Merge branch 'gazebosim:gz-sim9' into jointforces

.github/ci/after_make.sh

@@ -6,12 +6,3 @@ set -e
 # Install (needed for some tests)
 make install
 export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:/usr/local/lib
-
-# For gz-tools
-export GZ_CONFIG_PATH=/usr/local/share/gz
-
-# For rendering / window tests
-Xvfb :1 -screen 0 1280x1024x24 &
-export DISPLAY=:1.0
-export RENDER_ENGINE_VALUES=ogre2
-export MESA_GL_VERSION_OVERRIDE=3.3

.github/ci/before_cmake.sh

@@ -0,0 +1,9 @@
+#!/bin/sh -l
+
+set -x
+
+# For rendering / window tests
+Xvfb :1 -screen 0 1280x1024x24 &
+export DISPLAY=:1.0
+export RENDER_ENGINE_VALUES=ogre2
+export MESA_GL_VERSION_OVERRIDE=3.3

.github/ci/packages.apt

@@ -2,35 +2,34 @@ freeglut3-dev
 libbenchmark-dev
 libfreeimage-dev
 libglew-dev
-libgz-cmake3-dev
-libgz-common5-dev
-libgz-fuel-tools9-dev
-libgz-gui8-dev
-libgz-math7-eigen3-dev
-libgz-msgs10-dev
-libgz-physics7-dev
-libgz-plugin2-dev
-libgz-rendering8-dev
-libgz-sensors8-dev
+libgz-cmake4-dev
+libgz-common6-dev
+libgz-fuel-tools10-dev
+libgz-gui9-dev
+libgz-math8-eigen3-dev
+libgz-msgs11-dev
+libgz-physics8-dev
+libgz-plugin3-dev
+libgz-rendering9-dev
+libgz-sensors9-dev
 libgz-tools2-dev
-libgz-transport13-dev
-libgz-utils2-cli-dev
+libgz-transport14-dev
+libgz-utils3-cli-dev
 libogre-1.9-dev
 libogre-next-2.3-dev
 libprotobuf-dev
 libprotoc-dev
-libsdformat14-dev
+libsdformat15-dev
 libtinyxml2-dev
 libxi-dev
 libxmu-dev
 libpython3-dev
-python3-distutils
-python3-gz-math7
-python3-gz-msgs10
-python3-gz-transport13
+python3-gz-math8
+python3-gz-msgs11
+python3-gz-transport14
 python3-pybind11
 python3-pytest
-python3-sdformat14
+python3-sdformat15
 qml-module-qt-labs-folderlistmodel
 qml-module-qt-labs-settings
 qml-module-qtgraphicaleffects
@@ -45,3 +44,5 @@ qtdeclarative5-dev
 qtquickcontrols2-5-dev
 uuid-dev
 xvfb
+x11-utils
+mesa-utils

.github/workflows/ci.yml

@@ -7,6 +7,8 @@ on:
       - '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 }}
@@ -28,7 +30,23 @@ jobs:
         uses: gazebo-tooling/action-gz-ci@jammy
         with:
           # per bug https://github.com/gazebosim/gz-sim/issues/1409
-          cmake-args: '-DBUILD_DOCS=OFF'
+          cmake-args: '-DCMAKE_INSTALL_PREFIX=/usr -DBUILD_DOCS=OFF'
           codecov-enabled: true
           cppcheck-enabled: true
           cpplint-enabled: true
+  noble-ci:
+    runs-on: ubuntu-latest
+    name: Ubuntu Noble CI
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+      - uses: actions/setup-python@v3
+      - uses: pre-commit/[email protected]
+        with:
+          extra_args: --all-files
+      - name: Compile and test
+        id: ci
+        uses: gazebo-tooling/action-gz-ci@noble
+        with:
+          # per bug https://github.com/gazebosim/gz-sim/issues/1409
+          cmake-args: '-DCMAKE_INSTALL_PREFIX=/usr -DBUILD_DOCS=OFF'

.github/workflows/package_xml.yml

@@ -0,0 +1,11 @@
+name: Validate package.xml
+
+on:
+  pull_request:
+
+jobs:
+  package-xml:
+    runs-on: ubuntu-latest
+    name: Validate package.xml
+    steps:
+      - uses: gazebo-tooling/action-gz-ci/validate_package_xml@jammy

CMakeLists.txt

@@ -1,16 +1,16 @@
-cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 #============================================================================
 # Initialize the project
 #============================================================================
-project(gz-sim8 VERSION 8.3.0)
-set (GZ_DISTRIBUTION "Harmonic")
+project(gz-sim9 VERSION 9.0.0)
+set (GZ_DISTRIBUTION "Ionic")
 
 #============================================================================
 # Find gz-cmake
 #============================================================================
 # If you get an error at this line, you need to install gz-cmake
-find_package(gz-cmake3 REQUIRED)
+find_package(gz-cmake4 REQUIRED)
 
 #============================================================================
 # Configure the project
@@ -66,36 +66,36 @@ cmake_dependent_option(USE_DIST_PACKAGES_FOR_PYTHON
 #============================================================================
 
 # Setting this policy enables using the protobuf_MODULE_COMPATIBLE
-# set command in CMake versions older than 13.13
+# set command when cmake_minimum_required is less than 3.13
 set(CMAKE_POLICY_DEFAULT_CMP0077 NEW)
 # This option is needed to use the PROTOBUF_GENERATE_CPP
 # in case protobuf is found with the CMake config files
 # It needs to be set before any find_package(...) call
 # as protobuf could be find transitively by any dependency
 set(protobuf_MODULE_COMPATIBLE TRUE)
 
-gz_find_package(sdformat14 REQUIRED)
-set(SDF_VER ${sdformat14_VERSION_MAJOR})
+gz_find_package(sdformat15 REQUIRED)
+set(SDF_VER ${sdformat15_VERSION_MAJOR})
 
 #--------------------------------------
 # Find gz-plugin
-gz_find_package(gz-plugin2 REQUIRED COMPONENTS loader register)
-set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
+gz_find_package(gz-plugin3 REQUIRED COMPONENTS loader register)
+set(GZ_PLUGIN_VER ${gz-plugin3_VERSION_MAJOR})
 
 #--------------------------------------
 # Find gz-transport
-gz_find_package(gz-transport13 REQUIRED COMPONENTS log parameters)
-set(GZ_TRANSPORT_VER ${gz-transport13_VERSION_MAJOR})
+gz_find_package(gz-transport14 REQUIRED COMPONENTS log parameters)
+set(GZ_TRANSPORT_VER ${gz-transport14_VERSION_MAJOR})
 
 #--------------------------------------
 # Find gz-msgs
-gz_find_package(gz-msgs10 REQUIRED)
-set(GZ_MSGS_VER ${gz-msgs10_VERSION_MAJOR})
+gz_find_package(gz-msgs11 REQUIRED)
+set(GZ_MSGS_VER ${gz-msgs11_VERSION_MAJOR})
 
 #--------------------------------------
 # Find gz-common
 # Always use the profiler component to get the headers, regardless of status.
-gz_find_package(gz-common5
+gz_find_package(gz-common6
   COMPONENTS
     av
     events
@@ -104,17 +104,17 @@ gz_find_package(gz-common5
     profiler
   REQUIRED
 )
-set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR})
+set(GZ_COMMON_VER ${gz-common6_VERSION_MAJOR})
 
 #--------------------------------------
 # Find gz-fuel_tools
-gz_find_package(gz-fuel_tools9 REQUIRED)
-set(GZ_FUEL_TOOLS_VER ${gz-fuel_tools9_VERSION_MAJOR})
+gz_find_package(gz-fuel_tools10 REQUIRED)
+set(GZ_FUEL_TOOLS_VER ${gz-fuel_tools10_VERSION_MAJOR})
 
 #--------------------------------------
 # Find gz-gui
-gz_find_package(gz-gui8 REQUIRED)
-set(GZ_GUI_VER ${gz-gui8_VERSION_MAJOR})
+gz_find_package(gz-gui9 REQUIRED)
+set(GZ_GUI_VER ${gz-gui9_VERSION_MAJOR})
 gz_find_package (Qt5
   COMPONENTS
     Core
@@ -125,18 +125,18 @@ gz_find_package (Qt5
 
 #--------------------------------------
 # Find gz-physics
-gz_find_package(gz-physics7
+gz_find_package(gz-physics8
   COMPONENTS
     heightmap
     mesh
     sdf
   REQUIRED
 )
-set(GZ_PHYSICS_VER ${gz-physics7_VERSION_MAJOR})
+set(GZ_PHYSICS_VER ${gz-physics8_VERSION_MAJOR})
 
 #--------------------------------------
 # Find gz-sensors
-gz_find_package(gz-sensors8 REQUIRED
+gz_find_package(gz-sensors9 REQUIRED
   # component order is important
   COMPONENTS
     # non-rendering
@@ -164,17 +164,17 @@ gz_find_package(gz-sensors8 REQUIRED
     thermal_camera
     wide_angle_camera
 )
-set(GZ_SENSORS_VER ${gz-sensors8_VERSION_MAJOR})
+set(GZ_SENSORS_VER ${gz-sensors9_VERSION_MAJOR})
 
 #--------------------------------------
 # Find gz-rendering
-gz_find_package(gz-rendering8 REQUIRED)
-set(GZ_RENDERING_VER ${gz-rendering8_VERSION_MAJOR})
+gz_find_package(gz-rendering9 REQUIRED)
+set(GZ_RENDERING_VER ${gz-rendering9_VERSION_MAJOR})
 
 #--------------------------------------
 # Find gz-math
-gz_find_package(gz-math7 REQUIRED COMPONENTS eigen3)
-set(GZ_MATH_VER ${gz-math7_VERSION_MAJOR})
+gz_find_package(gz-math8 REQUIRED COMPONENTS eigen3)
+set(GZ_MATH_VER ${gz-math8_VERSION_MAJOR})
 
 #--------------------------------------
 # Find if gz command is available
@@ -190,16 +190,16 @@ set(GZ_TOOLS_VER 2)
 
 #--------------------------------------
 # Find gz-utils
-gz_find_package(gz-utils2 REQUIRED COMPONENTS cli)
-set(GZ_UTILS_VER ${gz-utils2_VERSION_MAJOR})
+gz_find_package(gz-utils3 REQUIRED COMPONENTS cli)
+set(GZ_UTILS_VER ${gz-utils3_VERSION_MAJOR})
 
 #--------------------------------------
 # Find protobuf
 gz_find_package(GzProtobuf
                 REQUIRED
                 COMPONENTS all
                 PRETTY Protobuf)
-set(Protobuf_IMPORT_DIRS ${gz-msgs10_INCLUDE_DIRS})
+set(Protobuf_IMPORT_DIRS ${gz-msgs11_INCLUDE_DIRS})
 
 #--------------------------------------
 # Find python