Merge 8 -> main #2334

iche033 · 2024-03-13T22:32:29Z

➡️ Forward port

Port gz-sim8 to main

Branch comparison: main...gz-sim8

Note to maintainers: Remember to Merge with commit (not squash-merge or rebase)

The Fuel model being tested has been updated on the Fuel server tests fail without this fix. Signed-off-by: Addisu Z. Taddese <[email protected]>

…des test Signed-off-by: Ian Chen <[email protected]> Signed-off-by: Addisu Z. Taddese <[email protected]>

Merge ign-gazebo3 ➡️ ign-gazebo6

Signed-off-by: Ian Chen <[email protected]>

Backport sensors system fixes

) Signed-off-by: ashbabu <[email protected]> Signed-off-by: Michael Carroll <[email protected]> Co-authored-by: Michael Carroll <[email protected]> Co-authored-by: Ian Chen <[email protected]>

Signed-off-by: Ian Chen <[email protected]>

…#2220) Signed-off-by: Addisu Z. Taddese <[email protected]>

Signed-off-by: Ian Chen <[email protected]>

Backport ActorTrajectoryNoMesh test fix

…InertiaCalculator::CalculateMassProperties()` function (#2182) * Added function to transform inertia matrix to COM using parallel axis theorem * Corrected mismatch of values in ixz and iyz calculation from integral * Added doc for TransformInertiaMatrixToCOM() function * Added correction for rotational offset of inertia matrix after transformation * Added cylinder with origin at bottom to test world * Fixed center of mass & inertia matrix calculation in CalculateMassProperties() * Added test for inertia calculation of cylinder with origin at the bottom * Updated input params of TransformInertiaMatrixToCOM() to const ref * Updated tutorial doc * Removed unused functions from the code --------- Signed-off-by: Jasmeet Singh <[email protected]>

Signed-off-by: Addisu Z. Taddese <[email protected]>

Signed-off-by: Steve Peters <[email protected]>

* Use on `push` only on stable branches to avoid duplicate runs * Update project automation Signed-off-by: Addisu Z. Taddese <[email protected]>

Signed-off-by: Steve Peters <[email protected]>

Part of #2243. Signed-off-by: Steve Peters <[email protected]>

Use the Mecanum wheel meshes from the "Mecanum lift" model on Gazebo Fuel in the mecanum_drive example world. Signed-off-by: Steve Peters <[email protected]>

Signed-off-by: Michael Carroll <[email protected]>

) * Temporary fix for #2165 until #2217 is resolved. Signed-off-by: Johan Rutgeerts <[email protected]> * Added comment to clarify the added code. Signed-off-by: Johan Rutgeerts <[email protected]> --------- Signed-off-by: Johan Rutgeerts <[email protected]>

The light on top of the vehicle was facing the wrong direction --------- Signed-off-by: Serkan Mazlum <[email protected]>

Signed-off-by: Ian Chen <[email protected]>

* Adding maritime tutorials. Signed-off-by: Carlos Agüero <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]> Co-authored-by: crvogt <[email protected]> Co-authored-by: Ian Chen <[email protected]>

* Buoyancy and hydrodynamics tutorials. Signed-off-by: Carlos Agüero <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]> Co-authored-by: crvogt <[email protected]> Co-authored-by: Ian Chen <[email protected]>

* Lander and lrauv tutorials. Signed-off-by: Carlos Agüero <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]> Co-authored-by: crvogt <[email protected]> Co-authored-by: Ian Chen <[email protected]>

* Adding a maritime surface vehicle tutorial. --------- Signed-off-by: Carlos Agüero <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]> Co-authored-by: crvogt <[email protected]> Co-authored-by: Ian Chen <[email protected]>

* Default CMA in LiftDrag pluginto zero The changes in #2189 have caused a regression for our upstream users. This fix disables moment calculations by defaulting Cma to zero. It should help mitigate some of the regression. There is also an [ongoing discussion](#2189 (comment)) as to whether the cos term should be cos^2 or cos. Signed-off-by: Arjo Chakravarty <[email protected]> * remove cos change to address one problem at a time Signed-off-by: Arjo Chakravarty <[email protected]> --------- Signed-off-by: Arjo Chakravarty <[email protected]>

Occurs when using USE_SYSTEM_PATHS_FOR_PYTHON_INSTALLATION flag. Signed-off-by: Øystein Sture <[email protected]>

Merge gz-sim7 ➡️ gz-sim8

This change allows for a simpler mapping from `MaterialColor` msg in gz to the much more cumbersome Visual msg. By doing this and adding a topic listener it allows users to rapidly change the colors of a entities visual material color components, including from the [ROS side using the gz bridge](gazebosim/ros_gz#486). This is especially useful for simulating status lighting. --------- Signed-off-by: Benjamin Perseghetti <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]>

Loading the rendering pipeline multiple times in a test doesn't seem to work well. This removes the Sensors system from the `non_rendering_sensors.sdf` file so that Ogre2 and the whole rendering pipeline is only loaded once. Signed-off-by: Addisu Z. Taddese <[email protected]>

Signed-off-by: Steve Peters <[email protected]>

Signed-off-by: Benjamin Perseghetti <[email protected]>

Edited gazebo.material file to remove multiple passes in solid colors. Refactored the parser based on Gazebo's style guide. Signed-off-by: Dharini Dutia <[email protected]> Signed-off-by: Dharini Dutia <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]>

Signed-off-by: Addisu Z. Taddese <[email protected]> Signed-off-by: Mabel Zhang <[email protected]> Signed-off-by: Ian Chen <[email protected]> Signed-off-by: Mabel Zhang <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]> Co-authored-by: Ian Chen <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]>

Signed-off-by: Addisu Z. Taddese <[email protected]>

Signed-off-by: Alessandro Croci <[email protected]>

Until SystemManager has the ability to unload system plugins, plugins require an explicit check of the validity of the entities used in the Update methods. Such a check was missing in OdometryPublisher, which led to non-critical but annoying errors in the console. --------- Signed-off-by: Anton Bogdanov <[email protected]>

Signed-off-by: Gabriel Arjones <[email protected]>

* Fix wget in maritime tutorials. Signed-off-by: Carlos Agüero <[email protected]>

Signed-off-by: Franco Cipollone <[email protected]>

Signed-off-by: Ian Chen <[email protected]>

iche033 · 2024-03-14T00:19:36Z

depends on gazebosim/gz-msgs#430

iche033 · 2024-03-16T02:31:53Z

The INTEGRATION_triggered_publisher test is failing because it's receiving more msgs than expected. The test also just started failing on main (failing build). It's likely due to gazebosim/gz-transport#479. If I revert to a gz-transport commit before the merge forward in gz-transport, the test passes.

Interestingly if I run just that problematic test by itself, it passes:

./build/gz-sim9/bin/INTEGRATION_triggered_publisher --gtest_filter="*InputMessagesTriggerServices*"

I think it could be that the test is getting msgs from previous test that uses the same topic name, cc @caguero

Not sure if we should fix the test here or if this exposes an issue in gz-transport

Edit: found the PR that cause the test to fail: gazebosim/gz-transport#470. I think gz-transport is doing what it's supposed to do.

azeey · 2024-03-16T03:54:28Z

I also noticed this and went down a rabbit hole. It turns out gz::transport:NodeShared in gz-transport is never destroyed. I thought when all the gz::transport::Node were destroyed, NodeShared would be destroyed as well, but this is not the case, so there is a good chance for tests to interfere with each other. I've worked on a potential solution: gazebosim/gz-transport@gz-transport13...azeey:gz-transport:shared_ptr_for_nodeshared It fixes INTEGRATION_triggered_publisher for me.

azeey · 2024-03-21T00:03:19Z

INTEGRATION_triggered_publisher is also failing on gz-sim8 now (cc @claraberendsen). I'm fairly happy with gazebosim/gz-transport#484, but we probably need a few eyes on it.

iche033 · 2024-03-29T00:05:38Z

I think the gz-transport issue may take some time to fix. Can we get this in first?

azeey and others added 30 commits October 3, 2023 18:38

Bump Fuel model version in test (#2190)

4f8fcda

The Fuel model being tested has been updated on the Fuel server tests fail without this fix. Signed-off-by: Addisu Z. Taddese <[email protected]>

Merge ign-gazebo3 into ign-gazebo6

85cbf82

fix INTEGRATION_save_world's SdfGeneratorFixture.ModelWithNestedInclu…

8511623

…des test Signed-off-by: Ian Chen <[email protected]> Signed-off-by: Addisu Z. Taddese <[email protected]>

Merge pull request #2191 from azeey/3_to_6

eaad78f

Merge ign-gazebo3 ➡️ ign-gazebo6

backport component inspector Vector3d width fix (#2195)

14b0f3b

Signed-off-by: Ian Chen <[email protected]>

Fix another deadlock in sensors system (#2141) (#2200)

2fd1b23

Signed-off-by: Ian Chen <[email protected]>

merge and fix conflicts

e7bc54e

Signed-off-by: Ian Chen <[email protected]>

Merge pull request #2210 from gazebosim/backport_sensors_fix

d7381e5

Backport sensors system fixes

Fix for sensor pointer null when navsat plugin in included in sdf (#2176

28728c9

) Signed-off-by: ashbabu <[email protected]> Signed-off-by: Michael Carroll <[email protected]> Co-authored-by: Michael Carroll <[email protected]> Co-authored-by: Ian Chen <[email protected]>

Update github issue template (#2222)

f818301

Signed-off-by: Ian Chen <[email protected]>

Fix macOS test failures by registering components in the core library (…

20ee4df

…#2220) Signed-off-by: Addisu Z. Taddese <[email protected]>

Relax pose check in actor no mesh test (#2196)

97450b6

Signed-off-by: Ian Chen <[email protected]>

Merge pull request #2225 from gazebosim/backport_actor_no_mesh_fix

2a9d86c

Backport ActorTrajectoryNoMesh test fix

Update friction parameters for skid steer example (#2235)

e0e02c4

Signed-off-by: Addisu Z. Taddese <[email protected]>

EnvironmentPreload: ignerr -> gzerr (#2245)

c73c12b

Signed-off-by: Steve Peters <[email protected]>

Update github action workflows (#2237)

7c786b2

* Use on `push` only on stable branches to avoid duplicate runs * Update project automation Signed-off-by: Addisu Z. Taddese <[email protected]>

environment_preload: fix windows compiler warnings (#2246)

81850ce

Signed-off-by: Steve Peters <[email protected]>

Disable distortion camera test on Linux (#2247)

14f8796

Part of #2243. Signed-off-by: Steve Peters <[email protected]>

mecanum_drive: use mesh wheels in example world (#2250)

3a21904

Use the Mecanum wheel meshes from the "Mecanum lift" model on Gazebo Fuel in the mecanum_drive example world. Signed-off-by: Steve Peters <[email protected]>

Fix DLL linkage/visibility issues (#2254)

a88340b

Signed-off-by: Michael Carroll <[email protected]>

Fix incorrect light direction in tunnel.sdf example (#2264)

8ec622d

The light on top of the vehicle was facing the wrong direction --------- Signed-off-by: Serkan Mazlum <[email protected]>

Update CI badges in README (#2271)

f8b1a46

Signed-off-by: Ian Chen <[email protected]>

Maritime tutorials 💧 - Part 1 of 4 (#2257)

66ae42c

* Adding maritime tutorials. Signed-off-by: Carlos Agüero <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]> Co-authored-by: crvogt <[email protected]> Co-authored-by: Ian Chen <[email protected]>

Maritime tutorials 💧 - Part 3 of 4 (#2259)

beada29

* Lander and lrauv tutorials. Signed-off-by: Carlos Agüero <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]> Co-authored-by: crvogt <[email protected]> Co-authored-by: Ian Chen <[email protected]>

Install the Python libs to system site-packages instead of root (#2274)

9f677bf

Occurs when using USE_SYSTEM_PATHS_FOR_PYTHON_INSTALLATION flag. Signed-off-by: Øystein Sture <[email protected]>

azeey and others added 14 commits January 22, 2024 10:24

Merge pull request #2293 from azeey/7_to_8

a267a68

Merge gz-sim7 ➡️ gz-sim8

Explicitly check SKIP_PYBIND11 for python bindings (#2298)

f28f679

Signed-off-by: Steve Peters <[email protected]>

Light entity match SDF boolean for UserCommands. (#2295)

a4dc7c4

Signed-off-by: Benjamin Perseghetti <[email protected]>

Prepare for 8.1.0 (#2308)

ab458ba

Signed-off-by: Addisu Z. Taddese <[email protected]>

Fix typo in Joint.hh (#2310)

633ce72

Signed-off-by: Alessandro Croci <[email protected]>

Add entity and sdf parameters to Server's AddSystem interface (#2324)

2ca64d0

Signed-off-by: Gabriel Arjones <[email protected]>

Fix wget in maritime tutorials (#2330)

7143110

* Fix wget in maritime tutorials. Signed-off-by: Carlos Agüero <[email protected]>

Add reference to joint_controller.md tutorial. (#2333)

b482a2d

Signed-off-by: Franco Cipollone <[email protected]>

merge from gz-sim8

220236f

Signed-off-by: Ian Chen <[email protected]>

iche033 requested review from mabelzhang and mjcarroll as code owners March 13, 2024 22:32

github-actions bot added the 🏛️ ionic Gazebo Ionic label Mar 13, 2024

iche033 changed the title ~~Merge 8 main 20240313~~ Merge 8 -> main Mar 13, 2024

merge from gz-sim8

295d6f9

Signed-off-by: Ian Chen <[email protected]>

iche033 force-pushed the merge_8_main_20240313 branch from 97a04de to 295d6f9 Compare March 13, 2024 22:38

azeey mentioned this pull request Mar 18, 2024

Use std::shared_ptr for gz::transport::NodeShared gazebosim/gz-transport#484

Merged

8 tasks

caguero approved these changes Apr 1, 2024

View reviewed changes

bperseghetti approved these changes Apr 1, 2024

View reviewed changes

iche033 merged commit 250c939 into main Apr 1, 2024
3 of 6 checks passed

iche033 deleted the merge_8_main_20240313 branch April 1, 2024 20:08

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Merge 8 -> main #2334

Merge 8 -> main #2334

iche033 commented Mar 13, 2024

iche033 commented Mar 14, 2024

iche033 commented Mar 16, 2024 •

edited

Loading

azeey commented Mar 16, 2024

azeey commented Mar 21, 2024

iche033 commented Mar 29, 2024

Merge 8 -> main #2334

Merge 8 -> main #2334

Conversation

iche033 commented Mar 13, 2024

➡️ Forward port

iche033 commented Mar 14, 2024

iche033 commented Mar 16, 2024 • edited Loading

azeey commented Mar 16, 2024

azeey commented Mar 21, 2024

iche033 commented Mar 29, 2024

iche033 commented Mar 16, 2024 •

edited

Loading