Merge pull request #383 from robotology/feature/fortress

Bump Ignition distribution to Fortress

.docker/cicd-devel.Dockerfile

@@ -5,7 +5,7 @@ RUN pip3 install vcstool colcon-common-extensions &&\
     rm -r $HOME/.cache/pip
 
 ARG CMAKE_BUILD_TYPE="Release"
-ARG ignition_codename="edifice"
+ARG ignition_codename="fortress"
 ARG IGNITION_DEFAULT_CHANNEL="stable"
 
 RUN echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-${IGNITION_DEFAULT_CHANNEL} `lsb_release -cs` main" > \

.docker/cicd-master.Dockerfile

@@ -2,7 +2,7 @@ ARG from=diegoferigo/gym-ignition:base
 FROM ${from}
 
 # Install ignition gazebo
-ARG ignition_codename="edifice"
+ARG ignition_codename="fortress"
 RUN echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" \
         > /etc/apt/sources.list.d/gazebo-stable.list &&\
     wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add - &&\

.docker/docker-compose.yml

@@ -40,7 +40,7 @@ services:
     build:
       args:
         from: diegoferigo/gym-ignition:base
-        ignition_codename: edifice
+        ignition_codename: fortress
         CMAKE_BUILD_TYPE: Debug
       context: .
       dockerfile: cicd-devel.Dockerfile
@@ -50,7 +50,7 @@ services:
     build:
       args:
         from: diegoferigo/gym-ignition:base
-        ignition_codename: edifice
+        ignition_codename: fortress
         CMAKE_BUILD_TYPE: Release
       context: .
       dockerfile: cicd-devel.Dockerfile

.github/workflows/cicd.yml

@@ -22,8 +22,8 @@ jobs:
       matrix:
         ignition:
           # - dome
-          - edifice
-          # - fortress
+          # - edifice
+          - fortress
     env:
       CCACHE_DIR: ${{ github.workspace }}/.ccache
     steps:
@@ -133,8 +133,8 @@ jobs:
           - Developer
         ignition:
           # - dome
-          - edifice
-          # - fortress
+          # - edifice
+          - fortress
         python:
           - 3.8
           - 3.9
@@ -250,13 +250,13 @@ jobs:
 
       # User installation
       - name: '[👤|user] Create wheel (default ignition)'
-        if: matrix.type == 'User' && matrix.ignition == 'edifice'
+        if: matrix.type == 'User' && matrix.ignition == 'fortress'
         shell: bash -i -e {0}
         run: pip wheel --use-feature=in-tree-build -v -w dist/ ./scenario
       # Note: Calling "pip wheel" with "--global-option" forces all dependencies to be built from their sdist.
       #       Since it's very slow, we create the wheel from setup.py without isolation (requires system deps).
       - name: '[👤|user] Create wheel (custom ignition)'
-        if: matrix.type == 'User' && matrix.ignition != 'edifice'
+        if: matrix.type == 'User' && matrix.ignition != 'fortress'
         shell: bash -i -e {0}
         run: |
           pip install wheel setuptools-scm cmake-build-extension
@@ -331,7 +331,7 @@ jobs:
 
       - name: '⬆️ Upload artifacts'
         uses: actions/upload-artifact@v2
-        if: matrix.type == 'User' && matrix.ignition == 'edifice'
+        if: matrix.type == 'User' && matrix.ignition == 'fortress'
         with:
           path: dist/*
           name: dist
@@ -371,7 +371,7 @@ jobs:
 
       - name: '⬆️ Upload website folder'
         uses: actions/upload-artifact@v2
-        if: matrix.type == 'User' && matrix.ignition == 'edifice' && contains(matrix.os, 'ubuntu')
+        if: matrix.type == 'User' && matrix.ignition == 'fortress' && contains(matrix.os, 'ubuntu')
         with:
           path: build/html
           name: website

docs/sphinx/info/faq.rst

@@ -44,7 +44,7 @@ On GNU/Linux distributions that ship an old OpenGL version, the GUI could fail t
 error like *Unable to create the rendering window*.
 The reason is that Ignition Gazebo has `ogre-next <https://github.com/OGRECave/ogre-next>`_
 (also known as ogre2) as default rendering engine, and it requires OpenGL greater than 3.3.
-You can find more details `here <https://github.com/ignitionrobotics/docs/blob/master/edifice/troubleshooting.md#unable-to-create-the-rendering-window>`_.
+You can find more details `here <https://github.com/ignitionrobotics/docs/blob/master/fortress/troubleshooting.md#unable-to-create-the-rendering-window>`_.
 
 The workaround we recommend is modifying the file ``~/.ignition/gazebo/gui.config`` as follows:
 

docs/sphinx/installation/support_policy.rst

@@ -12,16 +12,16 @@ We do not yet provide official support to other operating systems.
 
 The table below recaps the project requirements of the :ref:`Stable <installation_stable>` and :ref:`Nightly <installation_nightly>` channels:
 
-+-------------+-----------------+--------+---------------------+----------+------------+---------+
-| Channel     |       C++       | Python |      Ignition       |  Ubuntu  | macOS [*]_ | Windows |
-+=============+=================+========+=====================+==========+============+=========+
-| **Stable**  | >= gcc8, clang6 | >= 3.8 | `Dome`_ (binary)    | >= 20.04 |     No     |    No   |
-+-------------+-----------------+--------+---------------------+----------+------------+---------+
-| **Nightly** | >= gcc8, clang6 | >= 3.8 | `Edifice`_ (source) | >= 20.04 |     No     |    No   |
-+-------------+-----------------+--------+---------------------+----------+------------+---------+
++-------------+-----------------+--------+----------------------+----------+------------+---------+
+| Channel     |       C++       | Python |      Ignition        |  Ubuntu  | macOS [*]_ | Windows |
++=============+=================+========+======================+==========+============+=========+
+| **Stable**  | >= gcc8, clang6 | >= 3.8 | `Dome`_ (binary)     | >= 20.04 |     No     |    No   |
++-------------+-----------------+--------+----------------------+----------+------------+---------+
+| **Nightly** | >= gcc8, clang6 | >= 3.8 | `Fortress`_ (source) | >= 20.04 |     No     |    No   |
++-------------+-----------------+--------+----------------------+----------+------------+---------+
 
 .. _`Dome`: https://ignitionrobotics.org/docs/dome/install
-.. _`Edifice`: https://ignitionrobotics.org/docs/edifice/install
+.. _`Fortress`: https://ignitionrobotics.org/docs/fortress/install
 
 .. [*] Ignition officially supports macOS and also ``gym-ignition`` could be installed on this platform.
        However, we do not currently test this configuration and we cannot guarantee support.

scenario/CMakeLists.txt

@@ -141,7 +141,11 @@ add_install_rpath_support(
 if(NOT IGNITION_DISTRIBUTION)
 
     include(FindIgnitionDistribution)
-    set(SUPPORTED_IGNITION_DISTRIBUTIONS "Edifice" "Dome" "Citadel")
+    set(SUPPORTED_IGNITION_DISTRIBUTIONS
+        "Fortress"
+        "Edifice"
+        "Dome"
+        "Citadel")
 
     foreach(distribution IN LISTS SUPPORTED_IGNITION_DISTRIBUTIONS)
 

scenario/cmake/FindIgnitionDistribution.cmake

@@ -8,6 +8,7 @@
 set(IGNITION-GAZEBO_CITADEL_VER 3)
 set(IGNITION-GAZEBO_DOME_VER 4)
 set(IGNITION-GAZEBO_EDIFICE_VER 5)
+set(IGNITION-GAZEBO_FORTRESS_VER 6)
 
 macro(find_ignition_distribution)
 

scenario/cmake/ImportTargetsFortress.cmake

@@ -0,0 +1,73 @@
+include(AliasImportedTarget)
+
+# https://ignitionrobotics.org/docs/fortress/install#fortress-libraries
+
+alias_imported_target(
+    PACKAGE_ORIG sdformat12
+    PACKAGE_DEST sdformat
+    TARGETS_ORIG sdformat12
+    TARGETS_DEST sdformat
+    NAMESPACE_ORIG sdformat12
+    NAMESPACE_DEST sdformat
+    REQUIRED TRUE
+    )
+
+alias_imported_target(
+    PACKAGE_ORIG ignition-gazebo6
+    PACKAGE_DEST ignition-gazebo
+    TARGETS_ORIG ignition-gazebo6 core
+    TARGETS_DEST ignition-gazebo  core
+    NAMESPACE_ORIG ignition-gazebo6
+    NAMESPACE_DEST ignition-gazebo
+    REQUIRED TRUE
+    )
+
+alias_imported_target(
+    PACKAGE_ORIG ignition-common4
+    PACKAGE_DEST ignition-common
+    TARGETS_ORIG ignition-common4
+    TARGETS_DEST ignition-common
+    NAMESPACE_ORIG ignition-common4
+    NAMESPACE_DEST ignition-common
+    REQUIRED TRUE
+    )
+
+alias_imported_target(
+    PACKAGE_ORIG ignition-sensors6-all
+    PACKAGE_DEST ignition-sensors-all
+    TARGETS_ORIG ignition-sensors6-all
+    TARGETS_DEST ignition-sensors-all
+    NAMESPACE_ORIG ignition-sensors6
+    NAMESPACE_DEST ignition-sensors
+    REQUIRED TRUE
+    )
+
+alias_imported_target(
+    PACKAGE_ORIG ignition-rendering6
+    PACKAGE_DEST ignition-rendering
+    TARGETS_ORIG ignition-rendering6
+    TARGETS_DEST ignition-rendering
+    NAMESPACE_ORIG ignition-rendering6
+    NAMESPACE_DEST ignition-rendering
+    REQUIRED TRUE
+    )
+
+alias_imported_target(
+    PACKAGE_ORIG ignition-gazebo6-rendering
+    PACKAGE_DEST ignition-gazebo-rendering
+    TARGETS_ORIG ignition-gazebo6-rendering
+    TARGETS_DEST ignition-gazebo-rendering
+    NAMESPACE_ORIG ignition-gazebo6
+    NAMESPACE_DEST ignition-gazebo
+    REQUIRED TRUE
+    )
+
+alias_imported_target(
+    PACKAGE_ORIG ignition-physics5
+    PACKAGE_DEST ignition-physics
+    TARGETS_ORIG ignition-physics5
+    TARGETS_DEST ignition-physics
+    NAMESPACE_ORIG ignition-physics5
+    NAMESPACE_DEST ignition-physics
+    REQUIRED TRUE
+    )

scenario/src/gazebo/src/World.cpp

@@ -131,7 +131,6 @@ class World::Impl
 
         {
             // Check that the model name is correct
-            assert(modelSdfRoot->ModelCount() == 1);
             std::string modelNameSDF = modelSdfRoot->Model()->Name();
             std::string modelNameEntity = utils::getExistingComponentData< //
                 ignition::gazebo::components::Name>(world.m_ecm, modelEntity);

tests/test_scenario/test_pid_controllers.py

@@ -45,15 +45,19 @@ def test_position_pid(default_world: Tuple[scenario.GazeboSimulator, scenario.Wo
     assert world.insert_model(panda_urdf)
     assert "panda" in world.model_names()
 
+    # Get the model and cast it to Gazebo
+    panda = world.get_model("panda").to_gazebo()
+
+    # Disable any velocity and torque limits of the model
+    _ = [j.set_velocity_limit(np.finfo(float).max) for j in panda.joints()]
+    _ = [j.set_max_generalized_force(np.finfo(float).max) for j in panda.joints()]
+
     # Show the GUI
     # import time
     # gazebo.gui()
     # gazebo.run(paused=True)
     # time.sleep(3)
 
-    # Get the model and cast it to Gazebo
-    panda = world.get_model("panda").to_gazebo()
-
     # Reset joint1 to its middle position
     joint1 = panda.get_joint("panda_joint1").to_gazebo()
     joint1_range = np.abs(joint1.position_limit().max - joint1.position_limit().min)

tests/test_scenario/test_velocity_direct.py

@@ -38,6 +38,11 @@ def test_velocity_direct(
     # Get the model and cast it to Gazebo
     pendulum = world.get_model("pendulum").to_gazebo()
 
+    # Disable any velocity (and torque) limits of the model, otherwise the velocity
+    # cannot change too abruptly
+    _ = [j.set_velocity_limit(np.finfo(float).max) for j in pendulum.joints()]
+    _ = [j.set_max_generalized_force(np.finfo(float).max) for j in pendulum.joints()]
+
     # Add some friction
     assert pendulum.get_joint("pivot").to_gazebo().set_coulomb_friction(value=0.01)
     assert pendulum.get_joint("pivot").to_gazebo().set_viscous_friction(value=0.2)
@@ -76,12 +81,9 @@ def test_velocity_direct(
     # Check again
     assert pivot.velocity() == pytest.approx(np.pi)
 
-    # Change direction abruptly.
-    # Due to existing joint velocity limits, it takes two steps to reach the target.
-    # Note: even by increasing the limit to its maximum value, two steps are necessary.
+    # Change direction abruptly
     assert pivot.set_velocity_target(velocity=-np.pi)
     assert gazebo.run()
-    assert gazebo.run()
     assert pivot.velocity() == pytest.approx(-np.pi)
 
     # Go in idle and make it swing