Merge remote-tracking branch 'origin/gz-sim8' into mabelzhang/compone…

…nt_tutorial_pose2
gazebosim · Jun 14, 2024 · ed8f171 · ed8f171
2 parents 9c0b2c4 + f024ea8
commit ed8f171
Show file tree

Hide file tree

Showing 77 changed files with 2,333 additions and 457 deletions.
diff --git a/.github/ci/packages.apt b/.github/ci/packages.apt
@@ -24,7 +24,6 @@ libtinyxml2-dev
 libxi-dev
 libxmu-dev
 libpython3-dev
-python3-distutils
 python3-gz-math7
 python3-gz-msgs10
 python3-gz-transport13

diff --git a/.github/workflows/package_xml.yml b/.github/workflows/package_xml.yml
@@ -0,0 +1,11 @@
+name: Validate package.xml
+
+on:
+  pull_request:
+
+jobs:
+  package-xml:
+    runs-on: ubuntu-latest
+    name: Validate package.xml
+    steps:
+      - uses: gazebo-tooling/action-gz-ci/validate_package_xml@jammy
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 #============================================================================
 # Initialize the project
 #============================================================================
-project(gz-sim8 VERSION 8.2.0)
+project(gz-sim8 VERSION 8.4.0)
 set (GZ_DISTRIBUTION "Harmonic")
 
 #============================================================================
@@ -66,7 +66,7 @@ cmake_dependent_option(USE_DIST_PACKAGES_FOR_PYTHON
 #============================================================================
 
 # Setting this policy enables using the protobuf_MODULE_COMPATIBLE
-# set command in CMake versions older than 13.13
+# set command when cmake_minimum_required is less than 3.13
 set(CMAKE_POLICY_DEFAULT_CMP0077 NEW)
 # This option is needed to use the PROTOBUF_GENERATE_CPP
 # in case protobuf is found with the CMake config files
@@ -225,11 +225,17 @@ else()
   endif()
 endif()
 # Plugin install dirs
+set(GZ_SIM_PLUGIN_RELATIVE_INSTALL_DIR
+  ${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins
+)
 set(GZ_SIM_PLUGIN_INSTALL_DIR
-  ${CMAKE_INSTALL_PREFIX}/${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins
+  ${CMAKE_INSTALL_PREFIX}/${GZ_SIM_PLUGIN_RELATIVE_INSTALL_DIR}
+)
+set(GZ_SIM_GUI_PLUGIN_RELATIVE_INSTALL_DIR
+  ${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins/gui
 )
 set(GZ_SIM_GUI_PLUGIN_INSTALL_DIR
-  ${CMAKE_INSTALL_PREFIX}/${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins/gui
+  ${CMAKE_INSTALL_PREFIX}/${GZ_SIM_GUI_PLUGIN_RELATIVE_INSTALL_DIR}
 )
 
 #============================================================================

diff --git a/Changelog.md b/Changelog.md
@@ -1,5 +1,114 @@
 ## Gazebo Sim 8.x
 
+### Gazebo Sim 8.4.0 (2024-06-12)
+
+1. Add pause run tutorial
+    * [Pull request #2383](https://github.com/gazebosim/gz-sim/pull/2383)
+
+1. Fix warning message to show precise jump back in time duration
+    * [Pull request #2435](https://github.com/gazebosim/gz-sim/pull/2435)
+
+1. Optimize rendering sensor pose updates
+    * [Pull request #2425](https://github.com/gazebosim/gz-sim/pull/2425)
+
+1. Remove a few extra zeros from some sdf files
+    * [Pull request #2426](https://github.com/gazebosim/gz-sim/pull/2426)
+
+1. Use VERSION_GREATER_EQUAL in cmake logic
+    * [Pull request #2418](https://github.com/gazebosim/gz-sim/pull/2418)
+
+1. Support mesh optimization when using AttachMeshShapeFeature
+    * [Pull request #2417](https://github.com/gazebosim/gz-sim/pull/2417)
+
+1. Rephrase cmake comment about CMP0077
+    * [Pull request #2419](https://github.com/gazebosim/gz-sim/pull/2419)
+
+1. Fix CMake warnings in Noble
+    * [Pull request #2397](https://github.com/gazebosim/gz-sim/pull/2397)
+
+1. Update sensors with pending trigger immediately in Sensors system
+    * [Pull request #2408](https://github.com/gazebosim/gz-sim/pull/2408)
+
+1. Add missing algorithm include
+    * [Pull request #2414](https://github.com/gazebosim/gz-sim/pull/2414)
+
+1. Add Track and Follow options in gui EntityContextMenu
+    * [Pull request #2402](https://github.com/gazebosim/gz-sim/pull/2402)
+
+1. ForceTorque system: improve readability
+    * [Pull request #2403](https://github.com/gazebosim/gz-sim/pull/2403)
+
+1. LTA Dynamics System
+    * [Pull request #2241](https://github.com/gazebosim/gz-sim/pull/2241)
+
+1. Remove Empty Test File
+    * [Pull request #2396](https://github.com/gazebosim/gz-sim/pull/2396)
+
+1. Fix GCC/CMake warnings for Noble
+    * [Pull request #2375](https://github.com/gazebosim/gz-sim/pull/2375)
+
+1. Fix warn unused variable in test
+    * [Pull request #2388](https://github.com/gazebosim/gz-sim/pull/2388)
+
+1. Fix name of gz-fuel_tools in package.xml
+    * [Pull request #2386](https://github.com/gazebosim/gz-sim/pull/2386)
+
+1. Add package.xml
+    * [Pull request #2337](https://github.com/gazebosim/gz-sim/pull/2337)
+
+1. Fix namespace and class links in documentation references that use namespace `gz`
+    * [Pull request #2385](https://github.com/gazebosim/gz-sim/pull/2385)
+
+1. Fix ModelPhotoShootTest test failures
+    * [Pull request #2294](https://github.com/gazebosim/gz-sim/pull/2294)
+
+1. Enable StoreResolvedURIs when loading SDF
+    * [Pull request #2349](https://github.com/gazebosim/gz-sim/pull/2349)
+
+1. Drop python3-disttutils from apt packages files
+    * [Pull request #2374](https://github.com/gazebosim/gz-sim/pull/2374)
+
+1. Added example world for `DopplerVelocityLogSystem`
+    * [Pull request #2373](https://github.com/gazebosim/gz-sim/pull/2373)
+
+1. Fix Gazebo/White and refactored MaterialParser
+    * [Pull request #2302](https://github.com/gazebosim/gz-sim/pull/2302)
+
+1. Support for Gazebo materials
+    * [Pull request #2269](https://github.com/gazebosim/gz-sim/pull/2269)
+
+### Gazebo Sim 8.3.0 (2024-04-11)
+
+1. Use relative install paths for plugin shared libraries and gz-tools data
+    * [Pull request #2358](https://github.com/gazebosim/gz-sim/pull/2358)
+
+1. Use `steer_p_gain` for UpdateVelocity steer joint speed
+    * [Pull request #2355](https://github.com/gazebosim/gz-sim/pull/2355)
+
+1. Fix TriggeredPublisher test
+    * [Pull request #2354](https://github.com/gazebosim/gz-sim/pull/2354)
+
+1. Use SetComponentData to simplify code and improve coverage
+    * [Pull request #2360](https://github.com/gazebosim/gz-sim/pull/2360)
+
+1. Remove unnecessary sleep
+    * [Pull request #2357](https://github.com/gazebosim/gz-sim/pull/2357)
+
+1. Fixed undefined behavior in thruster.cc
+    * [Pull request #2350](https://github.com/gazebosim/gz-sim/pull/2350)
+
+1. Added mutex to protect stored time variables
+    * [Pull request #2345](https://github.com/gazebosim/gz-sim/pull/2345)
+
+1. Fixed turning error in ackermann steering
+    * [Pull request #2342](https://github.com/gazebosim/gz-sim/pull/2342)
+
+1. Check null mesh
+    * [Pull request #2341](https://github.com/gazebosim/gz-sim/pull/2341)
+
+1. Publish step size in world stats topic
+    * [Pull request #2340](https://github.com/gazebosim/gz-sim/pull/2340)
+
 ### Gazebo Sim 8.2.0 (2024-03-14)
 
 1. Add reference to joint_controller.md tutorial.

diff --git a/examples/plugin/custom_sensor_system/CMakeLists.txt b/examples/plugin/custom_sensor_system/CMakeLists.txt
@@ -27,10 +27,11 @@ add_subdirectory(${sensors_clone_SOURCE_DIR}/examples/custom_sensor ${sensors_cl
 
 add_library(${PROJECT_NAME} SHARED ${PROJECT_NAME}.cc)
 target_link_libraries(${PROJECT_NAME}
-  PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
-  PRIVATE gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
-  PRIVATE gz-sensors${GZ_SENSORS_VER}::gz-sensors${GZ_SENSORS_VER}
-  PRIVATE odometer
+  PRIVATE
+    gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
+    gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
+    gz-sensors${GZ_SENSORS_VER}::gz-sensors${GZ_SENSORS_VER}
+    odometer
 )
 target_include_directories(${PROJECT_NAME}
     PUBLIC ${sensors_clone_SOURCE_DIR}/examples/custom_sensor)
diff --git a/examples/standalone/gtest_setup/CMakeLists.txt b/examples/standalone/gtest_setup/CMakeLists.txt
@@ -10,13 +10,14 @@ set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
 include(FetchContent)
 FetchContent_Declare(
   googletest
-  URL https://github.com/google/googletest/archive/609281088cfefc76f9d0ce82e1ff6c30cc3591e5.zip
+  DOWNLOAD_EXTRACT_TIMESTAMP TRUE
+  # Version 1.14. Use commit hash to prevent tag relocation
+  URL https://github.com/google/googletest/archive/f8d7d77c06936315286eb55f8de22cd23c188571.zip
 )
 set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
 FetchContent_MakeAvailable(googletest)
 
 enable_testing()
-include(Dart)
 
 # Generate tests
 foreach(TEST_TARGET