Merge pull request #1835 from gazebosim/7_8_20221207

7 -> main 2022-12-07

.github/CODEOWNERS

@@ -1,7 +1,7 @@
 # More info:
 # https://help.github.com/en/github/creating-cloning-and-archiving-repositories/about-code-owners
 
-*                     @chapulina
+*                     @mjcarroll
 */rendering/*         @iche033
 examples/*            @mabelzhang
 src/systems/physics/* @azeey

.github/ci/packages.apt

@@ -1,4 +1,5 @@
 freeglut3-dev
+libbenchmark-dev
 libdart-collision-ode-dev
 libdart-dev
 libdart-external-ikfast-dev

.github/workflows/ci.yml

@@ -9,6 +9,10 @@ jobs:
     steps:
       - name: Checkout
         uses: actions/checkout@v2
+      - uses: actions/setup-python@v3
+      - uses: pre-commit/action@v3.0.0
+        with:
+          extra_args: --all-files
       - name: Compile and test
         id: ci
         uses: gazebo-tooling/action-gz-ci@focal
@@ -22,6 +26,10 @@ jobs:
     steps:
       - name: Checkout
         uses: actions/checkout@v2
+      - uses: actions/setup-python@v3
+      - uses: pre-commit/action@v3.0.0
+        with:
+          extra_args: --all-files
       - name: Compile and test
         id: ci
         uses: gazebo-tooling/action-gz-ci@jammy

.github/workflows/triage.yml

@@ -16,4 +16,3 @@ jobs:
           COLUMN: Inbox
           GITHUB_TOKEN: ${{ secrets.TRIAGE_TOKEN }}
           CHECK_ORG_PROJECT: true
-

.gitignore

@@ -15,3 +15,8 @@ build_*
 
 # clangd index
 .cache
+
+
+# Python cache
+__pycache__
+*.pyc

.pre-commit-config.yaml

@@ -0,0 +1,18 @@
+repos:
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.3.0
+    hooks:
+    -   id: check-added-large-files
+        args: ['--maxkb=500']
+    -   id: check-executables-have-shebangs
+    -   id: check-json
+    -   id: check-merge-conflict
+    -   id: check-shebang-scripts-are-executable
+    -   id: check-symlinks
+    -   id: check-toml
+    -   id: check-xml
+    -   id: check-yaml
+    -   id: destroyed-symlinks
+    -   id: end-of-file-fixer
+    -   id: mixed-line-ending
+    -   id: trailing-whitespace

CMakeLists.txt

@@ -42,13 +42,18 @@ endif()
 include(test/find_dri.cmake)
 FindDRI()
 
-option(USE_SYSTEM_PATHS_FOR_PYTHON_INSTALLATION
-      "Install python modules in standard system paths in the system"
+option(SKIP_PYBIND11
+      "Skip generating Python bindings via pybind11"
       OFF)
 
-option(USE_DIST_PACKAGES_FOR_PYTHON
+include(CMakeDependentOption)
+cmake_dependent_option(USE_SYSTEM_PATHS_FOR_PYTHON_INSTALLATION
+      "Install python modules in standard system paths in the system"
+      OFF "NOT SKIP_PYBIND11" OFF)
+
+cmake_dependent_option(USE_DIST_PACKAGES_FOR_PYTHON
       "Use dist-packages instead of site-package to install python modules"
-      OFF)
+      OFF "NOT SKIP_PYBIND11" OFF)
 
 #============================================================================
 # Search for project-specific dependencies
@@ -89,6 +94,7 @@ gz_find_package(gz-common5
     profiler
     events
     av
+    io
   REQUIRED
 )
 set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR})
@@ -190,24 +196,27 @@ set(Protobuf_IMPORT_DIRS ${gz-msgs9_INCLUDE_DIRS})
 
 #--------------------------------------
 # Find python
-include(GzPython)
-find_package(PythonLibs QUIET)
-if (NOT PYTHONLIBS_FOUND)
-  GZ_BUILD_WARNING("Python is missing: Python interfaces are disabled.")
-  message (STATUS "Searching for Python - not found.")
+if (SKIP_PYBIND11)
+  message(STATUS "SKIP_PYBIND11 set - disabling python bindings")
 else()
-  message (STATUS "Searching for Python - found version ${PYTHONLIBS_VERSION_STRING}.")
-
-  set(PYBIND11_PYTHON_VERSION 3)
-  find_package(Python3 QUIET COMPONENTS Interpreter Development)
-  find_package(pybind11 2.2 QUIET)
-
-  if (${pybind11_FOUND})
-    message (STATUS "Searching for pybind11 - found version ${pybind11_VERSION}.")
-	else()
-		GZ_BUILD_WARNING("pybind11 is missing: Python interfaces are disabled.")
-		message (STATUS "Searching for pybind11 - not found.")
-	endif()
+  find_package(PythonLibs QUIET)
+  if (NOT PYTHONLIBS_FOUND)
+    GZ_BUILD_WARNING("Python is missing: Python interfaces are disabled.")
+    message (STATUS "Searching for Python - not found.")
+  else()
+    message (STATUS "Searching for Python - found version ${PYTHONLIBS_VERSION_STRING}.")
+
+    set(PYBIND11_PYTHON_VERSION 3)
+    find_package(Python3 QUIET COMPONENTS Interpreter Development)
+    find_package(pybind11 2.2 QUIET)
+
+    if (pybind11_FOUND)
+      message (STATUS "Searching for pybind11 - found version ${pybind11_VERSION}.")
+    else()
+      GZ_BUILD_WARNING("pybind11 is missing: Python interfaces are disabled.")
+      message (STATUS "Searching for pybind11 - not found.")
+    endif()
+  endif()
 endif()
 # Plugin install dirs
 set(GZ_SIM_PLUGIN_INSTALL_DIR

CONTRIBUTING.md

@@ -1 +1 @@
-See the [Gazebo contributing guide](https://gazebosim.org/docs/all/contributing).
+See [Gazebo's contribution guide](https://gazebosim.org/docs/all/contributing).

COPYING

@@ -174,5 +174,3 @@
       of your accepting any such warranty or additional liability.
 
    END OF TERMS AND CONDITIONS
-
-