Merge 7 into 8

Signed-off-by: Addisu Z. Taddese <[email protected]>
rudislabs · Jan 19, 2024 · ab18888 · ab18888
2 parents cc4914a + f2c2da9
commit ab18888
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diff --git a/.github/ISSUE_TEMPLATE/bug_report.md b/.github/ISSUE_TEMPLATE/bug_report.md
@@ -5,7 +5,7 @@ labels: bug
 ---
 
 <!-- If you're not sure whether your problem is a bug, please ask a question at
-http://answers.gazebosim.org instead.-->
+https://robotics.stackexchange.com instead.-->
 
 ## Environment
 * OS Version: <!-- e.g, Ubuntu 20.04 -->

diff --git a/.github/ISSUE_TEMPLATE/feature_request.md b/.github/ISSUE_TEMPLATE/feature_request.md
@@ -6,7 +6,7 @@ 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.-->
+https://robotics.stackexchange.com instead.-->
 
 ## Desired behavior
 <!-- Describe the current problem and the feature you want implemented.-->

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -4,10 +4,9 @@ on:
   pull_request:
   push:
     branches:
-      - 'gz-sim8'
+      - '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 }}
@@ -19,7 +18,7 @@ jobs:
     name: Ubuntu Jammy CI
     steps:
       - name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
       - uses: actions/setup-python@v3
       - uses: pre-commit/[email protected]
         with:

diff --git a/Changelog.md b/Changelog.md
@@ -131,6 +131,83 @@
 
 ## Gazebo Sim 7.x
 
+### Gazebo Sim 7.7.0 (2024-01-17)
+
+1. Allow using plugin file names and environment variables compatible with Garden and later
+    * [Pull request #2275](https://github.com/gazebosim/gz-sim/pull/2275)
+
+1. Added tutorial for Gazebo joint controller plugin
+    * [Pull request #2263](https://github.com/gazebosim/gz-sim/pull/2263)
+
+1. Fix incorrect light direction in tunnel.sdf example
+    * [Pull request #2264](https://github.com/gazebosim/gz-sim/pull/2264)
+
+1. Fix DLL linkage/visibility issues
+    * [Pull request #2254](https://github.com/gazebosim/gz-sim/pull/2254)
+
+1. mecanum_drive: use mesh wheels in example world
+    * [Pull request #2250](https://github.com/gazebosim/gz-sim/pull/2250)
+
+1. environment_preload: fix windows compiler warnings
+    * [Pull request #2246](https://github.com/gazebosim/gz-sim/pull/2246)
+
+1. EnvironmentPreload: ignerr -> gzerr
+    * [Pull request #2245](https://github.com/gazebosim/gz-sim/pull/2245)
+
+1. Update friction parameters for skid steer example
+    * [Pull request #2235](https://github.com/gazebosim/gz-sim/pull/2235)
+
+1. Use sdf FindElement API to avoid const_cast
+    * [Pull request #2236](https://github.com/gazebosim/gz-sim/pull/2236)
+
+1. Use `GZ_PI` instead of `M_PI` to fix windows builds
+    * [Pull request #2230](https://github.com/gazebosim/gz-sim/pull/2230)
+
+1. Add note about elevator example
+    * [Pull request #2227](https://github.com/gazebosim/gz-sim/pull/2227)
+
+1. Porting Advanced Lift Drag Plugin to Gazebo
+    * [Pull request #2185](https://github.com/gazebosim/gz-sim/pull/2185)
+    * [Pull request #2226](https://github.com/gazebosim/gz-sim/pull/2226)
+
+1. Fix macOS test failures by registering components in the core library
+    * [Pull request #2220](https://github.com/gazebosim/gz-sim/pull/2220)
+
+1. Fix for sensor pointer null when navsat plugin in included in sdf
+    * [Pull request #2176](https://github.com/gazebosim/gz-sim/pull/2176)
+
+1. Fix another deadlock in sensors system
+    * [Pull request #2200](https://github.com/gazebosim/gz-sim/pull/2200)
+
+1. Fix sensors system parallel updates
+    * [Pull request #2201](https://github.com/gazebosim/gz-sim/pull/2201)
+
+1. Relax pose check in actor no mesh test
+    * [Pull request #2196](https://github.com/gazebosim/gz-sim/pull/2196)
+
+1. backport component inspector Vector3d width fix
+    * [Pull request #2195](https://github.com/gazebosim/gz-sim/pull/2195)
+
+1. fix INTEGRATION_save_world's SdfGeneratorFixture.ModelWithNestedIncludes test
+    * [Pull request #2197](https://github.com/gazebosim/gz-sim/pull/2197)
+
+1. Lift Drag Bug Fix
+    * [Pull request #2189](https://github.com/gazebosim/gz-sim/pull/2189)
+    * [Pull request #2272](https://github.com/gazebosim/gz-sim/pull/2272)
+    * [Pull request #2273](https://github.com/gazebosim/gz-sim/pull/2273)
+    * [Issue #2188](https://github.com/gazebosim/gz-sim/issues/2188)
+
+1. Bump Fuel model version in test
+    * [Pull request #2190](https://github.com/gazebosim/gz-sim/pull/2190)
+
+1. Fix enviroment system loading mechanism
+    * [Pull request #1842](https://github.com/gazebosim/gz-sim/pull/1842)
+
+1. Infrastructure
+    * [Pull request #2237](https://github.com/gazebosim/gz-sim/pull/2237)
+    * [Pull request #2222](https://github.com/gazebosim/gz-sim/pull/2222)
+
+
 ### Gazebo Sim 7.6.0 (2023-09-26)
 
 1. Documentation updates
@@ -1018,6 +1095,35 @@
 
 ## Gazebo Sim 6.x
 
+### Gazebo Sim 6.16.0 (2024-01-12)
+
+1. Allow using plugin file names and environment variables compatible with Garden and later
+    * [Pull request #2275](https://github.com/gazebosim/gz-sim/pull/2275)
+
+1. Update friction parameters for skid steer example
+    * [Pull request #2235](https://github.com/gazebosim/gz-sim/pull/2235)
+
+1. Relax pose check in actor no mesh test
+    * [Pull request #2196](https://github.com/gazebosim/gz-sim/pull/2196)
+
+1. Fix macOS test failures by registering components in the core library
+    * [Pull request #2220](https://github.com/gazebosim/gz-sim/pull/2220)
+
+1. Fix for sensor pointer null when navsat plugin in included in sdf
+    * [Pull request #2176](https://github.com/gazebosim/gz-sim/pull/2176)
+
+1. Fix another deadlock in sensors system
+    * [Pull request #2200](https://github.com/gazebosim/gz-sim/pull/2200)
+
+1. Backport component inspector Vector3d width fix
+    * [Pull request #2195](https://github.com/gazebosim/gz-sim/pull/2195)
+
+1. Bump Fuel model version in test
+    * [Pull request #2190](https://github.com/gazebosim/gz-sim/pull/2190)
+
+1. Infrastructure
+    * [Pull request #2237](https://github.com/gazebosim/gz-sim/pull/2237)
+    * [Pull request #2222](https://github.com/gazebosim/gz-sim/pull/2222)
 
 ### Gazebo Sim 6.15.0 (2023-08-16)
 

diff --git a/examples/worlds/diff_drive_skid.sdf b/examples/worlds/diff_drive_skid.sdf
@@ -155,8 +155,10 @@
           <surface>
             <friction>
               <ode>
-                <mu>0.5</mu>
-                <mu2>1.0</mu2>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <slip1>0.035</slip1>
+                <slip2>0</slip2>
                 <fdir1>0 0 1</fdir1>
               </ode>
               <bullet>
@@ -203,8 +205,10 @@
           <surface>
             <friction>
               <ode>
-                <mu>0.5</mu>
-                <mu2>1.0</mu2>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <slip1>0.035</slip1>
+                <slip2>0</slip2>
                 <fdir1>0 0 1</fdir1>
               </ode>
               <bullet>
@@ -251,8 +255,10 @@
           <surface>
             <friction>
               <ode>
-                <mu>0.5</mu>
-                <mu2>1.0</mu2>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <slip1>0.035</slip1>
+                <slip2>0</slip2>
                 <fdir1>0 0 1</fdir1>
               </ode>
               <bullet>
@@ -299,8 +305,10 @@
           <surface>
             <friction>
               <ode>
-                <mu>0.5</mu>
-                <mu2>1.0</mu2>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <slip1>0.035</slip1>
+                <slip2>0</slip2>
                 <fdir1>0 0 1</fdir1>
               </ode>
               <bullet>

diff --git a/examples/worlds/joint_controller.sdf b/examples/worlds/joint_controller.sdf
@@ -91,8 +91,7 @@
           </geometry>
           <material>
             <ambient>0.2 0.8 0.2 1</ambient>
-            <diffuse>0.2 0.8 0.2 1</diffuse>
-            <specular>0.2 0.8 0.2 1</specular>
+            <diffuse>0.8 0 0 1</diffuse>
           </material>
         </visual>
         <collision name="collision">
@@ -179,8 +178,7 @@
           </geometry>
           <material>
             <ambient>0.2 0.8 0.2 1</ambient>
-            <diffuse>0.2 0.8 0.2 1</diffuse>
-            <specular>0.2 0.8 0.2 1</specular>
+            <diffuse>0.8 0 0 1</diffuse>
           </material>
         </visual>
         <collision name="collision">

diff --git a/examples/worlds/joint_position_controller.sdf b/examples/worlds/joint_position_controller.sdf
@@ -85,6 +85,7 @@
           </geometry>
           <material>
             <ambient>0.2 0.8 0.2 1</ambient>
+            <diffuse>0.8 0 0 1</diffuse>
           </material>
         </visual>
         <collision name="collision">

diff --git a/examples/worlds/mecanum_drive.sdf b/examples/worlds/mecanum_drive.sdf
@@ -128,15 +128,13 @@
           </inertia>
         </inertial>
         <visual name='visual'>
+          <pose>0 0 0 1.5707 0 0</pose>
           <geometry>
-            <sphere>
-              <radius>0.3</radius>
-            </sphere>
-            <!--box><size>0.6 0.6 0.6</size></box-->
-            <!--mesh>
-              <uri>https://raw.githubusercontent.com/robomaster-oss/rmoss_ign_resources/main/models/rmua19_standard_robot/meshes/wheel_left.dae</uri>
-              <scale>2.4 2.4 2.4</scale>
-            </mesh-->
+            <!-- scale mesh to radius == 0.3 -->
+            <mesh>
+              <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Mecanum lift/tip/files/meshes/mecanum_wheel_left.STL</uri>
+              <scale>0.006 0.006 0.006</scale>
+            </mesh>
           </geometry>
           <material>
             <ambient>0.2 0.2 0.2 1</ambient>
@@ -176,11 +174,13 @@
           </inertia>
         </inertial>
         <visual name='visual'>
+          <pose>0 0 0 1.5707 0 0</pose>
           <geometry>
-            <sphere>
-              <radius>0.3</radius>
-            </sphere>
-            <!--box><size>0.6 0.6 0.6</size></box-->
+            <!-- scale mesh to radius == 0.3 -->
+            <mesh>
+              <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Mecanum lift/tip/files/meshes/mecanum_wheel_right.STL</uri>
+              <scale>0.006 0.006 0.006</scale>
+            </mesh>
           </geometry>
           <material>
             <ambient>0.2 0.2 0.2 1</ambient>
@@ -220,11 +220,13 @@
           </inertia>
         </inertial>
         <visual name='visual'>
+          <pose>0 0 0 1.5707 0 0</pose>
           <geometry>
-            <sphere>
-              <radius>0.3</radius>
-            </sphere>
-            <!--box><size>0.6 0.6 0.6</size></box-->
+            <!-- scale mesh to radius == 0.3 -->
+            <mesh>
+              <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Mecanum lift/tip/files/meshes/mecanum_wheel_right.STL</uri>
+              <scale>0.006 0.006 0.006</scale>
+            </mesh>
           </geometry>
           <material>
             <ambient>0.2 0.2 0.2 1</ambient>
@@ -264,11 +266,13 @@
           </inertia>
         </inertial>
         <visual name='visual'>
+          <pose>0 0 0 1.5707 0 0</pose>
           <geometry>
-            <sphere>
-              <radius>0.3</radius>
-            </sphere>
-            <!--box><size>0.6 0.6 0.6</size></box-->
+            <!-- scale mesh to radius == 0.3 -->
+            <mesh>
+              <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Mecanum lift/tip/files/meshes/mecanum_wheel_left.STL</uri>
+              <scale>0.006 0.006 0.006</scale>
+            </mesh>
           </geometry>
           <material>
             <ambient>0.2 0.2 0.2 1</ambient>

diff --git a/examples/worlds/tunnel.sdf b/examples/worlds/tunnel.sdf
@@ -1165,7 +1165,7 @@
                     <outer_angle>1.1</outer_angle>
                     <falloff>1</falloff>
                 </spot>
-                <direction>0 -1 0</direction>
+                <direction>0 0 -1</direction>
                 <cast_shadows>1</cast_shadows>
             </light>
         <sensor name="camera" type="camera">

diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -188,7 +188,7 @@ target_link_libraries(${gz_lib_target}
 )
 
 # Executable target that runs the GUI without ruby for debugging purposes.
-add_executable(runGui gz.cc)
+add_executable(runGui cmd/runGui_main.cc)
 target_link_libraries(runGui PRIVATE ${gz_lib_target})
 
 # Create the library target

diff --git a/src/Conversions.cc b/src/Conversions.cc
@@ -1363,6 +1363,41 @@ sdf::Sensor gz::sim::convert(const msgs::Sensor &_in)
 
     out.SetCameraSensor(sensor);
   }
+  else if (out.Type() == sdf::SensorType::GPS ||
+           out.Type() == sdf::SensorType::NAVSAT)
+  {
+    sdf::NavSat sensor;
+    if (_in.has_gps())
+    {
+      if (_in.gps().position().has_horizontal_noise())
+      {
+        sensor.SetHorizontalPositionNoise(sim::convert<sdf::Noise>(
+              _in.gps().position().horizontal_noise()));
+      }
+      if (_in.gps().position().has_vertical_noise())
+      {
+        sensor.SetVerticalPositionNoise(sim::convert<sdf::Noise>(
+              _in.gps().position().vertical_noise()));
+      }
+      if (_in.gps().velocity().has_horizontal_noise())
+      {
+        sensor.SetHorizontalVelocityNoise(sim::convert<sdf::Noise>(
+              _in.gps().velocity().horizontal_noise()));
+      }
+      if (_in.gps().velocity().has_vertical_noise())
+      {
+        sensor.SetVerticalVelocityNoise(sim::convert<sdf::Noise>(
+              _in.gps().velocity().vertical_noise()));
+      }
+    }
+    else
+    {
+      gzerr << "Attempting to convert a navsat sensor message, but the "
+             << "message does not have a navsat nested message.\n";
+    }
+
+    out.SetNavSatSensor(sensor);
+  }
   else if (out.Type() == sdf::SensorType::ALTIMETER)
   {
     sdf::Altimeter sensor;
@@ -1637,8 +1672,8 @@ msgs::ParticleEmitter gz::sim::convert(const sdf::ParticleEmitter &_in)
     std::string path = asFullPath(_in.ColorRangeImage(), _in.FilePath());
 
     common::SystemPaths systemPaths;
-    systemPaths.SetFilePathEnv(kResourcePathEnv);
-    std::string absolutePath = systemPaths.FindFile(path);
+    std::string absolutePath =
+        common::SystemPaths::LocateLocalFile(path, sim::resourcePaths());
 
     if (!absolutePath.empty())
     {