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Bump in edifice: sdformat11 #191

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merged 5 commits into from
Jan 16, 2021
Merged

Bump in edifice: sdformat11 #191

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9c3f3f1
Bump in edifice: sdformat11
chapulina Jan 12, 2021
73481d7
codecheck
chapulina Jan 15, 2021
dcc91c0
Address SDF 11 deprecations
chapulina Jan 15, 2021
432380b
remove more initialvelocity
chapulina Jan 15, 2021
35ce927
Suppress warning
chapulina Jan 16, 2021
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2 changes: 1 addition & 1 deletion .github/ci/packages.apt
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Expand Up @@ -5,4 +5,4 @@ libignition-common3-dev
libignition-math6-dev
libignition-math6-eigen3-dev
libignition-plugin-dev
libsdformat10-dev
libsdformat11-dev
2 changes: 1 addition & 1 deletion CMakeLists.txt
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Expand Up @@ -56,7 +56,7 @@ ign_find_package(EIGEN3 REQUIRED)

#--------------------------------------
# Find SDFormat for the SDF features
ign_find_package(sdformat10
ign_find_package(sdformat11
REQUIRED_BY sdf dartsim tpe)

#--------------------------------------
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2 changes: 1 addition & 1 deletion bitbucket-pipelines.yml
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Expand Up @@ -35,7 +35,7 @@ pipelines:
libdart6-dev
libdart6-utils-urdf-dev
libbenchmark-dev
libsdformat10-dev
libsdformat11-dev
# libsdformat (uncomment if a specific branch is needed)
#- apt install -y
# libtinyxml-dev
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1 change: 1 addition & 0 deletions dartsim/src/EntityManagementFeatures.cc
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Expand Up @@ -19,6 +19,7 @@

#include <memory>
#include <string>
#include <unordered_map>

#include <dart/config.hpp>
#include <dart/collision/ode/OdeCollisionDetector.hpp>
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8 changes: 4 additions & 4 deletions dartsim/src/JointFeatures_TEST.cc
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Expand Up @@ -512,8 +512,8 @@ TEST_F(JointFeaturesFixture, JointAttachDetachSpawnedModel)
sdf::Root root;
sdf::Errors errors = root.LoadSdfString(model1Str);
ASSERT_TRUE(errors.empty()) << errors.front();
ASSERT_NE(nullptr, root.ModelByIndex(0));
world->ConstructModel(*root.ModelByIndex(0));
ASSERT_NE(nullptr, root.Model());
world->ConstructModel(*root.Model());
}

world->Step(output, state, input);
Expand All @@ -522,8 +522,8 @@ TEST_F(JointFeaturesFixture, JointAttachDetachSpawnedModel)
sdf::Root root;
sdf::Errors errors = root.LoadSdfString(model2Str);
ASSERT_TRUE(errors.empty()) << errors.front();
ASSERT_NE(nullptr, root.ModelByIndex(0));
world->ConstructModel(*root.ModelByIndex(0));
ASSERT_NE(nullptr, root.Model());
world->ConstructModel(*root.Model());
}

const std::string modelName1{"M1"};
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1 change: 0 additions & 1 deletion dartsim/src/SDFFeatures.cc
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Expand Up @@ -117,7 +117,6 @@ static void CopyStandardJointAxisProperties(
const int _index, Properties &_properties,
const ::sdf::JointAxis *_sdfAxis)
{
_properties.mInitialPositions[_index] = _sdfAxis->InitialPosition();
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this is deprecated but still functional; so I would keep this line and suppress its deprecation warnings (currently there are test failures because this was removed)

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The test has been fixed. I followed the approach being taken on #189.

I can suppress the warning instead if that's preferred. I'm not sure if there's a new approach to use or if this feature will just disappear when we use SDF 12. SDFormat's migration guide didn't list any replacements. Are we sure we want to remove the feature?

CC @azeey

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I think the replacement may be using the <state> element, but until we've articulated that I'd like to keep the feature working, since it is only deprecated at this point, not disabled. I'll add a comment to that effect on #189 as well.

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I'll add a comment to that effect on #189 as well.

https://github.com/ignitionrobotics/ign-physics/pull/189/files#r558691120

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macro to suppress deprecation warnings in gazebosim/gz-utils#5

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Suppressing the warning in a more traditional style while this library doesn't depend on ign-utils yet. I'd like to merge this ASAP to unblock upstream.

35ce927

_properties.mDampingCoefficients[_index] = _sdfAxis->Damping();
_properties.mFrictions[_index] = _sdfAxis->Friction();
_properties.mRestPositions[_index] = _sdfAxis->SpringReference();
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1 change: 0 additions & 1 deletion dartsim/src/SDFFeatures_TEST.cc
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Expand Up @@ -110,7 +110,6 @@ TEST(SDFFeatures_TEST, CheckDartsimData)
double upper, double maxForce, double maxVelocity)
{
EXPECT_DOUBLE_EQ(initialPos, dof->getPosition());
EXPECT_DOUBLE_EQ(initialPos, dof->getInitialPosition());
EXPECT_DOUBLE_EQ(damping, dof->getDampingCoefficient());
EXPECT_DOUBLE_EQ(friction, dof->getCoulombFriction());
EXPECT_DOUBLE_EQ(springRest, dof->getRestPosition());
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2 changes: 1 addition & 1 deletion tutorials/05_plugin_loading.md
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Expand Up @@ -95,7 +95,7 @@ for (const std::string &name : pluginNames)
}
```

### Setup CMakeLists.txt for building (Version: Dome, ign-physics3)
### Setup CMakeLists.txt for building (Version: Dome, ign-physics4)

Now create a file named `CMakeLists.txt` with your favorite editor and add these
lines for finding `ign-plugin` and `ign-physics` dependencies in Dome release:
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14 changes: 7 additions & 7 deletions tutorials/06-physics-simulation-concepts.md
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Expand Up @@ -70,9 +70,9 @@ second in Z-axis.

Note that the mechanism to move the car is different depending on the used physics
engine. Using [dartsim](https://github.com/ignitionrobotics/ign-physics/tree/master/dartsim),
the car is moved by applying force on the joints, please see [DiffDrive.cc](https://github.com/ignitionrobotics/ign-gazebo/blob/ign-gazebo4/src/systems/diff_drive/DiffDrive.cc#L333) code.
the car is moved by applying force on the joints, please see [DiffDrive.cc](https://github.com/ignitionrobotics/ign-gazebo/blob/ign-gazebo5/src/systems/diff_drive/DiffDrive.cc#L333) code.
Using [TPE](https://github.com/ignitionrobotics/ign-physics/tree/main/tpe),
TPE directly sets model velocity in [VelocityControl.cc](https://github.com/ignitionrobotics/ign-gazebo/blob/ign-gazebo4/src/systems/velocity_control/VelocityControl.cc#L117) code.
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note to self: check that these line numbers are still accurate

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they aren't, but I'll open an issue for that

TPE directly sets model velocity in [VelocityControl.cc](https://github.com/ignitionrobotics/ign-gazebo/blob/ign-gazebo5/src/systems/velocity_control/VelocityControl.cc#L117) code.

#### Monitoring the model and its links pose

Expand Down Expand Up @@ -137,7 +137,7 @@ and the blades will stop after some time due to friction.
The command applies a constant torque to the rotor rod, together with
the mechanism to compute the upward/downward lift and drag force due to the
wind pressure simulation supported by Ignition Physics, the cube is lifted.
For more detail, please see the [LiftDrag.cc](https://github.com/ignitionrobotics/ign-gazebo/blob/ign-gazebo4/src/systems/lift_drag/LiftDrag.cc)
For more detail, please see the [LiftDrag.cc](https://github.com/ignitionrobotics/ign-gazebo/blob/ign-gazebo5/src/systems/lift_drag/LiftDrag.cc)
code.

### Buoyancy
Expand All @@ -152,7 +152,7 @@ contains the following three models:
Please download the Buoyancy demo to your home folder by:

```bash
wget https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/ign-gazebo4/examples/worlds/buoyancy.sdf -P ~
wget https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/ign-gazebo5/examples/worlds/buoyancy.sdf -P ~
```

Like above, please start the Buoyancy demo on Ignition Gazebo by:
Expand All @@ -171,7 +171,7 @@ simulating fluid density and applying the force on the object in the fluid
proportional to its volume. Hence, you can change the model buoyancy by modifying its
inertia, please see [link specification](http://sdformat.org/spec?ver=1.7&elem=link).
For more detail on simulating buoyancy, please see the
[Buoyancy.cc](https://github.com/ignitionrobotics/ign-gazebo/blob/ign-gazebo4/src/systems/buoyancy/Buoyancy.cc)
[Buoyancy.cc](https://github.com/ignitionrobotics/ign-gazebo/blob/ign-gazebo5/src/systems/buoyancy/Buoyancy.cc)
code.

### Pendulum
Expand Down Expand Up @@ -209,7 +209,7 @@ inertia to control object velocity.
Please download the Multicopter demo to your home folder by:

```bash
wget https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/ign-gazebo4/examples/worlds/multicopter_velocity_control.sdf -P ~
wget https://raw.githubusercontent.com/ignitionrobotics/ign-gazebo/ign-gazebo5/examples/worlds/multicopter_velocity_control.sdf -P ~
```

and start the Multicopter demo on Ignition Gazebo by:
Expand Down Expand Up @@ -238,4 +238,4 @@ 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 detail about the multicopter controller, please see
[MulticopterVelocityControl.cc](https://github.com/ignitionrobotics/ign-gazebo/blob/ign-gazebo4/src/systems/multicopter_control/MulticopterVelocityControl.cc).
[MulticopterVelocityControl.cc](https://github.com/ignitionrobotics/ign-gazebo/blob/ign-gazebo5/src/systems/multicopter_control/MulticopterVelocityControl.cc).
2 changes: 1 addition & 1 deletion tutorials/07-implementing-a-physics-plugin.md
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Expand Up @@ -120,7 +120,7 @@ a plugin.
- The third argument is the `FeatureList`, specifying all the features that this
plugin provides, i.e. `HelloWorldFeatureList`

### Setup CMakeLists.txt for building (Version: Dome, ign-physics3)
### Setup CMakeLists.txt for building (Version: Dome, ign-physics4)

Now create a file named `CMakeLists.txt` with your favorite editor and add these
lines for finding `ign-plugin` and `ign-physics` dependencies for Dome release:
Expand Down