Merge branch 'sdf13' into jrivero/sdf13_relative_include

.github/workflows/macos.yml

@@ -19,11 +19,11 @@ jobs:
     # Workaround for https://github.com/actions/setup-python/issues/577
     - name: Clean up python binaries
       run: |
-        rm /usr/local/bin/2to3;
-        rm /usr/local/bin/idle3;
-        rm /usr/local/bin/pydoc3;
-        rm /usr/local/bin/python3;
-        rm /usr/local/bin/python3-config;
+        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
       env:
         HOMEBREW_NO_INSTALLED_DEPENDENTS_CHECK: 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

@@ -5,7 +5,7 @@ if(COMMAND CMAKE_POLICY)
   CMAKE_POLICY(SET CMP0004 NEW)
 endif(COMMAND CMAKE_POLICY)
 
-project (sdformat13 VERSION 13.4.1)
+project (sdformat13 VERSION 13.5.0)
 
 # The protocol version has nothing to do with the package version.
 # It represents the current version of SDFormat implemented by the software

Changelog.md

@@ -1,5 +1,97 @@
 ## libsdformat 13.X
 
+### libsdformat 13.5.0 (2023-05-18)
+
+1. Added projector Python wrapper
+    * [Pull request #1279](https://github.com/gazebosim/sdformat/pull/1279)
+
+1. Added new error codes in Python
+    * [Pull request #1280](https://github.com/gazebosim/sdformat/pull/1280)
+
+1. Fixed 1.9/light.sdf
+    * [Pull request #1281](https://github.com/gazebosim/sdformat/pull/1281)
+
+1. Add Projector DOM
+    * [Pull request #1277](https://github.com/gazebosim/sdformat/pull/1277)
+
+1. Disable pybind11 tests on windows
+    * [Pull request #1278](https://github.com/gazebosim/sdformat/pull/1278)
+
+1. Geometry and others: update calls to use sdf::Errors parameters
+    * [Pull request #1153](https://github.com/gazebosim/sdformat/pull/1153)
+
+1. Fix GitHub Actions on macOS
+    * [Pull request #1271](https://github.com/gazebosim/sdformat/pull/1271)
+
+1. JointAxis: improve code coverage in Load()
+    * [Pull request #1267](https://github.com/gazebosim/sdformat/pull/1267)
+
+1. Scene: update calls to use sdf::Errors parameters
+    * [Pull request #1164](https://github.com/gazebosim/sdformat/pull/1164)
+
+1. ForceTorque: update calls to use sdf::Errors output
+    * [Pull request #1163](https://github.com/gazebosim/sdformat/pull/1163)
+
+1. Fix Element::Set method return value
+    * [Pull request #1256](https://github.com/gazebosim/sdformat/pull/1256)
+
+1. Sky: update calls to use sdf::Errors output
+    * [Pull request #1162](https://github.com/gazebosim/sdformat/pull/1162)
+
+1. Add missing values in Surface ToElement method
+    * [Pull request #1263](https://github.com/gazebosim/sdformat/pull/1263)
+
+1. Atmosphere: update calls to use sdf::Errors output
+    * [Pull request #1161](https://github.com/gazebosim/sdformat/pull/1161)
+
+1. Altimeter: update calls to use sdf::Errors output
+    * [Pull request #1160](https://github.com/gazebosim/sdformat/pull/1160)
+
+1. AirPressure: update calls to use sdf::Errors output
+    * [Pull request #1159](https://github.com/gazebosim/sdformat/pull/1159)
+
+1. ParticleEmitter: update calls to use sdf::Errors output
+    * [Pull request #1158](https://github.com/gazebosim/sdformat/pull/1158)
+
+1. Physics: update calls to use sdf::Errors output
+    * [Pull request #1157](https://github.com/gazebosim/sdformat/pull/1157)
+
+1. Frame: update calls to use sdf::Errors output
+    * [Pull request #1156](https://github.com/gazebosim/sdformat/pull/1156)
+
+1. Material: update calls to use sdf::Errors output
+    * [Pull request #1155](https://github.com/gazebosim/sdformat/pull/1155)
+
+1. Light: update calls to use sdf::Errors parameters
+    * [Pull request #1154](https://github.com/gazebosim/sdformat/pull/1154)
+
+1. Imu: update calls to use sdf::Errors output
+    * [Pull request #1152](https://github.com/gazebosim/sdformat/pull/1152)
+
+1. JointAxis: update calls to use sdf::Errors output
+    * [Pull request #1145](https://github.com/gazebosim/sdformat/pull/1145)
+
+1. Noise: update calls to use sdf::Errors parameters
+    * [Pull request #1151](https://github.com/gazebosim/sdformat/pull/1151)
+
+1. Plugin: update calls to use sdf::Errors output
+    * [Pull request #1144](https://github.com/gazebosim/sdformat/pull/1144)
+
+1. URDF->SDF handle links with no inertia or small mass
+    * [Pull request #1238](https://github.com/gazebosim/sdformat/pull/1238)
+
+1. Element: update calls to use sdf::Errors output
+    * [Pull request #1141](https://github.com/gazebosim/sdformat/pull/1141)
+
+1. Add: new error enums to Python
+    * [Pull request #1249](https://github.com/gazebosim/sdformat/pull/1249)
+
+1. Rename COPYING to LICENSE
+    * [Pull request #1252](https://github.com/gazebosim/sdformat/pull/1252)
+
+1. Allowing relative paths in URDF
+    * [Pull request #1213](https://github.com/gazebosim/sdformat/pull/1213)
+
 ### libsdformat 13.4.1 (2023-03-08)
 
 1. Fix camera_info_topic default value

Migration.md

@@ -24,6 +24,7 @@ but with improved human-readability..
 
 1. ParserConfig defaults to WARN instead of LOG when parsing unrecognized
    elements.
+2. Updated search order for `sdf::findFile()` making local path (current directory) the first to be searched. 
 
 ### Deprecations
 

include/sdf/Box.hh

@@ -72,6 +72,14 @@ namespace sdf
     /// \return SDF element pointer with updated box values.
     public: sdf::ElementPtr ToElement() const;
 
+    /// \brief Create and return an SDF element filled with data from this
+    /// box.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
+    /// \param[out] _errors Vector of errors.
+    /// \return SDF element pointer with updated box values.
+    public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
+
     /// \brief Private data pointer.
     GZ_UTILS_IMPL_PTR(dataPtr)
   };

include/sdf/Capsule.hh

@@ -79,6 +79,14 @@ namespace sdf
     /// \return SDF element pointer with updated capsule values.
     public: sdf::ElementPtr ToElement() const;
 
+    /// \brief Create and return an SDF element filled with data from this
+    /// capsule.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
+    /// \param[out] _errors Vector of errors.
+    /// \return SDF element pointer with updated capsule values.
+    public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
+
     /// \brief Private data pointer.
     GZ_UTILS_IMPL_PTR(dataPtr)
   };

include/sdf/Collision.hh

@@ -132,6 +132,14 @@ namespace sdf
     /// \return SDF element pointer with updated collision values.
     public: sdf::ElementPtr ToElement() const;
 
+    /// \brief Create and return an SDF element filled with data from this
+    /// collision.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
+    /// \param[out] _errors Vector of errors.
+    /// \return SDF element pointer with updated collision values.
+    public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
+
     /// \brief Give the name of the xml parent of this object, to be used
     /// for resolving poses. This is private and is intended to be called by
     /// Link::SetPoseRelativeToGraph.

include/sdf/Cylinder.hh

@@ -79,6 +79,14 @@ namespace sdf
     /// \return SDF element pointer with updated cylinder values.
     public: sdf::ElementPtr ToElement() const;
 
+    /// \brief Create and return an SDF element filled with data from this
+    /// cylinder.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
+    /// \param[out] _errors Vector of errors.
+    /// \return SDF element pointer with updated cylinder values.
+    public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
+
     /// \brief Private data pointer.
     GZ_UTILS_IMPL_PTR(dataPtr)
   };

include/sdf/Ellipsoid.hh

@@ -71,6 +71,14 @@ namespace sdf
     /// \return SDF element pointer with updated ellipsoid values.
     public: sdf::ElementPtr ToElement() const;
 
+    /// \brief Create and return an SDF element filled with data from this
+    /// ellipsoid.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
+    /// \param[out] _errors Vector of errors.
+    /// \return SDF element pointer with updated ellipsoid values.
+    public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
+
     /// \brief Private data pointer.
     GZ_UTILS_IMPL_PTR(dataPtr)
   };

include/sdf/Error.hh

@@ -219,6 +219,10 @@ namespace sdf
     /// \return Error message.
     public: std::string Message() const;
 
+    /// \brief Sets the message associated with this error.
+    /// \param [in] _message Message that describes this error.
+    public: void SetMessage(const std::string &_message);
+
     /// \brief Get the file path associated with this error.
     /// \return Returns the path of the file that this error is related to,
     /// nullopt otherwise.

include/sdf/Geometry.hh

@@ -222,6 +222,14 @@ namespace sdf
     /// \return SDF element pointer with updated geometry values.
     public: sdf::ElementPtr ToElement() const;
 
+    /// \brief Create and return an SDF element filled with data from this
+    /// geometry.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
+    /// \param[out] _errors Vector of errors.
+    /// \return SDF element pointer with updated geometry values.
+    public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
+
     /// \brief Private data pointer.
     GZ_UTILS_IMPL_PTR(dataPtr)
   };

include/sdf/Heightmap.hh

@@ -244,6 +244,14 @@ namespace sdf
     /// \return SDF element pointer with updated heightmap values.
     public: sdf::ElementPtr ToElement() const;
 
+    /// \brief Create and return an SDF element filled with data from this
+    /// heightmap.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
+    /// \param[out] _errors Vector of errors.
+    /// \return SDF element pointer with updated heightmap values.
+    public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
+
     /// \brief Private data pointer.
     GZ_UTILS_IMPL_PTR(dataPtr)
   };

include/sdf/Link.hh

@@ -39,6 +39,7 @@ namespace sdf
   class Light;
   class ParserConfig;
   class ParticleEmitter;
+  class Projector;
   class Sensor;
   class Visual;
   struct PoseRelativeToGraph;
@@ -253,6 +254,47 @@ namespace sdf
     /// \sa bool ParticleEmitterNameExists(const std::string &_name) const
     public: ParticleEmitter *ParticleEmitterByName(const std::string &_name);
 
+    /// \brief Get the number of projectors.
+    /// \return Number of projectors contained in this Link object.
+    public: uint64_t ProjectorCount() const;
+
+    /// \brief Get a projector based on an index.
+    /// \param[in] _index Index of the projector.
+    /// The index should be in the range [0..ProjectorCount()).
+    /// \return Pointer to the projector. Nullptr if the index does
+    /// not exist.
+    /// \sa uint64_t ProjectorCount() const
+    public: const Projector *ProjectorByIndex(
+                const uint64_t _index) const;
+
+    /// \brief Get a mutable projector based on an index.
+    /// \param[in] _index Index of the projector.
+    /// The index should be in the range [0..ProjectorCount()).
+    /// \return Pointer to the projector. Nullptr if the index does
+    /// not exist.
+    /// \sa uint64_t ProjectorCount() const
+    public: Projector *ProjectorByIndex(uint64_t _index);
+
+    /// \brief Get whether a projector name exists.
+    /// \param[in] _name Name of the projector to check.
+    /// \return True if there exists a projector with the given name.
+    public: bool ProjectorNameExists(const std::string &_name) const;
+
+    /// \brief Get a projector based on a name.
+    /// \param[in] _name Name of the projector.
+    /// \return Pointer to the projector. Nullptr if a projector
+    /// with the given name does not exist.
+    /// \sa bool ProjectorNameExists(const std::string &_name) const
+    public: const Projector *ProjectorByName(
+                const std::string &_name) const;
+
+    /// \brief Get a mutable projector based on a name.
+    /// \param[in] _name Name of the projector.
+    /// \return Pointer to the projector. Nullptr if a projector
+    /// with the given name does not exist.
+    /// \sa bool ProjectorNameExists(const std::string &_name) const
+    public: Projector *ProjectorByName(const std::string &_name);
+
     /// \brief Get the inertial value for this link. The inertial object
     /// consists of the link's mass, a 3x3 rotational inertia matrix, and
     /// a pose for the inertial reference frame. The units for mass is
@@ -366,7 +408,13 @@ namespace sdf
     /// \param[in] _emitter Particle emitter to add.
     /// \return True if successful, false if a particle emitter with the name
     /// already exists.
-    public: bool AddParticleEmitter(const ParticleEmitter &_sensor);
+    public: bool AddParticleEmitter(const ParticleEmitter &_emitter);
+
+    /// \brief Add a projector to the link.
+    /// \param[in] _projector Projector to add.
+    /// \return True if successful, false if a projector with the name
+    /// already exists.
+    public: bool AddProjector(const Projector &_projector);
 
     /// \brief Remove all collisions
     public: void ClearCollisions();
@@ -383,6 +431,9 @@ namespace sdf
     /// \brief Remove all particle emitters
     public: void ClearParticleEmitters();
 
+    /// \brief Remove all projectors
+    public: void ClearProjectors();
+
     /// \brief Create and return an SDF element filled with data from this
     /// link.
     /// Note that parameter passing functionality is not captured with this

include/sdf/Mesh.hh

@@ -116,6 +116,14 @@ namespace sdf
     /// \return SDF element pointer with updated mesh values.
     public: sdf::ElementPtr ToElement() const;
 
+    /// \brief Create and return an SDF element filled with data from this
+    /// mesh.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
+    /// \param[out] _errors Vector of errors.
+    /// \return SDF element pointer with updated mesh values.
+    public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
+
     /// \brief Private data pointer.
     GZ_UTILS_IMPL_PTR(dataPtr)
   };

include/sdf/Model.hh

@@ -529,6 +529,24 @@ namespace sdf
     private: const std::vector<std::pair<std::optional<sdf::NestedInclude>,
              sdf::InterfaceModelConstPtr>> &MergedInterfaceModels() const;
 
+    /// \brief Get whether the model was merge-included and needs to be
+    /// processed to carry out the merge.
+    /// \return True if the model was merge-included.
+    private: bool IsMerged() const;
+
+    /// \brief Prepare the model to be merged into the parent model or world.
+    /// As part of the perparation, this will create the proxy frame that would
+    /// be need to be added to the parent object.
+    /// \param[out] _errors A list of errors encountered during the operation.
+    /// \param[in] _parentOfProxyFrame Name of parent of the proxy frame that
+    /// will be created. This can only be "__model__" or "world".
+    /// \return The proxy frame for the merged model that will need to be added
+    /// to the parent object.
+    /// \note This is a destructive call. After this call, the model will be in
+    /// an invalid state unless it is merged into the parent object.
+    private: sdf::Frame PrepareForMerge(sdf::Errors &_errors,
+                                        const std::string &_parentOfProxyFrame);
+
     /// \brief Allow Root::Load, World::SetPoseRelativeToGraph, or
     /// World::SetFrameAttachedToGraph to call SetPoseRelativeToGraph and
     /// SetFrameAttachedToGraph

include/sdf/Plane.hh

@@ -87,6 +87,14 @@ namespace sdf
     /// \return SDF element pointer with updated plane values.
     public: sdf::ElementPtr ToElement() const;
 
+    /// \brief Create and return an SDF element filled with data from this
+    /// plane.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
+    /// \param[out] _errors Vector of errors.
+    /// \return SDF element pointer with updated plane values.
+    public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
+
     /// \brief Private data pointer.
     GZ_UTILS_IMPL_PTR(dataPtr)
   };