Merge branch 'gazebo11' into replace_deprecated_tbb_task

.github/workflows/conda-forge.yml

@@ -0,0 +1,104 @@
+name: C++ CI Workflow with conda-forge dependencies
+
+on:
+  push:
+    branches:
+    - gazebo11
+  pull_request:
+  schedule:
+  # * is a special character in YAML so you have to quote this string
+  # Execute a "nightly" build at 2 AM UTC
+  - cron:  '0 2 * * *'
+
+jobs:
+  build:
+    name: '[${{ matrix.os }}@${{ matrix.build_type }}@conda]'
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        build_type: [Release]
+        os: [ubuntu-latest, windows-2019, macos-latest]
+      fail-fast: false
+
+    steps:
+    - uses: actions/checkout@v2
+
+    - uses: conda-incubator/setup-miniconda@v2
+      with:
+        mamba-version: "*"
+        channels: conda-forge
+        channel-priority: true
+
+    - name: Dependencies
+      shell: bash -l {0}
+      run: |
+        # Workaround for https://github.com/conda-incubator/setup-miniconda/issues/186
+        conda config --remove channels defaults
+        # Compilation related dependencies
+        mamba install cmake compilers make ninja pkg-config
+        # Actual dependencies
+        mamba install libprotobuf libsdformat libignition-cmake2 libignition-math6 libignition-transport8 libignition-common3 libignition-fuel-tools4 qt=5.12.9=*_4 ogre=1.10 freeimage curl tbb-devel=2020 qwt tinyxml2 libccd boost-cpp libcurl tinyxml bzip2 zlib ffmpeg graphviz libgdal libusb bullet-cpp dartsim simbody hdf5 openal-soft glib gts
+
+    - name: Linux-only Dependencies [Linux]
+      if: contains(matrix.os, 'ubuntu')
+      shell: bash -l {0}
+      run: |
+        # See https://github.com/robotology/robotology-superbuild/issues/477
+        mamba install expat-cos6-x86_64 libselinux-cos6-x86_64 libxau-cos6-x86_64 libxcb-cos6-x86_64 libxdamage-cos6-x86_64 libxext-cos6-x86_64 libxfixes-cos6-x86_64 libxxf86vm-cos6-x86_64 mesalib mesa-libgl-cos6-x86_64 mesa-libgl-devel-cos6-x86_64 libuuid
+
+    - name: Unix-only Dependencies [Linux&macOS]
+      if: contains(matrix.os, 'ubuntu') || contains(matrix.os, 'macos')
+      shell: bash -l {0}
+      run: |
+        mamba install libtar
+
+    - name: Windows-only Dependencies [Windows]
+      if: contains(matrix.os, 'windows')
+      shell: bash -l {0}
+      run: |
+        # Compilation related dependencies
+        mamba install vs2019_win-64 dlfcn-win32 tiny-process-library
+
+    - name: Configure [Linux&macOS]
+      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
+      shell: bash -l {0}
+      run: |
+        mkdir -p build
+        cd build
+        cmake -GNinja -DBUILD_TESTING:BOOL=OFF -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
+
+    - name: Build [Linux&macOS]
+      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
+      shell: bash -l {0}
+      run: |
+        cd build
+        cmake --build . --config ${{ matrix.build_type }}
+
+#    - name: Test [Linux&macOS]
+#      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
+#      shell: bash -l {0}
+#      run: |
+#        cd build
+#        ctest --output-on-failure -C ${{ matrix.build_type }}
+
+    - name: Configure [Windows]
+      if: contains(matrix.os, 'windows')
+      shell: cmd /C call {0}
+      run: |
+        mkdir -p build
+        cd build
+        cmake -GNinja -DBUILD_TESTING:BOOL=OFF -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ..
+
+    - name: Build [Windows]
+      if: contains(matrix.os, 'windows')
+      shell: cmd /C call {0}
+      run: |
+        cd build
+        cmake --build . --config ${{ matrix.build_type }} --parallel 2
+
+#    - name: Test [Windows]
+#      if: contains(matrix.os, 'windows')
+#      shell: cmd /C call {0}
+#      run: |
+#        cd build
+#        ctest --output-on-failure -C ${{ matrix.build_type }}

cmake/SearchForStuff.cmake

@@ -851,7 +851,6 @@ find_path(QWT_INCLUDE_DIR NAMES qwt.h PATHS
 )
 
 find_library(QWT_LIBRARY NAMES qwt-qt5 qwt PATHS
-  /usr/lib
   /usr/local/lib
   /usr/local/lib/qwt.framework
   ${QWT_WIN_LIBRARY_DIR}

gazebo/rendering/Scene.cc

@@ -300,6 +300,7 @@ void Scene::Clear()
 
   delete this->dataPtr->terrain;
   this->dataPtr->terrain = NULL;
+  this->dataPtr->terrainVisualId.reset();
 
   while (!this->dataPtr->visuals.empty())
     this->RemoveVisual(this->dataPtr->visuals.begin()->first);
@@ -2825,54 +2826,6 @@ bool Scene::ProcessVisualMsg(ConstVisualPtr &_msg, Visual::VisualType _type)
     return true;
   }
 
-  // Creating heightmap
-  // FIXME: A bit of a hack.
-  if (_msg->has_geometry() &&
-      _msg->geometry().type() == msgs::Geometry::HEIGHTMAP &&
-      _type != Visual::VT_COLLISION)
-  {
-    if (this->dataPtr->terrain)
-    {
-      // Only one Heightmap can be created per Scene
-      return true;
-    }
-    else
-    {
-      if (!this->dataPtr->terrain)
-      {
-        // create a dummy visual for loading heightmap visual plugin
-        // TODO make heightmap a visual to avoid special treatment here?
-        VisualPtr visual(new Visual(_msg->name(), this->dataPtr->worldVisual));
-        auto m = *_msg.get();
-        m.clear_material();
-        visual->Load(msgs::VisualToSDF(m));
-
-        this->dataPtr->terrain = new Heightmap(shared_from_this());
-        // check the material fields and set material if it is specified
-        if (_msg->has_material())
-        {
-          auto matMsg = _msg->material();
-          if (matMsg.has_script())
-          {
-            auto scriptMsg = matMsg.script();
-            for (auto const &uri : scriptMsg.uri())
-            {
-              if (!uri.empty())
-                RenderEngine::Instance()->AddResourcePath(uri);
-            }
-            std::string matName = scriptMsg.name();
-            this->dataPtr->terrain->SetMaterial(matName);
-          }
-        }
-        this->dataPtr->terrain->SetLOD(this->dataPtr->heightmapLOD);
-        const double skirtLen = this->dataPtr->heightmapSkirtLength;
-        this->dataPtr->terrain->SetSkirtLength(skirtLen);
-        this->dataPtr->terrain->LoadFromMsg(_msg);
-      }
-    }
-    return true;
-  }
-
   // Creating collision
   if (_type == Visual::VT_COLLISION)
   {
@@ -2897,6 +2850,20 @@ bool Scene::ProcessVisualMsg(ConstVisualPtr &_msg, Visual::VisualType _type)
     return true;
   }
 
+  // Exit early if a heightmap already exists
+  bool hasHeightmap = false;
+  if (_msg->has_geometry() &&
+      _msg->geometry().type() == msgs::Geometry::HEIGHTMAP)
+  {
+    hasHeightmap = true;
+    if (this->dataPtr->terrain)
+    {
+      // Only one Heightmap can be created per Scene
+      return true;
+    }
+  }
+
+
   // All other visuals
   VisualPtr visual;
 
@@ -2924,7 +2891,51 @@ bool Scene::ProcessVisualMsg(ConstVisualPtr &_msg, Visual::VisualType _type)
   if (_msg->has_id())
     visual->SetId(_msg->id());
 
-  visual->LoadFromMsg(_msg);
+  if (!hasHeightmap)
+  {
+    visual->LoadFromMsg(_msg);
+  }
+  else
+  // Creating heightmap
+  // FIXME: A bit of a hack.
+  {
+    {
+      // Copy the const _msg so that we can clear materials before
+      // loading from message
+      msgs::Visual *msgMutable = new msgs::Visual(*_msg.get());
+      msgMutable->clear_material();
+
+      // assign ownership of the copy to a const shared_ptr so it will be
+      // deleted when exiting this scope
+      ConstVisualPtr msgShared(static_cast<const msgs::Visual*>(msgMutable));
+      visual->LoadFromMsg(msgShared);
+    }
+
+    // Store VisualId corresponding to terrain
+    this->dataPtr->terrainVisualId.emplace(visual->GetId());
+
+    this->dataPtr->terrain = new Heightmap(shared_from_this());
+    // check the material fields and set material if it is specified
+    if (_msg->has_material())
+    {
+      auto matMsg = _msg->material();
+      if (matMsg.has_script())
+      {
+        auto scriptMsg = matMsg.script();
+        for (auto const &uri : scriptMsg.uri())
+        {
+          if (!uri.empty())
+            RenderEngine::Instance()->AddResourcePath(uri);
+        }
+        std::string matName = scriptMsg.name();
+        this->dataPtr->terrain->SetMaterial(matName);
+      }
+    }
+    this->dataPtr->terrain->SetLOD(this->dataPtr->heightmapLOD);
+    const double skirtLen = this->dataPtr->heightmapSkirtLength;
+    this->dataPtr->terrain->SetSkirtLength(skirtLen);
+    this->dataPtr->terrain->LoadFromMsg(_msg);
+  }
   visual->SetType(_type);
 
   this->dataPtr->visuals[visual->GetId()] = visual;
@@ -3407,6 +3418,14 @@ void Scene::RemoveVisual(uint32_t _id)
   if (iter != this->dataPtr->visuals.end())
   {
     VisualPtr vis = iter->second;
+    // Remove the terrain object if this is the heightmap visual
+    if (this->dataPtr->terrainVisualId &&
+        *this->dataPtr->terrainVisualId == _id)
+    {
+      delete this->dataPtr->terrain;
+      this->dataPtr->terrain = NULL;
+      this->dataPtr->terrainVisualId.reset();
+    }
     // Remove all projectors attached to the visual
     auto piter = this->dataPtr->projectors.begin();
     while (piter != this->dataPtr->projectors.end())

gazebo/rendering/ScenePrivate.hh

@@ -22,6 +22,7 @@
 #include <map>
 #include <memory>
 #include <mutex>
+#include <optional>
 #include <string>
 #include <vector>
 
@@ -309,6 +310,9 @@ namespace gazebo
       /// \brief True if this scene is running on the server.
       public: bool isServer;
 
+      /// \brief Terrain Visual Id.
+      public: std::optional<uint32_t> terrainVisualId;
+
       /// \brief The heightmap, if any.
       public: Heightmap *terrain = nullptr;