Added Python interfaces to some Ignition Gazebo methods

[ahcorde]

Signed-off-by: ahcorde ahcorde@gmail.com

🎉 New feature

Summary

Added Python interfaces to same Ignition Gazebo methods with pybind11

Requires gazebosim/gz-math#280

Related with this issue #789 (comment)

Test it

I created an example examples/python/helperFixture.py.

Export your python path:

export PYTHONPATH=$PYTHONPATH:<your workspace>/install/lib/python/

Run the example:

python3 <your workspace>/src/ign-gazebo/examples/python/testFixture.py

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge

[codecov]

Codecov Report

Merging #1219 (d5e34d5) into ign-gazebo6 (3b94bd2) will not change coverage.
The diff coverage is n/a.

@@             Coverage Diff              @@
##           ign-gazebo6    #1219   +/-   ##
============================================
  Coverage        62.93%   62.93%           
============================================
  Files              299      299           
  Lines            24167    24167           
============================================
  Hits             15210    15210           
  Misses            8957     8957           

---

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[chapulina]

Great work, works as advertised! At this first pass, I just have some high-level questions about the implementation.

You can ignore the style nitpicks for now and address them once we've settled on the approach.

[chapulina]

Just some minor stylistic comments, I think we're almost there!

It would be good to have a little test for this on CI to make sure that it's working once we release ign-math debs.

[chapulina]

Can we add the python dependencies to packages.apt so that the bindings are built on CI?

[ahcorde]

I made some changes that might be conflictive.

• EventManager: Changed unique_ptr to shared_ptr in a private member to be able to copy the class
• TextureFixture: Changed some reference to pointers
  • some integration tests have some changes: Spherical_coordinates and thruster

I can open a different PRs, these PRs might require to tick-tock some of the methods

[chapulina]

It's looking great! I just have final suggestions in #1308 and after that I'm ready to approve! 🎉

[chapulina]

Yay! This is great! Now we just need an ign-math6 stable release for the tests to pass.

[chapulina]

I tested this branch against ign-math6.9.3~pre2 debs, and it works well! 🎉

[chapulina]

A couple of problems in Jenkins CI.

1. The test fails (but it passes on GitHub actions)

213: Test command: /usr/bin/python3 "/home/jenkins/workspace/ignition_gazebo-ci-pr_any-ubuntu_auto-amd64/ign-gazebo/python/test/testFixture_TEST.py"
213: Environment variables: 
213:  PYTHONPATH=/usr/lib/python/
213:  LD_LIBRARY_PATH=/usr/lib:/usr/local/lib/x86_64-linux-gnu
213: Test timeout computed to be: 1500
213: Traceback (most recent call last):
213:   File "/home/jenkins/workspace/ignition_gazebo-ci-pr_any-ubuntu_auto-amd64/ign-gazebo/python/test/testFixture_TEST.py", line 19, in <module>
213:     from ignition.common import set_verbosity
213: ModuleNotFoundError: No module named 'ignition.common'
213/213 Test #213: testFixture_TEST.py ....................................***Failed    0.23 sec

2. Jenkins doesn't report the failure (CC @j-rivero )

[chapulina]

For packaging, we'll need to do the same as gazebo-release/gz-math6-release#6 for ign-gazebo6-release and ign-gazebo7-release. @j-rivero said he can help in the coming days. The plan is to install the ign-common and sdformat bindings as if they came from those packages, and if we ever move the bindings there, we should be able to flip the switch without affecting users.

[j-rivero]

Patch seems to work as expected, tested via patch in release repo here:

-- Installing: /home/jenkins/workspace/ign-gazebo6-debbuilder/build/ignition-gazebo-6.6.0~pre1/debian/tmp/usr/lib/python3/dist-packages/sdformat.cpython-38-x86_64-linux-gnu.so
-- Installing: /home/jenkins/workspace/ign-gazebo6-debbuilder/build/ignition-gazebo-6.6.0~pre1/debian/tmp/usr/lib/python3/dist-packages/ignition/gazebo.cpython-38-x86_64-linux-gnu.so
-- Set runtime path of "/home/jenkins/workspace/ign-gazebo6-debbuilder/build/ignition-gazebo-6.6.0~pre1/debian/tmp/usr/lib/python3/dist-packages/ignition/gazebo.cpython-38-x86_64-linux-gnu.so" to ""

[osrf-triage]

This pull request has been mentioned on Gazebo Community. There might be relevant details there:

https://community.gazebosim.org/t/new-ignition-releases-2022-03-25-fortress-edifice-citadel/1343/1