Merge branch 'main' into reset

gazebosim · Mar 16, 2022 · ec06268 · ec06268
2 parents 81eabc6 + 1e0041a
commit ec06268
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diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -3,17 +3,6 @@ name: Ubuntu CI
 on: [push, pull_request]
 
 jobs:
- bionic-ci:
- runs-on: ubuntu-latest
- name: Ubuntu Bionic CI
- steps:
- - name: Checkout
- uses: actions/checkout@v2
- - name: Compile and test
- id: ci
- uses: ignition-tooling/action-ignition-ci@bionic
- with:
- codecov-enabled: true
  focal-ci:
  runs-on: ubuntu-latest
  name: Ubuntu Focal CI
@@ -23,3 +12,7 @@ jobs:
  - name: Compile and test
  id: ci
  uses: ignition-tooling/action-ignition-ci@focal
+ with:
+ codecov-enabled: true
+ cppcheck-enabled: true
+ cpplint-enabled: true
diff --git a/README.md b/README.md
@@ -10,7 +10,7 @@
 Build | Status
 -- | --
 Test coverage | [![codecov](https://codecov.io/gh/ignitionrobotics/ign-gazebo/branch/main/graph/badge.svg)](https://codecov.io/gh/ignitionrobotics/ign-gazebo)
-Ubuntu Bionic | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_gazebo-ci-main-bionic-amd64)](https://build.osrfoundation.org/job/ignition_gazebo-ci-main-bionic-amd64)
+Ubuntu Focal | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_gazebo-ci-main-focal-amd64)](https://build.osrfoundation.org/job/ignition_gazebo-ci-main-focal-amd64)
 Homebrew | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_gazebo-ci-main-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_gazebo-ci-main-homebrew-amd64)
 Windows | [![Build Status](https://build.osrfoundation.org/job/ign_gazebo-ci-win/badge/icon)](https://build.osrfoundation.org/job/ign_gazebo-ci-win/)
 

diff --git a/docker/README.md b/docker/README.md
@@ -110,15 +110,9 @@ Docker has two available versions: Community Edition (CE) and Enterprise Edition
   # Add the official GPG key of Docker
   curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo apt-key add -
 
-1. Setup Docker using 1 of the two options below.
+1. Setup Docker.
 
- 1. Ubuntu Bionic users
-
-  sudo add-apt-repository "deb [arch=amd64] https://download.docker.com/linux/ubuntu $(lsb_release -cs) edge"
-
- 1. Everyone else.
-
-  sudo add-apt-repository "deb [arch=amd64] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable"
+  sudo add-apt-repository "deb [arch=amd64] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable"
 
 1. Install Docker
 

diff --git a/examples/worlds/dem_monterey_bay.sdf b/examples/worlds/dem_monterey_bay.sdf
@@ -0,0 +1,145 @@
+<?xml version="1.0" ?>
+<!--
+
+ Demonstrates a Digital Elevation Model (DEM) heightmap of Monterey Bay bathymetry
+ downloaded from GEBCO (General Bathymetric Chart of the Oceans) 2021 https://www.gebco.net/
+
+-->
+<sdf version="1.9">
+ <world name="dem_monterey_bay">
+ <physics name="1ms" type="ignored">
+ <dart>
+ <!-- Heightmaps behave better with the bullet collision detector -->
+ <collision_detector>bullet</collision_detector>
+ </dart>
+ </physics>
+
+ <gui fullscreen="0">
+ <plugin filename="MinimalScene" name="3D View">
+ <ignition-gui>
+ <title>3D View</title>
+ <property type="bool" key="showTitleBar">false</property>
+ <property type="string" key="state">docked</property>
+ </ignition-gui>
+
+ <engine>ogre</engine>
+ <scene>scene</scene>
+ <ambient_light>0 0 0</ambient_light>
+ <background_color>0.8 0.8 0.8</background_color>
+ <camera_pose>-91.402603 7.516849 114.206924 0 0.889399 -0.016090</camera_pose>
+ </plugin>
+
+ <!-- Plugins that add functionality to the scene -->
+ <plugin filename="EntityContextMenuPlugin" name="Entity context menu">
+ <ignition-gui>
+ <property key="state" type="string">floating</property>
+ <property key="width" type="double">5</property>
+ <property key="height" type="double">5</property>
+ <property key="showTitleBar" type="bool">false</property>
+ </ignition-gui>
+ </plugin>
+ <plugin filename="GzSceneManager" name="Scene Manager">
+ <ignition-gui>
+ <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>
+ <plugin filename="InteractiveViewControl" name="Interactive view control">
+ <ignition-gui>
+ <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>
+ <plugin filename="CameraTracking" name="Camera Tracking">
+ <ignition-gui>
+ <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>
+ <plugin filename="WorldControl" name="World control">
+ <ignition-gui>
+ <title>World control</title>
+ <property type="bool" key="showTitleBar">false</property>
+ <property type="bool" key="resizable">false</property>
+ <property type="double" key="height">72</property>
+ <property type="double" key="width">121</property>
+ <property type="double" key="z">1</property>
+
+ <property type="string" key="state">floating</property>
+ <anchors target="3D View">
+ <line own="left" target="left"/>
+ <line own="bottom" target="bottom"/>
+ </anchors>
+ </ignition-gui>
+
+ <play_pause>true</play_pause>
+ <step>true</step>
+ <start_paused>true</start_paused>
+ <use_event>true</use_event>
+ </plugin>
+
+ <plugin filename="WorldStats" name="World stats">
+ <ignition-gui>
+ <title>World stats</title>
+ <property type="bool" key="showTitleBar">false</property>
+ <property type="bool" key="resizable">false</property>
+ <property type="double" key="height">110</property>
+ <property type="double" key="width">290</property>
+ <property type="double" key="z">1</property>
+
+ <property type="string" key="state">floating</property>
+ <anchors target="3D View">
+ <line own="right" target="right"/>
+ <line own="bottom" target="bottom"/>
+ </anchors>
+ </ignition-gui>
+
+ <sim_time>true</sim_time>
+ <real_time>true</real_time>
+ <real_time_factor>true</real_time_factor>
+ <iterations>true</iterations>
+ </plugin>
+
+ <plugin filename="ComponentInspector" name="Component inspector">
+ <ignition-gui>
+ <property type="string" key="state">docked</property>
+ </ignition-gui>
+ </plugin>
+
+ <plugin filename="EntityTree" name="Entity tree">
+ <ignition-gui>
+ <property type="string" key="state">docked</property>
+ </ignition-gui>
+ </plugin>
+ </gui>
+
+ <light type="directional" name="sun">
+ <cast_shadows>true</cast_shadows>
+ <pose>0 0 10 0 0 0</pose>
+ <diffuse>0.8 0.8 0.8 1</diffuse>
+ <specular>0.2 0.2 0.2 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>
+
+ <include>
+ <uri>
+ https://fuel.ignitionrobotics.org/1.0/jennuine/models/Monterey Bay
+ </uri>
+ </include>
+ </world>
+</sdf>
diff --git a/examples/worlds/dem_volcano.sdf b/examples/worlds/dem_volcano.sdf
@@ -0,0 +1,181 @@
+<?xml version="1.0" ?>
+<!--
+
+ Demonstrates a Digital Elevation Model (DEM) heightmap of Mount St. Helens volcano
+
+-->
+<sdf version="1.9">
+ <world name="dem_heightmap">
+ <physics name="1ms" type="ignored">
+ <dart>
+ <collision_detector>bullet</collision_detector>
+ </dart>
+ </physics>
+
+ <gui fullscreen="0">
+ <plugin filename="MinimalScene" name="3D View">
+ <ignition-gui>
+ <title>3D View</title>
+ <property type="bool" key="showTitleBar">false</property>
+ <property type="string" key="state">docked</property>
+ </ignition-gui>
+
+ <engine>ogre</engine>
+ <scene>scene</scene>
+ <ambient_light>0 0 0</ambient_light>
+ <background_color>0.8 0.8 0.8</background_color>
+ <camera_pose>-37.575569 82.272293 95.114960 0 0.566000 -0.981496</camera_pose>
+ </plugin>
+
+ <!-- Plugins that add functionality to the scene -->
+ <plugin filename="EntityContextMenuPlugin" name="Entity context menu">
+ <ignition-gui>
+ <property key="state" type="string">floating</property>
+ <property key="width" type="double">5</property>
+ <property key="height" type="double">5</property>
+ <property key="showTitleBar" type="bool">false</property>
+ </ignition-gui>
+ </plugin>
+ <plugin filename="GzSceneManager" name="Scene Manager">
+ <ignition-gui>
+ <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>
+ <plugin filename="InteractiveViewControl" name="Interactive view control">
+ <ignition-gui>
+ <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>
+ <plugin filename="CameraTracking" name="Camera Tracking">
+ <ignition-gui>
+ <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>
+ <plugin filename="WorldControl" name="World control">
+ <ignition-gui>
+ <title>World control</title>
+ <property type="bool" key="showTitleBar">false</property>
+ <property type="bool" key="resizable">false</property>
+ <property type="double" key="height">72</property>
+ <property type="double" key="width">121</property>
+ <property type="double" key="z">1</property>
+
+ <property type="string" key="state">floating</property>
+ <anchors target="3D View">
+ <line own="left" target="left"/>
+ <line own="bottom" target="bottom"/>
+ </anchors>
+ </ignition-gui>
+
+ <play_pause>true</play_pause>
+ <step>true</step>
+ <start_paused>true</start_paused>
+ <use_event>true</use_event>
+
+ </plugin>
+
+ <plugin filename="WorldStats" name="World stats">
+ <ignition-gui>
+ <title>World stats</title>
+ <property type="bool" key="showTitleBar">false</property>
+ <property type="bool" key="resizable">false</property>
+ <property type="double" key="height">110</property>
+ <property type="double" key="width">290</property>
+ <property type="double" key="z">1</property>
+
+ <property type="string" key="state">floating</property>
+ <anchors target="3D View">
+ <line own="right" target="right"/>
+ <line own="bottom" target="bottom"/>
+ </anchors>
+ </ignition-gui>
+
+ <sim_time>true</sim_time>
+ <real_time>true</real_time>
+ <real_time_factor>true</real_time_factor>
+ <iterations>true</iterations>
+ </plugin>
+
+ <plugin filename="ComponentInspector" name="Component inspector">
+ <ignition-gui>
+ <property type="string" key="state">docked</property>
+ </ignition-gui>
+ </plugin>
+
+ <plugin filename="EntityTree" name="Entity tree">
+ <ignition-gui>
+ <property type="string" key="state">docked</property>
+ </ignition-gui>
+ </plugin>
+ </gui>
+
+ <light type="directional" name="sun">
+ <cast_shadows>true</cast_shadows>
+ <pose>0 0 10 0 0 0</pose>
+ <diffuse>0.8 0.8 0.8 1</diffuse>
+ <specular>0.2 0.2 0.2 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="sphere">
+ <pose>0 15 70 0 0 0</pose>
+ <link name="sphere_link">
+ <inertial>
+ <inertia>
+ <ixx>0.1</ixx>
+ <ixy>0</ixy>
+ <ixz>0</ixz>
+ <iyy>0.1</iyy>
+ <iyz>0</iyz>
+ <izz>0.1</izz>
+ </inertia>
+ <mass>1.0</mass>
+ </inertial>
+ <collision name="sphere_collision">
+ <geometry>
+ <sphere>
+ <radius>2</radius>
+ </sphere>
+ </geometry>
+ </collision>
+
+ <visual name="sphere_visual">
+ <geometry>
+ <sphere>
+ <radius>2</radius>
+ </sphere>
+ </geometry>
+ <material>
+ <ambient>0 0 1 1</ambient>
+ <diffuse>0 0 1 1</diffuse>
+ <specular>0 0 1 1</specular>
+ </material>
+ </visual>
+ </link>
+ </model>
+
+ <include>
+ <uri>
+ https://fuel.ignitionrobotics.org/1.0/jennuine/models/Volcano
+ </uri>
+ </include>
+ </world>
+</sdf>