From 605041ef272840210fcab6a421640f4de9815994 Mon Sep 17 00:00:00 2001 From: "Addisu Z. Taddese" Date: Mon, 7 Aug 2023 12:48:33 -0500 Subject: [PATCH] Bumps in harmonic : ci_matching_branch/bump_harmonic_gz-physics7 (#526) * Bumps in harmonic : ci_matching_branch/bump_harmonic_gz-physics7 * Remove focal * Fix deprecation warning --------- Signed-off-by: Addisu Z. Taddese --- .github/ci-focal/before_cmake.sh | 8 -------- .github/ci/packages-focal.apt | 6 ------ .github/ci/packages.apt | 2 +- .github/workflows/ci.yml | 15 +++------------ CMakeLists.txt | 2 +- README.md | 6 +++--- test/common_test/free_joint_features.cc | 2 +- tutorials/06-physics-simulation-concepts.md | 16 ++++++++-------- 8 files changed, 17 insertions(+), 40 deletions(-) delete mode 100644 .github/ci-focal/before_cmake.sh delete mode 100644 .github/ci/packages-focal.apt diff --git a/.github/ci-focal/before_cmake.sh b/.github/ci-focal/before_cmake.sh deleted file mode 100644 index 363d1168b..000000000 --- a/.github/ci-focal/before_cmake.sh +++ /dev/null @@ -1,8 +0,0 @@ -#!/bin/sh -l - -set -x - -# Needed on Focal to get dart6-data for tests -apt -y install software-properties-common -apt-add-repository ppa:dartsim/ppa -apt -y install dart6-data diff --git a/.github/ci/packages-focal.apt b/.github/ci/packages-focal.apt deleted file mode 100644 index 4930c99c9..000000000 --- a/.github/ci/packages-focal.apt +++ /dev/null @@ -1,6 +0,0 @@ -libdart-collision-bullet-dev -libdart-collision-ode-dev -libdart-dev -libdart-external-ikfast-dev -libdart-external-odelcpsolver-dev -libdart-utils-urdf-dev diff --git a/.github/ci/packages.apt b/.github/ci/packages.apt index 25021c47a..c69befc53 100644 --- a/.github/ci/packages.apt +++ b/.github/ci/packages.apt @@ -7,4 +7,4 @@ libgz-math7-eigen3-dev libgz-plugin2-dev libgz-utils2-cli-dev libgz-utils2-dev -libsdformat13-dev +libsdformat14-dev diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index ca5392189..d8baec81f 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -3,25 +3,16 @@ name: Ubuntu CI on: [push, pull_request] jobs: - focal-ci: + jammy-ci: runs-on: ubuntu-latest - name: Ubuntu Focal CI + name: Ubuntu Jammy CI steps: - name: Checkout uses: actions/checkout@v3 - name: Compile and test id: ci - uses: gazebo-tooling/action-gz-ci@focal + uses: gazebo-tooling/action-gz-ci@jammy with: codecov-enabled: true cppcheck-enabled: true cpplint-enabled: true - jammy-ci: - runs-on: ubuntu-latest - name: Ubuntu Jammy CI - steps: - - name: Checkout - uses: actions/checkout@v3 - - name: Compile and test - id: ci - uses: gazebo-tooling/action-gz-ci@jammy diff --git a/CMakeLists.txt b/CMakeLists.txt index 157ce7e06..9806a0099 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -63,7 +63,7 @@ gz_find_package(EIGEN3 REQUIRED) #-------------------------------------- # Find SDFormat for the SDF features -gz_find_package(sdformat13 +gz_find_package(sdformat14 REQUIRED_BY sdf dartsim tpe bullet) #-------------------------------------- diff --git a/README.md b/README.md index ed164116b..3553985d3 100644 --- a/README.md +++ b/README.md @@ -9,9 +9,9 @@ Build | Status -- | -- -Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-physics/branch/gz-physics6/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-physics/branch/gz-physics6) -Ubuntu Focal | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_physics-ci-gz-physics6-focal-amd64)](https://build.osrfoundation.org/job/ignition_physics-ci-gz-physics6-focal-amd64) -Homebrew | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_physics-ci-gz-physics6-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_physics-ci-gz-physics6-homebrew-amd64) +Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-physics/branch/gz-physics7/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-physics/branch/gz-physics7) +Ubuntu Focal | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_physics-ci-gz-physics7-focal-amd64)](https://build.osrfoundation.org/job/ignition_physics-ci-gz-physics7-focal-amd64) +Homebrew | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_physics-ci-gz-physics7-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_physics-ci-gz-physics7-homebrew-amd64) Windows | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ign_physics-gz-6-win)](https://build.osrfoundation.org/job/ign_physics-gz-6-win) Gazebo Physics, a component of [Gazebo](https://gazebosim.org), provides an abstract physics interface diff --git a/test/common_test/free_joint_features.cc b/test/common_test/free_joint_features.cc index 9292fe66a..5c97e0559 100644 --- a/test/common_test/free_joint_features.cc +++ b/test/common_test/free_joint_features.cc @@ -85,7 +85,7 @@ ModelPtr GetModelFromAbsoluteName(const WorldPtr &_world, const std::string &_absoluteName) { std::vector names = - gz::common::split(_absoluteName, sdf::kSdfScopeDelimiter); + gz::common::split(_absoluteName, std::string(sdf::kScopeDelimiter)); if (names.empty()) { return nullptr; diff --git a/tutorials/06-physics-simulation-concepts.md b/tutorials/06-physics-simulation-concepts.md index 5acba250e..5eb040c4c 100644 --- a/tutorials/06-physics-simulation-concepts.md +++ b/tutorials/06-physics-simulation-concepts.md @@ -26,7 +26,7 @@ For a comprehensive tutorial for constructing your robot model from SDFormat, re In this tutorial, we will show how to manipulate and visualize some physics aspects using demos on Gazebo. -All demos can be found in [gz-sim/examples/worlds](https://github.com/gazebosim/gz-sim/blob/gz-sim7/examples/worlds/) folder. +All demos can be found in [gz-sim/examples/worlds](https://github.com/gazebosim/gz-sim/blob/gz-sim8/examples/worlds/) folder. ### Differential drive @@ -35,8 +35,8 @@ cars depending on physics engines and visualize the collision concept. To run the demo world, download the SDFormat file by: ```bash -wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-physics6/examples/worlds/diff_drive.sdf -P ~ -wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-physics6/examples/worlds/velocity_control.sdf -P ~ +wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-physics7/examples/worlds/diff_drive.sdf -P ~ +wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-physics7/examples/worlds/velocity_control.sdf -P ~ ``` Then run the simulation: @@ -100,7 +100,7 @@ The Lift Drag demo world shows how joint force, torque, and pressure are support Gazebo Physics. To run the demo, download by: ```bash -wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim7/examples/worlds/lift_drag.sdf -P ~ +wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/examples/worlds/lift_drag.sdf -P ~ ``` Run demo in Gazebo by: @@ -142,7 +142,7 @@ contains the following three models: To run the demo, download the Buoyancy demo to your home folder by: ```bash -wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim7/examples/worlds/buoyancy.sdf -P ~ +wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/examples/worlds/buoyancy.sdf -P ~ ``` Run demo on Gazebo by: @@ -167,7 +167,7 @@ movement by showing free swing of the pendulum. Download the Pendulum demo to your home folder by: ```bash -wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim7/examples/worlds/video_record_dbl_pendulum.sdf -P ~ +wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/examples/worlds/video_record_dbl_pendulum.sdf -P ~ ``` and start the Pendulum demo on Gazebo by: @@ -195,7 +195,7 @@ inertia to control object velocity. Download the Multicopter demo to your home folder by: ```bash -wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim7/examples/worlds/multicopter_velocity_control.sdf -P ~ +wget https://raw.githubusercontent.com/gazebosim/gz-sim/gz-sim8/examples/worlds/multicopter_velocity_control.sdf -P ~ ``` and start the Multicopter demo on Gazebo by: @@ -224,4 +224,4 @@ Do the same for the `X4` multicopter. After pressing the Play button, you will s both of the multicopters will ascend, this demonstrates how the physics engine utilizes model kinematics and dynamics to support simulating complex model and its controller. For more details about the multicopter controller, please see -[MulticopterVelocityControl.cc](https://github.com/gazebosim/gz-sim/blob/gz-sim7/src/systems/multicopter_control/MulticopterVelocityControl.cc). +[MulticopterVelocityControl.cc](https://github.com/gazebosim/gz-sim/blob/gz-sim8/src/systems/multicopter_control/MulticopterVelocityControl.cc).