPECT_TRUE(manager.SetParentEntity(e7, gazebo::kNullEntity)); - EXPECT_EQ(gazebo::kNullEntity, manager.ParentEntity(e7)); + EXPECT_TRUE(manager.SetParentEntity(e7, kNullEntity)); + EXPECT_EQ(kNullEntity, manager.ParentEntity(e7)); // Reparent EXPECT_TRUE(manager.SetParentEntity(e5, e3)); @@ -3082,11 +3082,11 @@ TEST_P(EntityComponentManagerFixture, // create an entity and component auto entity = originalECMStateMap.CreateEntity(); - originalECMStateMap.CreateComponent(entity, components::IntComponent(1)); + originalECMStateMap.CreateComponent(entity, IntComponent(1)); int foundEntities = 0; - otherECMStateMap.Each( - [&](const Entity &, const components::IntComponent *) + otherECMStateMap.Each( + [&](const Entity &, const IntComponent *) { foundEntities++; return true; @@ -3098,8 +3098,8 @@ TEST_P(EntityComponentManagerFixture, originalECMStateMap.State(stateMapMsg); otherECMStateMap.SetState(stateMapMsg); foundEntities = 0; - otherECMStateMap.Each( - [&](const Entity &, const components::IntComponent *_intComp) + otherECMStateMap.Each( + [&](const Entity &, const IntComponent *_intComp) { foundEntities++; EXPECT_EQ(1, _intComp->Data()); @@ -3109,12 +3109,12 @@ TEST_P(EntityComponentManagerFixture, // modify a component and then share the update with the other ECM stateMapMsg.Clear(); - originalECMStateMap.SetComponentData(entity, 2); + originalECMStateMap.SetComponentData(entity, 2); originalECMStateMap.State(stateMapMsg); otherECMStateMap.SetState(stateMapMsg); foundEntities = 0; - otherECMStateMap.Each( - [&](const Entity &, const components::IntComponent *_intComp) + otherECMStateMap.Each( + [&](const Entity &, const IntComponent *_intComp) { foundEntities++; EXPECT_EQ(2, _intComp->Data()); @@ -3128,8 +3128,8 @@ TEST_P(EntityComponentManagerFixture, EntityComponentManager otherECMState; foundEntities = 0; - otherECMState.Each( - [&](const Entity &, const components::IntComponent *) + otherECMState.Each( + [&](const Entity &, const IntComponent *) { foundEntities++; return true; @@ -3137,13 +3137,13 @@ TEST_P(EntityComponentManagerFixture, EXPECT_EQ(0, foundEntities); entity = originalECMState.CreateEntity(); - originalECMState.CreateComponent(entity, components::IntComponent(1)); + originalECMState.CreateComponent(entity, IntComponent(1)); auto stateMsg = originalECMState.State(); otherECMState.SetState(stateMsg); foundEntities = 0; - otherECMState.Each( - [&](const Entity &, const components::IntComponent *_intComp) + otherECMState.Each( + [&](const Entity &, const IntComponent *_intComp) { foundEntities++; EXPECT_EQ(1, _intComp->Data()); @@ -3152,12 +3152,12 @@ TEST_P(EntityComponentManagerFixture, EXPECT_EQ(1, foundEntities); stateMsg.Clear(); - originalECMState.SetComponentData(entity, 2); + originalECMState.SetComponentData(entity, 2); stateMsg = originalECMState.State(); otherECMState.SetState(stateMsg); foundEntities = 0; - otherECMState.Each( - [&](const Entity &, const components::IntComponent *_intComp) + otherECMState.Each( + [&](const Entity &, const IntComponent *_intComp) { foundEntities++; EXPECT_EQ(2, _intComp->Data()); diff --git a/src/SdfEntityCreator_TEST.cc b/src/SdfEntityCreator_TEST.cc index 12554dbf7e..6c9c6247e7 100644 --- a/src/SdfEntityCreator_TEST.cc +++ b/src/SdfEntityCreator_TEST.cc @@ -59,7 +59,7 @@ using namespace ignition; using namespace gazebo; ///////////////////////////////////////////////// -class EntityCompMgrTest : public gazebo::EntityComponentManager +class EntityCompMgrTest : public EntityComponentManager { public: void ProcessEntityRemovals() { @@ -167,21 +167,21 @@ TEST_F(SdfEntityCreatorTest, CreateEntities) if (modelCount == 1) { - EXPECT_EQ(ignition::math::Pose3d(1, 2, 3, 0, 0, 1), + EXPECT_EQ(math::Pose3d(1, 2, 3, 0, 0, 1), _pose->Data()); EXPECT_EQ("box", _name->Data()); boxModelEntity = _entity; } else if (modelCount == 2) { - EXPECT_EQ(ignition::math::Pose3d(-1, -2, -3, 0, 0, 1), + EXPECT_EQ(math::Pose3d(-1, -2, -3, 0, 0, 1), _pose->Data()); EXPECT_EQ("cylinder", _name->Data()); cylModelEntity = _entity; } else if (modelCount == 3) { - EXPECT_EQ(ignition::math::Pose3d(0, 0, 0, 0, 0, 1), + EXPECT_EQ(math::Pose3d(0, 0, 0, 0, 0, 1), _pose->Data()); EXPECT_EQ("sphere", _name->Data()); sphModelEntity = _entity; @@ -236,7 +236,7 @@ TEST_F(SdfEntityCreatorTest, CreateEntities) if (linkCount == 1) { - EXPECT_EQ(ignition::math::Pose3d(0.1, 0.1, 0.1, 0, 0, 0), + EXPECT_EQ(math::Pose3d(0.1, 0.1, 0.1, 0, 0, 0), _pose->Data()); EXPECT_EQ("box_link", _name->Data()); @@ -247,7 +247,7 @@ TEST_F(SdfEntityCreatorTest, CreateEntities) } else if (linkCount == 2) { - EXPECT_EQ(ignition::math::Pose3d(0.2, 0.2, 0.2, 0, 0, 0), + EXPECT_EQ(math::Pose3d(0.2, 0.2, 0.2, 0, 0, 0), _pose->Data()); EXPECT_EQ("cylinder_link", _name->Data()); @@ -258,7 +258,7 @@ TEST_F(SdfEntityCreatorTest, CreateEntities) } else if (linkCount == 3) { - EXPECT_EQ(ignition::math::Pose3d(0.3, 0.3, 0.3, 0, 0, 0), + EXPECT_EQ(math::Pose3d(0.3, 0.3, 0.3, 0, 0, 0), _pose->Data()); EXPECT_EQ("sphere_link", _name->Data()); @@ -370,7 +370,7 @@ TEST_F(SdfEntityCreatorTest, CreateEntities) if (collisionCount == 1) { - EXPECT_EQ(ignition::math::Pose3d(0.11, 0.11, 0.11, 0, 0, 0), + EXPECT_EQ(math::Pose3d(0.11, 0.11, 0.11, 0, 0, 0), _pose->Data()); EXPECT_EQ("box_collision", _name->Data()); @@ -385,7 +385,7 @@ TEST_F(SdfEntityCreatorTest, CreateEntities) } else if (collisionCount == 2) { - EXPECT_EQ(ignition::math::Pose3d(0.21, 0.21, 0.21, 0, 0, 0), + EXPECT_EQ(math::Pose3d(0.21, 0.21, 0.21, 0, 0, 0), _pose->Data()); EXPECT_EQ("cylinder_collision", _name->Data()); @@ -400,7 +400,7 @@ TEST_F(SdfEntityCreatorTest, CreateEntities) } else if (collisionCount == 3) { - EXPECT_EQ(ignition::math::Pose3d(0.31, 0.31, 0.31, 0, 0, 0), + EXPECT_EQ(math::Pose3d(0.31, 0.31, 0.31, 0, 0, 0), _pose->Data()); EXPECT_EQ("sphere_collision", _name->Data()); @@ -485,7 +485,7 @@ TEST_F(SdfEntityCreatorTest, CreateEntities) if (visualCount == 1) { - EXPECT_EQ(ignition::math::Pose3d(0.12, 0.12, 0.12, 0, 0, 0), + EXPECT_EQ(math::Pose3d(0.12, 0.12, 0.12, 0, 0, 0), _pose->Data()); EXPECT_EQ("box_visual", _name->Data()); @@ -511,7 +511,7 @@ TEST_F(SdfEntityCreatorTest, CreateEntities) } else if (visualCount == 2) { - EXPECT_EQ(ignition::math::Pose3d(0.22, 0.22, 0.22, 0, 0, 0), + EXPECT_EQ(math::Pose3d(0.22, 0.22, 0.22, 0, 0, 0), _pose->Data()); EXPECT_EQ("cylinder_visual", _name->Data()); @@ -537,7 +537,7 @@ TEST_F(SdfEntityCreatorTest, CreateEntities) } else if (visualCount == 3) { - EXPECT_EQ(ignition::math::Pose3d(0.32, 0.32, 0.32, 0, 0, 0), + EXPECT_EQ(math::Pose3d(0.32, 0.32, 0.32, 0, 0, 0), _pose->Data()); EXPECT_EQ("sphere_visual", _name->Data()); @@ -636,7 +636,7 @@ TEST_F(SdfEntityCreatorTest, CreateEntities) lightCount++; - EXPECT_EQ(ignition::math::Pose3d(0.0, 0.0, 10, 0, 0, 0), + EXPECT_EQ(math::Pose3d(0.0, 0.0, 10, 0, 0, 0), _pose->Data()); EXPECT_EQ("sun", _name->Data()); @@ -646,19 +646,19 @@ TEST_F(SdfEntityCreatorTest, CreateEntities) EXPECT_EQ("sun", _light->Data().Name()); EXPECT_EQ(sdf::LightType::DIRECTIONAL, _light->Data().Type()); - EXPECT_EQ(ignition::math::Pose3d(0, 0, 10, 0, 0, 0), + EXPECT_EQ(math::Pose3d(0, 0, 10, 0, 0, 0), _light->Data().RawPose()); EXPECT_EQ("", _light->Data().PoseRelativeTo()); EXPECT_TRUE(_light->Data().CastShadows()); - EXPECT_EQ(ignition::math::Color(0.8f, 0.8f, 0.8f, 1), + EXPECT_EQ(math::Color(0.8f, 0.8f, 0.8f, 1), _light->Data().Diffuse()); - EXPECT_EQ(ignition::math::Color(0.2f, 0.2f, 0.2f, 1), + EXPECT_EQ(math::Color(0.2f, 0.2f, 0.2f, 1), _light->Data().Specular()); EXPECT_DOUBLE_EQ(1000, _light->Data().AttenuationRange()); EXPECT_DOUBLE_EQ(0.9, _light->Data().ConstantAttenuationFactor()); EXPECT_DOUBLE_EQ(0.01, _light->Data().LinearAttenuationFactor()); EXPECT_DOUBLE_EQ(0.001, _light->Data().QuadraticAttenuationFactor()); - EXPECT_EQ(ignition::math::Vector3d(-0.5, 0.1, -0.9), + EXPECT_EQ(math::Vector3d(-0.5, 0.1, -0.9), _light->Data().Direction()); return true; }); @@ -733,7 +733,7 @@ TEST_F(SdfEntityCreatorTest, CreateLights) EXPECT_EQ(worldEntity, _parent->Data()); EXPECT_EQ(worldEntity, this->ecm.ParentEntity(_entity)); - EXPECT_EQ(ignition::math::Pose3d(0, 0, 0, 0, 0, 0), + EXPECT_EQ(math::Pose3d(0, 0, 0, 0, 0, 0), _pose->Data()); EXPECT_EQ("sphere", _name->Data()); sphModelEntity = _entity; @@ -764,7 +764,7 @@ TEST_F(SdfEntityCreatorTest, CreateLights) linkCount++; - EXPECT_EQ(ignition::math::Pose3d(0.0, 0.0, 0.0, 0, 0, 0), + EXPECT_EQ(math::Pose3d(0.0, 0.0, 0.0, 0, 0, 0), _pose->Data()); EXPECT_EQ("sphere_link", _name->Data()); EXPECT_EQ(sphModelEntity, _parent->Data()); @@ -803,7 +803,7 @@ TEST_F(SdfEntityCreatorTest, CreateLights) visualCount++; - EXPECT_EQ(ignition::math::Pose3d(0.0, 0.0, 0.0, 0, 0, 0), + EXPECT_EQ(math::Pose3d(0.0, 0.0, 0.0, 0, 0, 0), _pose->Data()); EXPECT_EQ("sphere_visual", _name->Data()); @@ -845,7 +845,7 @@ TEST_F(SdfEntityCreatorTest, CreateLights) // light attached to link if (lightCount == 1u) { - EXPECT_EQ(ignition::math::Pose3d(0.0, 0.0, 1.0, 0, 0, 0), + EXPECT_EQ(math::Pose3d(0.0, 0.0, 1.0, 0, 0, 0), _pose->Data()); EXPECT_EQ("link_light_point", _name->Data()); @@ -854,13 +854,13 @@ TEST_F(SdfEntityCreatorTest, CreateLights) EXPECT_EQ("link_light_point", _light->Data().Name()); EXPECT_EQ(sdf::LightType::POINT, _light->Data().Type()); - EXPECT_EQ(ignition::math::Pose3d(0, 0, 1, 0, 0, 0), + EXPECT_EQ(math::Pose3d(0, 0, 1, 0, 0, 0), _light->Data().RawPose()); EXPECT_EQ(std::string(), _light->Data().PoseRelativeTo()); EXPECT_FALSE(_light->Data().CastShadows()); - EXPECT_EQ(ignition::math::Color(0.0f, 0.0f, 1.0f, 1), + EXPECT_EQ(math::Color(0.0f, 0.0f, 1.0f, 1), _light->Data().Diffuse()); - EXPECT_EQ(ignition::math::Color(0.1f, 0.1f, 0.1f, 1), + EXPECT_EQ(math::Color(0.1f, 0.1f, 0.1f, 1), _light->Data().Specular()); EXPECT_DOUBLE_EQ(2, _light->Data().AttenuationRange()); EXPECT_DOUBLE_EQ(0.05, _light->Data().ConstantAttenuationFactor()); @@ -870,7 +870,7 @@ TEST_F(SdfEntityCreatorTest, CreateLights) // directional light in the world else if (lightCount == 2u) { - EXPECT_EQ(ignition::math::Pose3d(0.0, 0.0, 10, 0, 0, 0), + EXPECT_EQ(math::Pose3d(0.0, 0.0, 10, 0, 0, 0), _pose->Data()); EXPECT_EQ("directional", _name->Data()); @@ -879,25 +879,25 @@ TEST_F(SdfEntityCreatorTest, CreateLights) EXPECT_EQ("directional", _light->Data().Name()); EXPECT_EQ(sdf::LightType::DIRECTIONAL, _light->Data().Type()); - EXPECT_EQ(ignition::math::Pose3d(0, 0, 10, 0, 0, 0), + EXPECT_EQ(math::Pose3d(0, 0, 10, 0, 0, 0), _light->Data().RawPose()); EXPECT_EQ(std::string(), _light->Data().PoseRelativeTo()); EXPECT_TRUE(_light->Data().CastShadows()); - EXPECT_EQ(ignition::math::Color(0.8f, 0.8f, 0.8f, 1), + EXPECT_EQ(math::Color(0.8f, 0.8f, 0.8f, 1), _light->Data().Diffuse()); - EXPECT_EQ(ignition::math::Color(0.2f, 0.2f, 0.2f, 1), + EXPECT_EQ(math::Color(0.2f, 0.2f, 0.2f, 1), _light->Data().Specular()); EXPECT_DOUBLE_EQ(100, _light->Data().AttenuationRange()); EXPECT_DOUBLE_EQ(0.9, _light->Data().ConstantAttenuationFactor()); EXPECT_DOUBLE_EQ(0.01, _light->Data().LinearAttenuationFactor()); EXPECT_DOUBLE_EQ(0.001, _light->Data().QuadraticAttenuationFactor()); - EXPECT_EQ(ignition::math::Vector3d(0.5, 0.2, -0.9), + EXPECT_EQ(math::Vector3d(0.5, 0.2, -0.9), _light->Data().Direction()); } // point light in the world else if (lightCount == 3u) { - EXPECT_EQ(ignition::math::Pose3d(0.0, -1.5, 3, 0, 0, 0), + EXPECT_EQ(math::Pose3d(0.0, -1.5, 3, 0, 0, 0), _pose->Data()); EXPECT_EQ("point", _name->Data()); @@ -906,13 +906,13 @@ TEST_F(SdfEntityCreatorTest, CreateLights) EXPECT_EQ("point", _light->Data().Name()); EXPECT_EQ(sdf::LightType::POINT, _light->Data().Type()); - EXPECT_EQ(ignition::math::Pose3d(0, -1.5, 3, 0, 0, 0), + EXPECT_EQ(math::Pose3d(0, -1.5, 3, 0, 0, 0), _light->Data().RawPose()); EXPECT_EQ(std::string(), _light->Data().PoseRelativeTo()); EXPECT_FALSE(_light->Data().CastShadows()); - EXPECT_EQ(ignition::math::Color(1.0f, 0.0f, 0.0f, 1), + EXPECT_EQ(math::Color(1.0f, 0.0f, 0.0f, 1), _light->Data().Diffuse()); - EXPECT_EQ(ignition::math::Color(0.1f, 0.1f, 0.1f, 1), + EXPECT_EQ(math::Color(0.1f, 0.1f, 0.1f, 1), _light->Data().Specular()); EXPECT_DOUBLE_EQ(4, _light->Data().AttenuationRange()); EXPECT_DOUBLE_EQ(0.2, _light->Data().ConstantAttenuationFactor()); @@ -922,7 +922,7 @@ TEST_F(SdfEntityCreatorTest, CreateLights) // spot light in the world else if (lightCount == 4u) { - EXPECT_EQ(ignition::math::Pose3d(0.0, 1.5, 3, 0, 0, 0), + EXPECT_EQ(math::Pose3d(0.0, 1.5, 3, 0, 0, 0), _pose->Data()); EXPECT_EQ("spot", _name->Data()); @@ -931,19 +931,19 @@ TEST_F(SdfEntityCreatorTest, CreateLights) EXPECT_EQ("spot", _light->Data().Name()); EXPECT_EQ(sdf::LightType::SPOT, _light->Data().Type()); - EXPECT_EQ(ignition::math::Pose3d(0, 1.5, 3, 0, 0, 0), + EXPECT_EQ(math::Pose3d(0, 1.5, 3, 0, 0, 0), _light->Data().RawPose()); EXPECT_EQ(std::string(), _light->Data().PoseRelativeTo()); EXPECT_FALSE(_light->Data().CastShadows()); - EXPECT_EQ(ignition::math::Color(0.0f, 1.0f, 0.0f, 1), + EXPECT_EQ(math::Color(0.0f, 1.0f, 0.0f, 1), _light->Data().Diffuse()); - EXPECT_EQ(ignition::math::Color(0.2f, 0.2f, 0.2f, 1), + EXPECT_EQ(math::Color(0.2f, 0.2f, 0.2f, 1), _light->Data().Specular()); EXPECT_DOUBLE_EQ(5, _light->Data().AttenuationRange()); EXPECT_DOUBLE_EQ(0.3, _light->Data().ConstantAttenuationFactor()); EXPECT_DOUBLE_EQ(0.4, _light->Data().LinearAttenuationFactor()); EXPECT_DOUBLE_EQ(0.001, _light->Data().QuadraticAttenuationFactor()); - EXPECT_EQ(ignition::math::Vector3d(0.0, 0.0, -1.0), + EXPECT_EQ(math::Vector3d(0.0, 0.0, -1.0), _light->Data().Direction()); EXPECT_DOUBLE_EQ(0.1, _light->Data().SpotInnerAngle().Radian()); EXPECT_DOUBLE_EQ(0.5, _light->Data().SpotOuterAngle().Radian()); @@ -1218,7 +1218,7 @@ size_t removedCount(EntityCompMgrTest &_manager) { size_t count = 0; _manager.EachRemoved( - [&](const ignition::gazebo::Entity &, const Ts *...) -> bool + [&](const Entity &, const Ts *...) -> bool { ++count; return true; diff --git a/src/SdfGenerator_TEST.cc b/src/SdfGenerator_TEST.cc index 1478ff02b2..a299d45b7f 100644 --- a/src/SdfGenerator_TEST.cc +++ b/src/SdfGenerator_TEST.cc @@ -644,17 +644,17 @@ TEST_F(ElementUpdateFixture, WorldWithModelsIncludedNotExpanded) TEST_F(ElementUpdateFixture, WorldWithModelsIncludedWithInvalidUris) { const std::string goodUri = - "https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Backpack/2"; + "https://fuel.gazebosim.org/1.0/OpenRobotics/models/Backpack/2"; // These are URIs that are potentially problematic. const std::vector fuelUris = { // Thes following two URIs are valid, but have a trailing '/' - "https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Backpack/", - "https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Backpack/2/", + "https://fuel.gazebosim.org/1.0/OpenRobotics/models/Backpack/", + "https://fuel.gazebosim.org/1.0/OpenRobotics/models/Backpack/2/", // Thes following two URIs are invalid, and will not be saved - "https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Backpack/" + "https://fuel.gazebosim.org/1.0/OpenRobotics/models/Backpack/" "notInt", - "https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Backpack/" + "https://fuel.gazebosim.org/1.0/OpenRobotics/models/Backpack/" "notInt/", }; @@ -709,7 +709,7 @@ TEST_F(ElementUpdateFixture, WorldWithModelsIncludedWithInvalidUris) TEST_F(ElementUpdateFixture, WorldWithModelsIncludedWithNonFuelUris) { const std::vector includeUris = { - "https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Backpack", + "https://fuel.gazebosim.org/1.0/OpenRobotics/models/Backpack", std::string("file://") + PROJECT_SOURCE_PATH + "/test/worlds/models/sphere"}; diff --git a/src/ServerConfig.cc b/src/ServerConfig.cc index ba50a7369c..d5c6d027bb 100644 --- a/src/ServerConfig.cc +++ b/src/ServerConfig.cc @@ -315,7 +315,7 @@ class ignition::gazebo::ServerConfigPrivate public: std::string logRecordCompressPath = ""; /// \brief Path to where simulation resources, such as models downloaded - /// from fuel.ignitionrobotics.org, should be stored. + /// from fuel.gazebosim.org, should be stored. public: std::string resourceCache = ""; /// \brief File containing physics engine plugin. If empty, DART will be used. @@ -561,7 +561,7 @@ unsigned int ServerConfig::Seed() const void ServerConfig::SetSeed(unsigned int _seed) { this->dataPtr->seed = _seed; - ignition::math::Rand::Seed(_seed); + math::Rand::Seed(_seed); } ///////////////////////////////////////////////// @@ -902,7 +902,7 @@ parsePluginsFromDoc(const tinyxml2::XMLDocument &_doc) ///////////////////////////////////////////////// std::list -ignition::gazebo::parsePluginsFromFile(const std::string &_fname) +gazebo::parsePluginsFromFile(const std::string &_fname) { tinyxml2::XMLDocument doc; doc.LoadFile(_fname.c_str()); @@ -911,7 +911,7 @@ ignition::gazebo::parsePluginsFromFile(const std::string &_fname) ///////////////////////////////////////////////// std::list -ignition::gazebo::parsePluginsFromString(const std::string &_str) +gazebo::parsePluginsFromString(const std::string &_str) { tinyxml2::XMLDocument doc; doc.Parse(_str.c_str()); @@ -920,28 +920,28 @@ ignition::gazebo::parsePluginsFromString(const std::string &_str) ///////////////////////////////////////////////// std::list -ignition::gazebo::loadPluginInfo(bool _isPlayback) +gazebo::loadPluginInfo(bool _isPlayback) { std::list ret; // 1. Check contents of environment variable std::string envConfig; - bool configSet = ignition::common::env(gazebo::kServerConfigPathEnv, + bool configSet = common::env(kServerConfigPathEnv, envConfig, true); if (configSet) { - if (ignition::common::exists(envConfig)) + if (common::exists(envConfig)) { // Parse configuration stored in environment variable - ret = ignition::gazebo::parsePluginsFromFile(envConfig); + ret = gazebo::parsePluginsFromFile(envConfig); if (ret.empty()) { // This may be desired behavior, but warn just in case. // Some users may want to defer all loading until later // during runtime. - ignwarn << gazebo::kServerConfigPathEnv + ignwarn << kServerConfigPathEnv << " set but no plugins found\n"; } igndbg << "Loaded (" << ret.size() << ") plugins from file " << @@ -954,7 +954,7 @@ ignition::gazebo::loadPluginInfo(bool _isPlayback) // This may be desired behavior, but warn just in case. // Some users may want to defer all loading until late // during runtime. - ignwarn << gazebo::kServerConfigPathEnv + ignwarn << kServerConfigPathEnv << " set but no file found," << " no plugins loaded\n"; return ret; @@ -972,27 +972,27 @@ ignition::gazebo::loadPluginInfo(bool _isPlayback) } std::string defaultConfigDir; - ignition::common::env(IGN_HOMEDIR, defaultConfigDir); - defaultConfigDir = ignition::common::joinPaths(defaultConfigDir, ".ignition", + common::env(IGN_HOMEDIR, defaultConfigDir); + defaultConfigDir = common::joinPaths(defaultConfigDir, ".ignition", "gazebo", IGNITION_GAZEBO_MAJOR_VERSION_STR); - auto defaultConfig = ignition::common::joinPaths(defaultConfigDir, + auto defaultConfig = common::joinPaths(defaultConfigDir, configFilename); - if (!ignition::common::exists(defaultConfig)) + if (!common::exists(defaultConfig)) { - auto installedConfig = ignition::common::joinPaths( + auto installedConfig = common::joinPaths( IGNITION_GAZEBO_SERVER_CONFIG_PATH, configFilename); - if (!ignition::common::createDirectories(defaultConfigDir)) + if (!common::createDirectories(defaultConfigDir)) { ignerr << "Failed to create directory [" << defaultConfigDir << "]." << std::endl; return ret; } - if (!ignition::common::exists(installedConfig)) + if (!common::exists(installedConfig)) { ignerr << "Failed to copy installed config [" << installedConfig << "] to default config [" << defaultConfig << "]." @@ -1000,7 +1000,7 @@ ignition::gazebo::loadPluginInfo(bool _isPlayback) << std::endl; return ret; } - else if (!ignition::common::copyFile(installedConfig, defaultConfig)) + else if (!common::copyFile(installedConfig, defaultConfig)) { ignerr << "Failed to copy installed config [" << installedConfig << "] to default config [" << defaultConfig << "]." @@ -1015,7 +1015,7 @@ ignition::gazebo::loadPluginInfo(bool _isPlayback) } } - ret = ignition::gazebo::parsePluginsFromFile(defaultConfig); + ret = gazebo::parsePluginsFromFile(defaultConfig); if (ret.empty()) { diff --git a/src/ServerConfig_TEST.cc b/src/ServerConfig_TEST.cc index 4e7b7c9aa4..351bf06410 100644 --- a/src/ServerConfig_TEST.cc +++ b/src/ServerConfig_TEST.cc @@ -191,11 +191,11 @@ TEST(ParsePluginsFromFile, PlaybackConfig) TEST(LoadPluginInfo, FromEmptyEnv) { // Set environment to something that doesn't exist - ASSERT_TRUE(common::setenv(gazebo::kServerConfigPathEnv, "foo")); + ASSERT_TRUE(common::setenv(kServerConfigPathEnv, "foo")); auto plugins = loadPluginInfo(); EXPECT_EQ(0u, plugins.size()); - EXPECT_TRUE(common::unsetenv(gazebo::kServerConfigPathEnv)); + EXPECT_TRUE(common::unsetenv(kServerConfigPathEnv)); } ////////////////////////////////////////////////// @@ -204,7 +204,7 @@ TEST(LoadPluginInfo, FromValidEnv) auto validPath = common::joinPaths(PROJECT_SOURCE_PATH, "test", "worlds", "server_valid2.config"); - ASSERT_TRUE(common::setenv(gazebo::kServerConfigPathEnv, validPath)); + ASSERT_TRUE(common::setenv(kServerConfigPathEnv, validPath)); auto plugins = loadPluginInfo(); ASSERT_EQ(2u, plugins.size()); @@ -226,7 +226,7 @@ TEST(LoadPluginInfo, FromValidEnv) EXPECT_EQ("ignition::gazebo::TestModelSystem", plugin->Name()); EXPECT_EQ("ignition::gazebo::TestModelSystem", plugin->Plugin().Name()); - EXPECT_TRUE(common::unsetenv(gazebo::kServerConfigPathEnv)); + EXPECT_TRUE(common::unsetenv(kServerConfigPathEnv)); } ////////////////////////////////////////////////// diff --git a/src/ServerPrivate.cc b/src/ServerPrivate.cc index 6f1929b82e..fffbb62dba 100644 --- a/src/ServerPrivate.cc +++ b/src/ServerPrivate.cc @@ -381,7 +381,7 @@ void ServerPrivate::SetupTransport() } ////////////////////////////////////////////////// -bool ServerPrivate::WorldsService(ignition::msgs::StringMsg_V &_res) +bool ServerPrivate::WorldsService(msgs::StringMsg_V &_res) { std::lock_guard lock(this->worldsMutex); @@ -397,7 +397,7 @@ bool ServerPrivate::WorldsService(ignition::msgs::StringMsg_V &_res) ////////////////////////////////////////////////// bool ServerPrivate::ServerControlService( - const ignition::msgs::ServerControl &_req, msgs::Boolean &_res) + const msgs::ServerControl &_req, msgs::Boolean &_res) { _res.set_data(false); @@ -440,7 +440,7 @@ bool ServerPrivate::ServerControlService( ////////////////////////////////////////////////// void ServerPrivate::AddResourcePathsService( - const ignition::msgs::StringMsg_V &_req) + const msgs::StringMsg_V &_req) { std::vector paths; for (int i = 0; i < _req.data_size(); ++i) @@ -463,7 +463,7 @@ void ServerPrivate::AddResourcePathsService( ////////////////////////////////////////////////// bool ServerPrivate::ResourcePathsService( - ignition::msgs::StringMsg_V &_res) + msgs::StringMsg_V &_res) { _res.Clear(); diff --git a/src/Server_TEST.cc b/src/Server_TEST.cc index 6023c036ea..59879223b5 100644 --- a/src/Server_TEST.cc +++ b/src/Server_TEST.cc @@ -54,7 +54,7 @@ class ServerFixture : public InternalFixture<::testing::TestWithParam> // See https://github.com/ignitionrobotics/ign-gazebo/issues/1175 TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(DefaultServerConfig)) { - ignition::gazebo::ServerConfig serverConfig; + ServerConfig serverConfig; EXPECT_TRUE(serverConfig.SdfFile().empty()); EXPECT_TRUE(serverConfig.SdfString().empty()); EXPECT_FALSE(serverConfig.UpdateRate()); @@ -110,7 +110,7 @@ TEST_P(ServerFixture, ServerConfigPluginInfo) pluginInfo.SetName("interface"); pluginInfo.SetSdf(nullptr); - ignition::gazebo::ServerConfig serverConfig; + ServerConfig serverConfig; serverConfig.AddPlugin(pluginInfo); const std::list &plugins = serverConfig.Plugins(); @@ -331,7 +331,7 @@ TEST_P(ServerFixture, ///////////////////////////////////////////////// TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(SdfServerConfig)) { - ignition::gazebo::ServerConfig serverConfig; + ServerConfig serverConfig; serverConfig.SetSdfString(TestWorldSansPhysics::World()); EXPECT_TRUE(serverConfig.SdfFile().empty()); @@ -476,7 +476,7 @@ TEST_P(ServerFixture, ///////////////////////////////////////////////// TEST_P(ServerFixture, SdfStringServerConfig) { - ignition::gazebo::ServerConfig serverConfig; + ServerConfig serverConfig; serverConfig.SetSdfFile(common::joinPaths(PROJECT_SOURCE_PATH, "test", "worlds", "shapes.sdf")); @@ -691,7 +691,7 @@ TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(RunOncePaused)) ///////////////////////////////////////////////// TEST_P(ServerFixture, RunNonBlockingMultiple) { - ignition::gazebo::ServerConfig serverConfig; + ServerConfig serverConfig; serverConfig.SetSdfString(TestWorldSansPhysics::World()); gazebo::Server server(serverConfig); @@ -792,7 +792,7 @@ TEST_P(ServerFixture, ServerControlStop) ///////////////////////////////////////////////// TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(AddSystemWhileRunning)) { - ignition::gazebo::ServerConfig serverConfig; + ServerConfig serverConfig; serverConfig.SetSdfFile(common::joinPaths(PROJECT_SOURCE_PATH, "test", "worlds", "shapes.sdf")); @@ -840,7 +840,7 @@ TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(AddSystemWhileRunning)) ///////////////////////////////////////////////// TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(AddSystemAfterLoad)) { - ignition::gazebo::ServerConfig serverConfig; + ServerConfig serverConfig; serverConfig.SetSdfFile(common::joinPaths(PROJECT_SOURCE_PATH, "test", "worlds", "shapes.sdf")); @@ -903,18 +903,18 @@ TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(AddSystemAfterLoad)) ///////////////////////////////////////////////// TEST_P(ServerFixture, Seed) { - ignition::gazebo::ServerConfig serverConfig; + ServerConfig serverConfig; EXPECT_EQ(0u, serverConfig.Seed()); unsigned int mySeed = 12345u; serverConfig.SetSeed(mySeed); EXPECT_EQ(mySeed, serverConfig.Seed()); - EXPECT_EQ(mySeed, ignition::math::Rand::Seed()); + EXPECT_EQ(mySeed, math::Rand::Seed()); } ///////////////////////////////////////////////// TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(ResourcePath)) { - ignition::common::setenv("IGN_GAZEBO_RESOURCE_PATH", + common::setenv("IGN_GAZEBO_RESOURCE_PATH", (common::joinPaths(PROJECT_SOURCE_PATH, "test", "worlds:") + common::joinPaths(PROJECT_SOURCE_PATH, "test", "worlds", "models")).c_str()); @@ -974,7 +974,7 @@ TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(ResourcePath)) // Check physics system loaded meshes and got their BB correct eachCount = 0; _ecm.Each( - [&](const ignition::gazebo::Entity &, + [&](const Entity &, const components::AxisAlignedBox *_box)->bool { auto box = _box->Data(); @@ -1003,7 +1003,7 @@ TEST_P(ServerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(ResourcePath)) ///////////////////////////////////////////////// TEST_P(ServerFixture, GetResourcePaths) { - ignition::common::setenv("IGN_GAZEBO_RESOURCE_PATH", + common::setenv("IGN_GAZEBO_RESOURCE_PATH", std::string("/tmp/some/path") + common::SystemPaths::Delimiter() + std::string("/home/user/another_path")); @@ -1035,12 +1035,12 @@ TEST_P(ServerFixture, GetResourcePaths) ///////////////////////////////////////////////// TEST_P(ServerFixture, AddResourcePaths) { - ignition::common::setenv("IGN_GAZEBO_RESOURCE_PATH", + common::setenv("IGN_GAZEBO_RESOURCE_PATH", std::string("/tmp/some/path") + common::SystemPaths::Delimiter() + std::string("/home/user/another_path")); - ignition::common::setenv("SDF_PATH", ""); - ignition::common::setenv("IGN_FILE_PATH", ""); + common::setenv("SDF_PATH", ""); + common::setenv("IGN_FILE_PATH", ""); ServerConfig serverConfig; gazebo::Server server(serverConfig); diff --git a/src/SimulationRunner.cc b/src/SimulationRunner.cc index 3f817dd1c5..3fdf7725d5 100644 --- a/src/SimulationRunner.cc +++ b/src/SimulationRunner.cc @@ -198,7 +198,7 @@ SimulationRunner::SimulationRunner(const sdf::World *_world, { ignmsg << "No systems loaded from SDF, loading defaults" << std::endl; bool isPlayback = !this->serverConfig.LogPlaybackPath().empty(); - auto plugins = ignition::gazebo::loadPluginInfo(isPlayback); + auto plugins = gazebo::loadPluginInfo(isPlayback); this->LoadServerPlugins(plugins); } @@ -404,14 +404,14 @@ void SimulationRunner::PublishStats() IGN_PROFILE("SimulationRunner::PublishStats"); // Create the world statistics message. - ignition::msgs::WorldStatistics msg; + msgs::WorldStatistics msg; msg.set_real_time_factor(this->realTimeFactor); auto realTimeSecNsec = - ignition::math::durationToSecNsec(this->currentInfo.realTime); + math::durationToSecNsec(this->currentInfo.realTime); auto simTimeSecNsec = - ignition::math::durationToSecNsec(this->currentInfo.simTime); + math::durationToSecNsec(this->currentInfo.simTime); msg.mutable_real_time()->set_sec(realTimeSecNsec.first); msg.mutable_real_time()->set_nsec(realTimeSecNsec.second); @@ -437,7 +437,7 @@ void SimulationRunner::PublishStats() // Create and publish the clock message. The clock message is not // throttled. - ignition::msgs::Clock clockMsg; + msgs::Clock clockMsg; clockMsg.mutable_real()->set_sec(realTimeSecNsec.first); clockMsg.mutable_real()->set_nsec(realTimeSecNsec.second); clockMsg.mutable_sim()->set_sec(simTimeSecNsec.first); @@ -527,7 +527,7 @@ void SimulationRunner::UpdateSystems() { IGN_PROFILE("SimulationRunner::UpdateSystems"); // \todo(nkoenig) Systems used to be updated in parallel using - // an ignition::common::WorkerPool. There is overhead associated with + // an common::WorkerPool. There is overhead associated with // this, most notably the creation and destruction of WorkOrders (see // WorkerPool.cc). We could turn on parallel updates in the future, and/or // turn it on if there are sufficient systems. More testing is required. @@ -642,14 +642,14 @@ bool SimulationRunner::Run(const uint64_t _iterations) // https://github.com/ignitionrobotics/ign-gui/pull/306 and // https://github.com/ignitionrobotics/ign-gazebo/pull/1163) advertOpts.SetMsgsPerSec(10); - this->statsPub = this->node->Advertise( + this->statsPub = this->node->Advertise( "stats", advertOpts); } if (!this->rootStatsPub.Valid()) { // Check for the existence of other publishers on `/stats` - std::vector publishers; + std::vector publishers; this->node->TopicInfo("/stats", publishers); if (!publishers.empty()) @@ -676,13 +676,13 @@ bool SimulationRunner::Run(const uint64_t _iterations) // Create the clock publisher. if (!this->clockPub.Valid()) - this->clockPub = this->node->Advertise("clock"); + this->clockPub = this->node->Advertise("clock"); // Create the global clock publisher. if (!this->rootClockPub.Valid()) { // Check for the existence of other publishers on `/clock` - std::vector publishers; + std::vector publishers; this->node->TopicInfo("/clock", publishers); if (!publishers.empty()) @@ -702,7 +702,7 @@ bool SimulationRunner::Run(const uint64_t _iterations) { ignmsg << "Found no publishers on /clock, adding root clock topic" << std::endl; - this->rootClockPub = this->node->Advertise( + this->rootClockPub = this->node->Advertise( "/clock"); } } @@ -1332,13 +1332,13 @@ SimulationRunner::UpdatePeriod() const } ///////////////////////////////////////////////// -const ignition::math::clock::duration &SimulationRunner::StepSize() const +const math::clock::duration &SimulationRunner::StepSize() const { return this->stepSize; } ///////////////////////////////////////////////// -void SimulationRunner::SetStepSize(const ignition::math::clock::duration &_step) +void SimulationRunner::SetStepSize(const math::clock::duration &_step) { this->stepSize = _step; } @@ -1414,7 +1414,7 @@ bool SimulationRunner::RequestRemoveEntity(const Entity _entity, } ////////////////////////////////////////////////// -bool SimulationRunner::GuiInfoService(ignition::msgs::GUI &_res) +bool SimulationRunner::GuiInfoService(msgs::GUI &_res) { _res.Clear(); diff --git a/src/SimulationRunner_TEST.cc b/src/SimulationRunner_TEST.cc index 5f0e91e26c..4dbae0cd04 100644 --- a/src/SimulationRunner_TEST.cc +++ b/src/SimulationRunner_TEST.cc @@ -72,11 +72,11 @@ namespace gazebo inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE { namespace components { -using IntComponent = components::Component; +using IntComponent = Component; IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.IntComponent", IntComponent) -using DoubleComponent = components::Component; +using DoubleComponent = Component; IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.DoubleComponent", DoubleComponent) } @@ -122,31 +122,31 @@ TEST_P(SimulationRunnerTest, CreateEntities) // Check component types EXPECT_TRUE(runner.EntityCompMgr().HasComponentType( - components::World::typeId)); + World::typeId)); EXPECT_TRUE(runner.EntityCompMgr().HasComponentType( - components::Model::typeId)); + Model::typeId)); EXPECT_TRUE(runner.EntityCompMgr().HasComponentType( - components::CanonicalLink::typeId)); + CanonicalLink::typeId)); EXPECT_TRUE(runner.EntityCompMgr().HasComponentType( - components::Link::typeId)); + Link::typeId)); EXPECT_TRUE(runner.EntityCompMgr().HasComponentType( - components::Collision::typeId)); + Collision::typeId)); EXPECT_TRUE(runner.EntityCompMgr().HasComponentType( - components::Visual::typeId)); + Visual::typeId)); EXPECT_TRUE(runner.EntityCompMgr().HasComponentType( - components::Light::typeId)); + Light::typeId)); EXPECT_TRUE(runner.EntityCompMgr().HasComponentType( - components::Name::typeId)); + Name::typeId)); EXPECT_TRUE(runner.EntityCompMgr().HasComponentType( - components::ParentEntity::typeId)); + ParentEntity::typeId)); EXPECT_TRUE(runner.EntityCompMgr().HasComponentType( - components::Geometry::typeId)); + Geometry::typeId)); EXPECT_TRUE(runner.EntityCompMgr().HasComponentType( components::Material::typeId)); EXPECT_TRUE(runner.EntityCompMgr().HasComponentType( - components::Inertial::typeId)); + Inertial::typeId)); EXPECT_TRUE(runner.EntityCompMgr().HasComponentType( - components::Wind::typeId)); + Wind::typeId)); // Check entities // 1 x world + 1 x (default) level + 1 x wind + 5 x model + 5 x link + 5 x @@ -156,10 +156,10 @@ TEST_P(SimulationRunnerTest, CreateEntities) // Check worlds unsigned int worldCount{0}; Entity worldEntity = kNullEntity; - runner.EntityCompMgr().Each( [&](const Entity &_entity, - const components::World *_world, + const World *_world, const components::Name *_name)->bool { EXPECT_NE(nullptr, _world); @@ -187,14 +187,14 @@ TEST_P(SimulationRunnerTest, CreateEntities) Entity sphModelEntity = kNullEntity; Entity capModelEntity = kNullEntity; Entity ellipModelEntity = kNullEntity; - runner.EntityCompMgr().Each( [&](const Entity &_entity, - const components::Model *_model, - const components::Pose *_pose, - const components::ParentEntity *_parent, + const Model *_model, + const Pose *_pose, + const ParentEntity *_parent, const components::Name *_name)->bool { EXPECT_NE(nullptr, _model); @@ -207,21 +207,21 @@ TEST_P(SimulationRunnerTest, CreateEntities) EXPECT_EQ(worldEntity, _parent->Data()); if (modelCount == 1) { - EXPECT_EQ(ignition::math::Pose3d(1, 2, 3, 0, 0, 1), + EXPECT_EQ(math::Pose3d(1, 2, 3, 0, 0, 1), _pose->Data()); EXPECT_EQ("box", _name->Data()); boxModelEntity = _entity; } else if (modelCount == 2) { - EXPECT_EQ(ignition::math::Pose3d(-1, -2, -3, 0, 0, 1), + EXPECT_EQ(math::Pose3d(-1, -2, -3, 0, 0, 1), _pose->Data()); EXPECT_EQ("cylinder", _name->Data()); cylModelEntity = _entity; } else if (modelCount == 3) { - EXPECT_EQ(ignition::math::Pose3d(0, 0, 0, 0, 0, 1), + EXPECT_EQ(math::Pose3d(0, 0, 0, 0, 0, 1), _pose->Data()); EXPECT_EQ("sphere", _name->Data()); sphModelEntity = _entity; @@ -257,14 +257,14 @@ TEST_P(SimulationRunnerTest, CreateEntities) Entity sphLinkEntity = kNullEntity; Entity capLinkEntity = kNullEntity; Entity ellipLinkEntity = kNullEntity; - runner.EntityCompMgr().Each( [&](const Entity &_entity, - const components::Link *_link, - const components::Pose *_pose, - const components::ParentEntity *_parent, + const Link *_link, + const Pose *_pose, + const ParentEntity *_parent, const components::Name *_name)->bool { EXPECT_NE(nullptr, _link); @@ -276,7 +276,7 @@ TEST_P(SimulationRunnerTest, CreateEntities) if (linkCount == 1) { - EXPECT_EQ(ignition::math::Pose3d(0.1, 0.1, 0.1, 0, 0, 0), + EXPECT_EQ(math::Pose3d(0.1, 0.1, 0.1, 0, 0, 0), _pose->Data()); EXPECT_EQ("box_link", _name->Data()); EXPECT_EQ(boxModelEntity, _parent->Data()); @@ -284,7 +284,7 @@ TEST_P(SimulationRunnerTest, CreateEntities) } else if (linkCount == 2) { - EXPECT_EQ(ignition::math::Pose3d(0.2, 0.2, 0.2, 0, 0, 0), + EXPECT_EQ(math::Pose3d(0.2, 0.2, 0.2, 0, 0, 0), _pose->Data()); EXPECT_EQ("cylinder_link", _name->Data()); EXPECT_EQ(cylModelEntity, _parent->Data()); @@ -292,7 +292,7 @@ TEST_P(SimulationRunnerTest, CreateEntities) } else if (linkCount == 3) { - EXPECT_EQ(ignition::math::Pose3d(0.3, 0.3, 0.3, 0, 0, 0), + EXPECT_EQ(math::Pose3d(0.3, 0.3, 0.3, 0, 0, 0), _pose->Data()); EXPECT_EQ("sphere_link", _name->Data()); EXPECT_EQ(sphModelEntity, _parent->Data()); @@ -326,10 +326,10 @@ TEST_P(SimulationRunnerTest, CreateEntities) // Check inertials unsigned int inertialCount{0}; - runner.EntityCompMgr().Each( + runner.EntityCompMgr().Each( [&](const Entity & _entity, - const components::Link *_link, - const components::Inertial *_inertial)->bool + const Link *_link, + const Inertial *_inertial)->bool { EXPECT_NE(nullptr, _link); EXPECT_NE(nullptr, _inertial); @@ -373,16 +373,16 @@ TEST_P(SimulationRunnerTest, CreateEntities) // Check collisions unsigned int collisionCount{0}; - runner.EntityCompMgr().Each( [&](const Entity &/*_entity*/, - const components::Collision *_collision, - const components::Geometry *_geometry, - const components::Pose *_pose, - const components::ParentEntity *_parent, + const Collision *_collision, + const Geometry *_geometry, + const Pose *_pose, + const ParentEntity *_parent, const components::Name *_name)->bool { EXPECT_NE(nullptr, _collision); @@ -395,7 +395,7 @@ TEST_P(SimulationRunnerTest, CreateEntities) if (collisionCount == 1) { - EXPECT_EQ(ignition::math::Pose3d(0.11, 0.11, 0.11, 0, 0, 0), + EXPECT_EQ(math::Pose3d(0.11, 0.11, 0.11, 0, 0, 0), _pose->Data()); EXPECT_EQ("box_collision", _name->Data()); @@ -409,7 +409,7 @@ TEST_P(SimulationRunnerTest, CreateEntities) } else if (collisionCount == 2) { - EXPECT_EQ(ignition::math::Pose3d(0.21, 0.21, 0.21, 0, 0, 0), + EXPECT_EQ(math::Pose3d(0.21, 0.21, 0.21, 0, 0, 0), _pose->Data()); EXPECT_EQ("cylinder_collision", _name->Data()); @@ -423,7 +423,7 @@ TEST_P(SimulationRunnerTest, CreateEntities) } else if (collisionCount == 3) { - EXPECT_EQ(ignition::math::Pose3d(0.31, 0.31, 0.31, 0, 0, 0), + EXPECT_EQ(math::Pose3d(0.31, 0.31, 0.31, 0, 0, 0), _pose->Data()); EXPECT_EQ("sphere_collision", _name->Data()); @@ -469,18 +469,18 @@ TEST_P(SimulationRunnerTest, CreateEntities) // Check visuals unsigned int visualCount{0}; - runner.EntityCompMgr().Each( [&](const Entity &/*_entity*/, - const components::Visual *_visual, - const components::Geometry *_geometry, + const Visual *_visual, + const Geometry *_geometry, const components::Material *_material, - const components::Pose *_pose, - const components::ParentEntity *_parent, + const Pose *_pose, + const ParentEntity *_parent, const components::Name *_name)->bool { EXPECT_NE(nullptr, _visual); @@ -494,7 +494,7 @@ TEST_P(SimulationRunnerTest, CreateEntities) if (visualCount == 1) { - EXPECT_EQ(ignition::math::Pose3d(0.12, 0.12, 0.12, 0, 0, 0), + EXPECT_EQ(math::Pose3d(0.12, 0.12, 0.12, 0, 0, 0), _pose->Data()); EXPECT_EQ("box_visual", _name->Data()); @@ -513,7 +513,7 @@ TEST_P(SimulationRunnerTest, CreateEntities) } else if (visualCount == 2) { - EXPECT_EQ(ignition::math::Pose3d(0.22, 0.22, 0.22, 0, 0, 0), + EXPECT_EQ(math::Pose3d(0.22, 0.22, 0.22, 0, 0, 0), _pose->Data()); EXPECT_EQ("cylinder_visual", _name->Data()); @@ -532,7 +532,7 @@ TEST_P(SimulationRunnerTest, CreateEntities) } else if (visualCount == 3) { - EXPECT_EQ(ignition::math::Pose3d(0.32, 0.32, 0.32, 0, 0, 0), + EXPECT_EQ(math::Pose3d(0.32, 0.32, 0.32, 0, 0, 0), _pose->Data()); EXPECT_EQ("sphere_visual", _name->Data()); @@ -550,7 +550,7 @@ TEST_P(SimulationRunnerTest, CreateEntities) } else if (visualCount == 4) { - EXPECT_EQ(ignition::math::Pose3d(0.52, 0.52, 0.52, 0, 0, 0), + EXPECT_EQ(math::Pose3d(0.52, 0.52, 0.52, 0, 0, 0), _pose->Data()); EXPECT_EQ("capsule_visual", _name->Data()); @@ -569,7 +569,7 @@ TEST_P(SimulationRunnerTest, CreateEntities) } else if (visualCount == 5) { - EXPECT_EQ(ignition::math::Pose3d(0.82, 0.82, 0.82, 0, 0, 0), + EXPECT_EQ(math::Pose3d(0.82, 0.82, 0.82, 0, 0, 0), _pose->Data()); EXPECT_EQ("ellipsoid_visual", _name->Data()); @@ -578,7 +578,7 @@ TEST_P(SimulationRunnerTest, CreateEntities) EXPECT_EQ(sdf::GeometryType::ELLIPSOID, _geometry->Data().Type()); EXPECT_NE(nullptr, _geometry->Data().EllipsoidShape()); - EXPECT_EQ(ignition::math::Vector3d(0.4, 0.6, 1.6), + EXPECT_EQ(math::Vector3d(0.4, 0.6, 1.6), _geometry->Data().EllipsoidShape()->Radii()); EXPECT_EQ(math::Color(0.0f, 0.0f, 0.0f), _material->Data().Emissive()); @@ -593,14 +593,14 @@ TEST_P(SimulationRunnerTest, CreateEntities) // Check lights unsigned int lightCount{0}; - runner.EntityCompMgr().Each( [&](const Entity &/*_entity*/, - const components::Light *_light, - const components::Pose *_pose, - const components::ParentEntity *_parent, + const Light *_light, + const Pose *_pose, + const ParentEntity *_parent, const components::Name *_name)->bool { EXPECT_NE(nullptr, _light); @@ -610,7 +610,7 @@ TEST_P(SimulationRunnerTest, CreateEntities) lightCount++; - EXPECT_EQ(ignition::math::Pose3d(0.0, 0.0, 10, 0, 0, 0), + EXPECT_EQ(math::Pose3d(0.0, 0.0, 10, 0, 0, 0), _pose->Data()); EXPECT_EQ("sun", _name->Data()); @@ -619,20 +619,20 @@ TEST_P(SimulationRunnerTest, CreateEntities) EXPECT_EQ("sun", _light->Data().Name()); EXPECT_EQ(sdf::LightType::DIRECTIONAL, _light->Data().Type()); - EXPECT_EQ(ignition::math::Pose3d(0, 0, 10, 0, 0, 0), + EXPECT_EQ(math::Pose3d(0, 0, 10, 0, 0, 0), _light->Data().RawPose()); EXPECT_EQ("", _light->Data().PoseRelativeTo()); EXPECT_TRUE(_light->Data().CastShadows()); - EXPECT_EQ(ignition::math::Color(0.8f, 0.8f, 0.8f, 1), + EXPECT_EQ(math::Color(0.8f, 0.8f, 0.8f, 1), _light->Data().Diffuse()); - EXPECT_EQ(ignition::math::Color(0.2f, 0.2f, 0.2f, 1), + EXPECT_EQ(math::Color(0.2f, 0.2f, 0.2f, 1), _light->Data().Specular()); EXPECT_DOUBLE_EQ(1000, _light->Data().AttenuationRange()); EXPECT_DOUBLE_EQ(0.9, _light->Data().ConstantAttenuationFactor()); EXPECT_DOUBLE_EQ(0.01, _light->Data().LinearAttenuationFactor()); EXPECT_DOUBLE_EQ(0.001, _light->Data().QuadraticAttenuationFactor()); EXPECT_DOUBLE_EQ(1.0, _light->Data().Intensity()); - EXPECT_EQ(ignition::math::Vector3d(-0.5, 0.1, -0.9), + EXPECT_EQ(math::Vector3d(-0.5, 0.1, -0.9), _light->Data().Direction()); return true; }); @@ -662,10 +662,10 @@ TEST_P(SimulationRunnerTest, CreateLights) // Check worlds unsigned int worldCount{0}; Entity worldEntity = kNullEntity; - runner.EntityCompMgr().Each( [&](const Entity &_entity, - const components::World *_world, + const World *_world, const components::Name *_name)->bool { EXPECT_NE(nullptr, _world); @@ -685,14 +685,14 @@ TEST_P(SimulationRunnerTest, CreateLights) // Check model unsigned int modelCount{0}; Entity sphModelEntity = kNullEntity; - runner.EntityCompMgr().Each( [&](const Entity &_entity, - const components::Model *_model, - const components::Pose *_pose, - const components::ParentEntity *_parent, + const Model *_model, + const Pose *_pose, + const ParentEntity *_parent, const components::Name *_name)->bool { EXPECT_NE(nullptr, _model); @@ -703,7 +703,7 @@ TEST_P(SimulationRunnerTest, CreateLights) modelCount++; EXPECT_EQ(worldEntity, _parent->Data()); - EXPECT_EQ(ignition::math::Pose3d(0, 0, 0, 0, 0, 0), + EXPECT_EQ(math::Pose3d(0, 0, 0, 0, 0, 0), _pose->Data()); EXPECT_EQ("sphere", _name->Data()); sphModelEntity = _entity; @@ -717,14 +717,14 @@ TEST_P(SimulationRunnerTest, CreateLights) // Check link unsigned int linkCount{0}; Entity sphLinkEntity = kNullEntity; - runner.EntityCompMgr().Each( [&](const Entity &_entity, - const components::Link *_link, - const components::Pose *_pose, - const components::ParentEntity *_parent, + const Link *_link, + const Pose *_pose, + const ParentEntity *_parent, const components::Name *_name)->bool { EXPECT_NE(nullptr, _link); @@ -734,7 +734,7 @@ TEST_P(SimulationRunnerTest, CreateLights) linkCount++; - EXPECT_EQ(ignition::math::Pose3d(0.0, 0.0, 0.0, 0, 0, 0), + EXPECT_EQ(math::Pose3d(0.0, 0.0, 0.0, 0, 0, 0), _pose->Data()); EXPECT_EQ("sphere_link", _name->Data()); EXPECT_EQ(sphModelEntity, _parent->Data()); @@ -748,18 +748,18 @@ TEST_P(SimulationRunnerTest, CreateLights) // Check visuals unsigned int visualCount{0}; - runner.EntityCompMgr().Each( [&](const Entity &/*_entity*/, - const components::Visual *_visual, - const components::Geometry *_geometry, + const Visual *_visual, + const Geometry *_geometry, const components::Material *_material, - const components::Pose *_pose, - const components::ParentEntity *_parent, + const Pose *_pose, + const ParentEntity *_parent, const components::Name *_name)->bool { EXPECT_NE(nullptr, _visual); @@ -771,7 +771,7 @@ TEST_P(SimulationRunnerTest, CreateLights) visualCount++; - EXPECT_EQ(ignition::math::Pose3d(0.0, 0.0, 0.0, 0, 0, 0), + EXPECT_EQ(math::Pose3d(0.0, 0.0, 0.0, 0, 0, 0), _pose->Data()); EXPECT_EQ("sphere_visual", _name->Data()); @@ -792,14 +792,14 @@ TEST_P(SimulationRunnerTest, CreateLights) // Check lights unsigned int lightCount{0}; - runner.EntityCompMgr().Each( [&](const Entity &/*_entity*/, - const components::Light *_light, - const components::Pose *_pose, - const components::ParentEntity *_parent, + const Light *_light, + const Pose *_pose, + const ParentEntity *_parent, const components::Name *_name)->bool { EXPECT_NE(nullptr, _light); @@ -812,19 +812,19 @@ TEST_P(SimulationRunnerTest, CreateLights) // light attached to link if (lightCount == 1u) { - EXPECT_EQ(ignition::math::Pose3d(0.0, 0.0, 1.0, 0, 0, 0), + EXPECT_EQ(math::Pose3d(0.0, 0.0, 1.0, 0, 0, 0), _pose->Data()); EXPECT_EQ("link_light_point", _name->Data()); EXPECT_EQ(sphLinkEntity, _parent->Data()); EXPECT_EQ("link_light_point", _light->Data().Name()); EXPECT_EQ(sdf::LightType::POINT, _light->Data().Type()); - EXPECT_EQ(ignition::math::Pose3d(0, 0, 1, 0, 0, 0), + EXPECT_EQ(math::Pose3d(0, 0, 1, 0, 0, 0), _light->Data().RawPose()); EXPECT_EQ(std::string(), _light->Data().PoseRelativeTo()); EXPECT_FALSE(_light->Data().CastShadows()); - EXPECT_EQ(ignition::math::Color(0.0f, 0.0f, 1.0f, 1), + EXPECT_EQ(math::Color(0.0f, 0.0f, 1.0f, 1), _light->Data().Diffuse()); - EXPECT_EQ(ignition::math::Color(0.1f, 0.1f, 0.1f, 1), + EXPECT_EQ(math::Color(0.1f, 0.1f, 0.1f, 1), _light->Data().Specular()); EXPECT_DOUBLE_EQ(2, _light->Data().AttenuationRange()); EXPECT_DOUBLE_EQ(0.05, _light->Data().ConstantAttenuationFactor()); @@ -834,43 +834,43 @@ TEST_P(SimulationRunnerTest, CreateLights) // directional light in the world else if (lightCount == 2u) { - EXPECT_EQ(ignition::math::Pose3d(0.0, 0.0, 10, 0, 0, 0), + EXPECT_EQ(math::Pose3d(0.0, 0.0, 10, 0, 0, 0), _pose->Data()); EXPECT_EQ("directional", _name->Data()); EXPECT_EQ(worldEntity, _parent->Data()); EXPECT_EQ("directional", _light->Data().Name()); EXPECT_EQ(sdf::LightType::DIRECTIONAL, _light->Data().Type()); - EXPECT_EQ(ignition::math::Pose3d(0, 0, 10, 0, 0, 0), + EXPECT_EQ(math::Pose3d(0, 0, 10, 0, 0, 0), _light->Data().RawPose()); EXPECT_EQ(std::string(), _light->Data().PoseRelativeTo()); EXPECT_TRUE(_light->Data().CastShadows()); - EXPECT_EQ(ignition::math::Color(0.8f, 0.8f, 0.8f, 1), + EXPECT_EQ(math::Color(0.8f, 0.8f, 0.8f, 1), _light->Data().Diffuse()); - EXPECT_EQ(ignition::math::Color(0.2f, 0.2f, 0.2f, 1), + EXPECT_EQ(math::Color(0.2f, 0.2f, 0.2f, 1), _light->Data().Specular()); EXPECT_DOUBLE_EQ(100, _light->Data().AttenuationRange()); EXPECT_DOUBLE_EQ(0.9, _light->Data().ConstantAttenuationFactor()); EXPECT_DOUBLE_EQ(0.01, _light->Data().LinearAttenuationFactor()); EXPECT_DOUBLE_EQ(0.001, _light->Data().QuadraticAttenuationFactor()); - EXPECT_EQ(ignition::math::Vector3d(0.5, 0.2, -0.9), + EXPECT_EQ(math::Vector3d(0.5, 0.2, -0.9), _light->Data().Direction()); } // point light in the world else if (lightCount == 3u) { - EXPECT_EQ(ignition::math::Pose3d(0.0, -1.5, 3, 0, 0, 0), + EXPECT_EQ(math::Pose3d(0.0, -1.5, 3, 0, 0, 0), _pose->Data()); EXPECT_EQ("point", _name->Data()); EXPECT_EQ(worldEntity, _parent->Data()); EXPECT_EQ("point", _light->Data().Name()); EXPECT_EQ(sdf::LightType::POINT, _light->Data().Type()); - EXPECT_EQ(ignition::math::Pose3d(0, -1.5, 3, 0, 0, 0), + EXPECT_EQ(math::Pose3d(0, -1.5, 3, 0, 0, 0), _light->Data().RawPose()); EXPECT_EQ(std::string(), _light->Data().PoseRelativeTo()); EXPECT_FALSE(_light->Data().CastShadows()); - EXPECT_EQ(ignition::math::Color(1.0f, 0.0f, 0.0f, 1), + EXPECT_EQ(math::Color(1.0f, 0.0f, 0.0f, 1), _light->Data().Diffuse()); - EXPECT_EQ(ignition::math::Color(0.1f, 0.1f, 0.1f, 1), + EXPECT_EQ(math::Color(0.1f, 0.1f, 0.1f, 1), _light->Data().Specular()); EXPECT_DOUBLE_EQ(4, _light->Data().AttenuationRange()); EXPECT_DOUBLE_EQ(0.2, _light->Data().ConstantAttenuationFactor()); @@ -880,25 +880,25 @@ TEST_P(SimulationRunnerTest, CreateLights) // spot light in the world else if (lightCount == 4u) { - EXPECT_EQ(ignition::math::Pose3d(0.0, 1.5, 3, 0, 0, 0), + EXPECT_EQ(math::Pose3d(0.0, 1.5, 3, 0, 0, 0), _pose->Data()); EXPECT_EQ("spot", _name->Data()); EXPECT_EQ(worldEntity, _parent->Data()); EXPECT_EQ("spot", _light->Data().Name()); EXPECT_EQ(sdf::LightType::SPOT, _light->Data().Type()); - EXPECT_EQ(ignition::math::Pose3d(0, 1.5, 3, 0, 0, 0), + EXPECT_EQ(math::Pose3d(0, 1.5, 3, 0, 0, 0), _light->Data().RawPose()); EXPECT_EQ(std::string(), _light->Data().PoseRelativeTo()); EXPECT_FALSE(_light->Data().CastShadows()); - EXPECT_EQ(ignition::math::Color(0.0f, 1.0f, 0.0f, 1), + EXPECT_EQ(math::Color(0.0f, 1.0f, 0.0f, 1), _light->Data().Diffuse()); - EXPECT_EQ(ignition::math::Color(0.2f, 0.2f, 0.2f, 1), + EXPECT_EQ(math::Color(0.2f, 0.2f, 0.2f, 1), _light->Data().Specular()); EXPECT_DOUBLE_EQ(5, _light->Data().AttenuationRange()); EXPECT_DOUBLE_EQ(0.3, _light->Data().ConstantAttenuationFactor()); EXPECT_DOUBLE_EQ(0.4, _light->Data().LinearAttenuationFactor()); EXPECT_DOUBLE_EQ(0.001, _light->Data().QuadraticAttenuationFactor()); - EXPECT_EQ(ignition::math::Vector3d(0.0, 0.0, -1.0), + EXPECT_EQ(math::Vector3d(0.0, 0.0, -1.0), _light->Data().Direction()); EXPECT_DOUBLE_EQ(0.1, _light->Data().SpotInnerAngle().Radian()); EXPECT_DOUBLE_EQ(0.5, _light->Data().SpotOuterAngle().Radian()); @@ -926,34 +926,34 @@ TEST_P(SimulationRunnerTest, CreateJointEntities) // Check component types EXPECT_TRUE(runner.EntityCompMgr().HasComponentType( - components::World::typeId)); + World::typeId)); EXPECT_TRUE(runner.EntityCompMgr().HasComponentType( - components::CanonicalLink::typeId)); + CanonicalLink::typeId)); EXPECT_TRUE(runner.EntityCompMgr().HasComponentType( - components::Link::typeId)); + Link::typeId)); EXPECT_TRUE(runner.EntityCompMgr().HasComponentType( - components::Joint::typeId)); + Joint::typeId)); EXPECT_TRUE(runner.EntityCompMgr().HasComponentType( - components::JointAxis::typeId)); + JointAxis::typeId)); EXPECT_TRUE(runner.EntityCompMgr().HasComponentType( - components::JointType::typeId)); + JointType::typeId)); EXPECT_TRUE(runner.EntityCompMgr().HasComponentType( - components::ChildLinkName::typeId)); + ChildLinkName::typeId)); EXPECT_TRUE(runner.EntityCompMgr().HasComponentType( - components::ParentLinkName::typeId)); + ParentLinkName::typeId)); EXPECT_TRUE(runner.EntityCompMgr().HasComponentType( - components::ParentEntity::typeId)); + ParentEntity::typeId)); EXPECT_TRUE(runner.EntityCompMgr().HasComponentType( - components::Pose::typeId)); + Pose::typeId)); EXPECT_TRUE(runner.EntityCompMgr().HasComponentType( - components::Name::typeId)); + Name::typeId)); const sdf::Model *model = root.WorldByIndex(0)->ModelByIndex(1); // Check canonical links unsigned int canonicalLinkCount{0}; - runner.EntityCompMgr().Each( - [&](const Entity &, const components::CanonicalLink *)->bool + runner.EntityCompMgr().Each( + [&](const Entity &, const CanonicalLink *)->bool { canonicalLinkCount++; return true; @@ -973,11 +973,11 @@ TEST_P(SimulationRunnerTest, CreateJointEntities) }; auto testJoint = [&testAxis](const sdf::Joint *_joint, - const components::JointAxis *_axis, - const components::JointAxis2 *_axis2, - const components::ParentLinkName *_parentLinkName, - const components::ChildLinkName *_childLinkName, - const components::Pose *_pose, + const JointAxis *_axis, + const JointAxis2 *_axis2, + const ParentLinkName *_parentLinkName, + const ChildLinkName *_childLinkName, + const Pose *_pose, const components::Name *_name, bool _checkAxis = true, bool _checkAxis2 = false) @@ -1012,25 +1012,25 @@ TEST_P(SimulationRunnerTest, CreateJointEntities) }; std::set jointTypes; - runner.EntityCompMgr().Each( [&](const Entity &_entity, - const components::Joint * /*_joint*/, - const components::JointType *_jointType, - const components::ParentLinkName *_parentLinkName, - const components::ChildLinkName *_childLinkName, - const components::Pose *_pose, + const Joint * /*_joint*/, + const JointType *_jointType, + const ParentLinkName *_parentLinkName, + const ChildLinkName *_childLinkName, + const Pose *_pose, const components::Name *_name)->bool { jointTypes.insert(_jointType->Data()); auto axis = - runner.EntityCompMgr().Component(_entity); + runner.EntityCompMgr().Component(_entity); auto axis2 = - runner.EntityCompMgr().Component(_entity); + runner.EntityCompMgr().Component(_entity); const sdf::Joint *joint = model->JointByName(_name->Data()); @@ -1184,7 +1184,7 @@ TEST_P(SimulationRunnerTest, Time) } ///////////////////////////////////////////////// -// See https://github.com/ignitionrobotics/ign-gazebo/issues/1175 +// See https://github.com/gazebosim/gz-sim/issues/1175 TEST_P(SimulationRunnerTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LoadPlugins) ) { // Load SDF file @@ -1200,9 +1200,9 @@ TEST_P(SimulationRunnerTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LoadPlugins) ) // Get world entity Entity worldId{kNullEntity}; - runner.EntityCompMgr().Each([&]( - const ignition::gazebo::Entity &_entity, - const ignition::gazebo::components::World *_world)->bool + runner.EntityCompMgr().Each([&]( + const Entity &_entity, + const World *_world)->bool { EXPECT_NE(nullptr, _world); worldId = _entity; @@ -1212,9 +1212,9 @@ TEST_P(SimulationRunnerTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LoadPlugins) ) // Get model entity Entity modelId{kNullEntity}; - runner.EntityCompMgr().Each([&]( - const ignition::gazebo::Entity &_entity, - const ignition::gazebo::components::Model *_model)->bool + runner.EntityCompMgr().Each([&]( + const Entity &_entity, + const Model *_model)->bool { EXPECT_NE(nullptr, _model); modelId = _entity; @@ -1224,9 +1224,9 @@ TEST_P(SimulationRunnerTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LoadPlugins) ) // Get sensor entity Entity sensorId{kNullEntity}; - runner.EntityCompMgr().Each([&]( - const ignition::gazebo::Entity &_entity, - const ignition::gazebo::components::Sensor *_sensor)->bool + runner.EntityCompMgr().Each([&]( + const Entity &_entity, + const Sensor *_sensor)->bool { EXPECT_NE(nullptr, _sensor); sensorId = _entity; @@ -1236,9 +1236,9 @@ TEST_P(SimulationRunnerTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LoadPlugins) ) // Get visual entity Entity visualId{kNullEntity}; - runner.EntityCompMgr().Each([&]( - const ignition::gazebo::Entity &_entity, - const ignition::gazebo::components::Visual *_visual)->bool + runner.EntityCompMgr().Each([&]( + const Entity &_entity, + const components::Visual *_visual)->bool { EXPECT_NE(nullptr, _visual); visualId = _entity; @@ -1248,7 +1248,7 @@ TEST_P(SimulationRunnerTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LoadPlugins) ) // Check component registered by world plugin std::string worldComponentName{"WorldPluginComponent"}; - auto worldComponentId = ignition::common::hash64(worldComponentName); + auto worldComponentId = common::hash64(worldComponentName); EXPECT_TRUE(runner.EntityCompMgr().HasComponentType(worldComponentId)); EXPECT_TRUE(runner.EntityCompMgr().EntityHasComponentType(worldId, @@ -1256,7 +1256,7 @@ TEST_P(SimulationRunnerTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LoadPlugins) ) // Check component registered by model plugin std::string modelComponentName{"ModelPluginComponent"}; - auto modelComponentId = ignition::common::hash64(modelComponentName); + auto modelComponentId = common::hash64(modelComponentName); EXPECT_TRUE(runner.EntityCompMgr().HasComponentType(modelComponentId)); EXPECT_TRUE(runner.EntityCompMgr().EntityHasComponentType(modelId, @@ -1264,7 +1264,7 @@ TEST_P(SimulationRunnerTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LoadPlugins) ) // Check component registered by sensor plugin std::string sensorComponentName{"SensorPluginComponent"}; - auto sensorComponentId = ignition::common::hash64(sensorComponentName); + auto sensorComponentId = common::hash64(sensorComponentName); EXPECT_TRUE(runner.EntityCompMgr().HasComponentType(sensorComponentId)); EXPECT_TRUE(runner.EntityCompMgr().EntityHasComponentType(sensorId, @@ -1272,7 +1272,7 @@ TEST_P(SimulationRunnerTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LoadPlugins) ) // Check component registered by visual plugin std::string visualComponentName{"VisualPluginComponent"}; - auto visualComponentId = ignition::common::hash64(visualComponentName); + auto visualComponentId = common::hash64(visualComponentName); EXPECT_TRUE(runner.EntityCompMgr().HasComponentType(visualComponentId)); EXPECT_TRUE(runner.EntityCompMgr().EntityHasComponentType(visualId, @@ -1285,10 +1285,10 @@ TEST_P(SimulationRunnerTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LoadPlugins) ) // reproduce? Maybe we need to test unloading plugins, but we have no API for // it yet. #if defined (__clang__) - components::Factory::Instance()->Unregister(worldComponentId); - components::Factory::Instance()->Unregister(modelComponentId); - components::Factory::Instance()->Unregister(sensorComponentId); - components::Factory::Instance()->Unregister(visualComponentId); + Factory::Instance()->Unregister(worldComponentId); + Factory::Instance()->Unregister(modelComponentId); + Factory::Instance()->Unregister(sensorComponentId); + Factory::Instance()->Unregister(visualComponentId); #endif } @@ -1304,7 +1304,7 @@ TEST_P(SimulationRunnerTest, // ServerConfig will fall back to environment variable auto config = common::joinPaths(PROJECT_SOURCE_PATH, "test", "worlds", "server_valid2.config"); - ASSERT_EQ(true, common::setenv(gazebo::kServerConfigPathEnv, config)); + ASSERT_EQ(true, common::setenv(kServerConfigPathEnv, config)); ServerConfig serverConfig; // Create simulation runner @@ -1345,9 +1345,9 @@ TEST_P(SimulationRunnerTest, // Get world entity Entity worldId{kNullEntity}; - runner.EntityCompMgr().Each([&]( - const ignition::gazebo::Entity &_entity, - const ignition::gazebo::components::World *_world)->bool + runner.EntityCompMgr().Each([&]( + const Entity &_entity, + const World *_world)->bool { EXPECT_NE(nullptr, _world); worldId = _entity; @@ -1357,9 +1357,9 @@ TEST_P(SimulationRunnerTest, // Get model entity Entity modelId{kNullEntity}; - runner.EntityCompMgr().Each([&]( - const ignition::gazebo::Entity &_entity, - const ignition::gazebo::components::Model *_model)->bool + runner.EntityCompMgr().Each([&]( + const Entity &_entity, + const Model *_model)->bool { EXPECT_NE(nullptr, _model); modelId = _entity; @@ -1369,9 +1369,9 @@ TEST_P(SimulationRunnerTest, // Get sensor entity Entity sensorId{kNullEntity}; - runner.EntityCompMgr().Each([&]( - const ignition::gazebo::Entity &_entity, - const ignition::gazebo::components::Sensor *_sensor)->bool + runner.EntityCompMgr().Each([&]( + const Entity &_entity, + const Sensor *_sensor)->bool { EXPECT_NE(nullptr, _sensor); sensorId = _entity; @@ -1381,7 +1381,7 @@ TEST_P(SimulationRunnerTest, // Check component registered by world plugin std::string worldComponentName{"WorldPluginComponent"}; - auto worldComponentId = ignition::common::hash64(worldComponentName); + auto worldComponentId = common::hash64(worldComponentName); EXPECT_TRUE(runner.EntityCompMgr().HasComponentType(worldComponentId)); EXPECT_TRUE(runner.EntityCompMgr().EntityHasComponentType(worldId, @@ -1389,7 +1389,7 @@ TEST_P(SimulationRunnerTest, // Check component registered by model plugin std::string modelComponentName{"ModelPluginComponent"}; - auto modelComponentId = ignition::common::hash64(modelComponentName); + auto modelComponentId = common::hash64(modelComponentName); EXPECT_TRUE(runner.EntityCompMgr().HasComponentType(modelComponentId)); EXPECT_TRUE(runner.EntityCompMgr().EntityHasComponentType(modelId, @@ -1397,7 +1397,7 @@ TEST_P(SimulationRunnerTest, // Check component registered by sensor plugin std::string sensorComponentName{"SensorPluginComponent"}; - auto sensorComponentId = ignition::common::hash64(sensorComponentName); + auto sensorComponentId = common::hash64(sensorComponentName); EXPECT_TRUE(runner.EntityCompMgr().HasComponentType(sensorComponentId)); EXPECT_TRUE(runner.EntityCompMgr().EntityHasComponentType(sensorId, @@ -1410,9 +1410,9 @@ TEST_P(SimulationRunnerTest, // reproduce? Maybe we need to test unloading plugins, but we have no API for // it yet. #if defined (__clang__) - components::Factory::Instance()->Unregister(worldComponentId); - components::Factory::Instance()->Unregister(modelComponentId); - components::Factory::Instance()->Unregister(sensorComponentId); + Factory::Instance()->Unregister(worldComponentId); + Factory::Instance()->Unregister(modelComponentId); + Factory::Instance()->Unregister(sensorComponentId); #endif } @@ -1429,13 +1429,13 @@ TEST_P(SimulationRunnerTest, // The user may have modified their local config. auto config = common::joinPaths(PROJECT_SOURCE_PATH, "include", "ignition", "gazebo", "server.config"); - ASSERT_TRUE(common::setenv(gazebo::kServerConfigPathEnv, config)); + ASSERT_TRUE(common::setenv(kServerConfigPathEnv, config)); // Create simulation runner auto systemLoader = std::make_shared(); SimulationRunner runner(rootWithout.WorldByIndex(0), systemLoader); ASSERT_EQ(3u, runner.SystemCount()); - common::unsetenv(gazebo::kServerConfigPathEnv); + common::unsetenv(kServerConfigPathEnv); } ///////////////////////////////////////////////// @@ -1455,24 +1455,24 @@ TEST_P(SimulationRunnerTest, // Get model entities auto boxEntity = runner.EntityCompMgr().EntityByComponents( - ignition::gazebo::components::Model(), - ignition::gazebo::components::Name("box")); + Model(), + components::Name("box")); EXPECT_NE(kNullEntity, boxEntity); auto sphereEntity = runner.EntityCompMgr().EntityByComponents( - ignition::gazebo::components::Model(), - ignition::gazebo::components::Name("sphere")); + Model(), + components::Name("sphere")); EXPECT_NE(kNullEntity, sphereEntity); auto cylinderEntity = runner.EntityCompMgr().EntityByComponents( - ignition::gazebo::components::Model(), - ignition::gazebo::components::Name("cylinder")); + Model(), + components::Name("cylinder")); EXPECT_NE(kNullEntity, cylinderEntity); // We can't access the type registered by the plugin unless we link against // it, but we know its name to check std::string componentName{"ModelPluginComponent"}; - auto componentId = ignition::common::hash64(componentName); + auto componentId = common::hash64(componentName); // Check there's no double component EXPECT_FALSE(runner.EntityCompMgr().HasComponentType(componentId)); diff --git a/src/SystemLoader_TEST.cc b/src/SystemLoader_TEST.cc index d1c8b38bd6..8d3882ec35 100644 --- a/src/SystemLoader_TEST.cc +++ b/src/SystemLoader_TEST.cc @@ -35,7 +35,7 @@ TEST(SystemLoader, Constructor) gazebo::SystemLoader sm; // Add test plugin to path (referenced in config) - auto testBuildPath = ignition::common::joinPaths( + auto testBuildPath = common::joinPaths( std::string(PROJECT_BINARY_PATH), "lib"); sm.AddSystemPluginPath(testBuildPath); diff --git a/src/TestFixture.cc b/src/TestFixture.cc index 8f1dffd9f5..e3a9479749 100644 --- a/src/TestFixture.cc +++ b/src/TestFixture.cc @@ -113,7 +113,7 @@ class ignition::gazebo::TestFixturePrivate public: void Init(const ServerConfig &_config); /// \brief Pointer to underlying server - public: std::shared_ptr server{nullptr}; + public: std::shared_ptr server{nullptr}; /// \brief Pointer to underlying Helper interface public: std::shared_ptr helperSystem{nullptr}; @@ -149,7 +149,7 @@ TestFixture::~TestFixture() void TestFixturePrivate::Init(const ServerConfig &_config) { this->helperSystem = std::make_shared(); - this->server = std::make_shared(_config); + this->server = std::make_shared(_config); } ////////////////////////////////////////////////// @@ -208,7 +208,7 @@ TestFixture &TestFixture::OnPostUpdate(std::function TestFixture::Server() const +std::shared_ptr TestFixture::Server() const { return this->dataPtr->server; } diff --git a/src/Util_TEST.cc b/src/Util_TEST.cc index 3a2ec1f081..6555cfcc7f 100644 --- a/src/Util_TEST.cc +++ b/src/Util_TEST.cc @@ -824,7 +824,7 @@ TEST_F(UtilTest, EntityFromMsg) ecm.CreateComponent(actorDEntity, components::ParentEntity(worldEntity)); // Check entities - auto createMsg = [&ecm](Entity _id, const std::string &_name = "", + auto createMsg = [&](Entity _id, const std::string &_name = "", msgs::Entity::Type _type = msgs::Entity::NONE) -> msgs::Entity { msgs::Entity msg; diff --git a/src/World.cc b/src/World.cc index 2d1514f79c..8f8ac5d5b6 100644 --- a/src/World.cc +++ b/src/World.cc @@ -140,7 +140,7 @@ Entity World::LightByName(const EntityComponentManager &_ecm, const std::string &_name) const { // Can't use components::Light in EntityByComponents, see - // https://github.com/ignitionrobotics/ign-gazebo/issues/376 + // https://github.com/gazebosim/gz-sim/issues/376 auto entities = _ecm.EntitiesByComponents( components::ParentEntity(this->dataPtr->id), components::Name(_name)); @@ -158,7 +158,7 @@ Entity World::ActorByName(const EntityComponentManager &_ecm, const std::string &_name) const { // Can't use components::Actor in EntityByComponents, see - // https://github.com/ignitionrobotics/ign-gazebo/issues/376 + // https://github.com/gazebosim/gz-sim/issues/376 auto entities = _ecm.EntitiesByComponents( components::ParentEntity(this->dataPtr->id), components::Name(_name)); @@ -185,7 +185,7 @@ Entity World::ModelByName(const EntityComponentManager &_ecm, std::vector World::Lights(const EntityComponentManager &_ecm) const { // Can't use components::Light in EntityByComponents, see - // https://github.com/ignitionrobotics/ign-gazebo/issues/376 + // https://github.com/gazebosim/gz-sim/issues/376 auto entities = _ecm.EntitiesByComponents( components::ParentEntity(this->dataPtr->id)); @@ -202,7 +202,7 @@ std::vector World::Lights(const EntityComponentManager &_ecm) const std::vector World::Actors(const EntityComponentManager &_ecm) const { // Can't use components::Actor in EntityByComponents, see - // https://github.com/ignitionrobotics/ign-gazebo/issues/376 + // https://github.com/gazebosim/gz-sim/issues/376 auto entities = _ecm.EntitiesByComponents( components::ParentEntity(this->dataPtr->id)); diff --git a/src/cmd/cmdgazebo.rb.in b/src/cmd/cmdgazebo.rb.in index 023843ce1d..abf4aada61 100755 --- a/src/cmd/cmdgazebo.rb.in +++ b/src/cmd/cmdgazebo.rb.in @@ -465,7 +465,7 @@ has properly set the DYLD_LIBRARY_PATH environment variables." if plugin.end_with? ".dylib" puts "`ign gazebo` currently only works with the -s argument on macOS. -See https://github.com/ignitionrobotics/ign-gazebo/issues/44 for more info." +See https://github.com/gazebosim/gz-sim/issues/44 for more info." exit(-1) end @@ -530,7 +530,7 @@ See https://github.com/gazebosim/gz-sim/issues/168 for more info." else options['gui'] if plugin.end_with? ".dylib" puts "`ign gazebo` currently only works with the -s argument on macOS. -See https://github.com/ignitionrobotics/ign-gazebo/issues/44 for more info." +See https://github.com/gazebosim/gz-sim/issues/44 for more info." exit(-1) end diff --git a/src/gui/AboutDialogHandler.cc b/src/gui/AboutDialogHandler.cc index 545f6fbb66..8e94a48e15 100644 --- a/src/gui/AboutDialogHandler.cc +++ b/src/gui/AboutDialogHandler.cc @@ -28,15 +28,16 @@ using namespace gazebo::gui; ///////////////////////////////////////////////// AboutDialogHandler::AboutDialogHandler() { + aboutText += "Gazebo " + std::string(GZ_DISTRIBUTION) + "
      "; aboutText += std::string(IGNITION_GAZEBO_VERSION_HEADER); aboutText += "" "" "" "" "" @@ -45,9 +46,9 @@ AboutDialogHandler::AboutDialogHandler() "Tutorials:" "" "" "" diff --git a/src/gui/GuiFileHandler.cc b/src/gui/GuiFileHandler.cc index 8572af744a..643ef2dd7b 100644 --- a/src/gui/GuiFileHandler.cc +++ b/src/gui/GuiFileHandler.cc @@ -45,7 +45,7 @@ void GuiFileHandler::SaveWorldAs(const QString &_fileUrl, std::string localPath = url.toLocalFile().toStdString() + suffix; std::string service{"/gazebo/worlds"}; - ignition::msgs::StringMsg_V worldsMsg; + msgs::StringMsg_V worldsMsg; bool result{false}; unsigned int timeout{5000}; diff --git a/src/gui/GuiRunner.cc b/src/gui/GuiRunner.cc index ab8a8d43e9..201b3f606d 100644 --- a/src/gui/GuiRunner.cc +++ b/src/gui/GuiRunner.cc @@ -255,7 +255,7 @@ void GuiRunner::RequestState() } } - ignition::msgs::StringMsg req; + msgs::StringMsg req; req.set_data(reqSrv); // Subscribe to periodic updates. diff --git a/src/gui/Gui_TEST.cc b/src/gui/Gui_TEST.cc index 92a98a1dad..8f3d69e42d 100644 --- a/src/gui/Gui_TEST.cc +++ b/src/gui/Gui_TEST.cc @@ -44,17 +44,17 @@ class GuiTest : public InternalFixture<::testing::Test> }; ///////////////////////////////////////////////// -// https://github.com/ignitionrobotics/ign-gazebo/issues/8 +// https://github.com/gazebosim/gz-sim/issues/8 // See https://github.com/ignitionrobotics/ign-gazebo/issues/1175 TEST_F(GuiTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(PathManager)) { common::Console::SetVerbosity(4); igndbg << "Start test" << std::endl; - ignition::common::setenv("IGN_GAZEBO_RESOURCE_PATH", + common::setenv("IGN_GAZEBO_RESOURCE_PATH", "/from_env:/tmp/more_env"); - ignition::common::setenv("SDF_PATH", ""); - ignition::common::setenv("IGN_FILE_PATH", ""); + common::setenv("SDF_PATH", ""); + common::setenv("IGN_FILE_PATH", ""); igndbg << "Environment set" << std::endl; transport::Node node; @@ -94,8 +94,8 @@ TEST_F(GuiTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(PathManager)) node.Advertise("/gazebo/resource_paths/get", pathsCb); igndbg << "Paths advertised" << std::endl; - auto app = ignition::gazebo::gui::createGui( - gg_argc, gg_argv, nullptr, nullptr, false, nullptr); + auto app = createGui(gg_argc, gg_argv, nullptr, + nullptr, false, nullptr); EXPECT_NE(nullptr, app); igndbg << "GUI created" << std::endl; diff --git a/src/gui/plugins/align_tool/AlignTool.cc b/src/gui/plugins/align_tool/AlignTool.cc index a2d965ef26..24e0815005 100644 --- a/src/gui/plugins/align_tool/AlignTool.cc +++ b/src/gui/plugins/align_tool/AlignTool.cc @@ -352,14 +352,14 @@ void AlignTool::Align() this->dataPtr->scene = rendering::sceneFromFirstRenderEngine(); // Get current list of selected entities - std::vector selectedList; - ignition::rendering::VisualPtr relativeVisual; + std::vector selectedList; + rendering::VisualPtr relativeVisual; for (const auto &entityId : this->dataPtr->selectedEntities) { for (auto i = 0u; i < this->dataPtr->scene->VisualCount(); ++i) { - ignition::rendering::VisualPtr vis = + rendering::VisualPtr vis = this->dataPtr->scene->VisualByIndex(i); if (!vis) continue; @@ -389,8 +389,8 @@ void AlignTool::Align() (relativeVisual = selectedList.back()); // Callback function for ignition node request - std::function cb = - [](const ignition::msgs::Boolean &/* _rep*/, const bool _result) + std::function cb = + [](const msgs::Boolean &/* _rep*/, const bool _result) { if (!_result) ignerr << "Error setting pose" << std::endl; @@ -404,7 +404,7 @@ void AlignTool::Align() } int axisIndex = static_cast(this->dataPtr->axis); - ignition::msgs::Pose req; + msgs::Pose req; ignition::math::AxisAlignedBox targetBox = relativeVisual->BoundingBox(); ignition::math::Vector3d targetMin = targetBox.Min(); @@ -566,7 +566,7 @@ bool AlignTool::eventFilter(QObject *_obj, QEvent *_event) } } else if (_event->type() == - ignition::gazebo::gui::events::EntitiesSelected::kType) + gui::events::EntitiesSelected::kType) { auto selectedEvent = reinterpret_cast( @@ -589,7 +589,7 @@ bool AlignTool::eventFilter(QObject *_obj, QEvent *_event) } } else if (_event->type() == - ignition::gazebo::gui::events::DeselectAllEntities::kType) + gui::events::DeselectAllEntities::kType) { this->dataPtr->selectedEntities.clear(); } @@ -597,5 +597,5 @@ bool AlignTool::eventFilter(QObject *_obj, QEvent *_event) } // Register this plugin -IGNITION_ADD_PLUGIN(ignition::gazebo::AlignTool, +IGNITION_ADD_PLUGIN(AlignTool, ignition::gui::Plugin) diff --git a/src/gui/plugins/component_inspector/ComponentInspector.cc b/src/gui/plugins/component_inspector/ComponentInspector.cc index 0c9fe29d50..ad83a21d68 100644 --- a/src/gui/plugins/component_inspector/ComponentInspector.cc +++ b/src/gui/plugins/component_inspector/ComponentInspector.cc @@ -154,7 +154,7 @@ using namespace gazebo; ////////////////////////////////////////////////// template<> -void ignition::gazebo::setData(QStandardItem *_item, const msgs::Light &_data) +void gazebo::setData(QStandardItem *_item, const msgs::Light &_data) { if (nullptr == _item) return; @@ -234,7 +234,7 @@ void ignition::gazebo::setData(QStandardItem *_item, const msgs::Light &_data) ////////////////////////////////////////////////// template<> -void ignition::gazebo::setData(QStandardItem *_item, +void gazebo::setData(QStandardItem *_item, const math::Vector3d &_data) { if (nullptr == _item) @@ -251,7 +251,7 @@ void ignition::gazebo::setData(QStandardItem *_item, ////////////////////////////////////////////////// template<> -void ignition::gazebo::setData(QStandardItem *_item, const std::string &_data) +void gazebo::setData(QStandardItem *_item, const std::string &_data) { if (nullptr == _item) return; @@ -264,7 +264,7 @@ void ignition::gazebo::setData(QStandardItem *_item, const std::string &_data) ////////////////////////////////////////////////// template<> -void ignition::gazebo::setData(QStandardItem *_item, +void gazebo::setData(QStandardItem *_item, const std::ostringstream &_data) { if (nullptr == _item) @@ -278,7 +278,7 @@ void ignition::gazebo::setData(QStandardItem *_item, ////////////////////////////////////////////////// template<> -void ignition::gazebo::setData(QStandardItem *_item, const bool &_data) +void gazebo::setData(QStandardItem *_item, const bool &_data) { if (nullptr == _item) return; @@ -290,7 +290,7 @@ void ignition::gazebo::setData(QStandardItem *_item, const bool &_data) ////////////////////////////////////////////////// template<> -void ignition::gazebo::setData(QStandardItem *_item, const int &_data) +void gazebo::setData(QStandardItem *_item, const int &_data) { if (nullptr == _item) return; @@ -302,14 +302,14 @@ void ignition::gazebo::setData(QStandardItem *_item, const int &_data) ////////////////////////////////////////////////// template<> -void ignition::gazebo::setData(QStandardItem *_item, const Entity &_data) +void gazebo::setData(QStandardItem *_item, const Entity &_data) { setData(_item, static_cast(_data)); } ////////////////////////////////////////////////// template<> -void ignition::gazebo::setData(QStandardItem *_item, const double &_data) +void gazebo::setData(QStandardItem *_item, const double &_data) { if (nullptr == _item) return; @@ -321,7 +321,7 @@ void ignition::gazebo::setData(QStandardItem *_item, const double &_data) ////////////////////////////////////////////////// template<> -void ignition::gazebo::setData(QStandardItem *_item, const sdf::Physics &_data) +void gazebo::setData(QStandardItem *_item, const sdf::Physics &_data) { if (nullptr == _item) return; @@ -336,7 +336,7 @@ void ignition::gazebo::setData(QStandardItem *_item, const sdf::Physics &_data) ////////////////////////////////////////////////// template<> -void ignition::gazebo::setData(QStandardItem *_item, +void gazebo::setData(QStandardItem *_item, const sdf::Material &_data) { if (nullptr == _item) @@ -369,7 +369,7 @@ void ignition::gazebo::setData(QStandardItem *_item, ////////////////////////////////////////////////// template<> -void ignition::gazebo::setData(QStandardItem *_item, +void gazebo::setData(QStandardItem *_item, const math::SphericalCoordinates &_data) { if (nullptr == _item) @@ -388,7 +388,7 @@ void ignition::gazebo::setData(QStandardItem *_item, } ////////////////////////////////////////////////// -void ignition::gazebo::setUnit(QStandardItem *_item, const std::string &_unit) +void gazebo::setUnit(QStandardItem *_item, const std::string &_unit) { if (nullptr == _item) return; @@ -417,7 +417,7 @@ ComponentsModel::ComponentsModel() : QStandardItemModel() ///////////////////////////////////////////////// QStandardItem *ComponentsModel::AddComponentType( - ignition::gazebo::ComponentTypeId _typeId) + ComponentTypeId _typeId) { IGN_PROFILE_THREAD_NAME("Qt thread"); IGN_PROFILE("ComponentsModel::AddComponentType"); @@ -448,7 +448,7 @@ QStandardItem *ComponentsModel::AddComponentType( ///////////////////////////////////////////////// void ComponentsModel::RemoveComponentType( - ignition::gazebo::ComponentTypeId _typeId) + ComponentTypeId _typeId) { IGN_PROFILE_THREAD_NAME("Qt thread"); IGN_PROFILE("ComponentsModel::RemoveComponentType"); @@ -485,7 +485,7 @@ QHash ComponentsModel::RoleNames() ComponentInspector::ComponentInspector() : GuiSystem(), dataPtr(std::make_unique()) { - qRegisterMetaType(); + qRegisterMetaType(); qRegisterMetaType("Entity"); } @@ -961,7 +961,7 @@ bool ComponentInspector::eventFilter(QObject *_obj, QEvent *_event) { if (!this->dataPtr->locked) { - if (_event->type() == gazebo::gui::events::EntitiesSelected::kType) + if (_event->type() == gui::events::EntitiesSelected::kType) { auto event = reinterpret_cast(_event); if (event && !event->Data().empty()) @@ -970,7 +970,7 @@ bool ComponentInspector::eventFilter(QObject *_obj, QEvent *_event) } } - if (_event->type() == gazebo::gui::events::DeselectAllEntities::kType) + if (_event->type() == gui::events::DeselectAllEntities::kType) { auto event = reinterpret_cast( _event); @@ -1127,14 +1127,14 @@ void ComponentInspector::OnLight( ///////////////////////////////////////////////// void ComponentInspector::OnPhysics(double _stepSize, double _realTimeFactor) { - std::function cb = - [](const ignition::msgs::Boolean &/*_rep*/, const bool _result) + std::function cb = + [](const msgs::Boolean &/*_rep*/, const bool _result) { if (!_result) ignerr << "Error setting physics parameters" << std::endl; }; - ignition::msgs::Physics req; + msgs::Physics req; req.set_max_step_size(_stepSize); req.set_real_time_factor(_realTimeFactor); auto physicsCmdService = "/world/" + this->dataPtr->worldName @@ -1344,5 +1344,5 @@ void ComponentInspector::OnAddSystem(const QString &_name, } // Register this plugin -IGNITION_ADD_PLUGIN(ignition::gazebo::ComponentInspector, +IGNITION_ADD_PLUGIN(ComponentInspector, ignition::gui::Plugin) diff --git a/src/gui/plugins/entity_tree/EntityTree.cc b/src/gui/plugins/entity_tree/EntityTree.cc index 38a80a9557..99fa75fcae 100644 --- a/src/gui/plugins/entity_tree/EntityTree.cc +++ b/src/gui/plugins/entity_tree/EntityTree.cc @@ -526,7 +526,7 @@ void EntityTree::OnLoadMesh(const QString &_mesh) ///////////////////////////////////////////////// bool EntityTree::eventFilter(QObject *_obj, QEvent *_event) { - if (_event->type() == ignition::gazebo::gui::events::EntitiesSelected::kType) + if (_event->type() == gui::events::EntitiesSelected::kType) { auto selectedEvent = reinterpret_cast(_event); @@ -544,7 +544,7 @@ bool EntityTree::eventFilter(QObject *_obj, QEvent *_event) } } else if (_event->type() == - ignition::gazebo::gui::events::DeselectAllEntities::kType) + gui::events::DeselectAllEntities::kType) { auto deselectAllEvent = reinterpret_cast(_event); @@ -577,5 +577,5 @@ bool EntityTree::eventFilter(QObject *_obj, QEvent *_event) } // Register this plugin -IGNITION_ADD_PLUGIN(ignition::gazebo::EntityTree, +IGNITION_ADD_PLUGIN(EntityTree, ignition::gui::Plugin) diff --git a/src/gui/plugins/joint_position_controller/JointPositionController.cc b/src/gui/plugins/joint_position_controller/JointPositionController.cc index c800f14aff..b233383f1f 100644 --- a/src/gui/plugins/joint_position_controller/JointPositionController.cc +++ b/src/gui/plugins/joint_position_controller/JointPositionController.cc @@ -291,7 +291,7 @@ void JointPositionController::Update(const UpdateInfo &, QMetaObject::invokeMethod(&this->dataPtr->jointsModel, "RemoveJoint", Qt::QueuedConnection, - Q_ARG(Entity, jointEntity)); + Q_ARG(ignition::gazebo::Entity, jointEntity)); } } } @@ -374,7 +374,7 @@ void JointPositionController::OnCommand(const QString &_jointName, double _pos) { std::string jointName = _jointName.toStdString(); - ignition::msgs::Double msg; + msgs::Double msg; msg.set_data(_pos); auto topic = transport::TopicUtils::AsValidTopic("/model/" + this->dataPtr->modelName.toStdString() + "/joint/" + jointName + @@ -387,7 +387,7 @@ void JointPositionController::OnCommand(const QString &_jointName, double _pos) return; } - auto pub = this->dataPtr->node.Advertise(topic); + auto pub = this->dataPtr->node.Advertise(topic); pub.Publish(msg); } @@ -404,7 +404,7 @@ void JointPositionController::OnReset() continue; } - ignition::msgs::Double msg; + msgs::Double msg; msg.set_data(0); auto topic = transport::TopicUtils::AsValidTopic("/model/" + this->dataPtr->modelName.toStdString() + "/joint/" + jointName + @@ -417,11 +417,11 @@ void JointPositionController::OnReset() return; } - auto pub = this->dataPtr->node.Advertise(topic); + auto pub = this->dataPtr->node.Advertise(topic); pub.Publish(msg); } } // Register this plugin -IGNITION_ADD_PLUGIN(ignition::gazebo::gui::JointPositionController, +IGNITION_ADD_PLUGIN(JointPositionController, ignition::gui::Plugin) diff --git a/src/gui/plugins/modules/EntityContextMenu.cc b/src/gui/plugins/modules/EntityContextMenu.cc index d2282c4dc0..83141a634b 100644 --- a/src/gui/plugins/modules/EntityContextMenu.cc +++ b/src/gui/plugins/modules/EntityContextMenu.cc @@ -86,7 +86,7 @@ using namespace gazebo; void IgnGazeboPlugin::registerTypes(const char *_uri) { // Register our 'EntityContextMenuItem' in qml engine - qmlRegisterType(_uri, 1, 0, + qmlRegisterType(_uri, 1, 0, "EntityContextMenuItem"); } @@ -163,14 +163,14 @@ void EntityContextMenu::OnRemove( "/world/" + this->dataPtr->worldName + "/remove"; } - std::function cb = - [](const ignition::msgs::Boolean &_rep, const bool _result) + std::function cb = + [](const msgs::Boolean &_rep, const bool _result) { if (!_result || !_rep.data()) ignerr << "Error sending remove request" << std::endl; }; - ignition::msgs::Entity req; + msgs::Entity req; req.set_name(_data.toStdString()); req.set_type(convert(_type.toStdString())); @@ -180,8 +180,8 @@ void EntityContextMenu::OnRemove( ///////////////////////////////////////////////// void EntityContextMenu::OnRequest(const QString &_request, const QString &_data) { - std::function cb = - [](const ignition::msgs::Boolean &/*_rep*/, const bool _result) + std::function cb = + [](const msgs::Boolean &/*_rep*/, const bool _result) { if (!_result) ignerr << "Error sending move to request" << std::endl; @@ -190,13 +190,13 @@ void EntityContextMenu::OnRequest(const QString &_request, const QString &_data) std::string request = _request.toStdString(); if (request == "move_to") { - ignition::msgs::StringMsg req; + msgs::StringMsg req; req.set_data(_data.toStdString()); this->dataPtr->node.Request(this->dataPtr->moveToService, req, cb); } else if (request == "follow") { - ignition::msgs::StringMsg req; + msgs::StringMsg req; req.set_data(_data.toStdString()); this->dataPtr->node.Request(this->dataPtr->followService, req, cb); } @@ -232,7 +232,7 @@ void EntityContextMenu::OnRequest(const QString &_request, const QString &_data) } else if (request == "view_collisions") { - ignition::msgs::StringMsg req; + msgs::StringMsg req; req.set_data(_data.toStdString()); this->dataPtr->node.Request(this->dataPtr->viewCollisionsService, req, cb); } diff --git a/src/gui/plugins/playback_scrubber/PlaybackScrubber.cc b/src/gui/plugins/playback_scrubber/PlaybackScrubber.cc index 2935caaf1c..94f852a452 100644 --- a/src/gui/plugins/playback_scrubber/PlaybackScrubber.cc +++ b/src/gui/plugins/playback_scrubber/PlaybackScrubber.cc @@ -251,5 +251,5 @@ void PlaybackScrubber::OnDrop(double _value) } // Register this plugin -IGNITION_ADD_PLUGIN(ignition::gazebo::PlaybackScrubber, +IGNITION_ADD_PLUGIN(PlaybackScrubber, ignition::gui::Plugin) diff --git a/src/gui/plugins/plot_3d/Plot3D.cc b/src/gui/plugins/plot_3d/Plot3D.cc index 45565bbc75..b2e2657a3c 100644 --- a/src/gui/plugins/plot_3d/Plot3D.cc +++ b/src/gui/plugins/plot_3d/Plot3D.cc @@ -165,7 +165,7 @@ void Plot3D::ClearPlot() // Clear previous plot if (this->dataPtr->markerMsg.point().size() > 0) { - this->dataPtr->markerMsg.set_action(ignition::msgs::Marker::DELETE_MARKER); + this->dataPtr->markerMsg.set_action(msgs::Marker::DELETE_MARKER); this->dataPtr->node.Request("/marker", this->dataPtr->markerMsg); } } @@ -245,7 +245,7 @@ void Plot3D::Update(const UpdateInfo &, EntityComponentManager &_ecm) return; this->dataPtr->prevPos = point; - ignition::msgs::Set(this->dataPtr->markerMsg.add_point(), point); + msgs::Set(this->dataPtr->markerMsg.add_point(), point); // Reduce message array if (this->dataPtr->markerMsg.point_size() > this->dataPtr->maxPoints) @@ -401,5 +401,5 @@ void Plot3D::SetMaxPoints(int _maxPoints) } // Register this plugin -IGNITION_ADD_PLUGIN(ignition::gazebo::gui::Plot3D, +IGNITION_ADD_PLUGIN(Plot3D, ignition::gui::Plugin) diff --git a/src/gui/plugins/resource_spawner/ResourceSpawner.cc b/src/gui/plugins/resource_spawner/ResourceSpawner.cc index 9320e88be4..73450c73ef 100644 --- a/src/gui/plugins/resource_spawner/ResourceSpawner.cc +++ b/src/gui/plugins/resource_spawner/ResourceSpawner.cc @@ -217,7 +217,7 @@ ResourceSpawner::ResourceSpawner() ignition::gui::App()->Engine()->rootContext()->setContextProperty( "OwnerList", &this->dataPtr->ownerModel); this->dataPtr->fuelClient = - std::make_unique(); + std::make_unique(); } ///////////////////////////////////////////////// @@ -482,7 +482,7 @@ void ResourceSpawner::OnDownloadFuelResource(const QString &_path, // Set the waiting cursor while the resource downloads QGuiApplication::setOverrideCursor(Qt::WaitCursor); if (this->dataPtr->fuelClient->DownloadModel( - ignition::common::URI(_path.toStdString()), localPath)) + common::URI(_path.toStdString()), localPath)) { // Successful download, set thumbnail std::string thumbnailPath = common::joinPaths(localPath, "thumbnails"); @@ -564,7 +564,7 @@ void ResourceSpawner::LoadConfig(const tinyxml2::XMLElement *) std::set ownerSet; for (auto const &server : servers) { - std::vector models; + std::vector models; for (auto iter = this->dataPtr->fuelClient->Models(server); iter; ++iter) { models.push_back(iter->Identification()); @@ -584,10 +584,10 @@ void ResourceSpawner::LoadConfig(const tinyxml2::XMLElement *) // If the resource is cached, we can go ahead and populate the // respective information if (this->dataPtr->fuelClient->CachedModel( - ignition::common::URI(id.UniqueName()), path)) + common::URI(id.UniqueName()), path)) { resource.isDownloaded = true; - resource.sdfPath = ignition::common::joinPaths(path, "model.sdf"); + resource.sdfPath = common::joinPaths(path, "model.sdf"); std::string thumbnailPath = common::joinPaths(path, "thumbnails"); this->SetThumbnail(thumbnailPath, resource); } @@ -633,5 +633,5 @@ void ResourceSpawner::OnResourceSpawn(const QString &_sdfPath) } // Register this plugin -IGNITION_ADD_PLUGIN(ignition::gazebo::ResourceSpawner, +IGNITION_ADD_PLUGIN(ResourceSpawner, ignition::gui::Plugin) diff --git a/src/gui/plugins/scene3d/Scene3D.cc b/src/gui/plugins/scene3d/Scene3D.cc index b5097c15fb..7f91596a8c 100644 --- a/src/gui/plugins/scene3d/Scene3D.cc +++ b/src/gui/plugins/scene3d/Scene3D.cc @@ -794,7 +794,7 @@ void IgnRenderer::Render(RenderSync *_renderSync) std::chrono::steady_clock::duration dt; dt = t - this->dataPtr->recordStartTime; int64_t sec, nsec; - std::tie(sec, nsec) = ignition::math::durationToSecNsec(dt); + std::tie(sec, nsec) = math::durationToSecNsec(dt); msgs::Time msg; msg.set_sec(sec); msg.set_nsec(nsec); @@ -1259,7 +1259,7 @@ bool IgnRenderer::GeneratePreview(const sdf::Root &_sdf) // Only preview first model sdf::Light light = *(_sdf.Light()); this->dataPtr->spawnPreviewPose = light.RawPose(); - light.SetName(ignition::common::Uuid().String()); + light.SetName(common::Uuid().String()); Entity lightVisualId = this->UniqueId(); if (!lightVisualId) { @@ -1550,8 +1550,8 @@ void IgnRenderer::HandleModelPlacement() this->TerminateSpawnPreview(); math::Pose3d modelPose = this->dataPtr->spawnPreviewPose; - std::function cb = - [](const ignition::msgs::Boolean &/*_rep*/, const bool _result) + std::function cb = + [](const msgs::Boolean &/*_rep*/, const bool _result) { if (!_result) ignerr << "Error creating model" << std::endl; @@ -1665,7 +1665,7 @@ double IgnRenderer::SnapValue( ///////////////////////////////////////////////// void IgnRenderer::SnapPoint( - ignition::math::Vector3d &_point, math::Vector3d &_snapVals, + math::Vector3d &_point, math::Vector3d &_snapVals, double _sensitivity) const { if (_snapVals.X() <= 0 || _snapVals.Y() <= 0 || _snapVals.Z() <= 0) @@ -1772,7 +1772,7 @@ void IgnRenderer::HandleMouseTransformControl() // check if the visual is an axis in the gizmo visual math::Vector3d axis = this->dataPtr->transformControl.AxisById(visual->Id()); - if (axis != ignition::math::Vector3d::Zero) + if (axis != math::Vector3d::Zero) { // start the transform process this->dataPtr->transformControl.SetActiveAxis(axis); @@ -1790,14 +1790,14 @@ void IgnRenderer::HandleMouseTransformControl() { if (this->dataPtr->transformControl.Node()) { - std::function cb = - [](const ignition::msgs::Boolean &/*_rep*/, const bool _result) + std::function cb = + [](const msgs::Boolean &/*_rep*/, const bool _result) { if (!_result) ignerr << "Error setting pose" << std::endl; }; rendering::NodePtr node = this->dataPtr->transformControl.Node(); - ignition::msgs::Pose req; + msgs::Pose req; req.set_name(node->Name()); msgs::Set(req.mutable_position(), node->WorldPosition()); msgs::Set(req.mutable_orientation(), node->WorldRotation()); @@ -1840,7 +1840,7 @@ void IgnRenderer::HandleMouseTransformControl() // check if the visual is an axis in the gizmo visual math::Vector3d axis = this->dataPtr->transformControl.AxisById(visual->Id()); - if (axis == ignition::math::Vector3d::Zero) + if (axis == math::Vector3d::Zero) { auto topVis = this->dataPtr->renderUtil.SceneManager().TopLevelVisual(visual); @@ -1908,7 +1908,7 @@ void IgnRenderer::HandleMouseTransformControl() this->dataPtr->startWorldPos = target->WorldPosition(); } - ignition::math::Vector3d worldPos = + math::Vector3d worldPos = target->WorldPosition(); math::Vector3d distance = this->dataPtr->transformControl.TranslationFrom2d(axis, start, end); @@ -2060,7 +2060,7 @@ void IgnRenderer::HandleMouseViewControl() // unset the target on release (by setting to inf) else if (this->dataPtr->mouseEvent.Type() == common::MouseEvent::RELEASE) { - this->dataPtr->target = ignition::math::INF_D; + this->dataPtr->target = math::INF_D; } // Pan with left button @@ -2532,7 +2532,7 @@ math::Vector3d IgnRenderer::ScreenToPlane( this->dataPtr->rayQuery->SetFromCamera( this->dataPtr->camera, math::Vector2d(nx, ny)); - ignition::math::Planed plane(ignition::math::Vector3d(0, 0, 1), 0); + math::Planed plane(math::Vector3d(0, 0, 1), 0); math::Vector3d origin = this->dataPtr->rayQuery->Origin(); math::Vector3d direction = this->dataPtr->rayQuery->Direction(); @@ -2716,7 +2716,7 @@ void TextureNode::PrepareNode() newId, sz, QQuickWindow::TextureIsOpaque); #else // TODO(anyone) Use createTextureFromNativeObject - // https://github.com/ignitionrobotics/ign-gui/issues/113 + // https://github.com/gazebosim/gz-gui/issues/113 #ifndef _WIN32 # pragma GCC diagnostic push # pragma GCC diagnostic ignored "-Wdeprecated-declarations" @@ -3536,8 +3536,8 @@ void Scene3D::OnDropped(const QString &_drop, int _mouseX, int _mouseY) return; } - std::function cb = - [](const ignition::msgs::Boolean &_res, const bool _result) + std::function cb = + [](const msgs::Boolean &_res, const bool _result) { if (!_result || !_res.data()) ignerr << "Error creating dropped entity." << std::endl; @@ -3679,7 +3679,7 @@ bool Scene3D::eventFilter(QObject *_obj, QEvent *_event) } } else if (_event->type() == - ignition::gazebo::gui::events::EntitiesSelected::kType) + gui::events::EntitiesSelected::kType) { auto selectedEvent = reinterpret_cast( @@ -3713,7 +3713,7 @@ bool Scene3D::eventFilter(QObject *_obj, QEvent *_event) } } else if (_event->type() == - ignition::gazebo::gui::events::DeselectAllEntities::kType) + gui::events::DeselectAllEntities::kType) { auto deselectEvent = reinterpret_cast( @@ -3967,7 +3967,7 @@ void RenderWindowItem::SetVisibilityMask(uint32_t _mask) } ///////////////////////////////////////////////// -void RenderWindowItem::OnHovered(const ignition::math::Vector2i &_hoverPos) +void RenderWindowItem::OnHovered(const math::Vector2i &_hoverPos) { this->dataPtr->renderThread->ignRenderer.NewHoverEvent(_hoverPos); } @@ -4086,5 +4086,5 @@ void RenderWindowItem::HandleKeyRelease(QKeyEvent *_e) // // Register this plugin -IGNITION_ADD_PLUGIN(ignition::gazebo::Scene3D, +IGNITION_ADD_PLUGIN(gazebo::Scene3D, ignition::gui::Plugin) diff --git a/src/gui/plugins/shapes/Shapes.cc b/src/gui/plugins/shapes/Shapes.cc index 2cd0108237..3e5ca46c7a 100644 --- a/src/gui/plugins/shapes/Shapes.cc +++ b/src/gui/plugins/shapes/Shapes.cc @@ -81,5 +81,5 @@ void Shapes::OnMode(const QString &_mode) } // Register this plugin -IGNITION_ADD_PLUGIN(ignition::gazebo::Shapes, +IGNITION_ADD_PLUGIN(Shapes, ignition::gui::Plugin) diff --git a/src/gui/plugins/transform_control/TransformControl.cc b/src/gui/plugins/transform_control/TransformControl.cc index 54215f8304..b2cb21bbc4 100644 --- a/src/gui/plugins/transform_control/TransformControl.cc +++ b/src/gui/plugins/transform_control/TransformControl.cc @@ -258,14 +258,14 @@ void TransformControl::OnMode(const QString &_mode) // Legacy behaviour: send request to GzScene3D if (this->dataPtr->legacy) { - std::function cb = - [](const ignition::msgs::Boolean &/*_rep*/, const bool _result) + std::function cb = + [](const msgs::Boolean &/*_rep*/, const bool _result) { if (!_result) ignerr << "Error setting transform mode" << std::endl; }; - ignition::msgs::StringMsg req; + msgs::StringMsg req; req.set_data(modeStr); this->dataPtr->node.Request(this->dataPtr->service, req, cb); } @@ -284,7 +284,7 @@ void TransformControl::OnMode(const QString &_mode) else ignerr << "Unknown transform mode: [" << modeStr << "]" << std::endl; - ignition::gazebo::gui::events::TransformControlModeActive + gazebo::gui::events::TransformControlModeActive transformControlModeActive(this->dataPtr->transformMode); ignition::gui::App()->sendEvent( ignition::gui::App()->findChild(), @@ -1017,5 +1017,5 @@ void TransformControlPrivate::SnapPoint( } // Register this plugin -IGNITION_ADD_PLUGIN(ignition::gazebo::TransformControl, +IGNITION_ADD_PLUGIN(TransformControl, ignition::gui::Plugin) diff --git a/src/gui/plugins/video_recorder/VideoRecorder.cc b/src/gui/plugins/video_recorder/VideoRecorder.cc index 1eb9b3e69a..0e88285286 100644 --- a/src/gui/plugins/video_recorder/VideoRecorder.cc +++ b/src/gui/plugins/video_recorder/VideoRecorder.cc @@ -367,7 +367,7 @@ void VideoRecorder::LoadConfig(const tinyxml2::XMLElement * _pluginElem) ///////////////////////////////////////////////// bool VideoRecorder::eventFilter(QObject *_obj, QEvent *_event) { - if (_event->type() == ignition::gui::events::Render::kType) + if (_event->type() == gui::events::Render::kType) { this->dataPtr->OnRender(); } @@ -386,13 +386,13 @@ void VideoRecorder::OnStart(const QString &_format) if (this->dataPtr->legacy) { - std::function cb = - [](const ignition::msgs::Boolean &/*_rep*/, const bool _result) + std::function cb = + [](const msgs::Boolean &/*_rep*/, const bool _result) { if (!_result) ignerr << "Error sending video record start request" << std::endl; }; - ignition::msgs::VideoRecord req; + msgs::VideoRecord req; req.set_start(this->dataPtr->recordVideo); req.set_format(this->dataPtr->format); req.set_save_filename(this->dataPtr->filename); @@ -408,14 +408,14 @@ void VideoRecorder::OnStop() if (this->dataPtr->legacy) { - std::function cb = - [](const ignition::msgs::Boolean &/*_rep*/, const bool _result) + std::function cb = + [](const msgs::Boolean &/*_rep*/, const bool _result) { if (!_result) ignerr << "Error sending video record stop request" << std::endl; }; - ignition::msgs::VideoRecord req; + msgs::VideoRecord req; req.set_stop(true); this->dataPtr->node.Request(this->dataPtr->service, req, cb); } @@ -462,5 +462,5 @@ void VideoRecorder::OnCancel() } // Register this plugin -IGNITION_ADD_PLUGIN(ignition::gazebo::VideoRecorder, +IGNITION_ADD_PLUGIN(VideoRecorder, ignition::gui::Plugin) diff --git a/src/gui/plugins/view_angle/ViewAngle.cc b/src/gui/plugins/view_angle/ViewAngle.cc index 8f3b34f431..0e9fa5797d 100644 --- a/src/gui/plugins/view_angle/ViewAngle.cc +++ b/src/gui/plugins/view_angle/ViewAngle.cc @@ -463,5 +463,5 @@ bool ViewAnglePrivate::UpdateQtCamClipDist() } // Register this plugin -IGNITION_ADD_PLUGIN(ignition::gazebo::ViewAngle, +IGNITION_ADD_PLUGIN(ViewAngle, ignition::gui::Plugin) diff --git a/src/ign.cc b/src/ign.cc index 76344cf872..c846aacece 100644 --- a/src/ign.cc +++ b/src/ign.cc @@ -56,7 +56,7 @@ extern "C" void cmdVerbosity( const char *_verbosity) { int verbosity = std::atoi(_verbosity); - ignition::common::Console::SetVerbosity(verbosity); + common::Console::SetVerbosity(verbosity); // SDFormat only has 2 levels: quiet / loud. Let sim users suppress all SDF // console output with zero verbosity. @@ -78,17 +78,17 @@ extern "C" const char *findFuelResource( { std::string path; std::string worldPath; - ignition::fuel_tools::FuelClient fuelClient; + fuel_tools::FuelClient fuelClient; // Attempt to find cached copy, and then attempt download - if (fuelClient.CachedWorld(ignition::common::URI(_pathToResource), path)) + if (fuelClient.CachedWorld(common::URI(_pathToResource), path)) { ignmsg << "Cached world found." << std::endl; worldPath = path; } // cppcheck-suppress syntaxError - else if (ignition::fuel_tools::Result result = - fuelClient.DownloadWorld(ignition::common::URI(_pathToResource), path); + else if (fuel_tools::Result result = + fuelClient.DownloadWorld(common::URI(_pathToResource), path); result) { ignmsg << "Successfully downloaded world from fuel." << std::endl; @@ -101,20 +101,20 @@ extern "C" const char *findFuelResource( return ""; } - if (!ignition::common::exists(worldPath)) + if (!common::exists(worldPath)) return ""; // Find the first sdf file in the world path for now, the later intention is // to load an optional world config file first and if that does not exist, // continue to load the first sdf file found as done below - for (ignition::common::DirIter file(worldPath); - file != ignition::common::DirIter(); ++file) + for (common::DirIter file(worldPath); + file != common::DirIter(); ++file) { std::string current(*file); - if (ignition::common::isFile(current)) + if (common::isFile(current)) { - std::string fileName = ignition::common::basename(current); + std::string fileName = common::basename(current); std::string::size_type fileExtensionIndex = fileName.rfind("."); std::string fileExtension = fileName.substr(fileExtensionIndex + 1); @@ -138,7 +138,7 @@ extern "C" int runServer(const char *_sdfString, int _headless, float _recordPeriod) { std::string startingWorldPath{""}; - ignition::gazebo::ServerConfig serverConfig; + gazebo::ServerConfig serverConfig; // Lock until the starting world is received from Gui if (_waitGui == 1) @@ -173,7 +173,7 @@ extern "C" int runServer(const char *_sdfString, // Path for compressed log, used to check for duplicates std::string cmpPath = std::string(recordPathMod); - if (!std::string(1, cmpPath.back()).compare(ignition::common::separator(""))) + if (!std::string(1, cmpPath.back()).compare(common::separator(""))) { // Remove the separator at end of path cmpPath = cmpPath.substr(0, cmpPath.length() - 1); @@ -207,7 +207,7 @@ extern "C" int runServer(const char *_sdfString, // Update compressed file path to name of recording directory path cmpPath = std::string(recordPathMod); - if (!std::string(1, cmpPath.back()).compare(ignition::common::separator( + if (!std::string(1, cmpPath.back()).compare(common::separator( ""))) { // Remove the separator at end of path @@ -216,8 +216,8 @@ extern "C" int runServer(const char *_sdfString, cmpPath += ".zip"; // Check if path or compressed file with same prefix exists - if (ignition::common::exists(recordPathMod) || - ignition::common::exists(cmpPath)) + if (common::exists(recordPathMod) || + common::exists(cmpPath)) { // Overwrite if flag specified if (_logOverwrite > 0) @@ -225,15 +225,15 @@ extern "C" int runServer(const char *_sdfString, bool recordMsg = false; bool cmpMsg = false; // Remove files before initializing console log files on top of them - if (ignition::common::exists(recordPathMod)) + if (common::exists(recordPathMod)) { recordMsg = true; - ignition::common::removeAll(recordPathMod); + common::removeAll(recordPathMod); } - if (ignition::common::exists(cmpPath)) + if (common::exists(cmpPath)) { cmpMsg = true; - ignition::common::removeFile(cmpPath); + common::removeFile(cmpPath); } // Create log file before printing any messages so they can be logged @@ -260,7 +260,7 @@ extern "C" int runServer(const char *_sdfString, { // Remove the separator at end of path if (!std::string(1, recordPathMod.back()).compare( - ignition::common::separator(""))) + common::separator(""))) { recordPathMod = recordPathMod.substr(0, recordPathMod.length() - 1); @@ -271,8 +271,8 @@ extern "C" int runServer(const char *_sdfString, // Keep renaming until path does not exist for both directory and // compressed file - while (ignition::common::exists(recordPathMod) || - ignition::common::exists(cmpPath)) + while (common::exists(recordPathMod) || + common::exists(cmpPath)) { recordPathMod = recordOrigPrefix + "(" + std::to_string(count++) + ")"; @@ -280,7 +280,7 @@ extern "C" int runServer(const char *_sdfString, cmpPath = std::string(recordPathMod); // Remove the separator at end of path if (!std::string(1, cmpPath.back()).compare( - ignition::common::separator(""))) + common::separator(""))) { cmpPath = cmpPath.substr(0, cmpPath.length() - 1); } @@ -312,7 +312,7 @@ extern "C" int runServer(const char *_sdfString, } serverConfig.SetLogRecordPath(recordPathMod); - std::vector topics = ignition::common::split( + std::vector topics = common::split( _recordTopics, ":"); for (const std::string &topic : topics) { @@ -379,7 +379,7 @@ extern "C" int runServer(const char *_sdfString, else { ignmsg << "Playing back states" << _playback << std::endl; - serverConfig.SetLogPlaybackPath(ignition::common::absPath( + serverConfig.SetLogPlaybackPath(common::absPath( std::string(_playback))); } } @@ -402,7 +402,7 @@ extern "C" int runServer(const char *_sdfString, } // Create the Gazebo server - ignition::gazebo::Server server(serverConfig); + gazebo::Server server(serverConfig); // Run the server server.Run(true, _iterations, _run == 0); @@ -426,6 +426,6 @@ extern "C" int runGui(const char *_guiConfig, const char *_file, int _waitGui, // be converted to a const char *. The const cast is here to prevent a warning // since we do need to pass a char* to runGui char *argv = const_cast("ign-gazebo-gui"); - return ignition::gazebo::gui::runGui( + return gazebo::gui::runGui( argc, &argv, _guiConfig, _file, _waitGui, _renderEngine); } diff --git a/src/ign.hh b/src/ign.hh index 18eac3cfc5..58fa40dfed 100644 --- a/src/ign.hh +++ b/src/ign.hh @@ -82,7 +82,7 @@ extern "C" IGNITION_GAZEBO_VISIBLE int runGui(const char *_guiConfig, /// \brief External hook to find or download a fuel world provided a URL. /// \param[in] _pathToResource Path to the fuel world resource, ie, -/// https://staging-fuel.ignitionrobotics.org/1.0/gmas/worlds/ShapesClone +/// https://staging-fuel.gazebosim.org/1.0/gmas/worlds/ShapesClone /// \return C-string containing the path to the local world sdf file extern "C" IGNITION_GAZEBO_VISIBLE const char *findFuelResource( char *_pathToResource); diff --git a/src/ign_TEST.cc b/src/ign_TEST.cc index 397441bed4..29fb643dba 100644 --- a/src/ign_TEST.cc +++ b/src/ign_TEST.cc @@ -21,9 +21,9 @@ #include #include -#include -#include -#include +#include +#include +#include #include "ignition/gazebo/test_config.hh" // NOLINT(build/include) @@ -37,6 +37,11 @@ static const std::string kIgnModelCommand( ///////////////////////////////////////////////// std::string customExecStr(std::string _cmd) { + // Augment the system plugin path. + ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH", + ignition::common::joinPaths( + std::string(PROJECT_BINARY_PATH), "lib").c_str()); + _cmd += " 2>&1"; FILE *pipe = popen(_cmd.c_str(), "r"); @@ -100,7 +105,7 @@ TEST(CmdLine, CachedFuelWorld) std::string projectPath = std::string(PROJECT_SOURCE_PATH) + "/test/worlds"; ignition::common::setenv("IGN_FUEL_CACHE_PATH", projectPath.c_str()); std::string cmd = kIgnCommand + " -r -v 4 --iterations 5" + - " https://fuel.ignitionrobotics.org/1.0/OpenRobotics/worlds/Test%20world"; + " https://fuel.gazebosim.org/1.0/OpenRobotics/worlds/Test%20world"; std::cout << "Running command [" << cmd << "]" << std::endl; std::string output = customExecStr(cmd); diff --git a/src/network/NetworkManagerPrimary.cc b/src/network/NetworkManagerPrimary.cc index e9759eb735..f8e51562ce 100644 --- a/src/network/NetworkManagerPrimary.cc +++ b/src/network/NetworkManagerPrimary.cc @@ -212,7 +212,7 @@ bool NetworkManagerPrimary::SecondariesCanStep() const // TODO(anyone) Ideally we'd check the number of connections against the // number of expected secondaries, but there's no interface for that // on ign-transport yet: - // https://github.com/ignitionrobotics/ign-transport/issues/39 + // https://github.com/gazebosim/gz-transport/issues/39 return this->simStepPub.HasConnections(); } diff --git a/src/network/PeerInfo.cc b/src/network/PeerInfo.cc index e749caff66..b345fde017 100644 --- a/src/network/PeerInfo.cc +++ b/src/network/PeerInfo.cc @@ -24,8 +24,8 @@ using namespace gazebo; ///////////////////////////////////////////////// PeerInfo::PeerInfo(const NetworkRole &_role): - id(ignition::common::Uuid().String()), - hostname(ignition::transport::hostname()), + id(common::Uuid().String()), + hostname(transport::hostname()), role(_role) { } @@ -42,36 +42,36 @@ std::string PeerInfo::Namespace() const } ///////////////////////////////////////////////// -ignition::gazebo::private_msgs::PeerInfo ignition::gazebo::toProto( +private_msgs::PeerInfo gazebo::toProto( const PeerInfo &_info) { - ignition::gazebo::private_msgs::PeerInfo proto; + private_msgs::PeerInfo proto; proto.set_id(_info.id); proto.set_hostname(_info.hostname); switch (_info.role) { case NetworkRole::ReadOnly: - proto.set_role(ignition::gazebo::private_msgs::PeerInfo::READ_ONLY); + proto.set_role(private_msgs::PeerInfo::READ_ONLY); break; case NetworkRole::SimulationPrimary: proto.set_role( - ignition::gazebo::private_msgs::PeerInfo::SIMULATION_PRIMARY); + private_msgs::PeerInfo::SIMULATION_PRIMARY); break; case NetworkRole::SimulationSecondary: proto.set_role( - ignition::gazebo::private_msgs::PeerInfo::SIMULATION_SECONDARY); + private_msgs::PeerInfo::SIMULATION_SECONDARY); break; case NetworkRole::None: default: - proto.set_role(ignition::gazebo::private_msgs::PeerInfo::NONE); + proto.set_role(private_msgs::PeerInfo::NONE); } return proto; } ///////////////////////////////////////////////// -PeerInfo ignition::gazebo::fromProto( - const ignition::gazebo::private_msgs::PeerInfo& _proto) +PeerInfo gazebo::fromProto( + const private_msgs::PeerInfo& _proto) { PeerInfo info; info.id = _proto.id(); @@ -79,16 +79,16 @@ PeerInfo ignition::gazebo::fromProto( switch (_proto.role()) { - case ignition::gazebo::private_msgs::PeerInfo::READ_ONLY: + case private_msgs::PeerInfo::READ_ONLY: info.role = NetworkRole::ReadOnly; break; - case ignition::gazebo::private_msgs::PeerInfo::SIMULATION_PRIMARY: + case private_msgs::PeerInfo::SIMULATION_PRIMARY: info.role = NetworkRole::SimulationPrimary; break; - case ignition::gazebo::private_msgs::PeerInfo::SIMULATION_SECONDARY: + case private_msgs::PeerInfo::SIMULATION_SECONDARY: info.role = NetworkRole::SimulationSecondary; break; - case ignition::gazebo::private_msgs::PeerInfo::NONE: + case private_msgs::PeerInfo::NONE: default: info.role = NetworkRole::None; break; diff --git a/src/network/PeerTracker.cc b/src/network/PeerTracker.cc index f4271fac98..e10a785e84 100644 --- a/src/network/PeerTracker.cc +++ b/src/network/PeerTracker.cc @@ -26,7 +26,7 @@ using namespace gazebo; PeerTracker::PeerTracker( PeerInfo _info, EventManager *_eventMgr, - const ignition::transport::NodeOptions &_options): + const transport::NodeOptions &_options): info(std::move(_info)), eventMgr(_eventMgr), node(_options) diff --git a/src/rendering/MarkerManager.cc b/src/rendering/MarkerManager.cc index 736815b45b..6ecf8af556 100644 --- a/src/rendering/MarkerManager.cc +++ b/src/rendering/MarkerManager.cc @@ -42,50 +42,50 @@ class ignition::gazebo::MarkerManagerPrivate /// \brief Processes a marker message. /// \param[in] _msg The message data. /// \return True if the marker was processed successfully. - public: bool ProcessMarkerMsg(const ignition::msgs::Marker &_msg); + public: bool ProcessMarkerMsg(const msgs::Marker &_msg); /// \brief Converts an ignition msg render type to ignition rendering /// \param[in] _msg The message data /// \return Converted rendering type, if any. - public: ignition::rendering::MarkerType MsgToType( - const ignition::msgs::Marker &_msg); + public: rendering::MarkerType MsgToType( + const msgs::Marker &_msg); /// \brief Converts an ignition msg material to ignition rendering // material. // \param[in] _msg The message data. // \return Converted rendering material, if any. public: rendering::MaterialPtr MsgToMaterial( - const ignition::msgs::Marker &_msg); + const msgs::Marker &_msg); /// \brief Updates the markers. public: void Update(); /// \brief Callback that receives marker messages. /// \param[in] _req The marker message. - public: void OnMarkerMsg(const ignition::msgs::Marker &_req); + public: void OnMarkerMsg(const msgs::Marker &_req); /// \brief Callback that receives multiple marker messages. /// \param[in] _req The vector of marker messages /// \param[in] _res Response data /// \return True if the request is received - public: bool OnMarkerMsgArray(const ignition::msgs::Marker_V &_req, - ignition::msgs::Boolean &_res); + public: bool OnMarkerMsgArray(const msgs::Marker_V &_req, + msgs::Boolean &_res); /// \brief Services callback that returns a list of markers. /// \param[out] _rep Service reply /// \return True on success. - public: bool OnList(ignition::msgs::Marker_V &_rep); + public: bool OnList(msgs::Marker_V &_rep); /// \brief Sets Marker from marker message. /// \param[in] _msg The message data. /// \param[out] _markerPtr The message pointer to set. - public: void SetMarker(const ignition::msgs::Marker &_msg, + public: void SetMarker(const msgs::Marker &_msg, const rendering::MarkerPtr &_markerPtr); /// \brief Sets Visual from marker message. /// \param[in] _msg The message data. /// \param[out] _visualPtr The visual pointer to set. - public: void SetVisual(const ignition::msgs::Marker &_msg, + public: void SetVisual(const msgs::Marker &_msg, const rendering::VisualPtr &_visualPtr); /// \brief Sets sim time from time. @@ -100,22 +100,22 @@ class ignition::gazebo::MarkerManagerPrivate /// \brief Map of visuals public: std::map> visuals; + std::map> visuals; /// \brief List of marker message to process. - public: std::list markerMsgs; + public: std::list markerMsgs; /// \brief Pointer to the scene public: rendering::ScenePtr scene; /// \brief Ignition node - public: ignition::transport::Node node; + public: transport::Node node; /// \brief Sim time according to UpdateInfo in RenderUtil public: std::chrono::steady_clock::duration simTime; /// \brief The last marker message received - public: ignition::msgs::Marker msg; + public: msgs::Marker msg; /// \brief Topic name for the marker service public: std::string topicName = "/marker"; @@ -149,7 +149,7 @@ void MarkerManager::Update() } ///////////////////////////////////////////////// -bool MarkerManager::Init(const ignition::rendering::ScenePtr &_scene) +bool MarkerManager::Init(const rendering::ScenePtr &_scene) { if (!_scene) { @@ -229,8 +229,8 @@ void MarkerManagerPrivate::Update() if (it->second->GeometryCount() == 0u) continue; - ignition::rendering::MarkerPtr markerPtr = - std::dynamic_pointer_cast + rendering::MarkerPtr markerPtr = + std::dynamic_pointer_cast (it->second->GeometryByIndex(0u)); if (markerPtr != nullptr) { @@ -263,7 +263,7 @@ void MarkerManagerPrivate::SetSimTime( } ///////////////////////////////////////////////// -void MarkerManagerPrivate::SetVisual(const ignition::msgs::Marker &_msg, +void MarkerManagerPrivate::SetVisual(const msgs::Marker &_msg, const rendering::VisualPtr &_visualPtr) { // Set Visual Scale @@ -302,7 +302,7 @@ void MarkerManagerPrivate::SetVisual(const ignition::msgs::Marker &_msg, } ///////////////////////////////////////////////// -void MarkerManagerPrivate::SetMarker(const ignition::msgs::Marker &_msg, +void MarkerManagerPrivate::SetMarker(const msgs::Marker &_msg, const rendering::MarkerPtr &_markerPtr) { _markerPtr->SetLayer(_msg.layer()); @@ -319,7 +319,7 @@ void MarkerManagerPrivate::SetMarker(const ignition::msgs::Marker &_msg, _markerPtr->SetLifetime(std::chrono::seconds(0)); } // Set Marker Render Type - ignition::rendering::MarkerType markerType = MsgToType(_msg); + rendering::MarkerType markerType = MsgToType(_msg); _markerPtr->SetType(markerType); // Set Marker Material @@ -357,49 +357,49 @@ void MarkerManagerPrivate::SetMarker(const ignition::msgs::Marker &_msg, } ///////////////////////////////////////////////// -ignition::rendering::MarkerType MarkerManagerPrivate::MsgToType( - const ignition::msgs::Marker &_msg) +rendering::MarkerType MarkerManagerPrivate::MsgToType( + const msgs::Marker &_msg) { - ignition::msgs::Marker_Type marker = this->msg.type(); - if (marker != _msg.type() && _msg.type() != ignition::msgs::Marker::NONE) + msgs::Marker_Type marker = this->msg.type(); + if (marker != _msg.type() && _msg.type() != msgs::Marker::NONE) { marker = _msg.type(); this->msg.set_type(_msg.type()); } switch (marker) { - case ignition::msgs::Marker::BOX: - return ignition::rendering::MarkerType::MT_BOX; - case ignition::msgs::Marker::CAPSULE: - return ignition::rendering::MarkerType::MT_CAPSULE; - case ignition::msgs::Marker::CYLINDER: - return ignition::rendering::MarkerType::MT_CYLINDER; - case ignition::msgs::Marker::LINE_STRIP: - return ignition::rendering::MarkerType::MT_LINE_STRIP; - case ignition::msgs::Marker::LINE_LIST: - return ignition::rendering::MarkerType::MT_LINE_LIST; - case ignition::msgs::Marker::POINTS: - return ignition::rendering::MarkerType::MT_POINTS; - case ignition::msgs::Marker::SPHERE: - return ignition::rendering::MarkerType::MT_SPHERE; - case ignition::msgs::Marker::TEXT: - return ignition::rendering::MarkerType::MT_TEXT; - case ignition::msgs::Marker::TRIANGLE_FAN: - return ignition::rendering::MarkerType::MT_TRIANGLE_FAN; - case ignition::msgs::Marker::TRIANGLE_LIST: - return ignition::rendering::MarkerType::MT_TRIANGLE_LIST; - case ignition::msgs::Marker::TRIANGLE_STRIP: - return ignition::rendering::MarkerType::MT_TRIANGLE_STRIP; + case msgs::Marker::BOX: + return rendering::MarkerType::MT_BOX; + case msgs::Marker::CAPSULE: + return rendering::MarkerType::MT_CAPSULE; + case msgs::Marker::CYLINDER: + return rendering::MarkerType::MT_CYLINDER; + case msgs::Marker::LINE_STRIP: + return rendering::MarkerType::MT_LINE_STRIP; + case msgs::Marker::LINE_LIST: + return rendering::MarkerType::MT_LINE_LIST; + case msgs::Marker::POINTS: + return rendering::MarkerType::MT_POINTS; + case msgs::Marker::SPHERE: + return rendering::MarkerType::MT_SPHERE; + case msgs::Marker::TEXT: + return rendering::MarkerType::MT_TEXT; + case msgs::Marker::TRIANGLE_FAN: + return rendering::MarkerType::MT_TRIANGLE_FAN; + case msgs::Marker::TRIANGLE_LIST: + return rendering::MarkerType::MT_TRIANGLE_LIST; + case msgs::Marker::TRIANGLE_STRIP: + return rendering::MarkerType::MT_TRIANGLE_STRIP; default: ignerr << "Unable to create marker of type[" << _msg.type() << "]\n"; break; } - return ignition::rendering::MarkerType::MT_NONE; + return rendering::MarkerType::MT_NONE; } ///////////////////////////////////////////////// rendering::MaterialPtr MarkerManagerPrivate::MsgToMaterial( - const ignition::msgs::Marker &_msg) + const msgs::Marker &_msg) { rendering::MaterialPtr material = this->scene->CreateMaterial(); @@ -433,7 +433,7 @@ rendering::MaterialPtr MarkerManagerPrivate::MsgToMaterial( } ////////////////////////////////////////////////// -bool MarkerManagerPrivate::ProcessMarkerMsg(const ignition::msgs::Marker &_msg) +bool MarkerManagerPrivate::ProcessMarkerMsg(const msgs::Marker &_msg) { // Get the namespace, if it exists. Otherwise, use the global namespace std::string ns; @@ -453,14 +453,14 @@ bool MarkerManagerPrivate::ProcessMarkerMsg(const ignition::msgs::Marker &_msg) // Otherwise generate unique id else { - id = ignition::math::Rand::IntUniform(0, ignition::math::MAX_I32); + id = math::Rand::IntUniform(0, math::MAX_I32); // Make sure it's unique if namespace is given if (nsIter != this->visuals.end()) { while (nsIter->second.find(id) != nsIter->second.end()) - id = ignition::math::Rand::IntUniform(ignition::math::MIN_UI32, - ignition::math::MAX_UI32); + id = math::Rand::IntUniform(math::MIN_UI32, + math::MAX_UI32); } } @@ -470,7 +470,7 @@ bool MarkerManagerPrivate::ProcessMarkerMsg(const ignition::msgs::Marker &_msg) visualIter = nsIter->second.find(id); // Add/modify a marker - if (_msg.action() == ignition::msgs::Marker::ADD_MODIFY) + if (_msg.action() == msgs::Marker::ADD_MODIFY) { // Modify an existing marker, identified by namespace and id if (nsIter != this->visuals.end() && @@ -480,8 +480,8 @@ bool MarkerManagerPrivate::ProcessMarkerMsg(const ignition::msgs::Marker &_msg) { // TODO(anyone): Update so that multiple markers can // be attached to one visual - ignition::rendering::MarkerPtr markerPtr = - std::dynamic_pointer_cast + rendering::MarkerPtr markerPtr = + std::dynamic_pointer_cast (visualIter->second->GeometryByIndex(0)); visualIter->second->RemoveGeometryByIndex(0); @@ -528,7 +528,7 @@ bool MarkerManagerPrivate::ProcessMarkerMsg(const ignition::msgs::Marker &_msg) } } // Remove a single marker - else if (_msg.action() == ignition::msgs::Marker::DELETE_MARKER) + else if (_msg.action() == msgs::Marker::DELETE_MARKER) { // Remove the marker if it can be found. if (nsIter != this->visuals.end() && @@ -549,7 +549,7 @@ bool MarkerManagerPrivate::ProcessMarkerMsg(const ignition::msgs::Marker &_msg) } } // Remove all markers, or all markers in a namespace - else if (_msg.action() == ignition::msgs::Marker::DELETE_ALL) + else if (_msg.action() == msgs::Marker::DELETE_ALL) { // If given namespace doesn't exist if (!ns.empty() && nsIter == this->visuals.end()) @@ -593,7 +593,7 @@ bool MarkerManagerPrivate::ProcessMarkerMsg(const ignition::msgs::Marker &_msg) ///////////////////////////////////////////////// -bool MarkerManagerPrivate::OnList(ignition::msgs::Marker_V &_rep) +bool MarkerManagerPrivate::OnList(msgs::Marker_V &_rep) { std::lock_guard lock(this->mutex); _rep.clear_marker(); @@ -603,7 +603,7 @@ bool MarkerManagerPrivate::OnList(ignition::msgs::Marker_V &_rep) { for (auto iter : mIter.second) { - ignition::msgs::Marker *markerMsg = _rep.add_marker(); + msgs::Marker *markerMsg = _rep.add_marker(); markerMsg->set_ns(mIter.first); markerMsg->set_id(iter.first); } @@ -613,7 +613,7 @@ bool MarkerManagerPrivate::OnList(ignition::msgs::Marker_V &_rep) } ///////////////////////////////////////////////// -void MarkerManagerPrivate::OnMarkerMsg(const ignition::msgs::Marker &_req) +void MarkerManagerPrivate::OnMarkerMsg(const msgs::Marker &_req) { std::lock_guard lock(this->mutex); this->markerMsgs.push_back(_req); @@ -621,7 +621,7 @@ void MarkerManagerPrivate::OnMarkerMsg(const ignition::msgs::Marker &_req) ///////////////////////////////////////////////// bool MarkerManagerPrivate::OnMarkerMsgArray( - const ignition::msgs::Marker_V&_req, ignition::msgs::Boolean &_res) + const msgs::Marker_V&_req, msgs::Boolean &_res) { std::lock_guard lock(this->mutex); std::copy(_req.marker().begin(), _req.marker().end(), diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc index 6f4ef07941..d9d8d8b4a3 100644 --- a/src/rendering/RenderUtil.cc +++ b/src/rendering/RenderUtil.cc @@ -228,7 +228,7 @@ class ignition::gazebo::RenderUtilPrivate public: MarkerManager markerManager; /// \brief Pointer to rendering engine. - public: ignition::rendering::RenderEngine *engine{nullptr}; + public: rendering::RenderEngine *engine{nullptr}; /// \brief rendering scene to be managed by the scene manager and used to /// generate sensor data @@ -2341,6 +2341,14 @@ void RenderUtilPrivate::RemoveRenderingEntities( const EntityComponentManager &_ecm, const UpdateInfo &_info) { IGN_PROFILE("RenderUtilPrivate::RemoveRenderingEntities"); + _ecm.EachRemoved( + [&](const Entity &_entity, const components::Actor *)->bool + { + this->removeEntities[_entity] = _info.iterations; + this->entityPoses.erase(_entity); + this->actorTransforms.erase(_entity); + return true; + }); _ecm.EachRemoved( [&](const Entity &_entity, const components::Model *)->bool { @@ -2499,7 +2507,7 @@ bool RenderUtil::HeadlessRendering() const ///////////////////////////////////////////////// void RenderUtil::InitRenderEnginePluginPaths() { - ignition::common::SystemPaths pluginPath; + common::SystemPaths pluginPath; pluginPath.SetPluginPathEnv(kRenderPluginPathEnv); rendering::setPluginPaths(pluginPath.PluginPaths()); } diff --git a/src/rendering/SceneManager.cc b/src/rendering/SceneManager.cc index 3b53f5b9b0..48e1983cf4 100644 --- a/src/rendering/SceneManager.cc +++ b/src/rendering/SceneManager.cc @@ -677,8 +677,8 @@ rendering::GeometryPtr SceneManager::LoadGeometry(const sdf::Geometry &_geom, descriptor.subMeshName = _geom.MeshShape()->Submesh(); descriptor.centerSubMesh = _geom.MeshShape()->CenterSubmesh(); - ignition::common::MeshManager *meshManager = - ignition::common::MeshManager::Instance(); + common::MeshManager *meshManager = + common::MeshManager::Instance(); descriptor.mesh = meshManager->Load(descriptor.meshName); geom = this->dataPtr->scene->CreateMesh(descriptor); scale = _geom.MeshShape()->Scale(); @@ -745,7 +745,7 @@ rendering::GeometryPtr SceneManager::LoadGeometry(const sdf::Geometry &_geom, std::string name("POLYLINE_" + common::Uuid().String()); - auto meshManager = ignition::common::MeshManager::Instance(); + auto meshManager = common::MeshManager::Instance(); meshManager->CreateExtrudedPolyline(name, vertices, _geom.PolylineShape()[0].Height()); @@ -1950,6 +1950,28 @@ void SceneManager::RemoveEntity(Entity _id) if (!this->dataPtr->scene) return; + { + auto it = this->dataPtr->actors.find(_id); + if (it != this->dataPtr->actors.end()) + { + this->dataPtr->actors.erase(it); + } + } + { + auto it = this->dataPtr->actorTrajectories.find(_id); + if (it != this->dataPtr->actorTrajectories.end()) + { + this->dataPtr->actorTrajectories.erase(it); + } + } + { + auto it = this->dataPtr->actorSkeletons.find(_id); + if (it != this->dataPtr->actorSkeletons.end()) + { + this->dataPtr->actorSkeletons.erase(it); + } + } + { auto it = this->dataPtr->visuals.find(_id); if (it != this->dataPtr->visuals.end()) diff --git a/src/systems/ackermann_steering/AckermannSteering.cc b/src/systems/ackermann_steering/AckermannSteering.cc index d2dc5f39e7..34d22ab1a7 100644 --- a/src/systems/ackermann_steering/AckermannSteering.cc +++ b/src/systems/ackermann_steering/AckermannSteering.cc @@ -58,21 +58,21 @@ class ignition::gazebo::systems::AckermannSteeringPrivate { /// \brief Callback for velocity subscription /// \param[in] _msg Velocity message - public: void OnCmdVel(const ignition::msgs::Twist &_msg); + public: void OnCmdVel(const msgs::Twist &_msg); /// \brief Update odometry and publish an odometry message. /// \param[in] _info System update information. /// \param[in] _ecm The EntityComponentManager of the given simulation /// instance. - public: void UpdateOdometry(const ignition::gazebo::UpdateInfo &_info, - const ignition::gazebo::EntityComponentManager &_ecm); + public: void UpdateOdometry(const UpdateInfo &_info, + const EntityComponentManager &_ecm); /// \brief Update the linear and angular velocities. /// \param[in] _info System update information. /// \param[in] _ecm The EntityComponentManager of the given simulation /// instance. - public: void UpdateVelocity(const ignition::gazebo::UpdateInfo &_info, - const ignition::gazebo::EntityComponentManager &_ecm); + public: void UpdateVelocity(const UpdateInfo &_info, + const EntityComponentManager &_ecm); /// \brief Ignition communication node. public: transport::Node node; @@ -165,10 +165,10 @@ class ignition::gazebo::systems::AckermannSteeringPrivate public: std::chrono::steady_clock::duration lastOdomTime{0}; /// \brief Linear velocity limiter. - public: std::unique_ptr limiterLin; + public: std::unique_ptr limiterLin; /// \brief Angular velocity limiter. - public: std::unique_ptr limiterAng; + public: std::unique_ptr limiterAng; /// \brief Previous control command. public: Commands last0Cmd; @@ -260,8 +260,8 @@ void AckermannSteering::Configure(const Entity &_entity, this->dataPtr->wheelRadius).first; // Instantiate the speed limiters. - this->dataPtr->limiterLin = std::make_unique(); - this->dataPtr->limiterAng = std::make_unique(); + this->dataPtr->limiterLin = std::make_unique(); + this->dataPtr->limiterAng = std::make_unique(); // Parse speed limiter parameters. if (_sdf->HasElement("min_velocity")) @@ -375,8 +375,8 @@ void AckermannSteering::Configure(const Entity &_entity, } ////////////////////////////////////////////////// -void AckermannSteering::PreUpdate(const ignition::gazebo::UpdateInfo &_info, - ignition::gazebo::EntityComponentManager &_ecm) +void AckermannSteering::PreUpdate(const UpdateInfo &_info, + EntityComponentManager &_ecm) { IGN_PROFILE("AckermannSteering::PreUpdate"); @@ -587,8 +587,8 @@ void AckermannSteering::PostUpdate(const UpdateInfo &_info, ////////////////////////////////////////////////// void AckermannSteeringPrivate::UpdateOdometry( - const ignition::gazebo::UpdateInfo &_info, - const ignition::gazebo::EntityComponentManager &_ecm) + const UpdateInfo &_info, + const EntityComponentManager &_ecm) { IGN_PROFILE("AckermannSteering::UpdateOdometry"); // Initialize, if not already initialized. @@ -690,7 +690,7 @@ void AckermannSteeringPrivate::UpdateOdometry( // Construct the Pose_V/tf message and publish it. msgs::Pose_V tfMsg; - ignition::msgs::Pose *tfMsgPose = tfMsg.add_pose(); + msgs::Pose *tfMsgPose = tfMsg.add_pose(); tfMsgPose->mutable_header()->CopyFrom(*msg.mutable_header()); tfMsgPose->mutable_position()->CopyFrom(msg.mutable_pose()->position()); tfMsgPose->mutable_orientation()->CopyFrom(msg.mutable_pose()->orientation()); @@ -702,8 +702,8 @@ void AckermannSteeringPrivate::UpdateOdometry( ////////////////////////////////////////////////// void AckermannSteeringPrivate::UpdateVelocity( - const ignition::gazebo::UpdateInfo &_info, - const ignition::gazebo::EntityComponentManager &_ecm) + const UpdateInfo &_info, + const EntityComponentManager &_ecm) { IGN_PROFILE("AckermannSteering::UpdateVelocity"); @@ -788,7 +788,7 @@ void AckermannSteeringPrivate::OnCmdVel(const msgs::Twist &_msg) } IGNITION_ADD_PLUGIN(AckermannSteering, - ignition::gazebo::System, + System, AckermannSteering::ISystemConfigure, AckermannSteering::ISystemPreUpdate, AckermannSteering::ISystemPostUpdate) diff --git a/src/systems/altimeter/Altimeter.cc b/src/systems/altimeter/Altimeter.cc index 3152c0c7e7..18c83458ee 100644 --- a/src/systems/altimeter/Altimeter.cc +++ b/src/systems/altimeter/Altimeter.cc @@ -261,7 +261,6 @@ void AltimeterPrivate::UpdateAltimeters(const EntityComponentManager &_ecm) auto it = this->entitySensorMap.find(_entity); if (it != this->entitySensorMap.end()) { - math::Vector3d linearVel; math::Pose3d worldPose = _worldPose->Data(); it->second->SetPosition(worldPose.Pos().Z()); it->second->SetVerticalVelocity(_worldLinearVel->Data().Z()); diff --git a/src/systems/apply_joint_force/ApplyJointForce.cc b/src/systems/apply_joint_force/ApplyJointForce.cc index 042f585565..ab0db7b485 100644 --- a/src/systems/apply_joint_force/ApplyJointForce.cc +++ b/src/systems/apply_joint_force/ApplyJointForce.cc @@ -35,7 +35,7 @@ class ignition::gazebo::systems::ApplyJointForcePrivate { /// \brief Callback for joint force subscription /// \param[in] _msg Joint force message - public: void OnCmdForce(const ignition::msgs::Double &_msg); + public: void OnCmdForce(const msgs::Double &_msg); /// \brief Ignition communication node. public: transport::Node node; @@ -111,8 +111,8 @@ void ApplyJointForce::Configure(const Entity &_entity, } ////////////////////////////////////////////////// -void ApplyJointForce::PreUpdate(const ignition::gazebo::UpdateInfo &_info, - ignition::gazebo::EntityComponentManager &_ecm) +void ApplyJointForce::PreUpdate(const UpdateInfo &_info, + EntityComponentManager &_ecm) { IGN_PROFILE("ApplyJointForce::PreUpdate"); @@ -164,7 +164,7 @@ void ApplyJointForcePrivate::OnCmdForce(const msgs::Double &_msg) } IGNITION_ADD_PLUGIN(ApplyJointForce, - ignition::gazebo::System, + System, ApplyJointForce::ISystemConfigure, ApplyJointForce::ISystemPreUpdate) diff --git a/src/systems/battery_plugin/LinearBatteryPlugin.cc b/src/systems/battery_plugin/LinearBatteryPlugin.cc index 1b484783cf..bb9562fe7f 100644 --- a/src/systems/battery_plugin/LinearBatteryPlugin.cc +++ b/src/systems/battery_plugin/LinearBatteryPlugin.cc @@ -63,11 +63,11 @@ class ignition::gazebo::systems::LinearBatteryPluginPrivate /// \brief Callback executed to start recharging. /// \param[in] _req This value should be true. - public: void OnEnableRecharge(const ignition::msgs::Boolean &_req); + public: void OnEnableRecharge(const msgs::Boolean &_req); /// \brief Callback executed to stop recharging. /// \param[in] _req This value should be true. - public: void OnDisableRecharge(const ignition::msgs::Boolean &_req); + public: void OnDisableRecharge(const msgs::Boolean &_req); /// \brief Callback connected to additional topics that can start battery /// draining. @@ -411,7 +411,7 @@ double LinearBatteryPluginPrivate::StateOfCharge() const ////////////////////////////////////////////////// void LinearBatteryPluginPrivate::OnEnableRecharge( - const ignition::msgs::Boolean &/*_req*/) + const msgs::Boolean &/*_req*/) { igndbg << "Request for start charging received" << std::endl; this->startCharging = true; @@ -419,7 +419,7 @@ void LinearBatteryPluginPrivate::OnEnableRecharge( ////////////////////////////////////////////////// void LinearBatteryPluginPrivate::OnDisableRecharge( - const ignition::msgs::Boolean &/*_req*/) + const msgs::Boolean &/*_req*/) { igndbg << "Request for stop charging received" << std::endl; this->startCharging = false; @@ -434,8 +434,8 @@ void LinearBatteryPluginPrivate::OnBatteryDrainingMsg( ////////////////////////////////////////////////// void LinearBatteryPlugin::PreUpdate( - const ignition::gazebo::UpdateInfo &/*_info*/, - ignition::gazebo::EntityComponentManager &_ecm) + const UpdateInfo &/*_info*/, + EntityComponentManager &_ecm) { IGN_PROFILE("LinearBatteryPlugin::PreUpdate"); @@ -670,7 +670,7 @@ double LinearBatteryPlugin::OnUpdateVoltage( } IGNITION_ADD_PLUGIN(LinearBatteryPlugin, - ignition::gazebo::System, + System, LinearBatteryPlugin::ISystemConfigure, LinearBatteryPlugin::ISystemPreUpdate, LinearBatteryPlugin::ISystemUpdate, diff --git a/src/systems/battery_plugin/LinearBatteryPlugin.hh b/src/systems/battery_plugin/LinearBatteryPlugin.hh index e98460a15b..71782ddf64 100644 --- a/src/systems/battery_plugin/LinearBatteryPlugin.hh +++ b/src/systems/battery_plugin/LinearBatteryPlugin.hh @@ -57,7 +57,7 @@ namespace systems /// - `` Hours taken to fully charge the battery. /// (Required if `` is set to true) /// - `` True to change the battery behavior to fix some issues - /// described in https://github.com/ignitionrobotics/ign-gazebo/issues/225. + /// described in https://github.com/gazebosim/gz-sim/issues/225. /// - `` A topic that is used to start battery /// discharge. Any message on the specified topic will cause the batter to /// start draining. This element can be specified multiple times if diff --git a/src/systems/breadcrumbs/Breadcrumbs.cc b/src/systems/breadcrumbs/Breadcrumbs.cc index c6484e5551..a89567142b 100644 --- a/src/systems/breadcrumbs/Breadcrumbs.cc +++ b/src/systems/breadcrumbs/Breadcrumbs.cc @@ -172,8 +172,8 @@ void Breadcrumbs::Configure(const Entity &_entity, } ////////////////////////////////////////////////// -void Breadcrumbs::PreUpdate(const ignition::gazebo::UpdateInfo &_info, - ignition::gazebo::EntityComponentManager &_ecm) +void Breadcrumbs::PreUpdate(const UpdateInfo &_info, + EntityComponentManager &_ecm) { IGN_PROFILE("Breadcrumbs::PreUpdate"); @@ -434,7 +434,7 @@ void Breadcrumbs::OnDeploy(const msgs::Empty &) } IGNITION_ADD_PLUGIN(Breadcrumbs, - ignition::gazebo::System, + System, Breadcrumbs::ISystemConfigure, Breadcrumbs::ISystemPreUpdate) diff --git a/src/systems/buoyancy/Buoyancy.cc b/src/systems/buoyancy/Buoyancy.cc index eaa50b1aa7..c906ccf334 100644 --- a/src/systems/buoyancy/Buoyancy.cc +++ b/src/systems/buoyancy/Buoyancy.cc @@ -337,8 +337,8 @@ void Buoyancy::Configure(const Entity &_entity, } ////////////////////////////////////////////////// -void Buoyancy::PreUpdate(const ignition::gazebo::UpdateInfo &_info, - ignition::gazebo::EntityComponentManager &_ecm) +void Buoyancy::PreUpdate(const UpdateInfo &_info, + EntityComponentManager &_ecm) { IGN_PROFILE("Buoyancy::PreUpdate"); const components::Gravity *gravity = _ecm.Component( @@ -376,8 +376,8 @@ void Buoyancy::PreUpdate(const ignition::gazebo::UpdateInfo &_info, _entity, components::Collision()); double volumeSum = 0; - ignition::math::Vector3d weightedPosInLinkSum = - ignition::math::Vector3d::Zero; + math::Vector3d weightedPosInLinkSum = + math::Vector3d::Zero; // Compute the volume of the link by iterating over all the collision // elements and storing each geometry's volume. @@ -581,7 +581,7 @@ bool Buoyancy::IsEnabled(Entity _entity, } IGNITION_ADD_PLUGIN(Buoyancy, - ignition::gazebo::System, + System, Buoyancy::ISystemConfigure, Buoyancy::ISystemPreUpdate) diff --git a/src/systems/camera_video_recorder/CameraVideoRecorder.cc b/src/systems/camera_video_recorder/CameraVideoRecorder.cc index 6918036299..013a255a93 100644 --- a/src/systems/camera_video_recorder/CameraVideoRecorder.cc +++ b/src/systems/camera_video_recorder/CameraVideoRecorder.cc @@ -70,7 +70,7 @@ class ignition::gazebo::systems::CameraVideoRecorderPrivate public: std::mutex updateMutex; /// \brief Connection to the post-render event. - public: ignition::common::ConnectionPtr postRenderConn; + public: common::ConnectionPtr postRenderConn; /// \brief Pointer to the event manager public: EventManager *eventMgr = nullptr; @@ -356,7 +356,7 @@ void CameraVideoRecorderPrivate::OnPostRender() std::chrono::steady_clock::duration dt; dt = t - this->recordStartTime; int64_t sec, nsec; - std::tie(sec, nsec) = ignition::math::durationToSecNsec(dt); + std::tie(sec, nsec) = math::durationToSecNsec(dt); msgs::Time msg; msg.set_sec(sec); msg.set_nsec(nsec); @@ -461,7 +461,7 @@ void CameraVideoRecorder::PostUpdate(const UpdateInfo &_info, } IGNITION_ADD_PLUGIN(CameraVideoRecorder, - ignition::gazebo::System, + System, CameraVideoRecorder::ISystemConfigure, CameraVideoRecorder::ISystemPostUpdate) diff --git a/src/systems/camera_video_recorder/CameraVideoRecorder.hh b/src/systems/camera_video_recorder/CameraVideoRecorder.hh index f5f3dc02c1..c905301036 100644 --- a/src/systems/camera_video_recorder/CameraVideoRecorder.hh +++ b/src/systems/camera_video_recorder/CameraVideoRecorder.hh @@ -51,7 +51,7 @@ namespace systems /// /// Video recorder bitrate (bps). The default value is /// 2070000 bps, and the supported type is unsigned int. - class CameraVideoRecorder: + class CameraVideoRecorder final: public System, public ISystemConfigure, public ISystemPostUpdate diff --git a/src/systems/collada_world_exporter/ColladaWorldExporter.cc b/src/systems/collada_world_exporter/ColladaWorldExporter.cc index 66ee000dfa..6cc6aaa301 100644 --- a/src/systems/collada_world_exporter/ColladaWorldExporter.cc +++ b/src/systems/collada_world_exporter/ColladaWorldExporter.cc @@ -85,7 +85,7 @@ class ignition::gazebo::systems::ColladaWorldExporterPrivate components::Name, components::Geometry, components::Transparency>( - [&](const ignition::gazebo::Entity &_entity, + [&](const Entity &_entity, const components::Visual *, const components::Name *_name, const components::Geometry *_geom, @@ -107,12 +107,12 @@ class ignition::gazebo::systems::ColladaWorldExporterPrivate } mat->SetTransparency(_transparency->Data()); - const ignition::common::Mesh *mesh; - std::weak_ptr subm; + const common::Mesh *mesh; + std::weak_ptr subm; math::Vector3d scale; math::Matrix4d matrix(worldPose); - ignition::common::MeshManager *meshManager = - ignition::common::MeshManager::Instance(); + common::MeshManager *meshManager = + common::MeshManager::Instance(); auto addSubmeshFunc = [&](int _matIndex) { diff --git a/src/systems/contact/Contact.cc b/src/systems/contact/Contact.cc index afd1122245..ac5bf96914 100644 --- a/src/systems/contact/Contact.cc +++ b/src/systems/contact/Contact.cc @@ -123,7 +123,7 @@ void ContactSensor::Load(const sdf::ElementPtr &_sdf, const std::string &_topic, } ignmsg << "Contact system publishing on " << this->topic << std::endl; - this->pub = this->node.Advertise(this->topic); + this->pub = this->node.Advertise(this->topic); } ////////////////////////////////////////////////// diff --git a/src/systems/detachable_joint/DetachableJoint.cc b/src/systems/detachable_joint/DetachableJoint.cc index 0946aa9505..7d40dd4786 100644 --- a/src/systems/detachable_joint/DetachableJoint.cc +++ b/src/systems/detachable_joint/DetachableJoint.cc @@ -114,8 +114,8 @@ void DetachableJoint::Configure(const Entity &_entity, ////////////////////////////////////////////////// void DetachableJoint::PreUpdate( - const ignition::gazebo::UpdateInfo &/*_info*/, - ignition::gazebo::EntityComponentManager &_ecm) + const UpdateInfo &/*_info*/, + EntityComponentManager &_ecm) { IGN_PROFILE("DetachableJoint::PreUpdate"); if (this->validConfig && !this->initialized) @@ -190,7 +190,7 @@ void DetachableJoint::OnDetachRequest(const msgs::Empty &) } IGNITION_ADD_PLUGIN(DetachableJoint, - ignition::gazebo::System, + System, DetachableJoint::ISystemConfigure, DetachableJoint::ISystemPreUpdate) diff --git a/src/systems/diff_drive/DiffDrive.cc b/src/systems/diff_drive/DiffDrive.cc index ec8e5a46d2..e869cc5a58 100644 --- a/src/systems/diff_drive/DiffDrive.cc +++ b/src/systems/diff_drive/DiffDrive.cc @@ -59,25 +59,25 @@ class ignition::gazebo::systems::DiffDrivePrivate { /// \brief Callback for velocity subscription /// \param[in] _msg Velocity message - public: void OnCmdVel(const ignition::msgs::Twist &_msg); + public: void OnCmdVel(const msgs::Twist &_msg); /// \brief Callback for enable/disable subscription /// \param[in] _msg Boolean message - public: void OnEnable(const ignition::msgs::Boolean &_msg); + public: void OnEnable(const msgs::Boolean &_msg); /// \brief Update odometry and publish an odometry message. /// \param[in] _info System update information. /// \param[in] _ecm The EntityComponentManager of the given simulation /// instance. - public: void UpdateOdometry(const ignition::gazebo::UpdateInfo &_info, - const ignition::gazebo::EntityComponentManager &_ecm); + public: void UpdateOdometry(const UpdateInfo &_info, + const EntityComponentManager &_ecm); /// \brief Update the linear and angular velocities. /// \param[in] _info System update information. /// \param[in] _ecm The EntityComponentManager of the given simulation /// instance. - public: void UpdateVelocity(const ignition::gazebo::UpdateInfo &_info, - const ignition::gazebo::EntityComponentManager &_ecm); + public: void UpdateVelocity(const UpdateInfo &_info, + const EntityComponentManager &_ecm); /// \brief Ignition communication node. public: transport::Node node; @@ -128,10 +128,10 @@ class ignition::gazebo::systems::DiffDrivePrivate public: transport::Node::Publisher tfPub; /// \brief Linear velocity limiter. - public: std::unique_ptr limiterLin; + public: std::unique_ptr limiterLin; /// \brief Angular velocity limiter. - public: std::unique_ptr limiterAng; + public: std::unique_ptr limiterAng; /// \brief Previous control command. public: Commands last0Cmd; @@ -206,8 +206,8 @@ void DiffDrive::Configure(const Entity &_entity, this->dataPtr->wheelRadius).first; // Instantiate the speed limiters. - this->dataPtr->limiterLin = std::make_unique(); - this->dataPtr->limiterAng = std::make_unique(); + this->dataPtr->limiterLin = std::make_unique(); + this->dataPtr->limiterAng = std::make_unique(); // Parse speed limiter parameters. @@ -386,8 +386,8 @@ void DiffDrive::Configure(const Entity &_entity, } ////////////////////////////////////////////////// -void DiffDrive::PreUpdate(const ignition::gazebo::UpdateInfo &_info, - ignition::gazebo::EntityComponentManager &_ecm) +void DiffDrive::PreUpdate(const UpdateInfo &_info, + EntityComponentManager &_ecm) { IGN_PROFILE("DiffDrive::PreUpdate"); @@ -524,8 +524,8 @@ void DiffDrive::PostUpdate(const UpdateInfo &_info, } ////////////////////////////////////////////////// -void DiffDrivePrivate::UpdateOdometry(const ignition::gazebo::UpdateInfo &_info, - const ignition::gazebo::EntityComponentManager &_ecm) +void DiffDrivePrivate::UpdateOdometry(const UpdateInfo &_info, + const EntityComponentManager &_ecm) { IGN_PROFILE("DiffDrive::UpdateOdometry"); // Initialize, if not already initialized. @@ -608,7 +608,7 @@ void DiffDrivePrivate::UpdateOdometry(const ignition::gazebo::UpdateInfo &_info, // Construct the Pose_V/tf message and publish it. msgs::Pose_V tfMsg; - ignition::msgs::Pose *tfMsgPose = tfMsg.add_pose(); + msgs::Pose *tfMsgPose = tfMsg.add_pose(); tfMsgPose->mutable_header()->CopyFrom(*msg.mutable_header()); tfMsgPose->mutable_position()->CopyFrom(msg.mutable_pose()->position()); tfMsgPose->mutable_orientation()->CopyFrom(msg.mutable_pose()->orientation()); @@ -619,8 +619,8 @@ void DiffDrivePrivate::UpdateOdometry(const ignition::gazebo::UpdateInfo &_info, } ////////////////////////////////////////////////// -void DiffDrivePrivate::UpdateVelocity(const ignition::gazebo::UpdateInfo &_info, - const ignition::gazebo::EntityComponentManager &/*_ecm*/) +void DiffDrivePrivate::UpdateVelocity(const UpdateInfo &_info, + const EntityComponentManager &/*_ecm*/) { IGN_PROFILE("DiffDrive::UpdateVelocity"); @@ -674,7 +674,7 @@ void DiffDrivePrivate::OnEnable(const msgs::Boolean &_msg) } IGNITION_ADD_PLUGIN(DiffDrive, - ignition::gazebo::System, + System, DiffDrive::ISystemConfigure, DiffDrive::ISystemPreUpdate, DiffDrive::ISystemPostUpdate) diff --git a/src/systems/imu/Imu.cc b/src/systems/imu/Imu.cc index 5afbd67ae0..4494d40cb5 100644 --- a/src/systems/imu/Imu.cc +++ b/src/systems/imu/Imu.cc @@ -53,7 +53,7 @@ class ignition::gazebo::systems::ImuPrivate { /// \brief A map of IMU entity to its IMU sensor. public: std::unordered_map> entitySensorMap; + std::unique_ptr> entitySensorMap; /// \brief Ign-sensors sensor factory for creating sensors public: sensors::SensorFactory sensorFactory; diff --git a/src/systems/joint_controller/JointController.cc b/src/systems/joint_controller/JointController.cc index 3f5a1cdfd1..afd7b481e2 100644 --- a/src/systems/joint_controller/JointController.cc +++ b/src/systems/joint_controller/JointController.cc @@ -39,7 +39,7 @@ class ignition::gazebo::systems::JointControllerPrivate { /// \brief Callback for velocity subscription /// \param[in] _msg Velocity message - public: void OnCmdVel(const ignition::msgs::Double &_msg); + public: void OnCmdVel(const msgs::Double &_msg); /// \brief Ignition communication node. public: transport::Node node; @@ -61,7 +61,7 @@ class ignition::gazebo::systems::JointControllerPrivate public: bool useForceCommands{false}; /// \brief Velocity PID controller. - public: ignition::math::PID velPid; + public: math::PID velPid; }; ////////////////////////////////////////////////// @@ -173,8 +173,8 @@ void JointController::Configure(const Entity &_entity, } ////////////////////////////////////////////////// -void JointController::PreUpdate(const ignition::gazebo::UpdateInfo &_info, - ignition::gazebo::EntityComponentManager &_ecm) +void JointController::PreUpdate(const UpdateInfo &_info, + EntityComponentManager &_ecm) { IGN_PROFILE("JointController::PreUpdate"); @@ -260,7 +260,7 @@ void JointControllerPrivate::OnCmdVel(const msgs::Double &_msg) } IGNITION_ADD_PLUGIN(JointController, - ignition::gazebo::System, + System, JointController::ISystemConfigure, JointController::ISystemPreUpdate) diff --git a/src/systems/joint_position_controller/JointPositionController.cc b/src/systems/joint_position_controller/JointPositionController.cc index 5f7ca8a8a8..7262ebd466 100644 --- a/src/systems/joint_position_controller/JointPositionController.cc +++ b/src/systems/joint_position_controller/JointPositionController.cc @@ -40,7 +40,7 @@ class ignition::gazebo::systems::JointPositionControllerPrivate { /// \brief Callback for position subscription /// \param[in] _msg Position message - public: void OnCmdPos(const ignition::msgs::Double &_msg); + public: void OnCmdPos(const msgs::Double &_msg); /// \brief Ignition communication node. public: transport::Node node; @@ -61,7 +61,7 @@ class ignition::gazebo::systems::JointPositionControllerPrivate public: Model model{kNullEntity}; /// \brief Position PID controller. - public: ignition::math::PID posPid; + public: math::PID posPid; /// \brief Joint index to be used. public: unsigned int jointIndex = 0u; @@ -218,8 +218,8 @@ void JointPositionController::Configure(const Entity &_entity, ////////////////////////////////////////////////// void JointPositionController::PreUpdate( - const ignition::gazebo::UpdateInfo &_info, - ignition::gazebo::EntityComponentManager &_ecm) + const UpdateInfo &_info, + EntityComponentManager &_ecm) { IGN_PROFILE("JointPositionController::PreUpdate"); @@ -357,7 +357,7 @@ void JointPositionControllerPrivate::OnCmdPos(const msgs::Double &_msg) } IGNITION_ADD_PLUGIN(JointPositionController, - ignition::gazebo::System, + System, JointPositionController::ISystemConfigure, JointPositionController::ISystemPreUpdate) diff --git a/src/systems/joint_state_publisher/JointStatePublisher.cc b/src/systems/joint_state_publisher/JointStatePublisher.cc index 5a995b9dfd..024b8e3d70 100644 --- a/src/systems/joint_state_publisher/JointStatePublisher.cc +++ b/src/systems/joint_state_publisher/JointStatePublisher.cc @@ -69,7 +69,7 @@ void JointStatePublisher::Configure( while (elem) { std::string jointName = elem->Get(); - gazebo::Entity jointEntity = this->model.JointByName(_ecm, jointName); + Entity jointEntity = this->model.JointByName(_ecm, jointName); if (jointEntity != kNullEntity) { this->CreateComponents(_ecm, jointEntity); @@ -105,7 +105,7 @@ void JointStatePublisher::Configure( ////////////////////////////////////////////////// void JointStatePublisher::CreateComponents(EntityComponentManager &_ecm, - gazebo::Entity _joint) + Entity _joint) { if (this->joints.find(_joint) != this->joints.end()) { @@ -313,7 +313,7 @@ void JointStatePublisher::PostUpdate(const UpdateInfo &_info, } IGNITION_ADD_PLUGIN(JointStatePublisher, - ignition::gazebo::System, + System, JointStatePublisher::ISystemConfigure, JointStatePublisher::ISystemPostUpdate) diff --git a/src/systems/lift_drag/LiftDrag.cc b/src/systems/lift_drag/LiftDrag.cc index d809f2292c..4defe386a9 100644 --- a/src/systems/lift_drag/LiftDrag.cc +++ b/src/systems/lift_drag/LiftDrag.cc @@ -106,16 +106,16 @@ class ignition::gazebo::systems::LiftDragPrivate /// \brief center of pressure in link local coordinates with respect to the /// link's center of mass - public: ignition::math::Vector3d cp = math::Vector3d::Zero; + public: math::Vector3d cp = math::Vector3d::Zero; /// \brief Normally, this is taken as a direction parallel to the chord /// of the airfoil in zero angle of attack forward flight. - public: ignition::math::Vector3d forward = math::Vector3d::UnitX; + public: math::Vector3d forward = math::Vector3d::UnitX; /// \brief A vector in the lift/drag plane, perpendicular to the forward /// vector. Inflow velocity orthogonal to forward and upward vectors /// is considered flow in the wing sweep direction. - public: ignition::math::Vector3d upward = math::Vector3d::UnitZ; + public: math::Vector3d upward = math::Vector3d::UnitZ; /// \brief how much to change CL per radian of control surface joint /// value. @@ -154,15 +154,15 @@ void LiftDragPrivate::Load(const EntityComponentManager &_ecm, this->radialSymmetry).first; this->area = _sdf->Get("area", this->area).first; this->alpha0 = _sdf->Get("a0", this->alpha0).first; - this->cp = _sdf->Get("cp", this->cp).first; + this->cp = _sdf->Get("cp", this->cp).first; // blade forward (-drag) direction in link frame this->forward = - _sdf->Get("forward", this->forward).first; + _sdf->Get("forward", this->forward).first; this->forward.Normalize(); // blade upward (+lift) direction in link frame - this->upward = _sdf->Get( + this->upward = _sdf->Get( "upward", this->upward) .first; this->upward.Normalize(); @@ -281,12 +281,12 @@ void LiftDragPrivate::Update(EntityComponentManager &_ecm) // rotate forward and upward vectors into world frame const auto forwardI = pose.Rot().RotateVector(this->forward); - ignition::math::Vector3d upwardI; + math::Vector3d upwardI; if (this->radialSymmetry) { // use inflow velocity to determine upward direction // which is the component of inflow perpendicular to forward direction. - ignition::math::Vector3d tmp = forwardI.Cross(velI); + math::Vector3d tmp = forwardI.Cross(velI); upwardI = forwardI.Cross(tmp).Normalize(); } else @@ -300,7 +300,7 @@ void LiftDragPrivate::Update(EntityComponentManager &_ecm) const double minRatio = -1.0; const double maxRatio = 1.0; // check sweep (angle between velI and lift-drag-plane) - double sinSweepAngle = ignition::math::clamp( + double sinSweepAngle = math::clamp( spanwiseI.Dot(velI), minRatio, maxRatio); // get cos from trig identity @@ -340,7 +340,7 @@ void LiftDragPrivate::Update(EntityComponentManager &_ecm) // given upwardI and liftI are both unit vectors, we can drop the denominator // cos(theta) = a.Dot(b) const double cosAlpha = - ignition::math::clamp(liftI.Dot(upwardI), minRatio, maxRatio); + math::clamp(liftI.Dot(upwardI), minRatio, maxRatio); // Is alpha positive or negative? Test: // forwardI points toward zero alpha @@ -389,7 +389,7 @@ void LiftDragPrivate::Update(EntityComponentManager &_ecm) } // compute lift force at cp - ignition::math::Vector3d lift = cl * q * this->area * liftI; + math::Vector3d lift = cl * q * this->area * liftI; // compute cd at cp, check for stall, correct for sweep double cd; @@ -412,7 +412,7 @@ void LiftDragPrivate::Update(EntityComponentManager &_ecm) cd = std::fabs(cd); // drag at cp - ignition::math::Vector3d drag = cd * q * this->area * dragDirection; + math::Vector3d drag = cd * q * this->area * dragDirection; // compute cm at cp, check for stall, correct for sweep double cm; @@ -441,12 +441,12 @@ void LiftDragPrivate::Update(EntityComponentManager &_ecm) // compute moment (torque) at cp // spanwiseI used to be momentDirection - ignition::math::Vector3d moment = cm * q * this->area * spanwiseI; + math::Vector3d moment = cm * q * this->area * spanwiseI; // force and torque about cg in world frame - ignition::math::Vector3d force = lift + drag; - ignition::math::Vector3d torque = moment; + math::Vector3d force = lift + drag; + math::Vector3d torque = moment; // Correct for nan or inf force.Correct(); this->cp.Correct(); @@ -558,7 +558,7 @@ void LiftDrag::PreUpdate(const UpdateInfo &_info, EntityComponentManager &_ecm) } IGNITION_ADD_PLUGIN(LiftDrag, - ignition::gazebo::System, + System, LiftDrag::ISystemConfigure, LiftDrag::ISystemPreUpdate) diff --git a/src/systems/log/LogPlayback.cc b/src/systems/log/LogPlayback.cc index b7529705c6..31a5b6159a 100644 --- a/src/systems/log/LogPlayback.cc +++ b/src/systems/log/LogPlayback.cc @@ -602,10 +602,10 @@ void LogPlayback::Update(const UpdateInfo &_info, EntityComponentManager &_ecm) } } -IGNITION_ADD_PLUGIN(ignition::gazebo::systems::LogPlayback, - ignition::gazebo::System, +IGNITION_ADD_PLUGIN(LogPlayback, + System, LogPlayback::ISystemConfigure, LogPlayback::ISystemUpdate) -IGNITION_ADD_PLUGIN_ALIAS(ignition::gazebo::systems::LogPlayback, +IGNITION_ADD_PLUGIN_ALIAS(LogPlayback, "ignition::gazebo::systems::LogPlayback") diff --git a/src/systems/log/LogRecord.cc b/src/systems/log/LogRecord.cc index 918359f6dc..8a974c0c3b 100644 --- a/src/systems/log/LogRecord.cc +++ b/src/systems/log/LogRecord.cc @@ -371,7 +371,7 @@ bool LogRecordPrivate::Start(const std::string &_logPath, // This calls Log::Open() and loads sql schema if (this->recorder.Start(dbPath) == - ignition::transport::log::RecorderError::SUCCESS) + transport::log::RecorderError::SUCCESS) { this->instStarted = true; return true; @@ -736,11 +736,11 @@ void LogRecord::PostUpdate(const UpdateInfo &_info, this->dataPtr->LogModelResources(_ecm); } -IGNITION_ADD_PLUGIN(ignition::gazebo::systems::LogRecord, - ignition::gazebo::System, +IGNITION_ADD_PLUGIN(LogRecord, + gazebo::System, LogRecord::ISystemConfigure, LogRecord::ISystemPreUpdate, LogRecord::ISystemPostUpdate) -IGNITION_ADD_PLUGIN_ALIAS(ignition::gazebo::systems::LogRecord, +IGNITION_ADD_PLUGIN_ALIAS(LogRecord, "ignition::gazebo::systems::LogRecord") diff --git a/src/systems/log_video_recorder/LogVideoRecorder.cc b/src/systems/log_video_recorder/LogVideoRecorder.cc index 29416a3a0e..8fe62313cd 100644 --- a/src/systems/log_video_recorder/LogVideoRecorder.cc +++ b/src/systems/log_video_recorder/LogVideoRecorder.cc @@ -372,8 +372,8 @@ void LogVideoRecorder::PostUpdate(const UpdateInfo &_info, ////////////////////////////////////////////////// void LogVideoRecorderPrivate::Rewind() { - std::function cb = - [](const ignition::msgs::Boolean &/*_rep*/, const bool _result) + std::function cb = + [](const msgs::Boolean &/*_rep*/, const bool _result) { if (!_result) ignerr << "Error sending rewind request" << std::endl; @@ -399,14 +399,14 @@ void LogVideoRecorderPrivate::Play() ////////////////////////////////////////////////// void LogVideoRecorderPrivate::Follow(const std::string &_entity) { - std::function cb = - [](const ignition::msgs::Boolean &/*_rep*/, const bool _result) + std::function cb = + [](const msgs::Boolean &/*_rep*/, const bool _result) { if (!_result) ignerr << "Error sending follow request" << std::endl; }; - ignition::msgs::StringMsg req; + msgs::StringMsg req; req.set_data(_entity); if (this->node.Request(this->followService, req, cb)) { @@ -417,14 +417,14 @@ void LogVideoRecorderPrivate::Follow(const std::string &_entity) ////////////////////////////////////////////////// void LogVideoRecorderPrivate::Record(bool _record) { - std::function cb = - [](const ignition::msgs::Boolean &/*_rep*/, const bool _result) + std::function cb = + [](const msgs::Boolean &/*_rep*/, const bool _result) { if (!_result) ignerr << "Error sending record request" << std::endl; }; - ignition::msgs::VideoRecord req; + msgs::VideoRecord req; if (_record) { @@ -445,7 +445,7 @@ void LogVideoRecorderPrivate::Record(bool _record) } IGNITION_ADD_PLUGIN(LogVideoRecorder, - ignition::gazebo::System, + System, LogVideoRecorder::ISystemConfigure, LogVideoRecorder::ISystemPostUpdate) diff --git a/src/systems/logical_audio_sensor_plugin/LogicalAudioSensorPlugin.cc b/src/systems/logical_audio_sensor_plugin/LogicalAudioSensorPlugin.cc index 78ab1b7d65..9493abe590 100644 --- a/src/systems/logical_audio_sensor_plugin/LogicalAudioSensorPlugin.cc +++ b/src/systems/logical_audio_sensor_plugin/LogicalAudioSensorPlugin.cc @@ -78,7 +78,7 @@ class ignition::gazebo::systems::LogicalAudioSensorPluginPrivate const logical_audio::SourcePlayInfo &_sourcePlayInfo); /// \brief Node used to create publishers and services - public: ignition::transport::Node node; + public: transport::Node node; /// \brief A flag used to initialize a source's playing information /// before starting simulation. @@ -97,7 +97,7 @@ class ignition::gazebo::systems::LogicalAudioSensorPluginPrivate /// (an entity can have multiple microphones attached to it). /// The value is the microphone's detection publisher. public: std::unordered_map micEntities; + transport::Node::Publisher> micEntities; /// \brief A mutex used to ensure that the play source service call does /// not interfere with the source's state in the PreUpdate step. @@ -240,7 +240,7 @@ void LogicalAudioSensorPlugin::PostUpdate(const UpdateInfo &_info, // publish the source that the microphone heard, along with the // volume level the microphone detected. The detected source's // ID is embedded in the message's header - ignition::msgs::Double msg; + msgs::Double msg; auto header = msg.mutable_header(); auto timeStamp = header->mutable_stamp(); timeStamp->set_sec(simSeconds.count()); @@ -284,7 +284,7 @@ void LogicalAudioSensorPluginPrivate::CreateAudioSource( } _ids.insert(id); - ignition::math::Pose3d pose; + math::Pose3d pose; if (!_elem->HasElement("pose")) { ignwarn << "Audio source is missing a pose. " @@ -293,7 +293,7 @@ void LogicalAudioSensorPluginPrivate::CreateAudioSource( } else { - pose = _elem->Get("pose"); + pose = _elem->Get("pose"); } if (!_elem->HasElement("attenuation_function")) @@ -385,16 +385,16 @@ void LogicalAudioSensorPluginPrivate::CreateAudioSource( components::LogicalAudioSourcePlayInfo(playInfo)); // create service callbacks that allow this source to be played/stopped - std::function playSrvCb = - [this, entity](ignition::msgs::Boolean &_resp) + std::function playSrvCb = + [this, entity](msgs::Boolean &_resp) { std::lock_guard lock(this->playSourceMutex); this->sourceEntities[entity].first = true; _resp.set_data(true); return true; }; - std::function stopSrvCb = - [this, entity](ignition::msgs::Boolean &_resp) + std::function stopSrvCb = + [this, entity](msgs::Boolean &_resp) { std::lock_guard lock(this->stopSourceMutex); this->sourceEntities[entity].second = true; @@ -454,7 +454,7 @@ void LogicalAudioSensorPluginPrivate::CreateMicrophone( } _ids.insert(id); - ignition::math::Pose3d pose; + math::Pose3d pose; if (!_elem->HasElement("pose")) { ignwarn << "Microphone is missing a pose. " @@ -463,7 +463,7 @@ void LogicalAudioSensorPluginPrivate::CreateMicrophone( } else { - pose = _elem->Get("pose"); + pose = _elem->Get("pose"); } double volumeDetectionThreshold; @@ -501,7 +501,7 @@ void LogicalAudioSensorPluginPrivate::CreateMicrophone( components::Pose(pose)); // create the detection publisher for this microphone - auto pub = this->node.Advertise( + auto pub = this->node.Advertise( scopedName(entity, _ecm) + "/detection"); if (!pub) { @@ -526,7 +526,7 @@ bool LogicalAudioSensorPluginPrivate::DurationExceeded( } IGNITION_ADD_PLUGIN(LogicalAudioSensorPlugin, - ignition::gazebo::System, + System, LogicalAudioSensorPlugin::ISystemConfigure, LogicalAudioSensorPlugin::ISystemPreUpdate, LogicalAudioSensorPlugin::ISystemPostUpdate) diff --git a/src/systems/magnetometer/Magnetometer.cc b/src/systems/magnetometer/Magnetometer.cc index 2ecad15692..829810f9ee 100644 --- a/src/systems/magnetometer/Magnetometer.cc +++ b/src/systems/magnetometer/Magnetometer.cc @@ -52,7 +52,7 @@ class ignition::gazebo::systems::MagnetometerPrivate { /// \brief A map of magnetometer entity to its sensor. public: std::unordered_map> entitySensorMap; + std::unique_ptr> entitySensorMap; /// \brief Ign-sensors sensor factory for creating sensors public: sensors::SensorFactory sensorFactory; diff --git a/src/systems/multicopter_control/MulticopterVelocityControl.cc b/src/systems/multicopter_control/MulticopterVelocityControl.cc index 17fc2b56ff..09746000e5 100644 --- a/src/systems/multicopter_control/MulticopterVelocityControl.cc +++ b/src/systems/multicopter_control/MulticopterVelocityControl.cc @@ -335,8 +335,8 @@ math::Inertiald MulticopterVelocityControl::VehicleInertial( ////////////////////////////////////////////////// void MulticopterVelocityControl::PreUpdate( - const ignition::gazebo::UpdateInfo &_info, - ignition::gazebo::EntityComponentManager &_ecm) + const UpdateInfo &_info, + EntityComponentManager &_ecm) { IGN_PROFILE("MulticopterVelocityControl::PreUpdate"); @@ -427,7 +427,7 @@ void MulticopterVelocityControl::OnEnable( ////////////////////////////////////////////////// void MulticopterVelocityControl::PublishRotorVelocities( - ignition::gazebo::EntityComponentManager &_ecm, + EntityComponentManager &_ecm, const Eigen::VectorXd &_vels) { if (_vels.size() != this->rotorVelocitiesMsg.velocity_size()) @@ -464,7 +464,7 @@ void MulticopterVelocityControl::PublishRotorVelocities( } IGNITION_ADD_PLUGIN(MulticopterVelocityControl, - ignition::gazebo::System, + System, MulticopterVelocityControl::ISystemConfigure, MulticopterVelocityControl::ISystemPreUpdate) diff --git a/src/systems/multicopter_motor_model/MulticopterMotorModel.cc b/src/systems/multicopter_motor_model/MulticopterMotorModel.cc index db6552555b..fe225a478a 100644 --- a/src/systems/multicopter_motor_model/MulticopterMotorModel.cc +++ b/src/systems/multicopter_motor_model/MulticopterMotorModel.cc @@ -120,7 +120,7 @@ enum class MotorType { class ignition::gazebo::systems::MulticopterMotorModelPrivate { /// \brief Callback for actuator commands. - public: void OnActuatorMsg(const ignition::msgs::Actuators &_msg); + public: void OnActuatorMsg(const msgs::Actuators &_msg); /// \brief Apply link forces and moments based on propeller state. public: void UpdateForcesAndMoments(EntityComponentManager &_ecm); @@ -377,8 +377,8 @@ void MulticopterMotorModel::Configure(const Entity &_entity, } ////////////////////////////////////////////////// -void MulticopterMotorModel::PreUpdate(const ignition::gazebo::UpdateInfo &_info, - ignition::gazebo::EntityComponentManager &_ecm) +void MulticopterMotorModel::PreUpdate(const UpdateInfo &_info, + EntityComponentManager &_ecm) { IGN_PROFILE("MulticopterMotorModel::PreUpdate"); @@ -476,7 +476,7 @@ void MulticopterMotorModel::PreUpdate(const ignition::gazebo::UpdateInfo &_info, ////////////////////////////////////////////////// void MulticopterMotorModelPrivate::OnActuatorMsg( - const ignition::msgs::Actuators &_msg) + const msgs::Actuators &_msg) { std::lock_guard lock(this->recvdActuatorsMsgMutex); this->recvdActuatorsMsg = _msg; @@ -566,8 +566,8 @@ void MulticopterMotorModelPrivate::UpdateForcesAndMoments( realMotorVelocity * realMotorVelocity * this->motorConstant; - using Pose = ignition::math::Pose3d; - using Vector3 = ignition::math::Vector3d; + using Pose = math::Pose3d; + using Vector3 = math::Vector3d; Link link(this->linkEntity); const auto worldPose = link.WorldPose(_ecm); @@ -678,7 +678,7 @@ void MulticopterMotorModelPrivate::UpdateForcesAndMoments( } IGNITION_ADD_PLUGIN(MulticopterMotorModel, - ignition::gazebo::System, + System, MulticopterMotorModel::ISystemConfigure, MulticopterMotorModel::ISystemPreUpdate) diff --git a/src/systems/performer_detector/PerformerDetector.cc b/src/systems/performer_detector/PerformerDetector.cc index 7da45abd73..99c2c1a738 100644 --- a/src/systems/performer_detector/PerformerDetector.cc +++ b/src/systems/performer_detector/PerformerDetector.cc @@ -130,8 +130,8 @@ void PerformerDetector::Configure(const Entity &_entity, ////////////////////////////////////////////////// void PerformerDetector::PostUpdate( - const ignition::gazebo::UpdateInfo &_info, - const ignition::gazebo::EntityComponentManager &_ecm) + const UpdateInfo &_info, + const EntityComponentManager &_ecm) { IGN_PROFILE("PerformerDetector::PostUpdate"); @@ -260,7 +260,7 @@ void PerformerDetector::Publish( } IGNITION_ADD_PLUGIN(PerformerDetector, - ignition::gazebo::System, + System, PerformerDetector::ISystemConfigure, PerformerDetector::ISystemPostUpdate) diff --git a/src/systems/physics/EntityFeatureMap_TEST.cc b/src/systems/physics/EntityFeatureMap_TEST.cc index f4c0e9d12f..510b5d3866 100644 --- a/src/systems/physics/EntityFeatureMap_TEST.cc +++ b/src/systems/physics/EntityFeatureMap_TEST.cc @@ -64,7 +64,7 @@ class EntityFeatureMapFixture: public InternalFixture<::testing::Test> << "Failed to find plugin [" << pluginLib << "]"; // Load engine plugin - ignition::plugin::Loader pluginLoader; + plugin::Loader pluginLoader; auto plugins = pluginLoader.LoadLib(pathToLib); ASSERT_FALSE(plugins.empty()) << "Unable to load the [" << pathToLib << "] library."; @@ -82,7 +82,7 @@ class EntityFeatureMapFixture: public InternalFixture<::testing::Test> << pathToLib << "]"; this->engine = - ignition::physics::RequestEngine::From(plugin); ASSERT_NE(nullptr, this->engine); diff --git a/src/systems/physics/Physics.cc b/src/systems/physics/Physics.cc index f78c0d64e6..33eb83abdf 100644 --- a/src/systems/physics/Physics.cc +++ b/src/systems/physics/Physics.cc @@ -157,37 +157,37 @@ class ignition::gazebo::systems::PhysicsPrivate /// implement to be supported by this system. /// New features can't be added to this list in minor / patch releases, in /// order to maintain backwards compatibility with downstream physics plugins. - public: struct MinimumFeatureList : ignition::physics::FeatureList< - ignition::physics::FindFreeGroupFeature, - ignition::physics::SetFreeGroupWorldPose, - ignition::physics::FreeGroupFrameSemantics, - ignition::physics::LinkFrameSemantics, - ignition::physics::ForwardStep, - ignition::physics::RemoveModelFromWorld, - ignition::physics::sdf::ConstructSdfLink, - ignition::physics::sdf::ConstructSdfModel, - ignition::physics::sdf::ConstructSdfWorld + public: struct MinimumFeatureList : physics::FeatureList< + physics::FindFreeGroupFeature, + physics::SetFreeGroupWorldPose, + physics::FreeGroupFrameSemantics, + physics::LinkFrameSemantics, + physics::ForwardStep, + physics::RemoveModelFromWorld, + physics::sdf::ConstructSdfLink, + physics::sdf::ConstructSdfModel, + physics::sdf::ConstructSdfWorld >{}; /// \brief Engine type with just the minimum features. - public: using EnginePtrType = ignition::physics::EnginePtr< - ignition::physics::FeaturePolicy3d, MinimumFeatureList>; + public: using EnginePtrType = physics::EnginePtr< + physics::FeaturePolicy3d, MinimumFeatureList>; /// \brief World type with just the minimum features. - public: using WorldPtrType = ignition::physics::WorldPtr< - ignition::physics::FeaturePolicy3d, MinimumFeatureList>; + public: using WorldPtrType = physics::WorldPtr< + physics::FeaturePolicy3d, MinimumFeatureList>; /// \brief Model type with just the minimum features. - public: using ModelPtrType = ignition::physics::ModelPtr< - ignition::physics::FeaturePolicy3d, MinimumFeatureList>; + public: using ModelPtrType = physics::ModelPtr< + physics::FeaturePolicy3d, MinimumFeatureList>; /// \brief Link type with just the minimum features. - public: using LinkPtrType = ignition::physics::LinkPtr< - ignition::physics::FeaturePolicy3d, MinimumFeatureList>; + public: using LinkPtrType = physics::LinkPtr< + physics::FeaturePolicy3d, MinimumFeatureList>; /// \brief Free group type with just the minimum features. - public: using FreeGroupPtrType = ignition::physics::FreeGroupPtr< - ignition::physics::FeaturePolicy3d, MinimumFeatureList>; + public: using FreeGroupPtrType = physics::FreeGroupPtr< + physics::FeaturePolicy3d, MinimumFeatureList>; /// \brief Create physics entities /// \param[in] _ecm Constant reference to ECM. @@ -293,7 +293,7 @@ class ignition::gazebo::systems::PhysicsPrivate /// \param[in] _from An ancestor of the _to entity. /// \param[in] _to A descendant of the _from entity. /// \return Pose transform between the two entities - public: ignition::math::Pose3d RelativePose(const Entity &_from, + public: math::Pose3d RelativePose(const Entity &_from, const Entity &_to, const EntityComponentManager &_ecm) const; /// \brief Enable contact surface customization for the given world. @@ -430,18 +430,18 @@ class ignition::gazebo::systems::PhysicsPrivate public: struct FrictionPyramidSlipComplianceFeatureList : physics::FeatureList< MinimumFeatureList, - ignition::physics::GetShapeFrictionPyramidSlipCompliance, - ignition::physics::SetShapeFrictionPyramidSlipCompliance>{}; + physics::GetShapeFrictionPyramidSlipCompliance, + physics::SetShapeFrictionPyramidSlipCompliance>{}; ////////////////////////////////////////////////// // Joints /// \brief Feature list to handle joints. - public: struct JointFeatureList : ignition::physics::FeatureList< + public: struct JointFeatureList : physics::FeatureList< MinimumFeatureList, - ignition::physics::GetBasicJointProperties, - ignition::physics::GetBasicJointState, - ignition::physics::SetBasicJointState, - ignition::physics::sdf::ConstructSdfJoint>{}; + physics::GetBasicJointProperties, + physics::GetBasicJointState, + physics::SetBasicJointState, + physics::sdf::ConstructSdfJoint>{}; ////////////////////////////////////////////////// @@ -464,50 +464,50 @@ class ignition::gazebo::systems::PhysicsPrivate // Collisions /// \brief Feature list to handle collisions. - public: struct CollisionFeatureList : ignition::physics::FeatureList< + public: struct CollisionFeatureList : physics::FeatureList< MinimumFeatureList, - ignition::physics::sdf::ConstructSdfCollision>{}; + physics::sdf::ConstructSdfCollision>{}; /// \brief Feature list to handle contacts information. - public: struct ContactFeatureList : ignition::physics::FeatureList< + public: struct ContactFeatureList : physics::FeatureList< CollisionFeatureList, - ignition::physics::GetContactsFromLastStepFeature>{}; + physics::GetContactsFromLastStepFeature>{}; /// \brief Feature list to change contacts before they are applied to physics. public: struct SetContactPropertiesCallbackFeatureList : - ignition::physics::FeatureList< + physics::FeatureList< ContactFeatureList, - ignition::physics::SetContactPropertiesCallbackFeature>{}; + physics::SetContactPropertiesCallbackFeature>{}; /// \brief Collision type with collision features. - public: using ShapePtrType = ignition::physics::ShapePtr< - ignition::physics::FeaturePolicy3d, CollisionFeatureList>; + public: using ShapePtrType = physics::ShapePtr< + physics::FeaturePolicy3d, CollisionFeatureList>; /// \brief World type with just the minimum features. Non-pointer. - public: using WorldShapeType = ignition::physics::World< - ignition::physics::FeaturePolicy3d, ContactFeatureList>; + public: using WorldShapeType = physics::World< + physics::FeaturePolicy3d, ContactFeatureList>; ////////////////////////////////////////////////// // Collision filtering with bitmasks /// \brief Feature list to filter collisions with bitmasks. - public: struct CollisionMaskFeatureList : ignition::physics::FeatureList< + public: struct CollisionMaskFeatureList : physics::FeatureList< CollisionFeatureList, - ignition::physics::CollisionFilterMaskFeature>{}; + physics::CollisionFilterMaskFeature>{}; ////////////////////////////////////////////////// // Link force /// \brief Feature list for applying forces to links. - public: struct LinkForceFeatureList : ignition::physics::FeatureList< - ignition::physics::AddLinkExternalForceTorque>{}; + public: struct LinkForceFeatureList : physics::FeatureList< + physics::AddLinkExternalForceTorque>{}; ////////////////////////////////////////////////// // Bounding box /// \brief Feature list for model bounding box. - public: struct BoundingBoxFeatureList : ignition::physics::FeatureList< + public: struct BoundingBoxFeatureList : physics::FeatureList< MinimumFeatureList, - ignition::physics::GetModelBoundingBox>{}; + physics::GetModelBoundingBox>{}; ////////////////////////////////////////////////// @@ -541,8 +541,8 @@ class ignition::gazebo::systems::PhysicsPrivate ////////////////////////////////////////////////// // World velocity command public: struct WorldVelocityCommandFeatureList : - ignition::physics::FeatureList< - ignition::physics::SetFreeGroupWorldVelocity>{}; + physics::FeatureList< + physics::SetFreeGroupWorldVelocity>{}; ////////////////////////////////////////////////// @@ -581,9 +581,9 @@ class ignition::gazebo::systems::PhysicsPrivate // Nested Models /// \brief Feature list to construct nested models - public: struct NestedModelFeatureList : ignition::physics::FeatureList< + public: struct NestedModelFeatureList : physics::FeatureList< MinimumFeatureList, - ignition::physics::sdf::ConstructSdfNestedModel>{}; + physics::sdf::ConstructSdfNestedModel>{}; ////////////////////////////////////////////////// /// \brief World EntityFeatureMap @@ -764,7 +764,7 @@ void Physics::Configure(const Entity &_entity, } // Load engine plugin - ignition::plugin::Loader pluginLoader; + plugin::Loader pluginLoader; auto plugins = pluginLoader.LoadLib(pathToLib); if (plugins.empty()) { @@ -794,8 +794,8 @@ void Physics::Configure(const Entity &_entity, continue; } - this->dataPtr->engine = ignition::physics::RequestEngine< - ignition::physics::FeaturePolicy3d, + this->dataPtr->engine = physics::RequestEngine< + physics::FeaturePolicy3d, PhysicsPrivate::MinimumFeatureList>::From(plugin); if (nullptr != this->dataPtr->engine) @@ -805,8 +805,8 @@ void Physics::Configure(const Entity &_entity, break; } - auto missingFeatures = ignition::physics::RequestEngine< - ignition::physics::FeaturePolicy3d, + auto missingFeatures = physics::RequestEngine< + physics::FeaturePolicy3d, PhysicsPrivate::MinimumFeatureList>::MissingFeatureNames(plugin); std::stringstream msg; @@ -1226,7 +1226,7 @@ void PhysicsPrivate::CreateCollisionEntities(const EntityComponentManager &_ecm) return true; } - auto &meshManager = *ignition::common::MeshManager::Instance(); + auto &meshManager = *common::MeshManager::Instance(); auto fullPath = asFullPath(meshSdf->Uri(), meshSdf->FilePath()); auto *mesh = meshManager.Load(fullPath); if (nullptr == mesh) @@ -1324,7 +1324,7 @@ void PhysicsPrivate::CreateCollisionEntities(const EntityComponentManager &_ecm) } std::string name("POLYLINE_" + common::Uuid().String()); - auto meshManager = ignition::common::MeshManager::Instance(); + auto meshManager = common::MeshManager::Instance(); meshManager->CreateExtrudedPolyline(name, vertices, _geom->Data().PolylineShape()[0].Height()); @@ -2421,9 +2421,9 @@ ignition::physics::ForwardStep::Output PhysicsPrivate::Step( const std::chrono::steady_clock::duration &_dt) { IGN_PROFILE("PhysicsPrivate::Step"); - ignition::physics::ForwardStep::Input input; - ignition::physics::ForwardStep::State state; - ignition::physics::ForwardStep::Output output; + physics::ForwardStep::Input input; + physics::ForwardStep::State state; + physics::ForwardStep::Output output; input.Get() = _dt; @@ -2436,7 +2436,7 @@ ignition::physics::ForwardStep::Output PhysicsPrivate::Step( } ////////////////////////////////////////////////// -ignition::math::Pose3d PhysicsPrivate::RelativePose(const Entity &_from, +math::Pose3d PhysicsPrivate::RelativePose(const Entity &_from, const Entity &_to, const EntityComponentManager &_ecm) const { math::Pose3d transform; @@ -2997,7 +2997,7 @@ void PhysicsPrivate::UpdateSim(EntityComponentManager &_ecm, this->LinkFrameDataAtOffset(linkPhys, _pose->Data()); auto entityWorldPose = math::eigen3::convert(entityFrameData.pose); - ignition::math::Vector3d entityWorldAngularVel = + math::Vector3d entityWorldAngularVel = math::eigen3::convert(entityFrameData.angularVelocity); auto entityBodyAngularVel = @@ -3022,7 +3022,7 @@ void PhysicsPrivate::UpdateSim(EntityComponentManager &_ecm, this->LinkFrameDataAtOffset(linkPhys, _pose->Data()); auto entityWorldPose = math::eigen3::convert(entityFrameData.pose); - ignition::math::Vector3d entityWorldLinearAcc = + math::Vector3d entityWorldLinearAcc = math::eigen3::convert(entityFrameData.linearAcceleration); auto entityBodyLinearAcc = @@ -3452,7 +3452,7 @@ void PhysicsPrivate::DisableContactSurfaceCustomization(const Entity &_world) } IGNITION_ADD_PLUGIN(Physics, - ignition::gazebo::System, + gazebo::System, Physics::ISystemConfigure, Physics::ISystemUpdate) diff --git a/src/systems/pose_publisher/PosePublisher.cc b/src/systems/pose_publisher/PosePublisher.cc index 010c88b10b..04067e33c7 100644 --- a/src/systems/pose_publisher/PosePublisher.cc +++ b/src/systems/pose_publisher/PosePublisher.cc @@ -156,12 +156,12 @@ class ignition::gazebo::systems::PosePublisherPrivate /// \brief A variable that gets populated with poses. This also here as a /// member variable to avoid repeated memory allocations and improve /// performance. - public: ignition::msgs::Pose poseMsg; + public: msgs::Pose poseMsg; /// \brief A variable that gets populated with poses. This also here as a /// member variable to avoid repeated memory allocations and improve /// performance. - public: ignition::msgs::Pose_V poseVMsg; + public: msgs::Pose_V poseVMsg; /// \brief True to publish a vector of poses. False to publish individual pose /// msgs. @@ -263,23 +263,23 @@ void PosePublisher::Configure(const Entity &_entity, if (this->dataPtr->usePoseV) { this->dataPtr->posePub = - this->dataPtr->node.Advertise(poseTopic); + this->dataPtr->node.Advertise(poseTopic); if (this->dataPtr->staticPosePublisher) { this->dataPtr->poseStaticPub = - this->dataPtr->node.Advertise( + this->dataPtr->node.Advertise( staticPoseTopic); } } else { this->dataPtr->posePub = - this->dataPtr->node.Advertise(poseTopic); + this->dataPtr->node.Advertise(poseTopic); if (this->dataPtr->staticPosePublisher) { this->dataPtr->poseStaticPub = - this->dataPtr->node.Advertise( + this->dataPtr->node.Advertise( staticPoseTopic); } } @@ -530,7 +530,7 @@ void PosePublisherPrivate::PublishPoses( IGN_PROFILE("PosePublisher::PublishPoses"); // publish poses - ignition::msgs::Pose *msg = nullptr; + msgs::Pose *msg = nullptr; if (this->usePoseV) this->poseVMsg.Clear(); diff --git a/src/systems/scene_broadcaster/SceneBroadcaster.cc b/src/systems/scene_broadcaster/SceneBroadcaster.cc index f88ae5b2bd..d2fa2a6d3c 100644 --- a/src/systems/scene_broadcaster/SceneBroadcaster.cc +++ b/src/systems/scene_broadcaster/SceneBroadcaster.cc @@ -89,21 +89,21 @@ class ignition::gazebo::systems::SceneBroadcasterPrivate /// \brief Callback for scene info service. /// \param[out] _res Response containing the latest scene message. /// \return True if successful. - public: bool SceneInfoService(ignition::msgs::Scene &_res); + public: bool SceneInfoService(msgs::Scene &_res); /// \brief Callback for scene graph service. /// \param[out] _res Response containing the the scene graph in DOT format. /// \return True if successful. - public: bool SceneGraphService(ignition::msgs::StringMsg &_res); + public: bool SceneGraphService(msgs::StringMsg &_res); /// \brief Callback for state service. /// \param[out] _res Response containing the latest full state. /// \return True if successful. - public: bool StateService(ignition::msgs::SerializedStepMap &_res); + public: bool StateService(msgs::SerializedStepMap &_res); /// \brief Callback for state service - non blocking. /// \param[out] _res Response containing the last available full state. - public: void StateAsyncService(const ignition::msgs::StringMsg &_req); + public: void StateAsyncService(const msgs::StringMsg &_req); /// \brief Updates the scene graph when entities are added /// \param[in] _manager The entity component manager @@ -619,7 +619,7 @@ void SceneBroadcasterPrivate::SetupTransport(const std::string &_worldName) // Scene info topic std::string sceneTopic{ns + "/scene/info"}; - this->scenePub = this->node->Advertise(sceneTopic); + this->scenePub = this->node->Advertise(sceneTopic); ignmsg << "Publishing scene information on [" << sceneTopic << "]" << std::endl; @@ -628,7 +628,7 @@ void SceneBroadcasterPrivate::SetupTransport(const std::string &_worldName) std::string deletionTopic{ns + "/scene/deletion"}; this->deletionPub = - this->node->Advertise(deletionTopic); + this->node->Advertise(deletionTopic); ignmsg << "Publishing entity deletions on [" << deletionTopic << "]" << std::endl; @@ -637,7 +637,7 @@ void SceneBroadcasterPrivate::SetupTransport(const std::string &_worldName) std::string stateTopic{ns + "/state"}; this->statePub = - this->node->Advertise(stateTopic); + this->node->Advertise(stateTopic); ignmsg << "Publishing state changes on [" << stateTopic << "]" << std::endl; @@ -666,7 +666,7 @@ void SceneBroadcasterPrivate::SetupTransport(const std::string &_worldName) } ////////////////////////////////////////////////// -bool SceneBroadcasterPrivate::SceneInfoService(ignition::msgs::Scene &_res) +bool SceneBroadcasterPrivate::SceneInfoService(msgs::Scene &_res) { std::lock_guard lock(this->graphMutex); @@ -686,7 +686,7 @@ bool SceneBroadcasterPrivate::SceneInfoService(ignition::msgs::Scene &_res) ////////////////////////////////////////////////// void SceneBroadcasterPrivate::StateAsyncService( - const ignition::msgs::StringMsg &_req) + const msgs::StringMsg &_req) { std::unique_lock lock(this->stateMutex); this->stateServiceRequest = true; @@ -695,7 +695,7 @@ void SceneBroadcasterPrivate::StateAsyncService( ////////////////////////////////////////////////// bool SceneBroadcasterPrivate::StateService( - ignition::msgs::SerializedStepMap &_res) + msgs::SerializedStepMap &_res) { _res.Clear(); @@ -717,7 +717,7 @@ bool SceneBroadcasterPrivate::StateService( } ////////////////////////////////////////////////// -bool SceneBroadcasterPrivate::SceneGraphService(ignition::msgs::StringMsg &_res) +bool SceneBroadcasterPrivate::SceneGraphService(msgs::StringMsg &_res) { std::lock_guard lock(this->graphMutex); @@ -987,22 +987,22 @@ void SceneBroadcasterPrivate::SceneGraphAddEntities( msgs::IMUSensor * imuMsg = sensorMsg->mutable_imu(); const auto * imu = imuComp->Data().ImuSensor(); - ignition::gazebo::set( + set( imuMsg->mutable_linear_acceleration()->mutable_x_noise(), imu->LinearAccelerationXNoise()); - ignition::gazebo::set( + set( imuMsg->mutable_linear_acceleration()->mutable_y_noise(), imu->LinearAccelerationYNoise()); - ignition::gazebo::set( + set( imuMsg->mutable_linear_acceleration()->mutable_z_noise(), imu->LinearAccelerationZNoise()); - ignition::gazebo::set( + set( imuMsg->mutable_angular_velocity()->mutable_x_noise(), imu->AngularVelocityXNoise()); - ignition::gazebo::set( + set( imuMsg->mutable_angular_velocity()->mutable_y_noise(), imu->AngularVelocityYNoise()); - ignition::gazebo::set( + set( imuMsg->mutable_angular_velocity()->mutable_z_noise(), imu->AngularVelocityZNoise()); } @@ -1288,7 +1288,7 @@ void SceneBroadcasterPrivate::RemoveFromGraph(const Entity _entity, IGNITION_ADD_PLUGIN(SceneBroadcaster, - ignition::gazebo::System, + System, SceneBroadcaster::ISystemConfigure, SceneBroadcaster::ISystemPostUpdate) diff --git a/src/systems/sensors/Sensors.cc b/src/systems/sensors/Sensors.cc index 3a0573d58a..92463253d4 100644 --- a/src/systems/sensors/Sensors.cc +++ b/src/systems/sensors/Sensors.cc @@ -127,7 +127,7 @@ class ignition::gazebo::systems::SensorsPrivate public: std::condition_variable renderCv; /// \brief Connection to events::Stop event, used to stop thread - public: ignition::common::ConnectionPtr stopConn; + public: common::ConnectionPtr stopConn; /// \brief Update time for the next rendering iteration public: std::chrono::steady_clock::duration updateTime; diff --git a/src/systems/thermal/Thermal.cc b/src/systems/thermal/Thermal.cc index 28bd118931..c757ed2245 100644 --- a/src/systems/thermal/Thermal.cc +++ b/src/systems/thermal/Thermal.cc @@ -52,8 +52,8 @@ Thermal::~Thermal() = default; ////////////////////////////////////////////////// void Thermal::Configure(const Entity &_entity, const std::shared_ptr &_sdf, - gazebo::EntityComponentManager &_ecm, - gazebo::EventManager & /*_eventMgr*/) + EntityComponentManager &_ecm, + EventManager & /*_eventMgr*/) { const std::string temperatureTag = "temperature"; const std::string heatSignatureTag = "heat_signature"; diff --git a/src/systems/touch_plugin/TouchPlugin.cc b/src/systems/touch_plugin/TouchPlugin.cc index ccd177bb90..9f32ec1071 100644 --- a/src/systems/touch_plugin/TouchPlugin.cc +++ b/src/systems/touch_plugin/TouchPlugin.cc @@ -409,7 +409,7 @@ void TouchPlugin::PostUpdate(const UpdateInfo &_info, } IGNITION_ADD_PLUGIN(TouchPlugin, - ignition::gazebo::System, + System, TouchPlugin::ISystemConfigure, TouchPlugin::ISystemPreUpdate, TouchPlugin::ISystemPostUpdate) diff --git a/src/systems/track_controller/TrackController.cc b/src/systems/track_controller/TrackController.cc index 116d3cb787..fdf8d1d51a 100644 --- a/src/systems/track_controller/TrackController.cc +++ b/src/systems/track_controller/TrackController.cc @@ -91,8 +91,8 @@ class ignition::gazebo::systems::TrackControllerPrivate /// \param[in] _frictionDirection First friction direction (in world coords). /// \return The computed contact surface speed. public: double ComputeSurfaceMotion( - double _beltSpeed, const ignition::math::Vector3d &_beltDirection, - const ignition::math::Vector3d &_frictionDirection); + double _beltSpeed, const math::Vector3d &_beltDirection, + const math::Vector3d &_frictionDirection); /// \brief Compute the first friction direction of the contact surface. /// \param[in] _centerOfRotation The point around which the track circles ( @@ -100,11 +100,11 @@ class ignition::gazebo::systems::TrackControllerPrivate /// \param[in] _contactWorldPosition Position of the contact point. /// \param[in] _contactNormal Normal of the contact surface (in world coords). /// \param[in] _beltDirection Direction of the belt (in world coords). - public: ignition::math::Vector3d ComputeFrictionDirection( - const ignition::math::Vector3d &_centerOfRotation, - const ignition::math::Vector3d &_contactWorldPosition, - const ignition::math::Vector3d &_contactNormal, - const ignition::math::Vector3d &_beltDirection); + public: math::Vector3d ComputeFrictionDirection( + const math::Vector3d &_centerOfRotation, + const math::Vector3d &_contactWorldPosition, + const math::Vector3d &_contactNormal, + const math::Vector3d &_beltDirection); /// \brief Name of the link to which the track is attached. public: std::string linkName; @@ -342,24 +342,24 @@ void TrackController::Configure(const Entity &_entity, if (this->dataPtr->debug) { this->dataPtr->debugMarker.set_ns(this->dataPtr->linkName + "/friction"); - this->dataPtr->debugMarker.set_action(ignition::msgs::Marker::ADD_MODIFY); - this->dataPtr->debugMarker.set_type(ignition::msgs::Marker::BOX); - this->dataPtr->debugMarker.set_visibility(ignition::msgs::Marker::GUI); + this->dataPtr->debugMarker.set_action(msgs::Marker::ADD_MODIFY); + this->dataPtr->debugMarker.set_type(msgs::Marker::BOX); + this->dataPtr->debugMarker.set_visibility(msgs::Marker::GUI); this->dataPtr->debugMarker.mutable_lifetime()->set_sec(0); this->dataPtr->debugMarker.mutable_lifetime()->set_nsec(4000000); // Set material properties - ignition::msgs::Set( + msgs::Set( this->dataPtr->debugMarker.mutable_material()->mutable_ambient(), - ignition::math::Color(0, 0, 1, 1)); - ignition::msgs::Set( + math::Color(0, 0, 1, 1)); + msgs::Set( this->dataPtr->debugMarker.mutable_material()->mutable_diffuse(), - ignition::math::Color(0, 0, 1, 1)); + math::Color(0, 0, 1, 1)); // Set marker scale - ignition::msgs::Set( + msgs::Set( this->dataPtr->debugMarker.mutable_scale(), - ignition::math::Vector3d(0.3, 0.03, 0.03)); + math::Vector3d(0.3, 0.03, 0.03)); } } @@ -530,7 +530,7 @@ void TrackControllerPrivate::ComputeSurfaceProperties( p += rot.RotateVector( math::Vector3d::UnitX * this->debugMarker.scale().x() / 2); - ignition::msgs::Set(this->debugMarker.mutable_pose(), math::Pose3d( + msgs::Set(this->debugMarker.mutable_pose(), math::Pose3d( p.X(), p.Y(), p.Z(), rot.Roll(), rot.Pitch(), rot.Yaw())); this->debugMarker.mutable_material()->mutable_diffuse()->set_r( surfaceMotion >= 0 ? 0 : 1); @@ -541,8 +541,8 @@ void TrackControllerPrivate::ComputeSurfaceProperties( ////////////////////////////////////////////////// double TrackControllerPrivate::ComputeSurfaceMotion( - const double _beltSpeed, const ignition::math::Vector3d &_beltDirection, - const ignition::math::Vector3d &_frictionDirection) + const double _beltSpeed, const math::Vector3d &_beltDirection, + const math::Vector3d &_frictionDirection) { // the dot product is the cosine of the angle they // form (because both are unit vectors) @@ -553,11 +553,11 @@ double TrackControllerPrivate::ComputeSurfaceMotion( } ////////////////////////////////////////////////// -ignition::math::Vector3d TrackControllerPrivate::ComputeFrictionDirection( - const ignition::math::Vector3d &_centerOfRotation, - const ignition::math::Vector3d &_contactWorldPosition, - const ignition::math::Vector3d &_contactNormal, - const ignition::math::Vector3d &_beltDirection) +math::Vector3d TrackControllerPrivate::ComputeFrictionDirection( + const math::Vector3d &_centerOfRotation, + const math::Vector3d &_contactWorldPosition, + const math::Vector3d &_contactNormal, + const math::Vector3d &_beltDirection) { if (_centerOfRotation.IsFinite()) { @@ -614,7 +614,7 @@ void TrackControllerPrivate::OnCenterOfRotation(const msgs::Vector3d& _msg) } IGNITION_ADD_PLUGIN(TrackController, - ignition::gazebo::System, + System, TrackController::ISystemConfigure, TrackController::ISystemPreUpdate) diff --git a/src/systems/tracked_vehicle/TrackedVehicle.cc b/src/systems/tracked_vehicle/TrackedVehicle.cc index e175d44329..4b3ecc64e6 100644 --- a/src/systems/tracked_vehicle/TrackedVehicle.cc +++ b/src/systems/tracked_vehicle/TrackedVehicle.cc @@ -60,25 +60,25 @@ class ignition::gazebo::systems::TrackedVehiclePrivate { /// \brief Callback for velocity subscription /// \param[in] _msg Velocity message - public: void OnCmdVel(const ignition::msgs::Twist &_msg); + public: void OnCmdVel(const msgs::Twist &_msg); /// \brief Callback for steering efficiency subscription /// \param[in] _msg Steering efficiency message - public: void OnSteeringEfficiency(const ignition::msgs::Double &_msg); + public: void OnSteeringEfficiency(const msgs::Double &_msg); /// \brief Update odometry and publish an odometry message. /// \param[in] _info System update information. /// \param[in] _ecm The EntityComponentManager of the given simulation /// instance. - public: void UpdateOdometry(const ignition::gazebo::UpdateInfo &_info, - const ignition::gazebo::EntityComponentManager &_ecm); + public: void UpdateOdometry(const UpdateInfo &_info, + const EntityComponentManager &_ecm); /// \brief Update the linear and angular velocities. /// \param[in] _info System update information. /// \param[in] _ecm The EntityComponentManager of the given simulation /// instance. - public: void UpdateVelocity(const ignition::gazebo::UpdateInfo &_info, - const ignition::gazebo::EntityComponentManager &_ecm); + public: void UpdateVelocity(const UpdateInfo &_info, + const EntityComponentManager &_ecm); /// \brief Ignition communication node. public: transport::Node node; @@ -423,31 +423,31 @@ void TrackedVehicle::Configure(const Entity &_entity, { this->dataPtr->debugMarker.set_ns( this->dataPtr->model.Name(_ecm) + "/cor"); - this->dataPtr->debugMarker.set_action(ignition::msgs::Marker::ADD_MODIFY); - this->dataPtr->debugMarker.set_type(ignition::msgs::Marker::SPHERE); - this->dataPtr->debugMarker.set_visibility(ignition::msgs::Marker::GUI); + this->dataPtr->debugMarker.set_action(msgs::Marker::ADD_MODIFY); + this->dataPtr->debugMarker.set_type(msgs::Marker::SPHERE); + this->dataPtr->debugMarker.set_visibility(msgs::Marker::GUI); this->dataPtr->debugMarker.mutable_lifetime()->set_sec(0); this->dataPtr->debugMarker.mutable_lifetime()->set_nsec(4000000); this->dataPtr->debugMarker.set_id(1); // Set material properties - ignition::msgs::Set( + msgs::Set( this->dataPtr->debugMarker.mutable_material()->mutable_ambient(), - ignition::math::Color(0, 0, 1, 1)); - ignition::msgs::Set( + math::Color(0, 0, 1, 1)); + msgs::Set( this->dataPtr->debugMarker.mutable_material()->mutable_diffuse(), - ignition::math::Color(0, 0, 1, 1)); + math::Color(0, 0, 1, 1)); // Set marker scale - ignition::msgs::Set( + msgs::Set( this->dataPtr->debugMarker.mutable_scale(), - ignition::math::Vector3d(0.1, 0.1, 0.1)); + math::Vector3d(0.1, 0.1, 0.1)); } } ////////////////////////////////////////////////// -void TrackedVehicle::PreUpdate(const ignition::gazebo::UpdateInfo &_info, - ignition::gazebo::EntityComponentManager &_ecm) +void TrackedVehicle::PreUpdate(const UpdateInfo &_info, + EntityComponentManager &_ecm) { IGN_PROFILE("TrackedVehicle::PreUpdate"); @@ -546,8 +546,8 @@ void TrackedVehicle::PostUpdate(const UpdateInfo &_info, ////////////////////////////////////////////////// void TrackedVehiclePrivate::UpdateOdometry( - const ignition::gazebo::UpdateInfo &_info, - const ignition::gazebo::EntityComponentManager &_ecm) + const UpdateInfo &_info, + const EntityComponentManager &_ecm) { IGN_PROFILE("TrackedVehicle::UpdateOdometry"); // Initialize, if not already initialized. @@ -629,8 +629,8 @@ void TrackedVehiclePrivate::UpdateOdometry( ////////////////////////////////////////////////// void TrackedVehiclePrivate::UpdateVelocity( - const ignition::gazebo::UpdateInfo &_info, - const ignition::gazebo::EntityComponentManager &_ecm) + const UpdateInfo &_info, + const EntityComponentManager &_ecm) { IGN_PROFILE("TrackedVehicle::UpdateVelocity"); @@ -702,7 +702,7 @@ void TrackedVehiclePrivate::UpdateVelocity( const auto bodyPose = worldPose(this->bodyLink, _ecm); const auto bodyYAxisGlobal = - bodyPose.Rot().RotateVector(ignition::math::Vector3d(0, 1, 0)); + bodyPose.Rot().RotateVector(math::Vector3d(0, 1, 0)); // centerOfRotation may be +inf this->centerOfRotation = (bodyYAxisGlobal * desiredRotationRadiusSigned) + bodyPose.Pos(); @@ -742,7 +742,7 @@ void TrackedVehiclePrivate::UpdateVelocity( << ", right v=" << this->rightSpeed << (sendCommandsToTracks ? " (sent to tracks)" : "") << std::endl; - ignition::msgs::Set(this->debugMarker.mutable_pose(), math::Pose3d( + msgs::Set(this->debugMarker.mutable_pose(), math::Pose3d( this->centerOfRotation.X(), this->centerOfRotation.Y(), this->centerOfRotation.Z(), @@ -761,7 +761,7 @@ void TrackedVehiclePrivate::OnCmdVel(const msgs::Twist &_msg) ////////////////////////////////////////////////// void TrackedVehiclePrivate::OnSteeringEfficiency( - const ignition::msgs::Double& _msg) + const msgs::Double& _msg) { std::lock_guard lock(this->mutex); this->steeringEfficiency = _msg.data(); @@ -769,7 +769,7 @@ void TrackedVehiclePrivate::OnSteeringEfficiency( } IGNITION_ADD_PLUGIN(TrackedVehicle, - ignition::gazebo::System, + System, TrackedVehicle::ISystemConfigure, TrackedVehicle::ISystemPreUpdate, TrackedVehicle::ISystemPostUpdate) diff --git a/src/systems/triggered_publisher/TriggeredPublisher.cc b/src/systems/triggered_publisher/TriggeredPublisher.cc index cc7a4f88ad..6544754098 100644 --- a/src/systems/triggered_publisher/TriggeredPublisher.cc +++ b/src/systems/triggered_publisher/TriggeredPublisher.cc @@ -855,7 +855,7 @@ bool TriggeredPublisher::MatchInput(const transport::ProtoMsg &_inputMsg) } IGNITION_ADD_PLUGIN(TriggeredPublisher, - ignition::gazebo::System, + System, TriggeredPublisher::ISystemConfigure, TriggeredPublisher::ISystemPreUpdate) diff --git a/src/systems/velocity_control/VelocityControl.cc b/src/systems/velocity_control/VelocityControl.cc index 8082c39716..46b418de6c 100644 --- a/src/systems/velocity_control/VelocityControl.cc +++ b/src/systems/velocity_control/VelocityControl.cc @@ -41,26 +41,26 @@ class ignition::gazebo::systems::VelocityControlPrivate { /// \brief Callback for model velocity subscription /// \param[in] _msg Velocity message - public: void OnCmdVel(const ignition::msgs::Twist &_msg); + public: void OnCmdVel(const msgs::Twist &_msg); /// \brief Callback for link velocity subscription /// \param[in] _msg Velocity message - public: void OnLinkCmdVel(const ignition::msgs::Twist &_msg, - const ignition::transport::MessageInfo &_info); + public: void OnLinkCmdVel(const msgs::Twist &_msg, + const transport::MessageInfo &_info); /// \brief Update the linear and angular velocities. /// \param[in] _info System update information. /// \param[in] _ecm The EntityComponentManager of the given simulation /// instance. - public: void UpdateVelocity(const ignition::gazebo::UpdateInfo &_info, - const ignition::gazebo::EntityComponentManager &_ecm); + public: void UpdateVelocity(const UpdateInfo &_info, + const EntityComponentManager &_ecm); /// \brief Update link velocity. /// \param[in] _info System update information. /// \param[in] _ecm The EntityComponentManager of the given simulation /// instance. - public: void UpdateLinkVelocity(const ignition::gazebo::UpdateInfo &_info, - const ignition::gazebo::EntityComponentManager &_ecm); + public: void UpdateLinkVelocity(const UpdateInfo &_info, + const EntityComponentManager &_ecm); /// \brief Ignition communication node. public: transport::Node node; @@ -180,8 +180,8 @@ void VelocityControl::Configure(const Entity &_entity, } ////////////////////////////////////////////////// -void VelocityControl::PreUpdate(const ignition::gazebo::UpdateInfo &_info, - ignition::gazebo::EntityComponentManager &_ecm) +void VelocityControl::PreUpdate(const UpdateInfo &_info, + EntityComponentManager &_ecm) { IGN_PROFILE("VelocityControl::PreUpdate"); @@ -324,8 +324,8 @@ void VelocityControl::PostUpdate(const UpdateInfo &_info, ////////////////////////////////////////////////// void VelocityControlPrivate::UpdateVelocity( - const ignition::gazebo::UpdateInfo &/*_info*/, - const ignition::gazebo::EntityComponentManager &/*_ecm*/) + const UpdateInfo &/*_info*/, + const EntityComponentManager &/*_ecm*/) { IGN_PROFILE("VeocityControl::UpdateVelocity"); @@ -336,8 +336,8 @@ void VelocityControlPrivate::UpdateVelocity( ////////////////////////////////////////////////// void VelocityControlPrivate::UpdateLinkVelocity( - const ignition::gazebo::UpdateInfo &/*_info*/, - const ignition::gazebo::EntityComponentManager &/*_ecm*/) + const UpdateInfo &/*_info*/, + const EntityComponentManager &/*_ecm*/) { IGN_PROFILE("VelocityControl::UpdateLinkVelocity"); @@ -375,7 +375,7 @@ void VelocityControlPrivate::OnLinkCmdVel(const msgs::Twist &_msg, } IGNITION_ADD_PLUGIN(VelocityControl, - ignition::gazebo::System, + System, VelocityControl::ISystemConfigure, VelocityControl::ISystemPreUpdate, VelocityControl::ISystemPostUpdate) diff --git a/src/systems/wheel_slip/WheelSlip.cc b/src/systems/wheel_slip/WheelSlip.cc index 78385295de..343ee82837 100644 --- a/src/systems/wheel_slip/WheelSlip.cc +++ b/src/systems/wheel_slip/WheelSlip.cc @@ -386,7 +386,7 @@ void WheelSlip::PreUpdate(const UpdateInfo &_info, EntityComponentManager &_ecm) } IGNITION_ADD_PLUGIN(WheelSlip, - ignition::gazebo::System, + System, WheelSlip::ISystemConfigure, WheelSlip::ISystemPreUpdate) diff --git a/src/systems/wind_effects/WindEffects.cc b/src/systems/wind_effects/WindEffects.cc index 39eee5e760..47db52bf2f 100644 --- a/src/systems/wind_effects/WindEffects.cc +++ b/src/systems/wind_effects/WindEffects.cc @@ -392,7 +392,7 @@ void WindEffectsPrivate::UpdateWindVelocity(const UpdateInfo &_info, direction = this->noiseDirection->Apply(direction); // Apply wind velocity - ignition::math::Vector3d windVel; + math::Vector3d windVel; windVel.X(magnitude * std::cos(IGN_DTOR(direction))); windVel.Y(magnitude * std::sin(IGN_DTOR(direction))); diff --git a/test/integration/ackermann_steering_system.cc b/test/integration/ackermann_steering_system.cc index c21884589f..e18cff38b5 100644 --- a/test/integration/ackermann_steering_system.cc +++ b/test/integration/ackermann_steering_system.cc @@ -64,8 +64,8 @@ class AckermannSteeringTest test::Relay testSystem; std::vector poses; - testSystem.OnPostUpdate([&poses](const gazebo::UpdateInfo &, - const gazebo::EntityComponentManager &_ecm) + testSystem.OnPostUpdate([&poses](const UpdateInfo &, + const EntityComponentManager &_ecm) { auto id = _ecm.EntityByComponents( components::Model(), @@ -125,8 +125,8 @@ class AckermannSteeringTest const double desiredLinVel = 10.5; const double desiredAngVel = 0.1; velocityRamp.OnPreUpdate( - [&](const gazebo::UpdateInfo &/*_info*/, - const gazebo::EntityComponentManager &) + [&](const UpdateInfo &/*_info*/, + const EntityComponentManager &) { msgs::Set(msg.mutable_linear(), math::Vector3d(desiredLinVel, 0, 0)); @@ -232,8 +232,8 @@ TEST_P(AckermannSteeringTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(SkidPublishCmd)) test::Relay testSystem; std::vector poses; - testSystem.OnPostUpdate([&poses](const gazebo::UpdateInfo &, - const gazebo::EntityComponentManager &_ecm) + testSystem.OnPostUpdate([&poses](const UpdateInfo &, + const EntityComponentManager &_ecm) { auto id = _ecm.EntityByComponents( components::Model(), @@ -330,8 +330,8 @@ TEST_P(AckermannSteeringTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(TfPublishes)) test::Relay testSystem; std::vector poses; - testSystem.OnPostUpdate([&poses](const gazebo::UpdateInfo &, - const gazebo::EntityComponentManager &_ecm) + testSystem.OnPostUpdate([&poses](const UpdateInfo &, + const EntityComponentManager &_ecm) { auto id = _ecm.EntityByComponents( components::Model(), diff --git a/test/integration/air_pressure_system.cc b/test/integration/air_pressure_system.cc index 3db386e4d0..4e2644e2a1 100644 --- a/test/integration/air_pressure_system.cc +++ b/test/integration/air_pressure_system.cc @@ -64,11 +64,11 @@ TEST_F(AirPressureTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(AirPressure)) // Create a system that checks sensor topic test::Relay testSystem; - testSystem.OnPostUpdate([&](const gazebo::UpdateInfo &_info, - const gazebo::EntityComponentManager &_ecm) + testSystem.OnPostUpdate([&](const UpdateInfo &_info, + const EntityComponentManager &_ecm) { _ecm.Each( - [&](const ignition::gazebo::Entity &_entity, + [&](const Entity &_entity, const components::AirPressureSensor *, const components::Name *_name) -> bool { diff --git a/test/integration/altimeter_system.cc b/test/integration/altimeter_system.cc index 979fafc37b..a536f0e794 100644 --- a/test/integration/altimeter_system.cc +++ b/test/integration/altimeter_system.cc @@ -83,13 +83,13 @@ TEST_F(AltimeterTest, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(ModelFalling)) test::Relay testSystem; std::vector poses; std::vector velocities; - testSystem.OnPostUpdate([&](const gazebo::UpdateInfo &_info, - const gazebo::EntityComponentManager &_ecm) + testSystem.OnPostUpdate([&](const UpdateInfo &_info, + const EntityComponentManager &_ecm) { _ecm.Each( - [&](const ignition::gazebo::Entity &_entity, + [&](const Entity &_entity, const components::Altimeter *, const components::Name *_name, const components::WorldPose *_worldPose, diff --git a/test/integration/apply_joint_force_system.cc b/test/integration/apply_joint_force_system.cc index e1b28c54b9..25c9011a17 100644 --- a/test/integration/apply_joint_force_system.cc +++ b/test/integration/apply_joint_force_system.cc @@ -72,7 +72,7 @@ TEST_F(ApplyJointForceTestFixture, test::Relay testSystem; std::vector jointForceCmd; testSystem.OnPreUpdate( - [&](const gazebo::UpdateInfo &, gazebo::EntityComponentManager &_ecm) + [&](const UpdateInfo &, EntityComponentManager &_ecm) { auto joint = _ecm.EntityByComponents(components::Joint(), components::Name(jointName)); diff --git a/test/integration/battery_plugin.cc b/test/integration/battery_plugin.cc index 15e130fb65..b6e3ed9fd7 100644 --- a/test/integration/battery_plugin.cc +++ b/test/integration/battery_plugin.cc @@ -60,15 +60,15 @@ class BatteryPluginTest : public InternalFixture<::testing::Test> EXPECT_TRUE(plugin.has_value()); this->systemPtr = plugin.value(); - this->mockSystem = static_cast( - systemPtr->QueryInterface()); + this->mockSystem = static_cast( + systemPtr->QueryInterface()); EXPECT_NE(nullptr, this->mockSystem); } - public: ignition::gazebo::SystemPluginPtr systemPtr; - public: gazebo::MockSystem *mockSystem; + public: SystemPluginPtr systemPtr; + public: MockSystem *mockSystem; - private: gazebo::SystemLoader sm; + private: SystemLoader sm; }; @@ -87,9 +87,9 @@ TEST_F(BatteryPluginTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(SingleBattery)) serverConfig.SetSdfFile(sdfPath); // A pointer to the ecm. This will be valid once we run the mock system - gazebo::EntityComponentManager *ecm = nullptr; + EntityComponentManager *ecm = nullptr; this->mockSystem->preUpdateCallback = - [&ecm](const gazebo::UpdateInfo &, gazebo::EntityComponentManager &_ecm) + [&ecm](const UpdateInfo &, EntityComponentManager &_ecm) { ecm = &_ecm; @@ -111,7 +111,7 @@ TEST_F(BatteryPluginTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(SingleBattery)) // the LinearBatteryPlugin is not zero when created. If // components::BatterySoC is zero on start, then the Physics plugin // can disable a joint. This in turn can prevent the joint from - // rotating. See https://github.com/ignitionrobotics/ign-gazebo/issues/55 + // rotating. See https://github.com/gazebosim/gz-sim/issues/55 EXPECT_GT(batComp->Data(), 0); }; diff --git a/test/integration/breadcrumbs.cc b/test/integration/breadcrumbs.cc index 17624884f4..5530b64d56 100644 --- a/test/integration/breadcrumbs.cc +++ b/test/integration/breadcrumbs.cc @@ -147,8 +147,8 @@ TEST_F(BreadcrumbsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(DeployAtOffset)) node.Advertise("/model/vehicle_blue/breadcrumbs/B1/deploy"); std::size_t iterTestStart = 1000; - testSystem.OnPostUpdate([&](const gazebo::UpdateInfo &_info, - const gazebo::EntityComponentManager &_ecm) + testSystem.OnPostUpdate([&](const UpdateInfo &_info, + const EntityComponentManager &_ecm) { // Start moving the vehicle // After 1000 iterations, stop the vehicle, spawn a breadcrumb @@ -212,8 +212,8 @@ TEST_F(BreadcrumbsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(MaxDeployments)) node.Advertise("/model/vehicle_blue/breadcrumbs/B1/deploy"); std::size_t iterTestStart = 1000; - testSystem.OnPostUpdate([&](const gazebo::UpdateInfo &_info, - const gazebo::EntityComponentManager &_ecm) + testSystem.OnPostUpdate([&](const UpdateInfo &_info, + const EntityComponentManager &_ecm) { // Start moving the vehicle // Every 1000 iterations, deploy @@ -270,8 +270,8 @@ TEST_F(BreadcrumbsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(FuelDeploy)) const std::size_t nIters = iterTestStart + 2500; const std::size_t maxDeployments = 5; std::size_t deployCount = 0; - testSystem.OnPostUpdate([&](const gazebo::UpdateInfo &_info, - const gazebo::EntityComponentManager &_ecm) + testSystem.OnPostUpdate([&](const UpdateInfo &_info, + const EntityComponentManager &_ecm) { // Start moving the vehicle // Every 500 iterations, deploy @@ -324,8 +324,8 @@ TEST_F(BreadcrumbsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Performer)) const std::size_t nIters = iterTestStart + 10000; std::optional initialPose; - testSystem.OnPostUpdate([&](const gazebo::UpdateInfo &_info, - const gazebo::EntityComponentManager &_ecm) + testSystem.OnPostUpdate([&](const UpdateInfo &_info, + const EntityComponentManager &_ecm) { // Deploy a performer breadcrumb on a tile that's on a level, and ensure // that it keeps the tile from being unloaded. @@ -397,8 +397,8 @@ TEST_F(BreadcrumbsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(PerformerSetVolume)) const std::size_t nIters = iterTestStart + 2000; std::optional initialPose; - testSystem.OnPostUpdate([&](const gazebo::UpdateInfo &_info, - const gazebo::EntityComponentManager &_ecm) + testSystem.OnPostUpdate([&](const UpdateInfo &_info, + const EntityComponentManager &_ecm) { // Deploy a performer breadcrumb on a tile that's on the default a level, // and check that it causes tile_1 to be loaded since the performer's volume @@ -450,8 +450,8 @@ TEST_F(BreadcrumbsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(DeployDisablePhysics)) node.Advertise("/model/vehicle_blue/breadcrumbs/B2/deploy"); std::size_t iterTestStart = 1000; - testSystem.OnPostUpdate([&](const gazebo::UpdateInfo &_info, - const gazebo::EntityComponentManager &_ecm) + testSystem.OnPostUpdate([&](const UpdateInfo &_info, + const EntityComponentManager &_ecm) { // Start moving the vehicle // After 1000 iterations, stop the vehicle, spawn a breadcrumb @@ -551,7 +551,7 @@ TEST_F(BreadcrumbsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(AllowRenaming)) ///////////////////////////////////////////////// /// Return a list of model entities whose names match the given regex std::vector ModelsByNameRegex( - const gazebo::EntityComponentManager &_ecm, const std::regex &_re) + const EntityComponentManager &_ecm, const std::regex &_re) { std::vector entities; _ecm.Each( @@ -586,8 +586,8 @@ TEST_F(BreadcrumbsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LevelLoadUnload)) std::regex reTile1{"tile_1"}; std::regex reBreadcrumb{"B1_.*"}; testSystem.OnPostUpdate( - [&](const gazebo::UpdateInfo &_info, - const gazebo::EntityComponentManager &_ecm) + [&](const UpdateInfo &_info, + const EntityComponentManager &_ecm) { // Ensure that tile_1 is loaded at the start, deploy a breadcrumb if (_info.iterations == iterTestStart) diff --git a/test/integration/buoyancy.cc b/test/integration/buoyancy.cc index 8713c1087f..41456aa412 100644 --- a/test/integration/buoyancy.cc +++ b/test/integration/buoyancy.cc @@ -181,8 +181,8 @@ TEST_F(BuoyancyTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(UniformWorldMovement)) bool finished = false; test::Relay testSystem; - testSystem.OnPostUpdate([&](const gazebo::UpdateInfo &_info, - const gazebo::EntityComponentManager &_ecm) + testSystem.OnPostUpdate([&](const UpdateInfo &_info, + const EntityComponentManager &_ecm) { // Check pose Entity submarine = _ecm.EntityByComponents( @@ -217,7 +217,7 @@ TEST_F(BuoyancyTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(UniformWorldMovement)) auto submarineCenterOfVolume = _ecm.Component(submarineLink); ASSERT_NE(submarineCenterOfVolume, nullptr); - EXPECT_EQ(ignition::math::Vector3d(0, 0, 0), + EXPECT_EQ(math::Vector3d(0, 0, 0), submarineCenterOfVolume->Data()); // Get the submarine buoyant link @@ -235,7 +235,7 @@ TEST_F(BuoyancyTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(UniformWorldMovement)) auto submarineBuoyantCenterOfVolume = _ecm.Component(submarineBuoyantLink); ASSERT_NE(submarineBuoyantCenterOfVolume, nullptr); - EXPECT_EQ(ignition::math::Vector3d(0, 0, 0), + EXPECT_EQ(math::Vector3d(0, 0, 0), submarineBuoyantCenterOfVolume->Data()); // Get the submarine sinking link @@ -253,7 +253,7 @@ TEST_F(BuoyancyTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(UniformWorldMovement)) auto submarineSinkingCenterOfVolume = _ecm.Component(submarineSinkingLink); ASSERT_NE(submarineSinkingCenterOfVolume, nullptr); - EXPECT_EQ(ignition::math::Vector3d(0, 0, 0), + EXPECT_EQ(math::Vector3d(0, 0, 0), submarineSinkingCenterOfVolume->Data()); // Get the duck link @@ -269,7 +269,7 @@ TEST_F(BuoyancyTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(UniformWorldMovement)) auto duckCenterOfVolume = _ecm.Component(duckLink); ASSERT_NE(duckCenterOfVolume, nullptr); - EXPECT_EQ(ignition::math::Vector3d(0, 0, -0.4), + EXPECT_EQ(math::Vector3d(0, 0, -0.4), duckCenterOfVolume->Data()); auto submarinePose = _ecm.Component(submarine); @@ -464,8 +464,8 @@ TEST_F(BuoyancyTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(OffsetAndRotation)) std::size_t iterations{0}; fixture.OnPostUpdate([&]( - const gazebo::UpdateInfo &, - const gazebo::EntityComponentManager &_ecm) + const UpdateInfo &, + const EntityComponentManager &_ecm) { // Get links auto noOffsets = entitiesFromScopedName("no_offset::link", _ecm); diff --git a/test/integration/camera_video_record_system.cc b/test/integration/camera_video_record_system.cc index e21b71fc98..13396cb3df 100644 --- a/test/integration/camera_video_record_system.cc +++ b/test/integration/camera_video_record_system.cc @@ -51,7 +51,7 @@ TEST_F(CameraVideoRecorderTest, IGN_UTILS_TEST_DISABLED_ON_MAC(RecordVideo)) // Run server server.Run(true, 1, false); - ignition::transport::Node node; + transport::Node node; std::vector services; bool hasService = false; @@ -75,8 +75,8 @@ TEST_F(CameraVideoRecorderTest, IGN_UTILS_TEST_DISABLED_ON_MAC(RecordVideo)) } EXPECT_TRUE(hasService); - ignition::msgs::VideoRecord videoRecordMsg; - ignition::msgs::Boolean res; + msgs::VideoRecord videoRecordMsg; + msgs::Boolean res; bool result = false; unsigned int timeout = 5000; diff --git a/test/integration/components.cc b/test/integration/components.cc index 93a507e83e..6393eacc66 100644 --- a/test/integration/components.cc +++ b/test/integration/components.cc @@ -120,7 +120,7 @@ TEST_F(ComponentsTest, Actor) comp3.Deserialize(istr); EXPECT_EQ("abc", comp3.Data().Name()); EXPECT_EQ("def", comp3.Data().SkinFilename()); - EXPECT_EQ(ignition::math::Pose3d(3, 2, 1, 0, 0, 0), comp3.Data().RawPose()); + EXPECT_EQ(math::Pose3d(3, 2, 1, 0, 0, 0), comp3.Data().RawPose()); } ///////////////////////////////////////////////// @@ -183,7 +183,7 @@ TEST_F(ComponentsTest, AirPressureSensor) sdf::Sensor data1; data1.SetName("abc"); data1.SetType(sdf::SensorType::AIR_PRESSURE); - data1.SetRawPose(ignition::math::Pose3d(1, 2, 3, 0, 0, 0)); + data1.SetRawPose(math::Pose3d(1, 2, 3, 0, 0, 0)); sdf::AirPressure airPressure1; data1.SetAirPressureSensor(airPressure1); @@ -211,7 +211,7 @@ TEST_F(ComponentsTest, AirPressureSensor) comp3.Deserialize(istr); EXPECT_EQ("abc", comp3.Data().Name()); EXPECT_EQ(sdf::SensorType::AIR_PRESSURE, comp3.Data().Type()); - EXPECT_EQ(ignition::math::Pose3d(1, 2, 3, 0, 0, 0), comp3.Data().RawPose()); + EXPECT_EQ(math::Pose3d(1, 2, 3, 0, 0, 0), comp3.Data().RawPose()); } ///////////////////////////////////////////////// @@ -474,7 +474,7 @@ TEST_F(ComponentsTest, Imu) data1.SetType(sdf::SensorType::IMU); data1.SetUpdateRate(100); data1.SetTopic("imu_data"); - data1.SetRawPose(ignition::math::Pose3d(1, 2, 3, 0, 0, 0)); + data1.SetRawPose(math::Pose3d(1, 2, 3, 0, 0, 0)); sdf::Imu imu1; data1.SetImuSensor(imu1); @@ -505,7 +505,7 @@ TEST_F(ComponentsTest, Imu) EXPECT_EQ(sdf::SensorType::IMU, comp3.Data().Type()); EXPECT_EQ("imu_data", comp3.Data().Topic()); EXPECT_DOUBLE_EQ(100, comp3.Data().UpdateRate()); - EXPECT_EQ(ignition::math::Pose3d(1, 2, 3, 0, 0, 0), comp3.Data().RawPose()); + EXPECT_EQ(math::Pose3d(1, 2, 3, 0, 0, 0), comp3.Data().RawPose()); } ///////////////////////////////////////////////// @@ -1100,7 +1100,7 @@ TEST_F(ComponentsTest, Magnetometer) data1.SetType(sdf::SensorType::MAGNETOMETER); data1.SetUpdateRate(12.4); data1.SetTopic("grape"); - data1.SetRawPose(ignition::math::Pose3d(1, 2, 3, 0, 0, 0)); + data1.SetRawPose(math::Pose3d(1, 2, 3, 0, 0, 0)); sdf::Magnetometer mag1; data1.SetMagnetometerSensor(mag1); @@ -1130,7 +1130,7 @@ TEST_F(ComponentsTest, Magnetometer) EXPECT_EQ(sdf::SensorType::MAGNETOMETER, comp3.Data().Type()); EXPECT_EQ("grape", comp3.Data().Topic()); EXPECT_DOUBLE_EQ(12.4, comp3.Data().UpdateRate()); - EXPECT_EQ(ignition::math::Pose3d(1, 2, 3, 0, 0, 0), comp3.Data().RawPose()); + EXPECT_EQ(math::Pose3d(1, 2, 3, 0, 0, 0), comp3.Data().RawPose()); } ///////////////////////////////////////////////// diff --git a/test/integration/depth_camera.cc b/test/integration/depth_camera.cc index b05d0db4ec..3e36c0013f 100644 --- a/test/integration/depth_camera.cc +++ b/test/integration/depth_camera.cc @@ -104,9 +104,9 @@ TEST_F(DepthCameraTest, IGN_UTILS_TEST_DISABLED_ON_MAC(DepthCameraBox)) // Lock access to buffer and don't release it mutex.lock(); - EXPECT_DOUBLE_EQ(depthBuffer[left], ignition::math::INF_D); + EXPECT_DOUBLE_EQ(depthBuffer[left], math::INF_D); EXPECT_NEAR(depthBuffer[mid], expectedRangeAtMidPointBox1, DEPTH_TOL); - EXPECT_DOUBLE_EQ(depthBuffer[right], ignition::math::INF_D); + EXPECT_DOUBLE_EQ(depthBuffer[right], math::INF_D); delete[] depthBuffer; } diff --git a/test/integration/detachable_joint.cc b/test/integration/detachable_joint.cc index 02005b0ae0..f17d636f22 100644 --- a/test/integration/detachable_joint.cc +++ b/test/integration/detachable_joint.cc @@ -71,8 +71,8 @@ TEST_F(DetachableJointTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(StartConnected)) auto poseRecorder = [](const std::string &_modelName, std::vector &_poses) { - return [&, _modelName](const gazebo::UpdateInfo &, - const gazebo::EntityComponentManager &_ecm) + return [&, _modelName](const UpdateInfo &, + const EntityComponentManager &_ecm) { _ecm.Each( [&](const Entity &_entity, const components::Model *, @@ -149,8 +149,8 @@ TEST_F(DetachableJointTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LinksInSameModel)) auto poseRecorder = [](const std::string &_linkName, std::vector &_poses) { - return [&, _linkName](const gazebo::UpdateInfo &, - const gazebo::EntityComponentManager &_ecm) + return [&, _linkName](const UpdateInfo &, + const EntityComponentManager &_ecm) { _ecm.Each( [&](const Entity &_entity, const components::Link *, diff --git a/test/integration/diff_drive_system.cc b/test/integration/diff_drive_system.cc index 51d1b5b330..882683d10b 100644 --- a/test/integration/diff_drive_system.cc +++ b/test/integration/diff_drive_system.cc @@ -65,8 +65,8 @@ class DiffDriveTest : public InternalFixture<::testing::TestWithParam> test::Relay testSystem; std::vector poses; - testSystem.OnPostUpdate([&poses](const gazebo::UpdateInfo &, - const gazebo::EntityComponentManager &_ecm) + testSystem.OnPostUpdate([&poses](const UpdateInfo &, + const EntityComponentManager &_ecm) { auto id = _ecm.EntityByComponents( components::Model(), @@ -128,8 +128,8 @@ class DiffDriveTest : public InternalFixture<::testing::TestWithParam> double desiredLinVel = movementDirection * 10.5; double desiredAngVel = 0.2; velocityRamp.OnPreUpdate( - [&](const gazebo::UpdateInfo &/*_info*/, - const gazebo::EntityComponentManager &) + [&](const UpdateInfo &/*_info*/, + const EntityComponentManager &) { msgs::Set(msg.mutable_linear(), math::Vector3d(desiredLinVel, 0, 0)); @@ -249,8 +249,8 @@ TEST_P(DiffDriveTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(SkidPublishCmd)) test::Relay testSystem; std::vector poses; - testSystem.OnPostUpdate([&poses](const gazebo::UpdateInfo &, - const gazebo::EntityComponentManager &_ecm) + testSystem.OnPostUpdate([&poses](const UpdateInfo &, + const EntityComponentManager &_ecm) { auto id = _ecm.EntityByComponents( components::Model(), @@ -351,8 +351,8 @@ TEST_P(DiffDriveTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(EnableDisableCmd)) test::Relay testSystem; std::vector poses; - testSystem.OnPostUpdate([&poses](const gazebo::UpdateInfo &, - const gazebo::EntityComponentManager &_ecm) + testSystem.OnPostUpdate([&poses](const UpdateInfo &, + const EntityComponentManager &_ecm) { auto id = _ecm.EntityByComponents( components::Model(), diff --git a/test/integration/each_new_removed.cc b/test/integration/each_new_removed.cc index 353b4080bc..5c2777aadd 100644 --- a/test/integration/each_new_removed.cc +++ b/test/integration/each_new_removed.cc @@ -49,7 +49,7 @@ class EachNewRemovedFixture : public InternalFixture<::testing::Test> TEST_F(EachNewRemovedFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(EachNewEachRemovedInSystem)) { - ignition::gazebo::ServerConfig serverConfig; + gazebo::ServerConfig serverConfig; gazebo::Server server; diff --git a/test/integration/elevator_system.cc b/test/integration/elevator_system.cc index ab5aa80304..5889143bb5 100644 --- a/test/integration/elevator_system.cc +++ b/test/integration/elevator_system.cc @@ -40,7 +40,7 @@ class ElevatorTestFixture : public ::testing::Test // Documentation inherited protected: void SetUp() override { - ignition::common::Console::SetVerbosity(4); + common::Console::SetVerbosity(4); setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH", (std::string(PROJECT_BINARY_PATH) + "/lib").c_str(), 1); } diff --git a/test/integration/entity_erase.cc b/test/integration/entity_erase.cc index 7bab7a0908..cd1118ae6e 100644 --- a/test/integration/entity_erase.cc +++ b/test/integration/entity_erase.cc @@ -38,12 +38,12 @@ class PhysicsSystemFixture : public InternalFixture<::testing::Test> TEST_F(PhysicsSystemFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(CreatePhysicsWorld)) { - ignition::gazebo::ServerConfig serverConfig; + ServerConfig serverConfig; serverConfig.SetSdfFile(std::string(PROJECT_SOURCE_PATH) + "/test/worlds/shapes.sdf"); - gazebo::Server server(serverConfig); + Server server(serverConfig); EXPECT_TRUE(server.HasEntity("box")); EXPECT_TRUE(server.HasEntity("capsule")); EXPECT_TRUE(server.HasEntity("cylinder")); diff --git a/test/integration/examples_build.cc b/test/integration/examples_build.cc index c6376de6cb..2868b6b704 100644 --- a/test/integration/examples_build.cc +++ b/test/integration/examples_build.cc @@ -28,7 +28,7 @@ #include "../helpers/EnvTestFixture.hh" // File copied from -// https://github.com/ignitionrobotics/ign-gui/raw/ign-gui3/test/integration/ExamplesBuild_TEST.cc +// https://github.com/gazebosim/gz-gui/raw/ign-gui3/test/integration/ExamplesBuild_TEST.cc using namespace ignition; @@ -138,14 +138,14 @@ void ExamplesBuild::Build(const std::string &_type) // Path to examples of the given type auto examplesDir = std::string(PROJECT_SOURCE_PATH) + "/examples/" + _type; - ASSERT_TRUE(ignition::common::exists(examplesDir)); + ASSERT_TRUE(common::exists(examplesDir)); // Iterate over directory - ignition::common::DirIter endIter; - for (ignition::common::DirIter dirIter(examplesDir); + common::DirIter endIter; + for (common::DirIter dirIter(examplesDir); dirIter != endIter; ++dirIter) { - auto base = ignition::common::basename(*dirIter); + auto base = common::basename(*dirIter); math::SemanticVersion cmakeVersion{std::string(CMAKE_VERSION)}; if (cmakeVersion < math::SemanticVersion(3, 11, 0) && @@ -161,13 +161,13 @@ void ExamplesBuild::Build(const std::string &_type) // Source directory for this example auto sourceDir = examplesDir; sourceDir += "/" + base; - ASSERT_TRUE(ignition::common::exists(sourceDir)); + ASSERT_TRUE(common::exists(sourceDir)); igndbg << "Source: " << sourceDir << std::endl; // Create a temp build directory std::string tmpBuildDir; ASSERT_TRUE(createAndSwitchToTempDir(tmpBuildDir)); - EXPECT_TRUE(ignition::common::exists(tmpBuildDir)); + EXPECT_TRUE(common::exists(tmpBuildDir)); igndbg << "Build directory: " << tmpBuildDir<< std::endl; char cmd[1024]; diff --git a/test/integration/gpu_lidar.cc b/test/integration/gpu_lidar.cc index a1f3368a43..8597db0348 100644 --- a/test/integration/gpu_lidar.cc +++ b/test/integration/gpu_lidar.cc @@ -100,9 +100,9 @@ TEST_F(GpuLidarTest, IGN_UTILS_TEST_DISABLED_ON_MAC(GpuLidarBox)) double expectedRangeAtMidPointBox1 = 0.45; // Sensor 1 should see TestBox1 - EXPECT_DOUBLE_EQ(lastMsg.ranges(0), ignition::math::INF_D); + EXPECT_DOUBLE_EQ(lastMsg.ranges(0), math::INF_D); EXPECT_NEAR(lastMsg.ranges(mid), expectedRangeAtMidPointBox1, LASER_TOL); - EXPECT_DOUBLE_EQ(lastMsg.ranges(last), ignition::math::INF_D); + EXPECT_DOUBLE_EQ(lastMsg.ranges(last), math::INF_D); EXPECT_EQ("gpu_lidar::gpu_lidar_link::gpu_lidar", lastMsg.frame()); } diff --git a/test/integration/imu_system.cc b/test/integration/imu_system.cc index 2a21938e12..6c912f9d3d 100644 --- a/test/integration/imu_system.cc +++ b/test/integration/imu_system.cc @@ -136,15 +136,15 @@ TEST_F(ImuTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(ModelFalling)) std::vector poses; std::vector accelerations; std::vector angularVelocities; - testSystem.OnPostUpdate([&](const gazebo::UpdateInfo &_info, - const gazebo::EntityComponentManager &_ecm) + testSystem.OnPostUpdate([&](const UpdateInfo &_info, + const EntityComponentManager &_ecm) { _ecm.Each( - [&](const ignition::gazebo::Entity &_entity, + [&](const Entity &_entity, const components::Imu *, const components::Name *_name, const components::WorldPose *_worldPose, @@ -175,7 +175,7 @@ TEST_F(ImuTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(ModelFalling)) }); _ecm.Each( - [&](const ignition::gazebo::Entity &, + [&](const Entity &, const components::Gravity *_gravity) -> bool { // gtest is having a hard time with ASSERTs inside nested lambdas diff --git a/test/integration/joint_controller_system.cc b/test/integration/joint_controller_system.cc index f14a798f73..402b1d3af8 100644 --- a/test/integration/joint_controller_system.cc +++ b/test/integration/joint_controller_system.cc @@ -70,7 +70,7 @@ TEST_F(JointControllerTestFixture, test::Relay testSystem; std::vector angularVelocities; testSystem.OnPreUpdate( - [&](const gazebo::UpdateInfo &, gazebo::EntityComponentManager &_ecm) + [&](const UpdateInfo &, EntityComponentManager &_ecm) { auto link = _ecm.EntityByComponents(components::Link(), components::Name(linkName)); @@ -82,12 +82,12 @@ TEST_F(JointControllerTestFixture, } }); - testSystem.OnPostUpdate([&](const gazebo::UpdateInfo &, - const gazebo::EntityComponentManager &_ecm) + testSystem.OnPostUpdate([&](const UpdateInfo &, + const EntityComponentManager &_ecm) { _ecm.Each( - [&](const ignition::gazebo::Entity &, + [&](const Entity &, const components::Link *, const components::Name *_name, const components::AngularVelocity *_angularVel) -> bool @@ -168,7 +168,7 @@ TEST_F(JointControllerTestFixture, test::Relay testSystem; math::Vector3d angularVelocity; testSystem.OnPreUpdate( - [&](const gazebo::UpdateInfo &, gazebo::EntityComponentManager &_ecm) + [&](const UpdateInfo &, EntityComponentManager &_ecm) { auto link = _ecm.EntityByComponents(components::Link(), components::Name(linkName)); @@ -180,12 +180,12 @@ TEST_F(JointControllerTestFixture, } }); - testSystem.OnPostUpdate([&](const gazebo::UpdateInfo &, - const gazebo::EntityComponentManager &_ecm) + testSystem.OnPostUpdate([&](const UpdateInfo &, + const EntityComponentManager &_ecm) { _ecm.Each( - [&](const ignition::gazebo::Entity &, + [&](const Entity &, const components::Link *, const components::Name *_name, const components::AngularVelocity *_angularVel) -> bool diff --git a/test/integration/joint_position_controller_system.cc b/test/integration/joint_position_controller_system.cc index 7e6f4e4afa..b679799a5b 100644 --- a/test/integration/joint_position_controller_system.cc +++ b/test/integration/joint_position_controller_system.cc @@ -71,7 +71,7 @@ TEST_F(JointPositionControllerTestFixture, test::Relay testSystem; std::vector currentPosition; testSystem.OnPreUpdate( - [&](const gazebo::UpdateInfo &, gazebo::EntityComponentManager &_ecm) + [&](const UpdateInfo &, EntityComponentManager &_ecm) { auto joint = _ecm.EntityByComponents(components::Joint(), components::Name(jointName)); @@ -83,12 +83,12 @@ TEST_F(JointPositionControllerTestFixture, } }); - testSystem.OnPostUpdate([&](const gazebo::UpdateInfo &, - const gazebo::EntityComponentManager &_ecm) + testSystem.OnPostUpdate([&](const UpdateInfo &, + const EntityComponentManager &_ecm) { _ecm.Each( - [&](const ignition::gazebo::Entity &, + [&](const Entity &, const components::Joint *, const components::Name *_name, const components::JointPosition *_position) -> bool diff --git a/test/integration/level_manager.cc b/test/integration/level_manager.cc index 5e3466943b..cc40b3e561 100644 --- a/test/integration/level_manager.cc +++ b/test/integration/level_manager.cc @@ -73,15 +73,15 @@ class ModelMover: public test::Relay poseCmd = std::move(_pose); } - public: gazebo::Entity Id() const + public: Entity Id() const { return entity; } /// \brief Sets the pose component of the entity to the commanded pose. This /// function meant to be called in the preupdate phase - private: void MoveModel(const gazebo::UpdateInfo &, - gazebo::EntityComponentManager &_ecm) + private: void MoveModel(const UpdateInfo &, + EntityComponentManager &_ecm) { if (this->poseCmd) { @@ -93,7 +93,7 @@ class ModelMover: public test::Relay /// \brief Entity to move - private: gazebo::Entity entity; + private: Entity entity; /// \brief Pose command private: std::optional poseCmd; }; @@ -106,7 +106,7 @@ class LevelManagerFixture : public InternalFixture<::testing::Test> { InternalFixture::SetUp(); - ignition::gazebo::ServerConfig serverConfig; + ServerConfig serverConfig; // Except tile_0, which is on the default level, every tile belongs to a // level. The name of the level corresponds to the tile in its suffix, i.e., @@ -116,12 +116,12 @@ class LevelManagerFixture : public InternalFixture<::testing::Test> serverConfig.SetUseLevels(true); EXPECT_EQ(nullptr, this->server); - this->server = std::make_unique(serverConfig); + this->server = std::make_unique(serverConfig); test::Relay testSystem; // Check entities loaded on the default level - testSystem.OnPostUpdate([&](const gazebo::UpdateInfo &, - const gazebo::EntityComponentManager &_ecm) + testSystem.OnPostUpdate([&](const UpdateInfo &, + const EntityComponentManager &_ecm) { _ecm.Each( [&](const Entity &, const components::Model *, @@ -170,7 +170,7 @@ class LevelManagerFixture : public InternalFixture<::testing::Test> this->server->Run(true, 1, false); } - public: std::unique_ptr server; + public: std::unique_ptr server; public: std::vector loadedModels; public: std::vector unloadedModels; public: std::vector loadedLights; @@ -187,8 +187,8 @@ TEST_F(LevelManagerFixture, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(DefaultLevel)) test::Relay recorder; // Check entities loaded on the default level - recorder.OnPostUpdate([&](const gazebo::UpdateInfo &, - const gazebo::EntityComponentManager &_ecm) + recorder.OnPostUpdate([&](const UpdateInfo &, + const EntityComponentManager &_ecm) { _ecm.Each( [&](const Entity &, const components::DefaultLevel *, diff --git a/test/integration/level_manager_runtime_performers.cc b/test/integration/level_manager_runtime_performers.cc index 68ef368ee7..db317d4408 100644 --- a/test/integration/level_manager_runtime_performers.cc +++ b/test/integration/level_manager_runtime_performers.cc @@ -70,15 +70,15 @@ class ModelMover: public test::Relay poseCmd = std::move(_pose); } - public: gazebo::Entity Id() const + public: Entity Id() const { return entity; } /// \brief Sets the pose component of the entity to the commanded pose. This /// function meant to be called in the preupdate phase - private: void MoveModel(const gazebo::UpdateInfo &, - gazebo::EntityComponentManager &_ecm) + private: void MoveModel(const UpdateInfo &, + EntityComponentManager &_ecm) { if (this->poseCmd) { @@ -90,7 +90,7 @@ class ModelMover: public test::Relay /// \brief Entity to move - private: gazebo::Entity entity; + private: Entity entity; /// \brief Pose command private: std::optional poseCmd; }; @@ -103,7 +103,7 @@ class LevelManagerFixture : public InternalFixture<::testing::Test> { InternalFixture::SetUp(); - ignition::gazebo::ServerConfig serverConfig; + ServerConfig serverConfig; // Except tile_0, which is on the default level, every tile belongs to a // level. The name of the level corresponds to the tile in its suffix, i.e., @@ -112,7 +112,7 @@ class LevelManagerFixture : public InternalFixture<::testing::Test> "/test/worlds/levels_no_performers.sdf"); serverConfig.SetUseLevels(true); - server = std::make_unique(serverConfig); + server = std::make_unique(serverConfig); // Add in the "box" performer using a service call transport::Node node; @@ -145,8 +145,8 @@ class LevelManagerFixture : public InternalFixture<::testing::Test> test::Relay testSystem; // Check entities loaded on the default level - testSystem.OnPostUpdate([&](const gazebo::UpdateInfo &, - const gazebo::EntityComponentManager &_ecm) + testSystem.OnPostUpdate([&](const UpdateInfo &, + const EntityComponentManager &_ecm) { Entity sphere = _ecm.EntityByComponents(components::Name("sphere")); EXPECT_EQ(1u, @@ -198,7 +198,7 @@ class LevelManagerFixture : public InternalFixture<::testing::Test> this->server->Run(true, 1, false); } - public: std::unique_ptr server; + public: std::unique_ptr server; public: std::vector loadedModels; public: std::vector unloadedModels; public: std::vector loadedLights; @@ -214,8 +214,8 @@ TEST_F(LevelManagerFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(DefaultLevel)) test::Relay recorder; // Check entities loaded on the default level - recorder.OnPostUpdate([&](const gazebo::UpdateInfo &, - const gazebo::EntityComponentManager &_ecm) + recorder.OnPostUpdate([&](const UpdateInfo &, + const EntityComponentManager &_ecm) { _ecm.Each( [&](const Entity &, const components::DefaultLevel *, diff --git a/test/integration/lift_drag_system.cc b/test/integration/lift_drag_system.cc index 75d1b2ddc2..4a0d439ec0 100644 --- a/test/integration/lift_drag_system.cc +++ b/test/integration/lift_drag_system.cc @@ -110,7 +110,7 @@ TEST_P(VerticalForceParamFixture, std::vector linearVelocities; std::vector forces; testSystem.OnPreUpdate( - [&](const gazebo::UpdateInfo &, gazebo::EntityComponentManager &_ecm) + [&](const UpdateInfo &, EntityComponentManager &_ecm) { // Create velocity and acceleration components if they dont't exist. // This signals physics system to populate the component @@ -130,7 +130,7 @@ TEST_P(VerticalForceParamFixture, const double kp = 100.0; // Set a constant velocity to the prismatic joint testSystem.OnPreUpdate( - [&](const gazebo::UpdateInfo &, gazebo::EntityComponentManager &_ecm) + [&](const UpdateInfo &, EntityComponentManager &_ecm) { auto joint = _ecm.EntityByComponents(components::Joint(), components::Name(jointName)); @@ -161,8 +161,8 @@ TEST_P(VerticalForceParamFixture, // drag system. This is needed to capture the wrench set by the lift drag // system. This assumption may not hold when systems are run in parallel. test::Relay wrenchRecorder; - wrenchRecorder.OnPreUpdate([&](const gazebo::UpdateInfo &, - const gazebo::EntityComponentManager &_ecm) + wrenchRecorder.OnPreUpdate([&](const UpdateInfo &, + const EntityComponentManager &_ecm) { auto bladeLink = firstEntityFromScopedName(bladeName, _ecm); auto bodyLink = firstEntityFromScopedName(bodyName, _ecm); diff --git a/test/integration/log_system.cc b/test/integration/log_system.cc index 9177378dc0..325b7c2988 100644 --- a/test/integration/log_system.cc +++ b/test/integration/log_system.cc @@ -330,7 +330,7 @@ TEST_F(LogSystemTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LogDefaults)) std::string homeOrig; common::env(IGN_HOMEDIR, homeOrig); std::string homeFake = common::joinPaths(this->logsDir, "default"); - EXPECT_TRUE(ignition::common::setenv(IGN_HOMEDIR, homeFake.c_str())); + EXPECT_TRUE(common::setenv(IGN_HOMEDIR, homeFake.c_str())); // Test case 1: // No path specified on command line. This does not go through @@ -417,7 +417,7 @@ TEST_F(LogSystemTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LogDefaults)) #endif // Revert environment variable after test is done - EXPECT_TRUE(ignition::common::setenv(IGN_HOMEDIR, homeOrig.c_str())); + EXPECT_TRUE(common::setenv(IGN_HOMEDIR, homeOrig.c_str())); } ///////////////////////////////////////////////// @@ -473,7 +473,7 @@ TEST_F(LogSystemTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LogPaths)) std::string homeOrig; common::env(IGN_HOMEDIR, homeOrig); std::string homeFake = common::joinPaths(this->logsDir, "default"); - EXPECT_TRUE(ignition::common::setenv(IGN_HOMEDIR, homeFake.c_str())); + EXPECT_TRUE(common::setenv(IGN_HOMEDIR, homeFake.c_str())); // Store number of files before running auto logPath = common::joinPaths(homeFake.c_str(), ".ignition", "gazebo", @@ -686,7 +686,7 @@ TEST_F(LogSystemTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LogPaths)) #endif // Revert environment variable after test is done - EXPECT_TRUE(ignition::common::setenv(IGN_HOMEDIR, homeOrig.c_str())); + EXPECT_TRUE(common::setenv(IGN_HOMEDIR, homeOrig.c_str())); this->RemoveLogsDir(); } @@ -1089,7 +1089,7 @@ TEST_F(LogSystemTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LogOverwrite)) // ign gazebo. server_main.cc is deprecated and does not have overwrite // renaming implemented. So will always overwrite. Will not test (#) type of // renaming on OS X until ign gazebo is fixed: - // https://github.com/ignitionrobotics/ign-gazebo/issues/25 + // https://github.com/gazebosim/gz-sim/issues/25 // New log files were created EXPECT_TRUE(common::exists(this->logDir + "(1)")); @@ -1497,7 +1497,7 @@ TEST_F(LogSystemTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LogResources)) std::string homeOrig; common::env(IGN_HOMEDIR, homeOrig); std::string homeFake = common::joinPaths(this->logsDir, "default"); - EXPECT_TRUE(ignition::common::setenv(IGN_HOMEDIR, homeFake.c_str())); + EXPECT_TRUE(common::setenv(IGN_HOMEDIR, homeFake.c_str())); const std::string recordPath = this->logDir; std::string statePath = common::joinPaths(recordPath, "state.tlog"); @@ -1523,7 +1523,7 @@ TEST_F(LogSystemTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LogResources)) // Recorded models should exist EXPECT_GT(entryCount(recordPath), 2); EXPECT_TRUE(common::exists(common::joinPaths(recordPath, homeFake, - ".ignition", "fuel", "fuel.ignitionrobotics.org", "openrobotics", + ".ignition", "fuel", "fuel.gazebosim.org", "openrobotics", "models", "x2 config 1"))); // Remove artifacts. Recreate new directory @@ -1558,11 +1558,11 @@ TEST_F(LogSystemTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LogResources)) EXPECT_GT(entryCount(recordPath), 1); #endif EXPECT_TRUE(common::exists(common::joinPaths(recordPath, homeFake, - ".ignition", "fuel", "fuel.ignitionrobotics.org", "openrobotics", + ".ignition", "fuel", "fuel.gazebosim.org", "openrobotics", "models", "x2 config 1"))); // Revert environment variable after test is done - EXPECT_TRUE(ignition::common::setenv(IGN_HOMEDIR, homeOrig.c_str())); + EXPECT_TRUE(common::setenv(IGN_HOMEDIR, homeOrig.c_str())); // Remove artifacts this->RemoveLogsDir(); @@ -1584,7 +1584,7 @@ TEST_F(LogSystemTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LogTopics)) std::string homeOrig; common::env(IGN_HOMEDIR, homeOrig); std::string homeFake = common::joinPaths(this->logsDir, "default"); - EXPECT_TRUE(ignition::common::setenv(IGN_HOMEDIR, homeFake.c_str())); + EXPECT_TRUE(common::setenv(IGN_HOMEDIR, homeFake.c_str())); const std::string recordPath = this->logDir; std::string statePath = common::joinPaths(recordPath, "state.tlog"); diff --git a/test/integration/logical_audio_sensor_plugin.cc b/test/integration/logical_audio_sensor_plugin.cc index 741c7dcfb6..321afee8e1 100644 --- a/test/integration/logical_audio_sensor_plugin.cc +++ b/test/integration/logical_audio_sensor_plugin.cc @@ -65,10 +65,10 @@ TEST_F(LogicalAudioTest, EXPECT_FALSE(*server.Running(0)); // helper variables for checking the validity of the ECM - const ignition::math::Pose3d sourcePose(0, 0, 0, 0, 0, 0); + const math::Pose3d sourcePose(0, 0, 0, 0, 0, 0); const auto zeroSeconds = std::chrono::seconds(0); - const ignition::math::Pose3d micClosePose(0.5, 0, 0, 0, 0, 0); - const ignition::math::Pose3d micFarPose(0, 0, 0, 0, 0, 0); + const math::Pose3d micClosePose(0.5, 0, 0, 0, 0, 0); + const math::Pose3d micFarPose(0, 0, 0, 0, 0, 0); std::chrono::steady_clock::duration sourceStartTime; bool firstTime{true}; diff --git a/test/integration/logical_camera_system.cc b/test/integration/logical_camera_system.cc index e9716dc52c..b69291335b 100644 --- a/test/integration/logical_camera_system.cc +++ b/test/integration/logical_camera_system.cc @@ -93,11 +93,11 @@ TEST_F(LogicalCameraTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LogicalCameraBox)) // Create a system that checks sensor topics test::Relay testSystem; - testSystem.OnPostUpdate([&](const gazebo::UpdateInfo &_info, - const gazebo::EntityComponentManager &_ecm) + testSystem.OnPostUpdate([&](const UpdateInfo &_info, + const EntityComponentManager &_ecm) { _ecm.Each( - [&](const ignition::gazebo::Entity &_entity, + [&](const Entity &_entity, const components::LogicalCamera *, const components::Name *_name) -> bool { @@ -177,22 +177,22 @@ TEST_F(LogicalCameraTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LogicalCameraBox)) math::Pose3d boxPose(1, 0, 0.5, 0, 0, 0); math::Pose3d sensor1Pose(0.05, 0.05, 0.55, 0, 0, 0); mutex.lock(); - ignition::msgs::LogicalCameraImage img1 = logicalCamera1Msgs.back(); - EXPECT_EQ(sensor1Pose, ignition::msgs::Convert(img1.pose())); + msgs::LogicalCameraImage img1 = logicalCamera1Msgs.back(); + EXPECT_EQ(sensor1Pose, msgs::Convert(img1.pose())); EXPECT_EQ(1, img1.model().size()); EXPECT_EQ(boxName, img1.model(0).name()); - ignition::math::Pose3d boxPoseCamera1Frame = boxPose - sensor1Pose; - EXPECT_EQ(boxPoseCamera1Frame, ignition::msgs::Convert(img1.model(0).pose())); + math::Pose3d boxPoseCamera1Frame = boxPose - sensor1Pose; + EXPECT_EQ(boxPoseCamera1Frame, msgs::Convert(img1.model(0).pose())); mutex.unlock(); // Sensor 2 should see box too - note different sensor pose. math::Pose3d sensor2Pose(0.05, -0.45, 0.55, 0, 0, 0); mutex.lock(); - ignition::msgs::LogicalCameraImage img2 = logicalCamera2Msgs.back(); - EXPECT_EQ(sensor2Pose, ignition::msgs::Convert(img2.pose())); + msgs::LogicalCameraImage img2 = logicalCamera2Msgs.back(); + EXPECT_EQ(sensor2Pose, msgs::Convert(img2.pose())); EXPECT_EQ(1, img2.model().size()); EXPECT_EQ(boxName, img2.model(0).name()); - ignition::math::Pose3d boxPoseCamera2Frame = boxPose - sensor2Pose; - EXPECT_EQ(boxPoseCamera2Frame, ignition::msgs::Convert(img2.model(0).pose())); + math::Pose3d boxPoseCamera2Frame = boxPose - sensor2Pose; + EXPECT_EQ(boxPoseCamera2Frame, msgs::Convert(img2.model(0).pose())); mutex.unlock(); } diff --git a/test/integration/magnetometer_system.cc b/test/integration/magnetometer_system.cc index 9c332f24ba..31a7f8b288 100644 --- a/test/integration/magnetometer_system.cc +++ b/test/integration/magnetometer_system.cc @@ -83,13 +83,13 @@ TEST_F(MagnetometerTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(RotatedMagnetometer)) test::Relay testSystem; std::vector poses; - testSystem.OnPostUpdate([&](const gazebo::UpdateInfo &_info, - const gazebo::EntityComponentManager &_ecm) + testSystem.OnPostUpdate([&](const UpdateInfo &_info, + const EntityComponentManager &_ecm) { _ecm.Each( - [&](const ignition::gazebo::Entity &_entity, + [&](const Entity &_entity, const components::Magnetometer *, const components::Name *_name, const components::WorldPose *_worldPose) -> bool @@ -130,7 +130,7 @@ TEST_F(MagnetometerTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(RotatedMagnetometer)) // Hardcoded SDF values math::Vector3d worldMagneticField(0.94, 0.76, -0.12); - ignition::math::Vector3d field = poses.back().Rot().Inverse().RotateVector( + math::Vector3d field = poses.back().Rot().Inverse().RotateVector( worldMagneticField); mutex.lock(); EXPECT_NEAR(magnetometerMsgs.back().mutable_field_tesla()->x(), diff --git a/test/integration/multicopter.cc b/test/integration/multicopter.cc index 669a2cfe47..79611ca6b9 100644 --- a/test/integration/multicopter.cc +++ b/test/integration/multicopter.cc @@ -82,7 +82,7 @@ TEST_F(MulticopterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(CommandedMotorSpeed)) const std::size_t iterTestStart{100}; const std::size_t nIters{500}; testSystem.OnPreUpdate( - [&](const gazebo::UpdateInfo &_info, gazebo::EntityComponentManager &_ecm) + [&](const UpdateInfo &_info, EntityComponentManager &_ecm) { // Create components, if the don't exist, on the first iteration if (_info.iterations == 1) @@ -98,8 +98,8 @@ TEST_F(MulticopterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(CommandedMotorSpeed)) }); testSystem.OnPostUpdate( - [&](const gazebo::UpdateInfo &_info, - const gazebo::EntityComponentManager &_ecm) + [&](const UpdateInfo &_info, + const EntityComponentManager &_ecm) { // Command a motor speed // After nIters iterations, check angular velocity of each of the rotors @@ -148,7 +148,7 @@ TEST_F(MulticopterTest, const std::size_t nIters{2000}; testSystem.OnPreUpdate( - [&](const gazebo::UpdateInfo &_info, gazebo::EntityComponentManager &_ecm) + [&](const UpdateInfo &_info, EntityComponentManager &_ecm) { // Create components, if the don't exist, on the first iteration if (_info.iterations == 1) @@ -186,8 +186,8 @@ TEST_F(MulticopterTest, }; testSystem.OnPostUpdate( - [&](const gazebo::UpdateInfo &_info, - const gazebo::EntityComponentManager &_ecm) + [&](const UpdateInfo &_info, + const EntityComponentManager &_ecm) { if (!iterTestStart.has_value()) { @@ -256,7 +256,7 @@ TEST_F(MulticopterTest, auto cmdVel = node.Advertise("/X3/gazebo/command/twist"); testSystem.OnPreUpdate( - [&](const gazebo::UpdateInfo &_info, gazebo::EntityComponentManager &_ecm) + [&](const UpdateInfo &_info, EntityComponentManager &_ecm) { // Create components, if the don't exist, on the first iteration if (_info.iterations == 1) @@ -290,8 +290,8 @@ TEST_F(MulticopterTest, node.Advertise("/X3/gazebo/command/motor_speed"); testSystem.OnPostUpdate( - [&](const gazebo::UpdateInfo &, - const gazebo::EntityComponentManager &_ecm) + [&](const UpdateInfo &, + const EntityComponentManager &_ecm) { // Publish a motor speed command { diff --git a/test/integration/network_handshake.cc b/test/integration/network_handshake.cc index 5d35984787..b828f2734c 100644 --- a/test/integration/network_handshake.cc +++ b/test/integration/network_handshake.cc @@ -45,8 +45,8 @@ uint64_t testPaused(bool _paused) bool paused = !_paused; uint64_t iterations = 0; - std::function cb = - [&](const ignition::msgs::WorldStatistics &_msg) + std::function cb = + [&](const msgs::WorldStatistics &_msg) { std::unique_lock lock(mutex); paused = _msg.paused(); @@ -148,7 +148,7 @@ TEST_F(NetworkHandshake, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Updates)) configPrimary.SetUseLevels(true); // Can only test one secondary running physics, because running 2 physics in // the same process causes a segfault, see - // https://github.com/ignitionrobotics/ign-gazebo/issues/18 + // https://github.com/gazebosim/gz-sim/issues/18 configPrimary.SetNetworkSecondaries(1); configPrimary.SetSdfFile(std::string(PROJECT_SOURCE_PATH) + "/test/worlds/performers.sdf"); @@ -178,8 +178,8 @@ TEST_F(NetworkHandshake, IGN_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Updates)) // Subscribe to pose updates, which should come from the primary transport::Node node; std::vector zPos; - std::function cb = - [&](const ignition::msgs::Pose_V &_msg) + std::function cb = + [&](const msgs::Pose_V &_msg) { for (int i = 0; i < _msg.pose().size(); ++i) { diff --git a/test/integration/performer_detector.cc b/test/integration/performer_detector.cc index 63838697cd..b5d5e0784c 100644 --- a/test/integration/performer_detector.cc +++ b/test/integration/performer_detector.cc @@ -201,8 +201,8 @@ TEST_F(PerformerDetectorTest, auto server = this->StartServer("/test/worlds/performer_detector.sdf", true); test::Relay testSystem; - testSystem.OnPreUpdate([&](const gazebo::UpdateInfo &_info, - gazebo::EntityComponentManager &_ecm) + testSystem.OnPreUpdate([&](const UpdateInfo &_info, + EntityComponentManager &_ecm) { Entity vehicle = _ecm.EntityByComponents( components::Model(), components::Name("vehicle_blue")); diff --git a/test/integration/physics_system.cc b/test/integration/physics_system.cc index f2aff19a24..7730302e55 100644 --- a/test/integration/physics_system.cc +++ b/test/integration/physics_system.cc @@ -100,12 +100,12 @@ class PhysicsSystemFixtureWithDart6_10 : public PhysicsSystemFixture ///////////////////////////////////////////////// TEST_F(PhysicsSystemFixture, CreatePhysicsWorld) { - ignition::gazebo::ServerConfig serverConfig; + ServerConfig serverConfig; serverConfig.SetSdfFile(std::string(PROJECT_SOURCE_PATH) + "/test/worlds/shapes.sdf"); - gazebo::Server server(serverConfig); + Server server(serverConfig); server.SetUpdatePeriod(1ns); @@ -122,7 +122,7 @@ TEST_F(PhysicsSystemFixture, CreatePhysicsWorld) // See https://github.com/ignitionrobotics/ign-gazebo/issues/1175 TEST_F(PhysicsSystemFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(FallingObject)) { - ignition::gazebo::ServerConfig serverConfig; + ServerConfig serverConfig; const auto sdfFile = std::string(PROJECT_SOURCE_PATH) + "/test/worlds/falling.sdf"; @@ -133,22 +133,22 @@ TEST_F(PhysicsSystemFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(FallingObject)) const sdf::World *world = root.WorldByIndex(0); const sdf::Model *model = world->ModelByIndex(0); - gazebo::Server server(serverConfig); + Server server(serverConfig); server.SetUpdatePeriod(1us); const std::string modelName = "sphere"; - std::vector spherePoses; + std::vector spherePoses; // Create a system that records the poses of the sphere test::Relay testSystem; testSystem.OnPostUpdate( - [modelName, &spherePoses](const gazebo::UpdateInfo &, - const gazebo::EntityComponentManager &_ecm) + [modelName, &spherePoses](const UpdateInfo &, + const EntityComponentManager &_ecm) { _ecm.Each( - [&](const ignition::gazebo::Entity &, const components::Model *, + [&](const Entity &, const components::Model *, const components::Name *_name, const components::Pose *_pose)->bool { if (_name->Data() == modelName) { @@ -191,7 +191,7 @@ TEST_F(PhysicsSystemFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(FallingObject)) // must be correct. TEST_F(PhysicsSystemFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(CanonicalLink)) { - ignition::gazebo::ServerConfig serverConfig; + ServerConfig serverConfig; const auto sdfFile = std::string(PROJECT_SOURCE_PATH) + "/test/worlds/canonical.sdf"; @@ -203,7 +203,7 @@ TEST_F(PhysicsSystemFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(CanonicalLink)) serverConfig.SetSdfFile(sdfFile); - gazebo::Server server(serverConfig); + Server server(serverConfig); server.SetUpdatePeriod(1us); @@ -212,7 +212,7 @@ TEST_F(PhysicsSystemFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(CanonicalLink)) const sdf::Model *model = world->ModelByIndex(0); - std::unordered_map expectedLinPoses; + std::unordered_map expectedLinPoses; for (auto &linkName : linksToCheck) expectedLinPoses[linkName] = model->LinkByName(linkName)->RawPose(); ASSERT_EQ(3u, expectedLinPoses.size()); @@ -220,14 +220,14 @@ TEST_F(PhysicsSystemFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(CanonicalLink)) // Create a system that records the poses of the links after physics test::Relay testSystem; - std::unordered_map postUpLinkPoses; + std::unordered_map postUpLinkPoses; testSystem.OnPostUpdate( - [&modelName, &postUpLinkPoses](const gazebo::UpdateInfo &, - const gazebo::EntityComponentManager &_ecm) + [&modelName, &postUpLinkPoses](const UpdateInfo &, + const EntityComponentManager &_ecm) { _ecm.Each( - [&](const ignition::gazebo::Entity &, const components::Link *, + [&](const Entity &, const components::Link *, const components::Name *_name, const components::Pose *_pose, const components::ParentEntity *_parent)->bool { @@ -263,7 +263,7 @@ TEST_F(PhysicsSystemFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(CanonicalLink)) TEST_F(PhysicsSystemFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(NonDefaultCanonicalLink)) { - ignition::gazebo::ServerConfig serverConfig; + ServerConfig serverConfig; const auto sdfFile = std::string(PROJECT_SOURCE_PATH) + "/test/worlds/nondefault_canonical.sdf"; @@ -275,7 +275,7 @@ TEST_F(PhysicsSystemFixture, serverConfig.SetSdfFile(sdfFile); - gazebo::Server server(serverConfig); + Server server(serverConfig); server.SetUpdatePeriod(1ns); @@ -284,13 +284,13 @@ TEST_F(PhysicsSystemFixture, // Create a system that records the pose of the model. test::Relay testSystem; - std::vector modelPoses; + std::vector modelPoses; testSystem.OnPostUpdate( - [&modelName, &modelPoses](const gazebo::UpdateInfo &, - const gazebo::EntityComponentManager &_ecm) + [&modelName, &modelPoses](const UpdateInfo &, + const EntityComponentManager &_ecm) { _ecm.Each( - [&](const ignition::gazebo::Entity &, const components::Model *, + [&](const Entity &, const components::Model *, const components::Name *_name, const components::Pose *_pose)->bool { if (_name->Data() == modelName) @@ -318,7 +318,7 @@ TEST_F(PhysicsSystemFixture, // Test physics integration with revolute joints TEST_F(PhysicsSystemFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(RevoluteJoint)) { - ignition::gazebo::ServerConfig serverConfig; + ServerConfig serverConfig; const auto sdfFile = std::string(PROJECT_SOURCE_PATH) + "/test/worlds/revolute_joint.sdf"; @@ -330,7 +330,7 @@ TEST_F(PhysicsSystemFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(RevoluteJoint)) serverConfig.SetSdfFile(sdfFile); - gazebo::Server server(serverConfig); + Server server(serverConfig); server.SetUpdatePeriod(1us); @@ -347,11 +347,11 @@ TEST_F(PhysicsSystemFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(RevoluteJoint)) // arm is in its initial position. The minimum distance is when the arm is in // line with the support arm. testSystem.OnPostUpdate( - [&rotatingLinkName, &armDistances](const gazebo::UpdateInfo &, - const gazebo::EntityComponentManager &_ecm) + [&rotatingLinkName, &armDistances](const UpdateInfo &, + const EntityComponentManager &_ecm) { _ecm.Each( - [&](const ignition::gazebo::Entity &, const components::Link *, + [&](const Entity &, const components::Link *, const components::Name *_name, const components::Pose *_pose)->bool { if (rotatingLinkName == _name->Data()) @@ -397,8 +397,8 @@ TEST_F(PhysicsSystemFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(RevoluteJoint)) ///////////////////////////////////////////////// TEST_F(PhysicsSystemFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(CreateRuntime)) { - ignition::gazebo::ServerConfig serverConfig; - gazebo::Server server(serverConfig); + ServerConfig serverConfig; + Server server(serverConfig); server.SetPaused(false); // Create a system just to get the ECM @@ -408,8 +408,8 @@ TEST_F(PhysicsSystemFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(CreateRuntime)) // shared pointer owned by the SimulationRunner. EntityComponentManager *ecm{nullptr}; test::Relay testSystem; - testSystem.OnPreUpdate([&](const gazebo::UpdateInfo &, - gazebo::EntityComponentManager &_ecm) + testSystem.OnPreUpdate([&](const UpdateInfo &, + EntityComponentManager &_ecm) { ecm = &_ecm; }); @@ -481,29 +481,29 @@ TEST_F(PhysicsSystemFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(CreateRuntime)) TEST_F(PhysicsSystemFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(SetFrictionCoefficient)) { - ignition::gazebo::ServerConfig serverConfig; + ServerConfig serverConfig; const auto sdfFile = std::string(PROJECT_SOURCE_PATH) + "/test/worlds/friction.sdf"; serverConfig.SetSdfFile(sdfFile); - gazebo::Server server(serverConfig); + Server server(serverConfig); server.SetUpdatePeriod(1ns); std::map boxParams{ {"box1", 0.01}, {"box2", 0.1}, {"box3", 1.0}}; - std::map> poses; + std::map> poses; // Create a system that records the poses of the 3 boxes test::Relay testSystem; testSystem.OnPostUpdate( - [&boxParams, &poses](const gazebo::UpdateInfo &, - const gazebo::EntityComponentManager &_ecm) + [&boxParams, &poses](const UpdateInfo &, + const EntityComponentManager &_ecm) { _ecm.Each( - [&](const ignition::gazebo::Entity &, const components::Model *, + [&](const Entity &, const components::Model *, const components::Name *_name, const components::Pose *_pose)->bool { if (boxParams.find(_name->Data()) != boxParams.end()) { @@ -567,23 +567,23 @@ TEST_F(PhysicsSystemFixture, TEST_F(PhysicsSystemFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(MultiAxisJointPosition)) { - ignition::gazebo::ServerConfig serverConfig; + ServerConfig serverConfig; const auto sdfFile = std::string(PROJECT_SOURCE_PATH) + "/test/worlds/demo_joint_types.sdf"; serverConfig.SetSdfFile(sdfFile); - gazebo::Server server(serverConfig); + Server server(serverConfig); server.SetUpdatePeriod(0ns); test::Relay testSystem; // Create JointPosition components if they don't already exist testSystem.OnPreUpdate( - [&](const gazebo::UpdateInfo &, gazebo::EntityComponentManager &_ecm) + [&](const UpdateInfo &, EntityComponentManager &_ecm) { _ecm.Each( - [&](const ignition::gazebo::Entity &_entity, + [&](const Entity &_entity, components::Joint *) -> bool { auto posComp = _ecm.Component(_entity); @@ -598,10 +598,10 @@ TEST_F(PhysicsSystemFixture, std::map jointPosDof; testSystem.OnPostUpdate( - [&](const gazebo::UpdateInfo &, const gazebo::EntityComponentManager &_ecm) + [&](const UpdateInfo &, const EntityComponentManager &_ecm) { _ecm.Each( - [&](const ignition::gazebo::Entity &, + [&](const Entity &, const components::Joint *, const components::Name *_name, const components::JointPosition *_jointPos) -> bool @@ -647,7 +647,7 @@ TEST_F(PhysicsSystemFixture, TEST_F(PhysicsSystemFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(ResetPositionComponent)) { - ignition::gazebo::ServerConfig serverConfig; + ServerConfig serverConfig; const auto sdfFile = std::string(PROJECT_SOURCE_PATH) + "/test/worlds/revolute_joint.sdf"; @@ -659,7 +659,7 @@ TEST_F(PhysicsSystemFixture, serverConfig.SetSdfFile(sdfFile); - gazebo::Server server(serverConfig); + Server server(serverConfig); server.SetUpdatePeriod(1ms); @@ -673,10 +673,10 @@ TEST_F(PhysicsSystemFixture, bool firstRun = true; testSystem.OnPreUpdate( - [&](const gazebo::UpdateInfo &, gazebo::EntityComponentManager &_ecm) + [&](const UpdateInfo &, EntityComponentManager &_ecm) { _ecm.Each( - [&](const ignition::gazebo::Entity &_entity, + [&](const Entity &_entity, const components::Joint *, components::Name *_name) -> bool { EXPECT_NE(nullptr, _name); @@ -711,11 +711,11 @@ TEST_F(PhysicsSystemFixture, std::vector positions; testSystem.OnPostUpdate([&]( - const gazebo::UpdateInfo &, const gazebo::EntityComponentManager &_ecm) + const UpdateInfo &, const EntityComponentManager &_ecm) { _ecm.Each( - [&](const ignition::gazebo::Entity &, + [&](const Entity &, const components::Joint *, const components::Name *_name, const components::JointPosition *_pos) @@ -747,7 +747,7 @@ TEST_F(PhysicsSystemFixture, TEST_F(PhysicsSystemFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(ResetVelocityComponent)) { - ignition::gazebo::ServerConfig serverConfig; + ServerConfig serverConfig; const auto sdfFile = std::string(PROJECT_SOURCE_PATH) + "/test/worlds/revolute_joint.sdf"; @@ -759,7 +759,7 @@ TEST_F(PhysicsSystemFixture, serverConfig.SetSdfFile(sdfFile); - gazebo::Server server(serverConfig); + Server server(serverConfig); server.SetUpdatePeriod(1ms); @@ -773,10 +773,10 @@ TEST_F(PhysicsSystemFixture, bool firstRun = true; testSystem.OnPreUpdate( - [&](const gazebo::UpdateInfo &, gazebo::EntityComponentManager &_ecm) + [&](const UpdateInfo &, EntityComponentManager &_ecm) { _ecm.Each( - [&](const ignition::gazebo::Entity &_entity, + [&](const Entity &_entity, const components::Joint *, components::Name *_name) -> bool { if (_name->Data() == rotatingJointName) @@ -809,12 +809,12 @@ TEST_F(PhysicsSystemFixture, std::vector velocities; testSystem.OnPostUpdate([&]( - const gazebo::UpdateInfo &, const gazebo::EntityComponentManager &_ecm) + const UpdateInfo &, const EntityComponentManager &_ecm) { _ecm.Each( - [&](const ignition::gazebo::Entity &, + [&](const Entity &, const components::Joint *, const components::Name *_name, const components::JointVelocity *_vel) @@ -845,7 +845,7 @@ TEST_F(PhysicsSystemFixture, /// Test joint position limit command component TEST_F(PhysicsSystemFixtureWithDart6_10, JointPositionLimitsCommandComponent) { - ignition::gazebo::ServerConfig serverConfig; + ServerConfig serverConfig; const auto sdfFile = std::string(PROJECT_SOURCE_PATH) + "/test/worlds/revolute_joint.sdf"; @@ -857,7 +857,7 @@ TEST_F(PhysicsSystemFixtureWithDart6_10, JointPositionLimitsCommandComponent) serverConfig.SetSdfFile(sdfFile); - gazebo::Server server(serverConfig); + Server server(serverConfig); server.SetUpdatePeriod(1ms); @@ -878,10 +878,10 @@ TEST_F(PhysicsSystemFixtureWithDart6_10, JointPositionLimitsCommandComponent) // commands do not break the positional limit. testSystem.OnPreUpdate( - [&](const gazebo::UpdateInfo &, gazebo::EntityComponentManager &_ecm) + [&](const UpdateInfo &, EntityComponentManager &_ecm) { _ecm.Each( - [&](const ignition::gazebo::Entity &_entity, + [&](const Entity &_entity, const components::Joint *, components::Name *_name) -> bool { if (_name->Data() == rotatingJointName) @@ -934,12 +934,12 @@ TEST_F(PhysicsSystemFixtureWithDart6_10, JointPositionLimitsCommandComponent) std::vector positions; testSystem.OnPostUpdate([&]( - const gazebo::UpdateInfo &, const gazebo::EntityComponentManager &_ecm) + const UpdateInfo &, const EntityComponentManager &_ecm) { _ecm.Each( - [&](const ignition::gazebo::Entity &, + [&](const Entity &, const components::Joint *, const components::Name *_name, const components::JointPosition *_pos) @@ -968,7 +968,7 @@ TEST_F(PhysicsSystemFixtureWithDart6_10, JointPositionLimitsCommandComponent) /// Test joint velocity limit command component TEST_F(PhysicsSystemFixtureWithDart6_10, JointVelocityLimitsCommandComponent) { - ignition::gazebo::ServerConfig serverConfig; + ServerConfig serverConfig; const auto sdfFile = std::string(PROJECT_SOURCE_PATH) + "/test/worlds/revolute_joint.sdf"; @@ -980,7 +980,7 @@ TEST_F(PhysicsSystemFixtureWithDart6_10, JointVelocityLimitsCommandComponent) serverConfig.SetSdfFile(sdfFile); - gazebo::Server server(serverConfig); + Server server(serverConfig); server.SetUpdatePeriod(1ms); @@ -1001,10 +1001,10 @@ TEST_F(PhysicsSystemFixtureWithDart6_10, JointVelocityLimitsCommandComponent) // commands do not break the velocity limit. testSystem.OnPreUpdate( - [&](const gazebo::UpdateInfo &, gazebo::EntityComponentManager &_ecm) + [&](const UpdateInfo &, EntityComponentManager &_ecm) { _ecm.Each( - [&](const ignition::gazebo::Entity &_entity, + [&](const Entity &_entity, const components::Joint *, components::Name *_name) -> bool { if (_name->Data() == rotatingJointName) @@ -1057,12 +1057,12 @@ TEST_F(PhysicsSystemFixtureWithDart6_10, JointVelocityLimitsCommandComponent) std::vector velocities; testSystem.OnPostUpdate([&]( - const gazebo::UpdateInfo &, const gazebo::EntityComponentManager &_ecm) + const UpdateInfo &, const EntityComponentManager &_ecm) { _ecm.Each( - [&](const ignition::gazebo::Entity &, + [&](const Entity &, const components::Joint *, const components::Name *_name, const components::JointVelocity *_vel) @@ -1092,7 +1092,7 @@ TEST_F(PhysicsSystemFixtureWithDart6_10, JointVelocityLimitsCommandComponent) /// Test joint effort limit command component TEST_F(PhysicsSystemFixtureWithDart6_10, JointEffortLimitsCommandComponent) { - ignition::gazebo::ServerConfig serverConfig; + ServerConfig serverConfig; const auto sdfFile = std::string(PROJECT_SOURCE_PATH) + "/test/worlds/revolute_joint_equilibrium.sdf"; @@ -1104,7 +1104,7 @@ TEST_F(PhysicsSystemFixtureWithDart6_10, JointEffortLimitsCommandComponent) serverConfig.SetSdfFile(sdfFile); - gazebo::Server server(serverConfig); + Server server(serverConfig); server.SetUpdatePeriod(1ms); @@ -1125,10 +1125,10 @@ TEST_F(PhysicsSystemFixtureWithDart6_10, JointEffortLimitsCommandComponent) // commands do not break the effort limit. testSystem.OnPreUpdate( - [&](const gazebo::UpdateInfo &, gazebo::EntityComponentManager &_ecm) + [&](const UpdateInfo &, EntityComponentManager &_ecm) { _ecm.Each( - [&](const ignition::gazebo::Entity &_entity, + [&](const Entity &_entity, const components::Joint *, components::Name *_name) -> bool { if (_name->Data() == rotatingJointName) @@ -1186,12 +1186,12 @@ TEST_F(PhysicsSystemFixtureWithDart6_10, JointEffortLimitsCommandComponent) std::vector positions; testSystem.OnPostUpdate([&]( - const gazebo::UpdateInfo &, const gazebo::EntityComponentManager &_ecm) + const UpdateInfo &, const EntityComponentManager &_ecm) { _ecm.Each( - [&](const ignition::gazebo::Entity &, + [&](const Entity &, const components::Joint *, const components::Name *_name, const components::JointPosition *_pos) @@ -1219,28 +1219,28 @@ TEST_F(PhysicsSystemFixtureWithDart6_10, JointEffortLimitsCommandComponent) ///////////////////////////////////////////////// TEST_F(PhysicsSystemFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(GetBoundingBox)) { - ignition::gazebo::ServerConfig serverConfig; + ServerConfig serverConfig; const auto sdfFile = std::string(PROJECT_SOURCE_PATH) + "/test/worlds/contact.sdf"; serverConfig.SetSdfFile(sdfFile); - gazebo::Server server(serverConfig); + Server server(serverConfig); server.SetUpdatePeriod(1ns); // a map of model name to its axis aligned box - std::map bbox; + std::map bbox; // Create a system that records the bounding box of a model test::Relay testSystem; testSystem.OnPreUpdate( - [&](const gazebo::UpdateInfo &, - gazebo::EntityComponentManager &_ecm) + [&](const UpdateInfo &, + EntityComponentManager &_ecm) { _ecm.Each( - [&](const ignition::gazebo::Entity &_entity, const components::Model *, + [&](const Entity &_entity, const components::Model *, const components::Name *_name, const components::Static *)->bool { // create axis aligned box to be filled by physics @@ -1258,13 +1258,13 @@ TEST_F(PhysicsSystemFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(GetBoundingBox)) }); testSystem.OnPostUpdate( - [&](const gazebo::UpdateInfo &, - const gazebo::EntityComponentManager &_ecm) + [&](const UpdateInfo &, + const EntityComponentManager &_ecm) { // store models that have axis aligned box computed _ecm.Each( - [&](const ignition::gazebo::Entity &, const components::Model *, + [&](const Entity &, const components::Model *, const components::Name *_name, const components::Static *, const components::AxisAlignedBox *_aabb)->bool { @@ -1279,9 +1279,9 @@ TEST_F(PhysicsSystemFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(GetBoundingBox)) EXPECT_EQ(1u, bbox.size()); EXPECT_EQ("box1", bbox.begin()->first); - EXPECT_EQ(ignition::math::AxisAlignedBox( - ignition::math::Vector3d(-1.25, -2, 0), - ignition::math::Vector3d(-0.25, 2, 1)), + EXPECT_EQ(math::AxisAlignedBox( + math::Vector3d(-1.25, -2, 0), + math::Vector3d(-0.25, 2, 1)), bbox.begin()->second); } @@ -1290,7 +1290,7 @@ TEST_F(PhysicsSystemFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(GetBoundingBox)) // This tests whether nested models can be loaded correctly TEST_F(PhysicsSystemFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(NestedModel)) { - ignition::gazebo::ServerConfig serverConfig; + ServerConfig serverConfig; const auto sdfFile = std::string(PROJECT_SOURCE_PATH) + "/test/worlds/nested_model.sdf"; @@ -1302,22 +1302,22 @@ TEST_F(PhysicsSystemFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(NestedModel)) serverConfig.SetSdfFile(sdfFile); - gazebo::Server server(serverConfig); + Server server(serverConfig); server.SetUpdatePeriod(1us); // Create a system that records the poses of the links after physics test::Relay testSystem; - std::unordered_map postUpModelPoses; - std::unordered_map postUpLinkPoses; + std::unordered_map postUpModelPoses; + std::unordered_map postUpLinkPoses; std::unordered_map parents; testSystem.OnPostUpdate( - [&postUpModelPoses, &postUpLinkPoses, &parents](const gazebo::UpdateInfo &, - const gazebo::EntityComponentManager &_ecm) + [&postUpModelPoses, &postUpLinkPoses, &parents](const UpdateInfo &, + const EntityComponentManager &_ecm) { _ecm.Each( - [&](const ignition::gazebo::Entity &_entity, const components::Model *, + [&](const Entity &_entity, const components::Model *, const components::Name *_name, const components::Pose *_pose)->bool { // store model pose @@ -1336,7 +1336,7 @@ TEST_F(PhysicsSystemFixture, IGN_UTILS_TEST_DISABLED_ON_WIN32(NestedModel)) _ecm.Each( - [&](const ignition::gazebo::Entity &, const components::Link *, + [&](const Entity &, const components::Link *, const components::Name *_name, const components::Pose *_pose, const components::ParentEntity *_parent)->bool { diff --git a/test/integration/play_pause.cc b/test/integration/play_pause.cc index 92a9e6d398..ed7b2241f3 100644 --- a/test/integration/play_pause.cc +++ b/test/integration/play_pause.cc @@ -36,13 +36,13 @@ uint64_t kIterations; // Send a world control message. void worldControl(bool _paused, uint64_t _steps) { - std::function cb = - [&](const ignition::msgs::Boolean &/*_rep*/, const bool _result) + std::function cb = + [&](const msgs::Boolean &/*_rep*/, const bool _result) { EXPECT_TRUE(_result); }; - ignition::msgs::WorldControl req; + msgs::WorldControl req; req.set_pause(_paused); req.set_multi_step(_steps); transport::Node node; @@ -58,8 +58,8 @@ void testPaused(bool _paused) transport::Node node; bool paused = !_paused; - std::function cb = - [&](const ignition::msgs::WorldStatistics &_msg) + std::function cb = + [&](const msgs::WorldStatistics &_msg) { std::unique_lock lock(mutex); paused = _msg.paused(); @@ -81,8 +81,8 @@ uint64_t iterations() transport::Node node; uint64_t iterations = 0; - std::function cb = - [&](const ignition::msgs::WorldStatistics &_msg) + std::function cb = + [&](const msgs::WorldStatistics &_msg) { std::unique_lock lock(mutex); iterations = _msg.iterations(); diff --git a/test/integration/pose_publisher_system.cc b/test/integration/pose_publisher_system.cc index f620734a9d..c9f6729f61 100644 --- a/test/integration/pose_publisher_system.cc +++ b/test/integration/pose_publisher_system.cc @@ -143,8 +143,8 @@ TEST_F(PosePublisherTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(PublishCmd)) [&modelName, &baseName, &lowerLinkName, &upperLinkName, &sensorName, &poses, &basePoses, &lowerLinkPoses, &upperLinkPoses, &sensorPoses, ×tamps]( - const gazebo::UpdateInfo &_info, - const gazebo::EntityComponentManager &_ecm) + const UpdateInfo &_info, + const EntityComponentManager &_ecm) { // get our double pendulum model auto id = _ecm.EntityByComponents( @@ -191,7 +191,7 @@ TEST_F(PosePublisherTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(PublishCmd)) // timestamps auto simTimeSecNsec = - ignition::math::durationToSecNsec(_info.simTime); + math::durationToSecNsec(_info.simTime); timestamps.push_back( math::secNsecToTimePoint( simTimeSecNsec.first, @@ -240,7 +240,7 @@ TEST_F(PosePublisherTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(PublishCmd)) // sort the pose msgs according to timestamp std::sort(poseMsgs.begin(), poseMsgs.end(), []( - const ignition::msgs::Pose &_l, const ignition::msgs::Pose &_r) + const msgs::Pose &_l, const msgs::Pose &_r) { std::chrono::steady_clock::time_point lt = math::secNsecToTimePoint( @@ -440,8 +440,8 @@ TEST_F(PosePublisherTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(StaticPosePublisher)) [&modelName, &baseName, &lowerLinkName, &upperLinkName, &sensorName, &poses, &basePoses, &lowerLinkPoses, &upperLinkPoses, &sensorPoses, ×tamps, &staticPoseTimestamps]( - const gazebo::UpdateInfo &_info, - const gazebo::EntityComponentManager &_ecm) + const UpdateInfo &_info, + const EntityComponentManager &_ecm) { // get our double pendulum model auto id = _ecm.EntityByComponents( @@ -488,7 +488,7 @@ TEST_F(PosePublisherTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(StaticPosePublisher)) // timestamps auto simTimeSecNsec = - ignition::math::durationToSecNsec(_info.simTime); + math::durationToSecNsec(_info.simTime); timestamps.push_back( math::secNsecToTimePoint( simTimeSecNsec.first, simTimeSecNsec.second)); diff --git a/test/integration/rgbd_camera.cc b/test/integration/rgbd_camera.cc index 2bd7a8e0f8..6194e3b564 100644 --- a/test/integration/rgbd_camera.cc +++ b/test/integration/rgbd_camera.cc @@ -104,9 +104,9 @@ TEST_F(RgbdCameraTest, IGN_UTILS_TEST_DISABLED_ON_MAC(RgbdCameraBox)) // Lock access to buffer and don't release it mutex.lock(); - EXPECT_DOUBLE_EQ(depthBuffer[left], ignition::math::INF_D); + EXPECT_DOUBLE_EQ(depthBuffer[left], math::INF_D); EXPECT_NEAR(depthBuffer[mid], expectedRangeAtMidPointBox1, DEPTH_TOL); - EXPECT_DOUBLE_EQ(depthBuffer[right], ignition::math::INF_D); + EXPECT_DOUBLE_EQ(depthBuffer[right], math::INF_D); delete[] depthBuffer; } diff --git a/test/integration/save_world.cc b/test/integration/save_world.cc index 329182edea..0eaf3654e6 100644 --- a/test/integration/save_world.cc +++ b/test/integration/save_world.cc @@ -115,7 +115,7 @@ TEST_F(SdfGeneratorFixture, // This has to be different from the backpack in order to test SDFormat // generation for a Fuel URI that was not known when simulation started. const std::string groundPlaneUri = - "https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/ground plane"; + "https://fuel.gazebosim.org/1.0/OpenRobotics/models/ground plane"; transport::Node node; { diff --git a/test/integration/scene_broadcaster_system.cc b/test/integration/scene_broadcaster_system.cc index 53fb52b802..ac452e6955 100644 --- a/test/integration/scene_broadcaster_system.cc +++ b/test/integration/scene_broadcaster_system.cc @@ -57,7 +57,7 @@ class SceneBroadcasterTest TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(PoseInfo)) { // Start server - ignition::gazebo::ServerConfig serverConfig; + gazebo::ServerConfig serverConfig; serverConfig.SetSdfFile(std::string(PROJECT_SOURCE_PATH) + "/test/worlds/shapes.sdf"); @@ -107,7 +107,7 @@ TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(PoseInfo)) TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(SceneInfo)) { // Start server - ignition::gazebo::ServerConfig serverConfig; + gazebo::ServerConfig serverConfig; serverConfig.SetSdfFile(std::string(PROJECT_SOURCE_PATH) + "/test/worlds/shapes.sdf"); @@ -124,7 +124,7 @@ TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(SceneInfo)) bool result{false}; unsigned int timeout{5000}; - ignition::msgs::Scene res; + msgs::Scene res; EXPECT_TRUE(node.Request("/world/default/scene/info", timeout, res, result)); EXPECT_TRUE(result); @@ -142,7 +142,7 @@ TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(SceneInfo)) } // Repeat the request to make sure the same information is returned - ignition::msgs::Scene res2; + msgs::Scene res2; EXPECT_TRUE(node.Request("/world/default/scene/info", timeout, res2, result)); EXPECT_TRUE(result); @@ -153,7 +153,7 @@ TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(SceneInfo)) TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(SceneGraph)) { // Start server - ignition::gazebo::ServerConfig serverConfig; + gazebo::ServerConfig serverConfig; serverConfig.SetSdfFile(std::string(PROJECT_SOURCE_PATH) + "/test/worlds/shapes.sdf"); @@ -170,7 +170,7 @@ TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(SceneGraph)) bool result{false}; unsigned int timeout{5000}; - ignition::msgs::StringMsg res; + msgs::StringMsg res; EXPECT_TRUE(node.Request("/world/default/scene/graph", timeout, res, result)); EXPECT_TRUE(result); @@ -193,7 +193,7 @@ TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(SceneGraph)) TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(SceneTopic)) { // Start server - ignition::gazebo::ServerConfig serverConfig; + gazebo::ServerConfig serverConfig; serverConfig.SetSdfFile(std::string(PROJECT_SOURCE_PATH) + "/test/worlds/shapes.sdf"); @@ -225,7 +225,7 @@ TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(SceneTopic)) bool result{false}; unsigned int timeout{5000}; - ignition::msgs::Scene msg; + msgs::Scene msg; EXPECT_TRUE(node.Request("/world/default/scene/info", timeout, msg, result)); EXPECT_TRUE(result); @@ -238,7 +238,7 @@ TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(SceneTopicSensors)) { // Start server - ignition::gazebo::ServerConfig serverConfig; + gazebo::ServerConfig serverConfig; serverConfig.SetSdfFile(std::string(PROJECT_SOURCE_PATH) + "/test/worlds/altimeter_with_pose.sdf"); @@ -270,7 +270,7 @@ TEST_P(SceneBroadcasterTest, bool result{false}; unsigned int timeout{5000}; - ignition::msgs::Scene msg; + msgs::Scene msg; EXPECT_TRUE(node.Request("/world/altimeter_sensor/scene/info", timeout, msg, result)); @@ -289,7 +289,7 @@ TEST_P(SceneBroadcasterTest, TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(DeletedTopic)) { // Start server - ignition::gazebo::ServerConfig serverConfig; + gazebo::ServerConfig serverConfig; serverConfig.SetSdfFile(std::string(PROJECT_SOURCE_PATH) + "/test/worlds/shapes.sdf"); @@ -350,7 +350,7 @@ TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(DeletedTopic)) TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(SpawnedModel)) { // Start server - ignition::gazebo::ServerConfig serverConfig; + gazebo::ServerConfig serverConfig; serverConfig.SetSdfFile(std::string(PROJECT_SOURCE_PATH) + "/test/worlds/shapes.sdf"); @@ -396,8 +396,8 @@ TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(SpawnedModel)) // Check that the model is in the scene/infor response { - ignition::msgs::Empty req; - ignition::msgs::Scene rep; + msgs::Empty req; + msgs::Scene rep; bool result; unsigned int timeout = 2000; EXPECT_TRUE(node.Request("/world/default/scene/info", req, timeout, @@ -420,7 +420,7 @@ TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(SpawnedModel)) TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(State)) { // Start server - ignition::gazebo::ServerConfig serverConfig; + gazebo::ServerConfig serverConfig; serverConfig.SetSdfFile(std::string(PROJECT_SOURCE_PATH) + "/test/worlds/shapes.sdf"); @@ -511,7 +511,7 @@ TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(State)) std::string reqSrv = "/state_async_callback_test"; node.Advertise(reqSrv, cbAsync); - ignition::msgs::StringMsg req; + msgs::StringMsg req; req.set_data(reqSrv); node.Request("/world/default/state_async", req); @@ -531,7 +531,7 @@ TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(State)) TEST_P(SceneBroadcasterTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(StateStatic)) { // Start server - ignition::gazebo::ServerConfig serverConfig; + gazebo::ServerConfig serverConfig; serverConfig.SetSdfFile(std::string(PROJECT_SOURCE_PATH) + "/test/worlds/empty.sdf"); diff --git a/test/integration/sdf_frame_semantics.cc b/test/integration/sdf_frame_semantics.cc index cdb579e224..77ac574b12 100644 --- a/test/integration/sdf_frame_semantics.cc +++ b/test/integration/sdf_frame_semantics.cc @@ -64,7 +64,7 @@ class SdfFrameSemanticsTest : public InternalFixture<::testing::Test> EXPECT_FALSE(*this->server->Running(0)); // A pointer to the ecm. This will be valid once we run the mock system relay->OnPreUpdate( - [this](const gazebo::UpdateInfo &, gazebo::EntityComponentManager &_ecm) + [this](const UpdateInfo &, EntityComponentManager &_ecm) { this->ecm = &_ecm; }); @@ -97,9 +97,9 @@ class SdfFrameSemanticsTest : public InternalFixture<::testing::Test> this->creator->SetParent(modelEntity, worldEntity); } - public: gazebo::Model GetModel(const std::string &_name) + public: Model GetModel(const std::string &_name) { - return gazebo::Model(this->ecm->EntityByComponents( + return Model(this->ecm->EntityByComponents( components::Model(), components::Name(_name))); } @@ -164,8 +164,8 @@ TEST_F(SdfFrameSemanticsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LinkRelativeTo)) EXPECT_NE(link2, kNullEntity); // Expect the pose of L2 relative to model to be 0 0 1 0 0 pi - ignition::math::Pose3d expRelPose(0, 0, 1, 0, 0, IGN_PI); - ignition::math::Pose3d expWorldPose(0, 0, 3, 0, 0, IGN_PI); + math::Pose3d expRelPose(0, 0, 1, 0, 0, IGN_PI); + math::Pose3d expWorldPose(0, 0, 3, 0, 0, IGN_PI); EXPECT_EQ(expRelPose, this->GetPose(link2)); @@ -231,7 +231,7 @@ TEST_F(SdfFrameSemanticsTest, JointRelativeTo) // Expect the pose of J1 relative to model to be the same as L2 (default // behavior) - ignition::math::Pose3d expWorldPose(1, 0, 2, 0, 0, 0); + math::Pose3d expWorldPose(1, 0, 2, 0, 0, 0); // Expect the pose of J2 relative to model to be the same as L2 (non default // behavior due to "relative_to='L2'") @@ -286,7 +286,7 @@ TEST_F(SdfFrameSemanticsTest, VisualCollisionRelativeTo) // Expect the pose of v1 and relative to L2 (their parent link) to be the same // as the pose of L1 relative to L2 - ignition::math::Pose3d expPose(0, 0, -1, 0, 0, 0); + math::Pose3d expPose(0, 0, -1, 0, 0, 0); EXPECT_EQ(expPose, this->GetPose(visual)); EXPECT_EQ(expPose, this->GetPose(collision)); @@ -334,13 +334,13 @@ TEST_F(SdfFrameSemanticsTest, ExplicitFramesWithLinks) // Expect the pose of L1 and relative to M to be the same // as the pose of F1 relative to M - ignition::math::Pose3d link1ExpRelativePose(0, 0, 1, 0, 0, 0); + math::Pose3d link1ExpRelativePose(0, 0, 1, 0, 0, 0); EXPECT_EQ(link1ExpRelativePose, this->GetPose(link1)); // Expect the pose of L2 and relative to M to be the same // as the pose of F2, which is at the origin of M - ignition::math::Pose3d link2ExpRelativePose = ignition::math::Pose3d::Zero; + math::Pose3d link2ExpRelativePose = math::Pose3d::Zero; EXPECT_EQ(link2ExpRelativePose, this->GetPose(link2)); @@ -389,7 +389,7 @@ TEST_F(SdfFrameSemanticsTest, ExplicitFramesWithJoints) this->server->Run(true, 1, false); // Expect the pose of J1 relative to model to be the same as F1 in world - ignition::math::Pose3d expWorldPose(1, 0, 2, 0, 0, 0); + math::Pose3d expWorldPose(1, 0, 2, 0, 0, 0); // TODO(anyone) Enable the following expectation when a joint's WorldPose // can be computed by ign-physics. // EXPECT_EQ(expWorldPose, this->GetWorldPose(joint1)); @@ -440,7 +440,7 @@ TEST_F(SdfFrameSemanticsTest, ExplicitFramesWithVisualAndCollision) // Expect the pose of v1 and relative to L1 (their parent link) to be the same // as the pose of F1 relative to L1 - ignition::math::Pose3d expPose(0, 0, 1, 0, 0, 0); + math::Pose3d expPose(0, 0, 1, 0, 0, 0); EXPECT_EQ(expPose, this->GetPose(visual)); EXPECT_EQ(expPose, this->GetPose(collision)); diff --git a/test/integration/sdf_include.cc b/test/integration/sdf_include.cc index dd9e5caadb..133810d197 100644 --- a/test/integration/sdf_include.cc +++ b/test/integration/sdf_include.cc @@ -39,13 +39,13 @@ TEST_F(SdfInclude, IGN_UTILS_TEST_DISABLED_ON_WIN32(DownloadFromFuel)) std::string path = common::cwd() + "/test_cache"; // Configure the gazebo server, which will cause a model to be downloaded. - gazebo::ServerConfig serverConfig; + ServerConfig serverConfig; serverConfig.SetResourceCache(path); serverConfig.SetSdfFile(std::string(PROJECT_SOURCE_PATH) + "/test/worlds/include.sdf"); - gazebo::Server server(serverConfig); + Server server(serverConfig); EXPECT_TRUE(common::exists(path + - "/fuel.ignitionrobotics.org/openrobotics/models/ground plane" + + "/fuel.gazebosim.org/openrobotics/models/ground plane" + "/1/model.sdf")); } diff --git a/test/integration/sensors_system.cc b/test/integration/sensors_system.cc index 789d57fefd..b843da142b 100644 --- a/test/integration/sensors_system.cc +++ b/test/integration/sensors_system.cc @@ -111,7 +111,7 @@ class SensorsFixture : public InternalFixture> systemPtr->QueryInterface()); } - public: ignition::gazebo::SystemPluginPtr systemPtr; + public: gazebo::SystemPluginPtr systemPtr; public: gazebo::MockSystem *mockSystem; private: gazebo::SystemLoader sm; @@ -162,7 +162,7 @@ void testDefaultTopics() /// are removed and then added back TEST_F(SensorsFixture, IGN_UTILS_TEST_DISABLED_ON_MAC(HandleRemovedEntities)) { - ignition::gazebo::ServerConfig serverConfig; + gazebo::ServerConfig serverConfig; const std::string sdfFile = std::string(PROJECT_SOURCE_PATH) + "/test/worlds/sensor.sdf"; diff --git a/test/integration/thermal_system.cc b/test/integration/thermal_system.cc index 68d1e566ec..ba9308f88a 100644 --- a/test/integration/thermal_system.cc +++ b/test/integration/thermal_system.cc @@ -67,11 +67,11 @@ TEST_F(ThermalTest, IGN_UTILS_TEST_DISABLED_ON_MAC(TemperatureComponent)) std::map entityTempRange; std::map heatSignatures; - testSystem.OnPostUpdate([&](const gazebo::UpdateInfo &, - const gazebo::EntityComponentManager &_ecm) + testSystem.OnPostUpdate([&](const UpdateInfo &, + const EntityComponentManager &_ecm) { _ecm.Each( - [&](const ignition::gazebo::Entity &_id, + [&](const Entity &_id, const components::Temperature *_temp, const components::Name *_name) -> bool { diff --git a/test/integration/touch_plugin.cc b/test/integration/touch_plugin.cc index f1ae4745ad..36eedfb8c7 100644 --- a/test/integration/touch_plugin.cc +++ b/test/integration/touch_plugin.cc @@ -100,7 +100,7 @@ TEST_F(TouchPluginTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(OneLink)) std::this_thread::sleep_for(std::chrono::milliseconds(30)); } // Known to fail on OSX, see -// https://github.com/ignitionrobotics/ign-gazebo/issues/22 +// https://github.com/gazebosim/gz-sim/issues/22 #if !defined (__APPLE__) EXPECT_TRUE(whiteTouched); #endif @@ -180,7 +180,7 @@ TEST_F(TouchPluginTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(StartDisabled)) std::this_thread::sleep_for(std::chrono::milliseconds(30)); } // Known to fail on OSX, see -// https://github.com/ignitionrobotics/ign-gazebo/issues/22 +// https://github.com/gazebosm/gz-sim/issues/22 #if !defined (__APPLE__) EXPECT_TRUE(blueTouched); #endif diff --git a/test/integration/tracked_vehicle_system.cc b/test/integration/tracked_vehicle_system.cc index d98434d463..2d8180bf29 100644 --- a/test/integration/tracked_vehicle_system.cc +++ b/test/integration/tracked_vehicle_system.cc @@ -70,7 +70,7 @@ class TrackedVehicleTest : public InternalFixture<::testing::Test> bool &_shouldSkip) { #if __APPLE__ - // until https://github.com/ignitionrobotics/ign-gazebo/issues/806 is fixed + // until https://github.com/gazebosim/gz-sim/issues/806 is fixed _shouldSkip = true; #else _shouldSkip = false; @@ -90,7 +90,7 @@ class TrackedVehicleTest : public InternalFixture<::testing::Test> << "Failed to find plugin [" << *pluginLib << "]"; // Load engine plugin - ignition::plugin::Loader pluginLoader; + plugin::Loader pluginLoader; auto plugins = pluginLoader.LoadLib(pathToLib); ASSERT_FALSE(plugins.empty()) << "Unable to load the [" << pathToLib << "] library"; @@ -133,8 +133,8 @@ class TrackedVehicleTest : public InternalFixture<::testing::Test> // Create a system that records the vehicle poses test::Relay ecmGetterSystem; EntityComponentManager* ecm {nullptr}; - ecmGetterSystem.OnPreUpdate([&ecm](const gazebo::UpdateInfo &, - gazebo::EntityComponentManager &_ecm) + ecmGetterSystem.OnPreUpdate([&ecm](const UpdateInfo &, + EntityComponentManager &_ecm) { if (ecm == nullptr) ecm = &_ecm; @@ -156,8 +156,8 @@ class TrackedVehicleTest : public InternalFixture<::testing::Test> test::Relay testSystem; Entity modelEntity {kNullEntity}; std::vector poses; - testSystem.OnPostUpdate([&](const gazebo::UpdateInfo &, - const gazebo::EntityComponentManager &_ecm) + testSystem.OnPostUpdate([&](const UpdateInfo &, + const EntityComponentManager &_ecm) { modelEntity = _ecm.EntityByComponents( components::Model(), @@ -253,7 +253,7 @@ class TrackedVehicleTest : public InternalFixture<::testing::Test> poses.clear(); - gazebo::Model model(modelEntity); + Model model(modelEntity); // Move the robot somewhere to free space without obstacles. model.SetWorldPoseCmd(*ecm, math::Pose3d(10, 10, 0.1, 0, 0, 0)); @@ -455,8 +455,8 @@ class TrackedVehicleTest : public InternalFixture<::testing::Test> // Create a system that records the vehicle poses test::Relay ecmGetterSystem; EntityComponentManager* ecm {nullptr}; - ecmGetterSystem.OnPreUpdate([&ecm](const gazebo::UpdateInfo &, - gazebo::EntityComponentManager &_ecm) + ecmGetterSystem.OnPreUpdate([&ecm](const UpdateInfo &, + EntityComponentManager &_ecm) { if (ecm == nullptr) ecm = &_ecm; @@ -478,8 +478,8 @@ class TrackedVehicleTest : public InternalFixture<::testing::Test> test::Relay testSystem; Entity boxEntity {kNullEntity}; std::vector poses; - testSystem.OnPostUpdate([&](const gazebo::UpdateInfo &, - const gazebo::EntityComponentManager &_ecm) + testSystem.OnPostUpdate([&](const UpdateInfo &, + const EntityComponentManager &_ecm) { boxEntity = _ecm.EntityByComponents( components::Model(), diff --git a/test/integration/user_commands.cc b/test/integration/user_commands.cc index 4a37616c6f..47b2f7f219 100644 --- a/test/integration/user_commands.cc +++ b/test/integration/user_commands.cc @@ -75,8 +75,8 @@ TEST_F(UserCommandsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Create)) // shared pointer owned by the SimulationRunner. EntityComponentManager *ecm{nullptr}; test::Relay testSystem; - testSystem.OnPreUpdate([&](const gazebo::UpdateInfo &, - gazebo::EntityComponentManager &_ecm) + testSystem.OnPreUpdate([&](const UpdateInfo &, + EntityComponentManager &_ecm) { ecm = &_ecm; }); @@ -354,8 +354,8 @@ TEST_F(UserCommandsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Remove)) // shared pointer owned by the SimulationRunner. EntityComponentManager *ecm{nullptr}; test::Relay testSystem; - testSystem.OnPreUpdate([&](const gazebo::UpdateInfo &, - gazebo::EntityComponentManager &_ecm) + testSystem.OnPreUpdate([&](const UpdateInfo &, + EntityComponentManager &_ecm) { ecm = &_ecm; }); @@ -538,8 +538,8 @@ TEST_F(UserCommandsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Pose)) // Create a system just to get the ECM EntityComponentManager *ecm{nullptr}; test::Relay testSystem; - testSystem.OnPreUpdate([&](const gazebo::UpdateInfo &, - gazebo::EntityComponentManager &_ecm) + testSystem.OnPreUpdate([&](const UpdateInfo &, + EntityComponentManager &_ecm) { ecm = &_ecm; }); @@ -712,8 +712,8 @@ TEST_F(UserCommandsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(PoseVector)) // Create a system just to get the ECM EntityComponentManager *ecm{nullptr}; test::Relay testSystem; - testSystem.OnPreUpdate([&](const gazebo::UpdateInfo &, - gazebo::EntityComponentManager &_ecm) + testSystem.OnPreUpdate([&](const UpdateInfo &, + EntityComponentManager &_ecm) { ecm = &_ecm; }); @@ -1047,8 +1047,8 @@ TEST_F(UserCommandsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(Physics)) // Create a system just to get the ECM EntityComponentManager *ecm{nullptr}; test::Relay testSystem; - testSystem.OnPreUpdate([&](const gazebo::UpdateInfo &, - gazebo::EntityComponentManager &_ecm) + testSystem.OnPreUpdate([&](const UpdateInfo &, + EntityComponentManager &_ecm) { ecm = &_ecm; }); diff --git a/test/integration/velocity_control_system.cc b/test/integration/velocity_control_system.cc index 6925dbca76..31ac1d6f1a 100644 --- a/test/integration/velocity_control_system.cc +++ b/test/integration/velocity_control_system.cc @@ -58,8 +58,8 @@ class VelocityControlTest test::Relay testSystem; std::vector poses; - testSystem.OnPostUpdate([&poses](const gazebo::UpdateInfo &, - const gazebo::EntityComponentManager &_ecm) + testSystem.OnPostUpdate([&poses](const UpdateInfo &, + const EntityComponentManager &_ecm) { auto id = _ecm.EntityByComponents( components::Model(), @@ -145,8 +145,8 @@ class VelocityControlTest std::vector modelPoses; std::vector linkPoses; testSystem.OnPostUpdate([&linkPoses, &modelPoses]( - const gazebo::UpdateInfo &, - const gazebo::EntityComponentManager &_ecm) + const UpdateInfo &, + const EntityComponentManager &_ecm) { auto modelId = _ecm.EntityByComponents( components::Model(), diff --git a/test/integration/wheel_slip.cc b/test/integration/wheel_slip.cc index 24a9f3e697..a08991c360 100644 --- a/test/integration/wheel_slip.cc +++ b/test/integration/wheel_slip.cc @@ -82,7 +82,7 @@ class WheelSlipTest : public InternalFixture<::testing::Test> public: double drumSpeed = 0.0; /// \brief Steer angle to apply. - public: ignition::math::Angle steer; + public: math::Angle steer; /// \brief Suspension force to apply in N. public: double suspForce = 0.0; @@ -120,10 +120,10 @@ TEST_F(WheelSlipTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(TireDrum)) EXPECT_FALSE(server.Running()); EXPECT_FALSE(*server.Running(0)); - gazebo::EntityComponentManager *ecm = nullptr; + EntityComponentManager *ecm = nullptr; test::Relay testSystem; - testSystem.OnPreUpdate([&](const gazebo::UpdateInfo &, - gazebo::EntityComponentManager &_ecm) + testSystem.OnPreUpdate([&](const UpdateInfo &, + EntityComponentManager &_ecm) { ecm = &_ecm; }); @@ -141,7 +141,7 @@ TEST_F(WheelSlipTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(TireDrum)) Entity worldEntity = ecm->EntityByComponents(components::World()); - EXPECT_NE(gazebo::kNullEntity, worldEntity); + EXPECT_NE(kNullEntity, worldEntity); // Get both models Entity tireEntity = @@ -152,8 +152,8 @@ TEST_F(WheelSlipTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(TireDrum)) ecm->EntityByComponents(components::Model(), components::Name("drum")); - EXPECT_NE(gazebo::kNullEntity, tireEntity); - EXPECT_NE(gazebo::kNullEntity, drumEntity); + EXPECT_NE(kNullEntity, tireEntity); + EXPECT_NE(kNullEntity, drumEntity); Entity wheelLinkEntity = ecm->EntityByComponents( components::ParentEntity(tireEntity), @@ -165,8 +165,8 @@ TEST_F(WheelSlipTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(TireDrum)) components::Name("link"), components::Link()); - EXPECT_NE(gazebo::kNullEntity, wheelLinkEntity); - EXPECT_NE(gazebo::kNullEntity, drumLinkEntity); + EXPECT_NE(kNullEntity, wheelLinkEntity); + EXPECT_NE(kNullEntity, drumLinkEntity); auto wheelInertialComp = ecm->Component(wheelLinkEntity); @@ -193,8 +193,8 @@ TEST_F(WheelSlipTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(TireDrum)) components::Name("collision"), components::Collision()); - EXPECT_NE(gazebo::kNullEntity, collisionWheelLinkEntity); - EXPECT_NE(gazebo::kNullEntity, collisionDrumLinkEntity); + EXPECT_NE(kNullEntity, collisionWheelLinkEntity); + EXPECT_NE(kNullEntity, collisionDrumLinkEntity); auto wheelCollisionComp = ecm->Component(collisionWheelLinkEntity); @@ -240,19 +240,16 @@ TEST_F(WheelSlipTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(TireDrum)) // const double kp = surfaceContactOde->GetElement("kp")->Get(); // ASSERT_EQ(kp, 250e3); - double modelMass = 0.0; for (const auto &linkName : linksToCheck) { Entity linkEntity = ecm->EntityByComponents( components::ParentEntity(tireEntity), components::Name(linkName), components::Link()); - EXPECT_NE(gazebo::kNullEntity, linkEntity); + EXPECT_NE(kNullEntity, linkEntity); auto inertialComp = ecm->Component(linkEntity); EXPECT_NE(nullptr, inertialComp); - - modelMass += inertialComp->Data().MassMatrix().Mass(); } // Get axle wheel and steer joint of wheel model @@ -261,14 +258,14 @@ TEST_F(WheelSlipTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(TireDrum)) components::Name("axle_wheel"), components::Joint()); - ASSERT_NE(gazebo::kNullEntity, wheelAxleJointEntity); + ASSERT_NE(kNullEntity, wheelAxleJointEntity); Entity wheelSteerJointEntity = ecm->EntityByComponents( components::ParentEntity(tireEntity), components::Name("steer"), components::Joint()); - ASSERT_NE(gazebo::kNullEntity, wheelSteerJointEntity); + ASSERT_NE(kNullEntity, wheelSteerJointEntity); const double wheelSpeed = -25.0 * metersPerMile / secondsPerHour / wheelRadius; @@ -382,10 +379,10 @@ TEST_F(WheelSlipTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(TricyclesUphill)) EXPECT_FALSE(server.Running()); EXPECT_FALSE(*server.Running(0)); - gazebo::EntityComponentManager *ecm = nullptr; + EntityComponentManager *ecm = nullptr; test::Relay testSystem; - testSystem.OnPreUpdate([&](const gazebo::UpdateInfo &, - gazebo::EntityComponentManager &_ecm) + testSystem.OnPreUpdate([&](const UpdateInfo &, + EntityComponentManager &_ecm) { ecm = &_ecm; }); @@ -403,7 +400,7 @@ TEST_F(WheelSlipTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(TricyclesUphill)) Entity worldEntity = ecm->EntityByComponents(components::World()); - EXPECT_NE(gazebo::kNullEntity, worldEntity); + EXPECT_NE(kNullEntity, worldEntity); auto gravity = ecm->Component(worldEntity); @@ -415,14 +412,14 @@ TEST_F(WheelSlipTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(TricyclesUphill)) ecm->EntityByComponents(components::Model(), components::Name("trisphere_cycle0")); - EXPECT_NE(gazebo::kNullEntity, trisphereCycle0Entity); + EXPECT_NE(kNullEntity, trisphereCycle0Entity); Entity trisphereCycle1Entity = ecm->EntityByComponents(components::Model(), components::Name("trisphere_cycle1")); - EXPECT_NE(gazebo::kNullEntity, trisphereCycle1Entity); + EXPECT_NE(kNullEntity, trisphereCycle1Entity); // Check rear left wheel of first model Entity wheelRearLeftEntity = ecm->EntityByComponents( @@ -430,7 +427,7 @@ TEST_F(WheelSlipTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(TricyclesUphill)) components::Name("wheel_rear_left"), components::Link()); - EXPECT_NE(gazebo::kNullEntity, wheelRearLeftEntity); + EXPECT_NE(kNullEntity, wheelRearLeftEntity); Entity wheelRearLeftCollisionEntity = ecm->EntityByComponents( components::ParentEntity(wheelRearLeftEntity), @@ -450,28 +447,28 @@ TEST_F(WheelSlipTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(TricyclesUphill)) components::Name("wheel_rear_left_spin"), components::Joint()); - EXPECT_NE(gazebo::kNullEntity, wheelRearLeftSpin0Entity); + EXPECT_NE(kNullEntity, wheelRearLeftSpin0Entity); Entity wheelRearRightSpin0Entity = ecm->EntityByComponents( components::ParentEntity(trisphereCycle0Entity), components::Name("wheel_rear_right_spin"), components::Joint()); - EXPECT_NE(gazebo::kNullEntity, wheelRearRightSpin0Entity); + EXPECT_NE(kNullEntity, wheelRearRightSpin0Entity); Entity wheelRearLeftSpin1Entity = ecm->EntityByComponents( components::ParentEntity(trisphereCycle1Entity), components::Name("wheel_rear_left_spin"), components::Joint()); - EXPECT_NE(gazebo::kNullEntity, wheelRearLeftSpin1Entity); + EXPECT_NE(kNullEntity, wheelRearLeftSpin1Entity); Entity wheelRearRightSpin1Entity = ecm->EntityByComponents( components::ParentEntity(trisphereCycle1Entity), components::Name("wheel_rear_right_spin"), components::Joint()); - EXPECT_NE(gazebo::kNullEntity, wheelRearRightSpin1Entity); + EXPECT_NE(kNullEntity, wheelRearRightSpin1Entity); // Set speed of both models const double angularSpeed = 6.0; @@ -526,8 +523,8 @@ TEST_F(WheelSlipTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(TricyclesUphill)) } test::Relay testSlipSystem; - testSlipSystem.OnPreUpdate([&](const gazebo::UpdateInfo &, - gazebo::EntityComponentManager &) + testSlipSystem.OnPreUpdate([&](const UpdateInfo &, + EntityComponentManager &) { auto wheelRearLeftVelocity0Cmd = ecm->Component(wheelRearLeftSpin0Entity); diff --git a/test/integration/wind_effects.cc b/test/integration/wind_effects.cc index bd49f777f8..8c4e11b9a6 100644 --- a/test/integration/wind_effects.cc +++ b/test/integration/wind_effects.cc @@ -85,7 +85,7 @@ class LinkComponentRecorder if (_createComp) { this->mockSystem->preUpdateCallback = - [this](const gazebo::UpdateInfo &, gazebo::EntityComponentManager &_ecm) + [this](const UpdateInfo &, EntityComponentManager &_ecm) { auto linkEntity = _ecm.EntityByComponents( components::Link(), components::Name(this->linkName)); @@ -101,8 +101,8 @@ class LinkComponentRecorder } this->mockSystem->postUpdateCallback = - [this](const gazebo::UpdateInfo &, - const gazebo::EntityComponentManager &_ecm) + [this](const UpdateInfo &, + const EntityComponentManager &_ecm) { auto linkEntity = _ecm.EntityByComponents( components::Link(), components::Name(this->linkName)); diff --git a/test/performance/level_manager.cc b/test/performance/level_manager.cc index ccd9032c31..022dbe0da2 100644 --- a/test/performance/level_manager.cc +++ b/test/performance/level_manager.cc @@ -38,10 +38,10 @@ TEST(LevelManagerPerfrormance, IGN_UTILS_TEST_DISABLED_ON_WIN32(LevelVsNoLevel)) common::Console::SetVerbosity(4); - ignition::common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH", + common::setenv("IGN_GAZEBO_SYSTEM_PLUGIN_PATH", (std::string(PROJECT_BINARY_PATH) + "/lib").c_str()); - ignition::gazebo::ServerConfig serverConfig; + ServerConfig serverConfig; serverConfig.SetSdfFile(std::string(PROJECT_SOURCE_PATH) + "/test/worlds/level_performance.sdf"); math::Stopwatch watch; @@ -53,7 +53,7 @@ TEST(LevelManagerPerfrormance, IGN_UTILS_TEST_DISABLED_ON_WIN32(LevelVsNoLevel)) // measuring time differences between levels and no levels. { serverConfig.SetUseLevels(true); - gazebo::Server server(serverConfig); + Server server(serverConfig); server.SetUpdatePeriod(1ns); server.Run(true, 1, false); @@ -62,7 +62,7 @@ TEST(LevelManagerPerfrormance, IGN_UTILS_TEST_DISABLED_ON_WIN32(LevelVsNoLevel)) // Server with levels { serverConfig.SetUseLevels(true); - gazebo::Server server(serverConfig); + Server server(serverConfig); server.SetUpdatePeriod(1ns); watch.Start(true); @@ -74,7 +74,7 @@ TEST(LevelManagerPerfrormance, IGN_UTILS_TEST_DISABLED_ON_WIN32(LevelVsNoLevel)) // Server without levels { serverConfig.SetUseLevels(false); - gazebo::Server serverNoLevels(serverConfig); + Server serverNoLevels(serverConfig); serverNoLevels.SetUpdatePeriod(1ns); watch.Start(true); diff --git a/test/performance/sdf_runner.cc b/test/performance/sdf_runner.cc index b2fdfe1818..0fbb754926 100644 --- a/test/performance/sdf_runner.cc +++ b/test/performance/sdf_runner.cc @@ -33,7 +33,7 @@ using namespace gazebo; ////////////////////////////////////////////////// int main(int _argc, char** _argv) { - ignition::common::Console::SetVerbosity(4); + common::Console::SetVerbosity(4); std::string sdfFile{""}; if (_argc >= 2) @@ -56,7 +56,7 @@ int main(int _argc, char** _argv) } igndbg << "Update rate: " << updateRate << std::endl; - ignition::gazebo::ServerConfig serverConfig; + ServerConfig serverConfig; if (!serverConfig.SetSdfFile(sdfFile)) { ignerr << "Failed to set SDF file [" << sdfFile << "]" << std::endl; @@ -68,23 +68,23 @@ int main(int _argc, char** _argv) serverConfig.SetUpdateRate(updateRate); // Create the Gazebo server - ignition::gazebo::Server server(serverConfig); + Server server(serverConfig); - ignition::transport::Node node; + transport::Node node; - std::vector msgs; + std::vector msgs; msgs.reserve(iterations); - std::function cb = - [&](const ignition::msgs::Clock &_msg) + std::function cb = + [&](const msgs::Clock &_msg) { msgs.push_back(_msg); }; double progress = 0; - std::function cb2 = - [&](const ignition::msgs::WorldStatistics &_msg) + std::function cb2 = + [&](const msgs::WorldStatistics &_msg) { double nIters = static_cast(_msg.iterations()); nIters = nIters / iterations * 100; diff --git a/test/plugins/TestSystem.cc b/test/plugins/TestSystem.cc index 94896f5185..2c362db0b8 100644 --- a/test/plugins/TestSystem.cc +++ b/test/plugins/TestSystem.cc @@ -32,6 +32,6 @@ TestSystem::TestSystem() TestSystem::~TestSystem() = default; // Register this plugin -IGNITION_ADD_PLUGIN(TestSystem, ignition::gazebo::System) +IGNITION_ADD_PLUGIN(TestSystem, System) IGNITION_ADD_PLUGIN_ALIAS(TestSystem, "ignition::gazebo::TestSystem") diff --git a/test/worlds/breadcrumbs.sdf b/test/worlds/breadcrumbs.sdf index a8b75f9899..bbc2bac8e6 100644 --- a/test/worlds/breadcrumbs.sdf +++ b/test/worlds/breadcrumbs.sdf @@ -481,7 +481,7 @@ -2.2 0 5 0 0 0 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Cardboard box + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Cardboard box diff --git a/test/worlds/fuel.gazebosim.org/openrobotics/worlds/test%20world/2/test.sdf b/test/worlds/fuel.gazebosim.org/openrobotics/worlds/test%20world/2/test.sdf new file mode 100644 index 0000000000..b9386ade65 --- /dev/null +++ b/test/worlds/fuel.gazebosim.org/openrobotics/worlds/test%20world/2/test.sdf @@ -0,0 +1,5 @@ + + + + + diff --git a/test/worlds/fuel.gazebosim.org/openrobotics/worlds/test%20world/2/test.world b/test/worlds/fuel.gazebosim.org/openrobotics/worlds/test%20world/2/test.world new file mode 100644 index 0000000000..b9386ade65 --- /dev/null +++ b/test/worlds/fuel.gazebosim.org/openrobotics/worlds/test%20world/2/test.world @@ -0,0 +1,5 @@ + + + + + diff --git a/test/worlds/fuel.gazebosim.org/openrobotics/worlds/test%20world/2/thumbnails/1.png b/test/worlds/fuel.gazebosim.org/openrobotics/worlds/test%20world/2/thumbnails/1.png 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z_2+toAWIlAA@Hf8+-KU)>(zr-qaJKme4wTi#)ltq@8`^_ae*Sr7!2=@68Q!qexQ07 zrmn7Tt+zCT)qbV3W)m^&yo6m^zNe@|;^F*fufRKORLcMKu!k#yYwB~?iVR-Jv4M5yUBp8lDp=ah^2fBIsfLn)r7+w);92 z`qfgi*9-R2=fgvD*>j!8E*qhaV9gEL8LMUd9$g*#r$KxJ*3XCyO@wi5R(x@jYro#w zMj^~xHx4I5vFSlh$-&vM;b%=Vt;^{_T%g%mZv=qm-ja>yUuIwG`VRIEFEeDQBt?ZS zpDG|fM;}j!Hc>=EunkdKS1K`Hl4+yVuZ*GZ-vj{8IKnIpx9RM$N~Z0TjYvU1lCexH z)AVK97Fr$h*wM~Wwb_O$=H4hTT-mXzX{SQXszb^Rs^;(VqGD3npwdAAgfroL3NDN8 qfBO1Q!WMn0_@Asx{tu+@v#?6*EEdsJA9C=g0idd=sZb+l8S!6Umjes{ literal 0 HcmV?d00001 diff --git a/test/worlds/include.sdf b/test/worlds/include.sdf index ed6f427d9a..1d00bc2dc0 100644 --- a/test/worlds/include.sdf +++ b/test/worlds/include.sdf @@ -6,7 +6,7 @@ - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/ground plane/1 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/ground plane/1 diff --git a/test/worlds/log_record_resources.sdf b/test/worlds/log_record_resources.sdf index c0e2761c55..2c596b9d9d 100644 --- a/test/worlds/log_record_resources.sdf +++ b/test/worlds/log_record_resources.sdf @@ -56,7 +56,7 @@ false staging_area 0 0 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/X2 Config 1 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/X2 Config 1 diff --git a/test/worlds/save_world.sdf b/test/worlds/save_world.sdf index 055dd32d4e..7919821f10 100644 --- a/test/worlds/save_world.sdf +++ b/test/worlds/save_world.sdf @@ -39,17 +39,17 @@ - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Backpack + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Backpack backpack1 1 0 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Backpack + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Backpack backpack2 1 2 3 0.1 0.2 0.3 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Backpack/2 + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Backpack/2 backpack3 2 0 0 0.1 0.2 0.3 diff --git a/tutorials/battery.md b/tutorials/battery.md index 4b235125c3..aacfaff581 100644 --- a/tutorials/battery.md +++ b/tutorials/battery.md @@ -53,7 +53,7 @@ Next, you can find a description of the SDF parameters used: * ``: Power load on battery (W). -* ``: As reported [here](https://github.com/ignitionrobotics/ign-gazebo/issues/225), +* ``: As reported [here](https://github.com/gazebosim/gz-sim/issues/225), there are some issues affecting batteries in Ignition Blueprint and Citadel. This parameter fixes the issues. Feel free to omit the parameter if you have legacy code and want to preserve the old behavior. diff --git a/tutorials/detachable_joints.md b/tutorials/detachable_joints.md index 70a2456b8d..38f2d0d5a3 100644 --- a/tutorials/detachable_joints.md +++ b/tutorials/detachable_joints.md @@ -8,7 +8,7 @@ kinematic topology has to be a tree, i.e., kinematic loops are not currently supported. This affects the choice of the parent link, and therefore, the parent model, which is the model that contains the `DetachableJoint` system. -For example, [detachable_joint.sdf](https://github.com/ignitionrobotics/ign-gazebo/blob/ign-gazebo2/examples/worlds/detachable_joint.sdf) +For example, [detachable_joint.sdf](https://github.com/gazebosim/gz-sim/blob/ign-gazebo2/examples/worlds/detachable_joint.sdf) demonstrates a four wheel vehicle that holds three objects that are later detached from the vehicle. As seen in this example, the parent model is the vehicle. The kinematic topology is the following. diff --git a/tutorials/distributed_simulation.md b/tutorials/distributed_simulation.md index 5395d72fd1..26918a3671 100644 --- a/tutorials/distributed_simulation.md +++ b/tutorials/distributed_simulation.md @@ -106,7 +106,7 @@ keeps all performers loaded, but performs no physics simulation. Stepping happens in 2 stages: the primary update and the secondaries update, according to the diagram below: - + 1. The primary publishes a `SimulationStep` message on the `/step` topic, containing: diff --git a/tutorials/erb_template.md b/tutorials/erb_template.md index 1814d024dc..b289d5a9d5 100644 --- a/tutorials/erb_template.md +++ b/tutorials/erb_template.md @@ -17,7 +17,7 @@ Some of them are listed below and demonstrated in this [example ERB file](https: ## Set up Ruby Firstly, Ruby needs to be installed. -If you have gone through [Ignition's installation guide](https://ignitionrobotics.org/docs/latest/install), it's most likely you already have Ruby installed. +If you have gone through [Ignition's installation guide](https://gazebosim.org/docs/latest/install), it's most likely you already have Ruby installed. To check if Ruby is installed, use ```{.sh} ruby --version @@ -102,7 +102,7 @@ Each box model also has a different name and pose to ensure they show up as indi %> ``` -[Here](https://github.com/ignitionrobotics/ign-gazebo/blob/main/examples/worlds/shapes_population.sdf.erb) is a complete shapes simulation world example. +[Here](https://github.com/gazebosim/gz-sim/blob/main/examples/worlds/shapes_population.sdf.erb) is a complete shapes simulation world example. Instead of simple shapes, you can also use a nested loop to generate 100 actors spaced out evenly in a simulation world. @@ -116,11 +116,11 @@ Instead of simple shapes, you can also use a nested loop to generate 100 actors - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor/tip/files/meshes/talk_b.dae + https://fuel.gazebosim.org/1.0/Mingfei/models/actor/tip/files/meshes/talk_b.dae 1.0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor/tip/files/meshes/talk_b.dae + https://fuel.gazebosim.org/1.0/Mingfei/models/actor/tip/files/meshes/talk_b.dae 0.055 true diff --git a/tutorials/gui_config.md b/tutorials/gui_config.md index d7cecc59f4..faf7e8ae9c 100644 --- a/tutorials/gui_config.md +++ b/tutorials/gui_config.md @@ -1,9 +1,9 @@ \page gui_config GUI Configuration Ignition Gazebo's graphical user interface is powered by -[Ignition GUI](https://ignitionrobotics.org/libs/gui). Therefore, Gazebo's +[Ignition GUI](https://gazebosim.org/libs/gui). Therefore, Gazebo's GUI layout can be defined in -[Ignition GUI configuration files](https://ignitionrobotics.org/api/gui/2.1/config.html). +[Ignition GUI configuration files](https://gazebosim.org/api/gui/2.1/config.html). These are XML files that describe what plugins to be loaded and with what settings. @@ -104,11 +104,11 @@ favorite editor and save this file as `fuel_preview.sdf`: - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Sun + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sun - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Gazebo + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Gazebo diff --git a/tutorials/levels.md b/tutorials/levels.md index c2f62b8667..f8f1f98df5 100644 --- a/tutorials/levels.md +++ b/tutorials/levels.md @@ -77,7 +77,7 @@ being added and removed. Take a look at the 2D example below. This example focuses on a single performer, but the same logic can be extended to multiple performers. - + * The **green area** represents the area of the world which this simulation is expected to take place in. @@ -115,23 +115,23 @@ Let's take a look at how levels are loaded / unloaded as the performer moves: * `M1` and `M3`, because they belong to the level. * `M6`, because it is global. - + 2. The performer moves south towards `L3` and enters its buffer zone, triggering a load of that level's models, `M4` and `M5`. Note that at this moment, both `L1` and `L3` are loaded. - + 3. The performer moves further south, exiting `L1` and entering `L3`. However, `L1` is still loaded, since `R1` is still within its buffer zone. - + 4. Eventually `R1` moves beyond `L1`'s buffer, triggering an unload of `L1`. The main effect is unloading `M1`. - + ## SDF elements @@ -248,7 +248,7 @@ ign service -s /world/levels/level/set_performer --reqtype ignition.msgs.StringM The following is a world file that could be an instance of the world shown in the figure - + ```xml diff --git a/tutorials/log.md b/tutorials/log.md index 2de76ff76a..fcac96bf70 100644 --- a/tutorials/log.md +++ b/tutorials/log.md @@ -8,7 +8,7 @@ Ignition records two types of information to files: * Always recorded * Simulation state * Entity poses, insertion and deletion - * Logged to an [Ignition Transport `state.tlog` file](https://ignitionrobotics.org/api/transport/7.0/logging.html) + * Logged to an [Ignition Transport `state.tlog` file](https://gazebosim.org/api/transport/7.0/logging.html) * Recording must be enabled from the command line or the C++ API * Can be played back using the command line or the C++ API diff --git a/tutorials/logical_audio_sensor.md b/tutorials/logical_audio_sensor.md index 0a1e776e47..526ece535a 100644 --- a/tutorials/logical_audio_sensor.md +++ b/tutorials/logical_audio_sensor.md @@ -8,7 +8,7 @@ The logical audio plugin does not play actual audio to a device like speakers, b ## Setup -Let's take a look at [logical_audio_sensor_plugin.sdf](https://github.com/ignitionrobotics/ign-gazebo/blob/460d2b1cfbf0addf05a1e61c05e1f7a675a83785/examples/worlds/logical_audio_sensor_plugin.sdf), which defines a simulation world with 4 models (in this case, boxes) that have an audio object attached to them. +Let's take a look at [logical_audio_sensor_plugin.sdf](https://github.com/gazebosim/gz-sim/blob/460d2b1cfbf0addf05a1e61c05e1f7a675a83785/examples/worlds/logical_audio_sensor_plugin.sdf), which defines a simulation world with 4 models (in this case, boxes) that have an audio object attached to them. This world attaches logical audio sources to the `red_box` and `blue_box` models, and attaches logical microphones to the `green_box` and `yellow_box` models. Let's take a look at the SDF relevant to the source for `red_box` to understand how to define a logical audio source in SDF: @@ -30,7 +30,7 @@ Let's take a look at the SDF relevant to the source for `red_box` to understand ``` As we can see, we use a `` tag to define an audio source. -An explanation of all of the tags can be found in the [plugin documentation](https://github.com/ignitionrobotics/ign-gazebo/blob/314477419d2aa946f384204dc99b17d9fcd963b3/src/systems/logical_audio_sensor_plugin/LogicalAudioSensorPlugin.hh#L35-L130), but there are a few important things to point out: +An explanation of all of the tags can be found in the [plugin documentation](https://github.com/gazebosim/gz-sim/blob/314477419d2aa946f384204dc99b17d9fcd963b3/src/systems/logical_audio_sensor_plugin/LogicalAudioSensorPlugin.hh#L35-L130), but there are a few important things to point out: * `` is used to identify this source when operating on it via services (services will be discussed later). Since a model can have multiple sources and microphones attached to it, each source attached to a particular model must have a unique ID. This means that no other sources attached to `red_box` can have an ID of 1, but sources attached to other models can have an ID of 1 (assuming that other models don't already have a source with an ID of 1 attached to it). @@ -55,7 +55,7 @@ Let's now take a look at the SDF relevant to the microphone for `green_box` to u ``` The same rules regarding `` and `` for a logical audio source also apply to a logical microphone. -You can also take a look at the [microphone documentation](https://github.com/ignitionrobotics/ign-gazebo/blob/314477419d2aa946f384204dc99b17d9fcd963b3/src/systems/logical_audio_sensor_plugin/LogicalAudioSensorPlugin.hh#L35-L130) for a detailed explanation of the tags embedded in the `` tag. +You can also take a look at the [microphone documentation](https://github.com/gazebosim/gz-sim/blob/314477419d2aa946f384204dc99b17d9fcd963b3/src/systems/logical_audio_sensor_plugin/LogicalAudioSensorPlugin.hh#L35-L130) for a detailed explanation of the tags embedded in the `` tag. ## Testing Source and Microphone Behavior diff --git a/tutorials/mesh_to_fuel.md b/tutorials/mesh_to_fuel.md index b3667a1353..e543a75f60 100644 --- a/tutorials/mesh_to_fuel.md +++ b/tutorials/mesh_to_fuel.md @@ -1,17 +1,17 @@ \page meshtofuel Importing a Mesh to Fuel -This tutorial will explain how to import a mesh to the [Ignition Fuel](https://app.ignitionrobotics.org) web application. +This tutorial will explain how to import a mesh to the [Ignition Fuel](https://app.gazebosim.org) web application. Adding models and/or worlds to Fuel will make your content readily available to the open source robotics simulation community, and easier to use with the Ignition GUI. ## Prerequisites To import meshes to Fuel, you need to have a user account. -Go to [app.ignitionrobotics.org](https://app.ignitionrobotics.org) and click Login in the top right corner of the screen, then click Sign Up. +Go to [app.gazebosim.org](https://app.gazebosim.org) and click Login in the top right corner of the screen, then click Sign Up. Once you verify your email address, your account will be ready. You'll need a mesh ready before trying to import to Fuel. There are several ways to acquire a mesh. -To save time, we'll use this [Electrical Box model](https://app.ignitionrobotics.org/openrobotics/fuel/models/Electrical%20Box) that you can download from Fuel. +To save time, we'll use this [Electrical Box model](https://app.gazebosim.org/openrobotics/fuel/models/Electrical%20Box) that you can download from Fuel. ## Model Directory Structure @@ -126,17 +126,17 @@ Click the `Add folders` button, or drag and drop the `Electrical Box` folder you All the files in your model description will be listed there. Press `Upload`, and the "Fuel Model Info" page for your model will open. -![Electrical Box Test](https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/main/tutorials/files/mesh_to_fuel/model_info2.png) +![Electrical Box Test](https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/mesh_to_fuel/model_info2.png) You can always delete a model by clicking the "Edit model" button and then selecting "Delete model" at the bottom of the page -![Delete model](https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/main/tutorials/files/mesh_to_fuel/delete2.png) +![Delete model](https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/mesh_to_fuel/delete2.png) ## Include the Model in a World With your mesh successfully uploaded to Fuel, you can now easily include it in a world SDF file. -Copy [this example world code](https://github.com/ignitionrobotics/ign-gazebo/raw/main/examples/worlds/import_mesh.sdf) into a text editor and save it as `import_mesh.sdf`. +Copy [this example world code](https://github.com/gazebosim/gz-sim/raw/main/examples/worlds/import_mesh.sdf) into a text editor and save it as `import_mesh.sdf`. This is a simple world SDF file, which you can learn more about on the [SDF website](http://sdformat.org/). Scroll all the way to the bottom of the file until you see the `include` tag section following the `` comment line. @@ -156,7 +156,7 @@ Scroll all the way to the bottom of the file until you see the `include` tag sec true Electrical Box 0 0 0 0 0 0 - https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Electrical Box + https://fuel.gazebosim.org/1.0/openrobotics/models/Electrical Box @@ -171,7 +171,7 @@ Change `Electrical Box` to `Electrical Box Test`. The syntax for including any model from Fuel is: ```xml -https://fuel.ignitionrobotics.org/1.0//models/ +https://fuel.gazebosim.org/1.0//models/ ``` ### Launch World @@ -182,4 +182,4 @@ To launch the world and see your mesh, run Ignition from inside the directory wh ign gazebo import_mesh.sdf ``` -![Launch sample world with mesh](https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/main/tutorials/files/mesh_to_fuel/launch_world2.png) +![Launch sample world with mesh](https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/mesh_to_fuel/launch_world2.png) diff --git a/tutorials/migrating_ardupilot_plugin.md b/tutorials/migrating_ardupilot_plugin.md index 021ee9adc4..c92a196615 100644 --- a/tutorials/migrating_ardupilot_plugin.md +++ b/tutorials/migrating_ardupilot_plugin.md @@ -22,7 +22,7 @@ documentation](https://ardupilot.org/dev/docs/using-gazebo-simulator-with-sitl.h As context to understand what we're migrating, here's a system diagram for how the ArduPilot Gazebo plugin works is used: - + *UAV icon credit: By Julian Herzog, CC BY 4.0, https://commons.wikimedia.org/w/index.php?curid=60965475* @@ -224,8 +224,8 @@ To better understand the ECS pattern as it is used in Ignition, it's helpful to learn about the EntityComponentManager (ECM), which is responsible for managing the ECS graph. A great resource to understand the logic under the hood of the ECM is the `SdfEntityCreator` class -([header](https://github.com/ignitionrobotics/ign-gazebo/blob/main/include/ignition/gazebo/SdfEntityCreator.hh), -[source](https://github.com/ignitionrobotics/ign-gazebo/blob/main/src/SdfEntityCreator.cc)). +([header](https://github.com/gazebosim/gz-sim/blob/main/include/ignition/gazebo/SdfEntityCreator.hh), +[source](https://github.com/gazebosim/gz-sim/blob/main/src/SdfEntityCreator.cc)). This class is responsible for mapping the content of an SDF file to the entities and components that form the graph handled by the ECM. For example, if you wonder which components can be accessed by default from the plugin, this diff --git a/tutorials/migration_link_api.md b/tutorials/migration_link_api.md index 8a610a9c87..6d6c2d020c 100644 --- a/tutorials/migration_link_api.md +++ b/tutorials/migration_link_api.md @@ -14,7 +14,7 @@ class. If you're trying to use some API which doesn't have an equivalent on Ignition yet, feel free to -[ticket an issue](https://github.com/ignitionrobotics/ign-gazebo/issues/). +[ticket an issue](https://github.com/gazebosim/gz-sim/issues/). ## Link API diff --git a/tutorials/migration_model_api.md b/tutorials/migration_model_api.md index de79a30bc0..a4f6b05cb7 100644 --- a/tutorials/migration_model_api.md +++ b/tutorials/migration_model_api.md @@ -14,7 +14,7 @@ class. If you're trying to use some API which doesn't have an equivalent on Ignition yet, feel free to -[ticket an issue](https://github.com/ignitionrobotics/ign-gazebo/issues/). +[ticket an issue](https://github.com/gazebosim/gz-sim/issues/). ## Model API diff --git a/tutorials/migration_sdf.md b/tutorials/migration_sdf.md index 30d3978bff..d49e0c326e 100644 --- a/tutorials/migration_sdf.md +++ b/tutorials/migration_sdf.md @@ -198,7 +198,7 @@ sure you're loading the correct plugins. Both simulators are installed with several built-in plugins. [Gazebo classic's plugins](https://github.com/osrf/gazebo/tree/gazebo11/plugins) and -[Ignition Gazebo's plugins](https://github.com/ignitionrobotics/ign-gazebo/tree/main/src/systems) +[Ignition Gazebo's plugins](https://github.com/gazebosim/gz-sim/tree/main/src/systems) have different file names. For example, to use Gazebo classic's differential drive plugin, the user can refer to it as follows: diff --git a/tutorials/migration_world_api.md b/tutorials/migration_world_api.md index a377214b35..230bac2dbe 100644 --- a/tutorials/migration_world_api.md +++ b/tutorials/migration_world_api.md @@ -14,7 +14,7 @@ class. If you're trying to use some API which doesn't have an equivalent on Ignition yet, feel free to -[ticket an issue](https://github.com/ignitionrobotics/ign-gazebo/issues/). +[ticket an issue](https://github.com/gazebosim/gz-sim/issues/). ## World API diff --git a/tutorials/physics.md b/tutorials/physics.md index e1cac1a129..42d374e1ac 100644 --- a/tutorials/physics.md +++ b/tutorials/physics.md @@ -2,7 +2,7 @@ Ignition Gazebo supports choosing what physics engine to use at runtime. This is made possible by -[Ignition Physics](https://ignitionrobotics.org/libs/physics)' abstraction +[Ignition Physics](https://gazebosim.org/libs/physics)' abstraction layer. Ignition Gazebo uses the [DART](https://dartsim.github.io/) physics engine @@ -10,7 +10,7 @@ by default. Downstream developers may also integrate other physics engines by creating new Ignition Physics engine plugins. See -[Ignition Physics](https://ignitionrobotics.org/api/physics/2.0/tutorials.html)'s +[Ignition Physics](https://gazebosim.org/api/physics/2.0/tutorials.html)'s tutorials to learn how to integrate a new engine. ## How Gazebo finds engines diff --git a/tutorials/point_cloud_to_mesh.md b/tutorials/point_cloud_to_mesh.md index cd7fff694b..91af03aec4 100644 --- a/tutorials/point_cloud_to_mesh.md +++ b/tutorials/point_cloud_to_mesh.md @@ -20,7 +20,7 @@ After installing, open CloudCompare and import your point cloud file by going to Depending on the number of points in your point cloud, this could take several minutes. Once loaded, you should see the following tunnel section: -![Opening the point cloud](https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/main/tutorials/files/point_cloud_to_mesh/cloudcompare2.png) +![Opening the point cloud](https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/point_cloud_to_mesh/cloudcompare2.png) Many 3D scans will be composed of millions, sometimes hundreds of millions of points. Converting a scan to a 3D model with that many points would be very difficult due to the number of polygons that would be created and the long processing time necessary to compute the normals. @@ -34,13 +34,13 @@ We'll still walk through reducing points, however, to make the process quicker. To reduce the number of points in your cloud, click on the tunnel so a yellow cube outline appears around it, then go to `Edit` > `Subsample`. -![Min. space between points](https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/main/tutorials/files/point_cloud_to_mesh/min_space.png) +![Min. space between points](https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/point_cloud_to_mesh/min_space.png) The number you will need to enter in the `min. space between points` field will vary depending on your point cloud. A value of .01 was sufficient to bring our point cloud to an easy-to-manage 1 million points. Point count is visible in the `Properties` window on the lower left side of the screen. -![Point count of subsample](https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/main/tutorials/files/point_cloud_to_mesh/properties.png) +![Point count of subsample](https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/point_cloud_to_mesh/properties.png) How many points you reduce down to will largely depend on how long you are willing to wait for the point cloud to be converted into a mesh. The more points you start with, the longer it will take to compute the normals and create the mesh. @@ -48,7 +48,7 @@ The more points you start with, the longer it will take to compute the normals a After the operation is complete you’ll have two clouds in your scene: the original point cloud and your subsampled point cloud. Most operations in CloudCompare will create new point clouds and keep the original, so make sure that you have the new point cloud selected before running an operation. -![Selecting the new point cloud](https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/main/tutorials/files/point_cloud_to_mesh/secondcloud.png) +![Selecting the new point cloud](https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/point_cloud_to_mesh/secondcloud.png) ### Create a Polygonal Mesh @@ -59,7 +59,7 @@ A normal is essentially the direction a polygon is facing. To do this, go to `Edit` > `Normals` > `Compute`. You'll see this dialog box: -![Choose Triangulation surface model](https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/main/tutorials/files/point_cloud_to_mesh/compute_normals.png) +![Choose Triangulation surface model](https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/point_cloud_to_mesh/compute_normals.png) You’ll see various options in the dialog box that appears. The main thing you’ll want to consider is what `Local surface model` to use. @@ -72,7 +72,7 @@ Now we get to actually convert our point cloud to a mesh. To do this go to `Plugins` > `PoissonRecon`. You'll see this dialog box: -![Octree depth and output density selection](https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/main/tutorials/files/point_cloud_to_mesh/outputdensity.png) +![Octree depth and output density selection](https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/point_cloud_to_mesh/outputdensity.png) The value you enter in the `Octree depth` field will determine the polygon count of the created model. You may have to run the surface reconstruction a couple times with varying values before you land on a polygon count that is suitable for your needs. @@ -93,18 +93,18 @@ Our tunnel has turned into a blob shape. This is because the mesh that CloudCompare creates will always be water tight even if it has to add polygons where there are no points. We just want our tunnels, though, so we need to remove those unnecessary polygons. -![The blob shape](https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/main/tutorials/files/point_cloud_to_mesh/blob2.png) +![The blob shape](https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/point_cloud_to_mesh/blob2.png) This is where our scalar field comes in. In the mesh's `Properties` window go to `SF display params` and take the left handle in the graph and drag it to the right until it hits the area where the bulk of the scalar field starts. -![Adjusting scalar filed params](https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/main/tutorials/files/point_cloud_to_mesh/sf_display.png) +![Adjusting scalar filed params](https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/point_cloud_to_mesh/sf_display.png) This will display only the polygons that were created from the point cloud and hide the polygons used to make the model watertight. The polygons are only hidden however. We still need to actually remove them. -![Display original polygons](https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/main/tutorials/files/point_cloud_to_mesh/hidden_polygons2.png) +![Display original polygons](https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/point_cloud_to_mesh/hidden_polygons2.png) To remove the hidden polygons go to `Edit` > `Scalar fields` > `Filter By Value`. @@ -113,7 +113,7 @@ Hitting export will simply export the mesh within that range. Instead, we'll hit `Split` to create two meshes. One with the polygons inside our specified range and one containing polygons outside that range. -![Splitting the mesh](https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/main/tutorials/files/point_cloud_to_mesh/split.png) +![Splitting the mesh](https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/point_cloud_to_mesh/split.png) ### The Completed Model @@ -121,6 +121,6 @@ By hitting `Split` we can view the model before exporting by simply going to `Fi Remember to have the correct mesh selected (`.part`) since choosing `Split` will give you two new meshes, plus you will still have your original, complete mesh. Your file format will depend on the software you want to use but `.obj` is a widely supported format that should work in most 3D applications. -![The completed mesh](https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/main/tutorials/files/point_cloud_to_mesh/complete2.png) +![The completed mesh](https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/point_cloud_to_mesh/complete2.png) You can find more information on CloudCompare and a more in depth look at the tools we used in this tutorial on [the CloudCompare website](https://www.cloudcompare.org/) and the [CloudCompare wiki](https://www.cloudcompare.org/doc/wiki/index.php?title=Main_Page). diff --git a/tutorials/rendering_plugins.md b/tutorials/rendering_plugins.md index ead63d9e38..0acc5bd7f5 100644 --- a/tutorials/rendering_plugins.md +++ b/tutorials/rendering_plugins.md @@ -4,11 +4,11 @@ This tutorial will go over how to write Ignition Gazebo plugins that alter the 3D scene's visual appearance using Ignition Rendering APIs. This is not to be confused with integrating a new rendering engine. See -[How to write your own rendering engine plugin](https://ignitionrobotics.org/api/rendering/4.2/renderingplugin.html) +[How to write your own rendering engine plugin](https://gazebosim.org/api/rendering/4.2/renderingplugin.html) for that. This tutorial will go over a couple of example plugins that are located at -https://github.com/ignitionrobotics/ign-gazebo/tree/ign-gazebo6/examples/plugin/rendering_plugins. +https://github.com/gazebosim/gz-sim/tree/ign-gazebo6/examples/plugin/rendering_plugins. ## Scenes @@ -45,10 +45,10 @@ To interact with the server-side scene, you'll need to write an See [Create System Plugins](createsystemplugins.html). To interact with the client-side scene, you'll need to write an -[ignition::gui::Plugin](https://ignitionrobotics.org/api/gui/4.1/classignition_1_1gui_1_1Plugin.html), +[ignition::gui::Plugin](https://gazebosim.org/api/gui/4.1/classignition_1_1gui_1_1Plugin.html), or a more specialized `ignition::gazebo::GuiSystem` if you need to access entities and components. -See the [GUI system plugin example](https://github.com/ignitionrobotics/ign-gazebo/tree/ign-gazebo6/examples/plugin/gui_system_plugin). +See the [GUI system plugin example](https://github.com/gazebosim/gz-sim/tree/main/examples/plugin/gui_system_plugin). ## Getting the scene @@ -72,7 +72,7 @@ different for each plugin type. ### Render events on the GUI The GUI plugin will need to listen to -[ignition::gui::events::Render](https://ignitionrobotics.org/api/gui/4.1/classignition_1_1gui_1_1events_1_1Render.html) +[ignition::gui::events::Render](https://gazebosim.org/api/gui/4.1/classignition_1_1gui_1_1events_1_1Render.html) events. Here's how to do it: 1. Include the GUI events header: @@ -123,7 +123,7 @@ Here's how to do it: ## Running examples Follow the build instructions on the rendering plugins -[README](https://github.com/ignitionrobotics/ign-gazebo/blob/ign-gazebo6/examples/plugin/rendering_plugins) +[README](https://github.com/gazebosim/gz-sim/blob/main/examples/plugin/rendering_plugins) and you'll generate both plugins: * `RenderingGuiPlugin`: GUI plugin that updates the GUI scene's ambient light with a random color at each click. diff --git a/tutorials/resources.md b/tutorials/resources.md index a086a4fba4..9e735f345b 100644 --- a/tutorials/resources.md +++ b/tutorials/resources.md @@ -44,14 +44,14 @@ Ignition will look for system plugins on the following paths, in order: ### Ignition GUI plugins -Each [Ignition GUI](https://ignitionrobotics.org/libs/rendering) plugin +Each [Ignition GUI](https://gazebosim.org/libs/rendering) plugin defines a widget. GUI plugins may be loaded through: * Tags in SDF world files, where `filename` is the shared library: * `` -* Tags in [GUI config files](https://ignitionrobotics.org/api/gui/4.2/config.html), +* Tags in [GUI config files](https://gazebosim.org/api/gui/3.0/config.html), where `filename` is the shared library: * `` * The plugin menu on the top-right of the screen. @@ -59,27 +59,27 @@ GUI plugins may be loaded through: Ignition will look for GUI plugins on the following paths, in order: 1. All paths set on the `IGN_GUI_PLUGIN_PATH` environment variable -2. [GUI plugins that are installed with Ignition Gazebo](https://github.com/ignitionrobotics/ign-gazebo/tree/main/src/gui/plugins) +2. [GUI plugins that are installed with Ignition Gazebo](https://github.com/gazebosim/gz-sim/tree/main/src/gui/plugins) 3. Other paths added by calling `ignition::gui::App()->AddPluginPath` 4. `~/.ignition/gui/plugins` -5. [Plugins which are installed with Ignition GUI](https://ignitionrobotics.org/api/gui/4.2/namespaceignition_1_1gui_1_1plugins.html) +5. [Plugins which are installed with Ignition GUI](https://gazebosim.org/api/gui/4.2/namespaceignition_1_1gui_1_1plugins.html) ### Physics engines -[Ignition Physics](https://ignitionrobotics.org/libs/physics) +[Ignition Physics](https://gazebosim.org/libs/physics) uses a plugin architecture and its physics engines are built as plugins that are loaded at run time using -[Ignition Plugin](https://ignitionrobotics.org/libs/plugin). +[Ignition Plugin](https://gazebosim.org/libs/plugin). See the [Physics engines](physics.html) tutorial for more details. ### Rendering engines -[Ignition Rendering](https://ignitionrobotics.org/libs/rendering) +[Ignition Rendering](https://gazebosim.org/libs/rendering) uses a plugin architecture and its render engines are built as plugins that are loaded at run time using -[Ignition Plugin](https://ignitionrobotics.org/libs/plugin). +[Ignition Plugin](https://gazebosim.org/libs/plugin). At the moment, Ignition Rendering will only look for render engine plugin shared libraries installed within its `/lib` directory. @@ -89,9 +89,9 @@ Rendering's `/share` directory. ### Sensors Each unique type of sensor in -[Ignition Sensors](https://ignitionrobotics.org/libs/sensors) is a plugin. When +[Ignition Sensors](https://gazebosim.org/libs/sensors) is a plugin. When a particular sensor type is requested, the relevant plugin is loaded by -[Ignition Plugin](https://ignitionrobotics.org/libs/plugin) and a +[Ignition Plugin](https://gazebosim.org/libs/plugin) and a sensor object is instantiated from it. At the moment, Ignition Sensors will only look for sensor plugin @@ -119,7 +119,7 @@ Ignition will look for URIs (path / URL) in the following, in order: 1. All paths on the `IGN_GAZEBO_RESOURCE_PATH`\* environment variable (if path is URI, scheme is stripped) 2. Current running path / absolute path -3. [Ignition Fuel](https://app.ignitionrobotics.org/fuel/models) +3. [Ignition Fuel](https://app.gazebosim.org/fuel/models) 1. Cache (i.e. `$HOME/.ignition/fuel`) 2. Web server @@ -147,7 +147,7 @@ Ignition will look for URIs (path / URL) in the following, in order: ### GUI configuration Ignition Gazebo's -[GUI configuration](https://ignitionrobotics.org/api/gui/4.2/config.html) +[GUI configuration](https://gazebosim.org/api/gui/4.2/config.html) can come from the following, in order: 1. The command line option `--gui-config ` diff --git a/tutorials/server_config.md b/tutorials/server_config.md index a9a27830f1..9faab891f6 100644 --- a/tutorials/server_config.md +++ b/tutorials/server_config.md @@ -114,11 +114,11 @@ favorite editor and save this file as `fuel_preview.sdf`: - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Sun + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sun - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Construction Cone + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Construction Cone @@ -182,12 +182,12 @@ Let's start by saving this simple world with a camera sensor as - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Sun + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sun 0 0 1 0 0 0 - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Gazebo + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Gazebo diff --git a/tutorials/terminology.md b/tutorials/terminology.md index 3742a569fe..806ad26f8a 100644 --- a/tutorials/terminology.md +++ b/tutorials/terminology.md @@ -66,7 +66,7 @@ to developers touching the source code. * **[Event manager](classignition_1_1gazebo_1_1EventManager.html)**: Manages events that can be sent across systems and the server. Plugins can create and emit custom - [Event](https://ignitionrobotics.org/api/common/3.0/classignition_1_1common_1_1Event.html)s + [Event](https://gazebosim.org/api/common/3.0/classignition_1_1common_1_1Event.html)s and / or emit / listen to events from Ignition Gazebo. * **Simulation runner**: Runs a whole world or some levels of a world, but no diff --git a/tutorials/test_fixture.md b/tutorials/test_fixture.md index 4b9b5611a4..3ba5b40178 100644 --- a/tutorials/test_fixture.md +++ b/tutorials/test_fixture.md @@ -10,7 +10,7 @@ using Continuous Integration (CI). Gazebo can be used for testing using any testing library. We provide an example of how to setup some test cases using [Google Test](https://github.com/google/googletest) in -[ign-gazebo/examples/standalone/gtest_setup](https://github.com/ignitionrobotics/ign-gazebo/tree/ign-gazebo6/examples/standalone/gtest_setup). +[ign-gazebo/examples/standalone/gtest_setup](https://github.com/gazebosim/gz-sim/tree/ign-gazebo6/examples/standalone/gtest_setup). The instructions on that example's `README` can be followed to compile and run those tests. Also be sure to go through the source code for comments with diff --git a/tutorials/triggered_publisher.md b/tutorials/triggered_publisher.md index ff4759c3ef..c783d428cc 100644 --- a/tutorials/triggered_publisher.md +++ b/tutorials/triggered_publisher.md @@ -16,10 +16,10 @@ Publisher systems can be chained together by showing how the falling of the box can trigger another box to fall. Last, it covers how a service call can be triggered to reset the robot pose. The finished world SDFormat file for this tutorial can be found in -[examples/worlds/triggered_publisher.sdf](https://github.com/ignitionrobotics/ign-gazebo/blob/ign-gazebo2/examples/worlds/triggered_publisher.sdf) +[examples/worlds/triggered_publisher.sdf](https://github.com/gazebosim/gz-sim/blob/ign-gazebo2/examples/worlds/triggered_publisher.sdf) We will use the differential drive vehicle from -[examples/worlds/diff_drive.sdf](https://github.com/ignitionrobotics/ign-gazebo/blob/ign-gazebo2/examples/worlds/diff_drive.sdf), +[examples/worlds/diff_drive.sdf](https://github.com/gazebosim/gz-sim/blob/ign-gazebo2/examples/worlds/diff_drive.sdf), but modify the input topic of the `DiffDrive` system to `cmd_vel`. A snippet of the change to the `DiffDrive` system is shown below: diff --git a/tutorials/video_recorder.md b/tutorials/video_recorder.md index c786dba6d0..dd6f899f9b 100644 --- a/tutorials/video_recorder.md +++ b/tutorials/video_recorder.md @@ -38,7 +38,7 @@ the [GUI Configuration](gui_config.html) tutorial for more information. If you launched Ignition Gazebo with the `video_record_dbl_pendulum.sdf` demo world, the GUI configurations are embedded in the world SDF file so you will need to download a copy of the -[sdf file](https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/main/examples/worlds/video_record_dbl_pendulum.sdf). +[sdf file](https://raw.githubusercontent.com/gazebosim/gz-sim/main/examples/worlds/video_record_dbl_pendulum.sdf). and modify the GUI configuration in that file. On the other hand, if you launched Ignition Gazebo with a world file that does not have GUI configurations, you will need to specify the settings in From 6b103a033f08799fd5f22779d7a687f78e0b99cb Mon Sep 17 00:00:00 2001 From: Steve Peters Date: Thu, 3 Nov 2022 19:14:26 -0700 Subject: [PATCH 23/28] Fix two tests on Windows (#1779) * Fix Server_TEST and remove some ignition:: * Fix SystemLoader_TEST on Windows Use NormalizeDirectoryPath to fix path comparisons. Signed-off-by: Steve Peters --- src/Server_TEST.cc | 14 +++++++------- src/SystemLoader_TEST.cc | 9 +++++---- 2 files changed, 12 insertions(+), 11 deletions(-) diff --git a/src/Server_TEST.cc b/src/Server_TEST.cc index 59879223b5..6a95bf93b9 100644 --- a/src/Server_TEST.cc +++ b/src/Server_TEST.cc @@ -1108,9 +1108,9 @@ TEST_P(ServerFixture, AddResourcePaths) ///////////////////////////////////////////////// TEST_P(ServerFixture, ResolveResourcePaths) { - ignition::common::setenv("IGN_GAZEBO_RESOURCE_PATH", ""); - ignition::common::setenv("SDF_PATH", ""); - ignition::common::setenv("IGN_FILE_PATH", ""); + common::setenv("IGN_GAZEBO_RESOURCE_PATH", ""); + common::setenv("SDF_PATH", ""); + common::setenv("IGN_FILE_PATH", ""); ServerConfig serverConfig; gazebo::Server server(serverConfig); @@ -1143,10 +1143,10 @@ TEST_P(ServerFixture, ResolveResourcePaths) }); // Make sure the resource path is clear - ignition::common::setenv("IGN_GAZEBO_RESOURCE_PATH", ""); + common::setenv("IGN_GAZEBO_RESOURCE_PATH", ""); - // An absolute path should return the same absolute path - test(PROJECT_SOURCE_PATH, PROJECT_SOURCE_PATH, true); + // A valid path should be returned as an absolute path + test(PROJECT_SOURCE_PATH, common::absPath(PROJECT_SOURCE_PATH), true); // An absolute path, with the file:// prefix, should return the absolute path test(std::string("file://") + @@ -1168,7 +1168,7 @@ TEST_P(ServerFixture, ResolveResourcePaths) // The model:// URI should not resolve test("model://include_nested/model.sdf", "", false); - ignition::common::setenv("IGN_GAZEBO_RESOURCE_PATH", + common::setenv("IGN_GAZEBO_RESOURCE_PATH", common::joinPaths(PROJECT_SOURCE_PATH, "test", "worlds", "models")); // The model:// URI should now resolve because the RESOURCE_PATH has been // updated. diff --git a/src/SystemLoader_TEST.cc b/src/SystemLoader_TEST.cc index 8d3882ec35..57832ff421 100644 --- a/src/SystemLoader_TEST.cc +++ b/src/SystemLoader_TEST.cc @@ -21,6 +21,7 @@ #include #include +#include #include "ignition/gazebo/System.hh" #include "ignition/gazebo/SystemLoader.hh" @@ -93,13 +94,13 @@ TEST(SystemLoader, PluginPaths) for (const auto &s : paths) { // the returned path string may not be exact match due to extra '/' - // appended at the end of the string. So use absPath to generate - // a path string that matches the format returned by joinPaths - if (common::absPath(s) == testBuildPath) + // appended at the end of the string. So use NormalizeDirectoryPath + if (common::SystemPaths::NormalizeDirectoryPath(s) == + common::SystemPaths::NormalizeDirectoryPath(testBuildPath)) { hasPath = true; break; } } - EXPECT_TRUE(hasPath); + EXPECT_TRUE(hasPath) << testBuildPath; } From 3c06d743cdc59f510b0eda3ab4926cf64a215aeb Mon Sep 17 00:00:00 2001 From: Michael Carroll Date: Fri, 4 Nov 2022 10:21:24 -0500 Subject: [PATCH 24/28] =?UTF-8?q?=F0=9F=8E=88=206.13.0=20(#1781)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Michael Carroll --- CMakeLists.txt | 2 +- Changelog.md | 65 ++++++++++++++++++++++++++++++++++++++++++++++++++ 2 files changed, 66 insertions(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index c97405df04..d2cb82ef15 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR) #============================================================================ # Initialize the project #============================================================================ -project(ignition-gazebo6 VERSION 6.12.0) +project(ignition-gazebo6 VERSION 6.13.0) set (GZ_DISTRIBUTION "Fortress") #============================================================================ diff --git a/Changelog.md b/Changelog.md index 3e0257d495..c69829ad8c 100644 --- a/Changelog.md +++ b/Changelog.md @@ -1,5 +1,70 @@ ## Ignition Gazebo 6.x +### Gazebo Sim 6.13.0 (2022-11-04) + +1. Fix two tests on Windows + * [Pull request #1779](https://github.com/gazebosim/ign-gazebo/pull/1779) + +1. 3 to 6 20221013 + * [Pull request #1762](https://github.com/gazebosim/ign-gazebo/pull/1762) + +1. Some minor changes to hydrodynamic flags test + * [Pull request #1772](https://github.com/gazebosim/ign-gazebo/pull/1772) + +1. Fix thruster integration test + * [Pull request #1767](https://github.com/gazebosim/ign-gazebo/pull/1767) + +1. Fix scene_broadcaster_system test + * [Pull request #1766](https://github.com/gazebosim/ign-gazebo/pull/1766) + +1. Script and tutorial for generating procedural datasets with Blender + * [Pull request #1412](https://github.com/gazebosim/ign-gazebo/pull/1412) + +1. Enable use of ign gazebo -s on Windows (take two) + * [Pull request #1764](https://github.com/gazebosim/ign-gazebo/pull/1764) + +1. Removed unused speedlimit file + * [Pull request #1761](https://github.com/gazebosim/ign-gazebo/pull/1761) + +1. Fortress: Removed warnings + * [Pull request #1754](https://github.com/gazebosim/ign-gazebo/pull/1754) + +1. Enable/Disable individual hydrodynamic components. + * [Pull request #1692](https://github.com/gazebosim/ign-gazebo/pull/1692) + +1. Adding thrust coefficient calculation + * [Pull request #1652](https://github.com/gazebosim/ign-gazebo/pull/1652) + +1. Restore Add System GUI plugin + * [Pull request #1685](https://github.com/gazebosim/ign-gazebo/pull/1685) + +1. Return absolute path when finding a resource + * [Pull request #1741](https://github.com/gazebosim/ign-gazebo/pull/1741) + +1. Adds sky cubemap URI to the sky.proto's header + * [Pull request #1739](https://github.com/gazebosim/ign-gazebo/pull/1739) + +1. Update triggered_publisher.sdf + * [Pull request #1737](https://github.com/gazebosim/ign-gazebo/pull/1737) + +1. Add ResourceSpawner example file + * [Pull request #1701](https://github.com/gazebosim/ign-gazebo/pull/1701) + +1. Enable inherited model topic name. + * [Pull request #1689](https://github.com/gazebosim/ign-gazebo/pull/1689) + +1. Fix loading render engine plugins in GUI + * [Pull request #1694](https://github.com/gazebosim/ign-gazebo/pull/1694) + +1. Add a service to trigger functionality + * [Pull request #1611](https://github.com/gazebosim/ign-gazebo/pull/1611) + +1. Fix installation instructions on Ubuntu 22.04 + * [Pull request #1686](https://github.com/gazebosim/ign-gazebo/pull/1686) + +1. Fix reference link in ackermann steering + * [Pull request #1683](https://github.com/gazebosim/ign-gazebo/pull/1683) + ### Gazebo Sim 6.12.0 (2022-08-30) 1. Add topic parameter to thrust plugin From 25ba1ce99f7a2f798f705998d712000cbf553ff8 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Marko=20Kri=C5=BEman=C4=8Di=C4=87?= Date: Tue, 8 Nov 2022 23:48:51 +0100 Subject: [PATCH 25/28] Fix minor bugs in RFComms plugin (#1743) * Add more info to "bitrate limited" messages Signed-off-by: Marko Krizmancic * Fix variance and stddev usage in RFComms Input configuration for RFComms plugin takes sigma (standard deviation) for parametrizing normal distribution. The structure for holding distribution parameters (RFPower) is defined with mean and *variance*. So, in initialization, sigma squared should be given to the RFPower struct. Signed-off-by: Marko Krizmancic * Fix the running window of sent bytes in RFComms Because of the wrong comparison, the calculation of total bytes sent in one epoch may include one message extra, resulting in larger number of bytes sent than the actual. Signed-off-by: Marko Krizmancic * Fix the running window of received bytes in RFComms Signed-off-by: Marko Krizmancic * Fix message size calculation in RFComms Signed-off-by: Marko Krizmancic * Fix max line length limitation Signed-off-by: Marko Krizmancic --- src/systems/rf_comms/RFComms.cc | 29 ++++++++++++++++------------- 1 file changed, 16 insertions(+), 13 deletions(-) diff --git a/src/systems/rf_comms/RFComms.cc b/src/systems/rf_comms/RFComms.cc index c18cb6b20f..2ec1444cd0 100644 --- a/src/systems/rf_comms/RFComms.cc +++ b/src/systems/rf_comms/RFComms.cc @@ -128,6 +128,9 @@ struct RadioState /// \brief Accumulation of bytes received in an epoch. uint64_t bytesReceivedThisEpoch = 0; + + /// \brief Name of the model associated with the radio. + std::string name; }; /// \brief Type for holding RF power as a Normally distributed random variable. @@ -234,7 +237,7 @@ RFPower RFComms::Implementation::LogNormalReceivedPower( const double kPL = this->rangeConfig.l0 + 10 * this->rangeConfig.fadingExponent * log10(kRange); - return {_txPower - kPL, this->rangeConfig.sigma}; + return {_txPower - kPL, pow(this->rangeConfig.sigma, 2.)}; } ///////////////////////////////////////////// @@ -245,7 +248,7 @@ std::tuple RFComms::Implementation::AttemptSend( // Maintain running window of bytes sent over the last epoch, e.g., 1s. while (!_txState.bytesSent.empty() && - _txState.bytesSent.front().first < now - this->epochDuration) + _txState.bytesSent.front().first <= now - this->epochDuration) { _txState.bytesSentThisEpoch -= _txState.bytesSent.front().second; _txState.bytesSent.pop_front(); @@ -262,8 +265,10 @@ std::tuple RFComms::Implementation::AttemptSend( // Check current epoch bitrate vs capacity and fail to send accordingly if (bitsSent > this->radioConfig.capacity * this->epochDuration) { - ignwarn << "Bitrate limited: " << bitsSent << "bits sent (limit: " - << this->radioConfig.capacity * this->epochDuration << std::endl; + ignwarn << "Bitrate limited: [" << _txState.name << "] " << bitsSent + << " bits sent (limit: " + << this->radioConfig.capacity * this->epochDuration << ")" + << std::endl; return std::make_tuple(false, std::numeric_limits::lowest()); } @@ -303,7 +308,7 @@ std::tuple RFComms::Implementation::AttemptSend( // Maintain running window of bytes received over the last epoch, e.g., 1s. while (!_rxState.bytesReceived.empty() && - _rxState.bytesReceived.front().first < now - this->epochDuration) + _rxState.bytesReceived.front().first <= now - this->epochDuration) { _rxState.bytesReceivedThisEpoch -= _rxState.bytesReceived.front().second; _rxState.bytesReceived.pop_front(); @@ -320,9 +325,10 @@ std::tuple RFComms::Implementation::AttemptSend( // Check current epoch bitrate vs capacity and fail to send accordingly. if (bitsReceived > this->radioConfig.capacity * this->epochDuration) { - // ignwarn << "Bitrate limited: " << bitsReceived - // << "bits received (limit: " - // << this->radioConfig.capacity * this->epochDuration << std::endl; + ignwarn << "Bitrate limited: [" << _rxState.name << "] " << bitsReceived + << " bits received (limit: " + << this->radioConfig.capacity * this->epochDuration << ")" + << std::endl; return std::make_tuple(false, std::numeric_limits::lowest()); } @@ -421,6 +427,7 @@ void RFComms::Step( this->dataPtr->radioStates[address].pose = kPose; this->dataPtr->radioStates[address].timeStamp = std::chrono::duration(_info.simTime).count(); + this->dataPtr->radioStates[address].name = content.modelName; } } @@ -442,11 +449,7 @@ void RFComms::Step( continue; auto [sendPacket, rssi] = this->dataPtr->AttemptSend( -#if GOOGLE_PROTOBUF_VERSION < 3004001 - itSrc->second, itDst->second, msg->ByteSize()); -#else - itSrc->second, itDst->second, msg->ByteSizeLong()); -#endif + itSrc->second, itDst->second, msg->data().size()); if (sendPacket) { From 216d5a5103cf3925b00dd009ffbf757a7f460fe8 Mon Sep 17 00:00:00 2001 From: Arjo Chakravarty Date: Wed, 9 Nov 2022 21:11:58 +0800 Subject: [PATCH 26/28] Addresses flakiness in `Hydrodynamics.VelocityTestInOil`. (#1787) This PR adjusts the hydrodynamics tests so they are abit less flaky. Currently, it seems like the test checks if one item falls faster than another. However due to the inherent parrallelism, it seems like on different computers the balls start falling at different times. This means the 4 time steps we wait for may not be enough for a difference in velocity to appear. I suspect we no longer need to disable this test on windows. Signed-off-by: Arjo Chakravarty --- test/integration/hydrodynamics.cc | 26 ++++++++++++++++---------- test/worlds/hydrodynamics.sdf | 8 -------- 2 files changed, 16 insertions(+), 18 deletions(-) diff --git a/test/integration/hydrodynamics.cc b/test/integration/hydrodynamics.cc index cfcab01f93..aeb29dc2da 100644 --- a/test/integration/hydrodynamics.cc +++ b/test/integration/hydrodynamics.cc @@ -120,6 +120,8 @@ TEST_F(HydrodynamicsTest, VelocityTestinOil) auto sphere1Vels = this->TestWorld(world, "sphere1"); auto sphere2Vels = this->TestWorld(world, "sphere2"); + auto whenSphere1ExceedsSphere2Vel = 2000; + for (unsigned int i = 0; i < 1000; ++i) { // Sanity check @@ -128,19 +130,23 @@ TEST_F(HydrodynamicsTest, VelocityTestinOil) EXPECT_FLOAT_EQ(0.0, sphere2Vels[i].X()); EXPECT_FLOAT_EQ(0.0, sphere2Vels[i].Y()); - // Wait a couple of iterations for the body to move - if(i > 4) + // Expect sphere1 to fall faster than sphere 2 as no hydro + // drag is applied to it. + EXPECT_LE(sphere1Vels[i].Z(), sphere2Vels[i].Z()); + if(sphere1Vels[i].Z() < sphere2Vels[i].Z() + && whenSphere1ExceedsSphere2Vel > 1000) + { + // Mark this as the time when velocity of sphere1 exceeds sphere 2 + whenSphere1ExceedsSphere2Vel = i; + } + if (i > 900) { - EXPECT_LT(sphere1Vels[i].Z(), sphere2Vels[i].Z()); - - if (i > 900) - { - // Expect for the velocity to stabilize - EXPECT_NEAR(sphere1Vels[i-1].Z(), sphere1Vels[i].Z(), 1e-6); - EXPECT_NEAR(sphere2Vels[i-1].Z(), sphere2Vels[i].Z(), 1e-6); - } + // Expect for the velocity to stabilize + EXPECT_NEAR(sphere1Vels[i-1].Z(), sphere1Vels[i].Z(), 1e-6); + EXPECT_NEAR(sphere2Vels[i-1].Z(), sphere2Vels[i].Z(), 1e-6); } } + EXPECT_LT(whenSphere1ExceedsSphere2Vel, 500); } ///////////////////////////////////////////////// diff --git a/test/worlds/hydrodynamics.sdf b/test/worlds/hydrodynamics.sdf index 234d6314ea..7fc4790c84 100644 --- a/test/worlds/hydrodynamics.sdf +++ b/test/worlds/hydrodynamics.sdf @@ -15,14 +15,6 @@ filename="ignition-gazebo-physics-system" name="ignition::gazebo::systems::Physics"> - - - - true From 78b66994bbef46d0d03917e935effe8886107343 Mon Sep 17 00:00:00 2001 From: Nate Koenig Date: Fri, 11 Nov 2022 16:39:14 -0800 Subject: [PATCH 27/28] Address merge issues Signed-off-by: Nate Koenig --- Changelog.md | 2056 +++++++++-------- .../JointPositionController.cc | 2 +- .../plugins/scene_manager/GzSceneManager.cc | 6 - src/systems/physics/Physics.cc | 4 +- test/integration/level_manager.cc | 14 +- test/integration/sdf_include.cc | 2 +- test/worlds/diff_drive_no_plugin.sdf | 8 +- test/worlds/include.sdf | 2 +- 8 files changed, 1042 insertions(+), 1052 deletions(-) diff --git a/Changelog.md b/Changelog.md index 5f6176636f..dd0a808ba3 100644 --- a/Changelog.md +++ b/Changelog.md @@ -721,1880 +721,1880 @@ 1. Set simulation time to Rendering * [Pull request #1415](https://github.com/gazebosim/gz-sim/pull/1415) -### Ignition Gazebo 6.9.0 (2022-04-14) +### Gazebo Sim 6.9.0 (2022-04-14) 1. Add new `RFComms` system - * [Pull request #1428](https://github.com/ignitionrobotics/ign-gazebo/pull/1428) + * [Pull request #1428](https://github.com/gazebosim/gz-sim/pull/1428) 1. Add comms infrastructure - * [Pull request #1416](https://github.com/ignitionrobotics/ign-gazebo/pull/1416) + * [Pull request #1416](https://github.com/gazebosim/gz-sim/pull/1416) 1. Fix CMake version examples and bump plugin version - * [Pull request #1442](https://github.com/ignitionrobotics/ign-gazebo/pull/1442) + * [Pull request #1442](https://github.com/gazebosim/gz-sim/pull/1442) 1. Make sure pose publisher creates valid pose topics - * [Pull request #1433](https://github.com/ignitionrobotics/ign-gazebo/pull/1433) + * [Pull request #1433](https://github.com/gazebosim/gz-sim/pull/1433) 1. Add Ubuntu Jammy CI - * [Pull request #1418](https://github.com/ignitionrobotics/ign-gazebo/pull/1418) + * [Pull request #1418](https://github.com/gazebosim/gz-sim/pull/1418) 1. Removed `screenToPlane` method and use `rendering::screenToPlane` - * [Pull request #1432](https://github.com/ignitionrobotics/ign-gazebo/pull/1432) + * [Pull request #1432](https://github.com/gazebosim/gz-sim/pull/1432) 1. Supply world frame orientation and heading to IMU sensor (#1427) - * [Pull request #1427](https://github.com/ignitionrobotics/ign-gazebo/pull/1427) + * [Pull request #1427](https://github.com/gazebosim/gz-sim/pull/1427) 1. Add desktop entry and SVG logo - * [Pull request #1411](https://github.com/ignitionrobotics/ign-gazebo/pull/1411) - * [Pull request #1430](https://github.com/ignitionrobotics/ign-gazebo/pull/1430) + * [Pull request #1411](https://github.com/gazebosim/gz-sim/pull/1411) + * [Pull request #1430](https://github.com/gazebosim/gz-sim/pull/1430) 1. Fix segfault at exit - * [Pull request #1317](https://github.com/ignitionrobotics/ign-gazebo/pull/1317) + * [Pull request #1317](https://github.com/gazebosim/gz-sim/pull/1317) 1. Add Gaussian noise to Odometry Publisher - * [Pull request #1393](https://github.com/ignitionrobotics/ign-gazebo/pull/1393) + * [Pull request #1393](https://github.com/gazebosim/gz-sim/pull/1393) -### Ignition Gazebo 6.8.0 (2022-04-04) +### Gazebo Sim 6.8.0 (2022-04-04) 1. ServerConfig accepts an sdf::Root DOM object - * [Pull request #1333](https://github.com/ignitionrobotics/ign-gazebo/pull/1333) + * [Pull request #1333](https://github.com/gazebosim/gz-sim/pull/1333) 1. Disable sensors in sensors system when battery is drained - * [Pull request #1385](https://github.com/ignitionrobotics/ign-gazebo/pull/1385) + * [Pull request #1385](https://github.com/gazebosim/gz-sim/pull/1385) 1. Referring to Fuel assets within a heightmap - * [Pull request #1419](https://github.com/ignitionrobotics/ign-gazebo/pull/1419) + * [Pull request #1419](https://github.com/gazebosim/gz-sim/pull/1419) 1. Add the Model Photo Shoot system, port of Modelpropshop plugin from Gazebo classic - * [Pull request #1331](https://github.com/ignitionrobotics/ign-gazebo/pull/1331) + * [Pull request #1331](https://github.com/gazebosim/gz-sim/pull/1331) 1. Distortion camera integration test - * [Pull request #1374](https://github.com/ignitionrobotics/ign-gazebo/pull/1374) + * [Pull request #1374](https://github.com/gazebosim/gz-sim/pull/1374) 1. Add wheel slip user command - * [Pull request #1241](https://github.com/ignitionrobotics/ign-gazebo/pull/1241) + * [Pull request #1241](https://github.com/gazebosim/gz-sim/pull/1241) 1. SceneBroadcaster: only send changed state information for change events - * [Pull request #1392](https://github.com/ignitionrobotics/ign-gazebo/pull/1392) + * [Pull request #1392](https://github.com/gazebosim/gz-sim/pull/1392) 1. Fortress: Install Ogre 2.2, simplify docker - * [Pull request #1395](https://github.com/ignitionrobotics/ign-gazebo/pull/1395) + * [Pull request #1395](https://github.com/gazebosim/gz-sim/pull/1395) 1. Disable tests that are expected to fail on Windows - * [Pull request #1408](https://github.com/ignitionrobotics/ign-gazebo/pull/1408) + * [Pull request #1408](https://github.com/gazebosim/gz-sim/pull/1408) 1. Added user command to set multiple entities - * [Pull request #1394](https://github.com/ignitionrobotics/ign-gazebo/pull/1394) + * [Pull request #1394](https://github.com/gazebosim/gz-sim/pull/1394) 1. Fix JointStatePublisher topic name for nested models - * [Pull request #1405](https://github.com/ignitionrobotics/ign-gazebo/pull/1405) + * [Pull request #1405](https://github.com/gazebosim/gz-sim/pull/1405) 1. add initial_position param to joint controller system - * [Pull request #1406](https://github.com/ignitionrobotics/ign-gazebo/pull/1406) + * [Pull request #1406](https://github.com/gazebosim/gz-sim/pull/1406) 1. Component inspector: refactor Pose3d C++ code into a separate class - * [Pull request #1400](https://github.com/ignitionrobotics/ign-gazebo/pull/1400) + * [Pull request #1400](https://github.com/gazebosim/gz-sim/pull/1400) 1. Prevent hanging when world has only non-world plugins - * [Pull request #1383](https://github.com/ignitionrobotics/ign-gazebo/pull/1383) + * [Pull request #1383](https://github.com/gazebosim/gz-sim/pull/1383) 1. Toggle Light visuals - * [Pull request #1387](https://github.com/ignitionrobotics/ign-gazebo/pull/1387) + * [Pull request #1387](https://github.com/gazebosim/gz-sim/pull/1387) 1. Disable PeerTracker.PeerTrackerStale on macOS - * [Pull request #1398](https://github.com/ignitionrobotics/ign-gazebo/pull/1398) + * [Pull request #1398](https://github.com/gazebosim/gz-sim/pull/1398) 1. Disable ModelCommandAPI_TEST.RgbdCameraSensor on macOS - * [Pull request #1397](https://github.com/ignitionrobotics/ign-gazebo/pull/1397) + * [Pull request #1397](https://github.com/gazebosim/gz-sim/pull/1397) 1. Don't mark entities with a ComponentState::NoChange component as modified - * [Pull request #1391](https://github.com/ignitionrobotics/ign-gazebo/pull/1391) + * [Pull request #1391](https://github.com/gazebosim/gz-sim/pull/1391) 1. Add gazebo Entity id to rendering sensor's user data - * [Pull request #1381](https://github.com/ignitionrobotics/ign-gazebo/pull/1381) + * [Pull request #1381](https://github.com/gazebosim/gz-sim/pull/1381) 1. Allow to turn on/off lights - * [Pull request #1343](https://github.com/ignitionrobotics/ign-gazebo/pull/1343) + * [Pull request #1343](https://github.com/gazebosim/gz-sim/pull/1343) 1. Added headless rendering tutorial - * [Pull request #1386](https://github.com/ignitionrobotics/ign-gazebo/pull/1386) + * [Pull request #1386](https://github.com/gazebosim/gz-sim/pull/1386) 1. Add xyz and rpy offset to published odometry pose - * [Pull request #1341](https://github.com/ignitionrobotics/ign-gazebo/pull/1341) + * [Pull request #1341](https://github.com/gazebosim/gz-sim/pull/1341) 1. Fix visualization python tutorial - * [Pull request #1377](https://github.com/ignitionrobotics/ign-gazebo/pull/1377) + * [Pull request #1377](https://github.com/gazebosim/gz-sim/pull/1377) 1. Populate GUI plugins that are empty - * [Pull request #1375](https://github.com/ignitionrobotics/ign-gazebo/pull/1375) + * [Pull request #1375](https://github.com/gazebosim/gz-sim/pull/1375) -### Ignition Gazebo 6.7.0 (2022-02-24) +### Gazebo Sim 6.7.0 (2022-02-24) -1. Added Python interfaces to some Ignition Gazebo methods - * [Pull request #1219](https://github.com/ignitionrobotics/ign-gazebo/pull/1219) +1. Added Python interfaces to some Gazebo Sim methods + * [Pull request #1219](https://github.com/gazebosim/gz-sim/pull/1219) 1. Use pose multiplication instead of addition - * [Pull request #1369](https://github.com/ignitionrobotics/ign-gazebo/pull/1369) + * [Pull request #1369](https://github.com/gazebosim/gz-sim/pull/1369) 1. Disables Failing Buoyancy Tests on Win32 - * [Pull request #1368](https://github.com/ignitionrobotics/ign-gazebo/pull/1368) + * [Pull request #1368](https://github.com/gazebosim/gz-sim/pull/1368) 1. Extend ShaderParam system to support loading different shader languages - * [Pull request #1335](https://github.com/ignitionrobotics/ign-gazebo/pull/1335) + * [Pull request #1335](https://github.com/gazebosim/gz-sim/pull/1335) 1. Populate names of colliding entities in contact points message - * [Pull request #1351](https://github.com/ignitionrobotics/ign-gazebo/pull/1351) + * [Pull request #1351](https://github.com/gazebosim/gz-sim/pull/1351) 1. Refactor System functionality into SystemManager - * [Pull request #1340](https://github.com/ignitionrobotics/ign-gazebo/pull/1340) + * [Pull request #1340](https://github.com/gazebosim/gz-sim/pull/1340) 1. GzSceneManager: Prevent crash boom when inserted from menu - * [Pull request #1371](https://github.com/ignitionrobotics/ign-gazebo/pull/1371) + * [Pull request #1371](https://github.com/gazebosim/gz-sim/pull/1371) -### Ignition Gazebo 6.6.0 (2022-02-24) +### Gazebo Sim 6.6.0 (2022-02-24) 1. Fix accessing empty JointPosition component in lift drag plugin - * [Pull request #1366](https://github.com/ignitionrobotics/ign-gazebo/pull/1366) + * [Pull request #1366](https://github.com/gazebosim/gz-sim/pull/1366) 1. Add parameter to TrajectoryFollower stop rotation when bearing is reached - * [Pull request #1349](https://github.com/ignitionrobotics/ign-gazebo/pull/1349) + * [Pull request #1349](https://github.com/gazebosim/gz-sim/pull/1349) 1. Support disabling pose publisher from publishing top level model pose - * [Pull request #1342](https://github.com/ignitionrobotics/ign-gazebo/pull/1342) + * [Pull request #1342](https://github.com/gazebosim/gz-sim/pull/1342) 1. Added more sensor properties to scene/info topic - * [Pull request #1344](https://github.com/ignitionrobotics/ign-gazebo/pull/1344) + * [Pull request #1344](https://github.com/gazebosim/gz-sim/pull/1344) 1. Adding ability to pause/resume the trajectory follower behavior. - * [Pull request #1347](https://github.com/ignitionrobotics/ign-gazebo/pull/1347) + * [Pull request #1347](https://github.com/gazebosim/gz-sim/pull/1347) 1. Logs a warning if a mode is not clearly sepecified. - * [Pull request #1307](https://github.com/ignitionrobotics/ign-gazebo/pull/1307) + * [Pull request #1307](https://github.com/gazebosim/gz-sim/pull/1307) 1. JointStatePublisher publish parent, child and axis data - * [Pull request #1345](https://github.com/ignitionrobotics/ign-gazebo/pull/1345) + * [Pull request #1345](https://github.com/gazebosim/gz-sim/pull/1345) 1. Fixed light gui component inspector - * [Pull request #1337](https://github.com/ignitionrobotics/ign-gazebo/pull/1337) + * [Pull request #1337](https://github.com/gazebosim/gz-sim/pull/1337) 1. Fix UNIT_SdfGenerator_TEST - * [Pull request #1319](https://github.com/ignitionrobotics/ign-gazebo/pull/1319) + * [Pull request #1319](https://github.com/gazebosim/gz-sim/pull/1319) 1. Add elevator system - * [Pull request #535](https://github.com/ignitionrobotics/ign-gazebo/pull/535) + * [Pull request #535](https://github.com/gazebosim/gz-sim/pull/535) 1. Removed unused variables in shapes plugin - * [Pull request #1321](https://github.com/ignitionrobotics/ign-gazebo/pull/1321) + * [Pull request #1321](https://github.com/gazebosim/gz-sim/pull/1321) -### Ignition Gazebo 6.5.0 (2022-02-15) +### Gazebo Sim 6.5.0 (2022-02-15) 1. New trajectory follower system - * [Pull request #1332](https://github.com/ignitionrobotics/ign-gazebo/pull/1332) + * [Pull request #1332](https://github.com/gazebosim/gz-sim/pull/1332) 1. Extend ShaderParam system to support textures - * [Pull request #1310](https://github.com/ignitionrobotics/ign-gazebo/pull/1310) + * [Pull request #1310](https://github.com/gazebosim/gz-sim/pull/1310) 1. Adds a `Link::SetLinearVelocity()` method - * [Pull request #1323](https://github.com/ignitionrobotics/ign-gazebo/pull/1323) + * [Pull request #1323](https://github.com/gazebosim/gz-sim/pull/1323) 1. Fix weird indentation in `Link.hh` - * [Pull request #1324](https://github.com/ignitionrobotics/ign-gazebo/pull/1324) + * [Pull request #1324](https://github.com/gazebosim/gz-sim/pull/1324) 1. Limit thruster system's input thrust cmd - * [Pull request #1318](https://github.com/ignitionrobotics/ign-gazebo/pull/1318) + * [Pull request #1318](https://github.com/gazebosim/gz-sim/pull/1318) 1. Load and run visual plugin (system) on GUI side - * [Pull request #1275](https://github.com/ignitionrobotics/ign-gazebo/pull/1275) + * [Pull request #1275](https://github.com/gazebosim/gz-sim/pull/1275) 1. Log an error if JointPositionController cannot find the joint. (citadel retarget) - * [Pull request #1314](https://github.com/ignitionrobotics/ign-gazebo/pull/1314) + * [Pull request #1314](https://github.com/gazebosim/gz-sim/pull/1314) 1. Update source install instructions - * [Pull request #1311](https://github.com/ignitionrobotics/ign-gazebo/pull/1311) + * [Pull request #1311](https://github.com/gazebosim/gz-sim/pull/1311) 1. Document the `` option for JointPositionController. - * [Pull request #1309](https://github.com/ignitionrobotics/ign-gazebo/pull/1309) + * [Pull request #1309](https://github.com/gazebosim/gz-sim/pull/1309) 1. Fix typo in EntityComponentManager - * [Pull request #1304](https://github.com/ignitionrobotics/ign-gazebo/pull/1304) + * [Pull request #1304](https://github.com/gazebosim/gz-sim/pull/1304) 1. Buoyancy: fix center of volume's reference frame - * [Pull request #1302](https://github.com/ignitionrobotics/ign-gazebo/pull/1302) + * [Pull request #1302](https://github.com/gazebosim/gz-sim/pull/1302) 1. Fix graded buoyancy problems - * [Pull request #1297](https://github.com/ignitionrobotics/ign-gazebo/pull/1297) + * [Pull request #1297](https://github.com/gazebosim/gz-sim/pull/1297) 1. Add surface to buoyancy engine. (retarget fortress) - * [Pull request #1298](https://github.com/ignitionrobotics/ign-gazebo/pull/1298) + * [Pull request #1298](https://github.com/gazebosim/gz-sim/pull/1298) 1. Remove EachNew calls from sensor PreUpdates - * [Pull request #1281](https://github.com/ignitionrobotics/ign-gazebo/pull/1281) + * [Pull request #1281](https://github.com/gazebosim/gz-sim/pull/1281) 1. Prevent GzScene3D 💥 if another scene is already loaded - * [Pull request #1294](https://github.com/ignitionrobotics/ign-gazebo/pull/1294) + * [Pull request #1294](https://github.com/gazebosim/gz-sim/pull/1294) 1. Fix various typos on API documentation - * [Pull request #1291](https://github.com/ignitionrobotics/ign-gazebo/pull/1291) + * [Pull request #1291](https://github.com/gazebosim/gz-sim/pull/1291) 1. Optional orientation when spawning entity using spherical coordinates - * [Pull request #1263](https://github.com/ignitionrobotics/ign-gazebo/pull/1263) + * [Pull request #1263](https://github.com/gazebosim/gz-sim/pull/1263) 1. Cleanup update call for non-rendering sensors - * [Pull request #1282](https://github.com/ignitionrobotics/ign-gazebo/pull/1282) + * [Pull request #1282](https://github.com/gazebosim/gz-sim/pull/1282) 1. Documentation Error - * [Pull request #1285](https://github.com/ignitionrobotics/ign-gazebo/pull/1285) + * [Pull request #1285](https://github.com/gazebosim/gz-sim/pull/1285) 1. Min and max parameters for velocity, acceleration, and jerk apply to linear and angular separately. - * [Pull request #1229](https://github.com/ignitionrobotics/ign-gazebo/pull/1229) + * [Pull request #1229](https://github.com/gazebosim/gz-sim/pull/1229) 1. Add project() call to examples - * [Pull request #1274](https://github.com/ignitionrobotics/ign-gazebo/pull/1274) + * [Pull request #1274](https://github.com/gazebosim/gz-sim/pull/1274) 1. Implement /server_control::stop - * [Pull request #1240](https://github.com/ignitionrobotics/ign-gazebo/pull/1240) + * [Pull request #1240](https://github.com/gazebosim/gz-sim/pull/1240) -### Ignition Gazebo 6.4.0 (2021-01-13) +### Gazebo Sim 6.4.0 (2021-01-13) 1. Disable more tests on Windows - * [Pull request #1286](https://github.com/ignitionrobotics/ign-gazebo/pull/1286) + * [Pull request #1286](https://github.com/gazebosim/gz-sim/pull/1286) 1. Adding angular acceleration to the Link class - * [Pull request #1288](https://github.com/ignitionrobotics/ign-gazebo/pull/1288) + * [Pull request #1288](https://github.com/gazebosim/gz-sim/pull/1288) 1. Add world force - * [Pull request #1279](https://github.com/ignitionrobotics/ign-gazebo/pull/1279) + * [Pull request #1279](https://github.com/gazebosim/gz-sim/pull/1279) 1. Add NavSat sensor (GPS) - * [Pull request #1248](https://github.com/ignitionrobotics/ign-gazebo/pull/1248) + * [Pull request #1248](https://github.com/gazebosim/gz-sim/pull/1248) 1. Light Commands via topic - * [Pull request #1222](https://github.com/ignitionrobotics/ign-gazebo/pull/1222) + * [Pull request #1222](https://github.com/gazebosim/gz-sim/pull/1222) 1. Support battery draining start via topics - * [Pull request #1255](https://github.com/ignitionrobotics/ign-gazebo/pull/1255) + * [Pull request #1255](https://github.com/gazebosim/gz-sim/pull/1255) 1. Add visibility to ModelEditorAddEntity to fix Windows - * [Pull request #1246](https://github.com/ignitionrobotics/ign-gazebo/pull/1246) + * [Pull request #1246](https://github.com/gazebosim/gz-sim/pull/1246) 1. Make tests run as fast as possible - * [Pull request #1194](https://github.com/ignitionrobotics/ign-gazebo/pull/1194) + * [Pull request #1194](https://github.com/gazebosim/gz-sim/pull/1194) 1. Fix visualize lidar - * [Pull request #1224](https://github.com/ignitionrobotics/ign-gazebo/pull/1224) + * [Pull request #1224](https://github.com/gazebosim/gz-sim/pull/1224) 1. Disable user commands light test on macOS - * [Pull request #1204](https://github.com/ignitionrobotics/ign-gazebo/pull/1204) + * [Pull request #1204](https://github.com/gazebosim/gz-sim/pull/1204) 1. Skip failing Windows tests - * [Pull request #1205](https://github.com/ignitionrobotics/ign-gazebo/pull/1205) + * [Pull request #1205](https://github.com/gazebosim/gz-sim/pull/1205) -### Ignition Gazebo 6.3.0 (2021-12-10) +### Gazebo Sim 6.3.0 (2021-12-10) 1. View entity frames from the GUI - * [Pull request #1105](https://github.com/ignitionrobotics/ign-gazebo/pull/1105) + * [Pull request #1105](https://github.com/gazebosim/gz-sim/pull/1105) 1. Model editor - * [Pull request #1231](https://github.com/ignitionrobotics/ign-gazebo/pull/1231) + * [Pull request #1231](https://github.com/gazebosim/gz-sim/pull/1231) 1. Send state message when components are removed - * [Pull request #1235](https://github.com/ignitionrobotics/ign-gazebo/pull/1235) + * [Pull request #1235](https://github.com/gazebosim/gz-sim/pull/1235) 1. Docker fixes for Fortress - * [Pull request #1238](https://github.com/ignitionrobotics/ign-gazebo/pull/1238) + * [Pull request #1238](https://github.com/gazebosim/gz-sim/pull/1238) 1. Added sensor plugin to be able to visualize camera in `plane_propeller_demo.sdf` - * [Pull request #1226](https://github.com/ignitionrobotics/ign-gazebo/pull/1226) + * [Pull request #1226](https://github.com/gazebosim/gz-sim/pull/1226) 1. Update SdfGenerator to save link and sensor data to file - * [Pull request #1201](https://github.com/ignitionrobotics/ign-gazebo/pull/1201) + * [Pull request #1201](https://github.com/gazebosim/gz-sim/pull/1201) 1. Fix buoyancy not being applied for one iteration - * [Pull request #1211](https://github.com/ignitionrobotics/ign-gazebo/pull/1211) + * [Pull request #1211](https://github.com/gazebosim/gz-sim/pull/1211) 1. Increase maximum values in ViewAngle widget and increase its size - * [Pull request #1221](https://github.com/ignitionrobotics/ign-gazebo/pull/1221) - * [Pull request #1239](https://github.com/ignitionrobotics/ign-gazebo/pull/1239) + * [Pull request #1221](https://github.com/gazebosim/gz-sim/pull/1221) + * [Pull request #1239](https://github.com/gazebosim/gz-sim/pull/1239) 1. Fix the force-torque sensor update rate - * [Pull request #1159](https://github.com/ignitionrobotics/ign-gazebo/pull/1159) + * [Pull request #1159](https://github.com/gazebosim/gz-sim/pull/1159) -### Ignition Gazebo 6.2.0 (2021-11-16) +### Gazebo Sim 6.2.0 (2021-11-16) 1. Configurable joint state publisher's topic - * [Pull request #1076](https://github.com/ignitionrobotics/ign-gazebo/pull/1076) + * [Pull request #1076](https://github.com/gazebosim/gz-sim/pull/1076) 1. Thruster plugin: add tests and velocity control - * [Pull request #1190](https://github.com/ignitionrobotics/ign-gazebo/pull/1190) + * [Pull request #1190](https://github.com/gazebosim/gz-sim/pull/1190) 1. Prevent creation of spurious `` elements when saving worlds - * [Pull request #1192](https://github.com/ignitionrobotics/ign-gazebo/pull/1192) + * [Pull request #1192](https://github.com/gazebosim/gz-sim/pull/1192) 1. Add `sdfString` to `ServerConfig`'s copy constructor. - * [Pull request #1185](https://github.com/ignitionrobotics/ign-gazebo/pull/1185) + * [Pull request #1185](https://github.com/gazebosim/gz-sim/pull/1185) 1. Added support for tracked vehicles - * [Pull request #869](https://github.com/ignitionrobotics/ign-gazebo/pull/869) + * [Pull request #869](https://github.com/gazebosim/gz-sim/pull/869) 1. Add components to dynamically set joint limits - * [Pull request #847](https://github.com/ignitionrobotics/ign-gazebo/pull/847) + * [Pull request #847](https://github.com/gazebosim/gz-sim/pull/847) 1. Remove bounding box when entities are removed - * [Pull request #1053](https://github.com/ignitionrobotics/ign-gazebo/pull/1053) - * [Pull request #1213](https://github.com/ignitionrobotics/ign-gazebo/pull/1213) + * [Pull request #1053](https://github.com/gazebosim/gz-sim/pull/1053) + * [Pull request #1213](https://github.com/gazebosim/gz-sim/pull/1213) 1. Fix updating component from state - * [Pull request #1181](https://github.com/ignitionrobotics/ign-gazebo/pull/1181) + * [Pull request #1181](https://github.com/gazebosim/gz-sim/pull/1181) 1. Extend odom publisher to allow 3D - * [Pull request #1180](https://github.com/ignitionrobotics/ign-gazebo/pull/1180) + * [Pull request #1180](https://github.com/gazebosim/gz-sim/pull/1180) 1. Support copy/paste - * [Pull request #1013](https://github.com/ignitionrobotics/ign-gazebo/pull/1013) + * [Pull request #1013](https://github.com/gazebosim/gz-sim/pull/1013) 1. Tweaks install instructions - * [Pull request #1078](https://github.com/ignitionrobotics/ign-gazebo/pull/1078) + * [Pull request #1078](https://github.com/gazebosim/gz-sim/pull/1078) 1. Publish 10 world stats msgs/sec instead of 5 - * [Pull request #1163](https://github.com/ignitionrobotics/ign-gazebo/pull/1163) + * [Pull request #1163](https://github.com/gazebosim/gz-sim/pull/1163) 1. Add functionality to add entities via the entity tree - * [Pull request #1101](https://github.com/ignitionrobotics/ign-gazebo/pull/1101) + * [Pull request #1101](https://github.com/gazebosim/gz-sim/pull/1101) 1. Get updated GUI ECM info when a user presses 'play' - * [Pull request #1109](https://github.com/ignitionrobotics/ign-gazebo/pull/1109) + * [Pull request #1109](https://github.com/gazebosim/gz-sim/pull/1109) 1. Create expanding type header to reduce code duplication - * [Pull request #1169](https://github.com/ignitionrobotics/ign-gazebo/pull/1169) + * [Pull request #1169](https://github.com/gazebosim/gz-sim/pull/1169) 1. `minimal_scene.sdf` example: add `camera_clip` params - * [Pull request #1166](https://github.com/ignitionrobotics/ign-gazebo/pull/1166) + * [Pull request #1166](https://github.com/gazebosim/gz-sim/pull/1166) 1. Sensor systems work if loaded after sensors - * [Pull request #1104](https://github.com/ignitionrobotics/ign-gazebo/pull/1104) + * [Pull request #1104](https://github.com/gazebosim/gz-sim/pull/1104) -1. Support printing sensors using `ign model` - * [Pull request #1157](https://github.com/ignitionrobotics/ign-gazebo/pull/1157) +1. Support printing sensors using `gz model` + * [Pull request #1157](https://github.com/gazebosim/gz-sim/pull/1157) 1. Set camera clipping plane distances from the GUI - * [Pull request #1162](https://github.com/ignitionrobotics/ign-gazebo/pull/1162) + * [Pull request #1162](https://github.com/gazebosim/gz-sim/pull/1162) 1. Fix generation of systems library symlinks in build directory - * [Pull request #1160](https://github.com/ignitionrobotics/ign-gazebo/pull/1160) + * [Pull request #1160](https://github.com/gazebosim/gz-sim/pull/1160) 1. Add a default value for `isHeadlessRendering`. - * [Pull request #1151](https://github.com/ignitionrobotics/ign-gazebo/pull/1151) + * [Pull request #1151](https://github.com/gazebosim/gz-sim/pull/1151) 1. Component inspector 1. Edit material colors - * [Pull request #1123](https://github.com/ignitionrobotics/ign-gazebo/pull/1123) - * [Pull request #1186](https://github.com/ignitionrobotics/ign-gazebo/pull/1186) + * [Pull request #1123](https://github.com/gazebosim/gz-sim/pull/1123) + * [Pull request #1186](https://github.com/gazebosim/gz-sim/pull/1186) 1. Fix integers and floats - * [Pull request #1143](https://github.com/ignitionrobotics/ign-gazebo/pull/1143) + * [Pull request #1143](https://github.com/gazebosim/gz-sim/pull/1143) 1. Prevent a segfault when updating - * [Pull request #1167](https://github.com/ignitionrobotics/ign-gazebo/pull/1167) + * [Pull request #1167](https://github.com/gazebosim/gz-sim/pull/1167) 1. Use `uint64_t` for Entity IDs - * [Pull request #1144](https://github.com/ignitionrobotics/ign-gazebo/pull/1144) + * [Pull request #1144](https://github.com/gazebosim/gz-sim/pull/1144) 1. Support setting the background color for sensors - * [Pull request #1147](https://github.com/ignitionrobotics/ign-gazebo/pull/1147) + * [Pull request #1147](https://github.com/gazebosim/gz-sim/pull/1147) 1. Select top level entity not visual - * [Pull request #1150](https://github.com/ignitionrobotics/ign-gazebo/pull/1150) + * [Pull request #1150](https://github.com/gazebosim/gz-sim/pull/1150) 1. Update create entity offset on GUI side - * [Pull request #1145](https://github.com/ignitionrobotics/ign-gazebo/pull/1145) + * [Pull request #1145](https://github.com/gazebosim/gz-sim/pull/1145) 1. Update Select Entities GUI plugin to use Entity type - * [Pull request #1146](https://github.com/ignitionrobotics/ign-gazebo/pull/1146) + * [Pull request #1146](https://github.com/gazebosim/gz-sim/pull/1146) 1. Notify other GUI plugins of added/removed entities via GUI events - * [Pull request #1138](https://github.com/ignitionrobotics/ign-gazebo/pull/1138) - * [Pull request #1213](https://github.com/ignitionrobotics/ign-gazebo/pull/1213) + * [Pull request #1138](https://github.com/gazebosim/gz-sim/pull/1138) + * [Pull request #1213](https://github.com/gazebosim/gz-sim/pull/1213) -### Ignition Gazebo 6.1.0 (2021-10-25) +### Gazebo Sim 6.1.0 (2021-10-25) 1. Updates to camera video record from subt - * [Pull request #1117](https://github.com/ignitionrobotics/ign-gazebo/pull/1117) + * [Pull request #1117](https://github.com/gazebosim/gz-sim/pull/1117) 1. Use the actor tension parameter - * [Pull request #1091](https://github.com/ignitionrobotics/ign-gazebo/pull/1091) + * [Pull request #1091](https://github.com/gazebosim/gz-sim/pull/1091) 1. Better protect this->dataPtr->initialized with renderMutex. - * [Pull request #1119](https://github.com/ignitionrobotics/ign-gazebo/pull/1119) + * [Pull request #1119](https://github.com/gazebosim/gz-sim/pull/1119) 1. Use QTimer to update plugins in the Qt thread - * [Pull request #1095](https://github.com/ignitionrobotics/ign-gazebo/pull/1095) + * [Pull request #1095](https://github.com/gazebosim/gz-sim/pull/1095) 1. Adjust pose decimals based on element width - * [Pull request #1089](https://github.com/ignitionrobotics/ign-gazebo/pull/1089) + * [Pull request #1089](https://github.com/gazebosim/gz-sim/pull/1089) 1. JointPositionController: Improve misleading error message - * [Pull request #1098](https://github.com/ignitionrobotics/ign-gazebo/pull/1098) + * [Pull request #1098](https://github.com/gazebosim/gz-sim/pull/1098) 1. Fixed IMU system plugin - * [Pull request #1043](https://github.com/ignitionrobotics/ign-gazebo/pull/1043) + * [Pull request #1043](https://github.com/gazebosim/gz-sim/pull/1043) 1. Prevent crash and print error - * [Pull request #1099](https://github.com/ignitionrobotics/ign-gazebo/pull/1099) + * [Pull request #1099](https://github.com/gazebosim/gz-sim/pull/1099) 1. Create GUI config folder before copying config - * [Pull request #1092](https://github.com/ignitionrobotics/ign-gazebo/pull/1092) + * [Pull request #1092](https://github.com/gazebosim/gz-sim/pull/1092) 1. Add support for configuring point size in Visualize Lidar GUI plugin - * [Pull request #1021](https://github.com/ignitionrobotics/ign-gazebo/pull/1021) + * [Pull request #1021](https://github.com/gazebosim/gz-sim/pull/1021) 1. Set a cloned joint's parent/child link names to the cloned parent/child link names - * [Pull request #1075](https://github.com/ignitionrobotics/ign-gazebo/pull/1075) + * [Pull request #1075](https://github.com/gazebosim/gz-sim/pull/1075) 1. Performance: use std::unordered_map where possible in SceneManager - * [Pull request #1083](https://github.com/ignitionrobotics/ign-gazebo/pull/1083) + * [Pull request #1083](https://github.com/gazebosim/gz-sim/pull/1083) 1. Fix transform controls - * [Pull request #1081](https://github.com/ignitionrobotics/ign-gazebo/pull/1081) + * [Pull request #1081](https://github.com/gazebosim/gz-sim/pull/1081) 1. Fix View Angle's home button - * [Pull request #1082](https://github.com/ignitionrobotics/ign-gazebo/pull/1082) + * [Pull request #1082](https://github.com/gazebosim/gz-sim/pull/1082) 1. Fix light control standalone example - * [Pull request #1077](https://github.com/ignitionrobotics/ign-gazebo/pull/1077) + * [Pull request #1077](https://github.com/gazebosim/gz-sim/pull/1077) 1. Parse new param for enabling / disabling IMU orientation output - * [Pull request #899](https://github.com/ignitionrobotics/ign-gazebo/pull/899) + * [Pull request #899](https://github.com/gazebosim/gz-sim/pull/899) -### Ignition Gazebo 6.0.0 (2021-10-01) +### Gazebo Sim 6.0.0 (2021-10-01) 1. Deprecated GzScene3D in favor of MinimalScene - * [Pull request #1065](https://github.com/ignitionrobotics/ign-gazebo/pull/1065) - * [Pull request #1051](https://github.com/ignitionrobotics/ign-gazebo/pull/1051) - * [Pull request #1014](https://github.com/ignitionrobotics/ign-gazebo/pull/1014) - * [Pull request #1034](https://github.com/ignitionrobotics/ign-gazebo/pull/1034) - * [Pull request #900](https://github.com/ignitionrobotics/ign-gazebo/pull/900) - * [Pull request #988](https://github.com/ignitionrobotics/ign-gazebo/pull/988) - * [Pull request #1016](https://github.com/ignitionrobotics/ign-gazebo/pull/1016) - * [Pull request #983](https://github.com/ignitionrobotics/ign-gazebo/pull/983) - * [Pull request #854](https://github.com/ignitionrobotics/ign-gazebo/pull/854) - * [Pull request #813](https://github.com/ignitionrobotics/ign-gazebo/pull/813) - * [Pull request #905](https://github.com/ignitionrobotics/ign-gazebo/pull/905) + * [Pull request #1065](https://github.com/gazebosim/gz-sim/pull/1065) + * [Pull request #1051](https://github.com/gazebosim/gz-sim/pull/1051) + * [Pull request #1014](https://github.com/gazebosim/gz-sim/pull/1014) + * [Pull request #1034](https://github.com/gazebosim/gz-sim/pull/1034) + * [Pull request #900](https://github.com/gazebosim/gz-sim/pull/900) + * [Pull request #988](https://github.com/gazebosim/gz-sim/pull/988) + * [Pull request #1016](https://github.com/gazebosim/gz-sim/pull/1016) + * [Pull request #983](https://github.com/gazebosim/gz-sim/pull/983) + * [Pull request #854](https://github.com/gazebosim/gz-sim/pull/854) + * [Pull request #813](https://github.com/gazebosim/gz-sim/pull/813) + * [Pull request #905](https://github.com/gazebosim/gz-sim/pull/905) 1. Fix GuiRunner initial state and entity spawn timing issue - * [Pull request #1073](https://github.com/ignitionrobotics/ign-gazebo/pull/1073) + * [Pull request #1073](https://github.com/gazebosim/gz-sim/pull/1073) 1. Buoyancy plugin upgrade - * [Pull request #818](https://github.com/ignitionrobotics/ign-gazebo/pull/818) - * [Pull request #1067](https://github.com/ignitionrobotics/ign-gazebo/pull/1067) - * [Pull request #1064](https://github.com/ignitionrobotics/ign-gazebo/pull/1064) + * [Pull request #818](https://github.com/gazebosim/gz-sim/pull/818) + * [Pull request #1067](https://github.com/gazebosim/gz-sim/pull/1067) + * [Pull request #1064](https://github.com/gazebosim/gz-sim/pull/1064) -1. Fix non desired window opening alongside ignition GUI - * [Pull request #1063](https://github.com/ignitionrobotics/ign-gazebo/pull/1063) +1. Fix non desired window opening alongside Gazebo GUI + * [Pull request #1063](https://github.com/gazebosim/gz-sim/pull/1063) 1. Documentation - * [Pull request #1074](https://github.com/ignitionrobotics/ign-gazebo/pull/1074) - * [Pull request #996](https://github.com/ignitionrobotics/ign-gazebo/pull/996) + * [Pull request #1074](https://github.com/gazebosim/gz-sim/pull/1074) + * [Pull request #996](https://github.com/gazebosim/gz-sim/pull/996) 1. Update to latest SDFormat changes - * [Pull request #1069](https://github.com/ignitionrobotics/ign-gazebo/pull/1069) - * [Pull request #1023](https://github.com/ignitionrobotics/ign-gazebo/pull/1023) + * [Pull request #1069](https://github.com/gazebosim/gz-sim/pull/1069) + * [Pull request #1023](https://github.com/gazebosim/gz-sim/pull/1023) 1. Suppress missing canonical link error messages for static models - * [Pull request #1068](https://github.com/ignitionrobotics/ign-gazebo/pull/1068) + * [Pull request #1068](https://github.com/gazebosim/gz-sim/pull/1068) 1. Heightmap fixes - * [Pull request #1055](https://github.com/ignitionrobotics/ign-gazebo/pull/1055) - * [Pull request #1054](https://github.com/ignitionrobotics/ign-gazebo/pull/1054) + * [Pull request #1055](https://github.com/gazebosim/gz-sim/pull/1055) + * [Pull request #1054](https://github.com/gazebosim/gz-sim/pull/1054) 1. Place config files in a versioned directory - * [Pull request #1050](https://github.com/ignitionrobotics/ign-gazebo/pull/1050) - * [Pull request #1070](https://github.com/ignitionrobotics/ign-gazebo/pull/1070) + * [Pull request #1050](https://github.com/gazebosim/gz-sim/pull/1050) + * [Pull request #1070](https://github.com/gazebosim/gz-sim/pull/1070) 1. Fix GUI crash when accessing bad rendering UserData - * [Pull request #1052](https://github.com/ignitionrobotics/ign-gazebo/pull/1052) + * [Pull request #1052](https://github.com/gazebosim/gz-sim/pull/1052) 1. Fix performance issue with contact data and AABB updates - * [Pull request #1048](https://github.com/ignitionrobotics/ign-gazebo/pull/1048) + * [Pull request #1048](https://github.com/gazebosim/gz-sim/pull/1048) 1. Enable new policy to fix protobuf compilation errors - * [Pull request #1046](https://github.com/ignitionrobotics/ign-gazebo/pull/1046) + * [Pull request #1046](https://github.com/gazebosim/gz-sim/pull/1046) 1. Support locked entities, and headless video recording using sim time - * [Pull request #862](https://github.com/ignitionrobotics/ign-gazebo/pull/862) + * [Pull request #862](https://github.com/gazebosim/gz-sim/pull/862) 1. Label Component & System, segmentation camera support - * [Pull request #853](https://github.com/ignitionrobotics/ign-gazebo/pull/853) - * [Pull request #1047](https://github.com/ignitionrobotics/ign-gazebo/pull/1047) + * [Pull request #853](https://github.com/gazebosim/gz-sim/pull/853) + * [Pull request #1047](https://github.com/gazebosim/gz-sim/pull/1047) 1. Joint Force-Torque Systems Plugin - * [Pull request #977](https://github.com/ignitionrobotics/ign-gazebo/pull/977) + * [Pull request #977](https://github.com/gazebosim/gz-sim/pull/977) 1. Add support for cloning entities - * [Pull request #959](https://github.com/ignitionrobotics/ign-gazebo/pull/959) + * [Pull request #959](https://github.com/gazebosim/gz-sim/pull/959) 1. 🌐 Spherical coordinates - * [Pull request #1008](https://github.com/ignitionrobotics/ign-gazebo/pull/1008) + * [Pull request #1008](https://github.com/gazebosim/gz-sim/pull/1008) 1. Populate JointConstraintWrench from physics - * [Pull request #989](https://github.com/ignitionrobotics/ign-gazebo/pull/989) + * [Pull request #989](https://github.com/gazebosim/gz-sim/pull/989) 1. Buoyancy engine - * [Pull request #1009](https://github.com/ignitionrobotics/ign-gazebo/pull/1009) + * [Pull request #1009](https://github.com/gazebosim/gz-sim/pull/1009) 1. Infrastructure - * [Pull request #1033](https://github.com/ignitionrobotics/ign-gazebo/pull/1033) - * [Pull request #1029](https://github.com/ignitionrobotics/ign-gazebo/pull/1029) - * [Pull request #991](https://github.com/ignitionrobotics/ign-gazebo/pull/991) - * [Pull request #809](https://github.com/ignitionrobotics/ign-gazebo/pull/809) + * [Pull request #1033](https://github.com/gazebosim/gz-sim/pull/1033) + * [Pull request #1029](https://github.com/gazebosim/gz-sim/pull/1029) + * [Pull request #991](https://github.com/gazebosim/gz-sim/pull/991) + * [Pull request #809](https://github.com/gazebosim/gz-sim/pull/809) 1. Update on resize instead of pre-render / render - * [Pull request #1028](https://github.com/ignitionrobotics/ign-gazebo/pull/1028) + * [Pull request #1028](https://github.com/gazebosim/gz-sim/pull/1028) 1. Add a flag to force headless rendering mode - * [Pull request #701](https://github.com/ignitionrobotics/ign-gazebo/pull/701) + * [Pull request #701](https://github.com/gazebosim/gz-sim/pull/701) -1. Remove unused ignition gui header - * [Pull request #1026](https://github.com/ignitionrobotics/ign-gazebo/pull/1026) +1. Remove unused Gazebo GUI header + * [Pull request #1026](https://github.com/gazebosim/gz-sim/pull/1026) 1. Adds velocity control to JointPositionController. - * [Pull request #1003](https://github.com/ignitionrobotics/ign-gazebo/pull/1003) + * [Pull request #1003](https://github.com/gazebosim/gz-sim/pull/1003) 1. Collada world exporter now exporting lights - * [Pull request #912](https://github.com/ignitionrobotics/ign-gazebo/pull/912) + * [Pull request #912](https://github.com/gazebosim/gz-sim/pull/912) 1. Workaround for setting visual cast shadows without material - * [Pull request #1015](https://github.com/ignitionrobotics/ign-gazebo/pull/1015) + * [Pull request #1015](https://github.com/gazebosim/gz-sim/pull/1015) 1. Fix selection buffer crash on resize - * [Pull request #969](https://github.com/ignitionrobotics/ign-gazebo/pull/969) + * [Pull request #969](https://github.com/gazebosim/gz-sim/pull/969) 1. Remove extra xml version line in pendulum_links example world - * [Pull request #1002](https://github.com/ignitionrobotics/ign-gazebo/pull/1002) + * [Pull request #1002](https://github.com/gazebosim/gz-sim/pull/1002) 1. Enable sensor metrics on example worlds - * [Pull request #982](https://github.com/ignitionrobotics/ign-gazebo/pull/982) + * [Pull request #982](https://github.com/gazebosim/gz-sim/pull/982) 1. Add ESC to unselect entities in select entities plugin - * [Pull request #995](https://github.com/ignitionrobotics/ign-gazebo/pull/995) + * [Pull request #995](https://github.com/gazebosim/gz-sim/pull/995) 1. Visualize joints - * [Pull request #961](https://github.com/ignitionrobotics/ign-gazebo/pull/961) + * [Pull request #961](https://github.com/gazebosim/gz-sim/pull/961) 1. Deprecate particle emitter, and use scatter ratio in new particle mes… - * [Pull request #986](https://github.com/ignitionrobotics/ign-gazebo/pull/986) + * [Pull request #986](https://github.com/gazebosim/gz-sim/pull/986) 1. Removed unused variable in Shapes plugin - * [Pull request #984](https://github.com/ignitionrobotics/ign-gazebo/pull/984) + * [Pull request #984](https://github.com/gazebosim/gz-sim/pull/984) 1. Use root.Model() - * [Pull request #980](https://github.com/ignitionrobotics/ign-gazebo/pull/980) + * [Pull request #980](https://github.com/gazebosim/gz-sim/pull/980) 1. Add ModelSDF serializer - * [Pull request #851](https://github.com/ignitionrobotics/ign-gazebo/pull/851) + * [Pull request #851](https://github.com/gazebosim/gz-sim/pull/851) 1. Entity tree: prevent creation of repeated entity items - * [Pull request #974](https://github.com/ignitionrobotics/ign-gazebo/pull/974) + * [Pull request #974](https://github.com/gazebosim/gz-sim/pull/974) 1. Use statically-typed views for better performance - * [Pull request #856](https://github.com/ignitionrobotics/ign-gazebo/pull/856) - * [Pull request #1001](https://github.com/ignitionrobotics/ign-gazebo/pull/1001) + * [Pull request #856](https://github.com/gazebosim/gz-sim/pull/856) + * [Pull request #1001](https://github.com/gazebosim/gz-sim/pull/1001) -1. Upgrade ign-sensors and support custom sensors - * [Pull request #617](https://github.com/ignitionrobotics/ign-gazebo/pull/617) +1. Upgrade gz-sensors and support custom sensors + * [Pull request #617](https://github.com/gazebosim/gz-sim/pull/617) 1. Fix entity creation console msg - * [Pull request #972](https://github.com/ignitionrobotics/ign-gazebo/pull/972) + * [Pull request #972](https://github.com/gazebosim/gz-sim/pull/972) 1. Fix crash in the follow_actor example - * [Pull request #958](https://github.com/ignitionrobotics/ign-gazebo/pull/958) + * [Pull request #958](https://github.com/gazebosim/gz-sim/pull/958) 1. Removed pose topic from log system - * [Pull request #839](https://github.com/ignitionrobotics/ign-gazebo/pull/839) + * [Pull request #839](https://github.com/gazebosim/gz-sim/pull/839) 1. Be more specific when looking for physics plugins - * [Pull request #965](https://github.com/ignitionrobotics/ign-gazebo/pull/965) + * [Pull request #965](https://github.com/gazebosim/gz-sim/pull/965) 1. Complaint if Joint doesn't exists before adding joint controller - * [Pull request #786](https://github.com/ignitionrobotics/ign-gazebo/pull/786) + * [Pull request #786](https://github.com/gazebosim/gz-sim/pull/786) 1. [DiffDrive] add enable/disable - * [Pull request #772](https://github.com/ignitionrobotics/ign-gazebo/pull/772) + * [Pull request #772](https://github.com/gazebosim/gz-sim/pull/772) 1. Fix component inspector shutdown crash - * [Pull request #724](https://github.com/ignitionrobotics/ign-gazebo/pull/724) + * [Pull request #724](https://github.com/gazebosim/gz-sim/pull/724) 1. Setting the intiial velocity for a model or joint - * [Pull request #693](https://github.com/ignitionrobotics/ign-gazebo/pull/693) + * [Pull request #693](https://github.com/gazebosim/gz-sim/pull/693) 1. Examples and tutorial on using rendering API from plugins - * [Pull request #596](https://github.com/ignitionrobotics/ign-gazebo/pull/596) + * [Pull request #596](https://github.com/gazebosim/gz-sim/pull/596) -1. Add missing IGNITION_GAZEBO_VISIBLE macros - * [Pull request #563](https://github.com/ignitionrobotics/ign-gazebo/pull/563) +1. Add missing GZ_SIM_VISIBLE macros + * [Pull request #563](https://github.com/gazebosim/gz-sim/pull/563) 1. Fix visibility macro names when used by a different component (Windows) - * [Pull request #564](https://github.com/ignitionrobotics/ign-gazebo/pull/564) + * [Pull request #564](https://github.com/gazebosim/gz-sim/pull/564) 1. No install apt recommends and clear cache - * [Pull request #423](https://github.com/ignitionrobotics/ign-gazebo/pull/423) + * [Pull request #423](https://github.com/gazebosim/gz-sim/pull/423) 1. Support adding systems that don't come from a plugin - * [Pull request #936](https://github.com/ignitionrobotics/ign-gazebo/pull/936) + * [Pull request #936](https://github.com/gazebosim/gz-sim/pull/936) 1. Fix tests that use multiple root level models or lights - * [Pull request #931](https://github.com/ignitionrobotics/ign-gazebo/pull/931) + * [Pull request #931](https://github.com/gazebosim/gz-sim/pull/931) -1. Make Gazebo aware of SetCameraPassCountPerGpuFlush - * [Pull request #921](https://github.com/ignitionrobotics/ign-gazebo/pull/921) +1. Make Gazebo Sim aware of SetCameraPassCountPerGpuFlush + * [Pull request #921](https://github.com/gazebosim/gz-sim/pull/921) 1. Visualize center of mass - * [Pull request #903](https://github.com/ignitionrobotics/ign-gazebo/pull/903) + * [Pull request #903](https://github.com/gazebosim/gz-sim/pull/903) 1. Transparent mode - * [Pull request #878](https://github.com/ignitionrobotics/ign-gazebo/pull/878) + * [Pull request #878](https://github.com/gazebosim/gz-sim/pull/878) 1. Visualize inertia - * [Pull request #861](https://github.com/ignitionrobotics/ign-gazebo/pull/861) + * [Pull request #861](https://github.com/gazebosim/gz-sim/pull/861) 1. Remove deprecations: tock 🕑 - * [Pull request #875](https://github.com/ignitionrobotics/ign-gazebo/pull/875) + * [Pull request #875](https://github.com/gazebosim/gz-sim/pull/875) -1. Removed and moved tape measure and grid config to ign-gui - * [Pull request #870](https://github.com/ignitionrobotics/ign-gazebo/pull/870) +1. Removed and moved tape measure and grid config to gz-gui + * [Pull request #870](https://github.com/gazebosim/gz-sim/pull/870) 1. Update wireframe visualization to support nested models - * [Pull request #832](https://github.com/ignitionrobotics/ign-gazebo/pull/832) + * [Pull request #832](https://github.com/gazebosim/gz-sim/pull/832) 1. Multi-LRAUV Swimming Race Example - * [Pull request #841](https://github.com/ignitionrobotics/ign-gazebo/pull/841) + * [Pull request #841](https://github.com/gazebosim/gz-sim/pull/841) 1. Add view control gui plugin and support orthographic view - * [Pull request #815](https://github.com/ignitionrobotics/ign-gazebo/pull/815) + * [Pull request #815](https://github.com/gazebosim/gz-sim/pull/815) 1. Wireframe mode - * [Pull request #816](https://github.com/ignitionrobotics/ign-gazebo/pull/816) + * [Pull request #816](https://github.com/gazebosim/gz-sim/pull/816) 1. Explain why detail::View symbols are visible - * [Pull request #788](https://github.com/ignitionrobotics/ign-gazebo/pull/788) + * [Pull request #788](https://github.com/gazebosim/gz-sim/pull/788) 1. Bump dependencies in fortress - * [Pull request #764](https://github.com/ignitionrobotics/ign-gazebo/pull/764) + * [Pull request #764](https://github.com/gazebosim/gz-sim/pull/764) -## Ignition Gazebo 5.x +## Gazebo Sim 5.x -### Ignition Gazebo 5.4.0 (2022-03-31) +### Gazebo Sim 5.4.0 (2022-03-31) 1. Add the Model Photo Shoot system, port of Modelpropshop plugin from Gazebo classic - * [Pull request #1331](https://github.com/ignitionrobotics/ign-gazebo/pull/1331) + * [Pull request #1331](https://github.com/gazebosim/gz-sim/pull/1331) 1. Add wheel slip user command - * [Pull request #1241](https://github.com/ignitionrobotics/ign-gazebo/pull/1241) + * [Pull request #1241](https://github.com/gazebosim/gz-sim/pull/1241) 1. Added user command to set multiple entity poses - * [Pull request #1394](https://github.com/ignitionrobotics/ign-gazebo/pull/1394) + * [Pull request #1394](https://github.com/gazebosim/gz-sim/pull/1394) 1. Component inspector: refactor Pose3d C++ code into a separate class - * [Pull request #1400](https://github.com/ignitionrobotics/ign-gazebo/pull/1400) + * [Pull request #1400](https://github.com/gazebosim/gz-sim/pull/1400) 1. Toggle Light visuals - * [Pull request #1387](https://github.com/ignitionrobotics/ign-gazebo/pull/1387) + * [Pull request #1387](https://github.com/gazebosim/gz-sim/pull/1387) 1. Allow to turn on/off lights - * [Pull request #1343](https://github.com/ignitionrobotics/ign-gazebo/pull/1343) + * [Pull request #1343](https://github.com/gazebosim/gz-sim/pull/1343) 1. Added more sensor properties to scene/info topic - * [Pull request #1344](https://github.com/ignitionrobotics/ign-gazebo/pull/1344) + * [Pull request #1344](https://github.com/gazebosim/gz-sim/pull/1344) 1. JointStatePublisher publish parent, child and axis data - * [Pull request #1345](https://github.com/ignitionrobotics/ign-gazebo/pull/1345) + * [Pull request #1345](https://github.com/gazebosim/gz-sim/pull/1345) 1. Fixed light GUI component inspector - * [Pull request #1337](https://github.com/ignitionrobotics/ign-gazebo/pull/1337) + * [Pull request #1337](https://github.com/gazebosim/gz-sim/pull/1337) 1. Fix `UNIT_SdfGenerator_TEST` - * [Pull request #1319](https://github.com/ignitionrobotics/ign-gazebo/pull/1319) + * [Pull request #1319](https://github.com/gazebosim/gz-sim/pull/1319) 1. Add elevator system - * [Pull request #535](https://github.com/ignitionrobotics/ign-gazebo/pull/535) + * [Pull request #535](https://github.com/gazebosim/gz-sim/pull/535) 1. Removed unused variables in shapes plugin - * [Pull request #1321](https://github.com/ignitionrobotics/ign-gazebo/pull/1321) + * [Pull request #1321](https://github.com/gazebosim/gz-sim/pull/1321) 1. Log an error if JointPositionController cannot find the joint. (citadel retarget) - * [Pull request #1314](https://github.com/ignitionrobotics/ign-gazebo/pull/1314) + * [Pull request #1314](https://github.com/gazebosim/gz-sim/pull/1314) 1. Buoyancy: fix center of volume's reference frame - * [Pull request #1302](https://github.com/ignitionrobotics/ign-gazebo/pull/1302) + * [Pull request #1302](https://github.com/gazebosim/gz-sim/pull/1302) 1. Remove EachNew calls from sensor PreUpdates - * [Pull request #1281](https://github.com/ignitionrobotics/ign-gazebo/pull/1281) + * [Pull request #1281](https://github.com/gazebosim/gz-sim/pull/1281) 1. Prevent GzScene3D 💥 if another scene is already loaded - * [Pull request #1294](https://github.com/ignitionrobotics/ign-gazebo/pull/1294) + * [Pull request #1294](https://github.com/gazebosim/gz-sim/pull/1294) 1. Cleanup update call for non-rendering sensors - * [Pull request #1282](https://github.com/ignitionrobotics/ign-gazebo/pull/1282) + * [Pull request #1282](https://github.com/gazebosim/gz-sim/pull/1282) 1. Documentation Error - * [Pull request #1285](https://github.com/ignitionrobotics/ign-gazebo/pull/1285) + * [Pull request #1285](https://github.com/gazebosim/gz-sim/pull/1285) 1. Min and max parameters for velocity, acceleration, and jerk apply to linear and angular separately. - * [Pull request #1229](https://github.com/ignitionrobotics/ign-gazebo/pull/1229) + * [Pull request #1229](https://github.com/gazebosim/gz-sim/pull/1229) 1. Add project() call to examples - * [Pull request #1274](https://github.com/ignitionrobotics/ign-gazebo/pull/1274) + * [Pull request #1274](https://github.com/gazebosim/gz-sim/pull/1274) 1. Implement `/server_control::stop` - * [Pull request #1240](https://github.com/ignitionrobotics/ign-gazebo/pull/1240) + * [Pull request #1240](https://github.com/gazebosim/gz-sim/pull/1240) 1. 👩‍🌾 Make depth camera tests more robust (#897) - * [Pull request #897) (#1257](https://github.com/ignitionrobotics/ign-gazebo/pull/897) (#1257) + * [Pull request #897) (#1257](https://github.com/gazebosim/gz-sim/pull/897) (#1257) 1. Support battery draining start via topics - * [Pull request #1255](https://github.com/ignitionrobotics/ign-gazebo/pull/1255) + * [Pull request #1255](https://github.com/gazebosim/gz-sim/pull/1255) 1. Make tests run as fast as possible - * [Pull request #1194](https://github.com/ignitionrobotics/ign-gazebo/pull/1194) - * [Pull request #1250](https://github.com/ignitionrobotics/ign-gazebo/pull/1250) + * [Pull request #1194](https://github.com/gazebosim/gz-sim/pull/1194) + * [Pull request #1250](https://github.com/gazebosim/gz-sim/pull/1250) 1. Fix visualize lidar - * [Pull request #1224](https://github.com/ignitionrobotics/ign-gazebo/pull/1224) + * [Pull request #1224](https://github.com/gazebosim/gz-sim/pull/1224) 1. Skip failing Windows tests - * [Pull request #1205](https://github.com/ignitionrobotics/ign-gazebo/pull/1205) - * [Pull request #1204](https://github.com/ignitionrobotics/ign-gazebo/pull/1204) - * [Pull request #1259](https://github.com/ignitionrobotics/ign-gazebo/pull/1259) - * [Pull request #1408](https://github.com/ignitionrobotics/ign-gazebo/pull/1408) + * [Pull request #1205](https://github.com/gazebosim/gz-sim/pull/1205) + * [Pull request #1204](https://github.com/gazebosim/gz-sim/pull/1204) + * [Pull request #1259](https://github.com/gazebosim/gz-sim/pull/1259) + * [Pull request #1408](https://github.com/gazebosim/gz-sim/pull/1408) 1. Configurable joint state publisher's topic - * [Pull request #1076](https://github.com/ignitionrobotics/ign-gazebo/pull/1076) + * [Pull request #1076](https://github.com/gazebosim/gz-sim/pull/1076) 1. Thruster plugin: add tests and velocity control - * [Pull request #1190](https://github.com/ignitionrobotics/ign-gazebo/pull/1190) + * [Pull request #1190](https://github.com/gazebosim/gz-sim/pull/1190) 1. Limit thruster system's input thrust cmd - * [Pull request #1318](https://github.com/ignitionrobotics/ign-gazebo/pull/1318) + * [Pull request #1318](https://github.com/gazebosim/gz-sim/pull/1318) -### Ignition Gazebo 5.3.0 (2021-11-12) +### Gazebo Sim 5.3.0 (2021-11-12) 1. Prevent creation of spurious elements when saving worlds - * [Pull request #1192](https://github.com/ignitionrobotics/ign-gazebo/pull/1192) + * [Pull request #1192](https://github.com/gazebosim/gz-sim/pull/1192) 1. Added support for tracked vehicles - * [Pull request #869](https://github.com/ignitionrobotics/ign-gazebo/pull/869) + * [Pull request #869](https://github.com/gazebosim/gz-sim/pull/869) 1. Add components to dynamically set joint limits - * [Pull request #847](https://github.com/ignitionrobotics/ign-gazebo/pull/847) + * [Pull request #847](https://github.com/gazebosim/gz-sim/pull/847) 1. Fix updating component from state - * [Pull request #1181](https://github.com/ignitionrobotics/ign-gazebo/pull/1181) + * [Pull request #1181](https://github.com/gazebosim/gz-sim/pull/1181) 1. Extend odom publisher to allow 3D - * [Pull request #1180](https://github.com/ignitionrobotics/ign-gazebo/pull/1180) + * [Pull request #1180](https://github.com/gazebosim/gz-sim/pull/1180) 1. Fix updating a component's data via SerializedState msg - * [Pull request #1131](https://github.com/ignitionrobotics/ign-gazebo/pull/1131) + * [Pull request #1131](https://github.com/gazebosim/gz-sim/pull/1131) 1. Sensor systems work if loaded after sensors - * [Pull request #1104](https://github.com/ignitionrobotics/ign-gazebo/pull/1104) + * [Pull request #1104](https://github.com/gazebosim/gz-sim/pull/1104) 1. Fix generation of systems library symlinks in build directory - * [Pull request #1160](https://github.com/ignitionrobotics/ign-gazebo/pull/1160) + * [Pull request #1160](https://github.com/gazebosim/gz-sim/pull/1160) 1. Edit material colors in component inspector - * [Pull request #1123](https://github.com/ignitionrobotics/ign-gazebo/pull/1123) + * [Pull request #1123](https://github.com/gazebosim/gz-sim/pull/1123) 1. Support setting the background color for sensors - * [Pull request #1147](https://github.com/ignitionrobotics/ign-gazebo/pull/1147) + * [Pull request #1147](https://github.com/gazebosim/gz-sim/pull/1147) 1. Use `uint64_t` for ComponentInspector Entity IDs - * [Pull request #1144](https://github.com/ignitionrobotics/ign-gazebo/pull/1144) + * [Pull request #1144](https://github.com/gazebosim/gz-sim/pull/1144) 1. Fix integers and floats on component inspector - * [Pull request #1143](https://github.com/ignitionrobotics/ign-gazebo/pull/1143) + * [Pull request #1143](https://github.com/gazebosim/gz-sim/pull/1143) -### Ignition Gazebo 5.2.0 (2021-10-22) +### Gazebo Sim 5.2.0 (2021-10-22) 1. Fix performance level test flakiness - * [Pull request #1129](https://github.com/ignitionrobotics/ign-gazebo/pull/1129) + * [Pull request #1129](https://github.com/gazebosim/gz-sim/pull/1129) 1. Updates to camera video record from subt - * [Pull request #1117](https://github.com/ignitionrobotics/ign-gazebo/pull/1117) + * [Pull request #1117](https://github.com/gazebosim/gz-sim/pull/1117) 1. Better protect this->dataPtr->initialized with renderMutex. - * [Pull request #1119](https://github.com/ignitionrobotics/ign-gazebo/pull/1119) + * [Pull request #1119](https://github.com/gazebosim/gz-sim/pull/1119) 1. Use QTimer to update plugins in the Qt thread - * [Pull request #1095](https://github.com/ignitionrobotics/ign-gazebo/pull/1095) + * [Pull request #1095](https://github.com/gazebosim/gz-sim/pull/1095) 1. Adjust pose decimals based on element width - * [Pull request #1089](https://github.com/ignitionrobotics/ign-gazebo/pull/1089) + * [Pull request #1089](https://github.com/gazebosim/gz-sim/pull/1089) 1. JointPositionController: Improve misleading error message - * [Pull request #1098](https://github.com/ignitionrobotics/ign-gazebo/pull/1098) + * [Pull request #1098](https://github.com/gazebosim/gz-sim/pull/1098) 1. Fixed IMU system plugin - * [Pull request #1043](https://github.com/ignitionrobotics/ign-gazebo/pull/1043) + * [Pull request #1043](https://github.com/gazebosim/gz-sim/pull/1043) 1. Cache top level and static to speed up physics system (Backport #656) - * [Pull request #993](https://github.com/ignitionrobotics/ign-gazebo/pull/993) + * [Pull request #993](https://github.com/gazebosim/gz-sim/pull/993) 1. Prevent crash and print error - * [Pull request #1099](https://github.com/ignitionrobotics/ign-gazebo/pull/1099) + * [Pull request #1099](https://github.com/gazebosim/gz-sim/pull/1099) 1. Performance: use std::unordered_map where possible in SceneManager - * [Pull request #1083](https://github.com/ignitionrobotics/ign-gazebo/pull/1083) + * [Pull request #1083](https://github.com/gazebosim/gz-sim/pull/1083) 1. Fix light control standalone example - * [Pull request #1077](https://github.com/ignitionrobotics/ign-gazebo/pull/1077) + * [Pull request #1077](https://github.com/gazebosim/gz-sim/pull/1077) 1. Parse new param for enabling / disabling IMU orientation output - * [Pull request #899](https://github.com/ignitionrobotics/ign-gazebo/pull/899) + * [Pull request #899](https://github.com/gazebosim/gz-sim/pull/899) 1. Enable new policy to fix protobuf compilation errors - * [Pull request #1059](https://github.com/ignitionrobotics/ign-gazebo/pull/1059) + * [Pull request #1059](https://github.com/gazebosim/gz-sim/pull/1059) 1. Fix performance issue with contact data and AABB updates - * [Pull request #1048](https://github.com/ignitionrobotics/ign-gazebo/pull/1048) + * [Pull request #1048](https://github.com/gazebosim/gz-sim/pull/1048) 1. Support locked entities, and headless video recording using sim time - * [Pull request #862](https://github.com/ignitionrobotics/ign-gazebo/pull/862) + * [Pull request #862](https://github.com/gazebosim/gz-sim/pull/862) -1. Update ign-gazebo4 changelog - * [Pull request #1031](https://github.com/ignitionrobotics/ign-gazebo/pull/1031) +1. Update gz-sim4 changelog + * [Pull request #1031](https://github.com/gazebosim/gz-sim/pull/1031) 1. bump version and update changelog - * [Pull request #1029](https://github.com/ignitionrobotics/ign-gazebo/pull/1029) + * [Pull request #1029](https://github.com/gazebosim/gz-sim/pull/1029) -1. Remove unused ignition gui header - * [Pull request #1026](https://github.com/ignitionrobotics/ign-gazebo/pull/1026) +1. Remove unused Gazebo GUI header + * [Pull request #1026](https://github.com/gazebosim/gz-sim/pull/1026) 1. Collada world exporter now exporting lights - * [Pull request #912](https://github.com/ignitionrobotics/ign-gazebo/pull/912) + * [Pull request #912](https://github.com/gazebosim/gz-sim/pull/912) 1. Fixed GUI's ComponentInspector light parameter - * [Pull request #1018](https://github.com/ignitionrobotics/ign-gazebo/pull/1018) + * [Pull request #1018](https://github.com/gazebosim/gz-sim/pull/1018) 1. Workaround for setting visual cast shadows without material - * [Pull request #1015](https://github.com/ignitionrobotics/ign-gazebo/pull/1015) + * [Pull request #1015](https://github.com/gazebosim/gz-sim/pull/1015) 1. Fix selection buffer crash on resize - * [Pull request #969](https://github.com/ignitionrobotics/ign-gazebo/pull/969) + * [Pull request #969](https://github.com/gazebosim/gz-sim/pull/969) 1. Update DART deps to local - * [Pull request #1005](https://github.com/ignitionrobotics/ign-gazebo/pull/1005) + * [Pull request #1005](https://github.com/gazebosim/gz-sim/pull/1005) 1. Remove extra xml version line in pendulum_links example world - * [Pull request #1002](https://github.com/ignitionrobotics/ign-gazebo/pull/1002) + * [Pull request #1002](https://github.com/gazebosim/gz-sim/pull/1002) 1. Enable sensor metrics on example worlds - * [Pull request #982](https://github.com/ignitionrobotics/ign-gazebo/pull/982) + * [Pull request #982](https://github.com/gazebosim/gz-sim/pull/982) 1. Make thermal sensor test more robust - * [Pull request #994](https://github.com/ignitionrobotics/ign-gazebo/pull/994) + * [Pull request #994](https://github.com/gazebosim/gz-sim/pull/994) 1. Improved doxygen - * [Pull request #996](https://github.com/ignitionrobotics/ign-gazebo/pull/996) + * [Pull request #996](https://github.com/gazebosim/gz-sim/pull/996) 1. Remove bitbucket-pipelines.yml - * [Pull request #991](https://github.com/ignitionrobotics/ign-gazebo/pull/991) + * [Pull request #991](https://github.com/gazebosim/gz-sim/pull/991) 1. Removed unused variable in Shapes plugin - * [Pull request #984](https://github.com/ignitionrobotics/ign-gazebo/pull/984) + * [Pull request #984](https://github.com/gazebosim/gz-sim/pull/984) 1. Entity tree: prevent creation of repeated entity items - * [Pull request #974](https://github.com/ignitionrobotics/ign-gazebo/pull/974) + * [Pull request #974](https://github.com/gazebosim/gz-sim/pull/974) 1. Updates when forward-porting to v4 - * [Pull request #973](https://github.com/ignitionrobotics/ign-gazebo/pull/973) + * [Pull request #973](https://github.com/gazebosim/gz-sim/pull/973) 1. Don't use $HOME on most tests (InternalFixture) - * [Pull request #971](https://github.com/ignitionrobotics/ign-gazebo/pull/971) + * [Pull request #971](https://github.com/gazebosim/gz-sim/pull/971) 1. Fix entity creation console msg - * [Pull request #972](https://github.com/ignitionrobotics/ign-gazebo/pull/972) + * [Pull request #972](https://github.com/gazebosim/gz-sim/pull/972) 1. Fix crash in the follow_actor example - * [Pull request #958](https://github.com/ignitionrobotics/ign-gazebo/pull/958) + * [Pull request #958](https://github.com/gazebosim/gz-sim/pull/958) 1. Be more specific when looking for physics plugins - * [Pull request #965](https://github.com/ignitionrobotics/ign-gazebo/pull/965) + * [Pull request #965](https://github.com/gazebosim/gz-sim/pull/965) 1. Drag and drop meshes into scene - * [Pull request #939](https://github.com/ignitionrobotics/ign-gazebo/pull/939) + * [Pull request #939](https://github.com/gazebosim/gz-sim/pull/939) 1. Allow referencing links in nested models in LiftDrag - * [Pull request #955](https://github.com/ignitionrobotics/ign-gazebo/pull/955) + * [Pull request #955](https://github.com/gazebosim/gz-sim/pull/955) 1. Complaint if Joint doesn't exists before adding joint controller - * [Pull request #786](https://github.com/ignitionrobotics/ign-gazebo/pull/786) + * [Pull request #786](https://github.com/gazebosim/gz-sim/pull/786) 1. Set protobuf_MODULE_COMPATIBLE before any find_package call - * [Pull request #957](https://github.com/ignitionrobotics/ign-gazebo/pull/957) + * [Pull request #957](https://github.com/gazebosim/gz-sim/pull/957) 1. DiffDrive add enable/disable - * [Pull request #772](https://github.com/ignitionrobotics/ign-gazebo/pull/772) + * [Pull request #772](https://github.com/gazebosim/gz-sim/pull/772) 1. Fix component inspector shutdown crash - * [Pull request #724](https://github.com/ignitionrobotics/ign-gazebo/pull/724) + * [Pull request #724](https://github.com/gazebosim/gz-sim/pull/724) 1. Add UserCommands Plugin. - * [Pull request #719](https://github.com/ignitionrobotics/ign-gazebo/pull/719) + * [Pull request #719](https://github.com/gazebosim/gz-sim/pull/719) 1. Expose a test fixture helper class - * [Pull request #926](https://github.com/ignitionrobotics/ign-gazebo/pull/926) + * [Pull request #926](https://github.com/gazebosim/gz-sim/pull/926) 1. Fix logic to disable server default plugins loading - * [Pull request #953](https://github.com/ignitionrobotics/ign-gazebo/pull/953) + * [Pull request #953](https://github.com/gazebosim/gz-sim/pull/953) 1. Porting Dome to Edifice: Windows, deprecations - * [Pull request #948](https://github.com/ignitionrobotics/ign-gazebo/pull/948) + * [Pull request #948](https://github.com/gazebosim/gz-sim/pull/948) 1. removed unneeded plugin update - * [Pull request #944](https://github.com/ignitionrobotics/ign-gazebo/pull/944) + * [Pull request #944](https://github.com/gazebosim/gz-sim/pull/944) 1. Functions to enable velocity and acceleration checks on Link - * [Pull request #935](https://github.com/ignitionrobotics/ign-gazebo/pull/935) + * [Pull request #935](https://github.com/gazebosim/gz-sim/pull/935) 1. Support adding systems that don't come from a plugin - * [Pull request #936](https://github.com/ignitionrobotics/ign-gazebo/pull/936) + * [Pull request #936](https://github.com/gazebosim/gz-sim/pull/936) 1. 3D plot GUI plugin - * [Pull request #917](https://github.com/ignitionrobotics/ign-gazebo/pull/917) + * [Pull request #917](https://github.com/gazebosim/gz-sim/pull/917) 1. 4 to 5 - * [Pull request #938](https://github.com/ignitionrobotics/ign-gazebo/pull/938) + * [Pull request #938](https://github.com/gazebosim/gz-sim/pull/938) 1. Fix joint controller without joint vel data - * [Pull request #937](https://github.com/ignitionrobotics/ign-gazebo/pull/937) + * [Pull request #937](https://github.com/gazebosim/gz-sim/pull/937) 1. 3 to 4 - * [Pull request #933](https://github.com/ignitionrobotics/ign-gazebo/pull/933) + * [Pull request #933](https://github.com/gazebosim/gz-sim/pull/933) -1. Model info CLI `ign model` - * [Pull request #893](https://github.com/ignitionrobotics/ign-gazebo/pull/893) +1. Model info CLI `gz model` + * [Pull request #893](https://github.com/gazebosim/gz-sim/pull/893) 1. Support Bullet on Edifice - * [Pull request #919](https://github.com/ignitionrobotics/ign-gazebo/pull/919) + * [Pull request #919](https://github.com/gazebosim/gz-sim/pull/919) 1. Don't create components for entities that don't exist - * [Pull request #927](https://github.com/ignitionrobotics/ign-gazebo/pull/927) + * [Pull request #927](https://github.com/gazebosim/gz-sim/pull/927) 1. Fix blender sdf export script and remove .material file from collada light export test - * [Pull request #923](https://github.com/ignitionrobotics/ign-gazebo/pull/923) + * [Pull request #923](https://github.com/gazebosim/gz-sim/pull/923) 1. Heightmap physics (with DART) - * [Pull request #661](https://github.com/ignitionrobotics/ign-gazebo/pull/661) + * [Pull request #661](https://github.com/gazebosim/gz-sim/pull/661) 1. Adds Mesh Tutorial - * [Pull request #915](https://github.com/ignitionrobotics/ign-gazebo/pull/915) + * [Pull request #915](https://github.com/gazebosim/gz-sim/pull/915) 1. 4 to 5 - * [Pull request #918](https://github.com/ignitionrobotics/ign-gazebo/pull/918) + * [Pull request #918](https://github.com/gazebosim/gz-sim/pull/918) 1. Fix updating GUI plugin on load - * [Pull request #904](https://github.com/ignitionrobotics/ign-gazebo/pull/904) + * [Pull request #904](https://github.com/gazebosim/gz-sim/pull/904) 1. 3 to 4 - * [Pull request #916](https://github.com/ignitionrobotics/ign-gazebo/pull/916) + * [Pull request #916](https://github.com/gazebosim/gz-sim/pull/916) 1. Physics system: update link poses if the canonical link pose has been updated - * [Pull request #876](https://github.com/ignitionrobotics/ign-gazebo/pull/876) + * [Pull request #876](https://github.com/gazebosim/gz-sim/pull/876) 1. Add blender sdf export tutorial - * [Pull request #895](https://github.com/ignitionrobotics/ign-gazebo/pull/895) + * [Pull request #895](https://github.com/gazebosim/gz-sim/pull/895) 1. Banana for Scale - * [Pull request #734](https://github.com/ignitionrobotics/ign-gazebo/pull/734) + * [Pull request #734](https://github.com/gazebosim/gz-sim/pull/734) 1. Fix textures not exporting after loading a world that uses obj models - * [Pull request #874](https://github.com/ignitionrobotics/ign-gazebo/pull/874) + * [Pull request #874](https://github.com/gazebosim/gz-sim/pull/874) 1. Fix documentation for the Sensor component - * [Pull request #898](https://github.com/ignitionrobotics/ign-gazebo/pull/898) + * [Pull request #898](https://github.com/gazebosim/gz-sim/pull/898) 1. Make depth camera tests more robust - * [Pull request #897](https://github.com/ignitionrobotics/ign-gazebo/pull/897) + * [Pull request #897](https://github.com/gazebosim/gz-sim/pull/897) 1. Use UINT64_MAX for kComponentTpyeIDInvalid instead of relying on underflow - * [Pull request #889](https://github.com/ignitionrobotics/ign-gazebo/pull/889) + * [Pull request #889](https://github.com/gazebosim/gz-sim/pull/889) 1. Fix mouse view control target position - * [Pull request #879](https://github.com/ignitionrobotics/ign-gazebo/pull/879) + * [Pull request #879](https://github.com/gazebosim/gz-sim/pull/879) -### Ignition Gazebo 5.1.0 (2021-06-29) +### Gazebo Sim 5.1.0 (2021-06-29) 1. Depend on SDF 11.2.1, rendering 5.1 and GUI 5.1. Fix Windows. - * [Pull request #877](https://github.com/ignitionrobotics/ign-gazebo/pull/877) + * [Pull request #877](https://github.com/gazebosim/gz-sim/pull/877) 1. Set gui camera pose - * [Pull request #863](https://github.com/ignitionrobotics/ign-gazebo/pull/863) + * [Pull request #863](https://github.com/gazebosim/gz-sim/pull/863) 1. Refactor RenderUtil::Update with helper functions - * [Pull request #858](https://github.com/ignitionrobotics/ign-gazebo/pull/858) + * [Pull request #858](https://github.com/gazebosim/gz-sim/pull/858) 1. Enables confirmation dialog when closing Gazebo. - * [Pull request #850](https://github.com/ignitionrobotics/ign-gazebo/pull/850) + * [Pull request #850](https://github.com/gazebosim/gz-sim/pull/850) 1. Using math::SpeedLimiter on the diff_drive controller. - * [Pull request #833](https://github.com/ignitionrobotics/ign-gazebo/pull/833) + * [Pull request #833](https://github.com/gazebosim/gz-sim/pull/833) 1. New example: get an ECM snapshot from an external program - * [Pull request #859](https://github.com/ignitionrobotics/ign-gazebo/pull/859) + * [Pull request #859](https://github.com/gazebosim/gz-sim/pull/859) 1. Fix WindEffects Plugin bug, not configuring new links - * [Pull request #844](https://github.com/ignitionrobotics/ign-gazebo/pull/844) + * [Pull request #844](https://github.com/gazebosim/gz-sim/pull/844) 1. Set collision detector and solver from SDF - * [Pull request #684](https://github.com/ignitionrobotics/ign-gazebo/pull/684) + * [Pull request #684](https://github.com/gazebosim/gz-sim/pull/684) 1. Add Particle Emitter tutorial - * [Pull request #860](https://github.com/ignitionrobotics/ign-gazebo/pull/860) + * [Pull request #860](https://github.com/gazebosim/gz-sim/pull/860) 1. Fix potentially flaky integration component test case - * [Pull request #848](https://github.com/ignitionrobotics/ign-gazebo/pull/848) + * [Pull request #848](https://github.com/gazebosim/gz-sim/pull/848) 1. Added follow camera offset service - * [Pull request #855](https://github.com/ignitionrobotics/ign-gazebo/pull/855) + * [Pull request #855](https://github.com/gazebosim/gz-sim/pull/855) 1. Remove unneeded camera follow offset checks - * [Pull request #857](https://github.com/ignitionrobotics/ign-gazebo/pull/857) + * [Pull request #857](https://github.com/gazebosim/gz-sim/pull/857) 1. Using math::SpeedLimiter on the ackermann_steering controller. - * [Pull request #837](https://github.com/ignitionrobotics/ign-gazebo/pull/837) + * [Pull request #837](https://github.com/gazebosim/gz-sim/pull/837) 1. Cleanup and alphabetize plugin headers - * [Pull request #838](https://github.com/ignitionrobotics/ign-gazebo/pull/838) + * [Pull request #838](https://github.com/gazebosim/gz-sim/pull/838) 1. Fix race condition when rendering the UI - * [Pull request #774](https://github.com/ignitionrobotics/ign-gazebo/pull/774) + * [Pull request #774](https://github.com/gazebosim/gz-sim/pull/774) 1. Removed duplicated code with rendering::sceneFromFirstRenderEngine - * [Pull request #819](https://github.com/ignitionrobotics/ign-gazebo/pull/819) + * [Pull request #819](https://github.com/gazebosim/gz-sim/pull/819) 1. Remove unused headers in video_recoder plugin - * [Pull request #834](https://github.com/ignitionrobotics/ign-gazebo/pull/834) + * [Pull request #834](https://github.com/gazebosim/gz-sim/pull/834) -1. Use moveToHelper from ign-rendering - * [Pull request #825](https://github.com/ignitionrobotics/ign-gazebo/pull/825) +1. Use moveToHelper from gz-rendering + * [Pull request #825](https://github.com/gazebosim/gz-sim/pull/825) 1. Make halt motion act like a brake - * [Pull request #830](https://github.com/ignitionrobotics/ign-gazebo/pull/830) + * [Pull request #830](https://github.com/gazebosim/gz-sim/pull/830) 1. Update collision visualization to support nested models - * [Pull request #823](https://github.com/ignitionrobotics/ign-gazebo/pull/823) + * [Pull request #823](https://github.com/gazebosim/gz-sim/pull/823) 1. Adds support for ocean currents - * [Pull request #800](https://github.com/ignitionrobotics/ign-gazebo/pull/800) + * [Pull request #800](https://github.com/gazebosim/gz-sim/pull/800) 1. Add conversion for particle scatter ratio field - * [Pull request #791](https://github.com/ignitionrobotics/ign-gazebo/pull/791) + * [Pull request #791](https://github.com/gazebosim/gz-sim/pull/791) 1. Adding HaltMotion to physics plugin - * [Pull request #728](https://github.com/ignitionrobotics/ign-gazebo/pull/728) + * [Pull request #728](https://github.com/gazebosim/gz-sim/pull/728) 1. ColladaExporter, export submesh selected - * [Pull request #802](https://github.com/ignitionrobotics/ign-gazebo/pull/802) + * [Pull request #802](https://github.com/gazebosim/gz-sim/pull/802) 1. Remove tools/code_check and update codecov - * [Pull request #814](https://github.com/ignitionrobotics/ign-gazebo/pull/814) + * [Pull request #814](https://github.com/gazebosim/gz-sim/pull/814) 1. Trigger delay - * [Pull request #817](https://github.com/ignitionrobotics/ign-gazebo/pull/817) + * [Pull request #817](https://github.com/gazebosim/gz-sim/pull/817) 1. Map canonical links to their models - * [Pull request #736](https://github.com/ignitionrobotics/ign-gazebo/pull/736) + * [Pull request #736](https://github.com/gazebosim/gz-sim/pull/736) 1. Fix included nested model expansion in SDF generation - * [Pull request #768](https://github.com/ignitionrobotics/ign-gazebo/pull/768) + * [Pull request #768](https://github.com/gazebosim/gz-sim/pull/768) 1. Util: Use public API from libsdformat for detecting non-file source - * [Pull request #794](https://github.com/ignitionrobotics/ign-gazebo/pull/794) + * [Pull request #794](https://github.com/gazebosim/gz-sim/pull/794) 1. Contacts visualization - * [Pull request #234](https://github.com/ignitionrobotics/ign-gazebo/pull/234) + * [Pull request #234](https://github.com/gazebosim/gz-sim/pull/234) -1. Bump to ign-msgs 7.1 / sdformat 11.1, Windows fixes - * [Pull request #758](https://github.com/ignitionrobotics/ign-gazebo/pull/758) +1. Bump to gz-msgs 7.1 / sdformat 11.1, Windows fixes + * [Pull request #758](https://github.com/gazebosim/gz-sim/pull/758) 1. Add functionalities for optical tactile plugin - * [Pull request #431](https://github.com/ignitionrobotics/ign-gazebo/pull/431) + * [Pull request #431](https://github.com/gazebosim/gz-sim/pull/431) 1. Fix documentation for EntityComponentManager::EachNew - * [Pull request #795](https://github.com/ignitionrobotics/ign-gazebo/pull/795) + * [Pull request #795](https://github.com/gazebosim/gz-sim/pull/795) -1. Bump ign-physics version to 3.2 - * [Pull request #792](https://github.com/ignitionrobotics/ign-gazebo/pull/792) +1. Bump gz-physics version to 3.2 + * [Pull request #792](https://github.com/gazebosim/gz-sim/pull/792) 1. Prevent crash on Plotting plugin with mutex - * [Pull request #747](https://github.com/ignitionrobotics/ign-gazebo/pull/747) + * [Pull request #747](https://github.com/gazebosim/gz-sim/pull/747) 1. 👩‍🌾 Fix Windows build and some warnings - * [Pull request #782](https://github.com/ignitionrobotics/ign-gazebo/pull/782) + * [Pull request #782](https://github.com/gazebosim/gz-sim/pull/782) 1. Fix ColladaExporter submesh index bug - * [Pull request #763](https://github.com/ignitionrobotics/ign-gazebo/pull/763) + * [Pull request #763](https://github.com/gazebosim/gz-sim/pull/763) 1. Fix macOS build: components::Name in benchmark - * [Pull request #784](https://github.com/ignitionrobotics/ign-gazebo/pull/784) + * [Pull request #784](https://github.com/gazebosim/gz-sim/pull/784) 1. Feature/hydrodynamics - * [Pull request #749](https://github.com/ignitionrobotics/ign-gazebo/pull/749) + * [Pull request #749](https://github.com/gazebosim/gz-sim/pull/749) 1. Don't store duplicate ComponentTypeId in ECM - * [Pull request #751](https://github.com/ignitionrobotics/ign-gazebo/pull/751) + * [Pull request #751](https://github.com/gazebosim/gz-sim/pull/751) 1. [TPE] Support setting individual link velocity - * [Pull request #427](https://github.com/ignitionrobotics/ign-gazebo/pull/427) + * [Pull request #427](https://github.com/gazebosim/gz-sim/pull/427) 1. 👩‍🌾 Enable Focal CI - * [Pull request #646](https://github.com/ignitionrobotics/ign-gazebo/pull/646) + * [Pull request #646](https://github.com/gazebosim/gz-sim/pull/646) 1. Patch particle emitter2 service - * [Pull request #777](https://github.com/ignitionrobotics/ign-gazebo/pull/777) + * [Pull request #777](https://github.com/gazebosim/gz-sim/pull/777) 1. Add odometry publisher system - * [Pull request #547](https://github.com/ignitionrobotics/ign-gazebo/pull/547) + * [Pull request #547](https://github.com/gazebosim/gz-sim/pull/547) 1. [DiffDrive] add enable/disable - * [Pull request #772](https://github.com/ignitionrobotics/ign-gazebo/pull/772) + * [Pull request #772](https://github.com/gazebosim/gz-sim/pull/772) 1. Update benchmark comparison instructions - * [Pull request #766](https://github.com/ignitionrobotics/ign-gazebo/pull/766) + * [Pull request #766](https://github.com/gazebosim/gz-sim/pull/766) 1. Fix 'invalid animation update data' msg for actors - * [Pull request #754](https://github.com/ignitionrobotics/ign-gazebo/pull/754) + * [Pull request #754](https://github.com/gazebosim/gz-sim/pull/754) 1. Fixed particle emitter forward playback - * [Pull request #745](https://github.com/ignitionrobotics/ign-gazebo/pull/745) + * [Pull request #745](https://github.com/gazebosim/gz-sim/pull/745) 1. ECM's ChangedState gets message with modified components - * [Pull request #742](https://github.com/ignitionrobotics/ign-gazebo/pull/742) + * [Pull request #742](https://github.com/gazebosim/gz-sim/pull/742) 1. Fixed collision visual bounding boxes - * [Pull request #746](https://github.com/ignitionrobotics/ign-gazebo/pull/746) + * [Pull request #746](https://github.com/gazebosim/gz-sim/pull/746) 1. Fix compute_rtfs arguments - * [Pull request #737](https://github.com/ignitionrobotics/ign-gazebo/pull/737) + * [Pull request #737](https://github.com/gazebosim/gz-sim/pull/737) 1. Validate step size and RTF parameters - * [Pull request #740](https://github.com/ignitionrobotics/ign-gazebo/pull/740) + * [Pull request #740](https://github.com/gazebosim/gz-sim/pull/740) 1. Fix component inspector shutdown crash - * [Pull request #724](https://github.com/ignitionrobotics/ign-gazebo/pull/724) + * [Pull request #724](https://github.com/gazebosim/gz-sim/pull/724) 1. Use Protobuf_IMPORT_DIRS instead of PROTOBUF_IMPORT_DIRS for compatibility with Protobuf CMake config - * [Pull request #715](https://github.com/ignitionrobotics/ign-gazebo/pull/715) + * [Pull request #715](https://github.com/gazebosim/gz-sim/pull/715) 1. Do not pass -Wno-unused-parameter to MSVC compiler - * [Pull request #716](https://github.com/ignitionrobotics/ign-gazebo/pull/716) + * [Pull request #716](https://github.com/gazebosim/gz-sim/pull/716) 1. Iterate through changed links only in UpdateSim - * [Pull request #678](https://github.com/ignitionrobotics/ign-gazebo/pull/678) + * [Pull request #678](https://github.com/gazebosim/gz-sim/pull/678) 1. Update PlaybackScrubber description - * [Pull request #733](https://github.com/ignitionrobotics/ign-gazebo/pull/733) + * [Pull request #733](https://github.com/gazebosim/gz-sim/pull/733) 1. Support configuring particle scatter ratio in particle emitter system - * [Pull request #674](https://github.com/ignitionrobotics/ign-gazebo/pull/674) + * [Pull request #674](https://github.com/gazebosim/gz-sim/pull/674) 1. Fix diffuse and ambient values for ackermann example - * [Pull request #707](https://github.com/ignitionrobotics/ign-gazebo/pull/707) + * [Pull request #707](https://github.com/gazebosim/gz-sim/pull/707) 1. Scenebroadcaster sensors - * [Pull request #698](https://github.com/ignitionrobotics/ign-gazebo/pull/698) + * [Pull request #698](https://github.com/gazebosim/gz-sim/pull/698) 1. Add test for thermal object temperatures below 0 kelvin - * [Pull request #621](https://github.com/ignitionrobotics/ign-gazebo/pull/621) + * [Pull request #621](https://github.com/gazebosim/gz-sim/pull/621) 1. [BULLET] Making GetContactsFromLastStepFeature optional in Collision Features - * [Pull request #690](https://github.com/ignitionrobotics/ign-gazebo/pull/690) + * [Pull request #690](https://github.com/gazebosim/gz-sim/pull/690) 1. Make it so joint state publisher is quieter - * [Pull request #696](https://github.com/ignitionrobotics/ign-gazebo/pull/696) + * [Pull request #696](https://github.com/gazebosim/gz-sim/pull/696) -### Ignition Gazebo 5.0.0 (2021-03-30) +### Gazebo Sim 5.0.0 (2021-03-30) 1. Added Ellipsoid and Capsule geometries - * [Pull request #581](https://github.com/ignitionrobotics/ign-gazebo/pull/581) + * [Pull request #581](https://github.com/gazebosim/gz-sim/pull/581) 1. Support individual canonical links for nested models - * [Pull request #685](https://github.com/ignitionrobotics/ign-gazebo/pull/685) + * [Pull request #685](https://github.com/gazebosim/gz-sim/pull/685) 1. Mecanum wheels demo - * [Pull request #683](https://github.com/ignitionrobotics/ign-gazebo/pull/683) + * [Pull request #683](https://github.com/gazebosim/gz-sim/pull/683) 1. Fixed collision visual bounding boxes - * [Pull request #702](https://github.com/ignitionrobotics/ign-gazebo/pull/702) + * [Pull request #702](https://github.com/gazebosim/gz-sim/pull/702) 1. Fixed material colors for ackermann sdfs - * [Pull request #703](https://github.com/ignitionrobotics/ign-gazebo/pull/703) + * [Pull request #703](https://github.com/gazebosim/gz-sim/pull/703) 1. Setting the intiial velocity for a model or joint - * [Pull request #693](https://github.com/ignitionrobotics/ign-gazebo/pull/693) + * [Pull request #693](https://github.com/gazebosim/gz-sim/pull/693) 1. Remove static for maps from Factory.hh - * [Pull request #635](https://github.com/ignitionrobotics/ign-gazebo/pull/635) + * [Pull request #635](https://github.com/gazebosim/gz-sim/pull/635) 1. Depend on cli component of ignition-utils1 - * [Pull request #671](https://github.com/ignitionrobotics/ign-gazebo/pull/671) + * [Pull request #671](https://github.com/gazebosim/gz-sim/pull/671) 1. Support SDFormat 1.8 Composition - * [Pull request #542](https://github.com/ignitionrobotics/ign-gazebo/pull/542) + * [Pull request #542](https://github.com/gazebosim/gz-sim/pull/542) 1. Deprecate TmpIface: it's leftover from prototyping - * [Pull request #654](https://github.com/ignitionrobotics/ign-gazebo/pull/654) + * [Pull request #654](https://github.com/gazebosim/gz-sim/pull/654) -1. Bump in edifice: ign-common4 - * [Pull request #577](https://github.com/ignitionrobotics/ign-gazebo/pull/577) +1. Bump in edifice: gz-common4 + * [Pull request #577](https://github.com/gazebosim/gz-sim/pull/577) 1. Plugin to spawn lights - * [Pull request #587](https://github.com/ignitionrobotics/ign-gazebo/pull/587) + * [Pull request #587](https://github.com/gazebosim/gz-sim/pull/587) 1. Added light intensity - * [Pull request #612](https://github.com/ignitionrobotics/ign-gazebo/pull/612) - * [Pull request #670](https://github.com/ignitionrobotics/ign-gazebo/pull/670) + * [Pull request #612](https://github.com/gazebosim/gz-sim/pull/612) + * [Pull request #670](https://github.com/gazebosim/gz-sim/pull/670) 1. Examples and tutorial on using rendering API from plugins - * [Pull request #596](https://github.com/ignitionrobotics/ign-gazebo/pull/596) + * [Pull request #596](https://github.com/gazebosim/gz-sim/pull/596) 1. Prepare GuiRunner to be made private - * [Pull request #567](https://github.com/ignitionrobotics/ign-gazebo/pull/567) + * [Pull request #567](https://github.com/gazebosim/gz-sim/pull/567) -1. Deprecate some gazebo::gui events in favor of ign-gui events - * [Pull request #595](https://github.com/ignitionrobotics/ign-gazebo/pull/595) +1. Deprecate some sim::gui events in favor of gz-gui events + * [Pull request #595](https://github.com/gazebosim/gz-sim/pull/595) 1. Heightmap (rendering only) - * [Pull request #487](https://github.com/ignitionrobotics/ign-gazebo/pull/487) + * [Pull request #487](https://github.com/gazebosim/gz-sim/pull/487) 1. Add image suffix to thermal camera topic name - * [Pull request #606](https://github.com/ignitionrobotics/ign-gazebo/pull/606) + * [Pull request #606](https://github.com/gazebosim/gz-sim/pull/606) 1. Fix build with latest sdformat11 branch - * [Pull request #607](https://github.com/ignitionrobotics/ign-gazebo/pull/607) + * [Pull request #607](https://github.com/gazebosim/gz-sim/pull/607) 1. Added run to time feature - * [Pull request #478](https://github.com/ignitionrobotics/ign-gazebo/pull/478) + * [Pull request #478](https://github.com/gazebosim/gz-sim/pull/478) 1. Depend on ignition-utils1 - * [Pull request #591](https://github.com/ignitionrobotics/ign-gazebo/pull/591) + * [Pull request #591](https://github.com/gazebosim/gz-sim/pull/591) 1. Use double sided field in material msg - * [Pull request #599](https://github.com/ignitionrobotics/ign-gazebo/pull/599) + * [Pull request #599](https://github.com/gazebosim/gz-sim/pull/599) 1. Add lightmap demo - * [Pull request #471](https://github.com/ignitionrobotics/ign-gazebo/pull/471) + * [Pull request #471](https://github.com/gazebosim/gz-sim/pull/471) 1. Added renderOrder to convert functions - * [Pull request #514](https://github.com/ignitionrobotics/ign-gazebo/pull/514) + * [Pull request #514](https://github.com/gazebosim/gz-sim/pull/514) 1. Compilation fixes for Windows - * [Pull request #501](https://github.com/ignitionrobotics/ign-gazebo/pull/501) - * [Pull request #585](https://github.com/ignitionrobotics/ign-gazebo/pull/585) - * [Pull request #565](https://github.com/ignitionrobotics/ign-gazebo/pull/565) - * [Pull request #616](https://github.com/ignitionrobotics/ign-gazebo/pull/616) - * [Pull request #622](https://github.com/ignitionrobotics/ign-gazebo/pull/622) + * [Pull request #501](https://github.com/gazebosim/gz-sim/pull/501) + * [Pull request #585](https://github.com/gazebosim/gz-sim/pull/585) + * [Pull request #565](https://github.com/gazebosim/gz-sim/pull/565) + * [Pull request #616](https://github.com/gazebosim/gz-sim/pull/616) + * [Pull request #622](https://github.com/gazebosim/gz-sim/pull/622) 1. Documentation fixes - * [Pull request #727](https://github.com/ignitionrobotics/ign-gazebo/pull/727) - * [Pull request #710](https://github.com/ignitionrobotics/ign-gazebo/pull/710) + * [Pull request #727](https://github.com/gazebosim/gz-sim/pull/727) + * [Pull request #710](https://github.com/gazebosim/gz-sim/pull/710) 1. Replace deprecated function FreeGroup::CanonicalLink with FreeGroup::RootLink - * [Pull request #723](https://github.com/ignitionrobotics/ign-gazebo/pull/723) + * [Pull request #723](https://github.com/gazebosim/gz-sim/pull/723) 1. Respect spotlight direction - * [Pull request #718](https://github.com/ignitionrobotics/ign-gazebo/pull/718) + * [Pull request #718](https://github.com/gazebosim/gz-sim/pull/718) 1. Add UserCommands plugin to fuel.sdf - * [Pull request #719](https://github.com/ignitionrobotics/ign-gazebo/pull/719) + * [Pull request #719](https://github.com/gazebosim/gz-sim/pull/719) 1. Change SelectedEntities to return a const ref - * [Pull request #571](https://github.com/ignitionrobotics/ign-gazebo/pull/571) + * [Pull request #571](https://github.com/gazebosim/gz-sim/pull/571) 1. Use common::setenv for portability to Windows - * [Pull request #561](https://github.com/ignitionrobotics/ign-gazebo/pull/561) + * [Pull request #561](https://github.com/gazebosim/gz-sim/pull/561) -1. Add missing IGNITION_GAZEBO_VISIBLE macros - * [Pull request #563](https://github.com/ignitionrobotics/ign-gazebo/pull/563) +1. Add missing GZ_SIM_VISIBLE macros + * [Pull request #563](https://github.com/gazebosim/gz-sim/pull/563) 1. Fix deprecation warnings - * [Pull request #572](https://github.com/ignitionrobotics/ign-gazebo/pull/572) + * [Pull request #572](https://github.com/gazebosim/gz-sim/pull/572) 1. Fix visibility macro names when used by a different component (Windows) - * [Pull request #564](https://github.com/ignitionrobotics/ign-gazebo/pull/564) + * [Pull request #564](https://github.com/gazebosim/gz-sim/pull/564) -1. Bump edifice sdformat11 and ign-physics4 - * [Pull request #549](https://github.com/ignitionrobotics/ign-gazebo/pull/549) +1. Bump edifice sdformat11 and gz-physics4 + * [Pull request #549](https://github.com/gazebosim/gz-sim/pull/549) 1. Use ComponentState::PeriodicChange in UpdateState to avoid forcing full scene update - * [Pull request #486](https://github.com/ignitionrobotics/ign-gazebo/pull/486) + * [Pull request #486](https://github.com/gazebosim/gz-sim/pull/486) -1. Bump in edifice: ign-msgs7 - * [Pull request #546](https://github.com/ignitionrobotics/ign-gazebo/pull/546) +1. Bump in edifice: gz-msgs7 + * [Pull request #546](https://github.com/gazebosim/gz-sim/pull/546) 1. Add support for sky - * [Pull request #445](https://github.com/ignitionrobotics/ign-gazebo/pull/445) + * [Pull request #445](https://github.com/gazebosim/gz-sim/pull/445) 1. Infrastructure - * [Pull request #423](https://github.com/ignitionrobotics/ign-gazebo/pull/423) + * [Pull request #423](https://github.com/gazebosim/gz-sim/pull/423) -1. Bump in edifice: ign-rendering5 - * [Pull request #430](https://github.com/ignitionrobotics/ign-gazebo/pull/430) +1. Bump in edifice: gz-rendering5 + * [Pull request #430](https://github.com/gazebosim/gz-sim/pull/430) 1. Add 25percent darker view angle icons - * [Pull request #426](https://github.com/ignitionrobotics/ign-gazebo/pull/426) + * [Pull request #426](https://github.com/gazebosim/gz-sim/pull/426) -## Ignition Gazebo 4.x +## Gazebo Sim 4.x -### Ignition Gazebo 4.14.0 (2021-12-20) +### Gazebo Sim 4.14.0 (2021-12-20) 1. Support battery draining start via topics - * [Pull request #1255](https://github.com/ignitionrobotics/ign-gazebo/pull/1255) + * [Pull request #1255](https://github.com/gazebosim/gz-sim/pull/1255) 1. Make tests run as fast as possible - * [Pull request #1194](https://github.com/ignitionrobotics/ign-gazebo/pull/1194) - * [Pull request #1250](https://github.com/ignitionrobotics/ign-gazebo/pull/1250) + * [Pull request #1194](https://github.com/gazebosim/gz-sim/pull/1194) + * [Pull request #1250](https://github.com/gazebosim/gz-sim/pull/1250) 1. Fix visualize lidar - * [Pull request #1224](https://github.com/ignitionrobotics/ign-gazebo/pull/1224) + * [Pull request #1224](https://github.com/gazebosim/gz-sim/pull/1224) 1. Disable user commands light test on macOS - * [Pull request #1204](https://github.com/ignitionrobotics/ign-gazebo/pull/1204) + * [Pull request #1204](https://github.com/gazebosim/gz-sim/pull/1204) -### Ignition Gazebo 4.13.0 (2021-11-15) +### Gazebo Sim 4.13.0 (2021-11-15) 1. Prevent creation of spurious `` elements when saving worlds - * [Pull request #1192](https://github.com/ignitionrobotics/ign-gazebo/pull/1192) + * [Pull request #1192](https://github.com/gazebosim/gz-sim/pull/1192) 1. Add support for tracked vehicles - * [Pull request #869](https://github.com/ignitionrobotics/ign-gazebo/pull/869) + * [Pull request #869](https://github.com/gazebosim/gz-sim/pull/869) 1. Add components to dynamically set joint limits - * [Pull request #847](https://github.com/ignitionrobotics/ign-gazebo/pull/847) + * [Pull request #847](https://github.com/gazebosim/gz-sim/pull/847) 1. Fix updating component from state - * [Pull request #1181](https://github.com/ignitionrobotics/ign-gazebo/pull/1181) + * [Pull request #1181](https://github.com/gazebosim/gz-sim/pull/1181) 1. Fix updating a component's data via SerializedState msg - * [Pull request #1149](https://github.com/ignitionrobotics/ign-gazebo/pull/1149) + * [Pull request #1149](https://github.com/gazebosim/gz-sim/pull/1149) 1. Sensor systems work if loaded after sensors - * [Pull request #1104](https://github.com/ignitionrobotics/ign-gazebo/pull/1104) + * [Pull request #1104](https://github.com/gazebosim/gz-sim/pull/1104) 1. Fix generation of systems library symlinks in build directory - * [Pull request #1160](https://github.com/ignitionrobotics/ign-gazebo/pull/1160) + * [Pull request #1160](https://github.com/gazebosim/gz-sim/pull/1160) 1. Edit material colors in component inspector - * [Pull request #1123](https://github.com/ignitionrobotics/ign-gazebo/pull/1123) + * [Pull request #1123](https://github.com/gazebosim/gz-sim/pull/1123) 1. Support setting the background color for sensors - * [Pull request #1147](https://github.com/ignitionrobotics/ign-gazebo/pull/1147) + * [Pull request #1147](https://github.com/gazebosim/gz-sim/pull/1147) 1. Use uint64_t for ComponentInspector Entity IDs - * [Pull request #1144](https://github.com/ignitionrobotics/ign-gazebo/pull/1144) + * [Pull request #1144](https://github.com/gazebosim/gz-sim/pull/1144) 1. Fix integers and floats on component inspector - * [Pull request #1143](https://github.com/ignitionrobotics/ign-gazebo/pull/1143) + * [Pull request #1143](https://github.com/gazebosim/gz-sim/pull/1143) -### Ignition Gazebo 4.12.0 (2021-10-22) +### Gazebo Sim 4.12.0 (2021-10-22) 1. Fix performance issue with contact data and AABB updates. - * [Pull Request 1048](https://github.com/ignitionrobotics/ign-gazebo/pull/1048) + * [Pull Request 1048](https://github.com/gazebosim/gz-sim/pull/1048) 1. Enable new CMake policy to fix protobuf compilation - * [Pull Request 1059](https://github.com/ignitionrobotics/ign-gazebo/pull/1059) + * [Pull Request 1059](https://github.com/gazebosim/gz-sim/pull/1059) 1. Parse new param for enabling / disabling IMU orientation output. - * [Pull Request 899](https://github.com/ignitionrobotics/ign-gazebo/pull/899) + * [Pull Request 899](https://github.com/gazebosim/gz-sim/pull/899) 1. Fix light control standalone example. - * [Pull Request 1077](https://github.com/ignitionrobotics/ign-gazebo/pull/1077) + * [Pull Request 1077](https://github.com/gazebosim/gz-sim/pull/1077) 1. Performance: use std::unordered_map where possible in SceneManager. - * [Pull Request 1083](https://github.com/ignitionrobotics/ign-gazebo/pull/1083) + * [Pull Request 1083](https://github.com/gazebosim/gz-sim/pull/1083) 1. Prevent crash when using workflow PBR material. - * [Pull Request 1099](https://github.com/ignitionrobotics/ign-gazebo/pull/1099) + * [Pull Request 1099](https://github.com/gazebosim/gz-sim/pull/1099) 1. JointPositionController: Improve misleading error message. - * [Pull Request 1098](https://github.com/ignitionrobotics/ign-gazebo/pull/1098) + * [Pull Request 1098](https://github.com/gazebosim/gz-sim/pull/1098) 1. Adjust pose decimals based on element width. - * [Pull Request 1089](https://github.com/ignitionrobotics/ign-gazebo/pull/1089) + * [Pull Request 1089](https://github.com/gazebosim/gz-sim/pull/1089) 1. Better protect this->dataPtr->initialized with renderMutex. - * [Pull Request 1119](https://github.com/ignitionrobotics/ign-gazebo/pull/1089) + * [Pull Request 1119](https://github.com/gazebosim/gz-sim/pull/1089) 1. Updates to camera video record from subt. - * [Pull Request 1117](https://github.com/ignitionrobotics/ign-gazebo/pull/1117) + * [Pull Request 1117](https://github.com/gazebosim/gz-sim/pull/1117) 1. Fix performance level test flakiness. - * [Pull Request 1129](https://github.com/ignitionrobotics/ign-gazebo/pull/1129) + * [Pull Request 1129](https://github.com/gazebosim/gz-sim/pull/1129) -### Ignition Gazebo 4.11.0 (2021-09-23) +### Gazebo Sim 4.11.0 (2021-09-23) 1. Support locked entities, and headless video recording using sim time. - * [Pull Request 862](https://github.com/ignitionrobotics/ign-gazebo/pull/862) + * [Pull Request 862](https://github.com/gazebosim/gz-sim/pull/862) -### Ignition Gazebo 4.10.0 (2021-09-15) +### Gazebo Sim 4.10.0 (2021-09-15) 1. Fixed GUI's ComponentInspector light parameter - * [Pull Request 1018](https://github.com/ignitionrobotics/ign-gazebo/pull/1018) + * [Pull Request 1018](https://github.com/gazebosim/gz-sim/pull/1018) 1. Fix msg in entity_creation example - * [Pull Request 972](https://github.com/ignitionrobotics/ign-gazebo/pull/972) + * [Pull Request 972](https://github.com/gazebosim/gz-sim/pull/972) 1. Fix selection buffer crash on resize - * [Pull Request 969](https://github.com/ignitionrobotics/ign-gazebo/pull/969) + * [Pull Request 969](https://github.com/gazebosim/gz-sim/pull/969) 1. Fix crash in the follow_actor example - * [Pull Request 958](https://github.com/ignitionrobotics/ign-gazebo/pull/958) + * [Pull Request 958](https://github.com/gazebosim/gz-sim/pull/958) 1. Fix joint controller with empty joint velocity data - * [Pull Request 937](https://github.com/ignitionrobotics/ign-gazebo/pull/937) + * [Pull Request 937](https://github.com/gazebosim/gz-sim/pull/937) 1. Scale mode - Part2 - * [Pull Request 881](https://github.com/ignitionrobotics/ign-gazebo/pull/881) + * [Pull Request 881](https://github.com/gazebosim/gz-sim/pull/881) 1. Physics system: update link poses if the canonical link pose has been updated - * [Pull Request 876](https://github.com/ignitionrobotics/ign-gazebo/pull/876) + * [Pull Request 876](https://github.com/gazebosim/gz-sim/pull/876) 1. Add Particle Emitter tutorial - * [Pull Request 860](https://github.com/ignitionrobotics/ign-gazebo/pull/860) + * [Pull Request 860](https://github.com/gazebosim/gz-sim/pull/860) 1. Refactor RenderUtil::Update with helper functions - * [Pull Request 858](https://github.com/ignitionrobotics/ign-gazebo/pull/858) + * [Pull Request 858](https://github.com/gazebosim/gz-sim/pull/858) 1. Remove unneeded camera follow offset checks - * [Pull Request 857](https://github.com/ignitionrobotics/ign-gazebo/pull/857) + * [Pull Request 857](https://github.com/gazebosim/gz-sim/pull/857) 1. Added service to set camera's follow offset - * [Pull Request 855](https://github.com/ignitionrobotics/ign-gazebo/pull/855) + * [Pull Request 855](https://github.com/gazebosim/gz-sim/pull/855) 1. Using math::SpeedLimiter on the ackermann_steering controller. - * [Pull Request 837](https://github.com/ignitionrobotics/ign-gazebo/pull/837) + * [Pull Request 837](https://github.com/gazebosim/gz-sim/pull/837) -1. All changes merged forward from ign-gazebo3 - * [Pull Request 866](https://github.com/ignitionrobotics/ign-gazebo/pull/866) - * [Pull Request 916](https://github.com/ignitionrobotics/ign-gazebo/pull/916) - * [Pull Request 933](https://github.com/ignitionrobotics/ign-gazebo/pull/933) - * [Pull Request 946](https://github.com/ignitionrobotics/ign-gazebo/pull/946) - * [Pull Request 973](https://github.com/ignitionrobotics/ign-gazebo/pull/973) - * [Pull Request 1017](https://github.com/ignitionrobotics/ign-gazebo/pull/1017) +1. All changes merged forward from gz-sim3 + * [Pull Request 866](https://github.com/gazebosim/gz-sim/pull/866) + * [Pull Request 916](https://github.com/gazebosim/gz-sim/pull/916) + * [Pull Request 933](https://github.com/gazebosim/gz-sim/pull/933) + * [Pull Request 946](https://github.com/gazebosim/gz-sim/pull/946) + * [Pull Request 973](https://github.com/gazebosim/gz-sim/pull/973) + * [Pull Request 1017](https://github.com/gazebosim/gz-sim/pull/1017) -### Ignition Gazebo 4.9.1 (2021-05-24) +### Gazebo Sim 4.9.1 (2021-05-24) 1. Make halt motion act like a brake. - * [Pull Request 830](https://github.com/ignitionrobotics/ign-gazebo/pull/830) + * [Pull Request 830](https://github.com/gazebosim/gz-sim/pull/830) -### Ignition Gazebo 4.9.0 (2021-05-20) +### Gazebo Sim 4.9.0 (2021-05-20) 1. Enable Focal CI. - * [Pull Request 646](https://github.com/ignitionrobotics/ign-gazebo/pull/646) + * [Pull Request 646](https://github.com/gazebosim/gz-sim/pull/646) 1. [TPE] Support setting individual link velocity. - * [Pull Request 427](https://github.com/ignitionrobotics/ign-gazebo/pull/427) + * [Pull Request 427](https://github.com/gazebosim/gz-sim/pull/427) 1. Don't store duplicate ComponentTypeId in ECM. - * [Pull Request 751](https://github.com/ignitionrobotics/ign-gazebo/pull/751) + * [Pull Request 751](https://github.com/gazebosim/gz-sim/pull/751) 1. Fix macOS build: components::Name in benchmark. - * [Pull Request 784](https://github.com/ignitionrobotics/ign-gazebo/pull/784) + * [Pull Request 784](https://github.com/gazebosim/gz-sim/pull/784) 1. Fix documentation for EntityComponentManager::EachNew. - * [Pull Request 795](https://github.com/ignitionrobotics/ign-gazebo/pull/795) + * [Pull Request 795](https://github.com/gazebosim/gz-sim/pull/795) 1. Add functionalities for optical tactile plugin. - * [Pull Request 431](https://github.com/ignitionrobotics/ign-gazebo/pull/431) + * [Pull Request 431](https://github.com/gazebosim/gz-sim/pull/431) 1. Visualize ContactSensorData. - * [Pull Request 234](https://github.com/ignitionrobotics/ign-gazebo/pull/234) + * [Pull Request 234](https://github.com/gazebosim/gz-sim/pull/234) 1. Backport PR #763. - * [Pull Request 804](https://github.com/ignitionrobotics/ign-gazebo/pull/804) + * [Pull Request 804](https://github.com/gazebosim/gz-sim/pull/804) 1. Backport PR #536. - * [Pull Request 812](https://github.com/ignitionrobotics/ign-gazebo/pull/812) + * [Pull Request 812](https://github.com/gazebosim/gz-sim/pull/812) 1. Add an optional delay to the TriggeredPublisher system. - * [Pull Request 817](https://github.com/ignitionrobotics/ign-gazebo/pull/817) + * [Pull Request 817](https://github.com/gazebosim/gz-sim/pull/817) 1. Remove tools/code_check and update codecov. - * [Pull Request 814](https://github.com/ignitionrobotics/ign-gazebo/pull/814) + * [Pull Request 814](https://github.com/gazebosim/gz-sim/pull/814) 1. add conversion for particle scatter ratio field. - * [Pull Request 791](https://github.com/ignitionrobotics/ign-gazebo/pull/791) + * [Pull Request 791](https://github.com/gazebosim/gz-sim/pull/791) -### Ignition Gazebo 4.8.0 (2021-04-22) +### Gazebo Sim 4.8.0 (2021-04-22) 1. Add odometry publisher system. - * [Pull Request 547](https://github.com/ignitionrobotics/ign-gazebo/pull/547) + * [Pull Request 547](https://github.com/gazebosim/gz-sim/pull/547) 1. Patch particle emitter2 service. - * [Pull Request 777](https://github.com/ignitionrobotics/ign-gazebo/pull/777) + * [Pull Request 777](https://github.com/gazebosim/gz-sim/pull/777) -### Ignition Gazebo 4.7.0 (2021-04-09) +### Gazebo Sim 4.7.0 (2021-04-09) 1. Particle emitter based on SDF. - * [Pull Request 730](https://github.com/ignitionrobotics/ign-gazebo/pull/730) + * [Pull Request 730](https://github.com/gazebosim/gz-sim/pull/730) 1. Fix log playback for particle emitters. - * [Pull Request 745](https://github.com/ignitionrobotics/ign-gazebo/pull/745) + * [Pull Request 745](https://github.com/gazebosim/gz-sim/pull/745) 1. ECM's ChangedState gets message with modified components. - * [Pull Request 742](https://github.com/ignitionrobotics/ign-gazebo/pull/742) + * [Pull Request 742](https://github.com/gazebosim/gz-sim/pull/742) 1. Fixed collision visual bounding boxes. - * [Pull Request 746](https://github.com/ignitionrobotics/ign-gazebo/pull/746) + * [Pull Request 746](https://github.com/gazebosim/gz-sim/pull/746) 1. Fix compute_rtfs arguments. - * [Pull Request 737](https://github.com/ignitionrobotics/ign-gazebo/pull/737) + * [Pull Request 737](https://github.com/gazebosim/gz-sim/pull/737) 1. Validate step size and RTF parameters. - * [Pull Request 740](https://github.com/ignitionrobotics/ign-gazebo/pull/740) + * [Pull Request 740](https://github.com/gazebosim/gz-sim/pull/740) 1. Use Protobuf_IMPORT_DIRS instead of PROTOBUF_IMPORT_DIRS for compatibility with Protobuf CMake config. - * [Pull Request 715](https://github.com/ignitionrobotics/ign-gazebo/pull/715) + * [Pull Request 715](https://github.com/gazebosim/gz-sim/pull/715) 1. Do not pass -Wno-unused-parameter to MSVC compiler. - * [Pull Request 716](https://github.com/ignitionrobotics/ign-gazebo/pull/716) + * [Pull Request 716](https://github.com/gazebosim/gz-sim/pull/716) 1. Support configuring particle scatter ratio in particle emitter system. - * [Pull Request 674](https://github.com/ignitionrobotics/ign-gazebo/pull/674) + * [Pull Request 674](https://github.com/gazebosim/gz-sim/pull/674) 1. Fix diffuse and ambient values for ackermann example. - * [Pull Request 707](https://github.com/ignitionrobotics/ign-gazebo/pull/707) + * [Pull Request 707](https://github.com/gazebosim/gz-sim/pull/707) 1. Scenebroadcaster sensors. - * [Pull Request 698](https://github.com/ignitionrobotics/ign-gazebo/pull/698) + * [Pull Request 698](https://github.com/gazebosim/gz-sim/pull/698) 1. Add thermal camera test for object temperature below 0. - * [Pull Request 621](https://github.com/ignitionrobotics/ign-gazebo/pull/621) + * [Pull Request 621](https://github.com/gazebosim/gz-sim/pull/621) 1. [BULLET] Making GetContactsFromLastStepFeature optional in Collision Features - * [Pull Request 690](https://github.com/ignitionrobotics/ign-gazebo/pull/690) + * [Pull Request 690](https://github.com/gazebosim/gz-sim/pull/690) 1. Fix joint controller GUI test. - * [Pull Request 697](https://github.com/ignitionrobotics/ign-gazebo/pull/697) + * [Pull Request 697](https://github.com/gazebosim/gz-sim/pull/697) 1. Quiet warnings from Joint State Publisher. - * [Pull Request 696](https://github.com/ignitionrobotics/ign-gazebo/pull/696) + * [Pull Request 696](https://github.com/gazebosim/gz-sim/pull/696) 1. Ackermann Steering Plugin. - * [Pull Request 618](https://github.com/ignitionrobotics/ign-gazebo/pull/618) + * [Pull Request 618](https://github.com/gazebosim/gz-sim/pull/618) 1. Remove bounding box when model is deleted - * [Pull Request 675](https://github.com/ignitionrobotics/ign-gazebo/pull/675) + * [Pull Request 675](https://github.com/gazebosim/gz-sim/pull/675) 1. Cache link poses to improve performance. - * [Pull Request 669](https://github.com/ignitionrobotics/ign-gazebo/pull/669) + * [Pull Request 669](https://github.com/gazebosim/gz-sim/pull/669) 1. Check empty world name in Scene3d. - * [Pull Request 662](https://github.com/ignitionrobotics/ign-gazebo/pull/662) + * [Pull Request 662](https://github.com/gazebosim/gz-sim/pull/662) 1. All changes up to 3.8.0. -### Ignition Gazebo 4.6.0 (2021-03-01) +### Gazebo Sim 4.6.0 (2021-03-01) 1. Use a custom data structure to manage entity feature maps. - * [Pull Request 586](https://github.com/ignitionrobotics/ign-gazebo/pull/586) + * [Pull Request 586](https://github.com/gazebosim/gz-sim/pull/586) 1. Limit scene broadcast publications when paused. - * [Pull Request 497](https://github.com/ignitionrobotics/ign-gazebo/pull/497) + * [Pull Request 497](https://github.com/gazebosim/gz-sim/pull/497) 1. Report performer count in PerformerDetector plugin. - * [Pull Request 652](https://github.com/ignitionrobotics/ign-gazebo/pull/652) + * [Pull Request 652](https://github.com/gazebosim/gz-sim/pull/652) 1. Cache top level and static to speed up physics system. - * [Pull Request 656](https://github.com/ignitionrobotics/ign-gazebo/pull/656) + * [Pull Request 656](https://github.com/gazebosim/gz-sim/pull/656) 1. Support particle emitter modification using partial message. - * [Pull Request 651](https://github.com/ignitionrobotics/ign-gazebo/pull/651) + * [Pull Request 651](https://github.com/gazebosim/gz-sim/pull/651) 1. Set LD_LIBRARY_PATH on Actions CI. - * [Pull Request 650](https://github.com/ignitionrobotics/ign-gazebo/pull/650) + * [Pull Request 650](https://github.com/gazebosim/gz-sim/pull/650) 1. Fix flaky SceneBroadcaster test. - * [Pull Request 641](https://github.com/ignitionrobotics/ign-gazebo/pull/641) + * [Pull Request 641](https://github.com/gazebosim/gz-sim/pull/641) 1. Add a convenience function for getting possibly non-existing components. - * [Pull Request 629](https://github.com/ignitionrobotics/ign-gazebo/pull/629) + * [Pull Request 629](https://github.com/gazebosim/gz-sim/pull/629) 1. Add msg to show the computed temperature range computed from temperature gradient. - * [Pull Request 643](https://github.com/ignitionrobotics/ign-gazebo/pull/643) + * [Pull Request 643](https://github.com/gazebosim/gz-sim/pull/643) 1. Add TF/Pose_V pub in DiffDrive. - * [Pull Request 548](https://github.com/ignitionrobotics/ign-gazebo/pull/548) + * [Pull Request 548](https://github.com/gazebosim/gz-sim/pull/548) 1. Relax flaky performance test. - * [Pull Request 640](https://github.com/ignitionrobotics/ign-gazebo/pull/640) + * [Pull Request 640](https://github.com/gazebosim/gz-sim/pull/640) 1. Improve velocity control test. - * [Pull Request 642](https://github.com/ignitionrobotics/ign-gazebo/pull/642) + * [Pull Request 642](https://github.com/gazebosim/gz-sim/pull/642) 1. Validity check for user defined topics in JointPositionController. - * [Pull Request 639](https://github.com/ignitionrobotics/ign-gazebo/pull/639) + * [Pull Request 639](https://github.com/gazebosim/gz-sim/pull/639) 1. Add laser_retro support. - * [Pull Request 603](https://github.com/ignitionrobotics/ign-gazebo/pull/603) + * [Pull Request 603](https://github.com/gazebosim/gz-sim/pull/603) 1. Fix pose of plane visual with non-default normal vector. - * [Pull Request 574](https://github.com/ignitionrobotics/ign-gazebo/pull/574) + * [Pull Request 574](https://github.com/gazebosim/gz-sim/pull/574) -### Ignition Gazebo 4.5.0 (2020-02-17) +### Gazebo Sim 4.5.0 (2020-02-17) 1. Added particle system. - * [Pull Request 516](https://github.com/ignitionrobotics/ign-gazebo/pull/516) + * [Pull Request 516](https://github.com/gazebosim/gz-sim/pull/516) 1. Add Light Usercommand and include Light parameters in the componentInspector - * [Pull Request 482](https://github.com/ignitionrobotics/ign-gazebo/pull/482) + * [Pull Request 482](https://github.com/gazebosim/gz-sim/pull/482) 1. Added link to HW-accelerated video recording. - * [Pull Request 627](https://github.com/ignitionrobotics/ign-gazebo/pull/627) + * [Pull Request 627](https://github.com/gazebosim/gz-sim/pull/627) 1. Fix EntityComponentManager race condition. - * [Pull Request 601](https://github.com/ignitionrobotics/ign-gazebo/pull/601) + * [Pull Request 601](https://github.com/gazebosim/gz-sim/pull/601) 1. Add SDF topic validity check. - * [Pull Request 632](https://github.com/ignitionrobotics/ign-gazebo/pull/632) + * [Pull Request 632](https://github.com/gazebosim/gz-sim/pull/632) 1. Add JointTrajectoryController system plugin. - * [Pull Request 473](https://github.com/ignitionrobotics/ign-gazebo/pull/473) + * [Pull Request 473](https://github.com/gazebosim/gz-sim/pull/473) -### Ignition Gazebo 4.4.0 (2020-02-10) +### Gazebo Sim 4.4.0 (2020-02-10) 1. Added issue and PR templates - * [Pull Request 613](https://github.com/ignitionrobotics/ign-gazebo/pull/613) + * [Pull Request 613](https://github.com/gazebosim/gz-sim/pull/613) 1. Fix segfault in SetRemovedComponentsMsgs method - * [Pull Request 495](https://github.com/ignitionrobotics/ign-gazebo/pull/495) + * [Pull Request 495](https://github.com/gazebosim/gz-sim/pull/495) 1. Make topics configurable for joint controllers - * [Pull Request 584](https://github.com/ignitionrobotics/ign-gazebo/pull/584) + * [Pull Request 584](https://github.com/gazebosim/gz-sim/pull/584) 1. Add about dialog - * [Pull Request 609](https://github.com/ignitionrobotics/ign-gazebo/pull/609) + * [Pull Request 609](https://github.com/gazebosim/gz-sim/pull/609) 1. Add thermal sensor system for configuring thermal camera properties - * [Pull Request 614](https://github.com/ignitionrobotics/ign-gazebo/pull/614) + * [Pull Request 614](https://github.com/gazebosim/gz-sim/pull/614) -### Ignition Gazebo 4.3.0 (2020-02-02) +### Gazebo Sim 4.3.0 (2020-02-02) 1. Non-blocking paths request. - * [Pull Request 555](https://github.com/ignitionrobotics/ign-gazebo/pull/555) + * [Pull Request 555](https://github.com/gazebosim/gz-sim/pull/555) 1. Parallelize State call in ECM. - * [Pull Request 451](https://github.com/ignitionrobotics/ign-gazebo/pull/451) + * [Pull Request 451](https://github.com/gazebosim/gz-sim/pull/451) 1. Allow to create light with the create service. - * [Pull Request 513](https://github.com/ignitionrobotics/ign-gazebo/pull/513) + * [Pull Request 513](https://github.com/gazebosim/gz-sim/pull/513) 1. Added size to ground_plane in examples. - * [Pull Request 573](https://github.com/ignitionrobotics/ign-gazebo/pull/573) + * [Pull Request 573](https://github.com/gazebosim/gz-sim/pull/573) 1. Fix finding PBR materials. - * [Pull Request 575](https://github.com/ignitionrobotics/ign-gazebo/pull/575) + * [Pull Request 575](https://github.com/gazebosim/gz-sim/pull/575) 1. Publish all periodic change components in Scene Broadcaster. - * [Pull Request 544](https://github.com/ignitionrobotics/ign-gazebo/pull/544) + * [Pull Request 544](https://github.com/gazebosim/gz-sim/pull/544) -1. Backport state update changes from pull request [#486](https://github.com/ignitionrobotics/ign-gazebo/pull/486). - * [Pull Request 583](https://github.com/ignitionrobotics/ign-gazebo/pull/583) +1. Backport state update changes from pull request [#486](https://github.com/gazebosim/gz-sim/pull/486). + * [Pull Request 583](https://github.com/gazebosim/gz-sim/pull/583) 1. Fix code_check errors. - * [Pull Request 582](https://github.com/ignitionrobotics/ign-gazebo/pull/582) + * [Pull Request 582](https://github.com/gazebosim/gz-sim/pull/582) 1. Visualize collisions. - * [Pull Request 531](https://github.com/ignitionrobotics/ign-gazebo/pull/531) + * [Pull Request 531](https://github.com/gazebosim/gz-sim/pull/531) 1. Remove playback SDF param in Dome. - * [Pull Request 570](https://github.com/ignitionrobotics/ign-gazebo/pull/570) + * [Pull Request 570](https://github.com/gazebosim/gz-sim/pull/570) 1. Tutorial on migrating SDF files from Gazebo classic. - * [Pull Request 400](https://github.com/ignitionrobotics/ign-gazebo/pull/400) + * [Pull Request 400](https://github.com/gazebosim/gz-sim/pull/400) 1. World Exporter. - * [Pull Request 474](https://github.com/ignitionrobotics/ign-gazebo/pull/474) + * [Pull Request 474](https://github.com/gazebosim/gz-sim/pull/474) 1. Model Creation tutorial using services. - * [Pull Request 530](https://github.com/ignitionrobotics/ign-gazebo/pull/530) + * [Pull Request 530](https://github.com/gazebosim/gz-sim/pull/530) 1. Fix topLevelModel Method. - * [Pull Request 600](https://github.com/ignitionrobotics/ign-gazebo/pull/600) + * [Pull Request 600](https://github.com/gazebosim/gz-sim/pull/600) 1. Add heat signature option to thermal system. - * [Pull Request 498](https://github.com/ignitionrobotics/ign-gazebo/pull/498) + * [Pull Request 498](https://github.com/gazebosim/gz-sim/pull/498) 1. Add service and GUI to configure physics parameters (step size and RTF). - * [Pull Request 536](https://github.com/ignitionrobotics/ign-gazebo/pull/536) + * [Pull Request 536](https://github.com/gazebosim/gz-sim/pull/536) 1. Refactor UNIT_Server_TEST. - * [Pull Request 594](https://github.com/ignitionrobotics/ign-gazebo/pull/594) + * [Pull Request 594](https://github.com/gazebosim/gz-sim/pull/594) -1. Use Ignition GUI render event. - * [Pull Request 598](https://github.com/ignitionrobotics/ign-gazebo/pull/598) +1. Use Gazebo GUI render event. + * [Pull Request 598](https://github.com/gazebosim/gz-sim/pull/598) -### Ignition Gazebo 4.2.0 (2020-01-13) +### Gazebo Sim 4.2.0 (2020-01-13) 1. Automatically load a subset of world plugins. - * [Pull Request 537](https://github.com/ignitionrobotics/ign-gazebo/pull/537) + * [Pull Request 537](https://github.com/gazebosim/gz-sim/pull/537) 1. Fix to handle multiple logical cameras. - * [Pull Request 539](https://github.com/ignitionrobotics/ign-gazebo/pull/539) + * [Pull Request 539](https://github.com/gazebosim/gz-sim/pull/539) -1. Improve ign tool support on macOS. - * [Pull Request 477](https://github.com/ignitionrobotics/ign-gazebo/pull/477) +1. Improve gz tool support on macOS. + * [Pull Request 477](https://github.com/gazebosim/gz-sim/pull/477) 1. Add support for topic statistics on breadcrumb deployments. - * [Pull Request 532](https://github.com/ignitionrobotics/ign-gazebo/pull/532) + * [Pull Request 532](https://github.com/gazebosim/gz-sim/pull/532) 1. Fix slot in Plotting plugin. - * [Pull Request 490](https://github.com/ignitionrobotics/ign-gazebo/pull/490) + * [Pull Request 490](https://github.com/gazebosim/gz-sim/pull/490) 1. Fix shadow artifacts by disabling double sided rendering. - * [Pull Request 446](https://github.com/ignitionrobotics/ign-gazebo/pull/446) + * [Pull Request 446](https://github.com/gazebosim/gz-sim/pull/446) 1. Kinetic energy monitor plugin. - * [Pull Request 492](https://github.com/ignitionrobotics/ign-gazebo/pull/492) + * [Pull Request 492](https://github.com/gazebosim/gz-sim/pull/492) 1. Change nullptr to a int ptr for qt 5.15.2. - * [Pull Request 527](https://github.com/ignitionrobotics/ign-gazebo/pull/527) + * [Pull Request 527](https://github.com/gazebosim/gz-sim/pull/527) 1. Generate valid topics everywhere (support names with spaces). - * [Pull Request 522](https://github.com/ignitionrobotics/ign-gazebo/pull/522) + * [Pull Request 522](https://github.com/gazebosim/gz-sim/pull/522) 1. All changes up to version 3.7.0. -### Ignition Gazebo 4.1.0 (2020-12-11) +### Gazebo Sim 4.1.0 (2020-12-11) 1. Update Dockerfiles to use focal images - * [pull request 388](https://github.com/ignitionrobotics/ign-gazebo/pull/388) + * [pull request 388](https://github.com/gazebosim/gz-sim/pull/388) -1. Updated source build instructions for ign-gazebo4 - * [pull request 404](https://github.com/ignitionrobotics/ign-gazebo/pull/404) +1. Updated source build instructions for gz-sim4 + * [pull request 404](https://github.com/gazebosim/gz-sim/pull/404) 1. Add tests for the AnimationTime component - * [pull request 433](https://github.com/ignitionrobotics/ign-gazebo/pull/433) + * [pull request 433](https://github.com/gazebosim/gz-sim/pull/433) 1. Fix pose msg conversion when msg is missing orientation - * [pull request 450](https://github.com/ignitionrobotics/ign-gazebo/pull/450) - * [pull request 459](https://github.com/ignitionrobotics/ign-gazebo/pull/459) + * [pull request 450](https://github.com/gazebosim/gz-sim/pull/450) + * [pull request 459](https://github.com/gazebosim/gz-sim/pull/459) 1. Resolved updated codecheck issues - * [pull request 443](https://github.com/ignitionrobotics/ign-gazebo/pull/443) - * [pull request 457](https://github.com/ignitionrobotics/ign-gazebo/pull/457) - * [pull request 459](https://github.com/ignitionrobotics/ign-gazebo/pull/459) + * [pull request 443](https://github.com/gazebosim/gz-sim/pull/443) + * [pull request 457](https://github.com/gazebosim/gz-sim/pull/457) + * [pull request 459](https://github.com/gazebosim/gz-sim/pull/459) 1. Use new backpack version in tests - * [pull request 455](https://github.com/ignitionrobotics/ign-gazebo/pull/455) - * [pull request 457](https://github.com/ignitionrobotics/ign-gazebo/pull/457) - * [pull request 459](https://github.com/ignitionrobotics/ign-gazebo/pull/459) + * [pull request 455](https://github.com/gazebosim/gz-sim/pull/455) + * [pull request 457](https://github.com/gazebosim/gz-sim/pull/457) + * [pull request 459](https://github.com/gazebosim/gz-sim/pull/459) 1. Fix segfault in the Breadcrumb system when associated model is unloaded - * [pull request 454](https://github.com/ignitionrobotics/ign-gazebo/pull/454) - * [pull request 457](https://github.com/ignitionrobotics/ign-gazebo/pull/457) - * [pull request 459](https://github.com/ignitionrobotics/ign-gazebo/pull/459) + * [pull request 454](https://github.com/gazebosim/gz-sim/pull/454) + * [pull request 457](https://github.com/gazebosim/gz-sim/pull/457) + * [pull request 459](https://github.com/gazebosim/gz-sim/pull/459) 1. Added user commands to example thermal camera world - * [pull request 442](https://github.com/ignitionrobotics/ign-gazebo/pull/442) - * [pull request 459](https://github.com/ignitionrobotics/ign-gazebo/pull/459) + * [pull request 442](https://github.com/gazebosim/gz-sim/pull/442) + * [pull request 459](https://github.com/gazebosim/gz-sim/pull/459) 1. Helper function to set component data - * [pull request 436](https://github.com/ignitionrobotics/ign-gazebo/pull/436) - * [pull request 469](https://github.com/ignitionrobotics/ign-gazebo/pull/469) + * [pull request 436](https://github.com/gazebosim/gz-sim/pull/436) + * [pull request 469](https://github.com/gazebosim/gz-sim/pull/469) 1. Remove unneeded if statement - * [pull request 432](https://github.com/ignitionrobotics/ign-gazebo/pull/432) - * [pull request 469](https://github.com/ignitionrobotics/ign-gazebo/pull/469) + * [pull request 432](https://github.com/gazebosim/gz-sim/pull/432) + * [pull request 469](https://github.com/gazebosim/gz-sim/pull/469) 1. Fix flaky RecordAndPlayback test in INTEGRATION_log_system - * [pull request 463](https://github.com/ignitionrobotics/ign-gazebo/pull/463) - * [pull request 469](https://github.com/ignitionrobotics/ign-gazebo/pull/469) + * [pull request 463](https://github.com/gazebosim/gz-sim/pull/463) + * [pull request 469](https://github.com/gazebosim/gz-sim/pull/469) 1. Make PeerTracker test more robust - * [pull request 452](https://github.com/ignitionrobotics/ign-gazebo/pull/452) - * [pull request 469](https://github.com/ignitionrobotics/ign-gazebo/pull/469) + * [pull request 452](https://github.com/gazebosim/gz-sim/pull/452) + * [pull request 469](https://github.com/gazebosim/gz-sim/pull/469) 1. Use a [std::promise](https://en.cppreference.com/w/cpp/thread/promise)/[std::future](https://en.cppreference.com/w/cpp/thread/future) mechanism to avoid waiting in a looop until all `stepAck` messages are received - * [pull request 470](https://github.com/ignitionrobotics/ign-gazebo/pull/470) + * [pull request 470](https://github.com/gazebosim/gz-sim/pull/470) 1. Optical Tactile Sensor Plugin - * [pull request 229](https://github.com/ignitionrobotics/ign-gazebo/pull/229) + * [pull request 229](https://github.com/gazebosim/gz-sim/pull/229) 1. All changes up to and including those in version 3.5.0 and version 2.25.0 -### Ignition Gazebo 4.0.0 (2020-09-30) +### Gazebo Sim 4.0.0 (2020-09-30) 1. Names with spaces: add string serializer - * [pull request 244](https://github.com/ignitionrobotics/ign-gazebo/pull/244) + * [pull request 244](https://github.com/gazebosim/gz-sim/pull/244) 1. Filter mesh collision based on `collide_bitmask` property - * [pull request 160](https://github.com/ignitionrobotics/ign-gazebo/pull/160) + * [pull request 160](https://github.com/gazebosim/gz-sim/pull/160) 1. Add force focus when mouse enters render window - * [pull request 97](https://github.com/ignitionrobotics/ign-gazebo/pull/97) + * [pull request 97](https://github.com/gazebosim/gz-sim/pull/97) 1. Fixed docblock showGrid - * [pull request 152](https://github.com/ignitionrobotics/ign-gazebo/pull/152) + * [pull request 152](https://github.com/gazebosim/gz-sim/pull/152) 1. More actor components and follow plugin - * [pull request 157](https://github.com/ignitionrobotics/ign-gazebo/pull/157) + * [pull request 157](https://github.com/gazebosim/gz-sim/pull/157) 1. Filter the record menu and write the format to the file according to which button the user pushed (mp4 or ogv) - * [pull request 153](https://github.com/ignitionrobotics/ign-gazebo/pull/153) + * [pull request 153](https://github.com/gazebosim/gz-sim/pull/153) 1. Fix scene manager losing header file - * [pull request 211](https://github.com/ignitionrobotics/ign-gazebo/pull/211) + * [pull request 211](https://github.com/gazebosim/gz-sim/pull/211) 1. Fixed left menu events - * [pull request 218](https://github.com/ignitionrobotics/ign-gazebo/pull/218) + * [pull request 218](https://github.com/gazebosim/gz-sim/pull/218) 1. Fix yaw units typo in Component Inspector plugin - * [pull request 238](https://github.com/ignitionrobotics/ign-gazebo/pull/238) + * [pull request 238](https://github.com/gazebosim/gz-sim/pull/238) 1. Enable alpha based transparency on PBR materials by default - * [pull request 249](https://github.com/ignitionrobotics/ign-gazebo/pull/249) + * [pull request 249](https://github.com/gazebosim/gz-sim/pull/249) 1. Qt auto scale factor for HiDPI displays - * [pull request 291](https://github.com/ignitionrobotics/ign-gazebo/pull/291) + * [pull request 291](https://github.com/gazebosim/gz-sim/pull/291) 1. Sync components removal - * [pull request 272](https://github.com/ignitionrobotics/ign-gazebo/pull/272) + * [pull request 272](https://github.com/gazebosim/gz-sim/pull/272) 1. Add error handling for JointAxis::SetXyz and remove use of use_parent_model_frame - * [pull request 288](https://github.com/ignitionrobotics/ign-gazebo/pull/288) + * [pull request 288](https://github.com/gazebosim/gz-sim/pull/288) 1. Make some tests more robust - * [pull request 314](https://github.com/ignitionrobotics/ign-gazebo/pull/314) + * [pull request 314](https://github.com/gazebosim/gz-sim/pull/314) 1. Fix Qt5 warnings for using anchors - * [pull request 363](https://github.com/ignitionrobotics/ign-gazebo/pull/363) + * [pull request 363](https://github.com/gazebosim/gz-sim/pull/363) 1. Plotting Components Plugin - * [pull request 270](https://github.com/ignitionrobotics/ign-gazebo/pull/270) + * [pull request 270](https://github.com/gazebosim/gz-sim/pull/270) 1. Visualize Lidar Plugin - * [pull request 301](https://github.com/ignitionrobotics/ign-gazebo/pull/301) - * [pull request 391](https://github.com/ignitionrobotics/ign-gazebo/pull/391) + * [pull request 301](https://github.com/gazebosim/gz-sim/pull/301) + * [pull request 391](https://github.com/gazebosim/gz-sim/pull/391) 1. Replaced common::Time for std::chrono - * [pull request 309](https://github.com/ignitionrobotics/ign-gazebo/pull/309) + * [pull request 309](https://github.com/gazebosim/gz-sim/pull/309) 1. Tutorial, examples and documentation updates - * [pull request 380](https://github.com/ignitionrobotics/ign-gazebo/pull/380) - * [pull request 386](https://github.com/ignitionrobotics/ign-gazebo/pull/386) - * [pull request 387](https://github.com/ignitionrobotics/ign-gazebo/pull/387) - * [pull request 390](https://github.com/ignitionrobotics/ign-gazebo/pull/390) + * [pull request 380](https://github.com/gazebosim/gz-sim/pull/380) + * [pull request 386](https://github.com/gazebosim/gz-sim/pull/386) + * [pull request 387](https://github.com/gazebosim/gz-sim/pull/387) + * [pull request 390](https://github.com/gazebosim/gz-sim/pull/390) 1. Migration from BitBucket to GitHub - * [pull request 73](https://github.com/ignitionrobotics/ign-gazebo/pull/73) - * [pull request 68](https://github.com/ignitionrobotics/ign-gazebo/pull/68) - * [pull request 67](https://github.com/ignitionrobotics/ign-gazebo/pull/67) - * [pull request 130](https://github.com/ignitionrobotics/ign-gazebo/pull/130) + * [pull request 73](https://github.com/gazebosim/gz-sim/pull/73) + * [pull request 68](https://github.com/gazebosim/gz-sim/pull/68) + * [pull request 67](https://github.com/gazebosim/gz-sim/pull/67) + * [pull request 130](https://github.com/gazebosim/gz-sim/pull/130) 1. Use interpolate\_x sdf parameter for actor animations * [BitBucket pull request 536](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/536) @@ -2611,18 +2611,20 @@ 1. Support and * [BitBucket pull request 542](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/542) -1. Depend on ign-rendering4, ign-gui4, ign-sensors4 +1. Depend on gz-rendering4, gz-gui4, gz-sensors4 * [BitBucket pull request 540](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/540) 1. Axis-Aligned Bounding Boxes * [BitBucket pull request 565](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/565) 1. Add window focus upon mouse entering the render window - * [Github pull request 97](https://github.com/ignitionrobotics/ign-gazebo/pull/97) + * [Github pull request 97](https://github.com/gazebosim/gz-sim/pull/97) + +## Gazebo Sim 3.x -## Ignition Gazebo 3.x +### Gazebo Sim 3.X.X (20XX-XX-XX) -### Ignition Gazebo 3.13.0 (2022-06-01) +### Gazebo Sim 3.13.0 (2022-06-01) 1. Extruded 2D polyline geometries * [Pull request #1456](https://github.com/gazebosim/gz-sim/pull/1456) @@ -2679,609 +2681,609 @@ 1. Make tests run as fast as possible * [Pull request #1194](https://github.com/gazebosim/gz-sim/pull/1194) -### Ignition Gazebo 3.12.0 (2021-11-11) +### Gazebo Sim 3.12.0 (2021-11-11) 1. Prevent creation of spurious `` elements when saving worlds - * [Pull request #1192](https://github.com/ignitionrobotics/ign-gazebo/pull/1192) + * [Pull request #1192](https://github.com/gazebosim/gz-sim/pull/1192) 1. Added support for tracked vehicles - * [Pull request #869](https://github.com/ignitionrobotics/ign-gazebo/pull/869) + * [Pull request #869](https://github.com/gazebosim/gz-sim/pull/869) 1. Add components to dynamically set joint limits - * [Pull request #847](https://github.com/ignitionrobotics/ign-gazebo/pull/847) + * [Pull request #847](https://github.com/gazebosim/gz-sim/pull/847) 1. Fix updating a component's data via SerializedState msg - * [Pull request #1149](https://github.com/ignitionrobotics/ign-gazebo/pull/1149) + * [Pull request #1149](https://github.com/gazebosim/gz-sim/pull/1149) 1. Sensor systems work if loaded after sensors - * [Pull request #1104](https://github.com/ignitionrobotics/ign-gazebo/pull/1104) + * [Pull request #1104](https://github.com/gazebosim/gz-sim/pull/1104) 1. Fix generation of systems library symlinks in build directory - * [Pull request #1160](https://github.com/ignitionrobotics/ign-gazebo/pull/1160) + * [Pull request #1160](https://github.com/gazebosim/gz-sim/pull/1160) -1. Backport gazebo::Util::validTopic() from ign-gazebo4. - * [Pull request #1153](https://github.com/ignitionrobotics/ign-gazebo/pull/1153) +1. Backport sim::Util::validTopic() from gz-sim4. + * [Pull request #1153](https://github.com/gazebosim/gz-sim/pull/1153) 1. Support setting the background color for sensors - * [Pull request #1147](https://github.com/ignitionrobotics/ign-gazebo/pull/1147) + * [Pull request #1147](https://github.com/gazebosim/gz-sim/pull/1147) 1. Use uint64_t for ComponentInspector Entity IDs - * [Pull request #1144](https://github.com/ignitionrobotics/ign-gazebo/pull/1144) + * [Pull request #1144](https://github.com/gazebosim/gz-sim/pull/1144) 1. Fix integers and floats on component inspector - * [Pull request #1143](https://github.com/ignitionrobotics/ign-gazebo/pull/1143) + * [Pull request #1143](https://github.com/gazebosim/gz-sim/pull/1143) -### Ignition Gazebo 3.11.0 (2021-10-21) +### Gazebo Sim 3.11.0 (2021-10-21) 1. Updates to camera video record from subt. - * [Pull request #1117](https://github.com/ignitionrobotics/ign-gazebo/pull/1117) + * [Pull request #1117](https://github.com/gazebosim/gz-sim/pull/1117) 1. Fix performance level test flakiness. - * [Pull request #1129](https://github.com/ignitionrobotics/ign-gazebo/pull/1129) + * [Pull request #1129](https://github.com/gazebosim/gz-sim/pull/1129) -### Ignition Gazebo 3.10.0 (2021-10-15) +### Gazebo Sim 3.10.0 (2021-10-15) 1. Performance: use std::unordered_map where possible in SceneManager - * [Pull request #1083](https://github.com/ignitionrobotics/ign-gazebo/pull/1083) + * [Pull request #1083](https://github.com/gazebosim/gz-sim/pull/1083) 1. Enable new CMake policy to fix protobuf compilation - * [Pull request #1059](https://github.com/ignitionrobotics/ign-gazebo/pull/1059) + * [Pull request #1059](https://github.com/gazebosim/gz-sim/pull/1059) 1. Fix setting cast_shadows for visuals without material - * [Pull request #1015](https://github.com/ignitionrobotics/ign-gazebo/pull/1015) + * [Pull request #1015](https://github.com/gazebosim/gz-sim/pull/1015) 1. Remove duplicate XML tag in pendulum_links example world - * [Pull request #1002](https://github.com/ignitionrobotics/ign-gazebo/pull/1002) + * [Pull request #1002](https://github.com/gazebosim/gz-sim/pull/1002) 1. Enable sensor metrics on example worlds - * [Pull request #982](https://github.com/ignitionrobotics/ign-gazebo/pull/982) + * [Pull request #982](https://github.com/gazebosim/gz-sim/pull/982) 1. Improved doxygen - * [Pull request #996](https://github.com/ignitionrobotics/ign-gazebo/pull/996) + * [Pull request #996](https://github.com/gazebosim/gz-sim/pull/996) 1. JointPositionController: Improve misleading error message - * [Pull request #1098](https://github.com/ignitionrobotics/ign-gazebo/pull/1098) + * [Pull request #1098](https://github.com/gazebosim/gz-sim/pull/1098) 1. Adjust pose decimals based on element width - * [Pull request #1089](https://github.com/ignitionrobotics/ign-gazebo/pull/1089) + * [Pull request #1089](https://github.com/gazebosim/gz-sim/pull/1089) 1. Fixed IMU system plugin - * [Pull request #1043](https://github.com/ignitionrobotics/ign-gazebo/pull/1043) + * [Pull request #1043](https://github.com/gazebosim/gz-sim/pull/1043) 1. Use QTimer to update plugins in the Qt thread - * [Pull request #1095](https://github.com/ignitionrobotics/ign-gazebo/pull/1095) + * [Pull request #1095](https://github.com/gazebosim/gz-sim/pull/1095) -### Ignition Gazebo 3.9.0 (2021-08-16) +### Gazebo Sim 3.9.0 (2021-08-16) 1. Entity tree: prevent creation of repeated entity items - * [Pull request #974](https://github.com/ignitionrobotics/ign-gazebo/pull/974) + * [Pull request #974](https://github.com/gazebosim/gz-sim/pull/974) 1. Don't use $HOME on most tests (InternalFixture) - * [Pull request #971](https://github.com/ignitionrobotics/ign-gazebo/pull/971) + * [Pull request #971](https://github.com/gazebosim/gz-sim/pull/971) 1. Be more specific when looking for physics plugins - * [Pull request #965](https://github.com/ignitionrobotics/ign-gazebo/pull/965) + * [Pull request #965](https://github.com/gazebosim/gz-sim/pull/965) 1. Drag and drop meshes into scene - * [Pull request #939](https://github.com/ignitionrobotics/ign-gazebo/pull/939) + * [Pull request #939](https://github.com/gazebosim/gz-sim/pull/939) 1. Set protobuf_MODULE_COMPATIBLE before any find_package call - * [Pull request #957](https://github.com/ignitionrobotics/ign-gazebo/pull/957) + * [Pull request #957](https://github.com/gazebosim/gz-sim/pull/957) 1. [DiffDrive] add enable/disable - * [Pull request #772](https://github.com/ignitionrobotics/ign-gazebo/pull/772) + * [Pull request #772](https://github.com/gazebosim/gz-sim/pull/772) 1. Fix component inspector shutdown crash - * [Pull request #724](https://github.com/ignitionrobotics/ign-gazebo/pull/724) + * [Pull request #724](https://github.com/gazebosim/gz-sim/pull/724) 1. Add UserCommands Plugin. - * [Pull request #719](https://github.com/ignitionrobotics/ign-gazebo/pull/719) + * [Pull request #719](https://github.com/gazebosim/gz-sim/pull/719) 1. Setting the intiial velocity for a model or joint - * [Pull request #693](https://github.com/ignitionrobotics/ign-gazebo/pull/693) + * [Pull request #693](https://github.com/gazebosim/gz-sim/pull/693) 1. Examples and tutorial on using rendering API from plugins - * [Pull request #596](https://github.com/ignitionrobotics/ign-gazebo/pull/596) + * [Pull request #596](https://github.com/gazebosim/gz-sim/pull/596) -1. Add missing IGNITION_GAZEBO_VISIBLE macros - * [Pull request #563](https://github.com/ignitionrobotics/ign-gazebo/pull/563) +1. Add missing GZ_SIM_VISIBLE macros + * [Pull request #563](https://github.com/gazebosim/gz-sim/pull/563) 1. Fix visibility macro names when used by a different component (Windows) - * [Pull request #564](https://github.com/ignitionrobotics/ign-gazebo/pull/564) + * [Pull request #564](https://github.com/gazebosim/gz-sim/pull/564) 1. No install apt recommends and clear cache - * [Pull request #423](https://github.com/ignitionrobotics/ign-gazebo/pull/423) + * [Pull request #423](https://github.com/gazebosim/gz-sim/pull/423) 1. Add 25percent darker view angle icons - * [Pull request #426](https://github.com/ignitionrobotics/ign-gazebo/pull/426) + * [Pull request #426](https://github.com/gazebosim/gz-sim/pull/426) 1. Expose a test fixture helper class - * [Pull request #926](https://github.com/ignitionrobotics/ign-gazebo/pull/926) + * [Pull request #926](https://github.com/gazebosim/gz-sim/pull/926) 1. Fix logic to disable server default plugins loading - * [Pull request #953](https://github.com/ignitionrobotics/ign-gazebo/pull/953) + * [Pull request #953](https://github.com/gazebosim/gz-sim/pull/953) 1. removed unneeded plugin update - * [Pull request #944](https://github.com/ignitionrobotics/ign-gazebo/pull/944) + * [Pull request #944](https://github.com/gazebosim/gz-sim/pull/944) 1. Functions to enable velocity and acceleration checks on Link - * [Pull request #935](https://github.com/ignitionrobotics/ign-gazebo/pull/935) + * [Pull request #935](https://github.com/gazebosim/gz-sim/pull/935) 1. Support adding systems that don't come from a plugin - * [Pull request #936](https://github.com/ignitionrobotics/ign-gazebo/pull/936) + * [Pull request #936](https://github.com/gazebosim/gz-sim/pull/936) 1. 3D plot GUI plugin - * [Pull request #917](https://github.com/ignitionrobotics/ign-gazebo/pull/917) + * [Pull request #917](https://github.com/gazebosim/gz-sim/pull/917) 1. Add a convenience function for getting possibly non-existing components. - * [Pull request #629](https://github.com/ignitionrobotics/ign-gazebo/pull/629) + * [Pull request #629](https://github.com/gazebosim/gz-sim/pull/629) 1. Fix topLevelModel method - * [Pull request #600](https://github.com/ignitionrobotics/ign-gazebo/pull/600) + * [Pull request #600](https://github.com/gazebosim/gz-sim/pull/600) 1. World exporter - * [Pull request #474](https://github.com/ignitionrobotics/ign-gazebo/pull/474) + * [Pull request #474](https://github.com/gazebosim/gz-sim/pull/474) 1. Fix finding PBR materials - * [Pull request #575](https://github.com/ignitionrobotics/ign-gazebo/pull/575) + * [Pull request #575](https://github.com/gazebosim/gz-sim/pull/575) 1. Handle multiple logical cameras - * [Pull request #539](https://github.com/ignitionrobotics/ign-gazebo/pull/539) + * [Pull request #539](https://github.com/gazebosim/gz-sim/pull/539) 1. Make some tests more robust - * [Pull request #314](https://github.com/ignitionrobotics/ign-gazebo/pull/314) + * [Pull request #314](https://github.com/gazebosim/gz-sim/pull/314) 1. Fix codecheck - * [Pull request #887](https://github.com/ignitionrobotics/ign-gazebo/pull/887) + * [Pull request #887](https://github.com/gazebosim/gz-sim/pull/887) 1. Hello world plugin added - * [Pull request #699](https://github.com/ignitionrobotics/ign-gazebo/pull/699) + * [Pull request #699](https://github.com/gazebosim/gz-sim/pull/699) -1. Model info CLI `ign model` - * [Pull request #893](https://github.com/ignitionrobotics/ign-gazebo/pull/893) +1. Model info CLI `gz model` + * [Pull request #893](https://github.com/gazebosim/gz-sim/pull/893) 1. Don't create components for entities that don't exist - * [Pull request #927](https://github.com/ignitionrobotics/ign-gazebo/pull/927) + * [Pull request #927](https://github.com/gazebosim/gz-sim/pull/927) 1. Adds Mesh Tutorial - * [Pull request #915](https://github.com/ignitionrobotics/ign-gazebo/pull/915) + * [Pull request #915](https://github.com/gazebosim/gz-sim/pull/915) 1. Fix updating GUI plugin on load - * [Pull request #904](https://github.com/ignitionrobotics/ign-gazebo/pull/904) + * [Pull request #904](https://github.com/gazebosim/gz-sim/pull/904) 1. Fix documentation for the Sensor component - * [Pull request #898](https://github.com/ignitionrobotics/ign-gazebo/pull/898) + * [Pull request #898](https://github.com/gazebosim/gz-sim/pull/898) 1. Use UINT64_MAX for kComponentTpyeIDInvalid instead of relying on underflow - * [Pull request #889](https://github.com/ignitionrobotics/ign-gazebo/pull/889) + * [Pull request #889](https://github.com/gazebosim/gz-sim/pull/889) 1. Fix mouse view control target position - * [Pull request #879](https://github.com/ignitionrobotics/ign-gazebo/pull/879) + * [Pull request #879](https://github.com/gazebosim/gz-sim/pull/879) 1. Set GUI camera pose - * [Pull request #863](https://github.com/ignitionrobotics/ign-gazebo/pull/863) + * [Pull request #863](https://github.com/gazebosim/gz-sim/pull/863) 1. Enables confirmation dialog when closing Gazebo. - * [Pull request #850](https://github.com/ignitionrobotics/ign-gazebo/pull/850) + * [Pull request #850](https://github.com/gazebosim/gz-sim/pull/850) -1. Depend on ign-rendering 3.5 - * [Pull request #867](https://github.com/ignitionrobotics/ign-gazebo/pull/867) +1. Depend on gz-rendering 3.5 + * [Pull request #867](https://github.com/gazebosim/gz-sim/pull/867) 1. Using math::SpeedLimiter on the diff_drive controller. - * [Pull request #833](https://github.com/ignitionrobotics/ign-gazebo/pull/833) + * [Pull request #833](https://github.com/gazebosim/gz-sim/pull/833) 1. New example: get an ECM snapshot from an external program - * [Pull request #859](https://github.com/ignitionrobotics/ign-gazebo/pull/859) + * [Pull request #859](https://github.com/gazebosim/gz-sim/pull/859) 1. Fix WindEffects Plugin bug, not configuring new links - * [Pull request #844](https://github.com/ignitionrobotics/ign-gazebo/pull/844) + * [Pull request #844](https://github.com/gazebosim/gz-sim/pull/844) 1. Fix potentially flaky integration component test case - * [Pull request #848](https://github.com/ignitionrobotics/ign-gazebo/pull/848) + * [Pull request #848](https://github.com/gazebosim/gz-sim/pull/848) 1. Cleanup and alphabetize plugin headers - * [Pull request #838](https://github.com/ignitionrobotics/ign-gazebo/pull/838) + * [Pull request #838](https://github.com/gazebosim/gz-sim/pull/838) 1. Removed duplicated code with rendering::sceneFromFirstRenderEngine - * [Pull request #819](https://github.com/ignitionrobotics/ign-gazebo/pull/819) + * [Pull request #819](https://github.com/gazebosim/gz-sim/pull/819) 1. Remove unused headers in video_recoder plugin - * [Pull request #834](https://github.com/ignitionrobotics/ign-gazebo/pull/834) + * [Pull request #834](https://github.com/gazebosim/gz-sim/pull/834) -1. Use moveToHelper from ign-rendering - * [Pull request #825](https://github.com/ignitionrobotics/ign-gazebo/pull/825) +1. Use moveToHelper from gz-rendering + * [Pull request #825](https://github.com/gazebosim/gz-sim/pull/825) 1. Remove tools/code_check and update codecov - * [Pull request #814](https://github.com/ignitionrobotics/ign-gazebo/pull/814) + * [Pull request #814](https://github.com/gazebosim/gz-sim/pull/814) 1. Add service and GUI to configure physics parameters - * [Pull request #536](https://github.com/ignitionrobotics/ign-gazebo/pull/536) - * [Pull request #812](https://github.com/ignitionrobotics/ign-gazebo/pull/812) + * [Pull request #536](https://github.com/gazebosim/gz-sim/pull/536) + * [Pull request #812](https://github.com/gazebosim/gz-sim/pull/812) 1. Fix documentation for EntityComponentManager::EachNew - * [Pull request #795](https://github.com/ignitionrobotics/ign-gazebo/pull/795) + * [Pull request #795](https://github.com/gazebosim/gz-sim/pull/795) 1. Fix macOS build: components::Name in benchmark - * [Pull request #784](https://github.com/ignitionrobotics/ign-gazebo/pull/784) + * [Pull request #784](https://github.com/gazebosim/gz-sim/pull/784) 1. Don't store duplicate ComponentTypeId in ECM - * [Pull request #751](https://github.com/ignitionrobotics/ign-gazebo/pull/751) + * [Pull request #751](https://github.com/gazebosim/gz-sim/pull/751) 1. [TPE] Support setting individual link velocity - * [Pull request #427](https://github.com/ignitionrobotics/ign-gazebo/pull/427) + * [Pull request #427](https://github.com/gazebosim/gz-sim/pull/427) 1. 👩‍🌾 Enable Focal CI - * [Pull request #646](https://github.com/ignitionrobotics/ign-gazebo/pull/646) + * [Pull request #646](https://github.com/gazebosim/gz-sim/pull/646) 1. Update benchmark comparison instructions - * [Pull request #766](https://github.com/ignitionrobotics/ign-gazebo/pull/766) + * [Pull request #766](https://github.com/gazebosim/gz-sim/pull/766) 1. Use Protobuf_IMPORT_DIRS instead of PROTOBUF_IMPORT_DIRS for compatibility with Protobuf CMake config - * [Pull request #715](https://github.com/ignitionrobotics/ign-gazebo/pull/715) + * [Pull request #715](https://github.com/gazebosim/gz-sim/pull/715) 1. Do not pass -Wno-unused-parameter to MSVC compiler - * [Pull request #716](https://github.com/ignitionrobotics/ign-gazebo/pull/716) + * [Pull request #716](https://github.com/gazebosim/gz-sim/pull/716) 1. Scenebroadcaster sensors - * [Pull request #698](https://github.com/ignitionrobotics/ign-gazebo/pull/698) + * [Pull request #698](https://github.com/gazebosim/gz-sim/pull/698) 1. Make it so joint state publisher is quieter - * [Pull request #696](https://github.com/ignitionrobotics/ign-gazebo/pull/696) + * [Pull request #696](https://github.com/gazebosim/gz-sim/pull/696) -### Ignition Gazebo 3.8.0 (2021-03-17) +### Gazebo Sim 3.8.0 (2021-03-17) 1. Add joint position controller GUI, also enable tests for GUI plugins - * [Pull request #534](https://github.com/ignitionrobotics/ign-gazebo/pull/534) + * [Pull request #534](https://github.com/gazebosim/gz-sim/pull/534) 1. Remove visibility from headers that are not installed - * [Pull request #665](https://github.com/ignitionrobotics/ign-gazebo/pull/665) + * [Pull request #665](https://github.com/gazebosim/gz-sim/pull/665) 1. Added screenshot to toolbar - * [Pull request #588](https://github.com/ignitionrobotics/ign-gazebo/pull/588) + * [Pull request #588](https://github.com/gazebosim/gz-sim/pull/588) -1. Improve ign tool support on macOS - * [Pull request #477](https://github.com/ignitionrobotics/ign-gazebo/pull/477) +1. Improve gz tool support on macOS + * [Pull request #477](https://github.com/gazebosim/gz-sim/pull/477) 1. change nullptr to a int ptr for qt 5.15.2 bug - * [Pull request #527](https://github.com/ignitionrobotics/ign-gazebo/pull/527) + * [Pull request #527](https://github.com/gazebosim/gz-sim/pull/527) 1. Kinetic energy monitor plugin - * [Pull request #492](https://github.com/ignitionrobotics/ign-gazebo/pull/492) + * [Pull request #492](https://github.com/gazebosim/gz-sim/pull/492) 1. Use a std::promise/std::future to avoid busy waiting the step ack messages in NetworkManagerPrimary - * [Pull request #470](https://github.com/ignitionrobotics/ign-gazebo/pull/470) + * [Pull request #470](https://github.com/gazebosim/gz-sim/pull/470) 1. clarified performer example - * [Pull request #390](https://github.com/ignitionrobotics/ign-gazebo/pull/390) + * [Pull request #390](https://github.com/gazebosim/gz-sim/pull/390) 1. Add tutorial tweaks - * [Pull request #380](https://github.com/ignitionrobotics/ign-gazebo/pull/380) + * [Pull request #380](https://github.com/gazebosim/gz-sim/pull/380) 1. Fix Qt5 warnings for using anchors - * [Pull request #363](https://github.com/ignitionrobotics/ign-gazebo/pull/363) + * [Pull request #363](https://github.com/gazebosim/gz-sim/pull/363) 1. Update codeowners - * [Pull request #305](https://github.com/ignitionrobotics/ign-gazebo/pull/305) + * [Pull request #305](https://github.com/gazebosim/gz-sim/pull/305) 1. Qt auto scale factor for HiDPI displays - * [Pull request #291](https://github.com/ignitionrobotics/ign-gazebo/pull/291) + * [Pull request #291](https://github.com/gazebosim/gz-sim/pull/291) 1. Fix yaw units - * [Pull request #238](https://github.com/ignitionrobotics/ign-gazebo/pull/238) + * [Pull request #238](https://github.com/gazebosim/gz-sim/pull/238) 1. Fixed docblock showGrid - * [Pull request #152](https://github.com/ignitionrobotics/ign-gazebo/pull/152) + * [Pull request #152](https://github.com/gazebosim/gz-sim/pull/152) 1. Fix entity tree for large worlds - * [Pull request #673](https://github.com/ignitionrobotics/ign-gazebo/pull/673) + * [Pull request #673](https://github.com/gazebosim/gz-sim/pull/673) 1. Master branch updates - * [Pull request #672](https://github.com/ignitionrobotics/ign-gazebo/pull/672) + * [Pull request #672](https://github.com/gazebosim/gz-sim/pull/672) 1. Backport #561: Use common::setenv - * [Pull request #666](https://github.com/ignitionrobotics/ign-gazebo/pull/666) + * [Pull request #666](https://github.com/gazebosim/gz-sim/pull/666) 1. Use a custom data structure to manage entity feature maps - * [Pull request #586](https://github.com/ignitionrobotics/ign-gazebo/pull/586) + * [Pull request #586](https://github.com/gazebosim/gz-sim/pull/586) 1. Limit scene broadcast publications when paused - * [Pull request #497](https://github.com/ignitionrobotics/ign-gazebo/pull/497) + * [Pull request #497](https://github.com/gazebosim/gz-sim/pull/497) 1. Fix flaky SceneBoradcaster test - * [Pull request #641](https://github.com/ignitionrobotics/ign-gazebo/pull/641) + * [Pull request #641](https://github.com/gazebosim/gz-sim/pull/641) 1. Add TF/Pose_V publisher in DiffDrive - * [Pull request #548](https://github.com/ignitionrobotics/ign-gazebo/pull/548) + * [Pull request #548](https://github.com/gazebosim/gz-sim/pull/548) 1. 👩‍🌾 Relax performance test - * [Pull request #640](https://github.com/ignitionrobotics/ign-gazebo/pull/640) + * [Pull request #640](https://github.com/gazebosim/gz-sim/pull/640) 1. 👩‍🌾 Improve velocity control test - * [Pull request #642](https://github.com/ignitionrobotics/ign-gazebo/pull/642) + * [Pull request #642](https://github.com/gazebosim/gz-sim/pull/642) 1. Add `laser_retro` support - * [Pull request #603](https://github.com/ignitionrobotics/ign-gazebo/pull/603) + * [Pull request #603](https://github.com/gazebosim/gz-sim/pull/603) 1. Fix pose of plane visual with non-default normal vector - * [Pull request #574](https://github.com/ignitionrobotics/ign-gazebo/pull/574) + * [Pull request #574](https://github.com/gazebosim/gz-sim/pull/574) 1. Add About dialog - * [Pull request #609](https://github.com/ignitionrobotics/ign-gazebo/pull/609) + * [Pull request #609](https://github.com/gazebosim/gz-sim/pull/609) 1. Make topics configurable for joint controllers - * [Pull request #584](https://github.com/ignitionrobotics/ign-gazebo/pull/584) + * [Pull request #584](https://github.com/gazebosim/gz-sim/pull/584) -1. Also use Ignition GUI render event - * [Pull request #598](https://github.com/ignitionrobotics/ign-gazebo/pull/598) +1. Also use Gazebo GUI render event + * [Pull request #598](https://github.com/gazebosim/gz-sim/pull/598) 1. Tutorial on migrating SDF files from Gazebo classic - * [Pull request #400](https://github.com/ignitionrobotics/ign-gazebo/pull/400) + * [Pull request #400](https://github.com/gazebosim/gz-sim/pull/400) 1. Visualize collisions - * [Pull request #531](https://github.com/ignitionrobotics/ign-gazebo/pull/531) + * [Pull request #531](https://github.com/gazebosim/gz-sim/pull/531) 1. Backport state update changes from pull request #486 - * [Pull request #583](https://github.com/ignitionrobotics/ign-gazebo/pull/583) + * [Pull request #583](https://github.com/gazebosim/gz-sim/pull/583) 1. Publish all periodic change components in Scene Broadcaster - * [Pull request #544](https://github.com/ignitionrobotics/ign-gazebo/pull/544) + * [Pull request #544](https://github.com/gazebosim/gz-sim/pull/544) 1. added size to `ground_plane` in examples - * [Pull request #573](https://github.com/ignitionrobotics/ign-gazebo/pull/573) + * [Pull request #573](https://github.com/gazebosim/gz-sim/pull/573) 1. Parallelize State call in ECM - * [Pull request #451](https://github.com/ignitionrobotics/ign-gazebo/pull/451) + * [Pull request #451](https://github.com/gazebosim/gz-sim/pull/451) 1. Non-blocking paths request - * [Pull request #555](https://github.com/ignitionrobotics/ign-gazebo/pull/555) + * [Pull request #555](https://github.com/gazebosim/gz-sim/pull/555) -### Ignition Gazebo 3.7.0 (2021-01-13) +### Gazebo Sim 3.7.0 (2021-01-13) 1. Fix examples in migration plugins tutorial. - * [Pull Request 543](https://github.com/ignitionrobotics/ign-gazebo/pull/543) + * [Pull Request 543](https://github.com/gazebosim/gz-sim/pull/543) 1. Added missing namespace in `detail/EntityComponentManager.hh`. - * [Pull Request 541](https://github.com/ignitionrobotics/ign-gazebo/pull/541) + * [Pull Request 541](https://github.com/gazebosim/gz-sim/pull/541) 1. Automatically load a subset of world plugins. - * [Pull Request 281](https://github.com/ignitionrobotics/ign-gazebo/pull/281) + * [Pull Request 281](https://github.com/gazebosim/gz-sim/pull/281) 1. Update gtest to 1.10.0 for Windows compilation. - * [Pull Request 506](https://github.com/ignitionrobotics/ign-gazebo/pull/506) + * [Pull Request 506](https://github.com/gazebosim/gz-sim/pull/506) 1. Updates to ardupilot migration tutorial. - * [Pull Request 525](https://github.com/ignitionrobotics/ign-gazebo/pull/525) + * [Pull Request 525](https://github.com/gazebosim/gz-sim/pull/525) 1. Don't make docs on macOS. - * [Pull Request 528](https://github.com/ignitionrobotics/ign-gazebo/pull/528) + * [Pull Request 528](https://github.com/gazebosim/gz-sim/pull/528) -### Ignition Gazebo 3.6.0 (2020-12-30) +### Gazebo Sim 3.6.0 (2020-12-30) 1. Fix pose msg conversion when msg is missing orientation - * [Pull Request 450](https://github.com/ignitionrobotics/ign-gazebo/pull/450) + * [Pull Request 450](https://github.com/gazebosim/gz-sim/pull/450) 1. Address code checker warnings - * [Pull Request 443](https://github.com/ignitionrobotics/ign-gazebo/pull/443) - * [Pull Request 491](https://github.com/ignitionrobotics/ign-gazebo/pull/491) - * [Pull Request 499](https://github.com/ignitionrobotics/ign-gazebo/pull/499) - * [Pull Request 502](https://github.com/ignitionrobotics/ign-gazebo/pull/502) + * [Pull Request 443](https://github.com/gazebosim/gz-sim/pull/443) + * [Pull Request 491](https://github.com/gazebosim/gz-sim/pull/491) + * [Pull Request 499](https://github.com/gazebosim/gz-sim/pull/499) + * [Pull Request 502](https://github.com/gazebosim/gz-sim/pull/502) 1. Test fixes - * [Pull Request 455](https://github.com/ignitionrobotics/ign-gazebo/pull/455) - * [Pull Request 463](https://github.com/ignitionrobotics/ign-gazebo/pull/463) - * [Pull Request 452](https://github.com/ignitionrobotics/ign-gazebo/pull/452) - * [Pull Request 480](https://github.com/ignitionrobotics/ign-gazebo/pull/480) + * [Pull Request 455](https://github.com/gazebosim/gz-sim/pull/455) + * [Pull Request 463](https://github.com/gazebosim/gz-sim/pull/463) + * [Pull Request 452](https://github.com/gazebosim/gz-sim/pull/452) + * [Pull Request 480](https://github.com/gazebosim/gz-sim/pull/480) 1. Documentation updates - * [Pull Request 472](https://github.com/ignitionrobotics/ign-gazebo/pull/472) + * [Pull Request 472](https://github.com/gazebosim/gz-sim/pull/472) 1. Fix segfault in the Breadcrumb system when associated model is unloaded - * [Pull Request 454](https://github.com/ignitionrobotics/ign-gazebo/pull/454) + * [Pull Request 454](https://github.com/gazebosim/gz-sim/pull/454) 1. Added user commands to example thermal camera world - * [Pull Request 442](https://github.com/ignitionrobotics/ign-gazebo/pull/442) + * [Pull Request 442](https://github.com/gazebosim/gz-sim/pull/442) 1. Helper function to set component data - * [Pull Request 436](https://github.com/ignitionrobotics/ign-gazebo/pull/436) + * [Pull Request 436](https://github.com/gazebosim/gz-sim/pull/436) 1. Remove unneeded if statement in EntityComponentManager - * [Pull Request 432](https://github.com/ignitionrobotics/ign-gazebo/pull/432) + * [Pull Request 432](https://github.com/gazebosim/gz-sim/pull/432) 1. Clarify how time is represented in each phase of a System step - * [Pull Request 467](https://github.com/ignitionrobotics/ign-gazebo/pull/467) + * [Pull Request 467](https://github.com/gazebosim/gz-sim/pull/467) 1. Switch to async state service request - * [Pull Request 461](https://github.com/ignitionrobotics/ign-gazebo/pull/461) + * [Pull Request 461](https://github.com/gazebosim/gz-sim/pull/461) 1. Update key event handling - * [Pull Request 466](https://github.com/ignitionrobotics/ign-gazebo/pull/466) + * [Pull Request 466](https://github.com/gazebosim/gz-sim/pull/466) 1. Tape Measure Plugin - * [Pull Request 456](https://github.com/ignitionrobotics/ign-gazebo/pull/456) + * [Pull Request 456](https://github.com/gazebosim/gz-sim/pull/456) 1. Move deselect and preview termination to render thread - * [Pull Request 493](https://github.com/ignitionrobotics/ign-gazebo/pull/493) + * [Pull Request 493](https://github.com/gazebosim/gz-sim/pull/493) 1. Logical audio sensor plugin - * [Pull Request 401](https://github.com/ignitionrobotics/ign-gazebo/pull/401) + * [Pull Request 401](https://github.com/gazebosim/gz-sim/pull/401) 1. add frame_id and child_frame_id attribute support for DiffDrive - * [Pull Request 361](https://github.com/ignitionrobotics/ign-gazebo/pull/361) + * [Pull Request 361](https://github.com/gazebosim/gz-sim/pull/361) 1. Add ability to record video based on sim time - * [Pull Request 414](https://github.com/ignitionrobotics/ign-gazebo/pull/414) + * [Pull Request 414](https://github.com/gazebosim/gz-sim/pull/414) 1. Add lockstep mode to video recording - * [Pull Request 419](https://github.com/ignitionrobotics/ign-gazebo/pull/419) + * [Pull Request 419](https://github.com/gazebosim/gz-sim/pull/419) 1. Disable right click menu when using measuring tool - * [Pull Request 458](https://github.com/ignitionrobotics/ign-gazebo/pull/458) + * [Pull Request 458](https://github.com/gazebosim/gz-sim/pull/458) -### Ignition Gazebo 3.5.0 (2020-11-03) +### Gazebo Sim 3.5.0 (2020-11-03) 1. Updated source build instructions - * [Pull Request 403](https://github.com/ignitionrobotics/ign-gazebo/pull/403) + * [Pull Request 403](https://github.com/gazebosim/gz-sim/pull/403) 1. More world APIs, helper function ComponentData - * [Pull Request 378](https://github.com/ignitionrobotics/ign-gazebo/pull/378) + * [Pull Request 378](https://github.com/gazebosim/gz-sim/pull/378) 1. Improve fork experience - * [Pull Request 411](https://github.com/ignitionrobotics/ign-gazebo/pull/411) + * [Pull Request 411](https://github.com/gazebosim/gz-sim/pull/411) 1. Fix a crash in the grid config plugin, set grid material - * [Pull Request 412](https://github.com/ignitionrobotics/ign-gazebo/pull/412) + * [Pull Request 412](https://github.com/gazebosim/gz-sim/pull/412) 1. Document deprecation of log playback `` SDF param - * [Pull Request 424](https://github.com/ignitionrobotics/ign-gazebo/pull/424) - * [Pull Request 425](https://github.com/ignitionrobotics/ign-gazebo/pull/425) + * [Pull Request 424](https://github.com/gazebosim/gz-sim/pull/424) + * [Pull Request 425](https://github.com/gazebosim/gz-sim/pull/425) 1. Enable mouse highlighting selection on resource spawner - * [Pull Request 402](https://github.com/ignitionrobotics/ign-gazebo/pull/402) + * [Pull Request 402](https://github.com/gazebosim/gz-sim/pull/402) 1. Add support for custom render engines - * [Pull Request 373](https://github.com/ignitionrobotics/ign-gazebo/pull/373) + * [Pull Request 373](https://github.com/gazebosim/gz-sim/pull/373) 1. Component Vector -> Map ECM Optimization - * [Pull Request 416](https://github.com/ignitionrobotics/ign-gazebo/pull/416) + * [Pull Request 416](https://github.com/gazebosim/gz-sim/pull/416) -### Ignition Gazebo 3.4.0 (2020-10-14) +### Gazebo Sim 3.4.0 (2020-10-14) 1. Fix gui sendEvent memory leaks - * [Pull Request 365](https://github.com/ignitionrobotics/ign-gazebo/pull/365) + * [Pull Request 365](https://github.com/gazebosim/gz-sim/pull/365) 1. Support nested models - * [Pull Request 258](https://github.com/ignitionrobotics/ign-gazebo/pull/258) + * [Pull Request 258](https://github.com/gazebosim/gz-sim/pull/258) 1. Generalize actor count and pose in actor population erb SDF - * [Pull Request 336](https://github.com/ignitionrobotics/ign-gazebo/pull/336) + * [Pull Request 336](https://github.com/gazebosim/gz-sim/pull/336) 1. Add more link APIs, with tutorial - * [Pull Request 375](https://github.com/ignitionrobotics/ign-gazebo/pull/375) + * [Pull Request 375](https://github.com/gazebosim/gz-sim/pull/375) 1. Add screenshots to GUI config tutorial - * [Pull Request 406](https://github.com/ignitionrobotics/ign-gazebo/pull/406) + * [Pull Request 406](https://github.com/gazebosim/gz-sim/pull/406) 1. Fix adding performers to entity tree - * [Pull Request 374](https://github.com/ignitionrobotics/ign-gazebo/pull/374) + * [Pull Request 374](https://github.com/gazebosim/gz-sim/pull/374) 1. Remove sidebar and put world control in bottom left for joint controller examples - * [Pull Request 384](https://github.com/ignitionrobotics/ign-gazebo/pull/384) + * [Pull Request 384](https://github.com/gazebosim/gz-sim/pull/384) 1. Allow executing a blocking single Server run in both paused and unpaused states - * [Pull Request 297](https://github.com/ignitionrobotics/ign-gazebo/pull/297) + * [Pull Request 297](https://github.com/gazebosim/gz-sim/pull/297) 1. Add camera video recorder system - * [Pull Request 316](https://github.com/ignitionrobotics/ign-gazebo/pull/316) + * [Pull Request 316](https://github.com/gazebosim/gz-sim/pull/316) 1. Decrease time step for quadcopter world - * [Pull Request 372](https://github.com/ignitionrobotics/ign-gazebo/pull/372) + * [Pull Request 372](https://github.com/gazebosim/gz-sim/pull/372) 1. Add support for moving the GUI camera to a pose - * [Pull Request 352](https://github.com/ignitionrobotics/ign-gazebo/pull/352) + * [Pull Request 352](https://github.com/gazebosim/gz-sim/pull/352) 1. Remove `lib`+`.so` from plugin's name - * [Pull Request 279](https://github.com/ignitionrobotics/ign-gazebo/pull/279) - * [Pull Request 335](https://github.com/ignitionrobotics/ign-gazebo/pull/335) + * [Pull Request 279](https://github.com/gazebosim/gz-sim/pull/279) + * [Pull Request 335](https://github.com/gazebosim/gz-sim/pull/335) 1. EntityComponentManager::EachRemoved documentation fix. - * [Pull Request 348](https://github.com/ignitionrobotics/ign-gazebo/pull/348) + * [Pull Request 348](https://github.com/gazebosim/gz-sim/pull/348) 1. Add more model APIs. - * [Pull Request 349](https://github.com/ignitionrobotics/ign-gazebo/pull/349) + * [Pull Request 349](https://github.com/gazebosim/gz-sim/pull/349) 1. Update dimensions of the grid config. - * [Pull Request 383](https://github.com/ignitionrobotics/ign-gazebo/pull/383) + * [Pull Request 383](https://github.com/gazebosim/gz-sim/pull/383) 1. Fix top-left toolbar layout so magnet shows. - * [Pull Request 381](https://github.com/ignitionrobotics/ign-gazebo/pull/381) + * [Pull Request 381](https://github.com/gazebosim/gz-sim/pull/381) 1. Add instructions to bitmask world. - * [Pull Request 377](https://github.com/ignitionrobotics/ign-gazebo/pull/377) + * [Pull Request 377](https://github.com/gazebosim/gz-sim/pull/377) 1. Add search and sort for resource spawner. - * [Pull Request 359](https://github.com/ignitionrobotics/ign-gazebo/pull/359) + * [Pull Request 359](https://github.com/gazebosim/gz-sim/pull/359) -1. Fix source build instructions for ign-gazebo3. - * [Pull Request 395](https://github.com/ignitionrobotics/ign-gazebo/pull/395) +1. Fix source build instructions for gz-sim3. + * [Pull Request 395](https://github.com/gazebosim/gz-sim/pull/395) 1. Added playback scrubber GUI - * [Pull Request 299](https://github.com/ignitionrobotics/ign-gazebo/pull/299) - * [Pull Request 362](https://github.com/ignitionrobotics/ign-gazebo/pull/362) + * [Pull Request 299](https://github.com/gazebosim/gz-sim/pull/299) + * [Pull Request 362](https://github.com/gazebosim/gz-sim/pull/362) 1. Added wheel slip system plugin. - * [Pull Request 134](https://github.com/ignitionrobotics/ign-gazebo/pull/134) - * [Pull Request 357](https://github.com/ignitionrobotics/ign-gazebo/pull/357) - * [Pull Request 362](https://github.com/ignitionrobotics/ign-gazebo/pull/362) + * [Pull Request 134](https://github.com/gazebosim/gz-sim/pull/134) + * [Pull Request 357](https://github.com/gazebosim/gz-sim/pull/357) + * [Pull Request 362](https://github.com/gazebosim/gz-sim/pull/362) 1. Enhanced log playback performance. - * [Pull Request 351](https://github.com/ignitionrobotics/ign-gazebo/pull/351) - * [Pull Request 362](https://github.com/ignitionrobotics/ign-gazebo/pull/362) + * [Pull Request 351](https://github.com/gazebosim/gz-sim/pull/351) + * [Pull Request 362](https://github.com/gazebosim/gz-sim/pull/362) -1. Tests & Warnings: Qt 5.14, breadcrumbs, Gui, ign_TEST - * [Pull Request 327](https://github.com/ignitionrobotics/ign-gazebo/pull/327) +1. Tests & Warnings: Qt 5.14, breadcrumbs, Gui, gz_TEST + * [Pull Request 327](https://github.com/gazebosim/gz-sim/pull/327) 1. Added support for specifying topics to record. - * [Pull Request 315](https://github.com/ignitionrobotics/ign-gazebo/pull/315) + * [Pull Request 315](https://github.com/gazebosim/gz-sim/pull/315) 1. Make sure OpenGL core profile context is used by GzScene3D. - * [Pull Request 339](https://github.com/ignitionrobotics/ign-gazebo/pull/339) + * [Pull Request 339](https://github.com/gazebosim/gz-sim/pull/339) 1. Support relative paths for PBR materials - * [Pull Request 328](https://github.com/ignitionrobotics/ign-gazebo/pull/328) - * [Pull Request 362](https://github.com/ignitionrobotics/ign-gazebo/pull/362) + * [Pull Request 328](https://github.com/gazebosim/gz-sim/pull/328) + * [Pull Request 362](https://github.com/gazebosim/gz-sim/pull/362) 1. Add file extension automatically for record plugin. - * [Pull Request 303](https://github.com/ignitionrobotics/ign-gazebo/pull/303) - * [Pull Request 362](https://github.com/ignitionrobotics/ign-gazebo/pull/362) + * [Pull Request 303](https://github.com/gazebosim/gz-sim/pull/303) + * [Pull Request 362](https://github.com/gazebosim/gz-sim/pull/362) 1. Support spawning during log playback. - * [Pull Request 346](https://github.com/ignitionrobotics/ign-gazebo/pull/346) + * [Pull Request 346](https://github.com/gazebosim/gz-sim/pull/346) 1. Add Render Engine Cmd Line option - * [Pull Request 331](https://github.com/ignitionrobotics/ign-gazebo/pull/331) + * [Pull Request 331](https://github.com/gazebosim/gz-sim/pull/331) -### Ignition Gazebo 3.3.0 (2020-08-31) +### Gazebo Sim 3.3.0 (2020-08-31) 1. Added marker array service. - * [pull request 302](https://github.com/ignitionrobotics/ign-gazebo/pull/302) + * [pull request 302](https://github.com/gazebosim/gz-sim/pull/302) 1. Introduced a new parameter in the scene3D plugin to launch in fullscreen. - * [pull request 254](https://github.com/ignitionrobotics/ign-gazebo/pull/254) + * [pull request 254](https://github.com/gazebosim/gz-sim/pull/254) 1. Fix issue #285 by adding checks for a marker's parent. - * [pull request 290](https://github.com/ignitionrobotics/ign-gazebo/pull/290) + * [pull request 290](https://github.com/gazebosim/gz-sim/pull/290) 1. Fix non-specified material error. - * [pull request 292](https://github.com/ignitionrobotics/ign-gazebo/pull/292) + * [pull request 292](https://github.com/gazebosim/gz-sim/pull/292) 1. Added simulation world with large number of entities. - * [pull request 283](https://github.com/ignitionrobotics/ign-gazebo/pull/283) + * [pull request 283](https://github.com/gazebosim/gz-sim/pull/283) 1. Fixed parsing of the touch plugin' enabled flag. - * [pull request 275](https://github.com/ignitionrobotics/ign-gazebo/pull/275) + * [pull request 275](https://github.com/gazebosim/gz-sim/pull/275) 1. Added buoyancy system plugin. - * [pull request 252](https://github.com/ignitionrobotics/ign-gazebo/pull/252) + * [pull request 252](https://github.com/gazebosim/gz-sim/pull/252) 1. Implemented shift + drag = rotate in the GUI. - * [pull request 247](https://github.com/ignitionrobotics/ign-gazebo/pull/247) + * [pull request 247](https://github.com/gazebosim/gz-sim/pull/247) 1. Backport collision bitmask changes - * [pull request 223](https://github.com/ignitionrobotics/ign-gazebo/pull/223) + * [pull request 223](https://github.com/gazebosim/gz-sim/pull/223) 1. Added velocity command to TPE. - * [pull request 169](https://github.com/ignitionrobotics/ign-gazebo/pull/169) + * [pull request 169](https://github.com/gazebosim/gz-sim/pull/169) -1. This version includes all features in Gazebo 2.23.0 +1. This version includes all features in Gazebo Sim 2.23.0 -### Ignition Gazebo 3.2.0 (2020-05-20) +### Gazebo Sim 3.2.0 (2020-05-20) -1. Merge ign-gazebo2 to ign-gazebo3 - * [pull request 149](https://github.com/ignitionrobotics/ign-gazebo/pull/149) +1. Merge gz-sim2 to gz-sim3 + * [pull request 149](https://github.com/gazebosim/gz-sim/pull/149) -### Ignition Gazebo 3.1.0 (2020-05-19) +### Gazebo Sim 3.1.0 (2020-05-19) 1. Port support for computing model bounding box in physics system - * [pull request 127](https://github.com/ignitionrobotics/ign-gazebo/pull/127) + * [pull request 127](https://github.com/gazebosim/gz-sim/pull/127) 1. Add DetachableJoint: A system that initially attaches two models via a fixed joint and allows for the models to get detached during simulation via a topic. * [BitBucket pull request 440](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/440) @@ -3310,9 +3312,9 @@ * [BitBucket pull request 514](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/514) 1. Add window focus upon mouse entering the render window - * [Github pull request 96](https://github.com/ignitionrobotics/ign-gazebo/pull/96) + * [Github pull request 96](https://github.com/gazebosim/gz-sim/pull/96) -### Ignition Gazebo 3.0.0 (2019-12-10) +### Gazebo Sim 3.0.0 (2019-12-10) 1. Add example world for collide bitmask feature * [BitBucket pull request 525](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/525) @@ -3339,168 +3341,168 @@ 1. Move function definitions to their correct locations in EntityComponentManager * [BitBucket pull request 380](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/380) -1. Depend on ign-rendering3, ign-gui3, ign-sensors3 +1. Depend on gz-rendering3, gz-gui3, gz-sensors3 * [BitBucket pull request 411](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/411) 1. Rendering and Animating Actors * [BitBucket pull request 414](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/414) -## Ignition Gazebo 2.x +## Gazebo Sim 2.x -### Ignition Gazebo 2.25.0 (2020-09-17) +### Gazebo Sim 2.25.0 (2020-09-17) 1. Added wheel slip system plugin. - * [Pull Request 134](https://github.com/ignitionrobotics/ign-gazebo/pull/134) - * [Pull Request 357](https://github.com/ignitionrobotics/ign-gazebo/pull/357) + * [Pull Request 134](https://github.com/gazebosim/gz-sim/pull/134) + * [Pull Request 357](https://github.com/gazebosim/gz-sim/pull/357) 1. Enhanced log playback performance. - * [Pull Request 351](https://github.com/ignitionrobotics/ign-gazebo/pull/351) + * [Pull Request 351](https://github.com/gazebosim/gz-sim/pull/351) -1. Tests & Warnings: Qt 5.14, breadcrumbs, Gui, ign_TEST - * [Pull Request 327](https://github.com/ignitionrobotics/ign-gazebo/pull/327) +1. Tests & Warnings: Qt 5.14, breadcrumbs, Gui, gz_TEST + * [Pull Request 327](https://github.com/gazebosim/gz-sim/pull/327) 1. Added support for specifying topics to record. - * [Pull Request 315](https://github.com/ignitionrobotics/ign-gazebo/pull/315) + * [Pull Request 315](https://github.com/gazebosim/gz-sim/pull/315) 1. Make sure OpenGL core profile context is used by GzScene3D. - * [Pull Request 339](https://github.com/ignitionrobotics/ign-gazebo/pull/339) + * [Pull Request 339](https://github.com/gazebosim/gz-sim/pull/339) 1. Support relative paths for PBR materials - * [Pull Request 328](https://github.com/ignitionrobotics/ign-gazebo/pull/328) + * [Pull Request 328](https://github.com/gazebosim/gz-sim/pull/328) 1. Add file extension automatically for record plugin. - * [Pull Request 303](https://github.com/ignitionrobotics/ign-gazebo/pull/303) + * [Pull Request 303](https://github.com/gazebosim/gz-sim/pull/303) 1. Support spawning during log playback. - * [Pull Request 346](https://github.com/ignitionrobotics/ign-gazebo/pull/346) + * [Pull Request 346](https://github.com/gazebosim/gz-sim/pull/346) -### Ignition Gazebo 2.24.0 (2020-09-03) +### Gazebo Sim 2.24.0 (2020-09-03) 1. Resource env var, with transport interface. - * [Pull Request 172](https://github.com/ignitionrobotics/ign-gazebo/pull/172) + * [Pull Request 172](https://github.com/gazebosim/gz-sim/pull/172) 1. Save http URIs (fix tests) - * [Pull Request 271](https://github.com/ignitionrobotics/ign-gazebo/pull/271) + * [Pull Request 271](https://github.com/gazebosim/gz-sim/pull/271) 1. Insert Local Models. - * [Pull Request 173](https://github.com/ignitionrobotics/ign-gazebo/pull/173) + * [Pull Request 173](https://github.com/gazebosim/gz-sim/pull/173) 1. Modernize actions CI. - * [Pull Request 269](https://github.com/ignitionrobotics/ign-gazebo/pull/269) + * [Pull Request 269](https://github.com/gazebosim/gz-sim/pull/269) 1. Sensor topics available through components and GUI. - * [Pull Request 266](https://github.com/ignitionrobotics/ign-gazebo/pull/266) + * [Pull Request 266](https://github.com/gazebosim/gz-sim/pull/266) 1. Customizable layouts - fully functional. - * [Pull Request 278](https://github.com/ignitionrobotics/ign-gazebo/pull/278) + * [Pull Request 278](https://github.com/gazebosim/gz-sim/pull/278) 1. Add Fuel World Support. - * [Pull Request 274](https://github.com/ignitionrobotics/ign-gazebo/pull/274) + * [Pull Request 274](https://github.com/gazebosim/gz-sim/pull/274) 1. Insert Fuel Models. - * [Pull Request 263](https://github.com/ignitionrobotics/ign-gazebo/pull/263) + * [Pull Request 263](https://github.com/gazebosim/gz-sim/pull/263) 1. Disable rendering tests on macOS that are known to fail. - * [Pull Request 209](https://github.com/ignitionrobotics/ign-gazebo/pull/209) + * [Pull Request 209](https://github.com/gazebosim/gz-sim/pull/209) 1. Fix tests on Blueprint. - * [Pull Request 295](https://github.com/ignitionrobotics/ign-gazebo/pull/295) + * [Pull Request 295](https://github.com/gazebosim/gz-sim/pull/295) 1. Publish remaining breadcrumb deployments. - * [Pull Request 308](https://github.com/ignitionrobotics/ign-gazebo/pull/308) + * [Pull Request 308](https://github.com/gazebosim/gz-sim/pull/308) -### Ignition Gazebo 2.23.0 (2020-07-28) +### Gazebo Sim 2.23.0 (2020-07-28) 1. Deactivate PerformerDetector if its parent model gets removed. - * [Pull Request 260](https://github.com/ignitionrobotics/ign-gazebo/pull/260) + * [Pull Request 260](https://github.com/gazebosim/gz-sim/pull/260) 1. Backport support for s from Fuel #255 - * [Pull Request 255](https://github.com/ignitionrobotics/ign-gazebo/pull/255) + * [Pull Request 255](https://github.com/gazebosim/gz-sim/pull/255) -### Ignition Gazebo 2.22.0 (2020-07-22) +### Gazebo Sim 2.22.0 (2020-07-22) 1. Allow zero or more key/value pairs to be added to detection header information. - * [Pull Request 257](https://github.com/ignitionrobotics/ign-gazebo/pull/257) + * [Pull Request 257](https://github.com/gazebosim/gz-sim/pull/257) -### Ignition Gazebo 2.21.0 (2020-07-16) +### Gazebo Sim 2.21.0 (2020-07-16) 1. Added support for controlling which joints are published by the JointStatePublisher. - * [Pull Request 222](https://github.com/ignitionrobotics/ign-gazebo/pull/222) + * [Pull Request 222](https://github.com/gazebosim/gz-sim/pull/222) 1. Added an additional pose offset for the performer detector plugin. - * [Pull Request 236](https://github.com/ignitionrobotics/ign-gazebo/pull/236) + * [Pull Request 236](https://github.com/gazebosim/gz-sim/pull/236) 1. Fixed battery issues and updated tutorial. - * [Pull Request 230](https://github.com/ignitionrobotics/ign-gazebo/pull/230) + * [Pull Request 230](https://github.com/gazebosim/gz-sim/pull/230) -### Ignition Gazebo 2.20.1 (2020-06-18) +### Gazebo Sim 2.20.1 (2020-06-18) 1. Properly add new models into the scenegraph. With this fix, when a model is spawned it will be added into the graph and resulting calls to the `scene/info` service will return a correct `msgs::Scene`. - * [Pull Request 212](https://github.com/ignitionrobotics/ign-gazebo/pull/212) + * [Pull Request 212](https://github.com/gazebosim/gz-sim/pull/212) -### Ignition Gazebo 2.20.0 (2020-06-09) +### Gazebo Sim 2.20.0 (2020-06-09) 1. Updated battery model to stop battery drain when there is no joint velocity/force command, and added a recharging trigger. - * [Pull Request 183](https://github.com/ignitionrobotics/ign-gazebo/pull/183) + * [Pull Request 183](https://github.com/gazebosim/gz-sim/pull/183) 1. Fix segfault in the Breadcrumbs system - * [Pull Request 180](https://github.com/ignitionrobotics/ign-gazebo/pull/180) + * [Pull Request 180](https://github.com/gazebosim/gz-sim/pull/180) 1. Added an `` element to the DiffDrive system so that a custom odometry topic can be used. - * [Pull Request 179](https://github.com/ignitionrobotics/ign-gazebo/pull/179) + * [Pull Request 179](https://github.com/gazebosim/gz-sim/pull/179) -### Ignition Gazebo 2.19.0 (2020-06-02) +### Gazebo Sim 2.19.0 (2020-06-02) 1. Use updated model names for spawned models when generating SDFormat - * [Pull Request 166](https://github.com/ignitionrobotics/ign-gazebo/pull/166) + * [Pull Request 166](https://github.com/gazebosim/gz-sim/pull/166) 1. Allow joint force commands (JointForceCmd) to dscharge a battery. - * [Pull Request 165](https://github.com/ignitionrobotics/ign-gazebo/pull/165) + * [Pull Request 165](https://github.com/gazebosim/gz-sim/pull/165) 1. Allow renaming breadcrumb models if there is a name conflict - * [Pull Request 155](https://github.com/ignitionrobotics/ign-gazebo/pull/155) + * [Pull Request 155](https://github.com/gazebosim/gz-sim/pull/155) 1. Add TriggeredPublisher system - * [Pull Request 139](https://github.com/ignitionrobotics/ign-gazebo/pull/139) + * [Pull Request 139](https://github.com/gazebosim/gz-sim/pull/139) 1. Add PerformerDetector, a system for detecting when performers enter a specified region - * [Pull Request 125](https://github.com/ignitionrobotics/ign-gazebo/pull/125) + * [Pull Request 125](https://github.com/gazebosim/gz-sim/pull/125) -### Ignition Gazebo 2.18.0 (2020-05-20) +### Gazebo Sim 2.18.0 (2020-05-20) -1. Added a `/world//create_multiple` service that parallels the current `/world//create` service. The `create_multiple` service can handle an `ignition::msgs::EntityFactory_V` message that may contain one or more entities to spawn. - * [Pull Request 146](https://github.com/ignitionrobotics/ign-gazebo/pull/146) +1. Added a `/world//create_multiple` service that parallels the current `/world//create` service. The `create_multiple` service can handle an `gz::msgs::EntityFactory_V` message that may contain one or more entities to spawn. + * [Pull Request 146](https://github.com/gazebosim/gz-sim/pull/146) 1. DetachableJoint system: Add option to suppress warning about missing child model - * [Pull Request 132](https://github.com/ignitionrobotics/ign-gazebo/pull/132) + * [Pull Request 132](https://github.com/gazebosim/gz-sim/pull/132) -### Ignition Gazebo 2.17.0 (2020-05-13) +### Gazebo Sim 2.17.0 (2020-05-13) 1. Allow battery plugin to work with joint force systems. - * [Pull Request 120](https://github.com/ignitionrobotics/ign-gazebo/pull/120) + * [Pull Request 120](https://github.com/gazebosim/gz-sim/pull/120) 1. Make breadcrumb static after specified time - * [Pull Request 90](https://github.com/ignitionrobotics/ign-gazebo/pull/90) + * [Pull Request 90](https://github.com/gazebosim/gz-sim/pull/90) 1. Disable breadcrumbs if the `max_deployments` == 0. - * [Pull Request 88](https://github.com/ignitionrobotics/ign-gazebo/pull/88) + * [Pull Request 88](https://github.com/gazebosim/gz-sim/pull/88) 1. Add static pose publisher and support pose\_v msg type in pose publisher system - * [Pull Request 65](https://github.com/ignitionrobotics/ign-gazebo/pull/65) + * [Pull Request 65](https://github.com/gazebosim/gz-sim/pull/65) 1. Refactor Gui.hh so that the Gazebo GUI can be ran from other packages - * [Pull Request 79](https://github.com/ignitionrobotics/ign-gazebo/pull/79) + * [Pull Request 79](https://github.com/gazebosim/gz-sim/pull/79) 1. Add ability to save worlds to SDFormat * [BitBucket pull request 545](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/545) 1. Add window focus upon mouse entering the render window - * [Github pull request 95](https://github.com/ignitionrobotics/ign-gazebo/pull/95) + * [Github pull request 95](https://github.com/gazebosim/gz-sim/pull/95) -### Ignition Gazebo 2.16.0 (2020-03-24) +### Gazebo Sim 2.16.0 (2020-03-24) 1. Add support for computing model bounding box in physics system * [BitBucket pull request 546](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/546) @@ -3562,12 +3564,12 @@ 1. Fix shift translation bug * [BitBucket pull request 529](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/529) -### Ignition Gazebo 2.15.0 (2020-02-07) +### Gazebo Sim 2.15.0 (2020-02-07) 1. Fix seeking back in time in log playback * [BitBucket pull request 523](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/523) -1. Fix the deprecated ign-gazebo command line +1. Fix the deprecated gz-sim command line * [BitBucket pull request 499](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/499) 1. Always use the latest render texture in scene3d @@ -3588,7 +3590,7 @@ 1. Add hotkey keybindings * [BitBucket pull request 486](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/486) -### Ignition Gazebo 2.14.0 (2020-01-10) +### Gazebo Sim 2.14.0 (2020-01-10) 1. Use Actuator component to communicate between MulticopterVelocityControl and MulticopterMotorModel systems * [BitBucket pull request 498](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/498) @@ -3602,7 +3604,7 @@ 1. Fix tooltips on entity tree * [BitBucket pull request 496](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/496) -### Ignition Gazebo 2.13.0 (2019-12-17) +### Gazebo Sim 2.13.0 (2019-12-17) 1. Add Multicopter velocity controller * [BitBucket pull request 487](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/487) @@ -3622,7 +3624,7 @@ 1. Show grid using SDF file * [BitBucket pull request 461](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/461) -### Ignition Gazebo 2.12.0 (2019-11-25) +### Gazebo Sim 2.12.0 (2019-11-25) 1. Parse visual cast shadows and add CastShadows component * [BitBucket pull request 453](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/453) @@ -3648,7 +3650,7 @@ 1. Prevent crash when attempting to load more than one render engine per process * [BitBucket pull request 463](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/463) -### Ignition Gazebo 2.11.0 (2019-10-23) +### Gazebo Sim 2.11.0 (2019-10-23) 1. Handle Relative URIs * [BitBucket pull request 433](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/433) @@ -3672,7 +3674,7 @@ * [BitBucket pull request 430](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/430) * [BitBucket pull request 436](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/436) -### Ignition Gazebo 2.10.0 (2019-09-08) +### Gazebo Sim 2.10.0 (2019-09-08) 1. Custom odom frequency in sim time * [BitBucket pull request 427](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/427) @@ -3680,12 +3682,12 @@ 1. Add Move To gui plugin * [BitBucket pull request 426](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/426) -### Ignition Gazebo 2.9.0 +### Gazebo Sim 2.9.0 1. Use the JointSetVelocityCommand feature to set joint velocities * [BitBucket pull request 424](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/424) -### Ignition Gazebo 2.8.0 (2019-08-23) +### Gazebo Sim 2.8.0 (2019-08-23) 1. Add video recorder gui plugin * [BitBucket pull request 422](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/422) @@ -3696,14 +3698,14 @@ 1. Print world path when using cli * [BitBucket pull request 420](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/420) -### Ignition Gazebo 2.7.1 +### Gazebo Sim 2.7.1 1. Fix order of adding and removing rendering entities, and clean up mesh materials in the SceneManager. * [BitBucket pull request 415](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/415) * [BitBucket pull request 416](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/416) -### Ignition Gazebo 2.7.0 +### Gazebo Sim 2.7.0 1. Move creation of default log path to ServerConfig. This lets both console logs and state logs to be stored in the same directory. The console messages are always logged. Allow state log files to be overwritten. * [BitBucket pull request 413](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/413) @@ -3721,12 +3723,12 @@ See the `test/performance/READEM.md` file for more info. * [BitBucket pull request 389](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/389) -### Ignition Gazebo 2.6.1 (2019-07-26) +### Gazebo Sim 2.6.1 (2019-07-26) 1. Clear stepMsg before populating it * [BitBucket pull request 398](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/398) -### Ignition Gazebo 2.6.0 (2019-07-24) +### Gazebo Sim 2.6.0 (2019-07-24) 1. Improve performance of Pose Publisher * [BitBucket pull request 392](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/392) @@ -3734,17 +3736,17 @@ 1. Fix distributed sim * [BitBucket pull request 385](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/385) -### Ignition Gazebo 2.5.0 (2019-07-19) +### Gazebo Sim 2.5.0 (2019-07-19) 1. The LinearBatteryPlugin system publishes battery state * [BitBucket pull request 388](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/388) -### Ignition Gazebo 2.4.0 (2019-07-17) +### Gazebo Sim 2.4.0 (2019-07-17) 1. Bundle scene updates in sensor system * [BitBucket pull request 386](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/386) -### Ignition Gazebo 2.3.0 (2019-07-13) +### Gazebo Sim 2.3.0 (2019-07-13) 1. Improve physics system peformance by skipping static model updates. Components state information has been incorporated, which is used to @@ -3768,7 +3770,7 @@ * [BitBucket pull request 375](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/375) * [BitBucket pull request 376](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/376) -### Ignition Gazebo 2.2.0 +### Gazebo Sim 2.2.0 1. The DiffDrive system publishes odometry information. * [BitBucket pull request 368](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/368) @@ -3788,7 +3790,7 @@ 1. Support custom random seed from the command line. * [BitBucket pull request 362](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/362) -### Ignition Gazebo 2.1.0 +### Gazebo Sim 2.1.0 1. RenderUtil fix bad merge: check for existing entities in GzScene3D on initialization. * [BitBucket pull request 360](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/360) @@ -3812,7 +3814,7 @@ 1. Support log playback from a different path * [BitBucket pull request 355](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/355) -### Ignition Gazebo 2.0.0 +### Gazebo Sim 2.0.0 1. RenderUtil: check for existing entities in GzScene3D on initialization. * [BitBucket pull request 350](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/350) @@ -3876,7 +3878,7 @@ 1. Fix distributed sim documentation * [BitBucket pull request 318](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/318) -1. Port Scene3D gui plugin from ign-gui. Renamed to GzScene3D. +1. Port Scene3D gui plugin from gz-gui. Renamed to GzScene3D. * [BitBucket pull request 315](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/315) 1. Entity tree UI @@ -3888,7 +3890,7 @@ 1. Update Camera and DepthCamera components to use sdf::Sensor object instead of an sdf::ElementPtr. * [BitBucket pull request 299](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/299) -1. Added system for ignition::sensors::AirPressureSensor. +1. Added system for gz::sensors::AirPressureSensor. * [BitBucket pull request 300](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/300) 1. Support conversion and serialization of Imu components. IMU sensors are @@ -3917,7 +3919,7 @@ 1. Update docker nightly dependencies * [BitBucket pull request 310](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/310) -1. Ign tool +1. Gz tool * [BitBucket pull request 296](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/296) * [BitBucket pull request 336](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/336) @@ -3987,21 +3989,21 @@ 1. Distributed sim deprecate envs * [BitBucket pull request 240](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/240) -1. Use ign-sensors magnetometer sensor plugin +1. Use gz-sensors magnetometer sensor plugin * [BitBucket pull request 221](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/221) -1. Use ign-sensors altimeter sensor plugin +1. Use gz-sensors altimeter sensor plugin * [BitBucket pull request 215](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/215) -1. Use ign-sensors imu sensor plugin +1. Use gz-sensors imu sensor plugin * [BitBucket pull request 219](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/219) -1. Depend on ign-sensors rendering component +1. Depend on gz-sensors rendering component * [BitBucket pull request 212](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/212) -## Ignition Gazebo 1.x +## Gazebo Sim 1.x -### Ignition Gazebo 1.X.X +### Gazebo Sim 1.X.X 1. Add Wind Plugin (Ported from Gazebo classic) * [BitBucket pull request 273](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/273/) @@ -4026,7 +4028,7 @@ 1. Added LiftDragPlugin (ported from Gazebo classic) * [BitBucket pull request 256](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/256) -1. Logging refactor unique path functions to ign-common +1. Logging refactor unique path functions to gz-common * [BitBucket pull request 270](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/270) 1. Added test for log record and playback. @@ -4035,7 +4037,7 @@ 1. Add ApplyJointForce system * [BitBucket pull request 254](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/254) -1. More ign-msgs <-> SDF conversions: Inertial, Geometry, Material +1. More gz-msgs <-> SDF conversions: Inertial, Geometry, Material * [BitBucket pull request 251](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/251) 1. Logging command line support @@ -4069,7 +4071,7 @@ 1. Add systems to queue before actually adding them to runner * [BitBucket pull request 241](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/241) -1. Added a docker image that uses the ignition meta package +1. Added a docker image that uses the Gazebo meta package * [BitBucket pull request 237](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/237) 1. Move some design docs to tutorials @@ -4096,13 +4098,13 @@ 1. Example tunnel world * [BitBucket pull request 205](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/205) -1. Conversion from chrono to ign-msgs +1. Conversion from chrono to gz-msgs * [BitBucket pull request 223](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/223) 1. Prevent error message when using levels * [BitBucket pull request 229](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/229) -### Ignition Gazebo 1.1.0 (2019-03-15) +### Gazebo Sim 1.1.0 (2019-03-15) 1. Distributed performers running in lockstep * [BitBucket pull request 186](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/186) @@ -4131,23 +4133,23 @@ 1. Unversioned system libraries * [BitBucket pull request 222](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/222) -### Ignition Gazebo 1.0.2 (2019-03-12) +### Gazebo Sim 1.0.2 (2019-03-12) 1. Use TARGET_SO_NAME to fix finding dartsim plugin * [BitBucket pull request 217](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/217) -### Ignition Gazebo 1.0.1 (2019-03-01) +### Gazebo Sim 1.0.1 (2019-03-01) 1. Update gazebo version number in sdf files * [BitBucket pull request 207](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/207) -### Ignition Gazebo 1.0.0 (2019-03-01) +### Gazebo Sim 1.0.0 (2019-03-01) 1. Initial release -## Ignition Gazebo 0.x +## Gazebo Sim 0.x -### Ignition Gazebo 0.1.0 +### Gazebo Sim 0.1.0 1. Add support for joints * [BitBucket pull request 77](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/77) @@ -4158,7 +4160,7 @@ 1. Create EventManager and delegate System instantiation to SimulationRunner * [BitBucket pull request 79](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/79) -1. Integrate ign-gui +1. Integrate gz-gui * [BitBucket pull request 11](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/11) 1. Remove some build dependencies. diff --git a/src/gui/plugins/joint_position_controller/JointPositionController.cc b/src/gui/plugins/joint_position_controller/JointPositionController.cc index af7b3a3b73..e202513024 100644 --- a/src/gui/plugins/joint_position_controller/JointPositionController.cc +++ b/src/gui/plugins/joint_position_controller/JointPositionController.cc @@ -291,7 +291,7 @@ void JointPositionController::Update(const UpdateInfo &, QMetaObject::invokeMethod(&this->dataPtr->jointsModel, "RemoveJoint", Qt::QueuedConnection, - Q_ARG(gz:sim::Entity, jointEntity)); + Q_ARG(sim::Entity, jointEntity)); } } } diff --git a/src/gui/plugins/scene_manager/GzSceneManager.cc b/src/gui/plugins/scene_manager/GzSceneManager.cc index 7b2bcd03b0..9bc1007876 100644 --- a/src/gui/plugins/scene_manager/GzSceneManager.cc +++ b/src/gui/plugins/scene_manager/GzSceneManager.cc @@ -132,12 +132,6 @@ void GzSceneManager::Update(const UpdateInfo &_info, this->dataPtr->renderEnginePluginPathsInit = true; } - if (!this->dataPtr->renderEnginePluginPathsInit) - { - this->dataPtr->renderUtil.InitRenderEnginePluginPaths(); - this->dataPtr->renderEnginePluginPathsInit = true; - } - this->dataPtr->renderUtil.UpdateECM(_info, _ecm); std::lock_guard lock(this->dataPtr->newRemovedEntityMutex); diff --git a/src/systems/physics/Physics.cc b/src/systems/physics/Physics.cc index e414a6947c..1a83e6a906 100644 --- a/src/systems/physics/Physics.cc +++ b/src/systems/physics/Physics.cc @@ -168,7 +168,6 @@ class gz::sim::systems::PhysicsPrivate physics::LinkFrameSemantics, physics::ForwardStep, physics::RemoveModelFromWorld, - physics::sdf::ConstructSdfLink, physics::sdf::ConstructSdfModel, physics::sdf::ConstructSdfWorld, physics::GetLinkFromModel, @@ -470,8 +469,7 @@ class gz::sim::systems::PhysicsPrivate physics::GetJointFromModel, physics::GetBasicJointProperties, physics::GetBasicJointState, - physics::SetBasicJointState, - physics::sdf::ConstructSdfJoint>{}; + physics::SetBasicJointState>{}; /// \brief Feature list to construct joints public: struct ConstructSdfJointFeatureList : gz::physics::FeatureList< diff --git a/test/integration/level_manager.cc b/test/integration/level_manager.cc index 82356d7ec5..b42194816d 100644 --- a/test/integration/level_manager.cc +++ b/test/integration/level_manager.cc @@ -106,7 +106,7 @@ class LevelManagerFixture : public InternalFixture<::testing::Test> { InternalFixture::SetUp(); - ignition::gazebo::ServerConfig serverConfig; + sim::ServerConfig serverConfig; // Except tile_0, which is on the default level, every tile belongs to a // level. The name of the level corresponds to the tile in its suffix, i.e., @@ -116,12 +116,12 @@ class LevelManagerFixture : public InternalFixture<::testing::Test> serverConfig.SetUseLevels(true); EXPECT_EQ(nullptr, this->server); - this->server = std::make_unique(serverConfig); + this->server = std::make_unique(serverConfig); test::Relay testSystem; // Check entities loaded on the default level - testSystem.OnPostUpdate([&](const gazebo::UpdateInfo &, - const gazebo::EntityComponentManager &_ecm) + testSystem.OnPostUpdate([&](const sim::UpdateInfo &, + const sim::EntityComponentManager &_ecm) { _ecm.Each( [&](const Entity &, const components::Model *, @@ -170,7 +170,7 @@ class LevelManagerFixture : public InternalFixture<::testing::Test> this->server->Run(true, 1, false); } - public: std::unique_ptr server; + public: std::unique_ptr server; public: std::vector loadedModels; public: std::vector unloadedModels; public: std::vector loadedLights; @@ -187,8 +187,8 @@ TEST_F(LevelManagerFixture, GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(DefaultLevel)) test::Relay recorder; // Check entities loaded on the default level - recorder.OnPostUpdate([&](const gazebo::UpdateInfo &, - const gazebo::EntityComponentManager &_ecm) + recorder.OnPostUpdate([&](const sim::UpdateInfo &, + const sim::EntityComponentManager &_ecm) { _ecm.Each( [&](const Entity &, const components::DefaultLevel *, diff --git a/test/integration/sdf_include.cc b/test/integration/sdf_include.cc index a682dd6fc9..f10c93b4d7 100644 --- a/test/integration/sdf_include.cc +++ b/test/integration/sdf_include.cc @@ -46,6 +46,6 @@ TEST_F(SdfInclude, GZ_UTILS_TEST_DISABLED_ON_WIN32(DownloadFromFuel)) Server server(serverConfig); EXPECT_TRUE(common::exists(path + - "/fuel.ignitionrobotics.org/openrobotics/models/ground plane" + + "/fuel.gazebosim.org/openrobotics/models/ground plane" + "/1/model.sdf")); } diff --git a/test/worlds/diff_drive_no_plugin.sdf b/test/worlds/diff_drive_no_plugin.sdf index c6bdbd6f96..b1fd389d94 100644 --- a/test/worlds/diff_drive_no_plugin.sdf +++ b/test/worlds/diff_drive_no_plugin.sdf @@ -11,12 +11,8 @@ name="gz::sim::systems::Physics"> - - + filename="gz-sim-scene-broadcaster-system" + name="gz::sim::systems::SceneBroadcaster"> diff --git a/test/worlds/include.sdf b/test/worlds/include.sdf index 1d00bc2dc0..4432b9f3c4 100644 --- a/test/worlds/include.sdf +++ b/test/worlds/include.sdf @@ -6,7 +6,7 @@ - https://fuel.gazebosim.org/1.0/OpenRobotics/models/ground plane/1 + https://fuel.gazebosim.org/1.0/openrobotics/models/ground plane/1 From ce3072252c3c410258dfb6338a61490a5064a4df Mon Sep 17 00:00:00 2001 From: Nate Koenig Date: Tue, 22 Nov 2022 12:34:43 -0800 Subject: [PATCH 28/28] Trim trailing whitespace Signed-off-by: Nate Koenig --- Changelog.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Changelog.md b/Changelog.md index dd0a808ba3..adbce79903 100644 --- a/Changelog.md +++ b/Changelog.md @@ -486,7 +486,7 @@ 1. Enable inherited model topic name. * [Pull request #1689](https://github.com/gazebosim/ign-gazebo/pull/1689) -1. Fix loading render engine plugins in GUI +1. Fix loading render engine plugins in GUI * [Pull request #1694](https://github.com/gazebosim/ign-gazebo/pull/1694) 1. Add a service to trigger functionality
      Documentation:" "" - "" - "https://ignitionrobotics.org/libs/gazebo" + "https://gazebosim.org/libs/sim" "" "
      " - "" - "https://ignitionrobotics.org/docs/" + "https://gazebosim.org/docs/" "" "

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