Merge branch 'arjo/buoyancy_engine' of github.com:ignitionrobotics/ig…

…n-gazebo into arjo/buoyancy_engine
gazebosim · Sep 15, 2021 · baad4ad · baad4ad
2 parents bdf5ba8 + 834b2d0
commit baad4ad
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diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -40,7 +40,7 @@ endif()
 
 # This option is needed to use the PROTOBUF_GENERATE_CPP
 # in case protobuf is found with the CMake config files
-# It needs to be set before any find_package(...) call 
+# It needs to be set before any find_package(...) call
 # as protobuf could be find transitively by any dependency
 set(protobuf_MODULE_COMPATIBLE TRUE)
 
@@ -65,7 +65,7 @@ set(IGN_MSGS_VER ${ignition-msgs8_VERSION_MAJOR})
 #--------------------------------------
 # Find ignition-common
 # Always use the profiler component to get the headers, regardless of status.
-ign_find_package(ignition-common4
+ign_find_package(ignition-common4 VERSION 4.2
  COMPONENTS
  profiler
  events
@@ -192,6 +192,7 @@ if (NOT APPLE)
  API_MAINPAGE_MD "${CMAKE_BINARY_DIR}/api.md"
  TUTORIALS_MAINPAGE_MD "${CMAKE_BINARY_DIR}/tutorials.md"
  ADDITIONAL_INPUT_DIRS "${CMAKE_SOURCE_DIR}/src/systems ${CMAKE_SOURCE_DIR}/src/gui/plugins"
+ IMAGE_PATH_DIRS "${CMAKE_SOURCE_DIR}/tutorials/files"
  TAGFILES
  "${IGNITION-MATH_DOXYGEN_TAGFILE} = ${IGNITION-MATH_API_URL}"
  "${IGNITION-MSGS_DOXYGEN_TAGFILE} = ${IGNITION-MSGS_API_URL}"

diff --git a/Changelog.md b/Changelog.md
@@ -775,7 +775,67 @@
 ### Ignition Gazebo 3.X.X (202X-XX-XX)
 
 
-### Ignition Gazebo 3.9.0 (2021-07-XX)
+### Ignition Gazebo 3.9.0 (2021-08-16)
+
+1. Entity tree: prevent creation of repeated entity items
+ * [Pull request #974](https:/ignitionrobotics/ign-gazebo/pull/974)
+
+1. Don't use $HOME on most tests (InternalFixture)
+ * [Pull request #971](https:/ignitionrobotics/ign-gazebo/pull/971)
+
+1. Be more specific when looking for physics plugins
+ * [Pull request #965](https:/ignitionrobotics/ign-gazebo/pull/965)
+
+1. Drag and drop meshes into scene
+ * [Pull request #939](https:/ignitionrobotics/ign-gazebo/pull/939)
+
+1. Set protobuf_MODULE_COMPATIBLE before any find_package call
+ * [Pull request #957](https:/ignitionrobotics/ign-gazebo/pull/957)
+
+1. [DiffDrive] add enable/disable
+ * [Pull request #772](https:/ignitionrobotics/ign-gazebo/pull/772)
+
+1. Fix component inspector shutdown crash
+ * [Pull request #724](https:/ignitionrobotics/ign-gazebo/pull/724)
+
+1. Add UserCommands Plugin.
+ * [Pull request #719](https:/ignitionrobotics/ign-gazebo/pull/719)
+
+1. Setting the intiial velocity for a model or joint
+ * [Pull request #693](https:/ignitionrobotics/ign-gazebo/pull/693)
+
+1. Examples and tutorial on using rendering API from plugins
+ * [Pull request #596](https:/ignitionrobotics/ign-gazebo/pull/596)
+
+1. Add missing IGNITION_GAZEBO_VISIBLE macros
+ * [Pull request #563](https:/ignitionrobotics/ign-gazebo/pull/563)
+
+1. Fix visibility macro names when used by a different component (Windows)
+ * [Pull request #564](https:/ignitionrobotics/ign-gazebo/pull/564)
+
+1. No install apt recommends and clear cache
+ * [Pull request #423](https:/ignitionrobotics/ign-gazebo/pull/423)
+
+1. Add 25percent darker view angle icons
+ * [Pull request #426](https:/ignitionrobotics/ign-gazebo/pull/426)
+
+1. Expose a test fixture helper class
+ * [Pull request #926](https:/ignitionrobotics/ign-gazebo/pull/926)
+
+1. Fix logic to disable server default plugins loading
+ * [Pull request #953](https:/ignitionrobotics/ign-gazebo/pull/953)
+
+1. removed unneeded plugin update
+ * [Pull request #944](https:/ignitionrobotics/ign-gazebo/pull/944)
+
+1. Functions to enable velocity and acceleration checks on Link
+ * [Pull request #935](https:/ignitionrobotics/ign-gazebo/pull/935)
+
+1. Support adding systems that don't come from a plugin
+ * [Pull request #936](https:/ignitionrobotics/ign-gazebo/pull/936)
+
+1. 3D plot GUI plugin
+ * [Pull request #917](https:/ignitionrobotics/ign-gazebo/pull/917)
 
 1. Add a convenience function for getting possibly non-existing components.
  * [Pull request #629](https:/ignitionrobotics/ign-gazebo/pull/629)

diff --git a/bitbucket-pipelines.yml b/bitbucket-pipelines.yml
diff --git a/docker/scripts/install_ign_deps.sh b/docker/scripts/install_ign_deps.sh
@@ -67,10 +67,11 @@ sudo apt-get install --no-install-recommends -y \
 # ign-physics dependencies
 sudo apt-get install --no-install-recommends -y \
  libeigen3-dev \
- dart6-data \
- libdart6-collision-ode-dev \
- libdart6-dev \
- libdart6-utils-urdf-dev \
+ libdart-collision-ode-dev \
+ libdart-dev \
+ libdart-external-ikfast-dev \
+ libdart-external-odelcpsolver-dev \
+ libdart-utils-urdf-dev \
  libbenchmark-dev
 
 # ign-gazebo dependencies

diff --git a/examples/standalone/entity_creation/entity_creation.cc b/examples/standalone/entity_creation/entity_creation.cc
@@ -79,7 +79,7 @@ void createEntityFromStr(const std::string modelStr)
  if (executed)
  {
  if (result)
- std::cout << "Sphere was created : [" << res.data() << "]" << std::endl;
+ std::cout << "Entity was created : [" << res.data() << "]" << std::endl;
  else
  {
  std::cout << "Service call failed" << std::endl;

diff --git a/examples/worlds/logical_camera_sensor.sdf b/examples/worlds/logical_camera_sensor.sdf
@@ -141,6 +141,7 @@
  <alwaysOn>1</alwaysOn>
  <visualize>true</visualize>
  <topic>logical_camera</topic>
+ <enable_metrics>true</enable_metrics>
  </sensor>
  </link>
  </model>

diff --git a/examples/worlds/minimal_scene.sdf b/examples/worlds/minimal_scene.sdf
@@ -13,14 +13,15 @@ Features:
 * Grid config
 * Select entities
 * Transform controls
+* Spawn entities through GUI
+* View angles
 
 Missing for parity with GzScene3D:
 
-* Spawn entities through GUI
 * Context menu
 * Record video
-* View angles
 * View collisions, wireframe, transparent, CoM, etc
+* Drag and drop from Fuel / meshes
 * ...
 
 -->
@@ -131,8 +132,6 @@ Missing for parity with GzScene3D:
  <play_pause>true</play_pause>
  <step>true</step>
  <start_paused>true</start_paused>
- <service>/world/buoyancy/control</service>
- <stats_topic>/world/buoyancy/stats</stats_topic>
 
  </plugin>
 
@@ -157,7 +156,20 @@ Missing for parity with GzScene3D:
  <real_time>true</real_time>
  <real_time_factor>true</real_time_factor>
  <iterations>true</iterations>
- <topic>/world/buoyancy/stats</topic>
+ </plugin>
+
+ <plugin filename="Spawn" name="Spawn Entities">
+ <ignition-gui>
+ <anchors target="Select entities">
+ <line own="right" target="right"/>
+ <line own="top" target="top"/>
+ </anchors>
+ <property key="resizable" type="bool">false</property>
+ <property key="width" type="double">5</property>
+ <property key="height" type="double">5</property>
+ <property key="state" type="string">floating</property>
+ <property key="showTitleBar" type="bool">false</property>
+ </ignition-gui>
  </plugin>
 
  <!-- Insert simple shapes -->
@@ -235,6 +247,16 @@ Missing for parity with GzScene3D:
  </ignition-gui>
  </plugin>
 
+ <!-- View angle -->
+ <plugin filename="ViewAngle" name="View angle">
+ <ignition-gui>
+ <property type="string" key="state">docked</property>
+ </ignition-gui>
+
+ <!-- disable legacy features used to connect this plugin to GzScene3D -->
+ <legacy>false</legacy>
+ </plugin>
+
  </gui>
 
  <light type="directional" name="sun">

diff --git a/examples/worlds/pendulum_links.sdf b/examples/worlds/pendulum_links.sdf
@@ -9,7 +9,6 @@
 
 -->
 
-<?xml version="1.0" ?>
 <sdf version="1.7">
  <world name="double_pendulum">
  <physics name="1ms" type="ignored">

diff --git a/examples/worlds/sensors.sdf b/examples/worlds/sensors.sdf
@@ -116,6 +116,7 @@
  <update_rate>30</update_rate>
  <visualize>true</visualize>
  <topic>altimeter</topic>
+ <enable_metrics>true</enable_metrics>
  <altimeter>
  <vertical_position>
  <noise type="gaussian">
@@ -136,6 +137,7 @@
  <update_rate>30</update_rate>
  <visualize>true</visualize>
  <topic>air_pressure</topic>
+ <enable_metrics>true</enable_metrics>
  <air_pressure>
  <reference_altitude>123</reference_altitude>
  <pressure>
@@ -152,12 +154,14 @@
  <update_rate>100</update_rate>
  <visualize>true</visualize>
  <topic>imu</topic>
+ <enable_metrics>true</enable_metrics>
  </sensor>
  <sensor name="magnetometer" type="magnetometer">
  <always_on>1</always_on>
  <update_rate>100</update_rate>
  <visualize>true</visualize>
  <topic>magnetometer</topic>
+ <enable_metrics>true</enable_metrics>
  <magnetometer>
  <x>
  <noise type="gaussian">

diff --git a/examples/worlds/sensors_demo.sdf b/examples/worlds/sensors_demo.sdf
@@ -276,10 +276,12 @@
  <update_rate>30</update_rate>
  <visualize>true</visualize>
  <topic>camera_alone</topic>
+ <enable_metrics>true</enable_metrics>
  </sensor>
  <sensor name="depth_camera1" type="depth_camera">
  <update_rate>10</update_rate>
  <topic>depth_camera</topic>
+ <enable_metrics>true</enable_metrics>
  <camera>
  <horizontal_fov>1.05</horizontal_fov>
  <image>
@@ -344,6 +346,7 @@
  <sensor name='gpu_lidar' type='gpu_lidar'>"
  <topic>lidar</topic>
  <update_rate>10</update_rate>
+ <enable_metrics>true</enable_metrics>
  <ray>
  <scan>
  <horizontal>
@@ -415,6 +418,7 @@
  <update_rate>30</update_rate>
  <visualize>true</visualize>
  <topic>rgbd_camera</topic>
+ <enable_metrics>true</enable_metrics>
  </sensor>
  </link>
  </model>