Merge branch 'ign-gazebo6' into server-config-root-dom

gazebosim · Mar 30, 2022 · 61f286a · 61f286a
2 parents 3af47f1 + 0996fe0
commit 61f286a
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Showing 7 changed files with 434 additions and 121 deletions.
diff --git a/.github/ci/packages.apt b/.github/ci/packages.apt
@@ -15,7 +15,7 @@ libignition-tools-dev
 libignition-transport11-dev
 libignition-utils1-cli-dev
 libogre-1.9-dev
-libogre-2.1-dev
+libogre-2.2-dev
 libprotobuf-dev
 libprotoc-dev
 libsdformat12-dev

diff --git a/docker/Dockerfile.base b/docker/Dockerfile.base
@@ -11,10 +11,6 @@ RUN scripts/enable_ign_stable.sh
 COPY docker/scripts/install_common_deps.sh scripts/install_common_deps.sh
 RUN scripts/install_common_deps.sh
 
-# This is not strictly necessary, but makes things faster down the line.
-COPY docker/scripts/install_ign_deps.sh scripts/install_ign_deps.sh
-RUN scripts/install_ign_deps.sh
-
 COPY docker/scripts/enable_gcc8.sh scripts/enable_gcc8.sh
 RUN scripts/enable_gcc8.sh
 
diff --git a/docker/scripts/install_ign_deps.sh b/docker/scripts/install_ign_deps.sh
diff --git a/src/EntityComponentManager.cc b/src/EntityComponentManager.cc
@@ -1809,6 +1809,8 @@ void EntityComponentManager::SetState(
       components::BaseComponent *comp =
         this->ComponentImplementation(entity, compIter.first);
 
+      std::istringstream istr(compMsg.component());
+
       // Create if new
       if (nullptr == comp)
       {
@@ -1822,7 +1824,6 @@ void EntityComponentManager::SetState(
           continue;
         }
 
-        std::istringstream istr(compMsg.component());
         newComp->Deserialize(istr);
 
         this->CreateComponentImplementation(entity,
@@ -1831,7 +1832,6 @@ void EntityComponentManager::SetState(
       // Update component value
       else
       {
-        std::istringstream istr(compMsg.component());
         comp->Deserialize(istr);
         this->SetChanged(entity, compIter.first,
             _stateMsg.has_one_time_component_changes() ?

diff --git a/src/systems/scene_broadcaster/SceneBroadcaster.cc b/src/systems/scene_broadcaster/SceneBroadcaster.cc
@@ -329,11 +329,16 @@ void SceneBroadcaster::PostUpdate(const UpdateInfo &_info,
 
     set(this->dataPtr->stepMsg.mutable_stats(), _info);
 
-    // Publish full state if there are change events
-    if (changeEvent || this->dataPtr->stateServiceRequest)
+    // Publish full state if it has been explicitly requested
+    if (this->dataPtr->stateServiceRequest)
     {
       _manager.State(*this->dataPtr->stepMsg.mutable_state(), {}, {}, true);
     }
+    // Publish the changed state if a change occurred to the ECS
+    else if (changeEvent)
+    {
+      _manager.ChangedState(*this->dataPtr->stepMsg.mutable_state());
+    }
     // Otherwise publish just periodic change components when running
     else if (!_info.paused)
     {