Merge branch 'master' into jrivero/cwin_branches_fortress

README.md

@@ -15,7 +15,7 @@ Gazebo software.
 
 For the developers officially maintaining Gazebo software that need to run a new release of the software:
 
- * The [Gazebo Release Process](https://gazebosim.org/docs/garden/release)
+ * The [Gazebo Release Process](https://gazebosim.org/docs/latest/release)
    document provides an overview of how releasing works.
- * The [Gazebo Release Instructions](https://gazebosim.org/docs/garden/releases-instructions)
+ * The [Gazebo Release Instructions](https://gazebosim.org/docs/latest/releases-instructions)
    document provides step by step instructions to run new releases.

jenkins-scripts/dsl/gz-collections.yaml

@@ -436,6 +436,88 @@ collections:
       linux:
         ignore_major_version:
           - gz-ionic
+  - name: 'jetty'
+    libs:
+      - name: gz-cmake
+        major_version: 4
+        repo:
+          current_branch: gz-cmake4
+      - name: gz-tools
+        major_version: 2
+        repo:
+          current_branch: gz-tools2
+      - name: gz-utils
+        major_version: 3
+        repo:
+          current_branch: gz-utils3
+      - name: gz-math
+        major_version: 8
+        repo:
+          current_branch: gz-math8
+      - name: gz-plugin
+        major_version: 3
+        repo:
+          current_branch: gz-plugin3
+      - name: gz-common
+        major_version: 6
+        repo:
+          current_branch: gz-common6
+      - name: gz-msgs
+        major_version: 11
+        repo:
+          current_branch: gz-msgs11
+      - name: gz-rendering
+        major_version: 9
+        repo:
+          current_branch: gz-rendering9
+      - name: sdformat
+        major_version: 15
+        repo:
+          current_branch: sdf15
+      - name: gz-fuel-tools
+        major_version: 10
+        repo:
+          current_branch: gz-fuel-tools10
+      - name: gz-transport
+        major_version: 14
+        repo:
+          current_branch: gz-transport14
+      - name: gz-gui
+        major_version: 9
+        repo:
+          current_branch: gz-gui9
+      - name: gz-sensors
+        major_version: 9
+        repo:
+          current_branch: gz-sensors9
+      - name: gz-physics
+        major_version: 8
+        repo:
+          current_branch: gz-physics8
+      - name: gz-sim
+        major_version: 9
+        repo:
+          current_branch: gz-sim9
+      - name: gz-launch
+        major_version: 8
+        repo:
+          current_branch: gz-launch8
+      - name: gz-jetty
+        major_version: 1
+        repo:
+          current_branch: main
+    ci:
+      configs:
+        - noble
+        - brew
+        - win
+    packaging:
+      configs:
+        - noble
+        - brew
+      linux:
+        ignore_major_version:
+          - gz-ionic
   - name: '__upcoming__'
     libs:
       - name: gz-tools
@@ -632,6 +714,7 @@ ci_configs:
       all:
         - gz-harmonic
         - gz-ionic
+        - gz-jetty
         - __upcoming__
       abichecker:
         - gz-cmake
@@ -686,6 +769,7 @@ ci_configs:
         - gz-garden
         - gz-harmonic
         - gz-ionic
+        - gz-jetty
         - __upcoming__
     cmake_warnings_disabled:
       - gz-cmake
@@ -719,6 +803,7 @@ ci_configs:
         - gz-garden
         - gz-harmonic
         - gz-ionic
+        - gz-jetty
         - __upcoming__
     cmake_warnings_disabled:
       - gz-cmake

jenkins-scripts/dsl/logs/generated_jobs.txt

@@ -93,6 +93,22 @@ asan_ci ionic gz_tools-ci_asan-gz-tools2-noble-amd64
 asan_ci ionic gz_transport-ci_asan-gz-transport14-noble-amd64
 asan_ci ionic gz_utils-ci_asan-gz-utils3-noble-amd64
 asan_ci ionic sdformat-ci_asan-sdf15-noble-amd64
+asan_ci jetty gz_cmake-ci_asan-gz-cmake4-noble-amd64
+asan_ci jetty gz_common-ci_asan-gz-common6-noble-amd64
+asan_ci jetty gz_fuel_tools-ci_asan-gz-fuel-tools10-noble-amd64
+asan_ci jetty gz_gui-ci_asan-gz-gui9-noble-amd64
+asan_ci jetty gz_launch-ci_asan-gz-launch8-noble-amd64
+asan_ci jetty gz_math-ci_asan-gz-math8-noble-amd64
+asan_ci jetty gz_msgs-ci_asan-gz-msgs11-noble-amd64
+asan_ci jetty gz_physics-ci_asan-gz-physics8-noble-amd64
+asan_ci jetty gz_plugin-ci_asan-gz-plugin3-noble-amd64
+asan_ci jetty gz_rendering-ci_asan-gz-rendering9-noble-amd64
+asan_ci jetty gz_sensors-ci_asan-gz-sensors9-noble-amd64
+asan_ci jetty gz_sim-ci_asan-gz-sim9-noble-amd64
+asan_ci jetty gz_tools-ci_asan-gz-tools2-noble-amd64
+asan_ci jetty gz_transport-ci_asan-gz-transport14-noble-amd64
+asan_ci jetty gz_utils-ci_asan-gz-utils3-noble-amd64
+asan_ci jetty sdformat-ci_asan-sdf15-noble-amd64
 branch_ci __upcoming__ gz_cmake-ci-main-homebrew-amd64
 branch_ci __upcoming__ gz_cmake-ci-main-noble-amd64
 branch_ci __upcoming__ gz_cmake-main-win
@@ -392,6 +408,54 @@ branch_ci ionic gz_utils-ci-gz-utils3-noble-amd64
 branch_ci ionic sdformat-ci-sdf15-homebrew-amd64
 branch_ci ionic sdformat-ci-sdf15-noble-amd64
 branch_ci ionic sdformat-sdf15-win
+branch_ci jetty gz_cmake-4-win
+branch_ci jetty gz_cmake-ci-gz-cmake4-homebrew-amd64
+branch_ci jetty gz_cmake-ci-gz-cmake4-noble-amd64
+branch_ci jetty gz_common-6-win
+branch_ci jetty gz_common-ci-gz-common6-homebrew-amd64
+branch_ci jetty gz_common-ci-gz-common6-noble-amd64
+branch_ci jetty gz_fuel_tools-10-win
+branch_ci jetty gz_fuel_tools-ci-gz-fuel-tools10-homebrew-amd64
+branch_ci jetty gz_fuel_tools-ci-gz-fuel-tools10-noble-amd64
+branch_ci jetty gz_gui-9-win
+branch_ci jetty gz_gui-ci-gz-gui9-homebrew-amd64
+branch_ci jetty gz_gui-ci-gz-gui9-noble-amd64
+branch_ci jetty gz_launch-8-win
+branch_ci jetty gz_launch-ci-gz-launch8-homebrew-amd64
+branch_ci jetty gz_launch-ci-gz-launch8-noble-amd64
+branch_ci jetty gz_math-8-win
+branch_ci jetty gz_math-ci-gz-math8-homebrew-amd64
+branch_ci jetty gz_math-ci-gz-math8-noble-amd64
+branch_ci jetty gz_msgs-11-win
+branch_ci jetty gz_msgs-ci-gz-msgs11-homebrew-amd64
+branch_ci jetty gz_msgs-ci-gz-msgs11-noble-amd64
+branch_ci jetty gz_physics-8-win
+branch_ci jetty gz_physics-ci-gz-physics8-homebrew-amd64
+branch_ci jetty gz_physics-ci-gz-physics8-noble-amd64
+branch_ci jetty gz_plugin-3-win
+branch_ci jetty gz_plugin-ci-gz-plugin3-homebrew-amd64
+branch_ci jetty gz_plugin-ci-gz-plugin3-noble-amd64
+branch_ci jetty gz_rendering-9-win
+branch_ci jetty gz_rendering-ci-gz-rendering9-homebrew-amd64
+branch_ci jetty gz_rendering-ci-gz-rendering9-noble-amd64
+branch_ci jetty gz_sensors-9-win
+branch_ci jetty gz_sensors-ci-gz-sensors9-homebrew-amd64
+branch_ci jetty gz_sensors-ci-gz-sensors9-noble-amd64
+branch_ci jetty gz_sim-9-win
+branch_ci jetty gz_sim-ci-gz-sim9-homebrew-amd64
+branch_ci jetty gz_sim-ci-gz-sim9-noble-amd64
+branch_ci jetty gz_tools-2-win
+branch_ci jetty gz_tools-ci-gz-tools2-homebrew-amd64
+branch_ci jetty gz_tools-ci-gz-tools2-noble-amd64
+branch_ci jetty gz_transport-14-win
+branch_ci jetty gz_transport-ci-gz-transport14-homebrew-amd64
+branch_ci jetty gz_transport-ci-gz-transport14-noble-amd64
+branch_ci jetty gz_utils-3-win
+branch_ci jetty gz_utils-ci-gz-utils3-homebrew-amd64
+branch_ci jetty gz_utils-ci-gz-utils3-noble-amd64
+branch_ci jetty sdformat-ci-sdf15-homebrew-amd64
+branch_ci jetty sdformat-ci-sdf15-noble-amd64
+branch_ci jetty sdformat-sdf15-win
 install_ci __upcoming__ gz_cmake5-install-pkg-noble-amd64
 install_ci __upcoming__ gz_cmake5-install_bottle-homebrew-amd64
 install_ci __upcoming__ gz_common7-install-pkg-noble-amd64
@@ -643,6 +707,40 @@ install_ci ionic gz_utils3-install-pkg-noble-amd64
 install_ci ionic gz_utils3-install_bottle-homebrew-amd64
 install_ci ionic sdformat15-install-pkg-noble-amd64
 install_ci ionic sdformat15-install_bottle-homebrew-amd64
+install_ci jetty gz_cmake4-install-pkg-noble-amd64
+install_ci jetty gz_cmake4-install_bottle-homebrew-amd64
+install_ci jetty gz_common6-install-pkg-noble-amd64
+install_ci jetty gz_common6-install_bottle-homebrew-amd64
+install_ci jetty gz_fuel_tools10-install-pkg-noble-amd64
+install_ci jetty gz_fuel_tools10-install_bottle-homebrew-amd64
+install_ci jetty gz_gui9-install-pkg-noble-amd64
+install_ci jetty gz_gui9-install_bottle-homebrew-amd64
+install_ci jetty gz_jetty1-install-pkg-noble-amd64
+install_ci jetty gz_jetty1-install_bottle-homebrew-amd64
+install_ci jetty gz_launch8-install-pkg-noble-amd64
+install_ci jetty gz_launch8-install_bottle-homebrew-amd64
+install_ci jetty gz_math8-install-pkg-noble-amd64
+install_ci jetty gz_math8-install_bottle-homebrew-amd64
+install_ci jetty gz_msgs11-install-pkg-noble-amd64
+install_ci jetty gz_msgs11-install_bottle-homebrew-amd64
+install_ci jetty gz_physics8-install-pkg-noble-amd64
+install_ci jetty gz_physics8-install_bottle-homebrew-amd64
+install_ci jetty gz_plugin3-install-pkg-noble-amd64
+install_ci jetty gz_plugin3-install_bottle-homebrew-amd64
+install_ci jetty gz_rendering9-install-pkg-noble-amd64
+install_ci jetty gz_rendering9-install_bottle-homebrew-amd64
+install_ci jetty gz_sensors9-install-pkg-noble-amd64
+install_ci jetty gz_sensors9-install_bottle-homebrew-amd64
+install_ci jetty gz_sim9-install-pkg-noble-amd64
+install_ci jetty gz_sim9-install_bottle-homebrew-amd64
+install_ci jetty gz_tools2-install-pkg-noble-amd64
+install_ci jetty gz_tools2-install_bottle-homebrew-amd64
+install_ci jetty gz_transport14-install-pkg-noble-amd64
+install_ci jetty gz_transport14-install_bottle-homebrew-amd64
+install_ci jetty gz_utils3-install-pkg-noble-amd64
+install_ci jetty gz_utils3-install_bottle-homebrew-amd64
+install_ci jetty sdformat15-install-pkg-noble-amd64
+install_ci jetty sdformat15-install_bottle-homebrew-amd64
 unofficial_wrappers_install_pkg_ci garden ros_gzgarden_bridge-install-pkg_humble-ci-jammy-amd64
 unofficial_wrappers_install_pkg_ci garden ros_gzgarden_bridge-install-pkg_iron-ci-jammy-amd64
 unofficial_wrappers_install_pkg_ci harmonic ros_gzharmonic_bridge-install-pkg_humble-ci-jammy-amd64

jenkins-scripts/lib/colcon-default-devel-windows.bat

@@ -35,29 +35,11 @@ if "%COLCON_AUTO_MAJOR_VERSION%" == "true" (
    echo "MAJOR_VERSION detected: !PKG_MAJOR_VERSION!"
 )
 
-:: Check if package is in colcon workspace
-echo # BEGIN SECTION: Update package !COLCON_PACKAGE! from gz to ignition
-echo Packages in workspace:
-colcon list --names-only
-
-colcon list --names-only | find "!COLCON_PACKAGE!"
-if errorlevel 1 (
-  set COLCON_PACKAGE=!COLCON_PACKAGE:gz=ignition!
-  set COLCON_PACKAGE=!COLCON_PACKAGE:sim=gazebo!
-)
-colcon list --names-only | find "!COLCON_PACKAGE!"
-if errorlevel 1 (
-  echo Failed to find package !COLCON_PACKAGE! in workspace.
-  goto :error
-)
-echo Using package name !COLCON_PACKAGE!
-echo # END SECTION
-
-set TEST_RESULT_PATH=%WORKSPACE%\ws\build\!COLCON_PACKAGE!\test_results
 
 setlocal ENABLEDELAYEDEXPANSION
 if not defined GAZEBODISTRO_FILE (
   for /f %%i in ('python "%SCRIPT_DIR%\tools\detect_cmake_major_version.py" "%WORKSPACE%\%VCS_DIRECTORY%\CMakeLists.txt"') do set PKG_MAJOR_VERSION=%%i
+  if errorlevel 1 exit 1
   set GAZEBODISTRO_FILE=%VCS_DIRECTORY%!PKG_MAJOR_VERSION!.yaml
 ) else (
   echo Using user defined GAZEBODISTRO_FILE: %GAZEBODISTRO_FILE%
@@ -90,6 +72,24 @@ call %win_lib% :setup_vcpkg_all_dependencies || goto :error
 echo # END SECTION
 echo # BEGIN SECTION: vcpkg: list installed packages
 call %win_lib% :list_vcpkg_packages || goto :error
+
+:: Check if package is in colcon workspace
+echo # BEGIN SECTION: Update package !COLCON_PACKAGE! from gz to ignition
+echo Packages in workspace:
+colcon list --names-only
+
+colcon list --names-only | find "!COLCON_PACKAGE!"
+if errorlevel 1 (
+  :: REQUIRED for Gazebo Fortress
+  set COLCON_PACKAGE=!COLCON_PACKAGE:gz=ignition!
+  set COLCON_PACKAGE=!COLCON_PACKAGE:sim=gazebo!
+)
+colcon list --names-only | find "!COLCON_PACKAGE!"
+if errorlevel 1 (
+  echo Failed to find package !COLCON_PACKAGE! in workspace.
+  goto :error
+)
+echo Using package name !COLCON_PACKAGE!
 echo # END SECTION
 
 echo # BEGIN SECTION: setup workspace
@@ -129,14 +129,16 @@ call %win_lib% :build_workspace !COLCON_PACKAGE! !COLCON_PACKAGE_EXTRA_CMAKE_ARG
 echo # END SECTION
 
 if "%ENABLE_TESTS%" == "TRUE" (
+    set TEST_RESULT_PATH=%WORKSPACE%\ws\build\!COLCON_PACKAGE!\test_results
+
     echo # BEGIN SECTION: running tests for !COLCON_PACKAGE!
     call %win_lib% :tests_in_workspace !COLCON_PACKAGE!
     echo # END SECTION
 
     echo # BEGIN SECTION: export testing results
     if exist %EXPORT_TEST_RESULT_PATH% ( rmdir /q /s %EXPORT_TEST_RESULT_PATH% )
     mkdir %EXPORT_TEST_RESULT_PATH%
-    xcopy %TEST_RESULT_PATH% %EXPORT_TEST_RESULT_PATH% /s /i /e || goto :error
+    xcopy !TEST_RESULT_PATH! %EXPORT_TEST_RESULT_PATH% /s /i /e || goto :error^M
     echo # END SECTION
 )
 

jenkins-scripts/lib/windows_library.bat

@@ -71,12 +71,29 @@ goto :EOF
 ::
 :: arg1 URL to download
 :: arg2 filename (not including the path, just the filename)
-echo Downloading %~1
-:: Note that http://gazebosim.org/distributions/win32/deps/ redirects to an https
-:: version of the website. However the jenkins machine fails to validate the secure
-:: https version, so we use the --no-check-certificate option to prevent wget from
-:: quitting prematurely.
-wget %~1 --no-check-certificate -O %cd%\%~2 || goto :error
+set URL=%~1
+set FILENAME=%~2
+
+:: Set the maximum number of retries
+set RETRIES=3
+set COUNT=0
+
+echo Downloading %URL%
+
+:retry
+:: Try to download the file using PowerShell
+powershell -command "Invoke-WebRequest -Uri %URL% -OutFile %cd%\%FILENAME%"
+:: Check if the download was successful
+if errorlevel 1 (
+    set /a COUNT+=1
+    echo Download failed. Retry attempt !COUNT! of %RETRIES%.
+    if !COUNT! geq %RETRIES% (
+        echo Maximum retry attempts reached. Exiting...
+        exit 1
+    )
+    timeout /t 5 >nul
+    goto retry
+)
 goto :EOF
 
 :: ##################################