Merge pull request #2334 from gazebosim/merge_8_main_20240313

Merge 8 -> main
gazebosim · Apr 1, 2024 · 250c939 · 250c939
2 parents 0f27ce0 + 295d6f9
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diff --git a/.github/ISSUE_TEMPLATE/bug_report.md b/.github/ISSUE_TEMPLATE/bug_report.md
@@ -5,7 +5,7 @@ labels: bug
 ---
 
 <!-- If you're not sure whether your problem is a bug, please ask a question at
-http://answers.gazebosim.org instead.-->
+https://robotics.stackexchange.com instead.-->
 
 ## Environment
 * OS Version: <!-- e.g, Ubuntu 20.04 -->

diff --git a/.github/ISSUE_TEMPLATE/feature_request.md b/.github/ISSUE_TEMPLATE/feature_request.md
@@ -6,7 +6,7 @@ labels: enhancement
 
 <!-- If you're not sure on the specifics of the feature or would like a broader
 discussion, please consider posting a proposal to
-http://community.gazebosim.org/ instead.-->
+https://robotics.stackexchange.com instead.-->
 
 ## Desired behavior
 <!-- Describe the current problem and the feature you want implemented.-->

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -4,6 +4,8 @@ on:
   pull_request:
   push:
     branches:
+      - 'ign-gazebo[0-9]'
+      - 'gz-sim[0-9]?'
       - 'main'
 
 # Every time you make a push to your PR, it cancel immediately the previous checks,
@@ -18,7 +20,7 @@ jobs:
     name: Ubuntu Jammy CI
     steps:
       - name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
       - uses: actions/setup-python@v3
       - uses: pre-commit/[email protected]
         with:

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -244,7 +244,7 @@ add_subdirectory(examples)
 #============================================================================
 gz_create_packages()
 
-if (pybind11_FOUND)
+if (pybind11_FOUND AND NOT SKIP_PYBIND11)
 	add_subdirectory(python)
 endif()
 #============================================================================

diff --git a/Changelog.md b/Changelog.md
@@ -4,6 +4,136 @@
 
 ## Gazebo Sim 8.x
 
+### Gazebo Sim 8.1.0 (2024-02-06)
+
+1. Add tutorial for using components in systems
+    * [Pull request #2207](https://github.com/gazebosim/gz-sim/pull/2207)
+
+1. Light entity match SDF boolean for UserCommands.
+    * [Pull request #2295](https://github.com/gazebosim/gz-sim/pull/2295)
+
+1. Explicitly check SKIP_PYBIND11 for python bindings
+    * [Pull request #2298](https://github.com/gazebosim/gz-sim/pull/2298)
+
+1. Fix `INTEGRATION_save_world` on windows
+    * [Pull request #2300](https://github.com/gazebosim/gz-sim/pull/2300)
+
+1. Change an entities visual material color by topic.
+    * [Pull request #2286](https://github.com/gazebosim/gz-sim/pull/2286)
+
+1. Fix ModelPhotoShootTest test failures
+    * [Pull request #2294](https://github.com/gazebosim/gz-sim/pull/2294)
+
+1. Support for Gazebo materials
+    * [Pull request #2269](https://github.com/gazebosim/gz-sim/pull/2269)
+    * [Pull request #2302](https://github.com/gazebosim/gz-sim/pull/2302)
+
+1. Added tutorial for Gazebo joint controller plugin
+    * [Pull request #2263](https://github.com/gazebosim/gz-sim/pull/2263)
+
+1. Lift Drag Bug Fix
+    * [Pull request #2189](https://github.com/gazebosim/gz-sim/pull/2189)
+    * [Pull request #2272](https://github.com/gazebosim/gz-sim/pull/2272)
+    * [Pull request #2273](https://github.com/gazebosim/gz-sim/pull/2273)
+    * [Issue #2188](https://github.com/gazebosim/gz-sim/issues/2188)
+
+1. Fix URL in hydrodynamics tutorial
+    * [Pull request #2280](https://github.com/gazebosim/gz-sim/pull/2280)
+
+1. Install the Python libs to system site-packages instead of root
+    * [Pull request #2274](https://github.com/gazebosim/gz-sim/pull/2274)
+
+1. Maritime tutorials 💧
+    * [Pull request #2260](https://github.com/gazebosim/gz-sim/pull/2260)
+    * [Pull request #2259](https://github.com/gazebosim/gz-sim/pull/2259)
+    * [Pull request #2258](https://github.com/gazebosim/gz-sim/pull/2258)
+    * [Pull request #2257](https://github.com/gazebosim/gz-sim/pull/2257)
+
+1. Update CI badges in README
+    * [Pull request #2271](https://github.com/gazebosim/gz-sim/pull/2271)
+
+1. Fix incorrect light direction in tunnel.sdf example
+    * [Pull request #2264](https://github.com/gazebosim/gz-sim/pull/2264)
+
+1. Allow removal of model that has joint_position_controller plugin.
+    * [Pull request #2252](https://github.com/gazebosim/gz-sim/pull/2252)
+
+1. Fix DLL linkage/visibility issues
+    * [Pull request #2254](https://github.com/gazebosim/gz-sim/pull/2254)
+
+1. `mecanum_drive`: use mesh wheels in example world
+    * [Pull request #2250](https://github.com/gazebosim/gz-sim/pull/2250)
+
+1. Disable distortion camera test on Linux
+    * [Pull request #2247](https://github.com/gazebosim/gz-sim/pull/2247)
+
+1. `environment_preload`: fix windows compiler warnings
+    * [Pull request #2246](https://github.com/gazebosim/gz-sim/pull/2246)
+
+1. EnvironmentPreload: ignerr -> gzerr
+    * [Pull request #2245](https://github.com/gazebosim/gz-sim/pull/2245)
+
+1. Update friction parameters for skid steer example
+    * [Pull request #2235](https://github.com/gazebosim/gz-sim/pull/2235)
+
+1. Fixed Centre of Mass and Inertia Matrix Calculation Bug `MeshInertiaCalculator::CalculateMassProperties()` function
+    * [Pull request #2182](https://github.com/gazebosim/gz-sim/pull/2182)
+
+1. Backport #2231: Use sdf FindElement API to avoid `const_cast`
+    * [Pull request #2236](https://github.com/gazebosim/gz-sim/pull/2236)
+
+1. Add libpython3-dev CI dependency
+    * [Pull request #2233](https://github.com/gazebosim/gz-sim/pull/2233)
+
+1.  Standardize Doxygen parameter formatting for systems
+    * [Pull request #2212](https://github.com/gazebosim/gz-sim/pull/2212)
+    * [Pull request #2183](https://github.com/gazebosim/gz-sim/pull/2183)
+
+1. Use `GZ_PI` instead of `M_PI` to fix windows builds
+    * [Pull request #2230](https://github.com/gazebosim/gz-sim/pull/2230)
+
+1. Add note about elevator example
+    * [Pull request #2227](https://github.com/gazebosim/gz-sim/pull/2227)
+
+1. Porting Advanced Lift Drag Plugin to Gazebo
+    * [Pull request #2185](https://github.com/gazebosim/gz-sim/pull/2185)
+    * [Pull request #2226](https://github.com/gazebosim/gz-sim/pull/2226)
+
+1. Fix for sensor pointer null when navsat plugin in included in sdf
+    * [Pull request #2176](https://github.com/gazebosim/gz-sim/pull/2176)
+
+1. Implements a method to get the link inertia
+    * [Pull request #2218](https://github.com/gazebosim/gz-sim/pull/2218)
+
+1. Fix sensors system parallel updates
+    * [Pull request #2201](https://github.com/gazebosim/gz-sim/pull/2201)
+
+1. Fix custom_sensor_system example
+    * [Pull request #2208](https://github.com/gazebosim/gz-sim/pull/2208)
+
+1. Relax pose check in actor no mesh test
+    * [Pull request #2196](https://github.com/gazebosim/gz-sim/pull/2196)
+
+1. backport component inspector Vector3d width fix
+    * [Pull request #2195](https://github.com/gazebosim/gz-sim/pull/2195)
+
+1. fix INTEGRATION_save_world's SdfGeneratorFixture.ModelWithNestedIncludes test
+    * [Pull request #2197](https://github.com/gazebosim/gz-sim/pull/2197)
+
+1. Support specifying the name of light associated with lens flares
+    * [Pull request #2172](https://github.com/gazebosim/gz-sim/pull/2172)
+
+1. Bump Fuel model version in test
+    * [Pull request #2190](https://github.com/gazebosim/gz-sim/pull/2190)
+
+1. Fix environment system loading mechanism
+    * [Pull request #1842](https://github.com/gazebosim/gz-sim/pull/1842)
+
+1. Infrastructure
+    * [Pull request #2187](https://github.com/gazebosim/gz-sim/pull/2187)
+    * [Pull request #2237](https://github.com/gazebosim/gz-sim/pull/2237)
+    * [Pull request #2222](https://github.com/gazebosim/gz-sim/pull/2222)
+
 ### Gazebo Sim 8.0.0 (2023-09-29)
 
 1. TouchPlugin: Reset the plugin with the initial values
@@ -135,6 +265,83 @@
 
 ## Gazebo Sim 7.x
 
+### Gazebo Sim 7.7.0 (2024-01-17)
+
+1. Allow using plugin file names and environment variables compatible with Garden and later
+    * [Pull request #2275](https://github.com/gazebosim/gz-sim/pull/2275)
+
+1. Added tutorial for Gazebo joint controller plugin
+    * [Pull request #2263](https://github.com/gazebosim/gz-sim/pull/2263)
+
+1. Fix incorrect light direction in tunnel.sdf example
+    * [Pull request #2264](https://github.com/gazebosim/gz-sim/pull/2264)
+
+1. Fix DLL linkage/visibility issues
+    * [Pull request #2254](https://github.com/gazebosim/gz-sim/pull/2254)
+
+1. mecanum_drive: use mesh wheels in example world
+    * [Pull request #2250](https://github.com/gazebosim/gz-sim/pull/2250)
+
+1. environment_preload: fix windows compiler warnings
+    * [Pull request #2246](https://github.com/gazebosim/gz-sim/pull/2246)
+
+1. EnvironmentPreload: ignerr -> gzerr
+    * [Pull request #2245](https://github.com/gazebosim/gz-sim/pull/2245)
+
+1. Update friction parameters for skid steer example
+    * [Pull request #2235](https://github.com/gazebosim/gz-sim/pull/2235)
+
+1. Use sdf FindElement API to avoid const_cast
+    * [Pull request #2236](https://github.com/gazebosim/gz-sim/pull/2236)
+
+1. Use `GZ_PI` instead of `M_PI` to fix windows builds
+    * [Pull request #2230](https://github.com/gazebosim/gz-sim/pull/2230)
+
+1. Add note about elevator example
+    * [Pull request #2227](https://github.com/gazebosim/gz-sim/pull/2227)
+
+1. Porting Advanced Lift Drag Plugin to Gazebo
+    * [Pull request #2185](https://github.com/gazebosim/gz-sim/pull/2185)
+    * [Pull request #2226](https://github.com/gazebosim/gz-sim/pull/2226)
+
+1. Fix macOS test failures by registering components in the core library
+    * [Pull request #2220](https://github.com/gazebosim/gz-sim/pull/2220)
+
+1. Fix for sensor pointer null when navsat plugin in included in sdf
+    * [Pull request #2176](https://github.com/gazebosim/gz-sim/pull/2176)
+
+1. Fix another deadlock in sensors system
+    * [Pull request #2200](https://github.com/gazebosim/gz-sim/pull/2200)
+
+1. Fix sensors system parallel updates
+    * [Pull request #2201](https://github.com/gazebosim/gz-sim/pull/2201)
+
+1. Relax pose check in actor no mesh test
+    * [Pull request #2196](https://github.com/gazebosim/gz-sim/pull/2196)
+
+1. backport component inspector Vector3d width fix
+    * [Pull request #2195](https://github.com/gazebosim/gz-sim/pull/2195)
+
+1. fix INTEGRATION_save_world's SdfGeneratorFixture.ModelWithNestedIncludes test
+    * [Pull request #2197](https://github.com/gazebosim/gz-sim/pull/2197)
+
+1. Lift Drag Bug Fix
+    * [Pull request #2189](https://github.com/gazebosim/gz-sim/pull/2189)
+    * [Pull request #2272](https://github.com/gazebosim/gz-sim/pull/2272)
+    * [Pull request #2273](https://github.com/gazebosim/gz-sim/pull/2273)
+    * [Issue #2188](https://github.com/gazebosim/gz-sim/issues/2188)
+
+1. Bump Fuel model version in test
+    * [Pull request #2190](https://github.com/gazebosim/gz-sim/pull/2190)
+
+1. Fix enviroment system loading mechanism
+    * [Pull request #1842](https://github.com/gazebosim/gz-sim/pull/1842)
+
+1. Infrastructure
+    * [Pull request #2237](https://github.com/gazebosim/gz-sim/pull/2237)
+    * [Pull request #2222](https://github.com/gazebosim/gz-sim/pull/2222)
+
+
 ### Gazebo Sim 7.6.0 (2023-09-26)
 
 1. Documentation updates
@@ -1022,6 +1229,35 @@
 
 ## Gazebo Sim 6.x
 
+### Gazebo Sim 6.16.0 (2024-01-12)
+
+1. Allow using plugin file names and environment variables compatible with Garden and later
+    * [Pull request #2275](https://github.com/gazebosim/gz-sim/pull/2275)
+
+1. Update friction parameters for skid steer example
+    * [Pull request #2235](https://github.com/gazebosim/gz-sim/pull/2235)
+
+1. Relax pose check in actor no mesh test
+    * [Pull request #2196](https://github.com/gazebosim/gz-sim/pull/2196)
+
+1. Fix macOS test failures by registering components in the core library
+    * [Pull request #2220](https://github.com/gazebosim/gz-sim/pull/2220)
+
+1. Fix for sensor pointer null when navsat plugin in included in sdf
+    * [Pull request #2176](https://github.com/gazebosim/gz-sim/pull/2176)
+
+1. Fix another deadlock in sensors system
+    * [Pull request #2200](https://github.com/gazebosim/gz-sim/pull/2200)
+
+1. Backport component inspector Vector3d width fix
+    * [Pull request #2195](https://github.com/gazebosim/gz-sim/pull/2195)
+
+1. Bump Fuel model version in test
+    * [Pull request #2190](https://github.com/gazebosim/gz-sim/pull/2190)
+
+1. Infrastructure
+    * [Pull request #2237](https://github.com/gazebosim/gz-sim/pull/2237)
+    * [Pull request #2222](https://github.com/gazebosim/gz-sim/pull/2222)
 
 ### Gazebo Sim 6.15.0 (2023-08-16)
 

diff --git a/README.md b/README.md
@@ -9,10 +9,10 @@
 
 Build | Status
 -- | --
-Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-sim/branch/main/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-sim/branch/main)
-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/)
+Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-sim/tree/gz-sim8/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-sim/tree/gz-sim8)
+Ubuntu Jammy  | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_sim-ci-gz-sim8-jammy-amd64)](https://build.osrfoundation.org/job/gz_sim-ci-gz-sim8-jammy-amd64)
+Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_sim-ci-gz-sim8-homebrew-amd64)](https://build.osrfoundation.org/job/gz_sim-ci-gz-sim8-homebrew-amd64)
+Windows       | [![Build Status](https://build.osrfoundation.org/job/gz_sim-8-win/badge/icon)](https://build.osrfoundation.org/job/gz_sim-8-win/)
 
 Gazebo Sim is an open source robotics simulator. Through Gazebo Sim, users have access to high fidelity physics, rendering, and sensor models. Additionally, users and developers have multiple points of entry to simulation including a graphical user interface, plugins, and asynchronous message passing and services.
 

diff --git a/examples/worlds/diff_drive_skid.sdf b/examples/worlds/diff_drive_skid.sdf
@@ -155,8 +155,10 @@
           <surface>
             <friction>
               <ode>
-                <mu>0.5</mu>
-                <mu2>1.0</mu2>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <slip1>0.035</slip1>
+                <slip2>0</slip2>
                 <fdir1>0 0 1</fdir1>
               </ode>
               <bullet>
@@ -203,8 +205,10 @@
           <surface>
             <friction>
               <ode>
-                <mu>0.5</mu>
-                <mu2>1.0</mu2>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <slip1>0.035</slip1>
+                <slip2>0</slip2>
                 <fdir1>0 0 1</fdir1>
               </ode>
               <bullet>
@@ -251,8 +255,10 @@
           <surface>
             <friction>
               <ode>
-                <mu>0.5</mu>
-                <mu2>1.0</mu2>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <slip1>0.035</slip1>
+                <slip2>0</slip2>
                 <fdir1>0 0 1</fdir1>
               </ode>
               <bullet>
@@ -299,8 +305,10 @@
           <surface>
             <friction>
               <ode>
-                <mu>0.5</mu>
-                <mu2>1.0</mu2>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <slip1>0.035</slip1>
+                <slip2>0</slip2>
                 <fdir1>0 0 1</fdir1>
               </ode>
               <bullet>

diff --git a/examples/worlds/joint_controller.sdf b/examples/worlds/joint_controller.sdf
@@ -91,8 +91,7 @@
           </geometry>
           <material>
             <ambient>0.2 0.8 0.2 1</ambient>
-            <diffuse>0.2 0.8 0.2 1</diffuse>
-            <specular>0.2 0.8 0.2 1</specular>
+            <diffuse>0.8 0 0 1</diffuse>
           </material>
         </visual>
         <collision name="collision">
@@ -179,8 +178,7 @@
           </geometry>
           <material>
             <ambient>0.2 0.8 0.2 1</ambient>
-            <diffuse>0.2 0.8 0.2 1</diffuse>
-            <specular>0.2 0.8 0.2 1</specular>
+            <diffuse>0.8 0 0 1</diffuse>
           </material>
         </visual>
         <collision name="collision">

diff --git a/examples/worlds/joint_position_controller.sdf b/examples/worlds/joint_position_controller.sdf
@@ -85,6 +85,7 @@
           </geometry>
           <material>
             <ambient>0.2 0.8 0.2 1</ambient>
+            <diffuse>0.8 0 0 1</diffuse>
           </material>
         </visual>
         <collision name="collision">