Merge branch 'main' into feature/ign-gazebo7-metal-demo

.github/ci/packages.apt

@@ -2,12 +2,12 @@ freeglut3-dev
 libfreeimage-dev
 libglew-dev
 libignition-cmake2-dev
-libignition-common4-dev
+libignition-common5-dev
 libignition-gui7-dev
 libignition-fuel-tools8-dev
-libignition-math6-eigen3-dev
+libignition-math7-eigen3-dev
 libignition-msgs9-dev
-libignition-physics5-dev
+libignition-physics6-dev
 libignition-plugin-dev
 libignition-rendering7-dev
 libignition-sensors7-dev
@@ -18,7 +18,7 @@ libogre-1.9-dev
 libogre-2.1-dev
 libprotobuf-dev
 libprotoc-dev
-libsdformat12-dev
+libsdformat13-dev
 libtinyxml2-dev
 libxi-dev
 libxmu-dev

CMakeLists.txt

@@ -50,8 +50,8 @@ set(CMAKE_POLICY_DEFAULT_CMP0077 NEW)
 # as protobuf could be find transitively by any dependency
 set(protobuf_MODULE_COMPATIBLE TRUE)
 
-ign_find_package(sdformat12 REQUIRED VERSION 12.3)
-set(SDF_VER ${sdformat12_VERSION_MAJOR})
+ign_find_package(sdformat13 REQUIRED)
+set(SDF_VER ${sdformat13_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-plugin
@@ -71,14 +71,14 @@ set(IGN_MSGS_VER ${ignition-msgs9_VERSION_MAJOR})
 #--------------------------------------
 # Find ignition-common
 # Always use the profiler component to get the headers, regardless of status.
-ign_find_package(ignition-common4 VERSION 4.4
+ign_find_package(ignition-common5
   COMPONENTS
     profiler
     events
     av
   REQUIRED
 )
-set(IGN_COMMON_VER ${ignition-common4_VERSION_MAJOR})
+set(IGN_COMMON_VER ${ignition-common5_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-fuel_tools
@@ -99,14 +99,14 @@ ign_find_package (Qt5
 
 #--------------------------------------
 # Find ignition-physics
-ign_find_package(ignition-physics5 VERSION 5.1
+ign_find_package(ignition-physics6
   COMPONENTS
     heightmap
     mesh
     sdf
   REQUIRED
 )
-set(IGN_PHYSICS_VER ${ignition-physics5_VERSION_MAJOR})
+set(IGN_PHYSICS_VER ${ignition-physics6_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-sensors
@@ -142,8 +142,8 @@ set(IGN_RENDERING_VER ${ignition-rendering7_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-math
-ign_find_package(ignition-math6 REQUIRED COMPONENTS eigen3 VERSION 6.9)
-set(IGN_MATH_VER ${ignition-math6_VERSION_MAJOR})
+ign_find_package(ignition-math7 REQUIRED COMPONENTS eigen3)
+set(IGN_MATH_VER ${ignition-math7_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-tools

docker/Dockerfile.nightly

@@ -12,18 +12,18 @@ RUN scripts/enable_ign_nightly.sh
 RUN apt-get update \
  && apt-get install -y \
     libignition-cmake2-dev \
-    libignition-common4-dev \
+    libignition-common5-dev \
     libignition-fuel-tools8-dev \
-    libignition-math6-eigen3-dev \
+    libignition-math7-eigen3-dev \
     libignition-plugin-dev \
-    libignition-physics5-dev \
+    libignition-physics6-dev \
     libignition-rendering7-dev \
     libignition-tools-dev \
     libignition-transport12-dev \
     libignition-gui7-dev \
     libignition-msgs9-dev \
     libignition-sensors7-dev \
-    libsdformat12-dev
+    libsdformat13-dev
 
 COPY . ign-gazebo
 RUN cd ign-gazebo \

examples/standalone/joy_to_twist/CMakeLists.txt

@@ -3,8 +3,8 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 find_package(ignition-transport12 QUIET REQUIRED OPTIONAL_COMPONENTS log)
 set(IGN_TRANSPORT_VER ${ignition-transport12_VERSION_MAJOR})
 
-find_package(sdformat12 REQUIRED)
-set(SDF_VER ${sdformat12_VERSION_MAJOR})
+find_package(sdformat13 REQUIRED)
+set(SDF_VER ${sdformat13_VERSION_MAJOR})
 
 add_executable(joy_to_twist joy_to_twist.cc)
 target_link_libraries(joy_to_twist

examples/standalone/joystick/CMakeLists.txt

@@ -5,8 +5,8 @@ if(${CMAKE_SYSTEM_NAME} STREQUAL "Linux")
   find_package(ignition-transport12 QUIET REQUIRED OPTIONAL_COMPONENTS log)
   set(IGN_TRANSPORT_VER ${ignition-transport12_VERSION_MAJOR})
 
-  find_package(sdformat12 REQUIRED)
-  set(SDF_VER ${sdformat12_VERSION_MAJOR})
+  find_package(sdformat13 REQUIRED)
+  set(SDF_VER ${sdformat13_VERSION_MAJOR})
 
   add_executable(joystick joystick.cc)
   target_link_libraries(joystick

examples/standalone/keyboard/CMakeLists.txt

@@ -4,14 +4,14 @@ if(${CMAKE_SYSTEM_NAME} STREQUAL "Linux")
   find_package(ignition-transport12 QUIET REQUIRED OPTIONAL_COMPONENTS log)
   set(IGN_TRANSPORT_VER ${ignition-transport12_VERSION_MAJOR})
 
-  find_package(sdformat12 REQUIRED)
-  set(SDF_VER ${sdformat12_VERSION_MAJOR})
+  find_package(sdformat13 REQUIRED)
+  set(SDF_VER ${sdformat13_VERSION_MAJOR})
 
   find_package(ignition-msgs9 REQUIRED)
   set(IGN_MSGS_VER ${ignition-msgs9_VERSION_MAJOR})
 
-  find_package(ignition-common4 REQUIRED)
-  set(IGN_COMMON_VER ${ignition-common4_VERSION_MAJOR})
+  find_package(ignition-common5 REQUIRED)
+  set(IGN_COMMON_VER ${ignition-common5_VERSION_MAJOR})
 
   add_executable(keyboard keyboard.cc)
   target_link_libraries(keyboard

include/ignition/gazebo/gui/GuiEvents.hh

@@ -181,7 +181,7 @@ namespace events
   };
 
   /// \brief Event that notifies an entity is to be added to the model editor
-  class ModelEditorAddEntity : public QEvent
+  class IGNITION_GAZEBO_GUI_VISIBLE ModelEditorAddEntity : public QEvent
   {
     /// \brief Constructor
     /// \param[in] _entity Entity added

src/SdfGenerator_TEST.cc

@@ -643,7 +643,7 @@ TEST_F(ElementUpdateFixture, WorldWithModelsIncludedNotExpanded)
 TEST_F(ElementUpdateFixture, WorldWithModelsIncludedWithInvalidUris)
 {
   const std::string goodUri =
-      "https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Backpack/2/";
+      "https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Backpack/2";
 
   // These are URIs that are potentially problematic.
   const std::vector<std::string> fuelUris = {

src/gui/plugins/visualization_capabilities/VisualizationCapabilities.cc

@@ -1212,7 +1212,7 @@ rendering::GeometryPtr VisualizationCapabilitiesPrivate::CreateGeometry(
     // The rotation is the angle between the +z(0,0,1) vector and the
     // normal, which are both expressed in the local (Visual) frame.
     math::Vector3d normal = _geom.PlaneShape()->Normal();
-    localPose.Rot().From2Axes(math::Vector3d::UnitZ, normal.Normalized());
+    localPose.Rot().SetFrom2Axes(math::Vector3d::UnitZ, normal.Normalized());
   }
   else if (_geom.Type() == sdf::GeometryType::SPHERE)
   {

src/rendering/SceneManager.cc

@@ -651,7 +651,7 @@ rendering::GeometryPtr SceneManager::LoadGeometry(const sdf::Geometry &_geom,
     // The rotation is the angle between the +z(0,0,1) vector and the
     // normal, which are both expressed in the local (Visual) frame.
     math::Vector3d normal = _geom.PlaneShape()->Normal();
-    localPose.Rot().From2Axes(math::Vector3d::UnitZ, normal.Normalized());
+    localPose.Rot().SetFrom2Axes(math::Vector3d::UnitZ, normal.Normalized());
   }
   else if (_geom.Type() == sdf::GeometryType::SPHERE)
   {

src/systems/collada_world_exporter/ColladaWorldExporter.cc

@@ -177,7 +177,7 @@ class ignition::gazebo::systems::ColladaWorldExporterPrivate
           // // normal, which are both expressed in the local (Visual) frame.
           math::Vector3d normal = _geom->Data().PlaneShape()->Normal();
           math::Quaterniond normalRot;
-          normalRot.From2Axes(math::Vector3d::UnitZ, normal.Normalized());
+          normalRot.SetFrom2Axes(math::Vector3d::UnitZ, normal.Normalized());
           worldPose.Rot() = worldPose.Rot() * normalRot;
 
           matrix = math::Matrix4d(worldPose);

src/systems/multicopter_control/Common.cc

@@ -111,7 +111,7 @@ RotorConfiguration loadRotorConfiguration(const EntityComponentManager &_ecm,
 
     rotor.armLength = rotorProj.Length();
     math::Quaterniond rot;
-    rot.From2Axes(math::Vector3d::UnitX, rotorProj);
+    rot.SetFrom2Axes(math::Vector3d::UnitX, rotorProj);
     rotor.angle = rot.Yaw();
 
     if (!elem->HasElement("forceConstant"))

src/systems/optical_tactile_plugin/OpticalTactilePlugin.cc

@@ -24,7 +24,6 @@
 #include <ignition/common/Profiler.hh>
 #include <ignition/plugin/Register.hh>
 #include <ignition/transport/Node.hh>
-#include <ignition/common/Time.hh>
 
 #include <sdf/Element.hh>
 

src/systems/optical_tactile_plugin/Visualization.cc

@@ -203,7 +203,7 @@ void OpticalTactilePluginVisualization::AddNormalForceToMarkerMsgs(
     _position.X(), _position.Y(), _position.Z());
 
   ignition::math::Quaternionf normalForceOrientationFromSensor;
-  normalForceOrientationFromSensor.From2Axes(
+  normalForceOrientationFromSensor.SetFrom2Axes(
     ignition::math::Vector3f(0, 0, 1), _normalForce);
 
   ignition::math::Pose3f normalForcePoseFromSensor(

src/systems/track_controller/TrackController.cc

@@ -525,7 +525,7 @@ void TrackControllerPrivate::ComputeSurfaceProperties(
     this->debugMarker.set_id(++this->markerId);
 
     math::Quaterniond rot;
-    rot.From2Axes(math::Vector3d::UnitX, frictionDirection);
+    rot.SetFrom2Axes(math::Vector3d::UnitX, frictionDirection);
     math::Vector3d p = _point;
     p += rot.RotateVector(
       math::Vector3d::UnitX * this->debugMarker.scale().x() / 2);

test/integration/CMakeLists.txt

@@ -56,7 +56,9 @@ set(tests
   thruster.cc
   touch_plugin.cc
   tracked_vehicle_system.cc
-  triggered_publisher.cc
+  # TODO(chapulina) Re-enable this test when parsing `type` attributes is fixed
+  # See https://github.com/ignitionrobotics/sdformat/pull/809
+  # triggered_publisher.cc
   user_commands.cc
   velocity_control_system.cc
   log_system.cc

test/integration/wheel_slip.cc

@@ -304,15 +304,15 @@ TEST_F(WheelSlipTest, TireDrum)
   {
     WheelSlipState state = state0;
     state.description = "Zero slip";
-    state.steer.Degree(0.0);
+    state.steer.SetDegree(0.0);
     state.axelForceLateral = 0.0;
     state.axelForceLongitudinal = 0.0;
     states.push_back(state);
   }
   {
     WheelSlipState state = state0;
     state.description = "Lateral slip: low";
-    state.steer.Degree(3.0);
+    state.steer.SetDegree(3.0);
     state.wheelSlipComplianceLateral = 0.1;
     state.axelForceLateral = -state.suspForce *
         sin(state.steer.Radian()) / state.wheelSlipComplianceLateral;
@@ -322,7 +322,7 @@ TEST_F(WheelSlipTest, TireDrum)
   {
     WheelSlipState state = state0;
     state.description = "Lateral slip: high";
-    state.steer.Degree(10);
+    state.steer.SetDegree(10);
     state.wheelSpeed *= cos(state.steer.Radian());
     state.axelForceLateral = -state.suspForce;
     state.axelForceLongitudinal = 0.0;
@@ -333,7 +333,7 @@ TEST_F(WheelSlipTest, TireDrum)
     state.description = "Longitudinal torque control: low";
     state.wheelSpeed = -1.055 * state.drumSpeed * drumRadius / wheelRadius;
     state.wheelTorque = 0.25 * state.suspForce * wheelRadius;
-    state.steer.Degree(0.0);
+    state.steer.SetDegree(0.0);
     state.wheelSlipComplianceLateral = 0.1;
     state.axelForceLateral = 0.0;
     state.axelForceLongitudinal = -250.0;
@@ -344,7 +344,7 @@ TEST_F(WheelSlipTest, TireDrum)
     state.description = "Longitudinal torque control: moderate";
     state.wheelSpeed = -1.12 * state.drumSpeed * drumRadius / wheelRadius;
     state.wheelTorque = 0.5 * state.suspForce * wheelRadius;
-    state.steer.Degree(0.0);
+    state.steer.SetDegree(0.0);
     state.wheelSlipComplianceLateral = 0.1;
     state.axelForceLateral = 0.0;
     state.axelForceLongitudinal = -600.0;

tutorials/migrating_ardupilot_plugin.md

@@ -751,12 +751,12 @@ In the new code we explicitly reference each Ignition package that we use:
 
 ```
 # NEW
-find_package(sdformat12 REQUIRED)
-find_package(ignition-common4-all REQUIRED)
+find_package(sdformat13 REQUIRED)
+find_package(ignition-common5-all REQUIRED)
 find_package(ignition-gazebo7-all REQUIRED)
-find_package(ignition-math6-all REQUIRED)
+find_package(ignition-math7-all REQUIRED)
 find_package(ignition-msgs9-all REQUIRED)
-find_package(ignition-physics5-all REQUIRED)
+find_package(ignition-physics6-all REQUIRED)
 find_package(ignition-sensors7-all REQUIRED)
 find_package(ignition-transport12-all REQUIRED)
 ```