Merge pull request #706 from scpeters/merge_11_12

Merge 11 -> 12

Changelog.md

@@ -4,7 +4,85 @@
 
 ## libsdformat 11.X
 
-### libsdformat 11.X.X (202X-XX-XX)
+### libsdformat 11.3.0 (2021-09-10)
+
+1. Fix world-complete.sdf and add particle_scatter_ratio to v1.8
+    * [Pull request #695](https://github.com/ignitionrobotics/sdformat/pull/695)
+
+1. Parse URDF continuous joint effort/velocity limits
+    * [Pull request #684](https://github.com/ignitionrobotics/sdformat/pull/684)
+
+1. Add `enable_orientation` SDF element to imu
+    * [Pull request #651](https://github.com/ignitionrobotics/sdformat/pull/651)
+
+1. Add a codecheck make target
+    * [Pull request #682](https://github.com/ignitionrobotics/sdformat/pull/682)
+
+1. Refactor sdf::readXml
+    * [Pull request #681](https://github.com/ignitionrobotics/sdformat/pull/681)
+
+1. Upgrade cpplint and fix new errors
+    * [Pull request #680](https://github.com/ignitionrobotics/sdformat/pull/680)
+
+1. Infrastructure and documentation
+    * [Pull request #679](https://github.com/ignitionrobotics/sdformat/pull/679)
+    * [Pull request #678](https://github.com/ignitionrobotics/sdformat/pull/678)
+    * [Pull request #676](https://github.com/ignitionrobotics/sdformat/pull/676)
+    * [Pull request #673](https://github.com/ignitionrobotics/sdformat/pull/673)
+    * [Pull request #630](https://github.com/ignitionrobotics/sdformat/pull/630)
+
+1. Added comment reminder to update functions
+    * [Pull request #677](https://github.com/ignitionrobotics/sdformat/pull/677)
+
+1. BUG: add missing plugin element to include
+    * [Pull request #668](https://github.com/ignitionrobotics/sdformat/pull/668)
+    * [Pull request #675](https://github.com/ignitionrobotics/sdformat/pull/675)
+
+1. Adds `enable_metrics` flag to Sensor.
+    * [Pull request #665](https://github.com/ignitionrobotics/sdformat/pull/665)
+
+1. BUG: make time type string [s ns]
+    * [Pull request #662](https://github.com/ignitionrobotics/sdformat/pull/662)
+
+1. Add GPS sensor to sdf9
+    * [Pull request #453](https://github.com/ignitionrobotics/sdformat/pull/453)
+
+1. Spec change booleans from 0/1 to false/true
+    * [Pull request #663](https://github.com/ignitionrobotics/sdformat/pull/663)
+
+1. Support parsing elements that are not part of the schema
+    * [Pull request #638](https://github.com/ignitionrobotics/sdformat/pull/638)
+
+1. Add lightmap to 1.7 spec and PBR material DOM
+    * [Pull request #429](https://github.com/ignitionrobotics/sdformat/pull/429)
+
+1. Fix urdf link extension tags
+    * [Pull request #628](https://github.com/ignitionrobotics/sdformat/pull/628)
+
+1. Fix unreported invalid model when reference frame is unavailable
+    * [Pull request #636](https://github.com/ignitionrobotics/sdformat/pull/636)
+
+1. Updated material spec
+    * [Pull request #644](https://github.com/ignitionrobotics/sdformat/pull/644)
+
+1. BUG: add missing sdf files to CMakeLists
+    * [Pull request #631](https://github.com/ignitionrobotics/sdformat/pull/631)
+
+1. Update build system to allow overriding CXX flags and using clang on Linux
+    * [Pull request #621](https://github.com/ignitionrobotics/sdformat/pull/621)
+
+1. Error: move << operator from .hh to .cc file
+    * [Pull request #623](https://github.com/ignitionrobotics/sdformat/pull/623)
+    * [Pull request #625](https://github.com/ignitionrobotics/sdformat/pull/625)
+
+1. Add Element::FindElement as an alternative to Element::GetElement
+    * [Pull request #620](https://github.com/ignitionrobotics/sdformat/pull/620)
+
+1. Parameter passing prototype
+    * [Pull request #413](https://github.com/ignitionrobotics/sdformat/pull/413)
+
+1. Port particle scatter ratio param to sdf 1.6
+    * [Pull request #595](https://github.com/ignitionrobotics/sdformat/pull/595)
 
 ### libsdformat 11.2.2 (2021-07-01)
 

sdf/1.7/frame.sdf

@@ -1,16 +1,32 @@
 <!-- Frame -->
 <element name="frame" required="*">
-  <description>A frame of reference to which a pose is relative.</description>
+  <description>A frame of reference in which poses may be expressed.</description>
 
   <attribute name="name" type="string" default="" required="1">
-    <description>Name of the frame. This name must not match another frame defined inside the parent that this frame is attached to.</description>
+    <description>
+      Name of the frame. It must be unique whithin its scope (model/world),
+      i.e., it must not match the name of another frame, link, joint, or model
+      within the same scope.
+    </description>
   </attribute>
 
   <attribute name="attached_to" type="string" default="" required="*">
     <description>
-      Name of the link or frame to which this frame is attached.
-      If a frame is specified, recursively following the attached_to attributes
-      of the specified frames must lead to the name of a link, a model, or the world frame.
+      If specified, this frame is attached to the specified frame. The specified
+      frame must be within the same scope and may be defined implicitly, i.e.,
+      the name of any //frame, //model, //joint, or //link within the same scope
+      may be used.
+
+      If missing, this frame is attached to the containing scope's frame. Within
+      a //world scope this is the implicit world frame, and within a //model
+      scope this is the implicit model frame.
+
+      A frame moves jointly with the frame it is @attached_to. This is different
+      from //pose/@relative_to. @attached_to defines how the frame is attached
+      to a //link, //model, or //world frame, while //pose/@relative_to defines
+      how the frame's pose is represented numerically. As a result, following
+      the chain of @attached_to attributes must always lead to a //link,
+      //model, //world, or //joint (implicitly attached_to its child //link).
     </description>
   </attribute>
 

sdf/1.7/model.sdf

@@ -3,7 +3,12 @@
   <description>The model element defines a complete robot or any other physical object.</description>
 
   <attribute name="name" type="string" default="__default__" required="1">
-    <description>A unique name for the model. This name must not match another model in the world.</description>
+    <description>
+      The name of the model and its implicit frame. This name must be unique
+      among all elements defining frames within the same scope, i.e., it must
+      not match another //model, //frame, //joint, or //link within the same
+      scope.
+    </description>
   </attribute>
 
   <attribute name="canonical_link" type="string" default="" required="*">

sdf/1.7/pose.sdf

@@ -1,10 +1,21 @@
 <!-- Pose -->
 <element name="pose" type="pose" default="0 0 0 0 0 0" required="0">
-  <description>A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.</description>
+  <description>A position(x,y,z) and orientation(roll, pitch yaw) with respect
+  to the frame named in the relative_to attribute.</description>
 
   <attribute name="relative_to" type="string" default="" required="*">
     <description>
-      Name of frame relative to which the pose is applied.
+      If specified, this pose is expressed in the named frame. The named frame
+      must be declared within the same scope (world/model) as the element that
+      has its pose specified by this tag.
+
+      If missing, the pose is expressed in the frame of the parent XML element
+      of the element that contains the pose. For exceptions to this rule and
+      more details on the default behavior, see
+      http://sdformat.org/tutorials?tut=pose_frame_semantics.
+
+      Note that @relative_to merely affects an element's initial pose and
+      does not affect the element's dynamic movement thereafter.
     </description>
   </attribute>
 

sdf/1.8/frame.sdf

@@ -1,16 +1,32 @@
 <!-- Frame -->
 <element name="frame" required="*">
-  <description>A frame of reference to which a pose is relative.</description>
+  <description>A frame of reference in which poses may be expressed.</description>
 
   <attribute name="name" type="string" default="" required="1">
-    <description>Name of the frame. This name must not match another frame defined inside the parent that this frame is attached to.</description>
+    <description>
+      Name of the frame. It must be unique whithin its scope (model/world),
+      i.e., it must not match the name of another frame, link, joint, or model
+      within the same scope.
+    </description>
   </attribute>
 
   <attribute name="attached_to" type="string" default="" required="*">
     <description>
-      Name of the link or frame to which this frame is attached.
-      If a frame is specified, recursively following the attached_to attributes
-      of the specified frames must lead to the name of a link, a model, or the world frame.
+      If specified, this frame is attached to the specified frame. The specified
+      frame must be within the same scope and may be defined implicitly, i.e.,
+      the name of any //frame, //model, //joint, or //link within the same scope
+      may be used.
+
+      If missing, this frame is attached to the containing scope's frame. Within
+      a //world scope this is the implicit world frame, and within a //model
+      scope this is the implicit model frame.
+
+      A frame moves jointly with the frame it is @attached_to. This is different
+      from //pose/@relative_to. @attached_to defines how the frame is attached
+      to a //link, //model, or //world frame, while //pose/@relative_to defines
+      how the frame's pose is represented numerically. As a result, following
+      the chain of @attached_to attributes must always lead to a //link,
+      //model, //world, or //joint (implicitly attached_to its child //link).
     </description>
   </attribute>
 

sdf/1.8/model.sdf

@@ -3,7 +3,12 @@
   <description>The model element defines a complete robot or any other physical object.</description>
 
   <attribute name="name" type="string" default="__default__" required="1">
-    <description>A unique name for the model. This name must not match another model in the world.</description>
+    <description>
+      The name of the model and its implicit frame. This name must be unique
+      among all elements defining frames within the same scope, i.e., it must
+      not match another //model, //frame, //joint, or //link within the same
+      scope.
+    </description>
   </attribute>
 
   <attribute name="canonical_link" type="string" default="" required="*">

sdf/1.8/pose.sdf

@@ -1,10 +1,25 @@
 <!-- Pose -->
 <element name="pose" type="pose" default="0 0 0 0 0 0" required="0">
-  <description>A position(x,y,z) and orientation(roll, pitch yaw) with respect to the frame named in the relative_to attribute.</description>
+  <description>A position (x,y,z) and orientation (roll, pitch yaw) with respect
+  to the frame named in the relative_to attribute.</description>
 
   <attribute name="relative_to" type="string" default="" required="*">
     <description>
-      Name of frame relative to which the pose is applied.
+      If specified, this pose is expressed in the named frame. The named frame
+      must be declared within the same scope (world/model) as the element that
+      has its pose specified by this tag.
+
+      If missing, the pose is expressed in the frame of the parent XML element
+      of the element that contains the pose. For exceptions to this rule and
+      more details on the default behavior, see
+      http://sdformat.org/tutorials?tut=pose_frame_semantics.
+
+      Note that @relative_to merely affects an element's initial pose and
+      does not affect the element's dynamic movement thereafter.
+
+      New in v1.8: @relative_to may use frames of nested scopes. In this case,
+      the frame is specified using `::` as delimiter to define the scope of the
+      frame, e.g. `nested_model_A::nested_model_B::awesome_frame`.
     </description>
   </attribute>
 

sdf/1.9/frame.sdf

@@ -1,16 +1,32 @@
 <!-- Frame -->
 <element name="frame" required="*">
-  <description>A frame of reference to which a pose is relative.</description>
+  <description>A frame of reference in which poses may be expressed.</description>
 
   <attribute name="name" type="string" default="" required="1">
-    <description>Name of the frame. This name must not match another frame defined inside the parent that this frame is attached to.</description>
+    <description>
+      Name of the frame. It must be unique whithin its scope (model/world),
+      i.e., it must not match the name of another frame, link, joint, or model
+      within the same scope.
+    </description>
   </attribute>
 
   <attribute name="attached_to" type="string" default="" required="*">
     <description>
-      Name of the link or frame to which this frame is attached.
-      If a frame is specified, recursively following the attached_to attributes
-      of the specified frames must lead to the name of a link, a model, or the world frame.
+      If specified, this frame is attached to the specified frame. The specified
+      frame must be within the same scope and may be defined implicitly, i.e.,
+      the name of any //frame, //model, //joint, or //link within the same scope
+      may be used.
+
+      If missing, this frame is attached to the containing scope's frame. Within
+      a //world scope this is the implicit world frame, and within a //model
+      scope this is the implicit model frame.
+
+      A frame moves jointly with the frame it is @attached_to. This is different
+      from //pose/@relative_to. @attached_to defines how the frame is attached
+      to a //link, //model, or //world frame, while //pose/@relative_to defines
+      how the frame's pose is represented numerically. As a result, following
+      the chain of @attached_to attributes must always lead to a //link,
+      //model, //world, or //joint (implicitly attached_to its child //link).
     </description>
   </attribute>
 

sdf/1.9/model.sdf

@@ -3,7 +3,12 @@
   <description>The model element defines a complete robot or any other physical object.</description>
 
   <attribute name="name" type="string" default="__default__" required="1">
-    <description>A unique name for the model. This name must not match another model in the world.</description>
+    <description>
+      The name of the model and its implicit frame. This name must be unique
+      among all elements defining frames within the same scope, i.e., it must
+      not match another //model, //frame, //joint, or //link within the same
+      scope.
+    </description>
   </attribute>
 
   <attribute name="canonical_link" type="string" default="" required="*">

sdf/1.9/pose.sdf

@@ -1,12 +1,29 @@
 <!-- Pose -->
 <element name="pose" type="pose" default="0 0 0 0 0 0" required="0">
-  <description>
-    A pose (translation, rotation) expressed in the frame named by @relative_to. The first three components (x, y, z) represent the position of the element's origin (in the @relative_to frame). The rotation component represents the orientation of the element as either a sequence of Euler rotations (r, p, y), see http://sdformat.org/tutorials?tut=specify_pose, or as a quaternion (x, y, z, w), where w is the real component.
-  </description>
+  <description>A pose (translation, rotation) expressed in the frame named by
+  @relative_to. The first three components (x, y, z) represent the position of
+  the element's origin (in the @relative_to frame). The rotation component
+  represents the orientation of the element as either a sequence of Euler
+  rotations (r, p, y), see http://sdformat.org/tutorials?tut=specify_pose,
+  or as a quaternion (x, y, z, w), where w is the real component.</description>
 
   <attribute name="relative_to" type="string" default="" required="0">
     <description>
-      Name of frame relative to which the pose is applied.
+      If specified, this pose is expressed in the named frame. The named frame
+      must be declared within the same scope (world/model) as the element that
+      has its pose specified by this tag.
+
+      If missing, the pose is expressed in the frame of the parent XML element
+      of the element that contains the pose. For exceptions to this rule and
+      more details on the default behavior, see
+      http://sdformat.org/tutorials?tut=pose_frame_semantics.
+
+      Note that @relative_to merely affects an element's initial pose and
+      does not affect the element's dynamic movement thereafter.
+
+      New in v1.8: @relative_to may use frames of nested scopes. In this case,
+      the frame is specified using `::` as delimiter to define the scope of the
+      frame, e.g. `nested_model_A::nested_model_B::awesome_frame`.
     </description>
   </attribute>
 

test/sdf/world_complete.sdf

@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<sdf version="1.7">
+<sdf version="1.8">
   <world name="default">
     <physics name="my_physics" type="bullet">
       <max_step_size>0.1</max_step_size>