Merge branch 'arjo/feat/reset_test_fixture' of https://github.com/gaz…

…ebosim/gz-sim into arjo/feat/reset_test_fixture
gazebosim · Dec 16, 2024 · 90a7247 · 90a7247
2 parents ecbe724 + 4a9e69f
commit 90a7247
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diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 #============================================================================
 # Initialize the project
 #============================================================================
-project(gz-sim9 VERSION 9.0.0)
+project(gz-sim10 VERSION 10.0.0)
 set (GZ_DISTRIBUTION "Ionic")
 
 #============================================================================
@@ -18,7 +18,7 @@ find_package(gz-cmake4 REQUIRED)
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-gz_configure_project(VERSION_SUFFIX)
+gz_configure_project(VERSION_SUFFIX pre1)
 
 #============================================================================
 # Set project-specific options

diff --git a/Changelog.md b/Changelog.md
@@ -1,3 +1,7 @@
+## Gazebo Sim 10.x
+
+### Gazebo Sim 10.0.0 (20XX-XX-XX)
+
 ## Gazebo Sim 9.x
 
 ### Gazebo Sim 9.0.0 (2024-09-25)

diff --git a/README.md b/README.md
@@ -9,10 +9,10 @@
 
 Build | Status
 -- | --
-Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-sim/tree/gz-sim9/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-sim/tree/gz-sim9)
-Ubuntu Noble  | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_sim-ci-gz-sim9-noble-amd64)](https://build.osrfoundation.org/job/gz_sim-ci-gz-sim9-noble-amd64)
-Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_sim-ci-gz-sim9-homebrew-amd64)](https://build.osrfoundation.org/job/gz_sim-ci-gz-sim9-homebrew-amd64)
-Windows       | [![Build Status](https://build.osrfoundation.org/job/gz_sim-9-win/badge/icon)](https://build.osrfoundation.org/job/gz_sim-9-win/)
+Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-sim/tree/main/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-sim/tree/main)
+Ubuntu Noble  | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_sim-ci-main-noble-amd64)](https://build.osrfoundation.org/job/gz_sim-ci-main-noble-amd64)
+Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_sim-ci-main-homebrew-amd64)](https://build.osrfoundation.org/job/gz_sim-ci-main-homebrew-amd64)
+Windows       | [![Build Status](https://build.osrfoundation.org/job/gz_sim-main-win/badge/icon)](https://build.osrfoundation.org/job/gz_sim-main-win/)
 
 Gazebo Sim is an open source robotics simulator. Through Gazebo Sim, users have access to high fidelity physics, rendering, and sensor models. Additionally, users and developers have multiple points of entry to simulation including a graphical user interface, plugins, and asynchronous message passing and services.
 

diff --git a/examples/plugin/command_actor/CMakeLists.txt b/examples/plugin/command_actor/CMakeLists.txt
@@ -7,9 +7,9 @@ project(CommandActor)
 find_package(gz-plugin3 REQUIRED COMPONENTS register)
 set(GZ_PLUGIN_VER ${gz-plugin3_VERSION_MAJOR})
 
-find_package(gz-sim9 REQUIRED)
+find_package(gz-sim10 REQUIRED)
 add_library(CommandActor SHARED CommandActor.cc)
 set_property(TARGET CommandActor PROPERTY CXX_STANDARD 17)
 target_link_libraries(CommandActor
   PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
-  PRIVATE gz-sim9::gz-sim9)
+  PRIVATE gz-sim10::gz-sim10)
diff --git a/examples/plugin/custom_component/CMakeLists.txt b/examples/plugin/custom_component/CMakeLists.txt
@@ -7,11 +7,11 @@ project(CustomComponentPlugin)
 find_package(gz-plugin3 REQUIRED COMPONENTS register)
 set(GZ_PLUGIN_VER ${gz-plugin3_VERSION_MAJOR})
 
-find_package(gz-sim9 REQUIRED)
+find_package(gz-sim10 REQUIRED)
 add_library(CustomComponentPlugin SHARED
   CustomComponentPlugin.cc
 )
 set_property(TARGET CustomComponentPlugin PROPERTY CXX_STANDARD 17)
 target_link_libraries(CustomComponentPlugin
   PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
-  PRIVATE gz-sim9::gz-sim9)
+  PRIVATE gz-sim10::gz-sim10)
diff --git a/examples/plugin/custom_sensor_system/CMakeLists.txt b/examples/plugin/custom_sensor_system/CMakeLists.txt
@@ -7,8 +7,8 @@ project(OdometerSystem)
 gz_find_package(gz-plugin3 REQUIRED COMPONENTS register)
 set(GZ_PLUGIN_VER ${gz-plugin3_VERSION_MAJOR})
 
-gz_find_package(gz-sim9 REQUIRED)
-set(GZ_SIM_VER ${gz-sim9_VERSION_MAJOR})
+gz_find_package(gz-sim10 REQUIRED)
+set(GZ_SIM_VER ${gz-sim10_VERSION_MAJOR})
 
 find_package(gz-sensors9 REQUIRED)
 set(GZ_SENSORS_VER ${gz-sensors9_VERSION_MAJOR})
@@ -20,7 +20,7 @@ include(FetchContent)
 FetchContent_Declare(
   sensors_clone
   GIT_REPOSITORY https://github.com/gazebosim/gz-sensors
-  GIT_TAG main
+  GIT_TAG gz-sensors${GZ_SENSORS_VER}
 )
 FetchContent_Populate(sensors_clone)
 add_subdirectory(${sensors_clone_SOURCE_DIR}/examples/custom_sensor ${sensors_clone_BINARY_DIR})

diff --git a/examples/plugin/gui_system_plugin/CMakeLists.txt b/examples/plugin/gui_system_plugin/CMakeLists.txt
@@ -8,7 +8,7 @@ project(GuiSystemPlugin)
 
 set(CMAKE_AUTOMOC ON)
 
-find_package(gz-sim9 REQUIRED COMPONENTS gui)
+find_package(gz-sim10 REQUIRED COMPONENTS gui)
 
 QT5_ADD_RESOURCES(resources_RCC ${PROJECT_NAME}.qrc)
 
@@ -17,5 +17,5 @@ add_library(${PROJECT_NAME} SHARED
   ${resources_RCC}
 )
 target_link_libraries(${PROJECT_NAME}
-  PRIVATE gz-sim9::gui
+  PRIVATE gz-sim10::gui
 )
diff --git a/examples/plugin/hello_world/CMakeLists.txt b/examples/plugin/hello_world/CMakeLists.txt
@@ -7,8 +7,8 @@ project(Hello_world)
 gz_find_package(gz-plugin3 REQUIRED COMPONENTS register)
 set(GZ_PLUGIN_VER ${gz-plugin3_VERSION_MAJOR})
 
-gz_find_package(gz-sim9 REQUIRED)
-set(GZ_SIM_VER ${gz-sim9_VERSION_MAJOR})
+gz_find_package(gz-sim10 REQUIRED)
+set(GZ_SIM_VER ${gz-sim10_VERSION_MAJOR})
 
 add_library(HelloWorld SHARED HelloWorld.cc)
 set_property(TARGET HelloWorld PROPERTY CXX_STANDARD 17)

diff --git a/examples/plugin/priority_printer_plugin/CMakeLists.txt b/examples/plugin/priority_printer_plugin/CMakeLists.txt
@@ -7,8 +7,8 @@ project(Priority_printer)
 gz_find_package(gz-plugin3 REQUIRED COMPONENTS register)
 set(GZ_PLUGIN_VER ${gz-plugin3_VERSION_MAJOR})
 
-gz_find_package(gz-sim9 REQUIRED)
-set(GZ_SIM_VER ${gz-sim9_VERSION_MAJOR})
+gz_find_package(gz-sim10 REQUIRED)
+set(GZ_SIM_VER ${gz-sim10_VERSION_MAJOR})
 
 add_library(PriorityPrinter SHARED PriorityPrinter.cc)
 set_property(TARGET PriorityPrinter PROPERTY CXX_STANDARD 17)

diff --git a/examples/plugin/rendering_plugins/CMakeLists.txt b/examples/plugin/rendering_plugins/CMakeLists.txt
@@ -32,13 +32,13 @@ target_link_libraries(${GUI_PLUGIN}
 set(SERVER_PLUGIN RenderingServerPlugin)
 
 find_package(gz-plugin3 REQUIRED COMPONENTS register)
-find_package(gz-sim9 REQUIRED)
+find_package(gz-sim10 REQUIRED)
 
 add_library(${SERVER_PLUGIN} SHARED ${SERVER_PLUGIN}.cc)
 set_property(TARGET ${SERVER_PLUGIN} PROPERTY CXX_STANDARD 17)
 target_link_libraries(${SERVER_PLUGIN}
   PRIVATE
     gz-plugin3::gz-plugin3
-    gz-sim9::gz-sim9
+    gz-sim10::gz-sim10
     gz-rendering9::gz-rendering9
 )
diff --git a/examples/plugin/reset_plugin/CMakeLists.txt b/examples/plugin/reset_plugin/CMakeLists.txt
@@ -5,8 +5,8 @@ project(ResetPlugins)
 find_package(gz-plugin3 REQUIRED COMPONENTS register)
 set(GZ_PLUGIN_VER ${gz-plugin3_VERSION_MAJOR})
 
-find_package(gz-sim9 REQUIRED)
-set(GZ_SIM_VER ${gz-sim9_VERSION_MAJOR})
+find_package(gz-sim10 REQUIRED)
+set(GZ_SIM_VER ${gz-sim10_VERSION_MAJOR})
 
 add_library(JointPositionRandomizer SHARED JointPositionRandomizer.cc)
 target_link_libraries(JointPositionRandomizer

diff --git a/examples/plugin/system_plugin/CMakeLists.txt b/examples/plugin/system_plugin/CMakeLists.txt
@@ -7,9 +7,9 @@ project(SampleSystem)
 find_package(gz-plugin3 REQUIRED COMPONENTS register)
 set(GZ_PLUGIN_VER ${gz-plugin3_VERSION_MAJOR})
 
-find_package(gz-sim9 REQUIRED)
+find_package(gz-sim10 REQUIRED)
 add_library(SampleSystem SHARED SampleSystem.cc SampleSystem2.cc)
 set_property(TARGET SampleSystem PROPERTY CXX_STANDARD 17)
 target_link_libraries(SampleSystem
   PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
-  PRIVATE gz-sim9::gz-sim9)
+  PRIVATE gz-sim10::gz-sim10)
diff --git a/examples/scripts/python_api/systems/test_system.py b/examples/scripts/python_api/systems/test_system.py
@@ -13,7 +13,7 @@
 # limitations under the License.
 
 from gz.math8 import Vector3d
-from gz.sim9 import Model, Link
+from gz.sim10 import Model, Link
 import random
 
 

diff --git a/examples/scripts/python_api/testFixture.py b/examples/scripts/python_api/testFixture.py
@@ -25,7 +25,7 @@
 import os
 
 from gz.common6 import set_verbosity
-from gz.sim9 import TestFixture, World, world_entity
+from gz.sim10 import TestFixture, World, world_entity
 from gz.math8 import Vector3d
 
 set_verbosity(4)

diff --git a/examples/standalone/acoustic_comms_demo/CMakeLists.txt b/examples/standalone/acoustic_comms_demo/CMakeLists.txt
@@ -5,8 +5,8 @@ project(gz-sim-acoustic-comms-demo)
 find_package(gz-transport14 QUIET REQUIRED OPTIONAL_COMPONENTS log)
 set(GZ_TRANSPORT_VER ${gz-transport14_VERSION_MAJOR})
 
-find_package(gz-sim9 REQUIRED)
-set(GZ_SIM_VER ${gz-sim9_VERSION_MAJOR})
+find_package(gz-sim10 REQUIRED)
+set(GZ_SIM_VER ${gz-sim10_VERSION_MAJOR})
 
 add_executable(acoustic_comms_demo acoustic_comms_demo.cc)
 target_link_libraries(acoustic_comms_demo

diff --git a/examples/standalone/custom_server/CMakeLists.txt b/examples/standalone/custom_server/CMakeLists.txt
@@ -3,8 +3,8 @@ cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 project(gz-sim-custom-server)
 
 if(${CMAKE_SYSTEM_NAME} STREQUAL "Linux")
-  find_package(gz-sim9 REQUIRED)
-  set(GZ_SIM_VER ${gz-sim9_VERSION_MAJOR})
+  find_package(gz-sim10 REQUIRED)
+  set(GZ_SIM_VER ${gz-sim10_VERSION_MAJOR})
 
   add_executable(custom_server custom_server.cc)
   target_link_libraries(custom_server

diff --git a/examples/standalone/each_performance/CMakeLists.txt b/examples/standalone/each_performance/CMakeLists.txt
@@ -2,8 +2,8 @@ cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 project(gz-sim-each-performance)
 
-find_package(gz-sim9 QUIET REQUIRED)
+find_package(gz-sim10 QUIET REQUIRED)
 
 add_executable(each each.cc)
 target_link_libraries(each
-  gz-sim9::core)
+  gz-sim10::core)
diff --git a/examples/standalone/external_ecm/CMakeLists.txt b/examples/standalone/external_ecm/CMakeLists.txt
@@ -2,8 +2,8 @@ cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 project(gz-sim-external-ecm)
 
-find_package(gz-sim9 REQUIRED)
+find_package(gz-sim10 REQUIRED)
 
 add_executable(external_ecm external_ecm.cc)
 target_link_libraries(external_ecm
-  gz-sim9::core)
+  gz-sim10::core)
diff --git a/examples/standalone/gtest_setup/CMakeLists.txt b/examples/standalone/gtest_setup/CMakeLists.txt
@@ -3,8 +3,8 @@ cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 project(GTestSetup)
 
 # Find Gazebo
-find_package(gz-sim9 REQUIRED)
-set(GZ_SIM_VER ${gz-sim9_VERSION_MAJOR})
+find_package(gz-sim10 REQUIRED)
+set(GZ_SIM_VER ${gz-sim10_VERSION_MAJOR})
 
 # Fetch and configure GTest
 include(FetchContent)

diff --git a/examples/standalone/light_control/CMakeLists.txt b/examples/standalone/light_control/CMakeLists.txt
@@ -5,8 +5,8 @@ project(gz-sim-light-control)
 find_package(gz-transport14 QUIET REQUIRED OPTIONAL_COMPONENTS log)
 set(GZ_TRANSPORT_VER ${gz-transport14_VERSION_MAJOR})
 
-find_package(gz-sim9 REQUIRED)
-set(GZ_SIM_VER ${gz-sim9_VERSION_MAJOR})
+find_package(gz-sim10 REQUIRED)
+set(GZ_SIM_VER ${gz-sim10_VERSION_MAJOR})
 
 add_executable(light_control light_control.cc)
 target_link_libraries(light_control

diff --git a/examples/standalone/lrauv_control/CMakeLists.txt b/examples/standalone/lrauv_control/CMakeLists.txt
@@ -5,8 +5,8 @@ project(gz-sim-lrauv-control)
 find_package(gz-transport14 QUIET REQUIRED OPTIONAL_COMPONENTS log)
 set(GZ_TRANSPORT_VER ${gz-transport14_VERSION_MAJOR})
 
-find_package(gz-sim9 REQUIRED)
-set(GZ_SIM_VER ${gz-sim9_VERSION_MAJOR})
+find_package(gz-sim10 REQUIRED)
+set(GZ_SIM_VER ${gz-sim10_VERSION_MAJOR})
 
 add_executable(lrauv_control lrauv_control.cc)
 target_link_libraries(lrauv_control

diff --git a/examples/standalone/multi_lrauv_race/CMakeLists.txt b/examples/standalone/multi_lrauv_race/CMakeLists.txt
@@ -5,8 +5,8 @@ project(gz-sim-multi-lrauv-race)
 find_package(gz-transport14 QUIET REQUIRED OPTIONAL_COMPONENTS log)
 set(GZ_TRANSPORT_VER ${gz-transport14_VERSION_MAJOR})
 
-find_package(gz-sim9 REQUIRED)
-set(GZ_SIM_VER ${gz-sim9_VERSION_MAJOR})
+find_package(gz-sim10 REQUIRED)
+set(GZ_SIM_VER ${gz-sim10_VERSION_MAJOR})
 
 add_executable(multi_lrauv_race multi_lrauv_race.cc)
 target_link_libraries(multi_lrauv_race

diff --git a/include/gz/sim/components/Model.hh b/include/gz/sim/components/Model.hh
@@ -75,10 +75,18 @@ namespace serializers
         }
       }
 
-      _out << "<?xml version=\"1.0\" ?>"
-           << "<sdf version='" << SDF_PROTOCOL_VERSION << "'>"
-           << (skip ? std::string() : modelElem->ToString(""))
-           << "</sdf>";
+      if (!skip)
+      {
+        _out << "<?xml version=\"1.0\" ?>"
+              << "<sdf version='" << SDF_PROTOCOL_VERSION << "'>"
+              << modelElem->ToString("")
+              << "</sdf>";
+
+      }
+      else
+      {
+        _out << "";
+      }
       return _out;
     }
 
@@ -89,13 +97,18 @@ namespace serializers
     public: static std::istream &Deserialize(std::istream &_in,
                 sdf::Model &_model)
     {
-      sdf::Root root;
       std::string sdf(std::istreambuf_iterator<char>(_in), {});
+      if (sdf.empty())
+      {
+        return _in;
+      }
 
+      // Its super expensive to create an SDFElement for some reason
+      sdf::Root root;
       sdf::Errors errors = root.LoadSdfString(sdf);
       if (!root.Model())
       {
-        gzwarn << "Unable to deserialize sdf::Model" << std::endl;
+        gzwarn << "Unable to deserialize sdf::Model " << sdf<< std::endl;
         return _in;
       }
 

diff --git a/package.xml b/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
-  <name>gz-sim9</name>
-  <version>9.0.0</version>
+  <name>gz-sim10</name>
+  <version>10.0.0</version>
   <description>Gazebo Sim : A Robotic Simulator</description>
   <maintainer email="[email protected]">Michael Carroll</maintainer>
   <license>Apache License 2.0</license>

diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
@@ -105,7 +105,7 @@ if (BUILD_TESTING)
     endif()
 
     set(_env_vars)
-    list(APPEND _env_vars "PYTHONPATH=${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}/python/")
+    list(APPEND _env_vars "PYTHONPATH=${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}/python/:$ENV{PYTHONPATH}")
     list(APPEND _env_vars "LD_LIBRARY_PATH=${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}:$ENV{LD_LIBRARY_PATH}")
     set_tests_properties(${test} PROPERTIES
       ENVIRONMENT "${_env_vars}")

diff --git a/python/test/gz_test_deps/sim.py b/python/test/gz_test_deps/sim.py
@@ -1 +1 @@
-from gz.sim9 import *
+from gz.sim10 import *
diff --git a/src/systems/multicopter_motor_model/MulticopterMotorModel.cc b/src/systems/multicopter_motor_model/MulticopterMotorModel.cc
@@ -411,7 +411,8 @@ void MulticopterMotorModel::PreUpdate(const UpdateInfo &_info,
 
     const auto parentLinkName = _ecm.Component<components::ParentLinkName>(
         this->dataPtr->jointEntity);
-    this->dataPtr->parentLinkName = parentLinkName->Data();
+    if (parentLinkName)
+      this->dataPtr->parentLinkName = parentLinkName->Data();
   }
 
   if (this->dataPtr->linkEntity == kNullEntity)

diff --git a/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc b/src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc
@@ -632,7 +632,7 @@ void OpticalTactilePluginPrivate::Enable(const gz::msgs::Boolean &_req)
 
   this->enabled = _req.data();
 
-  if (!_req.data())
+  if (!_req.data() && this->visualizePtr)
   {
     this->visualizePtr->RemoveNormalForcesAndContactsMarkers();
   }

diff --git a/src/systems/tracked_vehicle/TrackedVehicle.hh b/src/systems/tracked_vehicle/TrackedVehicle.hh
@@ -42,6 +42,11 @@ namespace systems
   ///
   /// ## System Parameters
   ///
+  /// - `<body_link>`: Name of the link that should be considered the center
+  ///   of rotation. This plugin cannot correctly simulate the effect of CoM
+  ///   on rotation center. Instead, the rotation center is always in the CoM
+  ///   of this specified link. If not specified, the canonical link is used.
+  ///
   /// - `<left_track>`: Configuration of a left track link. This element can
   ///   appear multiple times, and must appear at least once.
   ///

diff --git a/test/integration/CMakeLists.txt b/test/integration/CMakeLists.txt
@@ -246,5 +246,5 @@ endif()
 
 if (TARGET INTEGRATION_python_system_loader)
   set_tests_properties(INTEGRATION_python_system_loader PROPERTIES
-    ENVIRONMENT "PYTHONPATH=${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}/python/")
+    ENVIRONMENT "PYTHONPATH=${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}/python/:$ENV{PYTHONPATH}")
 endif()
diff --git a/tutorials/adding_system_plugins.md b/tutorials/adding_system_plugins.md
@@ -46,7 +46,7 @@ your turtle does not sink anymore.
 
 ```bash
 mkdir -p ~/gazebo_maritime/worlds
-wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim9/tutorials/files/adding_system_plugins/buoyant_turtle.sdf -O ~/gazebo_maritime/worlds/buoyant_turtle.sdf
+wget https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/adding_system_plugins/buoyant_turtle.sdf -O ~/gazebo_maritime/worlds/buoyant_turtle.sdf
 export GZ_SIM_RESOURCE_PATH=:$HOME/gazebo_maritime/models
 gz sim -r ~/gazebo_maritime/worlds/buoyant_turtle.sdf
 ```