merged ign-gazebo6 to gz-sim7

Signed-off-by: Nate Koenig <[email protected]>
gazebosim · Nov 11, 2022 · 878625d · 878625d
2 parents 39520a1 + 216d5a5
commit 878625d
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diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
@@ -1 +1 @@
-See the [Gazebo contributing guide](https://gazebosim.org/docs/all/contributing).
+See [Gazebo's contribution guide](https://gazebosim.org/docs/all/contributing).
diff --git a/Changelog.md b/Changelog.md
diff --git a/Migration.md b/Migration.md
@@ -59,6 +59,13 @@ message's header.
    + In the Hydrodynamics plugin, inverted the added mass contribution to make it
      act in the correct direction.
 
+
+## Gazebo Sim 6.11.X to 6.12.X
+
+ * **Modified**:
+   + In the Hydrodynamics plugin, inverted the added mass contribution to make it
+     act in the correct direction.
+
 ## Gazebo Sim 6.1 to 6.2
 
 * If no `<namespace>` is given to the `Thruster` plugin, the namespace now

diff --git a/examples/worlds/tunnel.sdf b/examples/worlds/tunnel.sdf
@@ -1,11 +1,6 @@
 <?xml version="1.0" ?>
 <!--
   World containing a long tunnel and a vehicle.
-
-  Run with `--levels` for the tunnels to load and unload as the vehicle moves.
-
-  Use the WASDX keys to drive the vehicle.
-
 -->
 <sdf version="1.6">
   <world name="diff_drive">

diff --git a/src/Component_TEST.cc b/src/Component_TEST.cc
@@ -332,7 +332,7 @@ TEST_F(ComponentTest, OStream)
     EXPECT_EQ("Mass: 0", ostr.str());
   }
 
-  // Component with a gz::msgs type that gets serialized by the default
+  // Component with a msgs type that gets serialized by the default
   // serializer
   {
     using Custom = components::Component<msgs::Int32, class CustomTag,
@@ -484,7 +484,7 @@ TEST_F(ComponentTest, IStream)
     EXPECT_DOUBLE_EQ(200, comp.Data()->MassMatrix().Mass());
   }
 
-  // Component with a gz::msgs type that gets deserialized by the message
+  // Component with a msgs type that gets deserialized by the message
   // deserializer
   {
     using Custom = components::Component<msgs::Int32, class CustomTag,

diff --git a/src/Conversions.cc b/src/Conversions.cc
@@ -685,7 +685,7 @@ msgs::Time gz::sim::convert(
 {
   msgs::Time out;
 
-  auto secNsec = gz::math::durationToSecNsec(_in);
+  auto secNsec = math::durationToSecNsec(_in);
 
   out.set_sec(secNsec.first);
   out.set_nsec(secNsec.second);
@@ -907,7 +907,7 @@ sdf::Atmosphere gz::sim::convert(const msgs::Atmosphere &_in)
 void gz::sim::set(msgs::Time *_msg,
     const std::chrono::steady_clock::duration &_in)
 {
-  auto secNsec = gz::math::durationToSecNsec(_in);
+  auto secNsec = math::durationToSecNsec(_in);
   _msg->set_sec(secNsec.first);
   _msg->set_nsec(secNsec.second);
 }
@@ -1062,17 +1062,17 @@ msgs::Sensor gz::sim::convert(const sdf::Sensor &_in)
       msgs::MagnetometerSensor *sensor = out.mutable_magnetometer();
       if (_in.MagnetometerSensor()->XNoise().Type() != sdf::NoiseType::NONE)
       {
-        gz::sim::set(sensor->mutable_x_noise(),
+        sim::set(sensor->mutable_x_noise(),
             _in.MagnetometerSensor()->XNoise());
       }
       if (_in.MagnetometerSensor()->YNoise().Type() != sdf::NoiseType::NONE)
       {
-        gz::sim::set(sensor->mutable_y_noise(),
+        sim::set(sensor->mutable_y_noise(),
             _in.MagnetometerSensor()->YNoise());
       }
       if (_in.MagnetometerSensor()->ZNoise().Type() != sdf::NoiseType::NONE)
       {
-        gz::sim::set(sensor->mutable_z_noise(),
+        sim::set(sensor->mutable_z_noise(),
             _in.MagnetometerSensor()->ZNoise());
       }
     }
@@ -1160,13 +1160,13 @@ msgs::Sensor gz::sim::convert(const sdf::Sensor &_in)
       if (_in.AltimeterSensor()->VerticalPositionNoise().Type()
           != sdf::NoiseType::NONE)
       {
-        gz::sim::set(sensor->mutable_vertical_position_noise(),
+        sim::set(sensor->mutable_vertical_position_noise(),
             _in.AltimeterSensor()->VerticalPositionNoise());
       }
       if (_in.AltimeterSensor()->VerticalVelocityNoise().Type()
           != sdf::NoiseType::NONE)
       {
-        gz::sim::set(sensor->mutable_vertical_velocity_noise(),
+        sim::set(sensor->mutable_vertical_velocity_noise(),
             _in.AltimeterSensor()->VerticalVelocityNoise());
       }
     }
@@ -1185,7 +1185,7 @@ msgs::Sensor gz::sim::convert(const sdf::Sensor &_in)
       if (_in.AirPressureSensor()->PressureNoise().Type()
           != sdf::NoiseType::NONE)
       {
-        gz::sim::set(sensor->mutable_pressure_noise(),
+        sim::set(sensor->mutable_pressure_noise(),
             _in.AirPressureSensor()->PressureNoise());
       }
       sensor->set_reference_altitude(
@@ -1206,38 +1206,38 @@ msgs::Sensor gz::sim::convert(const sdf::Sensor &_in)
 
       if (sdfImu->LinearAccelerationXNoise().Type() != sdf::NoiseType::NONE)
       {
-        gz::sim::set(
+        sim::set(
             sensor->mutable_linear_acceleration()->mutable_x_noise(),
             sdfImu->LinearAccelerationXNoise());
       }
       if (sdfImu->LinearAccelerationYNoise().Type() != sdf::NoiseType::NONE)
       {
-        gz::sim::set(
+        sim::set(
             sensor->mutable_linear_acceleration()->mutable_y_noise(),
             sdfImu->LinearAccelerationYNoise());
       }
       if (sdfImu->LinearAccelerationZNoise().Type() != sdf::NoiseType::NONE)
       {
-        gz::sim::set(
+        sim::set(
             sensor->mutable_linear_acceleration()->mutable_z_noise(),
             sdfImu->LinearAccelerationZNoise());
       }
 
       if (sdfImu->AngularVelocityXNoise().Type() != sdf::NoiseType::NONE)
       {
-        gz::sim::set(
+        sim::set(
             sensor->mutable_angular_velocity()->mutable_x_noise(),
             sdfImu->AngularVelocityXNoise());
       }
       if (sdfImu->AngularVelocityYNoise().Type() != sdf::NoiseType::NONE)
       {
-        gz::sim::set(
+        sim::set(
             sensor->mutable_angular_velocity()->mutable_y_noise(),
             sdfImu->AngularVelocityYNoise());
       }
       if (sdfImu->AngularVelocityZNoise().Type() != sdf::NoiseType::NONE)
       {
-        gz::sim::set(
+        sim::set(
             sensor->mutable_angular_velocity()->mutable_z_noise(),
             sdfImu->AngularVelocityZNoise());
       }
@@ -1271,7 +1271,7 @@ msgs::Sensor gz::sim::convert(const sdf::Sensor &_in)
 
       if (sdfLidar->LidarNoise().Type() != sdf::NoiseType::NONE)
       {
-        gz::sim::set(sensor->mutable_noise(), sdfLidar->LidarNoise());
+        sim::set(sensor->mutable_noise(), sdfLidar->LidarNoise());
       }
       sensor->set_horizontal_samples(sdfLidar->HorizontalScanSamples());
       sensor->set_horizontal_resolution(sdfLidar->HorizontalScanResolution());
@@ -1318,17 +1318,17 @@ sdf::Sensor gz::sim::convert(const msgs::Sensor &_in)
     {
       if (_in.magnetometer().has_x_noise())
       {
-        sensor.SetXNoise(gz::sim::convert<sdf::Noise>(
+        sensor.SetXNoise(sim::convert<sdf::Noise>(
               _in.magnetometer().x_noise()));
       }
       if (_in.magnetometer().has_y_noise())
       {
-        sensor.SetYNoise(gz::sim::convert<sdf::Noise>(
+        sensor.SetYNoise(sim::convert<sdf::Noise>(
               _in.magnetometer().y_noise()));
       }
       if (_in.magnetometer().has_z_noise())
       {
-        sensor.SetZNoise(gz::sim::convert<sdf::Noise>(
+        sensor.SetZNoise(sim::convert<sdf::Noise>(
               _in.magnetometer().z_noise()));
       }
     }
@@ -1383,13 +1383,13 @@ sdf::Sensor gz::sim::convert(const msgs::Sensor &_in)
     {
       if (_in.altimeter().has_vertical_position_noise())
       {
-        sensor.SetVerticalPositionNoise(gz::sim::convert<sdf::Noise>(
+        sensor.SetVerticalPositionNoise(sim::convert<sdf::Noise>(
               _in.altimeter().vertical_position_noise()));
       }
 
       if (_in.altimeter().has_vertical_velocity_noise())
       {
-        sensor.SetVerticalVelocityNoise(gz::sim::convert<sdf::Noise>(
+        sensor.SetVerticalVelocityNoise(sim::convert<sdf::Noise>(
               _in.altimeter().vertical_velocity_noise()));
       }
     }
@@ -1408,7 +1408,7 @@ sdf::Sensor gz::sim::convert(const msgs::Sensor &_in)
     {
       if (_in.air_pressure().has_pressure_noise())
       {
-        sensor.SetPressureNoise(gz::sim::convert<sdf::Noise>(
+        sensor.SetPressureNoise(sim::convert<sdf::Noise>(
               _in.air_pressure().pressure_noise()));
       }
 
@@ -1432,19 +1432,19 @@ sdf::Sensor gz::sim::convert(const msgs::Sensor &_in)
         if (_in.imu().linear_acceleration().has_x_noise())
         {
           sensor.SetLinearAccelerationXNoise(
-              gz::sim::convert<sdf::Noise>(
+              sim::convert<sdf::Noise>(
                 _in.imu().linear_acceleration().x_noise()));
         }
         if (_in.imu().linear_acceleration().has_y_noise())
         {
           sensor.SetLinearAccelerationYNoise(
-              gz::sim::convert<sdf::Noise>(
+              sim::convert<sdf::Noise>(
                 _in.imu().linear_acceleration().y_noise()));
         }
         if (_in.imu().linear_acceleration().has_z_noise())
         {
           sensor.SetLinearAccelerationZNoise(
-              gz::sim::convert<sdf::Noise>(
+              sim::convert<sdf::Noise>(
                 _in.imu().linear_acceleration().z_noise()));
         }
       }
@@ -1454,19 +1454,19 @@ sdf::Sensor gz::sim::convert(const msgs::Sensor &_in)
         if (_in.imu().angular_velocity().has_x_noise())
         {
           sensor.SetAngularVelocityXNoise(
-              gz::sim::convert<sdf::Noise>(
+              sim::convert<sdf::Noise>(
                 _in.imu().angular_velocity().x_noise()));
         }
         if (_in.imu().angular_velocity().has_y_noise())
         {
           sensor.SetAngularVelocityYNoise(
-              gz::sim::convert<sdf::Noise>(
+              sim::convert<sdf::Noise>(
                 _in.imu().angular_velocity().y_noise()));
         }
         if (_in.imu().angular_velocity().has_z_noise())
         {
           sensor.SetAngularVelocityZNoise(
-              gz::sim::convert<sdf::Noise>(
+              sim::convert<sdf::Noise>(
                 _in.imu().angular_velocity().z_noise()));
         }
       }
@@ -1523,7 +1523,7 @@ sdf::Sensor gz::sim::convert(const msgs::Sensor &_in)
 
       if (_in.lidar().has_noise())
       {
-        sensor.SetLidarNoise(gz::sim::convert<sdf::Noise>(
+        sensor.SetLidarNoise(sim::convert<sdf::Noise>(
               _in.lidar().noise()));
       }
     }

diff --git a/src/Conversions_TEST.cc b/src/Conversions_TEST.cc
@@ -58,8 +58,8 @@ TEST(Conversions, Light)
   light.SetPoseRelativeTo("world");
   light.SetCastShadows(true);
   light.SetVisualize(true);
-  light.SetDiffuse(gz::math::Color(0.4f, 0.5f, 0.6f, 1.0));
-  light.SetSpecular(gz::math::Color(0.8f, 0.9f, 0.1f, 1.0));
+  light.SetDiffuse(math::Color(0.4f, 0.5f, 0.6f, 1.0));
+  light.SetSpecular(math::Color(0.8f, 0.9f, 0.1f, 1.0));
   light.SetAttenuationRange(3.2);
   light.SetConstantAttenuationFactor(0.5);
   light.SetLinearAttenuationFactor(0.1);
@@ -246,11 +246,11 @@ TEST(Conversions, Time)
 TEST(Conversions, Material)
 {
   sdf::Material material;
-  material.SetDiffuse(gz::math::Color(0.1f, 0.2f, 0.3f, 0.4f));
-  material.SetSpecular(gz::math::Color(0.5f, 0.6f, 0.7f, 0.8f));
-  material.SetAmbient(gz::math::Color(0.9f, 1.0f, 1.1f, 1.2f));
+  material.SetDiffuse(math::Color(0.1f, 0.2f, 0.3f, 0.4f));
+  material.SetSpecular(math::Color(0.5f, 0.6f, 0.7f, 0.8f));
+  material.SetAmbient(math::Color(0.9f, 1.0f, 1.1f, 1.2f));
   material.SetShininess(0.5);
-  material.SetEmissive(gz::math::Color(1.3f, 1.4f, 1.5f, 1.6f));
+  material.SetEmissive(math::Color(1.3f, 1.4f, 1.5f, 1.6f));
   material.SetLighting(true);
   material.SetRenderOrder(2.5);
   material.SetDoubleSided(true);
@@ -344,7 +344,7 @@ TEST(Conversions, GeometryBox)
   geometry.SetType(sdf::GeometryType::BOX);
 
   sdf::Box boxShape;
-  boxShape.SetSize(gz::math::Vector3d(1, 2, 3));
+  boxShape.SetSize(math::Vector3d(1, 2, 3));
   geometry.SetBoxShape(boxShape);
 
   auto geometryMsg = convert<msgs::Geometry>(geometry);
@@ -458,7 +458,7 @@ TEST(Conversions, GeometryMesh)
   geometry.SetType(sdf::GeometryType::MESH);
 
   sdf::Mesh meshShape;
-  meshShape.SetScale(gz::math::Vector3d(1, 2, 3));
+  meshShape.SetScale(math::Vector3d(1, 2, 3));
   meshShape.SetUri("file://watermelon");
   meshShape.SetSubmesh("grape");
   meshShape.SetCenterSubmesh(true);
@@ -489,8 +489,8 @@ TEST(Conversions, GeometryPlane)
   geometry.SetType(sdf::GeometryType::PLANE);
 
   sdf::Plane planeShape;
-  planeShape.SetSize(gz::math::Vector2d(1, 2));
-  planeShape.SetNormal(gz::math::Vector3d::UnitY);
+  planeShape.SetSize(math::Vector2d(1, 2));
+  planeShape.SetNormal(math::Vector3d::UnitY);
   geometry.SetPlaneShape(planeShape);
 
   auto geometryMsg = convert<msgs::Geometry>(geometry);
@@ -684,8 +684,8 @@ TEST(Conversions, JointAxis)
 TEST(Conversions, Scene)
 {
   sdf::Scene scene;
-  scene.SetAmbient(gz::math::Color(0.1f, 0.2f, 0.3f, 0.4f));
-  scene.SetBackground(gz::math::Color(0.5f, 0.6f, 0.7f, 0.8f));
+  scene.SetAmbient(math::Color(0.1f, 0.2f, 0.3f, 0.4f));
+  scene.SetBackground(math::Color(0.5f, 0.6f, 0.7f, 0.8f));
   scene.SetShadows(true);
   scene.SetGrid(true);
   scene.SetOriginVisual(true);
@@ -777,7 +777,7 @@ TEST(Conversions, MagnetometerSensor)
   sensor.SetType(sdf::SensorType::MAGNETOMETER);
   sensor.SetUpdateRate(12.4);
   sensor.SetTopic("my_topic");
-  sensor.SetRawPose(gz::math::Pose3d(1, 2, 3, 0, 0, 0));
+  sensor.SetRawPose(math::Pose3d(1, 2, 3, 0, 0, 0));
 
   sdf::Noise noise;
   noise.SetType(sdf::NoiseType::GAUSSIAN);
@@ -817,7 +817,7 @@ TEST(Conversions, AltimeterSensor)
   sensor.SetType(sdf::SensorType::ALTIMETER);
   sensor.SetUpdateRate(12.4);
   sensor.SetTopic("my_topic");
-  sensor.SetRawPose(gz::math::Pose3d(1, 2, 3, 0, 0, 0));
+  sensor.SetRawPose(math::Pose3d(1, 2, 3, 0, 0, 0));
 
   sdf::Noise noise;
   noise.SetType(sdf::NoiseType::GAUSSIAN);
Original file line number	Diff line number	Diff line change
		@@ -1 +1 @@
		See the [Gazebo contributing guide](https://gazebosim.org/docs/all/contributing).
		See [Gazebo's contribution guide](https://gazebosim.org/docs/all/contributing).