Merge branch 'main' into link_reset_components

Changelog.md

@@ -4,6 +4,62 @@
 
 ## Gazebo Sim 8.x
 
+### Gazebo Sim 8.6.0 (2024-07-25)
+
+1. Fix error resolving gazebo classic material when loading world
+    * [Pull request #2492](https://github.com/gazebosim/gz-sim/pull/2492)
+
+1. Remove systems if their parent entity is removed
+    * [Pull request #2232](https://github.com/gazebosim/gz-sim/pull/2232)
+
+1. Fix warnings generated by NetworkConfigTest
+    * [Pull request #2469](https://github.com/gazebosim/gz-sim/pull/2469)
+
+1. Fix lidar visualization when `gz_frame_id` is specified
+    * [Pull request #2481](https://github.com/gazebosim/gz-sim/pull/2481)
+
+1. Backport convex decomposition visualization
+    * [Pull request #2454](https://github.com/gazebosim/gz-sim/pull/2454)
+
+1. Add UserCommands plugin to GPU lidar sensor example
+    * [Pull request #2479](https://github.com/gazebosim/gz-sim/pull/2479)
+
+1. Check if any entity actually has a ContactSensorData component before calling GetContactsFromLastStep
+    * [Pull request #2474](https://github.com/gazebosim/gz-sim/pull/2474)
+
+1. Enable tests on macOS
+    * [Pull request #2468](https://github.com/gazebosim/gz-sim/pull/2468)
+
+1. Update description of reset_sensors test
+    * [Pull request #2467](https://github.com/gazebosim/gz-sim/pull/2467)
+
+1. Magnetometer: correct field calculation
+    * [Pull request #2460](https://github.com/gazebosim/gz-sim/pull/2460)
+
+1. Address a couple of todos in Conversion.cc
+    * [Pull request #2461](https://github.com/gazebosim/gz-sim/pull/2461)
+
+1. Correct name of sensor in warning message
+    * [Pull request #2457](https://github.com/gazebosim/gz-sim/pull/2457)
+
+1. Set max contacts for collision pairs
+    * [Pull request #2270](https://github.com/gazebosim/gz-sim/pull/2270)
+
+1. Add GravityEnabled boolean component
+    * [Pull request #2451](https://github.com/gazebosim/gz-sim/pull/2451)
+
+1. Add support for no gravity link
+    * [Pull request #2398](https://github.com/gazebosim/gz-sim/pull/2398)
+
+1. Handle sdf::Geometry::EMPTY in conversions
+    * [Pull request #2430](https://github.com/gazebosim/gz-sim/pull/2430)
+
+1. Use topicFromScopedName in a few systems
+    * [Pull request #2427](https://github.com/gazebosim/gz-sim/pull/2427)
+
+1. Fix typo in a comment
+    * [Pull request #2429](https://github.com/gazebosim/gz-sim/pull/2429)
+
 ### Gazebo Sim 8.5.0 (2024-06-26)
 
 1. Backport: Adding cone primitives

examples/plugin/gui_system_plugin/README.md

@@ -2,10 +2,10 @@
 
 This example shows how to create a GUI system plugin.
 
-Gazebo supports any kind of Gazebo GUI plugin
-(`gz::gui::Plugin`). Gazebo GUI plugins are a special type of Gazebo
-GUI plugin which also have access to entity and component updates coming from
-the server.
+Gazebo supports any kind of GUI plugin
+(`gz-gui` library: `gz::gui::Plugin`). However, GuiSystem plugins
+(`gz-sim` library: `gz::sim::GuiSystem`) are a special type of GUI plugin,
+which also have access to entity and component updates coming from the server.
 
 See `GuiSystemPluginPlugin.hh` for more information.
 

examples/worlds/gpu_lidar_sensor.sdf

@@ -22,6 +22,10 @@
       filename="gz-sim-scene-broadcaster-system"
       name="gz::sim::systems::SceneBroadcaster">
     </plugin>
+    <plugin
+      filename="gz-sim-user-commands-system"
+      name="gz::sim::systems::UserCommands">
+    </plugin>
 
     <light type="directional" name="sun">
       <cast_shadows>true</cast_shadows>

src/SdfEntityCreator.cc

@@ -87,6 +87,7 @@
 #include "gz/sim/components/World.hh"
 
 #include "rendering/MaterialParser/MaterialParser.hh"
+#include "ServerPrivate.hh"
 
 class gz::sim::SdfEntityCreatorPrivate
 {
@@ -823,7 +824,8 @@ Entity SdfEntityCreator::CreateEntities(const sdf::Visual *_visual)
       "https://gazebosim.org/api/sim/8/migrationsdf.html#:~:text=Materials " <<
       "for details." << std::endl;
       std::string scriptUri = visualMaterial.ScriptUri();
-      if (scriptUri != "file://media/materials/scripts/gazebo.material") {
+      if (scriptUri != ServerPrivate::kClassicMaterialScriptUri)
+      {
         gzwarn << "Custom material scripts are not supported."
           << std::endl;
       }

src/Server.cc

@@ -159,7 +159,8 @@ Server::Server(const ServerConfig &_config)
       // 'src/gui_main.cc'.
       errors = sdfRoot.Load(filePath, sdfParserConfig);
       if (errors.empty() || _config.BehaviorOnSdfErrors() !=
-          ServerConfig::SdfErrorBehavior::EXIT_IMMEDIATELY) {
+          ServerConfig::SdfErrorBehavior::EXIT_IMMEDIATELY)
+      {
         if (sdfRoot.Model() == nullptr) {
           this->dataPtr->sdfRoot = std::move(sdfRoot);
         }

src/ServerPrivate.cc

@@ -37,6 +37,9 @@
 using namespace gz;
 using namespace sim;
 
+const char ServerPrivate::kClassicMaterialScriptUri[] =
+    "file://media/materials/scripts/gazebo.material";
+
 /// \brief This struct provides access to the record plugin SDF string
 struct LoggingPlugin
 {
@@ -554,6 +557,12 @@ bool ServerPrivate::ResourcePathsResolveService(
 //////////////////////////////////////////////////
 std::string ServerPrivate::FetchResource(const std::string &_uri)
 {
+  // Handle gazebo classic material URIs.
+  // Return original URI string as the SdfEntityCreator checks for this URI
+  if (_uri == kClassicMaterialScriptUri)
+    return _uri;
+
+  // Fetch resource from fuel
   auto path =
       fuel_tools::fetchResourceWithClient(_uri, *this->fuelClient.get());
 

src/ServerPrivate.hh

@@ -191,6 +191,11 @@ namespace gz
       /// Server. It is used in the SDFormat world generator when saving worlds
       public: std::unordered_map<std::string, std::string> fuelUriMap;
 
+      /// \brief Gazebo classic material URI string
+      /// A URI matching this string indicates that it is a gazebo classic
+      /// material.
+      public: static const char kClassicMaterialScriptUri[];
+
       /// \brief List of names for all worlds loaded in this server.
       private: std::vector<std::string> worldNames;
 

src/SimulationRunner.hh

@@ -544,7 +544,7 @@ namespace gz
       private: std::unique_ptr<msgs::WorldControlState> newWorldControlState;
 
       /// \brief Set if we need to remove systems due to entity removal
-      private: bool threadsNeedCleanUp;
+      private: bool threadsNeedCleanUp{false};
 
       private: bool resetInitiated{false};
       friend class LevelManager;

src/SystemManager.cc

@@ -27,6 +27,7 @@
 #include "gz/sim/components/SystemPluginInfo.hh"
 #include "gz/sim/Conversions.hh"
 #include "gz/sim/System.hh"
+#include "gz/sim/Util.hh"
 #include "SystemManager.hh"
 
 using namespace gz;
@@ -358,6 +359,11 @@ bool SystemManager::EntitySystemAddService(const msgs::EntityPlugin_V &_req,
 {
   std::lock_guard<std::mutex> lock(this->systemsMsgMutex);
   this->systemsToAdd.push_back(_req);
+
+  // The response is set to true to indicate that the service request is
+  // handled but it does not necessarily mean the system is added
+  // successfully
+  // \todo(iche033) Return false if system is not added successfully?
   _res.set_data(true);
   return true;
 }
@@ -417,8 +423,21 @@ void SystemManager::ProcessPendingEntitySystems()
 
     if (req.plugins().empty())
     {
-      gzwarn << "Unable to add plugins to Entity: '" << entity
-             << "'. No plugins specified." << std::endl;
+      gzerr << "Unable to add plugins to Entity: '" << entity
+            << "'. No plugins specified." << std::endl;
+       continue;
+    }
+
+    // set to world entity if entity id is not specified in the request.
+    if (entity == kNullEntity || entity == 0u)
+    {
+      entity = worldEntity(*this->entityCompMgr);
+    }
+    // otherwise check if entity exists before attempting to load the plugin.
+    else if (!this->entityCompMgr->HasEntity(entity))
+    {
+      gzerr << "Unable to add plugins to Entity: '" << entity
+            << "'. Entity does not exist." << std::endl;
        continue;
     }
 

src/gui/plugins/resource_spawner/ResourceSpawner.cc

@@ -553,7 +553,7 @@ void ResourceSpawner::OnDownloadFuelResource(const QString &_path,
   // Set the waiting cursor while the resource downloads
   QGuiApplication::setOverrideCursor(Qt::WaitCursor);
   if (this->dataPtr->fuelClient->DownloadModel(
-        common::URI(_path.toStdString()), localPath))
+        common::URI(_path.toStdString(), true), localPath))
   {
     // Successful download, set thumbnail
     std::string thumbnailPath = common::joinPaths(localPath, "thumbnails");
@@ -739,7 +739,7 @@ void ResourceSpawner::RunFetchResourceListThread(const std::string &_owner)
             resource.isFuel = true;
             resource.isDownloaded = false;
             resource.owner = id.Owner();
-            resource.sdfPath = id.UniqueName();
+            resource.sdfPath = id.Url().Str();
 
             QMetaObject::invokeMethod(
                 this, "UpdateOwnerListModel", Qt::QueuedConnection,