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Merge pull request #2098 from azeey/6_to_7
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Merge ign-gazebo6 ➡️  gz-sim7
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azeey authored Aug 29, 2023
2 parents b46feef + 4ddd82e commit bfe5836
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6 changes: 5 additions & 1 deletion .github/workflows/ci.yml
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@@ -1,6 +1,10 @@
name: Ubuntu CI

on: [push, pull_request]
on:
pull_request:
push:
branches:
- 'gz-sim7'

# Every time you make a push to your PR, it cancel immediately the previous checks,
# and start a new one. The other runner will be available more quickly to your PR.
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15 changes: 11 additions & 4 deletions CMakeLists.txt
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Expand Up @@ -38,12 +38,19 @@ else()
set (EXTRA_TEST_LIB_DEPS)
endif()

include(test/find_dri.cmake)
FindDRI()
# We're disabling pybind11 by default on Windows because they
# don't have active CI on them for now.
set(skip_pybind11_default_value OFF)
if (MSVC)
set(skip_pybind11_default_value ON)
endif()

option(SKIP_PYBIND11
"Skip generating Python bindings via pybind11"
OFF)
${skip_pybind11_default_value})

include(test/find_dri.cmake)
FindDRI()

include(CMakeDependentOption)
cmake_dependent_option(USE_SYSTEM_PATHS_FOR_PYTHON_INSTALLATION
Expand Down Expand Up @@ -236,7 +243,7 @@ add_subdirectory(examples)
#============================================================================
gz_create_packages()

if (${pybind11_FOUND})
if (pybind11_FOUND)
add_subdirectory(python)
endif()
#============================================================================
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231 changes: 231 additions & 0 deletions Changelog.md
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Expand Up @@ -727,6 +727,173 @@

## Gazebo Sim 6.x


### Gazebo Sim 6.15.0 (2023-08-16)

1. Fix Joint Position Controller Behaviour Described in #1997
* [Pull request #2001](https://github.com/gazebosim/gz-sim/pull/2001)

1. Fix a minor issue in the documentation of the server API
* [Pull request #2067](https://github.com/gazebosim/gz-sim/pull/2067)

1. Use sdf::Element::FindElement instead of GetElement in ApplyLinkWrench
* [Pull request #2052](https://github.com/gazebosim/gz-sim/pull/2052)

1. Backport sensors system threading optimization changes
* [Pull request #2058](https://github.com/gazebosim/gz-sim/pull/2058)

1. Adds a warning if the `Server` method of a `TestFixture` is called before `Finalize`
* [Pull request #2047](https://github.com/gazebosim/gz-sim/pull/2047)

1. Protobuf: Do not require version 3 do support Protobuf 4.23.2 (23.2)
* [Pull request #2006](https://github.com/gazebosim/gz-sim/pull/2006)

1. Disable pybind11 on Windows by default
* [Pull request #2005](https://github.com/gazebosim/gz-sim/pull/2005)

1. Print an error message when trying to load SDF files that don't contain a `<world>`
* [Pull request #1998](https://github.com/gazebosim/gz-sim/pull/1998)

1. Port record topic fix
* [Pull request #2004](https://github.com/gazebosim/gz-sim/pull/2004)

1. Allow re-attaching detached joint
* [Pull request #1687](https://github.com/gazebosim/gz-sim/pull/1687)

1. Enable GzWeb visualization of markers by republishing service requests on a topic
* [Pull request #1994](https://github.com/gazebosim/gz-sim/pull/1994)

1. Small fixes to gz headers
* [Pull request #1985](https://github.com/gazebosim/gz-sim/pull/1985)

1. Speed up Resource Spawner load time by fetching model list asynchronously
* [Pull request #1962](https://github.com/gazebosim/gz-sim/pull/1962)

1. Use ignition::gazebo:: in class instantiation
* [Pull request #1967](https://github.com/gazebosim/gz-sim/pull/1967)

1. Add missing cmake exports from core library
* [Pull request #1978](https://github.com/gazebosim/gz-sim/pull/1978)

1. Add tutorial on migrating the Sensor class from gazebo classic
* [Pull request #1930](https://github.com/gazebosim/gz-sim/pull/1930)

1. Add tutorial on migrating the Actor class from gazebo classic
* [Pull request #1929](https://github.com/gazebosim/gz-sim/pull/1929)

1. Fix use of actors that only has trajectory animation
* [Pull request #1947](https://github.com/gazebosim/gz-sim/pull/1947)

1. Add tutorial on migrating the Joint class from gazebo classic
* [Pull request #1925](https://github.com/gazebosim/gz-sim/pull/1925)

1. Add tutorial on migrating the Light class from gazebo classic
* [Pull request #1931](https://github.com/gazebosim/gz-sim/pull/1931)

1. Infrastructure
* [Pull request #1988](https://github.com/gazebosim/gz-sim/pull/1988)
* [Pull request #1940](https://github.com/gazebosim/gz-sim/pull/1940)

1. Rename COPYING to LICENSE
* [Pull request #1937](https://github.com/gazebosim/gz-sim/pull/1937)

1. Add Light class
* [Pull request #1918](https://github.com/gazebosim/gz-sim/pull/1918)

1. Resolve inconsistent visibility on ign-gazebo6
* [Pull request #1914](https://github.com/gazebosim/gz-sim/pull/1914)

1. Relax msg count check in RF comms integration test
* [Pull request #1920](https://github.com/gazebosim/gz-sim/pull/1920)

1. Add Actor class
* [Pull request #1913](https://github.com/gazebosim/gz-sim/pull/1913)

1. Add Sensor class
* [Pull request #1912](https://github.com/gazebosim/gz-sim/pull/1912)

1. Allow to change camera user hfov in camera_view plugin
* [Pull request #1807](https://github.com/gazebosim/gz-sim/pull/1807)

1. Add Joint class
* [Pull request #1910](https://github.com/gazebosim/gz-sim/pull/1910)

1. Add SensorTopic component to rendering sensors
* [Pull request #1908](https://github.com/gazebosim/gz-sim/pull/1908)

1. Use a queue to track component registration from mulitiple sources
* [Pull request #1836](https://github.com/gazebosim/gz-sim/pull/1836)

1. Document behaviour changes introduced #1784
* [Pull request #1888](https://github.com/gazebosim/gz-sim/pull/1888)

1. Partial backport of 1728
* [Pull request #1901](https://github.com/gazebosim/gz-sim/pull/1901)

1. Fix triggered camera test by waiting for rendering / scene to be ready
* [Pull request #1895](https://github.com/gazebosim/gz-sim/pull/1895)

1. Backport portion of #1771 to fix command-line test
* [Pull request #1771](https://github.com/gazebosim/gz-sim/pull/1771)

1. cmdsim.rb: fix ruby syntax
* [Pull request #1884](https://github.com/gazebosim/gz-sim/pull/1884)

1. Fix some windows warnings (C4244 and C4305)
* [Pull request #1874](https://github.com/gazebosim/gz-sim/pull/1874)

1. Minor optimization to transform control tool
* [Pull request #1854](https://github.com/gazebosim/gz-sim/pull/1854)

1. Inherit material cast shadows property
* [Pull request #1856](https://github.com/gazebosim/gz-sim/pull/1856)

1. Fix record topic
* [Pull request #1855](https://github.com/gazebosim/gz-sim/pull/1855)

1. Remove duplicate Fuel server used by ResourceSpawner
* [Pull request #1830](https://github.com/gazebosim/gz-sim/pull/1830)

1. Re-add namespace
* [Pull request #1826](https://github.com/gazebosim/gz-sim/pull/1826)

1. Fix QML warnings regarding binding loops
* [Pull request #1829](https://github.com/gazebosim/gz-sim/pull/1829)

1. Update documentation on `UpdateInfo::realTime`
* [Pull request #1817](https://github.com/gazebosim/gz-sim/pull/1817)

1. Add jennuine as GUI codeowner
* [Pull request #1800](https://github.com/gazebosim/gz-sim/pull/1800)

1. remove PlotIcon
* [Pull request #1658](https://github.com/gazebosim/gz-sim/pull/1658)

1. ign -> gz
* [Pull request #1983](https://github.com/gazebosim/gz-sim/pull/1983)
* [Pull request #1646](https://github.com/gazebosim/gz-sim/pull/1646)
* [Pull request #1760](https://github.com/gazebosim/gz-sim/pull/1760)
* [Pull request #1759](https://github.com/gazebosim/gz-sim/pull/1759)
* [Pull request #1758](https://github.com/gazebosim/gz-sim/pull/1758)
* [Pull request #1757](https://github.com/gazebosim/gz-sim/pull/1757)
* [Pull request #1759](https://github.com/gazebosim/gz-sim/pull/1749)

1. Added collection name to About Dialog
* [Pull request #1756](https://github.com/gazebosim/gz-sim/pull/1756)

1. Citadel: Removed warnings
* [Pull request #1753](https://github.com/gazebosim/gz-sim/pull/1753)

1. Remove actors from screen when they are supposed to
* [Pull request #1699](https://github.com/gazebosim/gz-sim/pull/1699)

1. Readd namespaces for Q_ARGS
* [Pull request #1670](https://github.com/gazebosim/gz-sim/pull/1670)

1. Remove redundant namespace references
* [Pull request #1635](https://github.com/gazebosim/gz-sim/pull/1635)


### Gazebo Sim 6.14.0 (2022-12-29)

1. Fix Ackermann plugin zero linVel turningRadius bug
Expand Down Expand Up @@ -2970,6 +3137,70 @@

## Gazebo Sim 3.x

### Gazebo Sim 3.15.0 (2023-05-08)

1. Speed up Resource Spawner load time by fetching model list asynchronously
* [Pull request #1962](https://github.com/gazebosim/gz-sim/pull/1962)

1. ign -> gz Migrate Ignition Headers : gz-sim
* [Pull request #1646](https://github.com/gazebosim/gz-sim/pull/1646)
* [Pull request #1967](https://github.com/gazebosim/gz-sim/pull/1967)
* [Pull request #1978](https://github.com/gazebosim/gz-sim/pull/1978)
* [Pull request #1983](https://github.com/gazebosim/gz-sim/pull/1983)
* [Pull request #1985](https://github.com/gazebosim/gz-sim/pull/1985)

1. Infrastructure
* [Pull request #1940](https://github.com/gazebosim/gz-sim/pull/1940)
* [Pull request #1937](https://github.com/gazebosim/gz-sim/pull/1937)

1. Backport portion of #1771 to fix command-line test
* [Pull request #1771](https://github.com/gazebosim/gz-sim/pull/1771)

1. cmdsim.rb: fix ruby syntax
* [Pull request #1884](https://github.com/gazebosim/gz-sim/pull/1884)

1. Fix loading wold with record topic
* [Pull request #1855](https://github.com/gazebosim/gz-sim/pull/1855)

1. Remove duplicate Fuel server used by ResourceSpawner
* [Pull request #1830](https://github.com/gazebosim/gz-sim/pull/1830)

1. Re-add namespace for GUI render event
* [Pull request #1826](https://github.com/gazebosim/gz-sim/pull/1826)

1. Fix QML warnings regarding binding loops
* [Pull request #1829](https://github.com/gazebosim/gz-sim/pull/1829)

1. Update documentation on `UpdateInfo::realTime`
* [Pull request #1817](https://github.com/gazebosim/gz-sim/pull/1817)

1. Add jennuine as GUI codeowner
* [Pull request #1800](https://github.com/gazebosim/gz-sim/pull/1800)

1. Remove plotIcon in Physics.qml for Component Inspector
* [Pull request #1658](https://github.com/gazebosim/gz-sim/pull/1658)

1. Convert ignitionrobotics to gazebosim in tutorials
* [Pull request #1757](https://github.com/gazebosim/gz-sim/pull/1757)
* [Pull request #1758](https://github.com/gazebosim/gz-sim/pull/1758)
* [Pull request #1759](https://github.com/gazebosim/gz-sim/pull/1759)
* [Pull request #1760](https://github.com/gazebosim/gz-sim/pull/1760)

1. Added collection name to About Dialog
* [Pull request #1756](https://github.com/gazebosim/gz-sim/pull/1756)

1. Remove compiler warnings
* [Pull request #1753](https://github.com/gazebosim/gz-sim/pull/1753)

1. Update examples to use gazebosim.org
* [Pull request #1749](https://github.com/gazebosim/gz-sim/pull/1749)

1. Remove actors from screen when they are supposed to
* [Pull request #1699](https://github.com/gazebosim/gz-sim/pull/1699)

1. Readd namespaces for Q_ARGS
* [Pull request #1670](https://github.com/gazebosim/gz-sim/pull/1670)

### Gazebo Sim 3.X.X (20XX-XX-XX)

### Gazebo Sim 3.13.0 (2022-06-01)
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33 changes: 27 additions & 6 deletions examples/worlds/detachable_joint.sdf
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Expand Up @@ -13,6 +13,18 @@
gz topic -t "/B1/detach" -m gz.msgs.Empty -p "unused: true"
gz topic -t "/B2/detach" -m gz.msgs.Empty -p "unused: true"
gz topic -t "/B3/detach" -m gz.msgs.Empty -p "unused: true"
To re-attach breadcrumbs
gz topic -t "/B1/attach" -m gz.msgs.Empty -p "unused: true"
gz topic -t "/B2/attach" -m gz.msgs.Empty -p "unused: true"
gz topic -t "/B3/attach" -m gz.msgs.Empty -p "unused: true"
To monitor the state of each breadcrumbs
gz topic -e -t /B1/state
gz topic -e -t /B2/state
gz topic -e -t /B3/state
-->

<sdf version="1.6">
Expand Down Expand Up @@ -373,23 +385,32 @@
<wheel_separation>1.25</wheel_separation>
<wheel_radius>0.3</wheel_radius>
</plugin>
<plugin filename="gz-sim-detachable-joint-system" name="gz::sim::systems::DetachableJoint">
<plugin filename="gz-sim-detachable-joint-system"
name="gz::sim::systems::DetachableJoint">
<parent_link>chassis</parent_link>
<child_model>B1</child_model>
<child_link>body</child_link>
<topic>/B1/detach</topic>
<detach_topic>/B1/detach</detach_topic>
<attach_topic>/B1/attach</attach_topic>
<output_topic>/B1/state</output_topic>
</plugin>
<plugin filename="gz-sim-detachable-joint-system" name="gz::sim::systems::DetachableJoint">
<plugin filename="gz-sim-detachable-joint-system"
name="gz::sim::systems::DetachableJoint">
<parent_link>chassis</parent_link>
<child_model>B2</child_model>
<child_link>body</child_link>
<topic>/B2/detach</topic>
<detach_topic>/B2/detach</detach_topic>
<attach_topic>/B2/attach</attach_topic>
<output_topic>/B2/state</output_topic>
</plugin>
<plugin filename="gz-sim-detachable-joint-system" name="gz::sim::systems::DetachableJoint">
<plugin filename="gz-sim-detachable-joint-system"
name="gz::sim::systems::DetachableJoint">
<parent_link>chassis</parent_link>
<child_model>B3</child_model>
<child_link>body</child_link>
<topic>/B3/detach</topic>
<detach_topic>/B3/detach</detach_topic>
<attach_topic>/B3/attach</attach_topic>
<output_topic>/B3/state</output_topic>
</plugin>
</model>

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4 changes: 2 additions & 2 deletions examples/worlds/triggered_publisher.sdf
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Expand Up @@ -411,13 +411,13 @@ start falling.
<parent_link>body</parent_link>
<child_model>box1</child_model>
<child_link>box_body</child_link>
<topic>/box1/detach</topic>
<detach_topic>/box1/detach</detach_topic>
</plugin>
<plugin filename="gz-sim-detachable-joint-system" name="gz::sim::systems::DetachableJoint">
<parent_link>body</parent_link>
<child_model>box2</child_model>
<child_link>box_body</child_link>
<topic>/box2/detach</topic>
<detach_topic>/box2/detach</detach_topic>
</plugin>
</model>

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