Merge branch 'main' into nkoenig/remove-ign

.github/ci/packages.apt

@@ -6,9 +6,9 @@ libavutil-dev
 libfreeimage-dev
 libgdal-dev
 libgts-dev
-libgz-cmake3-dev
-libgz-math7-dev
-libgz-utils2-dev
+libgz-cmake4-dev
+libgz-math8-dev
+libgz-utils3-dev
 libswscale-dev
 libtinyxml2-dev
 pkg-config

.github/workflows/ci.yml

@@ -3,17 +3,6 @@ name: Ubuntu CI
 on: [push, pull_request]
 
 jobs:
-  focal-ci:
-    runs-on: ubuntu-latest
-    name: Ubuntu Focal CI
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v3
-      - name: Compile and test
-        id: ci
-        uses: gazebo-tooling/action-gz-ci@focal
-        with:
-          codecov-enabled: true
   jammy-ci:
     runs-on: ubuntu-latest
     name: Ubuntu Jammy CI
@@ -23,3 +12,5 @@ jobs:
       - name: Compile and test
         id: ci
         uses: gazebo-tooling/action-gz-ci@jammy
+        with:
+          codecov-enabled: true

.github/workflows/macos.yml

@@ -14,6 +14,15 @@ jobs:
       uses: Homebrew/actions/setup-homebrew@master
     - run: brew config
 
+    # Workaround for https://github.com/actions/setup-python/issues/577
+    - name: Clean up python binaries
+      run: |
+        rm -f /usr/local/bin/2to3*;
+        rm -f /usr/local/bin/idle3*;
+        rm -f /usr/local/bin/pydoc3*;
+        rm -f /usr/local/bin/python3*;
+        rm -f /usr/local/bin/python3*-config;
+
     - name: Install base dependencies
       run: |
         brew tap osrf/simulation;
@@ -30,7 +39,7 @@ jobs:
           popd
           echo '# END SECTION'
         fi
-        # gz-math7 has problems with swig, remove it for now
+        # gz-math8 has problems with swig, remove it for now
         brew remove swig || true
         brew install --only-dependencies ${PACKAGE};
     - run: mkdir build
@@ -39,12 +48,14 @@ jobs:
       run: cmake .. -DCMAKE_INSTALL_PREFIX=/usr/local/Cellar/${PACKAGE}/HEAD
     - run: make
       working-directory: build
-    - run: make test
-      working-directory: build
-      env:
-        CTEST_OUTPUT_ON_FAILURE: 1
+    # Run make install before make test so that the package will be available to
+    # build examples as part of the test
     - name: make install
       working-directory: build
       run: |
         make install;
         brew link ${PACKAGE};
+    - run: make test
+      working-directory: build
+      env:
+        CTEST_OUTPUT_ON_FAILURE: 1

.github/workflows/triage.yml

@@ -10,10 +10,8 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Add ticket to inbox
-        uses: technote-space/create-project-card-action@v1
+        uses: actions/[email protected]
         with:
-          PROJECT: Core development
-          COLUMN: Inbox
-          GITHUB_TOKEN: ${{ secrets.TRIAGE_TOKEN }}
-          CHECK_ORG_PROJECT: true
+          project-url: https://github.com/orgs/gazebosim/projects/7
+          github-token: ${{ secrets.TRIAGE_TOKEN }}
 

CMakeLists.txt

@@ -139,7 +139,6 @@ gz_configure_build(QUIT_IF_BUILD_ERRORS
 #============================================================================
 gz_create_packages()
 
-
 #============================================================================
 # Create documentation
 #============================================================================
@@ -152,3 +151,13 @@ gz_create_docs(
   TAGFILES
     "${GZ-MATH_DOXYGEN_TAGFILE} = ${GZ-MATH_API_URL}"
   )
+
+#============================================================================
+# Build examples
+#============================================================================
+if (BUILD_TESTING)
+  gz_build_examples(
+    SOURCE_DIR ${PROJECT_SOURCE_DIR}/examples
+    BINARY_DIR ${PROJECT_BINARY_DIR}/examples
+  )
+endif()

Changelog.md

@@ -4,6 +4,54 @@
 
 ## Gazebo Common 5.x
 
+## Gazebo Common 5.4.2 (2023-09-26)
+
+1. Documentation fixes
+    * [Pull request #534](https://github.com/gazebosim/gz-common/pull/534)
+    * [Pull request #535](https://github.com/gazebosim/gz-common/pull/535)
+
+1. Fix glTF metalness and roughness map orientation
+    * [Pull request #532](https://github.com/gazebosim/gz-common/pull/532)
+
+1. Build examples from CMake rather than executable
+    * [Pull request #502](https://github.com/gazebosim/gz-common/pull/502)
+
+
+## Gazebo Common 5.4.1 (2023-08-21)
+
+1. Use `pull_request_target`  for triage workflow
+    * [Pull request #527](https://github.com/gazebosim/gz-common/pull/527)
+
+1. Fix Github project automation for new project board
+    * [Pull request #526](https://github.com/gazebosim/gz-common/pull/526)
+
+1. Fix Github Actions on macOS
+    * [Pull request #524](https://github.com/gazebosim/gz-common/pull/524)
+
+1. Only build integration tests if libraries exist
+    * [Pull request #523](https://github.com/gazebosim/gz-common/pull/523)
+
+1. Fix compiling under linux
+    * [Pull request #521](https://github.com/gazebosim/gz-common/pull/521)
+
+1. Add missing <fstream> header includes
+    * [Pull request #518](https://github.com/gazebosim/gz-common/pull/518)
+
+1. Header was dropped in the forward port and breaks downstream
+    * [Pull request #515](https://github.com/gazebosim/gz-common/pull/515)
+
+1. Port: 4 to 5
+    * [Pull request #511](https://github.com/gazebosim/gz-common/pull/511)
+
+1. Lint
+    * [Pull request #Lint](https://github.com/gazebosim/gz-common/pull/Lint)
+
+1. 🎈 4.7.0
+    * [Pull request #510](https://github.com/gazebosim/gz-common/pull/510)
+
+1. Fix build error when using gz:: with ign-common4
+    * [Pull request #489](https://github.com/gazebosim/gz-common/pull/489)
+
 ## Gazebo Common 5.4.0 (2023-04-28)
 
 1. Add support for bayer images to be saved in a directory

README.md

@@ -55,7 +55,7 @@ callback system.
 
 # Install
 
-See the [installation tutorial](https://gazebosim.org/api/common/4.0/install.html).
+See the [installation tutorial](https://gazebosim.org/api/common/6/install.html).
 
 # Usage
 
@@ -69,8 +69,10 @@ Refer to the following table for information about important directories and fil
 +-- av                       Header and source files for the AV component.
 +-- events                   Header and source files for the Event component.
 +-- examples                 Example programs.
++-- geospatial               Geospatial component for heightmap & DEMs
 +-- graphics                 Header and source files for the Graphics component.
 +-- include/gz/common        Header files for the core component.
++-- io                       IO component. Read object from stream.
 +-- profiler                 Header and source files for the Profiler component.
 +-- src                      Core source files and unit tests.
 +-- test

examples/CMakeLists.txt

@@ -1,4 +1,6 @@
-cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.5 FATAL_ERROR)
+
+project(gz-common-examples)
 
 # Find the gz-common library
 find_package(gz-common6 QUIET REQUIRED COMPONENTS events profiler)

graphics/src/AssimpLoader.cc

@@ -425,6 +425,21 @@ MaterialPtr AssimpLoader::Implementation::CreateMaterial(
           this->GenerateTextureName(_scene, assimpMat, "Roughness"));
       pbr.SetRoughnessMap(texName, texData);
     }
+    // Load lightmap only if it is not a glb/glTF mesh that contains a
+    // MetallicRoughness texture
+    // It was found that lightmap field just stores the entire MetallicRoughness
+    // texture. Issues were also reported in assimp:
+    // https://github.com/assimp/assimp/issues/3120
+    // https://github.com/assimp/assimp/issues/4637
+    unsigned int uvIdx = 0;
+    ret = assimpMat->GetTexture(
+        aiTextureType_LIGHTMAP, 0, &texturePath, NULL, &uvIdx);
+    if (ret == AI_SUCCESS)
+    {
+      auto [texName, texData] = this->LoadTexture(_scene, texturePath,
+          this->GenerateTextureName(_scene, assimpMat, "Lightmap"));
+      pbr.SetLightMap(texName, uvIdx, texData);
+    }
   }
 #endif
   ret = assimpMat->GetTexture(aiTextureType_NORMALS, 0, &texturePath);
@@ -442,15 +457,6 @@ MaterialPtr AssimpLoader::Implementation::CreateMaterial(
         this->GenerateTextureName(_scene, assimpMat, "Emissive"));
     pbr.SetEmissiveMap(texName, texData);
   }
-  unsigned int uvIdx = 0;
-  ret = assimpMat->GetTexture(
-      aiTextureType_LIGHTMAP, 0, &texturePath, NULL, &uvIdx);
-  if (ret == AI_SUCCESS)
-  {
-    auto [texName, texData] = this->LoadTexture(_scene, texturePath,
-        this->GenerateTextureName(_scene, assimpMat, "Lightmap"));
-    pbr.SetLightMap(texName, uvIdx, texData);
-  }
 #ifndef GZ_ASSIMP_PRE_5_2_0
   float value;
   ret = assimpMat->Get(AI_MATKEY_METALLIC_FACTOR, value);
@@ -507,13 +513,13 @@ std::pair<ImagePtr, ImagePtr>
   std::vector<unsigned char> metalnessData(width * height * bytesPerPixel);
   std::vector<unsigned char> roughnessData(width * height * bytesPerPixel);
 
-  for (unsigned int x = 0; x < width; ++x)
+  for (unsigned int y = 0; y < height; ++y)
   {
-    for (unsigned int y = 0; y < height; ++y)
+    for (unsigned int x = 0; x < width; ++x)
     {
       // RGBA so 4 bytes per pixel, alpha fully opaque
-      auto baseIndex = bytesPerPixel * (x * height + y);
-      auto color = _img.Pixel(x, y);
+      auto baseIndex = bytesPerPixel * (y * width + x);
+      auto color = _img.Pixel(x, (height - y - 1));
       metalnessData[baseIndex] = color.B() * 255.0;
       metalnessData[baseIndex + 1] = color.B() * 255.0;
       metalnessData[baseIndex + 2] = color.B() * 255.0;

graphics/src/AssimpLoader_TEST.cc

@@ -708,10 +708,16 @@ TEST_F(AssimpLoader, LoadGlbPbrAsset)
   // Check pixel values to test metallicroughness texture splitting
   EXPECT_FLOAT_EQ(pbr->MetalnessMapData()->Pixel(256, 256).R(), 0.0);
   EXPECT_FLOAT_EQ(pbr->RoughnessMapData()->Pixel(256, 256).R(), 124.0 / 255.0);
+
   // Bug in assimp 5.0.x that doesn't parse coordinate sets properly
-  EXPECT_EQ(pbr->LightMapTexCoordSet(), 1);
+  // \todo(iche033) Lightmaps are disabled for glb meshes
+  // due to upstream bug
+  // EXPECT_EQ(pbr->LightMapTexCoordSet(), 1);
 #endif
-  EXPECT_NE(pbr->LightMapData(), nullptr);
+
+  // \todo(iche033) Lightmaps are disabled for glb meshes
+  // due to upstream bug
+  // EXPECT_NE(pbr->LightMapData(), nullptr);
 
   // Mesh has 3 animations
   auto skel = mesh->MeshSkeleton();