Add support for merge-includes in worlds #1233
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Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
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Codecov Report
@@ Coverage Diff @@
## sdf13 #1233 +/- ##
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Coverage 87.51% 87.51%
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Files 126 126
Lines 16239 16248 +9
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+ Hits 14211 14219 +8
- Misses 2028 2029 +1
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Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
Migration.md
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| @@ -558,6 +558,7 @@ ABI was broken for `sdf::Element`, and restored on version 11.2.1. | |||
| ### Additions | |||
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| 1. **world.sdf**: A joint can be specified directly in a world. | |||
| 1. **world.sdf**: Merge-includes are now allowed in worlds. The included models must not contain links or grippers. | |||
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nit Consider qualifying:
"The included models must not contain top-level links or grippers."
| { | ||
| Error unsupportedError( | ||
| ErrorCode::MERGE_INCLUDE_UNSUPPORTED, | ||
| "Merge-include for <world> does not support element of type " + |
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weird that coverage doesn't detect this because I see that it is tested
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I think coverage struggles with multiline code.
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
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I think the homebrew CI errors will be fixed by the gz-math7 bottle rebuild in osrf/homebrew-simulation#2213 |
rerunning homebrew CI since osrf/homebrew-simulation#2213 has been merged |
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green CI! I just merged with upstream and will leave it to @azeey to merge |
🎉 New feature
Summary
Implements merge-includes for worlds as discussed in gazebosim/sdf_tutorials#86. This required very few changes since it uses the same merge mechanism used for models.
Test it
Two tests were added in
test/integration/includes.cc.IncludeTest.WorldMergeInclude: Checks the proper merging of elements and their poses.`IncludeTest.WorldMergeIncludeInvalidElements. Checks that merging models that contain links into the world emits an error.
Checklist
[ ] Consider updating Python bindings (if the library has them)codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.