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Merge ign-gazebo6 ➡️ main (#1514)
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Signed-off-by: Louise Poubel <[email protected]>
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@chapulina
chapulina authored Jun 3, 2022
2 parents c7e25be 3d0867f commit 2e141c2
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72 changes: 72 additions & 0 deletions .github/ISSUE_TEMPLATE/bug_report.md
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---
name: Bug report
about: Report a bug
labels: bug
---

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

## Environment
* OS Version: <!-- e.g, Ubuntu 20.04 -->
* Source or binary build?
<!-- If binary, which version? -->
<!-- If source, which branch and what is the latest commit? -->
* If this is a GUI or sensor rendering bug, describe your GPU and rendering system. Otherwise delete this section. <!-- If you do not know some values, leave them out. But please, at least give a try to finding them - they are really helpful when debugging rendering errors. -->
- Rendering plugin: [ogre | ogre2]. <!-- You can find it in the logs of Gazebo it outputs to console when you launch it with `-v 3` or `-v 4` argument. -->
- [ ] Sensor rendering error. <!-- Search for message like "[Msg] Loading plugin [ignition-rendering-ogre]" (not starting with "[GUI]"). -->
- [ ] GUI rendering error. <!-- Search for message like "[GUI] [Msg] Loading plugin [ignition-rendering-ogre2] -->
- EGL headless mode:
- [ ] Running in EGL headless mode <!-- only available since Ignition Fortress, GPU display is specified as /dev/dri/card* instead of :0 -->
- Generally, mention all circumstances that might affect rendering capabilities: <!-- remove lines that do not apply to keep the list short -->
- [ ] running on a dual GPU machine (integrated GPU discrete GPU)
- [ ] running on a multi-GPU machine (it has multiple discrete GPUs)
- [ ] running on real hardware
- [ ] running in virtual machine
- [ ] running in Docker/Singularity
- [ ] running remotely (e.g. via SSH)
- [ ] running in a cloud
- [ ] using VirtualGL, XVFB, Xdummy, XVNC or other indirect rendering utilities
- [ ] GPU is concurrently used for other tasks
- [ ] desktop acceleration
- [ ] video decoding (i.e. a playing Youtube video)
- [ ] video encoding
- [ ] CUDA/ROCm computations (Tensorflow, Torch, Caffe running)
- [ ] multiple simulators running at the same time
- [ ] other...
- Rendering system info:
- On Linux, provide the outputs of the following commands:
```bash
LANG=C lspci -nn | grep VGA # might require installing pciutils
echo "$DISPLAY"
LANG=C glxinfo -B | grep -i '\(direct rendering\|opengl\|profile\)' # might require installing mesa-utils package
ps aux | grep Xorg
sudo env LANG=C X -version # if you don't have root access, try to tell the version of Xorg e.g. via package manager
```
- On Windows, run `dxdiag` and report the GPU-related information.
- On Mac OS, open a terminal and type `system_profiler SPDisplaysDataType`. Copy the output here.
<!-- Please note that GUI rendering is not supported on macOS. -->
- [ ] Please, attach the ogre.log or ogre2.log file from `~/.ignition/rendering` <!-- Choose the relevant version based on what you checked in the "Rendering plugin" question. -->

<details>

```
# paste log here
```
</details>
## Description
* Expected behavior: <!-- Tell us what you expected to happen -->
* Actual behavior: <!-- What happened instead -->
## Steps to reproduce
<!-- Provide steps so we can try to reproduce this issue -->
1.
2.
3.
## Output
<!-- Provide screenshots, console logs, backtraces, and/or anything that could
be useful to us resolving this issue -->
23 changes: 23 additions & 0 deletions .github/ISSUE_TEMPLATE/feature_request.md
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---
name: Feature request
about: Request a new feature
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.-->

## Desired behavior
<!-- Describe the current problem and the feature you want implemented.-->

## Alternatives considered
<!-- Describe alternate solutions or features you've considered.-->

## Implementation suggestion
<!-- Provide a suggestion on how to implement this feature, which could help us
expedite this implementation.-->

## Additional context
<!-- Provide any other additional context (e.g., screenshots) about your feature
request.-->
2 changes: 1 addition & 1 deletion README.md
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Expand Up @@ -123,7 123,7 @@ export GZ_CONFIG_PATH=$HOME/.gz/tools/configs

This issue is tracked [here](https://github.com/gazebosim/gz-tools/issues/8).

# Documentation
# Documentation

See the [installation tutorial](https://gazebosim.org/api/gazebo/6.1/install.html).

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2 changes: 1 addition & 1 deletion examples/scripts/python_api/README.md
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Expand Up @@ -3,4 3,4 @@
This example shows how to use Gazebo Sim's Python API.

For more information, see the
[Python interfaces](https://gazebosim.org/api/gazebo/6.4/python_interfaces.html) tutorial.
[Python interfaces](https://gazebosim.org/api/gazebo/6.9/python_interfaces.html) tutorial.
8 changes: 2 additions & 6 deletions examples/scripts/python_api/testFixture.py
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Expand Up @@ -23,7 23,6 @@
# python3 examples/scripts/python_api/testFixture.py

import os
import time

from ignition.common import set_verbosity
from ignition.gazebo import TestFixture, World, world_entity
Expand All @@ -47,7 46,7 @@ def on_pre_udpate_cb(_info, _ecm):
pre_iterations = 1
if first_iteration:
first_iteration = False
world_e = world_entity(_ecm);
world_e = world_entity(_ecm)
print('World entity is ', world_e)
w = World(world_e)
v = w.gravity(_ecm)
Expand All @@ -74,10 73,7 @@ def on_post_udpate_cb(_info, _ecm):
fixture.finalize()

server = fixture.server()
server.run(False, 1000, False)

while(server.is_running()):
time.sleep(0.1)
server.run(True, 1000, False)

print('iterations ', iterations)
print('post_iterations ', post_iterations)
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6 changes: 3 additions & 3 deletions examples/worlds/multi_lrauv_race.sdf
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Expand Up @@ -59,7 59,7 @@

<include>
<pose>-5 0 0 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/mabel/models/Turquoise turbidity generator</uri>
<uri>https://fuel.ignitionrobotics.org/1.0/mabelzhang/models/Turquoise turbidity generator</uri>
</include>

<include>
Expand Down Expand Up @@ -346,12 346,12 @@
<!-- Swimming race lane signs -->
<include>
<pose>0 0 -1 0 0 3.1415926</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/mabel/models/ABCSign_5m</uri>
<uri>https://fuel.ignitionrobotics.org/1.0/mabelzhang/models/ABCSign_5m</uri>
<name>start_line</name>
</include>
<include>
<pose>0 -25 -1 0 0 3.1415926</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/mabel/models/ABCSign_5m</uri>
<uri>https://fuel.ignitionrobotics.org/1.0/mabelzhang/models/ABCSign_5m</uri>
<name>finish_line</name>
</include>

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233 changes: 233 additions & 0 deletions examples/worlds/polylines.sdf
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<?xml version="1.0" ?>
<!--
Demo of polyline geometries for collisions and visuals.
-->
<sdf version="1.6">
<world name="polylines">

<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>

<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
</link>
</model>

<model name="triangle">
<pose>-5 0 5 0 1.57 0</pose>
<link name="link">
<inertial>
<pose>0 0 0.5 0 0 0</pose>
<mass>1.0</mass>
<inertia>
<ixx>0.1666</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1666</iyy>
<iyz>0</iyz>
<izz>0.1666</izz>
</inertia>
</inertial>

<collision name="collision">
<geometry>
<polyline>
<point>-0.5 -0.5</point>
<point>-0.5 0.5</point>
<point>0.5 0.5</point>
<point>0 0</point>
<point>0.5 -0.5</point>
<height>1</height>
</polyline>
</geometry>
</collision>

<visual name="triangle">
<geometry>
<polyline>
<point>-0.5 -0.5</point>
<point>-0.5 0.5</point>
<point>0.5 0.5</point>
<point>0 0</point>
<point>0.5 -0.5</point>
<height>1</height>
</polyline>
</geometry>
<material>
<ambient>1.0 0 0 1</ambient>
<diffuse>1.0 0 0 1</diffuse>
<specular>1.0 0 0 1</specular>
</material>
</visual>
</link>
</model>

<model name="pentagon">
<pose>-5 -3 5 0 1.3 0</pose>
<link name="polyLine2">
<inertial>
<pose>0 0 2 0 0 0</pose>
</inertial>
<collision name="collision">
<geometry>
<polyline>
<point>-0.3 0.5</point>
<point>0.3 0.3</point>
<point>0.3 -0.3</point>
<point>-0.3 -0.5</point>
<point>-0.5 0</point>
<height>4</height>
</polyline>
</geometry>
</collision>

<visual name="polyLineGeom2">
<geometry>
<polyline>
<point>-0.3 0.5</point>
<point>0.3 0.3</point>
<point>0.3 -0.3</point>
<point>-0.3 -0.5</point>
<point>-0.5 0</point>
<height>4</height>
</polyline>
</geometry>
<material>
<ambient>0 1.0 0 1</ambient>
<diffuse>0 1.0 0 1</diffuse>
<specular>0 1.0 0 1</specular>
</material>
</visual>
</link>
</model>

<model name="cube">
<pose>-5 2 5 0 1.57 0</pose>
<link name="polyLine2">
<inertial>
<pose>0.5 0.5 0.75 0 0 0</pose>
</inertial>
<collision name="collision">
<geometry>
<polyline>
<point>0 0</point>
<point>0 1</point>
<point>1 1</point>
<point>1 0 </point>
<height>1.5</height>
</polyline>
</geometry>
</collision>

<visual name="polyLineGeom2">
<geometry>
<polyline>
<point>0 0</point>
<point>0 1</point>
<point>1 1</point>
<point>1 0 </point>
<height>1.5</height>
</polyline>
</geometry>
<material>
<ambient>0 1.0 1.0 1</ambient>
<diffuse>0 1.0 1.0 1</diffuse>
<specular>0 1.0 1.0 1</specular>
</material>
</visual>
</link>
</model>

<model name="letter">
<pose>-5 2 5 0 1.57 0</pose>
<link name="link">
<inertial>
<pose>2.2 1.5 0.5 0 0 0</pose>
</inertial>
<collision name="collision">
<geometry>
<polyline>
<point>2.27467 1.0967</point>
<point>1.81094 2.35418</point>
<point>2.74009 2.35418</point>
<height>1.0</height>
</polyline>
<polyline>
<point>2.08173 0.7599</point>
<point>2.4693 0.7599</point>
<point>3.4323 3.28672</point>
<point>3.07689 3.28672</point>
<point>2.84672 2.63851</point>
<point>1.7077 2.63851</point>
<point>1.47753 3.28672</point>
<point>1.11704 3.28672</point>
<height>1.0</height>
</polyline>
</geometry>
</collision>

<visual name="visual">
<geometry>
<polyline>
<point>2.27467 1.0967</point>
<point>1.81094 2.35418</point>
<point>2.74009 2.35418</point>
<height>1.0</height>
</polyline>
<polyline>
<point>2.08173 0.7599</point>
<point>2.4693 0.7599</point>
<point>3.4323 3.28672</point>
<point>3.07689 3.28672</point>
<point>2.84672 2.63851</point>
<point>1.7077 2.63851</point>
<point>1.47753 3.28672</point>
<point>1.11704 3.28672</point>
<height>1.0</height>
</polyline>
</geometry>
<material>
<ambient>1.0 0 1.0 1</ambient>
<diffuse>1.0 0 1.0 1</diffuse>
<specular>1.0 0 1.0 1</specular>
</material>
</visual>
</link>
</model>
</world>
</sdf>
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