Merge pull request #2816 from osrf/gazebo10_to_gazebo11

gazebo10 -> gazebo11 forward port

Changelog.md

@@ -352,11 +352,54 @@
 
 ## Gazebo 9
 
-## Gazebo 9.XX.X (2020-XX-XX)
+## Gazebo 9.xx.x (202x-xx-xx)
+
+## Gazebo 9.13.2 (202x-xx-xx)
+
+1. Fix sensor update rate throttling when new sensors are spawned
+    * [Pull request #2784](https://github.com/osrf/gazebo/pull/2784)
+
+1. Fix crash when collision size is zero
+    * [Pull request #2768](https://github.com/osrf/gazebo/pull/2768)
+
+1. LensFlare: initialize OGRE compositors during plugin initialization
+    * [Pull request #2764](https://github.com/osrf/gazebo/pull/2764)
+
+1. Fix pkg-config boost entries for Ubuntu Focal
+    * [Pull request #2751](https://github.com/osrf/gazebo/pull/2751)
+
+1. Fixes for ARM: FindSSE, TrackedVehiclePlugin and PluginInterfaceTest
+    * [Pull request #2754](https://github.com/osrf/gazebo/pull/2754)
+    * [Pull request #2748](https://github.com/osrf/gazebo/pull/2748)
+
+## Gazebo 9.13.1 (2020-05-28)
+
+1. Fix multiple reflectance maps and improve performance
+    * [Pull request #2742](https://github.com/osrf/gazebo/pull/2742)
+
+## Gazebo 9.13.0 (2020-04-03)
+
+1. Use target based compile options to specify C++ standard
+    * [BitBucket pull request 3199](https://osrf-migration.github.io/gazebo-gh-pages/#!/osrf/gazebo/pull-requests/3199)
+
+1. Add SetHeight method to HeightmapShape class
+    * [BitBucket pull request 3210](https://osrf-migration.github.io/gazebo-gh-pages/#!/osrf/gazebo/pull-requests/3210)
+
+1. Added GAZEBO\_VISIBLE for WheelTrackedVehiclePlugin
+    * [BitBucket pull request 3211](https://osrf-migration.github.io/gazebo-gh-pages/#!/osrf/gazebo/pull-requests/3211)
+
+1. Fix bounding box calculation for visuals that have links with pose offset
+    * [BitBucket pull request 3196](https://osrf-migration.github.io/gazebo-gh-pages/#!/osrf/gazebo/pull-requests/3196)
+
+1. Added reflectance to depth camera sensor
+    * [BitBucket pull request 3194](https://osrf-migration.github.io/gazebo-gh-pages/#!/osrf/gazebo/pull-requests/3194/)
 
 1. Fix problem with automoc in CMake 3.17
     * [BitBucket pull request 3206](https://osrf-migration.github.io/gazebo-gh-pages/#!/osrf/gazebo/pull-requests/3206/)
 
+1. Fix macOS gui examples compilation
+    * [BitBucket pull request 3209](https://osrf-migration.github.io/gazebo-gh-pages/#!/osrf/gazebo/pull-requests/3209/)
+
 1. Added normals to depth camera sensor
     * [BitBucket pull request 3193](https://osrf-migration.github.io/gazebo-gh-pages/#!/osrf/gazebo/pull-requests/3193/)
 

Migration.md

@@ -1521,7 +1521,7 @@ New optional dependencies: `ign-fuel-tools`,`ign-common1`
 
 1. **gz log**
    Gazebo log files no longer store velocity data and have reduced floating point precision.
-   See [BitBucket pull request 2715](https://osrf-migration.github.io/gazebo-gh-pages/#!/osrf/gazebo/pull-requests/2715/)
+   See [BitBucket pull request 2715](https://osrf-migration.github.io/gazebo-gh-pages/#!/osrf/gazebo/pull-requests/2715/add-log-record-filter-options)
    for further details.
 
 ## Gazebo 7.3.1 to 7.X

cmake/GazeboTestUtils.cmake

@@ -54,6 +54,14 @@ macro (gz_build_tests)
       # gtest uses pthread on UNIX
       target_link_libraries(${BINARY_NAME} pthread)
     endif()
+    # Visual Studio enables c++11 support by default
+    if (NOT MSVC)
+      if(CMAKE_VERSION VERSION_LESS 3.8.2)
+        target_compile_options(${BINARY_NAME} PRIVATE -std=c++11)
+      else()
+        target_compile_features(${BINARY_NAME} PRIVATE cxx_std_11)
+      endif()
+    endif()
 
     add_test(${BINARY_NAME} ${CMAKE_CURRENT_BINARY_DIR}/${BINARY_NAME}
 	--gtest_output=xml:${CMAKE_BINARY_DIR}/test_results/${BINARY_NAME}.xml)

cmake/GazeboUtils.cmake

@@ -98,12 +98,28 @@ macro (gz_add_library _name)
   # Not defining STATIC or SHARED will use BUILD_SHARED_LIBS variable
   add_library(${_name} ${ARGN})
   target_link_libraries (${_name} ${general_libraries})
+  # Visual Studio enables c++11 support by default
+  if (NOT MSVC)
+    if(CMAKE_VERSION VERSION_LESS 3.8.2)
+      target_compile_options(${_name} PUBLIC -std=c++11)
+    else()
+      target_compile_features(${_name} PUBLIC cxx_std_11)
+    endif()
+  endif()
 endmacro ()
 
 #################################################
 macro (gz_add_executable _name)
   add_executable(${_name} ${ARGN})
   target_link_libraries (${_name} ${general_libraries})
+  # Visual Studio enables c++11 support by default
+  if (NOT MSVC)
+    if(CMAKE_VERSION VERSION_LESS 3.8.2)
+      target_compile_options(${_name} PRIVATE -std=c++11)
+    else()
+      target_compile_features(${_name} PRIVATE cxx_std_11)
+    endif()
+  endif()
 endmacro ()
 
 

examples/plugins/gui_overlay_plugin_spawn/CMakeLists.txt

@@ -1,4 +1,9 @@
 cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
+
+if(POLICY CMP0100)
+  cmake_policy(SET CMP0100 NEW)
+endif()
+
 set (CMAKE_AUTOMOC ON)
 
 find_package (Qt5Widgets REQUIRED)

examples/plugins/gui_overlay_plugin_spawn/GUIExampleSpawnWidget.hh

@@ -19,7 +19,10 @@
 
 #include <gazebo/common/Plugin.hh>
 #include <gazebo/gui/GuiPlugin.hh>
+// moc parsing error of tbb headers
+#ifndef Q_MOC_RUN
 #include <gazebo/transport/transport.hh>
+#endif
 
 namespace gazebo
 {

examples/plugins/gui_overlay_plugin_time/CMakeLists.txt

@@ -1,4 +1,9 @@
 cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
+
+if(POLICY CMP0100)
+  cmake_policy(SET CMP0100 NEW)
+endif()
+
 set (CMAKE_AUTOMOC ON)
 
 find_package (Qt5Widgets REQUIRED)

examples/plugins/gui_overlay_plugin_time/GUIExampleTimeWidget.hh

@@ -21,7 +21,10 @@
 
 #include <gazebo/common/Plugin.hh>
 #include <gazebo/gui/GuiPlugin.hh>
+// moc parsing error of tbb headers
+#ifndef Q_MOC_RUN
 #include <gazebo/transport/transport.hh>
+#endif
 
 namespace gazebo
 {

examples/plugins/mainwindow_example/CMakeLists.txt

@@ -1,5 +1,9 @@
 cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
 
+if(POLICY CMP0100)
+  cmake_policy(SET CMP0100 NEW)
+endif()
+
 find_package (Qt5Core REQUIRED)
 find_package (Qt5Widgets REQUIRED)
 set (CMAKE_AUTOMOC ON)

examples/plugins/mainwindow_example/MainWindowExampleWidget.hh

@@ -22,7 +22,10 @@
 
 #include <gazebo/common/Plugin.hh>
 #include <gazebo/gui/GuiPlugin.hh>
+// moc parsing error of tbb headers
+#ifndef Q_MOC_RUN
 #include <gazebo/transport/transport.hh>
+#endif
 
 namespace gazebo
 {

examples/plugins/movable_text_demo/CMakeLists.txt

@@ -1,4 +1,9 @@
 cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
+
+if(POLICY CMP0100)
+  cmake_policy(SET CMP0100 NEW)
+endif()
+
 set (CMAKE_AUTOMOC ON)
 
 find_package(Qt5Widgets REQUIRED)

examples/stand_alone/custom_main_pkgconfig/CMakeLists.txt

@@ -12,3 +12,9 @@ link_directories(${GAZEBO_LIBRARY_DIRS})
 
 add_executable(custom_main custom_main.cc)
 target_link_libraries(custom_main ${GAZEBO_LIBRARIES})
+
+if(${CMAKE_VERSION} VERSION_LESS "3.13.0") 
+  link_directories(${Boost_LIBRARY_DIRS})
+else()
+  target_link_directories(custom_main PUBLIC ${Boost_LIBRARY_DIRS})
+endif()

gazebo/gui/GuiIface.cc

@@ -427,8 +427,7 @@ bool gui::run(int _argc, char **_argv)
 
   // The following was added in
   // https://osrf-migration.github.io/gazebo-gh-pages/#!/osrf/gazebo/pull-requests/2923,
-  // but it is causing
-  // shutdown issues when gazebo is used with ros.
+  // but it is causing shutdown issues when gazebo is used with ros.
   // if (sigaction(SIGTERM, &sigact, NULL))
   // {
   //   std::cerr << "sigaction(15) failed while setting up for SIGTERM"

gazebo/gui/model/ModelTreeWidget.cc

@@ -16,6 +16,8 @@
 */
 #include <boost/bind.hpp>
 
+#include <boost/version.hpp>
+
 #include "gazebo/common/Events.hh"
 
 #include "gazebo/gui/GuiEvents.hh"
@@ -161,6 +163,10 @@ ModelTreeWidget::ModelTreeWidget(QWidget *_parent)
   this->layout()->setContentsMargins(0, 0, 0, 0);
 
   // Connections
+  #if BOOST_VERSION >= 107300
+  using namespace boost::placeholders;
+  #endif
+
   this->connections.push_back(
       gui::model::Events::ConnectSaveModel(
       boost::bind(&ModelTreeWidget::OnSaveModel, this, _1)));

gazebo/gui/model/SchematicViewWidget.cc

@@ -15,6 +15,8 @@
  *
 */
 
+#include <boost/version.hpp>
+
 #include <ignition/math/Color.hh>
 
 #include "gazebo/rendering/Material.hh"
@@ -82,6 +84,10 @@ void SchematicViewWidget::Reset()
 /////////////////////////////////////////////////
 void SchematicViewWidget::Init()
 {
+  #if BOOST_VERSION >= 107300
+  using namespace boost::placeholders;
+  #endif
+
   this->connections.push_back(gui::model::Events::ConnectLinkInserted(
       boost::bind(&SchematicViewWidget::AddNode, this, _1)));
 

gazebo/gui/qtpropertybrowser/CMakeLists.txt

@@ -27,6 +27,14 @@ QT5_ADD_RESOURCES(resources_RCC ${resources})
 
 add_library(gzqtpropertybrowser STATIC ${sources} ${resources_RCC})
 set_target_properties(gzqtpropertybrowser PROPERTIES POSITION_INDEPENDENT_CODE ON)
+# Visual Studio enables c++11 support by default
+if (NOT MSVC)
+  if(CMAKE_VERSION VERSION_LESS 3.8.2)
+    target_compile_options(gzqtpropertybrowser PUBLIC -std=c++11)
+  else()
+    target_compile_features(gzqtpropertybrowser PUBLIC cxx_std_11)
+  endif()
+endif()
 #set(CMAKE_PACKAGE_QTGUI TRUE)
 #
 #add_definitions( ${QT_DEFINITIONS} )

gazebo/msgs/CMakeLists.txt

@@ -146,6 +146,14 @@ target_link_libraries(gazebomsgs_out ${GZ_PROTOBUF_LIBRARY} ${GZ_PROTOBUF_PROTOC
 if (UNIX)
   target_link_libraries(gazebomsgs_out pthread)
 endif()
+# Visual Studio enables c++11 support by default
+if (NOT MSVC)
+  if(CMAKE_VERSION VERSION_LESS 3.8.2)
+    target_compile_options(gazebomsgs_out PRIVATE -std=c++11)
+  else()
+    target_compile_features(gazebomsgs_out PRIVATE cxx_std_11)
+  endif()
+endif()
 
 set (sources msgs.cc MsgFactory.cc)
 set (headers msgs.hh MsgFactory.hh)

gazebo/physics/HeightmapShape.hh

@@ -89,6 +89,11 @@ namespace gazebo
       /// \return The height at a the specified location.
       public: HeightType GetHeight(int _x, int _y) const;
 
+      /// \brief Sets a height value at a position.
+      /// \param[in] _x X position.
+      /// \param[in] _y Y position.
+      public: void SetHeight(int _x, int _y, float _value);
+
       /// \brief Fill a geometry message with this shape's data. Raw height
       /// data are not packed in this message to minimize packet size.
       /// \param[in] _msg Message to fill.