Merge branch 'gz-sim7' into arjo/fix/environment_system

gazebosim · Sep 5, 2023 · 9daebc8 · 9daebc8
2 parents 0672777 + 5ebf860
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diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -1,6 +1,16 @@
 name: Ubuntu CI
 
-on: [push, pull_request]
+on:
+  pull_request:
+  push:
+    branches:
+      - 'gz-sim7'
+
+# 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 }}
+  cancel-in-progress: true
 
 jobs:
   focal-ci:

diff --git a/.github/workflows/triage.yml b/.github/workflows/triage.yml
@@ -10,9 +10,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Add ticket to inbox
-        uses: technote-space/create-project-card-action@v1
+        uses: actions/add-to-project@v0.5.0
         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 }}
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -38,12 +38,19 @@ else()
   set (EXTRA_TEST_LIB_DEPS)
 endif()
 
-include(test/find_dri.cmake)
-FindDRI()
+# We're disabling pybind11 by default on Windows because they
+# don't have active CI on them for now.
+set(skip_pybind11_default_value OFF)
+if (MSVC)
+  set(skip_pybind11_default_value ON)
+endif()
 
 option(SKIP_PYBIND11
       "Skip generating Python bindings via pybind11"
-      OFF)
+      ${skip_pybind11_default_value})
+
+include(test/find_dri.cmake)
+FindDRI()
 
 include(CMakeDependentOption)
 cmake_dependent_option(USE_SYSTEM_PATHS_FOR_PYTHON_INSTALLATION
@@ -236,7 +243,7 @@ add_subdirectory(examples)
 #============================================================================
 gz_create_packages()
 
-if (${pybind11_FOUND})
+if (pybind11_FOUND)
 	add_subdirectory(python)
 endif()
 #============================================================================

diff --git a/Changelog.md b/Changelog.md
@@ -727,6 +727,173 @@
 
 ## Gazebo Sim 6.x
 
+
+### Gazebo Sim 6.15.0 (2023-08-16)
+
+1. Fix Joint Position Controller Behaviour Described in #1997
+    * [Pull request #2001](https://github.com/gazebosim/gz-sim/pull/2001)
+
+1. Fix a minor issue in the documentation of the server API
+    * [Pull request #2067](https://github.com/gazebosim/gz-sim/pull/2067)
+
+1. Use sdf::Element::FindElement instead of GetElement in ApplyLinkWrench
+    * [Pull request #2052](https://github.com/gazebosim/gz-sim/pull/2052)
+
+1. Backport sensors system threading optimization changes
+    * [Pull request #2058](https://github.com/gazebosim/gz-sim/pull/2058)
+
+1. Adds a warning if the `Server` method of a `TestFixture` is called before `Finalize`
+    * [Pull request #2047](https://github.com/gazebosim/gz-sim/pull/2047)
+
+1. Protobuf: Do not require version 3 do support Protobuf 4.23.2 (23.2)
+    * [Pull request #2006](https://github.com/gazebosim/gz-sim/pull/2006)
+
+1. Disable pybind11 on Windows by default
+    * [Pull request #2005](https://github.com/gazebosim/gz-sim/pull/2005)
+
+1. Print an error message when trying to load SDF files that don't contain a `<world>`
+    * [Pull request #1998](https://github.com/gazebosim/gz-sim/pull/1998)
+
+1. Port record topic fix
+    * [Pull request #2004](https://github.com/gazebosim/gz-sim/pull/2004)
+
+1. Allow re-attaching detached joint
+    * [Pull request #1687](https://github.com/gazebosim/gz-sim/pull/1687)
+
+1.  Enable GzWeb visualization of markers by republishing service requests on a topic
+    * [Pull request #1994](https://github.com/gazebosim/gz-sim/pull/1994)
+
+1. Small fixes to gz headers
+    * [Pull request #1985](https://github.com/gazebosim/gz-sim/pull/1985)
+
+1. Speed up Resource Spawner load time by fetching model list asynchronously
+    * [Pull request #1962](https://github.com/gazebosim/gz-sim/pull/1962)
+
+1. Use ignition::gazebo:: in class instantiation
+    * [Pull request #1967](https://github.com/gazebosim/gz-sim/pull/1967)
+
+1. Add missing cmake exports from core library
+    * [Pull request #1978](https://github.com/gazebosim/gz-sim/pull/1978)
+
+1. Add tutorial on migrating the Sensor class from gazebo classic
+    * [Pull request #1930](https://github.com/gazebosim/gz-sim/pull/1930)
+
+1. Add tutorial on migrating the Actor class from gazebo classic
+    * [Pull request #1929](https://github.com/gazebosim/gz-sim/pull/1929)
+
+1. Fix use of actors that only has trajectory animation
+    * [Pull request #1947](https://github.com/gazebosim/gz-sim/pull/1947)
+
+1. Add tutorial on migrating the Joint class from gazebo classic
+    * [Pull request #1925](https://github.com/gazebosim/gz-sim/pull/1925)
+
+1. Add tutorial on migrating the Light class from gazebo classic
+    * [Pull request #1931](https://github.com/gazebosim/gz-sim/pull/1931)
+
+1. Infrastructure
+    * [Pull request #1988](https://github.com/gazebosim/gz-sim/pull/1988)
+    * [Pull request #1940](https://github.com/gazebosim/gz-sim/pull/1940)
+
+1. Rename COPYING to LICENSE
+    * [Pull request #1937](https://github.com/gazebosim/gz-sim/pull/1937)
+
+1. Add Light class
+    * [Pull request #1918](https://github.com/gazebosim/gz-sim/pull/1918)
+
+1. Resolve inconsistent visibility on ign-gazebo6
+    * [Pull request #1914](https://github.com/gazebosim/gz-sim/pull/1914)
+
+1. Relax msg count check in RF comms integration test
+    * [Pull request #1920](https://github.com/gazebosim/gz-sim/pull/1920)
+
+1. Add Actor class
+    * [Pull request #1913](https://github.com/gazebosim/gz-sim/pull/1913)
+
+1. Add Sensor class
+    * [Pull request #1912](https://github.com/gazebosim/gz-sim/pull/1912)
+
+1. Allow to change camera user hfov in camera_view plugin
+    * [Pull request #1807](https://github.com/gazebosim/gz-sim/pull/1807)
+
+1. Add Joint class
+    * [Pull request #1910](https://github.com/gazebosim/gz-sim/pull/1910)
+
+1. Add SensorTopic component to rendering sensors
+    * [Pull request #1908](https://github.com/gazebosim/gz-sim/pull/1908)
+
+1. Use a queue to track component registration from mulitiple sources
+    * [Pull request #1836](https://github.com/gazebosim/gz-sim/pull/1836)
+
+1. Document behaviour changes introduced #1784
+    * [Pull request #1888](https://github.com/gazebosim/gz-sim/pull/1888)
+
+1. Partial backport of 1728
+    * [Pull request #1901](https://github.com/gazebosim/gz-sim/pull/1901)
+
+1. Fix triggered camera test by waiting for rendering / scene to be ready
+    * [Pull request #1895](https://github.com/gazebosim/gz-sim/pull/1895)
+
+1. Backport portion of #1771 to fix command-line test
+    * [Pull request #1771](https://github.com/gazebosim/gz-sim/pull/1771)
+
+1. cmdsim.rb: fix ruby syntax
+    * [Pull request #1884](https://github.com/gazebosim/gz-sim/pull/1884)
+
+1. Fix some windows warnings (C4244 and C4305)
+    * [Pull request #1874](https://github.com/gazebosim/gz-sim/pull/1874)
+
+1. Minor optimization to transform control tool
+    * [Pull request #1854](https://github.com/gazebosim/gz-sim/pull/1854)
+
+1. Inherit material cast shadows property
+    * [Pull request #1856](https://github.com/gazebosim/gz-sim/pull/1856)
+
+1. Fix record topic
+    * [Pull request #1855](https://github.com/gazebosim/gz-sim/pull/1855)
+
+1. Remove duplicate Fuel server used by ResourceSpawner
+    * [Pull request #1830](https://github.com/gazebosim/gz-sim/pull/1830)
+
+1. Re-add namespace
+    * [Pull request #1826](https://github.com/gazebosim/gz-sim/pull/1826)
+
+1. Fix QML warnings regarding binding loops
+    * [Pull request #1829](https://github.com/gazebosim/gz-sim/pull/1829)
+
+1. Update documentation on `UpdateInfo::realTime`
+    * [Pull request #1817](https://github.com/gazebosim/gz-sim/pull/1817)
+
+1. Add jennuine as GUI codeowner
+    * [Pull request #1800](https://github.com/gazebosim/gz-sim/pull/1800)
+
+1. remove PlotIcon
+    * [Pull request #1658](https://github.com/gazebosim/gz-sim/pull/1658)
+
+1. ign -> gz
+    * [Pull request #1983](https://github.com/gazebosim/gz-sim/pull/1983)
+    * [Pull request #1646](https://github.com/gazebosim/gz-sim/pull/1646)
+    * [Pull request #1760](https://github.com/gazebosim/gz-sim/pull/1760)
+    * [Pull request #1759](https://github.com/gazebosim/gz-sim/pull/1759)
+    * [Pull request #1758](https://github.com/gazebosim/gz-sim/pull/1758)
+    * [Pull request #1757](https://github.com/gazebosim/gz-sim/pull/1757)
+    * [Pull request #1759](https://github.com/gazebosim/gz-sim/pull/1749)
+
+1. Added collection name to About Dialog
+    * [Pull request #1756](https://github.com/gazebosim/gz-sim/pull/1756)
+
+1. Citadel: Removed warnings
+    * [Pull request #1753](https://github.com/gazebosim/gz-sim/pull/1753)
+
+1. Remove actors from screen when they are supposed to
+    * [Pull request #1699](https://github.com/gazebosim/gz-sim/pull/1699)
+
+1. Readd namespaces for Q_ARGS
+    * [Pull request #1670](https://github.com/gazebosim/gz-sim/pull/1670)
+
+1. Remove redundant namespace references
+    * [Pull request #1635](https://github.com/gazebosim/gz-sim/pull/1635)
+
+
 ### Gazebo Sim 6.14.0 (2022-12-29)
 
 1. Fix Ackermann plugin zero linVel turningRadius bug
@@ -2970,6 +3137,70 @@
 
 ## Gazebo Sim 3.x
 
+### Gazebo Sim 3.15.0 (2023-05-08)
+
+1. Speed up Resource Spawner load time by fetching model list asynchronously
+    * [Pull request #1962](https://github.com/gazebosim/gz-sim/pull/1962)
+
+1. ign -> gz Migrate Ignition Headers : gz-sim
+    * [Pull request #1646](https://github.com/gazebosim/gz-sim/pull/1646)
+    * [Pull request #1967](https://github.com/gazebosim/gz-sim/pull/1967)
+    * [Pull request #1978](https://github.com/gazebosim/gz-sim/pull/1978)
+    * [Pull request #1983](https://github.com/gazebosim/gz-sim/pull/1983)
+    * [Pull request #1985](https://github.com/gazebosim/gz-sim/pull/1985)
+
+1. Infrastructure
+    * [Pull request #1940](https://github.com/gazebosim/gz-sim/pull/1940)
+    * [Pull request #1937](https://github.com/gazebosim/gz-sim/pull/1937)
+
+1. Backport portion of #1771 to fix command-line test
+    * [Pull request #1771](https://github.com/gazebosim/gz-sim/pull/1771)
+
+1. cmdsim.rb: fix ruby syntax
+    * [Pull request #1884](https://github.com/gazebosim/gz-sim/pull/1884)
+
+1. Fix loading wold with record topic
+    * [Pull request #1855](https://github.com/gazebosim/gz-sim/pull/1855)
+
+1. Remove duplicate Fuel server used by ResourceSpawner
+    * [Pull request #1830](https://github.com/gazebosim/gz-sim/pull/1830)
+
+1. Re-add namespace for GUI render event
+    * [Pull request #1826](https://github.com/gazebosim/gz-sim/pull/1826)
+
+1. Fix QML warnings regarding binding loops
+    * [Pull request #1829](https://github.com/gazebosim/gz-sim/pull/1829)
+
+1. Update documentation on `UpdateInfo::realTime`
+    * [Pull request #1817](https://github.com/gazebosim/gz-sim/pull/1817)
+
+1. Add jennuine as GUI codeowner
+    * [Pull request #1800](https://github.com/gazebosim/gz-sim/pull/1800)
+
+1. Remove plotIcon in Physics.qml for Component Inspector
+    * [Pull request #1658](https://github.com/gazebosim/gz-sim/pull/1658)
+
+1. Convert ignitionrobotics to gazebosim in tutorials
+    * [Pull request #1757](https://github.com/gazebosim/gz-sim/pull/1757)
+    * [Pull request #1758](https://github.com/gazebosim/gz-sim/pull/1758)
+    * [Pull request #1759](https://github.com/gazebosim/gz-sim/pull/1759)
+    * [Pull request #1760](https://github.com/gazebosim/gz-sim/pull/1760)
+
+1. Added collection name to About Dialog
+    * [Pull request #1756](https://github.com/gazebosim/gz-sim/pull/1756)
+
+1. Remove compiler warnings
+    * [Pull request #1753](https://github.com/gazebosim/gz-sim/pull/1753)
+
+1. Update examples to use gazebosim.org
+    * [Pull request #1749](https://github.com/gazebosim/gz-sim/pull/1749)
+
+1. Remove actors from screen when they are supposed to
+    * [Pull request #1699](https://github.com/gazebosim/gz-sim/pull/1699)
+
+1. Readd namespaces for Q_ARGS
+    * [Pull request #1670](https://github.com/gazebosim/gz-sim/pull/1670)
+
 ### Gazebo Sim 3.X.X (20XX-XX-XX)
 
 ### Gazebo Sim 3.13.0 (2022-06-01)
@@ -3049,7 +3280,7 @@
 1. Fix generation of systems library symlinks in build directory
     * [Pull request #1160](https://github.com/gazebosim/gz-sim/pull/1160)
 
-1. Backport sim::Util::validTopic() from gz-sim4.
+1. Backport sim::Util::validTopic() from ign-gazebo4.
     * [Pull request #1153](https://github.com/gazebosim/gz-sim/pull/1153)
 
 1. Support setting the background color for sensors

diff --git a/Migration.md b/Migration.md
@@ -49,6 +49,11 @@ message's header.
       * CMake `-config` files
       * Paths that depend on the project name
 
+  * The `Scene3D` plugin has been removed and replaced with `gz-gui`'s `MinimalScene` plugin. See
+    this same document for the instructions to replace it when it was deprecated 5.x to 6.x.
+   Setting `<legacy>false</legacy>` is no longer required for `TransformControl` and
+    `ViewAndle` plugins.
+
 * Python library imports such `import ignition.gazebo` and `from ignition import
   gazebo` should be replaced with `import gz.sim7` and `from gz import sim7`.
   Note the change from `ignition` to `gz` and the addition of the major version
@@ -59,7 +64,6 @@ message's header.
    + In the Hydrodynamics plugin, inverted the added mass contribution to make it
      act in the correct direction.
 
-
 ## Gazebo Sim 6.11.X to 6.12.X
 
  * **Modified**:
@@ -116,20 +120,23 @@ since pose information is being logged in the `changed_state` topic.
 * The `GzScene3D` GUI plugin is being deprecated in favor of `MinimalScene`. In
   order to get the same functionality as `GzScene3D`, users need to add the
   following plugins:
-      + `MinimalScene`: base rendering functionality
-      + `GzSceneManager`: adds / removes / moves entities in the scene
-      + `EntityContextMenuPlugin`: right-click menu
-      + `InteractiveViewControl`: orbit controls
-      + `CameraTracking`: Move to, follow, set camera pose
-      + `MarkerManager`: Enables the use of markers
-      + `SelectEntities`: Select entities clicking on the scene
-      + `Spawn`: Functionality to spawn entities into the scene via GUI
-      + `VisualizationCapabilities`: View collisions, inertial, CoM, joints, etc.
-
-    Moreover, legacy mode needs to be turned off for the following plugins
-    for them to work with `MinimalScene` (set `<legacy>false</legacy>`):
-      + `TransformControl`: Translate and rotate
-      + `ViewAndle`: Move camera to preset angles
+    + `MinimalScene`: base rendering functionality
+    + `GzSceneManager`: adds / removes / moves entities in the scene
+    + `EntityContextMenuPlugin`: right-click menu
+    + `InteractiveViewControl`: orbit controls
+    + `CameraTracking`: Move to, follow, set camera pose
+    + `MarkerManager`: Enables the use of markers
+    + `SelectEntities`: Select entities clicking on the scene
+    + `Spawn`: Functionality to spawn entities into the scene via GUI
+    + `VisualizationCapabilities`: View collisions, inertial, CoM, joints, etc.
+
+  SDF code for all these can be found in:
+  https://github.com/gazebosim/gz-sim/blob/ff1c82b41e548dfdc8076374f9500db2df2c35a1/examples/worlds/minimal_scene.sdf#L29-L128
+
+  Moreover, legacy mode needs to be turned off for the following plugins
+  for them to work with `MinimalScene` (set `<legacy>false</legacy>`):
+    + `TransformControl`: Translate and rotate
+    + `ViewAndle`: Move camera to preset angles
 
 * The `gui.config` and `server.config` files are now located in a versioned
   folder inside `$HOME/.gz/sim`, i.e. `$HOME/.gz/sim/6/gui.config`.