gz-physics: Implement a custom feature

[azeey-test]

Configuration

• os: Ubuntu Noble

Links

• Live
• Source

Process

Step 1 - Instructions work

Step 2 - Images (if there are any) match the result

[shameekganguly]

I'd like to test this one!

[Combuster54]

Folder structure of the plugins

dartsim folder doesn't have include folder, everything is inside src

Plugin and feature requirements

FindFreeGroupFeature doesn't have a link, is this correct?

Implement the custom feature

CustomFeatures.hh and cc has the same sintax as the tutorial.

is it a way to test it?

[Combuster54]

In order to follow the structure of the first photo. I change this line in CMakeLists.txt

target_include_directories(${features} SYSTEM INTERFACE ${DART_INCLUDE_DIRS})

to

target_include_directories(${features} SYSTEM INTERFACE
  ${DART_INCLUDE_DIRS}
  ${CMAKE_CURRENT_SOURCE_DIR}/include/gz/physics/dartsim
)

then I move all the headers into the correct folder

Finally, I need to change includes to follow the new path

example:

#include "CustomFeatures.hh"

to

#include "gz/physics/dartsim/CustomFeatures.hh"

results

combuster@combuster54:~/test/gz-physics/build$ cmake ..
-- gz-physics8 version 8.0.0~pre2
-- Operating system is Linux
-- Found CPack generators: DEB
-- 

-- ====== Finding Dependencies ======
-- Looking for gz-common6 -- found version 6.0.0~pre2
-- Searching for dependencies of gz-common6
-- Looking for gz-utils3 -- found version 3.0.0~pre3
-- Searching for dependencies of gz-utils3
-- Searching for <gz-utils3> component [log]
-- Looking for gz-utils3-log -- found version 3.0.0~pre3
-- Searching for dependencies of gz-utils3-log
-- Checking for module 'uuid'
--   Found uuid, version 2.39.3
-- Searching for <gz-common6> component [geospatial]
-- Looking for gz-common6-geospatial -- found version 6.0.0~pre2
-- Searching for dependencies of gz-common6-geospatial
-- Looking for gz-math8 -- found version 8.0.0~pre1
-- Searching for dependencies of gz-math8
-- Looking for gz-utils3 -- found version 3.0.0~pre3
-- Looking for gz-common6 -- found version 6.0.0~pre2
-- Searching for dependencies of gz-common6
-- Looking for gz-utils3 -- found version 3.0.0~pre3
-- Searching for <gz-common6> component [graphics]
-- Looking for gz-common6-graphics -- found version 6.0.0~pre2
-- Searching for dependencies of gz-common6-graphics
-- Looking for gz-math8 -- found version 8.0.0~pre1
-- Searching for <gz-common6> component [graphics]
-- Searching for <gz-common6> component [profiler]
-- Looking for gz-common6-profiler -- found version 6.0.0~pre2
-- Searching for dependencies of gz-common6-profiler
-- Looking for gz-common6 - found

-- Looking for gz-common6 -- found version 6.0.0~pre2
-- Searching for dependencies of gz-common6
-- Looking for gz-utils3 -- found version 3.0.0~pre3
-- Searching for <gz-common6> component [testing]
-- Looking for gz-common6-testing -- found version 6.0.0~pre2
-- Searching for dependencies of gz-common6-testing
-- Looking for gz-common6 - found

-- Looking for gz-math8 -- found version 8.0.0~pre1
-- Searching for dependencies of gz-math8
-- Looking for gz-utils3 -- found version 3.0.0~pre3
-- Searching for <gz-math8> component [eigen3]
-- Looking for gz-math8-eigen3 -- found version 8.0.0~pre1
-- Searching for dependencies of gz-math8-eigen3
-- Looking for gz-math8 - found

-- Looking for gz-plugin3 -- found version 3.0.0~pre1
-- Searching for dependencies of gz-plugin3
-- Looking for gz-utils3 -- found version 3.0.0~pre3
-- Searching for dependencies of gz-utils3
-- Searching for <gz-utils3> component [cli]
-- Looking for gz-utils3-cli -- found version 3.0.0~pre3
-- Searching for dependencies of gz-utils3-cli
-- Searching for <gz-plugin3> component [all]
-- Looking for all libraries of gz-plugin3 -- found version 3.0.0~pre1
-- Looking for gz-plugin3 -- found version 3.0.0~pre1
-- Looking for gz-plugin3-loader -- found version 3.0.0~pre1
-- Searching for dependencies of gz-plugin3-loader
-- Looking for gz-plugin3-register -- found version 3.0.0~pre1
-- Searching for dependencies of gz-plugin3-register
-- Looking for gz-plugin3 - found

-- Looking for gz-utils3 -- found version 3.0.0~pre3
-- Looking for gz-utils3 - found

-- Looking for EIGEN3 - found

-- Looking for sdformat15 -- found version 15.0.0~pre2
-- Searching for dependencies of sdformat15
-- Checking for module 'tinyxml2'
--   Found tinyxml2, version 10.0.0
-- Looking for gz-math8 -- found version 8.0.0~pre1
-- Looking for gz-utils3 -- found version 3.0.0~pre3
-- Looking for sdformat15 - found

-- Could NOT find DART (missing: DART_DIR)
-- Looking for DART - not found

-- Looking for GzBullet - found

-- -------------------------------------------

CMake Warning at /usr/share/cmake/gz-cmake4/cmake4/GzConfigureBuild.cmake:59 (message):
   CONFIGURATION WARNINGS:
   -- Skipping component [dartsim]: Missing dependency [DART] (Components: collision-bullet, collision-ode, utils, utils-urdf).
      ^~~~~ Set SKIP_dartsim=true in cmake to suppress this warning.
   
Call Stack (most recent call first):
  CMakeLists.txt:107 (gz_configure_build)


-- 
-- Searching for host SSE information
-- SSE2 found
-- SSE3 found
-- SSE4.1 found
-- SSE4.2 found
-- Configuring library: gz-physics8
-- Adding 7 UNIT tests
CMake Warning at /usr/share/cmake/gz-cmake4/cmake4/GzBenchmark.cmake:69 (find_package):
  By not providing "Findbenchmark.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "benchmark", but CMake did not find one.

  Could not find a package configuration file provided by "benchmark" with
  any of the following names:

    benchmarkConfig.cmake
    benchmark-config.cmake

  Add the installation prefix of "benchmark" to CMAKE_PREFIX_PATH or set
  "benchmark_DIR" to a directory containing one of the above files.  If
  "benchmark" provides a separate development package or SDK, be sure it has
  been installed.
Call Stack (most recent call first):
  test/benchmark/CMakeLists.txt:7 (gz_add_benchmarks)


CMake Warning at /usr/share/cmake/gz-cmake4/cmake4/GzBenchmark.cmake:71 (message):
  Unable to find google benchmark (libbenchmark-dev).  Disabling benchmarks.
Call Stack (most recent call first):
  test/benchmark/CMakeLists.txt:7 (gz_add_benchmarks)


-- Checking for module 'bullet'
--   Found bullet, version 3.24
-- Adding 12 INTEGRATION tests
-- Adding 2 PERFORMANCE tests
-- No tests have been specified for REGRESSION
-- Configuring library: gz-physics8-sdf
-- Configuring library: gz-physics8-heightmap
-- Configuring library: gz-physics8-mesh
-- Skipping the component [dartsim] because the following packages are missing: DART
-- Configuring library: gz-physics8-tpelib
-- Adding 9 UNIT_tpelib tests
-- Configuring library: gz-physics8-tpe
-- Configuring library: gz-physics8-tpe-plugin
-- Adding 4 UNIT_tpe tests
-- Configuring library: gz-physics8-bullet
-- Configuring library: gz-physics8-bullet-plugin
-- Configuring library: gz-physics8-bullet-featherstone
-- Configuring library: gz-physics8-bullet-featherstone-plugin
-- The program [cppcheck] was not found! Skipping codecheck setup
-- Build configuration successful
-- Build type: RelWithDebInfo
-- Install prefix: /usr/local
-- Could NOT find Doxygen (missing: DOXYGEN_EXECUTABLE) 
-- Configuring done (1.1s)
-- Generating done (0.1s)
-- Build files have been written to: /home/combuster/test/gz-physics/build
combuster@combuster54:~/test/gz-physics/build$ make
[  5%] Built target gz-physics8
[  6%] Built target gtest
[  7%] Built target gtest_main
[  8%] Built target UNIT_Cloneable_TEST
[  9%] Built target UNIT_CompositeData_TEST
[ 10%] Built target UNIT_FeatureList_TEST
[ 11%] Built target UNIT_Feature_TEST
[ 12%] Built target UNIT_FilterTuple_TEST
[ 14%] Built target UNIT_FindFeatures_TEST
[ 15%] Built target UNIT_SpecifyData_TEST
[ 16%] Built target COMMON_TEST_added_mass
[ 17%] Built target COMMON_TEST_addexternalforcetorque
[ 18%] Built target COMMON_TEST_basic_test
[ 19%] Built target COMMON_TEST_collisions
[ 20%] Built target COMMON_TEST_construct_empty_world
[ 21%] Built target COMMON_TEST_detachable_joint
[ 23%] Built target COMMON_TEST_free_joint_features
[ 25%] Built target COMMON_TEST_joint_features
[ 26%] Built target COMMON_TEST_joint_mimic_features
[ 27%] Built target COMMON_TEST_joint_transmitted_wrench_features
[ 28%] Built target COMMON_TEST_kinematic_features
[ 29%] Built target COMMON_TEST_link_features
[ 31%] Built target COMMON_TEST_shape_features
[ 32%] Built target COMMON_TEST_simulation_features
[ 33%] Built target COMMON_TEST_world_features
[ 34%] Built target MockEntities
[ 35%] Built target MockFrames
[ 36%] Built target MockJoints
[ 37%] Built target INTEGRATION_CanReadWrite
[ 41%] Built target FAKE_INSTALL
[ 42%] Built target INTEGRATION_ExamplesBuild_TEST
[ 43%] Built target INTEGRATION_FeatureSystem
[ 45%] Built target INTEGRATION_FrameSemantics2d
[ 46%] Built target INTEGRATION_FrameSemantics2f
[ 47%] Built target INTEGRATION_FrameSemantics3d
[ 48%] Built target INTEGRATION_FrameSemantics3f
[ 50%] Built target INTEGRATION_JointTypes2d
[ 51%] Built target INTEGRATION_JointTypes2f
[ 52%] Built target INTEGRATION_JointTypes3d
[ 54%] Built target INTEGRATION_JointTypes3f
[ 55%] Built target INTEGRATION_RequestFeatures
[ 56%] Built target PERFORMANCE_ExpectData
[ 58%] Built target PERFORMANCE_symbol_names
[ 65%] Built target gz-physics8-tpelib
[ 66%] Built target UNIT_tpelib_AABBTree_TEST
[ 68%] Built target UNIT_tpelib_CollisionDetector_TEST
[ 69%] Built target UNIT_tpelib_Collision_TEST
[ 70%] Built target UNIT_tpelib_Engine_TEST
[ 71%] Built target UNIT_tpelib_Link_TEST
[ 72%] Built target UNIT_tpelib_Model_TEST
[ 73%] Built target UNIT_tpelib_Shape_TEST
[ 76%] Built target UNIT_tpelib_Utils_TEST
[ 77%] Built target UNIT_tpelib_World_TEST
[ 83%] Built target gz-physics8-tpe-plugin
[ 84%] Built target UNIT_tpe_Base_TEST
[ 85%] Built target UNIT_tpe_EntityManagement_TEST
[ 86%] Built target UNIT_tpe_SDFFeatures_TEST
[ 87%] Built target UNIT_tpe_SimulationFeatures_TEST
[ 92%] Built target gz-physics8-bullet-plugin
[100%] Built target gz-physics8-bullet-featherstone-plugin

is it okay?

[iche033]

I think this tutorial is quite outdated. Created gazebosim/gz-physics#685