Add tutorial for using the Pose component

.github/ci/packages.apt

@@ -1,10 +1,5 @@
 freeglut3-dev
 libbenchmark-dev
-libdart-collision-ode-dev
-libdart-dev
-libdart-external-ikfast-dev
-libdart-external-odelcpsolver-dev
-libdart-utils-urdf-dev
 libfreeimage-dev
 libglew-dev
 libgz-cmake3-dev

CMakeLists.txt

@@ -18,7 +18,7 @@ find_package(gz-cmake3 REQUIRED)
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-gz_configure_project(VERSION_SUFFIX pre1)
+gz_configure_project(VERSION_SUFFIX)
 
 #============================================================================
 # Set project-specific options

Changelog.md

@@ -1,6 +1,133 @@
 ## Gazebo Sim 8.x
 
-### Gazebo Sim 8.X.X (20XX-XX-XX)
+### Gazebo Sim 8.0.0 (2023-09-29)
+
+1. TouchPlugin: Reset the plugin with the initial values
+    * [Pull request #2132](https://github.com/gazebosim/gz-sim/pull/2132)
+
+1. Fix another deadlock in sensors system
+    * [Pull request #2141](https://github.com/gazebosim/gz-sim/pull/2141)
+
+1. Documentation fixes
+    * [Pull request #2157](https://github.com/gazebosim/gz-sim/pull/2157)
+    * [Pull request #2150](https://github.com/gazebosim/gz-sim/pull/2150)
+    * [Pull request #2148](https://github.com/gazebosim/gz-sim/pull/2148)
+    * [Pull request #2147](https://github.com/gazebosim/gz-sim/pull/2147)
+    * [Pull request #2143](https://github.com/gazebosim/gz-sim/pull/2143)
+    * [Pull request #2133](https://github.com/gazebosim/gz-sim/pull/2133)
+    * [Pull request #2130](https://github.com/gazebosim/gz-sim/pull/2130)
+    * [Pull request #2128](https://github.com/gazebosim/gz-sim/pull/2128)
+    * [Pull request #2124](https://github.com/gazebosim/gz-sim/pull/2124)
+    * [Pull request #2114](https://github.com/gazebosim/gz-sim/pull/2114)
+    * [Pull request #2107](https://github.com/gazebosim/gz-sim/pull/2107)
+
+1. Fix Examples
+    * [Pull request #2151](https://github.com/gazebosim/gz-sim/pull/2151)
+    * [Pull request #2149](https://github.com/gazebosim/gz-sim/pull/2149)
+    * [Pull request #2145](https://github.com/gazebosim/gz-sim/pull/2145)
+    * [Pull request #2144](https://github.com/gazebosim/gz-sim/pull/2144)
+    * [Pull request #2129](https://github.com/gazebosim/gz-sim/pull/2129)
+    * [Pull request #2127](https://github.com/gazebosim/gz-sim/pull/2127)
+    * [Pull request #2123](https://github.com/gazebosim/gz-sim/pull/2123)
+    * [Pull request #2122](https://github.com/gazebosim/gz-sim/pull/2122)
+    * [Pull request #2111](https://github.com/gazebosim/gz-sim/pull/2111)
+
+1. Load transform control and select entities plugins in thermal camera world
+    * [Pull request #2139](https://github.com/gazebosim/gz-sim/pull/2139)
+
+1. Fixed invalid service names
+    * [Pull request #2121](https://github.com/gazebosim/gz-sim/pull/2121)
+
+1. Add automatic moment of inertia calculation for meshes
+    * [Pull request #2171](https://github.com/gazebosim/gz-sim/pull/2171)
+    * [Pull request #2166](https://github.com/gazebosim/gz-sim/pull/2166)
+    * [Pull request #2119](https://github.com/gazebosim/gz-sim/pull/2119)
+    * [Pull request #2105](https://github.com/gazebosim/gz-sim/pull/2105)
+    * [Pull request #2061](https://github.com/gazebosim/gz-sim/pull/2061)
+
+1. ign -> gz
+    * [Pull request #2055](https://github.com/gazebosim/gz-sim/pull/2055)
+
+1. Adds python demo examples
+    * [Pull request #2044](https://github.com/gazebosim/gz-sim/pull/2044)
+
+1. Add support for writing systems in Python
+    * [Pull request #2081](https://github.com/gazebosim/gz-sim/pull/2081)
+
+1. Apply mimic constraint to joints (only Bullet-featherstone)
+    * [Pull request #1838](https://github.com/gazebosim/gz-sim/pull/1838)
+
+1. Fix rendering tests
+    * [Pull request #2086](https://github.com/gazebosim/gz-sim/pull/2086)
+
+1. Make systems and tests include headers they use
+    * [Pull request #2100](https://github.com/gazebosim/gz-sim/pull/2100)
+
+1. Adds Python bindings for the Actor, Joint, Light, Link, Model, Sensor, World convenience class
+    * [Pull request #2043](https://github.com/gazebosim/gz-sim/pull/2043)
+    * [Pull request #2042](https://github.com/gazebosim/gz-sim/pull/2042)
+    * [Pull request #2041](https://github.com/gazebosim/gz-sim/pull/2041)
+    * [Pull request #2040](https://github.com/gazebosim/gz-sim/pull/2040)
+    * [Pull request #2039](https://github.com/gazebosim/gz-sim/pull/2039)
+    * [Pull request #2036](https://github.com/gazebosim/gz-sim/pull/2036)
+    * [Pull request #2035](https://github.com/gazebosim/gz-sim/pull/2035)
+
+1. Add version number to gz.common python binding
+    * [Pull request #2093](https://github.com/gazebosim/gz-sim/pull/2093)
+
+1. Infrastructure
+    * [Pull request #2046](https://github.com/gazebosim/gz-sim/pull/2046)
+
+1. Bumps in harmonic : sdformat14, gz-physics6, gz-sensors8, gz-gui8, gz-rendering8, gz-transport13, gz-msgs10, gz-fuel-tools9
+    * [Pull request #2062](https://github.com/gazebosim/gz-sim/pull/2062)
+    * [Pull request #1892](https://github.com/gazebosim/gz-sim/pull/1892)
+    * [Pull request #1837](https://github.com/gazebosim/gz-sim/pull/1837)
+
+1. Use new sky cubemap, instead of header
+    * [Pull request #2060](https://github.com/gazebosim/gz-sim/pull/2060)
+
+1. Remove deprecations and address some todos for Harmonic
+    * [Pull request #2054](https://github.com/gazebosim/gz-sim/pull/2054)
+    * [Pull request #2053](https://github.com/gazebosim/gz-sim/pull/2053)
+
+1. Use ogre2 in wide angle camera and lens flares worlds
+    * [Pull request #2063](https://github.com/gazebosim/gz-sim/pull/2063)
+
+1. Use new API for creating projector
+    * [Pull request #2064](https://github.com/gazebosim/gz-sim/pull/2064)
+
+1. Fix const-correctness of the `Model::JointByName` and `Model::LinkByName` APIs
+    * [Pull request #2059](https://github.com/gazebosim/gz-sim/pull/2059)
+
+1. Change type of `Component::typeName` and address outstanding todos
+    * [Pull request #2049](https://github.com/gazebosim/gz-sim/pull/2049)
+
+1. Add Lens Flare System
+    * [Pull request #1933](https://github.com/gazebosim/gz-sim/pull/1933)
+
+1. Fix TopicInfo deprecation warnings in Harmonic
+    * [Pull request #1922](https://github.com/gazebosim/gz-sim/pull/1922)
+
+1. Add DopplerVelocityLogSystem plugin
+    * [Pull request #1804](https://github.com/gazebosim/gz-sim/pull/1804)
+
+1. GUI for Global Illumination (VCT / CI VCT)
+    * [Pull request #1597](https://github.com/gazebosim/gz-sim/pull/1597)
+
+1. Add CLI to switch to Vulkan & Metal backends
+    * [Pull request #1735](https://github.com/gazebosim/gz-sim/pull/1735)
+
+1. Remove deprecations for main/gz-sim8
+    * [Pull request #1783](https://github.com/gazebosim/gz-sim/pull/1783)
+
+1. Acoustic comms plugin
+    * [Pull request #1608](https://github.com/gazebosim/gz-sim/pull/1608)
+
+1. Set seed value using CLI
+    * [Pull request #1618](https://github.com/gazebosim/gz-sim/pull/1618)
+
+1. ⬆️  Bump main to 8.0.0~pre1
+    * [Pull request #1640](https://github.com/gazebosim/gz-sim/pull/1640)
 
 ## Gazebo Sim 7.x
 

examples/plugin/custom_sensor_system/CMakeLists.txt

@@ -20,7 +20,7 @@ include(FetchContent)
 FetchContent_Declare(
   sensors_clone
   GIT_REPOSITORY https://github.com/gazebosim/gz-sensors
-  GIT_TAG main
+  GIT_TAG gz-sensors8
 )
 FetchContent_Populate(sensors_clone)
 add_subdirectory(${sensors_clone_SOURCE_DIR}/examples/custom_sensor ${sensors_clone_BINARY_DIR})

src/systems/ackermann_steering/AckermannSteering.hh

@@ -36,106 +36,106 @@ namespace systems
   /// \brief Ackermann steering controller which can be attached to a model
   /// with any number of left and right wheels.
   ///
-  /// # System Parameters
+  /// ## System Parameters
   ///
-  /// `<steering_only>`: Boolean used to only control the steering angle
+  /// - `<steering_only>`: Boolean used to only control the steering angle
   /// only. Calculates the angles of wheels from steering_limit,  wheel_base,
   /// and wheel_separation. Uses gz::msg::Double on default topic name
   /// `/model/{name_of_model}/steer_angle`. Automatically set True when
   /// `<use_actuator_msg>` is True, uses defaults topic name "/actuators".
   ///
-  /// `<use_actuator_msg>` True to enable the use of actutor message
+  /// - `<use_actuator_msg>` True to enable the use of actutor message
   /// for steering angle command. Relies on `<actuator_number>` for the
   /// index of the position actuator and defaults to topic "/actuators".
   ///
-  /// `<actuator_number>` used with `<use_actuator_commands>` to set
+  /// - `<actuator_number>` used with `<use_actuator_commands>` to set
   /// the index of the steering angle position actuator.
   ///
-  /// `<steer_p_gain>`: Float used to control the steering angle P gain.
+  /// - `<steer_p_gain>`: Float used to control the steering angle P gain.
   /// Only used for when in steering_only mode.
   ///
-  /// `<left_joint>`: Name of a joint that controls a left wheel. This
+  /// - `<left_joint>`: Name of a joint that controls a left wheel. This
   /// element can appear multiple times, and must appear at least once.
   ///
-  /// `<right_joint>`: Name of a joint that controls a right wheel. This
+  /// - `<right_joint>`: Name of a joint that controls a right wheel. This
   /// element can appear multiple times, and must appear at least once.
   ///
-  /// `<left_steering_joint>`: Name of a joint that controls steering for
-  ///  left wheel. This element must appear once.  Vehicles that steer
-  ///  rear wheels are not currently correctly supported.
+  /// - `<left_steering_joint>`: Name of a joint that controls steering for
+  /// left wheel. This element must appear once.  Vehicles that steer
+  /// rear wheels are not currently correctly supported.
   ///
-  /// `<right_steering_joint>`: Name of a joint that controls steering for
-  ///  right wheel. This element must appear once.
+  /// - `<right_steering_joint>`: Name of a joint that controls steering for
+  /// right wheel. This element must appear once.
   ///
-  /// `<wheel_separation>`: Distance between wheels, in meters. This element
+  /// - `<wheel_separation>`: Distance between wheels, in meters. This element
   /// is optional, although it is recommended to be included with an
   /// appropriate value. The default value is 1.0m.
   ///
-  /// `<kingpin_width>`: Distance between wheel kingpins, in meters. This
+  /// - `<kingpin_width>`: Distance between wheel kingpins, in meters. This
   /// element is optional, although it is recommended to be included with an
   /// appropriate value. The default value is 0.8m.  Generally a bit smaller
   /// than the wheel_separation.
   ///
-  /// `<wheel_base>`: Distance between front and rear wheels, in meters. This
+  /// - `<wheel_base>`: Distance between front and rear wheels, in meters. This
   /// element is optional, although it is recommended to be included with an
   /// appropriate value. The default value is 1.0m.
   ///
-  /// `<steering_limit>`: Value to limit steering to.  Can be calculated by
+  /// - `<steering_limit>`: Value to limit steering to.  Can be calculated by
   /// measuring the turning radius and wheel_base of the real vehicle.
   /// steering_limit = asin(wheel_base / turning_radius)
   /// The default value is 0.5 radians.
   ///
-  /// `<wheel_radius>`: Wheel radius in meters. This element is optional,
+  /// - `<wheel_radius>`: Wheel radius in meters. This element is optional,
   /// although it is recommended to be included with an appropriate value. The
   /// default value is 0.2m.
   ///
-  /// `<odom_publish_frequency>`: Odometry publication frequency. This
+  /// - `<odom_publish_frequency>`: Odometry publication frequency. This
   /// element is optional, and the default value is 50Hz.
   ///
-  /// `<min_velocity>`: Minimum velocity [m/s], usually <= 0.
-  /// `<max_velocity>`: Maximum velocity [m/s], usually >= 0.
-  /// `<min_acceleration>`: Minimum acceleration [m/s^2], usually <= 0.
-  /// `<max_acceleration>`: Maximum acceleration [m/s^2], usually >= 0.
-  /// `<min_jerk Minimum>`: jerk [m/s^3], usually <= 0.
-  /// `<max_jerk Maximum>`: jerk [m/s^3], usually >= 0.
+  /// - `<min_velocity>`: Minimum velocity [m/s], usually <= 0.
+  /// - `<max_velocity>`: Maximum velocity [m/s], usually >= 0.
+  /// - `<min_acceleration>`: Minimum acceleration [m/s^2], usually <= 0.
+  /// - `<max_acceleration>`: Maximum acceleration [m/s^2], usually >= 0.
+  /// - `<min_jerk Minimum>`: jerk [m/s^3], usually <= 0.
+  /// - `<max_jerk Maximum>`: jerk [m/s^3], usually >= 0.
   ///
-  /// `<topic>`: Custom topic that this system will subscribe to in order to
+  /// - `<topic>`: Custom topic that this system will subscribe to in order to
   /// receive command messages. This element is optional, and the
   /// default value is `/model/{name_of_model}/cmd_vel` or when steering_only
   /// is true `/model/{name_of_model}/steer_angle`.
   ///
-  /// `<sub_topic>`: Custom sub_topic that this system will subscribe to in
+  /// - `<sub_topic>`: Custom sub_topic that this system will subscribe to in
   /// order to receive command messages. This element is optional, and
   /// creates a topic `/model/{name_of_model}/{sub_topic}`
   ///
-  /// `<odom_topic>`: Custom topic on which this system will publish odometry
+  /// - `<odom_topic>`: Custom topic on which this system will publish odometry
   /// messages. This element if optional, and the default value is
   /// `/model/{name_of_model}/odometry`.
   ///
-  /// `<tf_topic>`: Custom topic on which this system will publish the
+  /// - `<tf_topic>`: Custom topic on which this system will publish the
   /// transform from `frame_id` to `child_frame_id`. This element is optional,
   /// and the default value is `/model/{name_of_model}/tf`.
   ///
-  /// `<frame_id>`: Custom `frame_id` field that this system will use as the
+  /// - `<frame_id>`: Custom `frame_id` field that this system will use as the
   /// origin of the odometry transform in both the `<tf_topic>`
   /// `gz.msgs.Pose_V` message and the `<odom_topic>`
   /// `gz.msgs.Odometry` message. This element if optional, and the
   /// default value is `{name_of_model}/odom`.
   ///
-  /// `<child_frame_id>`: Custom `child_frame_id` that this system will use as
+  /// - `<child_frame_id>`: Custom `child_frame_id` that this system will use as
   /// the target of the odometry transform in both the `<tf_topic>`
-  /// `gz.msgs.Pose_V` message and the `<odom_topic>`
-  /// `gz.msgs.Odometry` message. This element if optional,
+  /// gz.msgs.Pose_V message and the `<odom_topic>`
+  /// gz.msgs.Odometry message. This element is optional,
   /// and the default value is `{name_of_model}/{name_of_link}`.
   ///
   /// A robot with rear drive and front steering would have one each
   /// of left_joint, right_joint, left_steering_joint and
-  /// right_steering_joint
+  /// right_steering_joint.
   ///
   /// References:
-  /// https://github.com/gazebosim/gz-sim/tree/main/src/systems/ackermann_steering
-  /// https://www.auto.tuwien.ac.at/bib/pdf_TR/TR0183.pdf
-  /// https://github.com/froohoo/ackermansteer/blob/master/ackermansteer/
+  /// - https://github.com/gazebosim/gz-sim/tree/main/src/systems/ackermann_steering
+  /// - https://www.auto.tuwien.ac.at/bib/pdf_TR/TR0183.pdf
+  /// - https://github.com/froohoo/ackermansteer/blob/master/ackermansteer/
 
 
   class AckermannSteering

src/systems/acoustic_comms/AcousticComms.hh

@@ -76,6 +76,7 @@ namespace systems
   ///       * <seed> : Seed value to be used for random sampling.
   ///
   /// Here's an example:
+  /// ```
   ///  <plugin
   ///    filename="gz-sim-acoustic-comms-system"
   ///    name="gz::sim::systems::AcousticComms">
@@ -93,6 +94,7 @@ namespace systems
   ///    </propagation_model>
   ///
   ///  </plugin>
+  /// ```
 
   class AcousticComms:
     public gz::sim::comms::ICommsModel