4 to 5 20210412

.github/workflows/ci.yml

@@ -14,13 +14,12 @@ jobs:
         uses: ignition-tooling/action-ignition-ci@bionic
         with:
           codecov-token: ${{ secrets.CODECOV_TOKEN }}
-  # TODO(anyone) Enable Focal CI and fix failing tests
-  # focal-ci:
-  #   runs-on: ubuntu-latest
-  #   name: Ubuntu Focal CI
-  #   steps:
-  #     - name: Checkout
-  #       uses: actions/checkout@v2
-  #     - name: Compile and test
-  #       id: ci
-  #       uses: ignition-tooling/action-ignition-ci@focal
+  focal-ci:
+    runs-on: ubuntu-latest
+    name: Ubuntu Focal CI
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Compile and test
+        id: ci
+        uses: ignition-tooling/action-ignition-ci@focal

CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5.1 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 
 #============================================================================
 # Initialize the project
@@ -38,7 +38,7 @@ endif()
 # Search for project-specific dependencies
 #============================================================================
 
-ign_find_package(sdformat11 REQUIRED)
+ign_find_package(sdformat11 REQUIRED VERSION 11.1)
 set(SDF_VER ${sdformat11_VERSION_MAJOR})
 
 #--------------------------------------
@@ -53,7 +53,7 @@ set(IGN_TRANSPORT_VER ${ignition-transport10_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-msgs
-ign_find_package(ignition-msgs7 REQUIRED)
+ign_find_package(ignition-msgs7 REQUIRED VERSION 7.1)
 set(IGN_MSGS_VER ${ignition-msgs7_VERSION_MAJOR})
 
 #--------------------------------------

Changelog.md

@@ -135,6 +135,78 @@
 
 ## Ignition Gazebo 4.x
 
+### Ignition Gazebo 4.x.x (202x-xx-xx)
+
+### Ignition Gazebo 4.8.0 (2021-04-22)
+
+1. Add odometry publisher system.
+    * [Pull Request 547](https://github.com/ignitionrobotics/ign-gazebo/pull/547)
+
+1. Patch particle emitter2 service.
+    * [Pull Request 777](https://github.com/ignitionrobotics/ign-gazebo/pull/777)
+
+### Ignition Gazebo 4.7.0 (2021-04-09)
+
+1. Particle emitter based on SDF.
+    * [Pull Request 730](https://github.com/ignitionrobotics/ign-gazebo/pull/730)
+
+1. Fix log playback for particle emitters.
+    * [Pull Request 745](https://github.com/ignitionrobotics/ign-gazebo/pull/745)
+
+1. ECM's ChangedState gets message with modified components.
+    * [Pull Request 742](https://github.com/ignitionrobotics/ign-gazebo/pull/742)
+
+1. Fixed collision visual bounding boxes.
+    * [Pull Request 746](https://github.com/ignitionrobotics/ign-gazebo/pull/746)
+
+1. Fix compute_rtfs arguments.
+    * [Pull Request 737](https://github.com/ignitionrobotics/ign-gazebo/pull/737)
+
+1. Validate step size and RTF parameters.
+    * [Pull Request 740](https://github.com/ignitionrobotics/ign-gazebo/pull/740)
+
+1. Use Protobuf_IMPORT_DIRS instead of PROTOBUF_IMPORT_DIRS for
+   compatibility with Protobuf CMake config.
+    * [Pull Request 715](https://github.com/ignitionrobotics/ign-gazebo/pull/715)
+
+1. Do not pass -Wno-unused-parameter to MSVC compiler.
+    * [Pull Request 716](https://github.com/ignitionrobotics/ign-gazebo/pull/716)
+
+1. Support configuring particle scatter ratio in particle emitter system.
+    * [Pull Request 674](https://github.com/ignitionrobotics/ign-gazebo/pull/674)
+
+1. Fix diffuse and ambient values for ackermann example. 
+    * [Pull Request 707](https://github.com/ignitionrobotics/ign-gazebo/pull/707)
+
+1. Scenebroadcaster sensors.
+    * [Pull Request 698](https://github.com/ignitionrobotics/ign-gazebo/pull/698)
+
+1. Add thermal camera test for object temperature below 0.
+    * [Pull Request 621](https://github.com/ignitionrobotics/ign-gazebo/pull/621)
+
+1. [BULLET] Making GetContactsFromLastStepFeature optional in Collision Features
+    * [Pull Request 690](https://github.com/ignitionrobotics/ign-gazebo/pull/690)
+
+1. Fix joint controller GUI test.
+    * [Pull Request 697](https://github.com/ignitionrobotics/ign-gazebo/pull/697)
+
+1. Quiet warnings from Joint State Publisher.
+    * [Pull Request 696](https://github.com/ignitionrobotics/ign-gazebo/pull/696)
+
+1. Ackermann Steering Plugin.
+    * [Pull Request 618](https://github.com/ignitionrobotics/ign-gazebo/pull/618)
+
+1. Remove bounding box when model is deleted 
+    * [Pull Request 675](https://github.com/ignitionrobotics/ign-gazebo/pull/675)
+
+1. Cache link poses to improve performance.
+    * [Pull Request 669](https://github.com/ignitionrobotics/ign-gazebo/pull/669)
+
+1. Check empty world name in Scene3d.
+    * [Pull Request 662](https://github.com/ignitionrobotics/ign-gazebo/pull/662)
+
+1. All changes up to 3.8.0. 
+
 ### Ignition Gazebo 4.6.0 (2021-03-01)
 
 1. Use a custom data structure to manage entity feature maps.
@@ -460,6 +532,115 @@
 
 ## Ignition Gazebo 3.x
 
+### Ignition Gazebo 3.X.X (202X-XX-XX)
+
+### Ignition Gazebo 3.8.0 (2021-03-17)
+
+1. Add joint position controller GUI, also enable tests for GUI plugins
+    * [Pull request #534](https://github.com/ignitionrobotics/ign-gazebo/pull/534)
+
+1. Remove visibility from headers that are not installed
+    * [Pull request #665](https://github.com/ignitionrobotics/ign-gazebo/pull/665)
+
+1. Added screenshot to toolbar
+    * [Pull request #588](https://github.com/ignitionrobotics/ign-gazebo/pull/588)
+
+1. Improve ign tool support on macOS
+    * [Pull request #477](https://github.com/ignitionrobotics/ign-gazebo/pull/477)
+
+1. change nullptr to a int ptr for qt 5.15.2 bug
+    * [Pull request #527](https://github.com/ignitionrobotics/ign-gazebo/pull/527)
+
+1. Kinetic energy monitor plugin
+    * [Pull request #492](https://github.com/ignitionrobotics/ign-gazebo/pull/492)
+
+1. Use a std::promise/std::future to avoid busy waiting the step ack messages in NetworkManagerPrimary
+    * [Pull request #470](https://github.com/ignitionrobotics/ign-gazebo/pull/470)
+
+1. clarified performer example
+    * [Pull request #390](https://github.com/ignitionrobotics/ign-gazebo/pull/390)
+
+1. Add tutorial tweaks
+    * [Pull request #380](https://github.com/ignitionrobotics/ign-gazebo/pull/380)
+
+1. Fix Qt5 warnings for using anchors
+    * [Pull request #363](https://github.com/ignitionrobotics/ign-gazebo/pull/363)
+
+1. Update codeowners
+    * [Pull request #305](https://github.com/ignitionrobotics/ign-gazebo/pull/305)
+
+1. Qt auto scale factor for HiDPI displays
+    * [Pull request #291](https://github.com/ignitionrobotics/ign-gazebo/pull/291)
+
+1. Fix yaw units
+    * [Pull request #238](https://github.com/ignitionrobotics/ign-gazebo/pull/238)
+
+1. Fixed docblock showGrid
+    * [Pull request #152](https://github.com/ignitionrobotics/ign-gazebo/pull/152)
+
+1. Fix entity tree for large worlds
+    * [Pull request #673](https://github.com/ignitionrobotics/ign-gazebo/pull/673)
+
+1. Master branch updates
+    * [Pull request #672](https://github.com/ignitionrobotics/ign-gazebo/pull/672)
+
+1. Backport #561: Use common::setenv
+    * [Pull request #666](https://github.com/ignitionrobotics/ign-gazebo/pull/666)
+
+1. Use a custom data structure to manage entity feature maps
+    * [Pull request #586](https://github.com/ignitionrobotics/ign-gazebo/pull/586)
+
+1. Limit scene broadcast publications when paused
+    * [Pull request #497](https://github.com/ignitionrobotics/ign-gazebo/pull/497)
+
+1. Fix flaky SceneBoradcaster test
+    * [Pull request #641](https://github.com/ignitionrobotics/ign-gazebo/pull/641)
+
+1. Add TF/Pose_V publisher in DiffDrive
+    * [Pull request #548](https://github.com/ignitionrobotics/ign-gazebo/pull/548)
+
+1. 👩‍🌾 Relax performance test
+    * [Pull request #640](https://github.com/ignitionrobotics/ign-gazebo/pull/640)
+
+1. 👩‍🌾 Improve velocity control test
+    * [Pull request #642](https://github.com/ignitionrobotics/ign-gazebo/pull/642)
+
+1. Add `laser_retro` support
+    * [Pull request #603](https://github.com/ignitionrobotics/ign-gazebo/pull/603)
+
+1. Fix pose of plane visual with non-default normal vector
+    * [Pull request #574](https://github.com/ignitionrobotics/ign-gazebo/pull/574)
+
+1. Add About dialog
+    * [Pull request #609](https://github.com/ignitionrobotics/ign-gazebo/pull/609)
+
+1. Make topics configurable for joint controllers
+    * [Pull request #584](https://github.com/ignitionrobotics/ign-gazebo/pull/584)
+
+1. Also use Ignition GUI render event
+    * [Pull request #598](https://github.com/ignitionrobotics/ign-gazebo/pull/598)
+
+1. Tutorial on migrating SDF files from Gazebo classic
+    * [Pull request #400](https://github.com/ignitionrobotics/ign-gazebo/pull/400)
+
+1. Visualize collisions
+    * [Pull request #531](https://github.com/ignitionrobotics/ign-gazebo/pull/531)
+
+1. Backport state update changes from pull request #486
+    * [Pull request #583](https://github.com/ignitionrobotics/ign-gazebo/pull/583)
+
+1. Publish all periodic change components in Scene Broadcaster
+    * [Pull request #544](https://github.com/ignitionrobotics/ign-gazebo/pull/544)
+
+1. added size to `ground_plane` in examples
+    * [Pull request #573](https://github.com/ignitionrobotics/ign-gazebo/pull/573)
+
+1. Parallelize State call in ECM
+    * [Pull request #451](https://github.com/ignitionrobotics/ign-gazebo/pull/451)
+
+1. Non-blocking paths request
+    * [Pull request #555](https://github.com/ignitionrobotics/ign-gazebo/pull/555)
+
 ### Ignition Gazebo 3.7.0 (2021-01-13)
 
 1. Fix examples in migration plugins tutorial.

examples/worlds/particle_emitter.sdf

@@ -1,5 +1,10 @@
 <?xml version="1.0" ?>
 
+<!-- NOTE: This world uses a particle emitter that is implemented as
+     a plugin. We recommend using particle emitters based on the SDF
+     specification. See the test/worlds/particle_emitter2.sdf example.
+-->
+
 <!--
   Launch this example with:
 

examples/worlds/particle_emitter2.sdf

@@ -0,0 +1,119 @@
+<?xml version="1.0" ?>
+
+<!--
+  Launch this example with:
+
+      ign gazebo -r particle_emitter.sdf
+
+  Try modifying some parameters of the emitter:
+
+    To disable the particle emitter:
+
+      ign topic -t /model/fog_generator/link/fog_link/particle_emitter/emitter/cmd -m ignition.msgs.ParticleEmitter -p 'emitting: {data: false}'
+
+    Enable back the particle emitter:
+
+      ign topic -t /model/fog_generator/link/fog_link/particle_emitter/emitter/cmd -m ignition.msgs.ParticleEmitter -p 'emitting: {data: true}'
+
+    Then, change the particle rate:
+
+      ign topic -t /model/fog_generator/link/fog_link/particle_emitter/emitter/cmd -m ignition.msgs.ParticleEmitter -p 'rate: {data: 100}'
+-->
+
+<sdf version="1.6">
+  <world name="particle_emitters">
+
+    <physics name="1ms" type="ode">
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+    </physics>
+    <plugin
+      filename="ignition-gazebo-physics-system"
+      name="ignition::gazebo::systems::Physics">
+      <!-- Use TPE in order to use nested models -->
+      <engine><filename>libignition-physics-tpe-plugin.so</filename></engine>
+    </plugin>
+    <plugin
+      filename="ignition-gazebo-user-commands-system"
+      name="ignition::gazebo::systems::UserCommands">
+    </plugin>
+    <plugin
+      filename="ignition-gazebo-scene-broadcaster-system"
+      name="ignition::gazebo::systems::SceneBroadcaster">
+    </plugin>
+    <plugin
+      filename="ignition-gazebo-particle-emitter2-system"
+      name="ignition::gazebo::systems::ParticleEmitter2">
+    </plugin>
+
+    <light type="directional" name="sun">
+      <cast_shadows>true</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>1 1 1 1</diffuse>
+      <specular>0.5 0.5 0.5 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+    </light>
+
+    <model name="ground_plane">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+            </plane>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <ambient>0.8 0.8 0.8 1</ambient>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.8 0.8 0.8 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+    <include>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/fog generator</uri>
+    </include>
+
+    <!-- Nested model example, where the particles are bright red
+         billboards -->
+    <model name="nested">
+      <static>true</static>
+      <pose>20 20 0 0 0 0</pose>
+      <model name="fog_generator">
+        <link name="fog_link_nested">
+        <particle_emitter name="emitter" type="box">
+          <emitting>true</emitting>
+          <size>10 10 0</size>
+          <particle_size>1 1 1</particle_size>
+          <lifetime>25</lifetime>
+          <min_velocity>0.1</min_velocity>
+          <max_velocity>0.2</max_velocity>
+          <scale_rate>0.5</scale_rate>
+          <rate>5</rate>
+          <material>
+            <diffuse>1.0 0.0 0.0</diffuse>
+            <specular>1.0 0.0 0.0</specular>
+          </material>
+        </particle_emitter>
+      </link>
+    </model>
+  </model>
+
+</world>
+</sdf>