Merge ign-gazebo6 ➡️ gz-sim7

.github/CODEOWNERS

@@ -1,7 +1,7 @@
 # More info:
 # https://help.github.com/en/github/creating-cloning-and-archiving-repositories/about-code-owners
 
-*                     @chapulina
+*                     @mjcarroll
 */rendering/*         @iche033
 examples/*            @mabelzhang
 src/systems/physics/* @azeey

Changelog.md

@@ -348,6 +348,84 @@
 
 ## Gazebo Sim 6.x
 
+### Gazebo Sim 6.11.0 (2022-08-17)
+
+1. Add support for specifying log record period
+    * [Pull request #1636](https://github.com/gazebosim/gz-sim/pull/1636)
+
+1. Common widget GzColor replacement
+    * [Pull request #1530](https://github.com/gazebosim/gz-sim/pull/1530)
+
+1. Replace plotIcon in ComponentInspector with GzPlotIcon
+    * [Pull request #1638](https://github.com/gazebosim/gz-sim/pull/1638)
+
+1. Component Inspector with common widget pose plotting
+    * [Pull request #1607](https://github.com/gazebosim/gz-sim/pull/1607)
+
+1. Change CODEOWNERS and maintainer to Michael
+    * [Pull request #1644](https://github.com/gazebosim/gz-sim/pull/1644)
+
+1. Replace pose in ViewAngle with GzPose
+    * [Pull request #1641](https://github.com/gazebosim/gz-sim/pull/1641)
+
+1. Add system to an entity through Component Inspector
+    * [Pull request #1549](https://github.com/gazebosim/gz-sim/pull/1549)
+
+1. Quick start dialog
+    * [Pull request #1536](https://github.com/gazebosim/gz-sim/pull/1536)
+    * [Pull request #1627](https://github.com/gazebosim/gz-sim/pull/1627)
+
+1. Quiet libSDFormat console on --verbose 0
+    * [Pull request #1621](https://github.com/gazebosim/gz-sim/pull/1621)
+
+1. New Apply Link Wrench system
+    * [Pull request #1593](https://github.com/gazebosim/gz-sim/pull/1593)
+
+1. Add Tf publishing to AckermannSteering system
+    * [Pull request #1576](https://github.com/gazebosim/gz-sim/pull/1576)
+
+1. Fix component updates
+    * [Pull request #1580](https://github.com/gazebosim/gz-sim/pull/1580)
+
+1. Implement vector3 with common widget vector3
+    * [Pull request #1569](https://github.com/gazebosim/gz-sim/pull/1569)
+
+1. Fix to modelphotoshoot test
+    * [Pull request #1570](https://github.com/gazebosim/gz-sim/pull/1570)
+
+1. Update log playback gui config
+    * [Pull request #1590](https://github.com/gazebosim/gz-sim/pull/1590)
+
+1. Helper function to get an entity from an entity message
+    * [Pull request #1595](https://github.com/gazebosim/gz-sim/pull/1595)
+
+1. Fix compilation of scene broadcaster test
+    * [Pull request #1599](https://github.com/gazebosim/gz-sim/pull/1599)
+
+1. Ignition -> Gazebo
+    * [Pull request #1596](https://github.com/gazebosim/gz-sim/pull/1596)
+
+1. Add Model::CanonicalLink getter
+    * [Pull request #1594](https://github.com/gazebosim/gz-sim/pull/1594)
+
+1. Implement Pose3d with common widget pose
+    * [Pull request #1571](https://github.com/gazebosim/gz-sim/pull/1571)
+
+1. Fix UNIT_Server_TEST on Windows
+    * [Pull request #1577](https://github.com/gazebosim/gz-sim/pull/1577)
+
+1. Use pytest to generate junit xml files for python tests
+    * [Pull request #1562](https://github.com/gazebosim/gz-sim/pull/1562)
+
+1. Refactor: Utilizes function to load animations
+    * [Pull request #1568](https://github.com/gazebosim/gz-sim/pull/1568)
+
+1. Utilizes function to sequence trajectories
+    * [Pull request #1565](https://github.com/gazebosim/gz-sim/pull/1565)
+
+1. Disable MacOS flakies Citadel
+    * [Pull request #1545](https://github.com/gazebosim/gz-sim/pull/1545)
+
 ### Gazebo Sim 6.10.0 (2022-06-24)
 
 1. Expose the ability to stop a server from C++

README.md

@@ -1,6 +1,6 @@
 # Gazebo Sim : A Robotic Simulator
 
-**Maintainer:** louise AT openrobotics DOT org
+**Maintainer:** michael AT openrobotics DOT org
 
 [![GitHub open issues](https://img.shields.io/github/issues-raw/gazebosim/gz-sim.svg)](https://github.com/gazebosim/gz-sim/issues)
 [![GitHub open pull requests](https://img.shields.io/github/issues-pr-raw/gazebosim/gz-sim.svg)](https://github.com/gazebosim/gz-sim/pulls)

include/gz/sim/ServerConfig.hh

@@ -306,6 +306,15 @@ namespace gz
       /// \param[in] _recordPath Path to place recorded states
       public: void SetLogRecordPath(const std::string &_recordPath);
 
+      /// \brief Get time period to record states
+      /// \return Time period to record states
+      public: std::chrono::steady_clock::duration LogRecordPeriod() const;
+
+      /// \brief Set time period to record states
+      /// \param[in] _period Time period to record states
+      public: void SetLogRecordPeriod(
+          const std::chrono::steady_clock::duration &_period);
+
       /// \brief Add a topic to record.
       /// \param[in] _topic Topic name, which can include wildcards.
       public: void AddLogRecordTopic(const std::string &_topic);

src/EntityComponentManager.cc

@@ -977,6 +977,12 @@ bool EntityComponentManager::HasOneTimeComponentChanges() const
   return !this->dataPtr->oneTimeChangedComponents.empty();
 }
 
+/////////////////////////////////////////////////
+bool EntityComponentManager::HasPeriodicComponentChanges() const
+{
+  return !this->dataPtr->periodicChangedComponents.empty();
+}
+
 /////////////////////////////////////////////////
 std::unordered_set<ComponentTypeId>
     EntityComponentManager::ComponentTypesWithPeriodicChanges() const

src/EntityComponentManager_TEST.cc

@@ -2232,6 +2232,7 @@ TEST_P(EntityComponentManagerFixture,
   ASSERT_NE(nullptr, c2);
 
   EXPECT_TRUE(manager.HasOneTimeComponentChanges());
+  EXPECT_FALSE(manager.HasPeriodicComponentChanges());
   EXPECT_EQ(0u, manager.ComponentTypesWithPeriodicChanges().size());
   EXPECT_EQ(ComponentState::OneTimeChange,
       manager.ComponentState(e1, c1->TypeId()));
@@ -2244,6 +2245,7 @@ TEST_P(EntityComponentManagerFixture,
   // updated
   manager.RunSetAllComponentsUnchanged();
   EXPECT_FALSE(manager.HasOneTimeComponentChanges());
+  EXPECT_FALSE(manager.HasPeriodicComponentChanges());
   EXPECT_EQ(0u, manager.ComponentTypesWithPeriodicChanges().size());
   EXPECT_EQ(ComponentState::NoChange,
       manager.ComponentState(e1, c1->TypeId()));
@@ -2258,6 +2260,7 @@ TEST_P(EntityComponentManagerFixture,
   EXPECT_EQ(ComponentState::NoChange,
       manager.ComponentState(e1, c1->TypeId()));
   EXPECT_FALSE(manager.HasOneTimeComponentChanges());
+  EXPECT_FALSE(manager.HasPeriodicComponentChanges());
   EXPECT_EQ(0u, manager.ComponentTypesWithPeriodicChanges().size());
   EXPECT_EQ(0, manager.ChangedState().entities_size());
 
@@ -2285,6 +2288,7 @@ TEST_P(EntityComponentManagerFixture,
 
   EXPECT_TRUE(manager.HasOneTimeComponentChanges());
   // Expect a single component type to be marked as PeriodicChange
+  EXPECT_TRUE(manager.HasPeriodicComponentChanges());
   ASSERT_EQ(1u, manager.ComponentTypesWithPeriodicChanges().size());
   EXPECT_EQ(IntComponent().TypeId(),
       *manager.ComponentTypesWithPeriodicChanges().begin());
@@ -2297,6 +2301,7 @@ TEST_P(EntityComponentManagerFixture,
   EXPECT_TRUE(manager.RemoveComponent(e1, c1->TypeId()));
 
   EXPECT_TRUE(manager.HasOneTimeComponentChanges());
+  EXPECT_FALSE(manager.HasPeriodicComponentChanges());
   EXPECT_EQ(0u, manager.ComponentTypesWithPeriodicChanges().size());
   EXPECT_EQ(ComponentState::NoChange,
       manager.ComponentState(e1, c1->TypeId()));

src/ServerConfig.cc

@@ -251,6 +251,7 @@ class gz::sim::ServerConfigPrivate
             useLevels(_cfg->useLevels),
             useLogRecord(_cfg->useLogRecord),
             logRecordPath(_cfg->logRecordPath),
+            logRecordPeriod(_cfg->logRecordPeriod),
             logPlaybackPath(_cfg->logPlaybackPath),
             logRecordResources(_cfg->logRecordResources),
             logRecordCompressPath(_cfg->logRecordCompressPath),
@@ -283,6 +284,9 @@ class gz::sim::ServerConfigPrivate
   /// \brief Path to place recorded states
   public: std::string logRecordPath = "";
 
+  /// \brief Time period to record states
+  public: std::chrono::steady_clock::duration logRecordPeriod{0};
+
   /// \brief Path to recorded states to play back using logging system
   public: std::string logPlaybackPath = "";
 
@@ -480,6 +484,19 @@ void ServerConfig::SetLogRecordPath(const std::string &_recordPath)
   this->dataPtr->logRecordPath = _recordPath;
 }
 
+/////////////////////////////////////////////////
+std::chrono::steady_clock::duration ServerConfig::LogRecordPeriod() const
+{
+  return this->dataPtr->logRecordPeriod;
+}
+
+/////////////////////////////////////////////////
+void ServerConfig::SetLogRecordPeriod(
+  const std::chrono::steady_clock::duration &_period)
+{
+  this->dataPtr->logRecordPeriod = _period;
+}
+
 /////////////////////////////////////////////////
 const std::string ServerConfig::LogPlaybackPath() const
 {
@@ -692,6 +709,17 @@ ServerConfig::LogRecordPlugin() const
     plugin.InsertContent(topicElem);
   }
 
+  if (this->LogRecordPeriod() > std::chrono::steady_clock::duration::zero())
+  {
+    sdf::ElementPtr periodElem = std::make_shared<sdf::Element>();
+    periodElem->SetName("record_period");
+    periodElem->AddValue("double", "0", false, "");
+    double t = std::chrono::duration_cast<std::chrono::milliseconds>(
+        this->LogRecordPeriod()).count() * 1e-3;
+    periodElem->Set<double>(t);
+    plugin.InsertContent(periodElem);
+  }
+
   gzdbg << plugin.ToElement()->ToString("") << std::endl;
 
   return ServerConfig::PluginInfo(entityName,

src/ServerConfig_TEST.cc

@@ -221,6 +221,11 @@ TEST(ServerConfig, GenerateRecordPlugin)
   config.SetUseLogRecord(true);
   config.SetLogRecordPath("foo/bar");
   config.SetLogRecordResources(true);
+  auto period =
+    std::chrono::duration_cast<std::chrono::steady_clock::duration>(
+    std::chrono::duration<double>(0.04));
+  config.SetLogRecordPeriod(period);
+  EXPECT_EQ(period, config.LogRecordPeriod());
 
   auto plugin = config.LogRecordPlugin();
   EXPECT_EQ(plugin.EntityName(), "*");

src/ServerPrivate.cc

@@ -257,6 +257,11 @@ void ServerPrivate::AddRecordPlugin(const ServerConfig &_config)
     this->config.SetLogRecordPath(_config.LogRecordPath());
   }
 
+  if (_config.LogRecordPeriod() > std::chrono::steady_clock::duration::zero())
+  {
+    this->config.SetLogRecordPeriod(_config.LogRecordPeriod());
+  }
+
   if (_config.LogRecordResources())
     this->config.SetLogRecordResources(true);
 

src/cmd/cmdsim.rb.in

@@ -98,6 +98,9 @@ COMMANDS = { 'sim' =>
   "                                     --record-topic /stats \                    \n"\
   "                                     --record-topic /clock                      \n"\
   "\n"\
+  "  --record-period [arg]        Specify the time period (seconds) between        \n"\
+  "                               state recording.                                 \n"\
+  "\n"\
   "  --log-overwrite              When recording, overwrite existing files.        \n"\
   "                               Only valid if recording is enabled.              \n"\
   "\n"\
@@ -213,6 +216,7 @@ class Cmd
       'record-path' => '',
       'record-resources' => 0,
       'record-topics' => [],
+      'record-period' => -1,
       'log-overwrite' => 0,
       'log-compress' => 0,
       'playback' => '',
@@ -283,6 +287,9 @@ class Cmd
       opts.on('--record-topic [arg]', String) do |t|
         options['record-topics'].append(t)
       end
+      opts.on('--record-period [arg]', Float) do |d|
+        options['record-period'] = d
+      end
       opts.on('--log-overwrite') do
         options['log-overwrite'] = 1
       end
@@ -455,7 +462,7 @@ Please use [GZ_SIM_RESOURCE_PATH] instead."
                                const char *, int, int, const char *,
                                int, int, int, const char *, const char *,
                                const char *, const char *, const char *,
-                               const char *, int, int)'
+                               const char *, int, int, float)'
 
       # Import the runGui function
       Importer.extern 'int runGui(const char *, const char *, int, const char *)'
@@ -491,7 +498,7 @@ See https://github.com/gazebosim/gz-sim/issues/44 for more info."
             options['render_engine_server'], options['render_engine_gui'],
             options['file'], options['record-topics'].join(':'),
             options['wait_gui'],
-            options['headless-rendering'])
+            options['headless-rendering'], options['record-period'])
         end
 
         guiPid = Process.fork do
@@ -528,7 +535,7 @@ See https://github.com/gazebosim/gz-sim/issues/44 for more info."
             options['playback'], options['physics_engine'],
             options['render_engine_server'], options['render_engine_gui'],
             options['file'], options['record-topics'].join(':'),
-            options['wait_gui'], options['headless-rendering'])
+            options['wait_gui'], options['headless-rendering'], options['record-period'])
             # Otherwise run the gui
       else options['gui']
         ENV['RMT_PORT'] = '1501'

src/cmd/sim.bash_completion.sh

@@ -30,6 +30,7 @@ GZ_SIM_COMPLETION_LIST="
   --record-path
   --record-resources
   --record-topic
+  --record-period
   --log-overwrite
   --log-compress
   --playback