4 ➡️ 5

.github/ci/after_make.sh

@@ -5,6 +5,7 @@ set -e
 
 # Install (needed for some tests)
 make install
+export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:/usr/local/lib
 
 # For ign-tools
 export IGN_CONFIG_PATH=/usr/local/share/ignition

Changelog.md

@@ -1,5 +1,98 @@
 ## Ignition Gazebo 4.x
 
+### Ignition Gazebo 4.5.0 (2020-02-17)
+
+1. Added particle system.
+    * [Pull Request 516](https://github.com/ignitionrobotics/ign-gazebo/pull/516)
+
+1. Add Light Usercommand and include Light parameters in the componentInspector
+    * [Pull Request 482](https://github.com/ignitionrobotics/ign-gazebo/pull/482)
+
+1. Added link to HW-accelerated video recording.
+    * [Pull Request 627](https://github.com/ignitionrobotics/ign-gazebo/pull/627)
+
+1. Fix EntityComponentManager race condition.
+    * [Pull Request 601](https://github.com/ignitionrobotics/ign-gazebo/pull/601)
+
+1. Add SDF topic validity check.
+    * [Pull Request 632](https://github.com/ignitionrobotics/ign-gazebo/pull/632)
+
+1. Add JointTrajectoryController system plugin.
+    * [Pull Request 473](https://github.com/ignitionrobotics/ign-gazebo/pull/473)
+
+### Ignition Gazebo 4.4.0 (2020-02-10)
+
+1. Added issue and PR templates
+    * [Pull Request 613](https://github.com/ignitionrobotics/ign-gazebo/pull/613)
+
+1. Fix segfault in SetRemovedComponentsMsgs method
+    * [Pull Request 495](https://github.com/ignitionrobotics/ign-gazebo/pull/495)
+
+1. Make topics configurable for joint controllers
+    * [Pull Request 584](https://github.com/ignitionrobotics/ign-gazebo/pull/584)
+
+1. Add about dialog
+    * [Pull Request 609](https://github.com/ignitionrobotics/ign-gazebo/pull/609)
+
+1. Add thermal sensor system for configuring thermal camera properties
+    * [Pull Request 614](https://github.com/ignitionrobotics/ign-gazebo/pull/614)
+
+### Ignition Gazebo 4.3.0 (2020-02-02)
+
+1. Non-blocking paths request.
+    * [Pull Request 555](https://github.com/ignitionrobotics/ign-gazebo/pull/555)
+
+1. Parallelize State call in ECM.
+    * [Pull Request 451](https://github.com/ignitionrobotics/ign-gazebo/pull/451)
+
+1. Allow to create light with the create service.
+    * [Pull Request 513](https://github.com/ignitionrobotics/ign-gazebo/pull/513)
+
+1. Added size to ground_plane in examples.
+    * [Pull Request 573](https://github.com/ignitionrobotics/ign-gazebo/pull/573)
+
+1. Fix finding PBR materials.
+    * [Pull Request 575](https://github.com/ignitionrobotics/ign-gazebo/pull/575)
+
+1. Publish all periodic change components in Scene Broadcaster.
+    * [Pull Request 544](https://github.com/ignitionrobotics/ign-gazebo/pull/544)
+
+1. Backport state update changes from pull request [#486](https://github.com/ignitionrobotics/ign-gazebo/pull/486).
+    * [Pull Request 583](https://github.com/ignitionrobotics/ign-gazebo/pull/583)
+
+1. Fix code_check errors.
+    * [Pull Request 582](https://github.com/ignitionrobotics/ign-gazebo/pull/582)
+
+1. Visualize collisions.
+    * [Pull Request 531](https://github.com/ignitionrobotics/ign-gazebo/pull/531)
+
+1. Remove playback <path> SDF param in Dome.
+    * [Pull Request 570](https://github.com/ignitionrobotics/ign-gazebo/pull/570)
+
+1. Tutorial on migrating SDF files from Gazebo classic.
+    * [Pull Request 400](https://github.com/ignitionrobotics/ign-gazebo/pull/400)
+
+1. World Exporter.
+    * [Pull Request 474](https://github.com/ignitionrobotics/ign-gazebo/pull/474)
+
+1. Model Creation tutorial using services.
+    * [Pull Request 530](https://github.com/ignitionrobotics/ign-gazebo/pull/530)
+
+1. Fix topLevelModel Method.
+    * [Pull Request 600](https://github.com/ignitionrobotics/ign-gazebo/pull/600)
+
+1. Add heat signature option to thermal system.
+    * [Pull Request 498](https://github.com/ignitionrobotics/ign-gazebo/pull/498)
+
+1. Add service and GUI to configure physics parameters (step size and RTF).
+    * [Pull Request 536](https://github.com/ignitionrobotics/ign-gazebo/pull/536)
+
+1. Refactor UNIT_Server_TEST.
+    * [Pull Request 594](https://github.com/ignitionrobotics/ign-gazebo/pull/594)
+
+1. Use Ignition GUI render event.
+    * [Pull Request 598](https://github.com/ignitionrobotics/ign-gazebo/pull/598)
+
 ### Ignition Gazebo 4.2.0 (2020-01-13)
 
 1. Automatically load a subset of world plugins.

Migration.md

@@ -48,6 +48,13 @@ in SDF by setting the `<visual><material><double_sided>` SDF element.
           std::string(const gazebo::Entity &,
           const sdf::Sensor &, const std::string &)>)`
 
+* Log playback using `<path>` SDF parameter is removed. Use --playback command
+  line argument instead.
+
+* `rendering::SceneManager`
+    * **Deprecated**: `Entity EntityFromNode(const rendering::NodePtr &_node) const;`
+    * **Replacement**: `Entity entity = std::get<int>(visual->UserData("gazebo-entity"));`
+
 ## Ignition Gazebo 2.x to 3.x
 
 * Use ign-rendering3, ign-sensors3 and ign-gui3.

examples/scripts/distributed/secondary.sdf

@@ -28,6 +28,7 @@
           <geometry>
             <plane>
               <normal>0 0 1</normal>
+              <size>100 100</size>
             </plane>
           </geometry>
         </collision>

examples/scripts/distributed/standalone.sdf

@@ -108,6 +108,7 @@
           <geometry>
             <plane>
               <normal>0 0 1</normal>
+              <size>100 100</size>
             </plane>
           </geometry>
         </collision>

examples/standalone/entity_creation/CMakeLists.txt

@@ -0,0 +1,8 @@
+cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+
+find_package(ignition-transport10 QUIET REQUIRED OPTIONAL_COMPONENTS log)
+set(IGN_TRANSPORT_VER ${ignition-transport10_VERSION_MAJOR})
+
+add_executable(entity_creation entity_creation.cc)
+target_link_libraries(entity_creation
+  ignition-transport${IGN_TRANSPORT_VER}::core)

examples/standalone/entity_creation/README.md

@@ -0,0 +1,25 @@
+# Examples using the create service
+
+## Build
+
+```
+mkdir build
+cd build
+cmake ..
+make
+```
+
+## Run
+
+This example only works if the world is called `empty`. Start an empty world with:
+
+```
+ign gazebo empty.sdf
+```
+
+Then run the create program to spawn entities into the world:
+
+```
+cd build
+./entity_creation
+```

examples/standalone/entity_creation/entity_creation.cc

@@ -0,0 +1,186 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#include <ignition/msgs/entity_factory.pb.h>
+
+#include <iostream>
+
+#include <ignition/transport/Node.hh>
+
+// Create a transport node.
+ignition::transport::Node node;
+
+// timeout used for services
+constexpr unsigned int timeout = 5000;
+
+void createLight()
+{
+  bool result;
+  ignition::msgs::Boolean rep;
+//! [create light]
+  ignition::msgs::EntityFactory entityFactoryRequest;
+
+  entityFactoryRequest.mutable_light()->set_name("point");
+  entityFactoryRequest.mutable_light()->set_range(4);
+  entityFactoryRequest.mutable_light()->set_attenuation_linear(0.5);
+  entityFactoryRequest.mutable_light()->set_attenuation_constant(0.2);
+  entityFactoryRequest.mutable_light()->set_attenuation_quadratic(0.01);
+  entityFactoryRequest.mutable_light()->set_cast_shadows(false);
+  entityFactoryRequest.mutable_light()->set_type(ignition::msgs::Light::POINT);
+  ignition::msgs::Set(
+    entityFactoryRequest.mutable_light()->mutable_direction(),
+    ignition::math::Vector3d(0.5, 0.2, -0.9));
+  ignition::msgs::Set(entityFactoryRequest.mutable_light()->mutable_pose(),
+    ignition::math::Pose3d(0.0, 0, 3.0, 0.0, 0.0, 0.0));
+//! [create light]
+
+//! [call service create]
+  bool executedEntityFactory = node.Request("/world/empty/create",
+        entityFactoryRequest, timeout, rep, result);
+  if (executedEntityFactory)
+  {
+    if (result)
+      std::cout << "Light was created : [" << rep.data() << "]" << std::endl;
+    else
+    {
+      std::cout << "Service call failed" << std::endl;
+      return;
+    }
+  }
+  else
+    std::cerr << "Service call timed out" << std::endl;
+//! [call service create]
+}
+
+void createEntityFromStr(const std::string modelStr)
+{
+//! [call service create sphere]
+  bool result;
+  ignition::msgs::EntityFactory req;
+  ignition::msgs::Boolean res;
+  req.set_sdf(modelStr);
+
+  bool executed = node.Request("/world/empty/create",
+            req, timeout, res, result);
+  if (executed)
+  {
+    if (result)
+      std::cout << "Sphere was created : [" << res.data() << "]" << std::endl;
+    else
+    {
+      std::cout << "Service call failed" << std::endl;
+      return;
+    }
+  }
+  else
+    std::cerr << "Service call timed out" << std::endl;
+//! [call service create sphere]
+}
+
+//////////////////////////////////////////////////
+std::string generateLightStr(
+  const std::string light_type, const std::string name,
+  const bool cast_shadows, const ignition::math::Pose3d pose,
+  const ignition::math::Color diffuse,
+  const ignition::math::Color specular,
+  const double attRange, const double attConstant,
+  const double attLinear, const double attQuadratic,
+  const ignition::math::Vector3d direction,
+  const double spot_inner_angle,
+  const double spot_outer_angle,
+  const double spot_falloff
+)
+{
+//! [create light str]
+  std::string lightStr = std::string("<sdf version='1.7'>") +
+    "<light type='" + light_type + "' name='" + name + "'> " +
+      "<cast_shadows>" + std::to_string(cast_shadows) + "</cast_shadows>" +
+      "<pose>" +
+      std::to_string(pose.Pos().X()) + " " +
+      std::to_string(pose.Pos().Y()) + " " +
+      std::to_string(pose.Pos().Z()) + " " +
+      std::to_string(pose.Rot().Roll()) + " " +
+      std::to_string(pose.Rot().Pitch()) + " " +
+      std::to_string(pose.Rot().Yaw()) +
+      "</pose>" +
+      "<diffuse>" +
+      std::to_string(diffuse.R()) + " " +
+      std::to_string(diffuse.G()) + " " +
+      std::to_string(diffuse.B()) + " " +
+      std::to_string(diffuse.A()) +
+      "</diffuse>" +
+      "<specular>" +
+      std::to_string(specular.R()) + " " +
+      std::to_string(specular.G()) + " " +
+      std::to_string(specular.B()) + " " +
+      std::to_string(specular.A()) +
+      "</specular>" +
+      "<attenuation>" +
+        "<range>" + std::to_string(attRange) + "</range>" +
+        "<constant>" + std::to_string(attConstant) + "</constant>" +
+        "<linear>" + std::to_string(attLinear) +   "</linear>" +
+        "<quadratic>" + std::to_string(attQuadratic) + "</quadratic>" +
+      "</attenuation>" +
+      "<direction>" +
+      std::to_string(direction.X()) + " " +
+      std::to_string(direction.Y()) + " " +
+      std::to_string(direction.Z()) +
+      "</direction>" +
+      "<spot>" +
+        "<inner_angle>" + std::to_string(spot_inner_angle) + "</inner_angle>" +
+        "<outer_angle>" + std::to_string(spot_outer_angle) + "</outer_angle>" +
+        "<falloff>" + std::to_string(spot_falloff) + "</falloff>" +
+      "</spot>" +
+    "</light></sdf>";
+//! [create light str]
+  return lightStr;
+}
+
+//////////////////////////////////////////////////
+int main(int argc, char **argv)
+{
+//! [create sphere]
+  auto sphereStr = R"(
+    <?xml version="1.0" ?>
+    <sdf version='1.7'>
+      <model name='sphere'>
+        <link name='link'>
+          <pose>0 0 0.5 0 0 0</pose>
+          <visual name='visual'>
+            <geometry><sphere><radius>1</radius></sphere></geometry>
+          </visual>
+          <collision name='collision'>
+            <geometry><sphere><radius>1</radius></sphere></geometry>
+          </collision>
+        </link>
+      </model>
+    </sdf>)";
+//! [create sphere]
+
+  createEntityFromStr(sphereStr);
+
+  createEntityFromStr(
+    generateLightStr("spot", "spot_light", false,
+      ignition::math::Pose3d(0, 0, 4, 0, 0, 0),
+      ignition::math::Color(0, 0, 1.0, 1.0),
+      ignition::math::Color(0, 0, 1.0, 1.0),
+      1.0, 0.2, 0.2, 0.001,
+      ignition::math::Vector3d(0.5, 0.2, -0.9),
+      0.15, 0.45, 1.0));
+
+  createLight();
+}

examples/standalone/light_control/CMakeLists.txt

@@ -0,0 +1,12 @@
+cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+
+find_package(ignition-transport10 QUIET REQUIRED OPTIONAL_COMPONENTS log)
+set(IGN_TRANSPORT_VER ${ignition-transport10_VERSION_MAJOR})
+
+find_package(ignition-gazebo5 REQUIRED)
+set(IGN_GAZEBO_VER ${ignition-gazebo5_VERSION_MAJOR})
+
+add_executable(light_control light_control.cc)
+target_link_libraries(light_control
+  ignition-transport${IGN_TRANSPORT_VER}::core
+  ignition-gazebo${IGN_GAZEBO_VER}::ignition-gazebo${IGN_GAZEBO_VER})