Merge: 8 -> main

Signed-off-by: Ian Chen <[email protected]>
Signed-off-by: Addisu Z. Taddese <[email protected]>
Co-authored-by: Addisu Z. Taddese <[email protected]>

Signed-off-by: Addisu Z. Taddese <[email protected]>

Several systems use const_cast in order to call
sdf::Element::GetElement with const ElementPtrs,
but the FindElement API can be used instead.

Also fix gz-sensors branch in custom sensor example

Signed-off-by: Steve Peters <[email protected]>

Merge gz-sim8 ➡️  main

* Added missing visible attributes
* Enable HIDE_SYMBOLS_BY_DEFAULT
---------

Signed-off-by: Jose Luis Rivero <[email protected]>

… gz-cmake. (gazebosim#2283)

See gazebosim/gz-cmake#166 (comment)

Signed-off-by: Jose Luis Rivero <[email protected]>

* Regroup tutorials into the 4 recommended categories
---------
Signed-off-by: Mabel Zhang <[email protected]>
Signed-off-by: Michael Carroll <[email protected]>
Co-authored-by: Michael Carroll <[email protected]>

Signed-off-by: Ian Chen <[email protected]>

Signed-off-by: Ian Chen <[email protected]>

Merge 8 -> main

Merge gz-sim8 ➡️  main

This implements a suggestion from gazebosim#1926 to delete
all `*VelocityCmd` components after each time step.
This also updates the logic for the following two systems
to handle this change:

* MulticopterMotorModel: handle missing component

Since JointVelocityCmd components are deleted after each
timestep, don't skip updating forces and moments if
the component does not exist, and use the
SetComponent API to more cleanly handle the component
creation logic. A syntax error in the the quadcopter test
worlds was fixed as well.

* TrajectoryFollower: don't need to remove commands

Now that the physics system is removing AngularVelocityCmd
components at every timestep, that logic can be removed
from the trajectory follower system.

Signed-off-by: Steve Peters <[email protected]>

Signed-off-by: Ian Chen <[email protected]>

Signed-off-by: Michael Carroll <[email protected]>

Signed-off-by: Jorge Perez <[email protected]>

This adds some comments and uses structured bindings
in range-based for loops to improve readability.
It also adds const to unmodified variables in a loop.

Signed-off-by: Steve Peters <[email protected]>

Merge gz-sim8 ➡️  main

Signed-off-by: Ian Chen <[email protected]>

* Part of gazebosim/gz-cmake#350.
* Remove old cmake code
* Use Python3_EXECUTABLE, not GZ_PYTHON_EXECUTABLE
* Remove logic for skipping tests with old cmake

Signed-off-by: Steve Peters <[email protected]>

Signed-off-by: Ian Chen <[email protected]>

Merge 8 -> main

Signed-off-by: Benjamin Perseghetti <[email protected]>
Co-authored-by: Steve Peters <[email protected]>

Also move the example command to a CDATA block to use
proper XML syntax.

Signed-off-by: Steve Peters <[email protected]>

Signed-off-by: Ian Chen <[email protected]>

Signed-off-by: Jose Luis Rivero <[email protected]>

…sim#2352)


Signed-off-by: Ian Chen <[email protected]>

This test was generating a warning about unused vairables. Unless built
in debug mode, `aserts`are often optimized out we should be using the
`ASSERT` macros from `gtest` instead.

Signed-off-by: Arjo Chakravarty <[email protected]>

Merge gz-sim8 ➡️  main

n particular if a user despawns an entity, the associated plugin gets removed. This should prevent issues like gazebosim#2165. TBH I'm not sure if this is the right way forward as a system should technically be able to access any entity in a traditional ECS.

The PR has now been reworked and greatly simplified. All we do is stop all worker threads if an entity is removed and then recreate remaining threads.

Signed-off-by: Addisu Z. Taddese <[email protected]>

Specifying an integer value in a <gz:system_priority> tag
for a system will control the order in which System PreUpdate
and Update callbacks are executed, with lower values executing
first.

The PriorityPrinter example plugin is added to illustrate
the feature.

Signed-off-by: Steve Peters <[email protected]>

Signed-off-by: Ian Chen <[email protected]>

* Deprecate use of added mass via hydrodynamics

I believe we should deprecate this option as it has instabilities. The
`fluid_added_mass` approach is superior. We should update our tutorials
as well.

---------

Signed-off-by: Arjo Chakravarty <[email protected]>
Co-authored-by: Carlos Agüero <[email protected]>

* ForceTorque system: use Update, not PostUpdate and
  set gz:system_priority to positive value for force_torque
  system in example and test worlds to ensure it runs after
  Physics::Update.
* Add WrenchMeasured component
* Write WrenchMeasured to ECM in ForceTorque::Update if
  component exists. This allows users to enable writing the
  sensor data to the ECM by creating the component.
* Model.hh: add nested model accessor APIs ModelByName
  and ModelCount. These are needed for the updated
  ForceTorque test.
* sensor_TEST.py: move PreUpdate callback to Update
  The test's PreUpdate callback assumes that it executes
  after the ForceTorque::PreUpdate, so just move it to
  Update to guarantee it.

Signed-off-by: Steve Peters <[email protected]>

Merge gz-sim8 ➡️  main

…2489)

Signed-off-by: yaswanth1701 <[email protected]>
Signed-off-by: Steve Peters <[email protected]>
Signed-off-by: Yaswanth <[email protected]>
Co-authored-by: Steve Peters <[email protected]>
Co-authored-by: Steve Peters <[email protected]>

This adds a new SystemConfigurePriority interface to
gz::sim::System to configure the default priority value for
the order of execution of PreUpdate and Update calls.
This value can still be overridden by specifying the priority
via the XML element.

Several systems are modified to use this feature using
constant priority values defined in gz/sim/System.hh:

* The Physics and UserCommands systems are configured
  to execute before systems with default priority.
* The ForceTorque system is configured to execute after
  Physics but before systems with default priority.

Signed-off-by: Steve Peters <[email protected]>

Signed-off-by: Ian Chen <[email protected]>

Signed-off-by: Ian Chen <[email protected]>

…mon::SignalHandler` (gazebosim#2537)

Signed-off-by: Addisu Z. Taddese <[email protected]>

Signed-off-by: Ian Chen <[email protected]>

Merge 8 -> main

Signed-off-by: Ian Chen <[email protected]>

The system priority for the force-torque system was
explicitly set using XML tags in several test worlds
in gazebosim#2494. These XML tags are no longer needed since gazebosim#2500
was merged, so remove them now.

Also fix some outdated comments

Signed-off-by: Steve Peters <[email protected]>

…zebosim#2545)

* Fix crash at exit due to a race condition with new signal handler

Previously, the signal handler would interrupt the main thread (thread
that calls `Server::Run`), so there was no chance for the main thread to
resume before the signal handler was finished. With the new signal
handler implementation in gz::common, the signal handler is now called
from a different thread which means the main thread might resume before
the signal handler is finished. This causes a race condition in which
the `Server` class, and therefore the `ServerPrivate` class are being
destructed while the signal handler is still active. Since
`ServerPrivate` also contains the class that encapsulates the signal
handler implementation, the causes a crash as the signal handler tries
to access data that has been deleted.

The fix here is to ensure that the main thread does not exit until the
signal handler is finished by synchronizing on a mutex.
---------

Signed-off-by: Addisu Z. Taddese <[email protected]>

…im#2497)



Signed-off-by: Addisu Z. Taddese <[email protected]>
Signed-off-by: Ian Chen <[email protected]>
Co-authored-by: Ian Chen <[email protected]>

…#2554)

Signed-off-by: Ian Chen <[email protected]>

* Fix doxygen page links

Signed-off-by: Addisu Z. Taddese <[email protected]>

* One more page

Signed-off-by: Addisu Z. Taddese <[email protected]>

* Add new lines between refs

Signed-off-by: Addisu Z. Taddese <[email protected]>

---------

Signed-off-by: Addisu Z. Taddese <[email protected]>
(cherry picked from commit c1e367b)

Signed-off-by: Van Malleghem Antoine <[email protected]>