port: 6 to 7 20221111

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).

Changelog.md

@@ -433,6 +433,71 @@
 
 ## Gazebo Sim 6.x
 
+### Gazebo Sim 6.13.0 (2022-11-04)
+
+1. Fix two tests on Windows
+    * [Pull request #1779](https://github.com/gazebosim/ign-gazebo/pull/1779)
+
+1. 3 to 6 20221013
+    * [Pull request #1762](https://github.com/gazebosim/ign-gazebo/pull/1762)
+
+1. Some minor changes to hydrodynamic flags test
+    * [Pull request #1772](https://github.com/gazebosim/ign-gazebo/pull/1772)
+
+1. Fix thruster integration test
+    * [Pull request #1767](https://github.com/gazebosim/ign-gazebo/pull/1767)
+
+1. Fix scene_broadcaster_system test
+    * [Pull request #1766](https://github.com/gazebosim/ign-gazebo/pull/1766)
+
+1. Script and tutorial for generating procedural datasets with Blender
+    * [Pull request #1412](https://github.com/gazebosim/ign-gazebo/pull/1412)
+
+1. Enable use of ign gazebo -s on Windows (take two)
+    * [Pull request #1764](https://github.com/gazebosim/ign-gazebo/pull/1764)
+
+1. Removed unused speedlimit file
+    * [Pull request #1761](https://github.com/gazebosim/ign-gazebo/pull/1761)
+
+1. Fortress: Removed warnings
+    * [Pull request #1754](https://github.com/gazebosim/ign-gazebo/pull/1754)
+
+1. Enable/Disable individual hydrodynamic components.
+    * [Pull request #1692](https://github.com/gazebosim/ign-gazebo/pull/1692)
+
+1. Adding thrust coefficient calculation
+    * [Pull request #1652](https://github.com/gazebosim/ign-gazebo/pull/1652)
+
+1. Restore Add System GUI plugin
+    * [Pull request #1685](https://github.com/gazebosim/ign-gazebo/pull/1685)
+
+1. Return absolute path when finding a resource
+    * [Pull request #1741](https://github.com/gazebosim/ign-gazebo/pull/1741)
+
+1. Adds sky cubemap URI to the sky.proto's header
+    * [Pull request #1739](https://github.com/gazebosim/ign-gazebo/pull/1739)
+
+1. Update triggered_publisher.sdf
+    * [Pull request #1737](https://github.com/gazebosim/ign-gazebo/pull/1737)
+
+1. Add ResourceSpawner example file
+    * [Pull request #1701](https://github.com/gazebosim/ign-gazebo/pull/1701)
+
+1. Enable inherited model topic name.
+    * [Pull request #1689](https://github.com/gazebosim/ign-gazebo/pull/1689)
+
+1. Fix loading render engine plugins in GUI
+    * [Pull request #1694](https://github.com/gazebosim/ign-gazebo/pull/1694)
+
+1. Add a service to trigger functionality
+    * [Pull request #1611](https://github.com/gazebosim/ign-gazebo/pull/1611)
+
+1. Fix installation instructions on Ubuntu 22.04
+    * [Pull request #1686](https://github.com/gazebosim/ign-gazebo/pull/1686)
+
+1. Fix reference link in ackermann steering
+    * [Pull request #1683](https://github.com/gazebosim/ign-gazebo/pull/1683)
+
 ### Gazebo Sim 6.12.0 (2022-08-30)
 
 1. Add topic parameter to thrust plugin

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

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">

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,

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()));
       }
     }