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Merge pull request gazebosim#2293 from azeey/7_to_8
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Merge gz-sim7 ➡️  gz-sim8
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@azeey
azeey authored Jan 22, 2024
2 parents cc4914a ab18888 commit a267a68
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2 changes: 1 addition & 1 deletion .github/ISSUE_TEMPLATE/bug_report.md
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Expand Up @@ -5,7 5,7 @@ labels: bug
---

<!-- If you're not sure whether your problem is a bug, please ask a question at
http://answers.gazebosim.org instead.-->
https://robotics.stackexchange.com instead.-->

## Environment
* OS Version: <!-- e.g, Ubuntu 20.04 -->
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2 changes: 1 addition & 1 deletion .github/ISSUE_TEMPLATE/feature_request.md
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Expand Up @@ -6,7 6,7 @@ labels: enhancement

<!-- If you're not sure on the specifics of the feature or would like a broader
discussion, please consider posting a proposal to
http://community.gazebosim.org/ instead.-->
https://robotics.stackexchange.com instead.-->

## Desired behavior
<!-- Describe the current problem and the feature you want implemented.-->
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7 changes: 3 additions & 4 deletions .github/workflows/ci.yml
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Expand Up @@ -4,10 4,9 @@ on:
pull_request:
push:
branches:
- 'gz-sim8'
- 'ign-gazebo[0-9]'
- 'gz-sim[0-9]?'
- 'main'

# Every time you make a push to your PR, it cancel immediately the previous checks,
# and start a new one. The other runner will be available more quickly to your PR.
concurrency:
group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
Expand All @@ -19,7 18,7 @@ jobs:
name: Ubuntu Jammy CI
steps:
- name: Checkout
uses: actions/checkout@v3
uses: actions/checkout@v4
- uses: actions/setup-python@v3
- uses: pre-commit/[email protected]
with:
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106 changes: 106 additions & 0 deletions Changelog.md
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Expand Up @@ -131,6 131,83 @@

## Gazebo Sim 7.x

### Gazebo Sim 7.7.0 (2024-01-17)

1. Allow using plugin file names and environment variables compatible with Garden and later
* [Pull request #2275](https://github.com/gazebosim/gz-sim/pull/2275)

1. Added tutorial for Gazebo joint controller plugin
* [Pull request #2263](https://github.com/gazebosim/gz-sim/pull/2263)

1. Fix incorrect light direction in tunnel.sdf example
* [Pull request #2264](https://github.com/gazebosim/gz-sim/pull/2264)

1. Fix DLL linkage/visibility issues
* [Pull request #2254](https://github.com/gazebosim/gz-sim/pull/2254)

1. mecanum_drive: use mesh wheels in example world
* [Pull request #2250](https://github.com/gazebosim/gz-sim/pull/2250)

1. environment_preload: fix windows compiler warnings
* [Pull request #2246](https://github.com/gazebosim/gz-sim/pull/2246)

1. EnvironmentPreload: ignerr -> gzerr
* [Pull request #2245](https://github.com/gazebosim/gz-sim/pull/2245)

1. Update friction parameters for skid steer example
* [Pull request #2235](https://github.com/gazebosim/gz-sim/pull/2235)

1. Use sdf FindElement API to avoid const_cast
* [Pull request #2236](https://github.com/gazebosim/gz-sim/pull/2236)

1. Use `GZ_PI` instead of `M_PI` to fix windows builds
* [Pull request #2230](https://github.com/gazebosim/gz-sim/pull/2230)

1. Add note about elevator example
* [Pull request #2227](https://github.com/gazebosim/gz-sim/pull/2227)

1. Porting Advanced Lift Drag Plugin to Gazebo
* [Pull request #2185](https://github.com/gazebosim/gz-sim/pull/2185)
* [Pull request #2226](https://github.com/gazebosim/gz-sim/pull/2226)

1. Fix macOS test failures by registering components in the core library
* [Pull request #2220](https://github.com/gazebosim/gz-sim/pull/2220)

1. Fix for sensor pointer null when navsat plugin in included in sdf
* [Pull request #2176](https://github.com/gazebosim/gz-sim/pull/2176)

1. Fix another deadlock in sensors system
* [Pull request #2200](https://github.com/gazebosim/gz-sim/pull/2200)

1. Fix sensors system parallel updates
* [Pull request #2201](https://github.com/gazebosim/gz-sim/pull/2201)

1. Relax pose check in actor no mesh test
* [Pull request #2196](https://github.com/gazebosim/gz-sim/pull/2196)

1. backport component inspector Vector3d width fix
* [Pull request #2195](https://github.com/gazebosim/gz-sim/pull/2195)

1. fix INTEGRATION_save_world's SdfGeneratorFixture.ModelWithNestedIncludes test
* [Pull request #2197](https://github.com/gazebosim/gz-sim/pull/2197)

1. Lift Drag Bug Fix
* [Pull request #2189](https://github.com/gazebosim/gz-sim/pull/2189)
* [Pull request #2272](https://github.com/gazebosim/gz-sim/pull/2272)
* [Pull request #2273](https://github.com/gazebosim/gz-sim/pull/2273)
* [Issue #2188](https://github.com/gazebosim/gz-sim/issues/2188)

1. Bump Fuel model version in test
* [Pull request #2190](https://github.com/gazebosim/gz-sim/pull/2190)

1. Fix enviroment system loading mechanism
* [Pull request #1842](https://github.com/gazebosim/gz-sim/pull/1842)

1. Infrastructure
* [Pull request #2237](https://github.com/gazebosim/gz-sim/pull/2237)
* [Pull request #2222](https://github.com/gazebosim/gz-sim/pull/2222)


### Gazebo Sim 7.6.0 (2023-09-26)

1. Documentation updates
Expand Down Expand Up @@ -1018,6 1095,35 @@

## Gazebo Sim 6.x

### Gazebo Sim 6.16.0 (2024-01-12)

1. Allow using plugin file names and environment variables compatible with Garden and later
* [Pull request #2275](https://github.com/gazebosim/gz-sim/pull/2275)

1. Update friction parameters for skid steer example
* [Pull request #2235](https://github.com/gazebosim/gz-sim/pull/2235)

1. Relax pose check in actor no mesh test
* [Pull request #2196](https://github.com/gazebosim/gz-sim/pull/2196)

1. Fix macOS test failures by registering components in the core library
* [Pull request #2220](https://github.com/gazebosim/gz-sim/pull/2220)

1. Fix for sensor pointer null when navsat plugin in included in sdf
* [Pull request #2176](https://github.com/gazebosim/gz-sim/pull/2176)

1. Fix another deadlock in sensors system
* [Pull request #2200](https://github.com/gazebosim/gz-sim/pull/2200)

1. Backport component inspector Vector3d width fix
* [Pull request #2195](https://github.com/gazebosim/gz-sim/pull/2195)

1. Bump Fuel model version in test
* [Pull request #2190](https://github.com/gazebosim/gz-sim/pull/2190)

1. Infrastructure
* [Pull request #2237](https://github.com/gazebosim/gz-sim/pull/2237)
* [Pull request #2222](https://github.com/gazebosim/gz-sim/pull/2222)

### Gazebo Sim 6.15.0 (2023-08-16)

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24 changes: 16 additions & 8 deletions examples/worlds/diff_drive_skid.sdf
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Expand Up @@ -155,8 155,10 @@
<surface>
<friction>
<ode>
<mu>0.5</mu>
<mu2>1.0</mu2>
<mu>1</mu>
<mu2>1</mu2>
<slip1>0.035</slip1>
<slip2>0</slip2>
<fdir1>0 0 1</fdir1>
</ode>
<bullet>
Expand Down Expand Up @@ -203,8 205,10 @@
<surface>
<friction>
<ode>
<mu>0.5</mu>
<mu2>1.0</mu2>
<mu>1</mu>
<mu2>1</mu2>
<slip1>0.035</slip1>
<slip2>0</slip2>
<fdir1>0 0 1</fdir1>
</ode>
<bullet>
Expand Down Expand Up @@ -251,8 255,10 @@
<surface>
<friction>
<ode>
<mu>0.5</mu>
<mu2>1.0</mu2>
<mu>1</mu>
<mu2>1</mu2>
<slip1>0.035</slip1>
<slip2>0</slip2>
<fdir1>0 0 1</fdir1>
</ode>
<bullet>
Expand Down Expand Up @@ -299,8 305,10 @@
<surface>
<friction>
<ode>
<mu>0.5</mu>
<mu2>1.0</mu2>
<mu>1</mu>
<mu2>1</mu2>
<slip1>0.035</slip1>
<slip2>0</slip2>
<fdir1>0 0 1</fdir1>
</ode>
<bullet>
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6 changes: 2 additions & 4 deletions examples/worlds/joint_controller.sdf
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Expand Up @@ -91,8 91,7 @@
</geometry>
<material>
<ambient>0.2 0.8 0.2 1</ambient>
<diffuse>0.2 0.8 0.2 1</diffuse>
<specular>0.2 0.8 0.2 1</specular>
<diffuse>0.8 0 0 1</diffuse>
</material>
</visual>
<collision name="collision">
Expand Down Expand Up @@ -179,8 178,7 @@
</geometry>
<material>
<ambient>0.2 0.8 0.2 1</ambient>
<diffuse>0.2 0.8 0.2 1</diffuse>
<specular>0.2 0.8 0.2 1</specular>
<diffuse>0.8 0 0 1</diffuse>
</material>
</visual>
<collision name="collision">
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1 change: 1 addition & 0 deletions examples/worlds/joint_position_controller.sdf
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Expand Up @@ -85,6 85,7 @@
</geometry>
<material>
<ambient>0.2 0.8 0.2 1</ambient>
<diffuse>0.8 0 0 1</diffuse>
</material>
</visual>
<collision name="collision">
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44 changes: 24 additions & 20 deletions examples/worlds/mecanum_drive.sdf
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Expand Up @@ -128,15 128,13 @@
</inertia>
</inertial>
<visual name='visual'>
<pose>0 0 0 1.5707 0 0</pose>
<geometry>
<sphere>
<radius>0.3</radius>
</sphere>
<!--box><size>0.6 0.6 0.6</size></box-->
<!--mesh>
<uri>https://raw.githubusercontent.com/robomaster-oss/rmoss_ign_resources/main/models/rmua19_standard_robot/meshes/wheel_left.dae</uri>
<scale>2.4 2.4 2.4</scale>
</mesh-->
<!-- scale mesh to radius == 0.3 -->
<mesh>
<uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Mecanum lift/tip/files/meshes/mecanum_wheel_left.STL</uri>
<scale>0.006 0.006 0.006</scale>
</mesh>
</geometry>
<material>
<ambient>0.2 0.2 0.2 1</ambient>
Expand Down Expand Up @@ -176,11 174,13 @@
</inertia>
</inertial>
<visual name='visual'>
<pose>0 0 0 1.5707 0 0</pose>
<geometry>
<sphere>
<radius>0.3</radius>
</sphere>
<!--box><size>0.6 0.6 0.6</size></box-->
<!-- scale mesh to radius == 0.3 -->
<mesh>
<uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Mecanum lift/tip/files/meshes/mecanum_wheel_right.STL</uri>
<scale>0.006 0.006 0.006</scale>
</mesh>
</geometry>
<material>
<ambient>0.2 0.2 0.2 1</ambient>
Expand Down Expand Up @@ -220,11 220,13 @@
</inertia>
</inertial>
<visual name='visual'>
<pose>0 0 0 1.5707 0 0</pose>
<geometry>
<sphere>
<radius>0.3</radius>
</sphere>
<!--box><size>0.6 0.6 0.6</size></box-->
<!-- scale mesh to radius == 0.3 -->
<mesh>
<uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Mecanum lift/tip/files/meshes/mecanum_wheel_right.STL</uri>
<scale>0.006 0.006 0.006</scale>
</mesh>
</geometry>
<material>
<ambient>0.2 0.2 0.2 1</ambient>
Expand Down Expand Up @@ -264,11 266,13 @@
</inertia>
</inertial>
<visual name='visual'>
<pose>0 0 0 1.5707 0 0</pose>
<geometry>
<sphere>
<radius>0.3</radius>
</sphere>
<!--box><size>0.6 0.6 0.6</size></box-->
<!-- scale mesh to radius == 0.3 -->
<mesh>
<uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Mecanum lift/tip/files/meshes/mecanum_wheel_left.STL</uri>
<scale>0.006 0.006 0.006</scale>
</mesh>
</geometry>
<material>
<ambient>0.2 0.2 0.2 1</ambient>
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2 changes: 1 addition & 1 deletion examples/worlds/tunnel.sdf
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Expand Up @@ -1165,7 1165,7 @@
<outer_angle>1.1</outer_angle>
<falloff>1</falloff>
</spot>
<direction>0 -1 0</direction>
<direction>0 0 -1</direction>
<cast_shadows>1</cast_shadows>
</light>
<sensor name="camera" type="camera">
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2 changes: 1 addition & 1 deletion src/CMakeLists.txt
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Expand Up @@ -188,7 188,7 @@ target_link_libraries(${gz_lib_target}
)

# Executable target that runs the GUI without ruby for debugging purposes.
add_executable(runGui gz.cc)
add_executable(runGui cmd/runGui_main.cc)
target_link_libraries(runGui PRIVATE ${gz_lib_target})

# Create the library target
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39 changes: 37 additions & 2 deletions src/Conversions.cc
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Expand Up @@ -1363,6 1363,41 @@ sdf::Sensor gz::sim::convert(const msgs::Sensor &_in)

out.SetCameraSensor(sensor);
}
else if (out.Type() == sdf::SensorType::GPS ||
out.Type() == sdf::SensorType::NAVSAT)
{
sdf::NavSat sensor;
if (_in.has_gps())
{
if (_in.gps().position().has_horizontal_noise())
{
sensor.SetHorizontalPositionNoise(sim::convert<sdf::Noise>(
_in.gps().position().horizontal_noise()));
}
if (_in.gps().position().has_vertical_noise())
{
sensor.SetVerticalPositionNoise(sim::convert<sdf::Noise>(
_in.gps().position().vertical_noise()));
}
if (_in.gps().velocity().has_horizontal_noise())
{
sensor.SetHorizontalVelocityNoise(sim::convert<sdf::Noise>(
_in.gps().velocity().horizontal_noise()));
}
if (_in.gps().velocity().has_vertical_noise())
{
sensor.SetVerticalVelocityNoise(sim::convert<sdf::Noise>(
_in.gps().velocity().vertical_noise()));
}
}
else
{
gzerr << "Attempting to convert a navsat sensor message, but the "
<< "message does not have a navsat nested message.\n";
}

out.SetNavSatSensor(sensor);
}
else if (out.Type() == sdf::SensorType::ALTIMETER)
{
sdf::Altimeter sensor;
Expand Down Expand Up @@ -1637,8 1672,8 @@ msgs::ParticleEmitter gz::sim::convert(const sdf::ParticleEmitter &_in)
std::string path = asFullPath(_in.ColorRangeImage(), _in.FilePath());

common::SystemPaths systemPaths;
systemPaths.SetFilePathEnv(kResourcePathEnv);
std::string absolutePath = systemPaths.FindFile(path);
std::string absolutePath =
common::SystemPaths::LocateLocalFile(path, sim::resourcePaths());

if (!absolutePath.empty())
{
Expand Down
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