Merge pull request #2504 from gazebosim/merge_7_8_20240731

Merge 7 -> 8

.github/ci/after_make.sh

@@ -6,12 +6,3 @@ set -e
 # Install (needed for some tests)
 make install
 export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:/usr/local/lib
-
-# For gz-tools
-export GZ_CONFIG_PATH=/usr/local/share/gz
-
-# For rendering / window tests
-Xvfb :1 -screen 0 1280x1024x24 &
-export DISPLAY=:1.0
-export RENDER_ENGINE_VALUES=ogre2
-export MESA_GL_VERSION_OVERRIDE=3.3

.github/ci/before_cmake.sh

@@ -0,0 +1,9 @@
+#!/bin/sh -l
+
+set -x
+
+# For rendering / window tests
+Xvfb :1 -screen 0 1280x1024x24 &
+export DISPLAY=:1.0
+export RENDER_ENGINE_VALUES=ogre2
+export MESA_GL_VERSION_OVERRIDE=3.3

.github/ci/packages.apt

@@ -44,3 +44,5 @@ qtdeclarative5-dev
 qtquickcontrols2-5-dev
 uuid-dev
 xvfb
+x11-utils
+mesa-utils

.github/workflows/ci.yml

@@ -28,7 +28,7 @@ jobs:
         uses: gazebo-tooling/action-gz-ci@jammy
         with:
           # per bug https://github.com/gazebosim/gz-sim/issues/1409
-          cmake-args: '-DBUILD_DOCS=OFF'
+          cmake-args: '-DCMAKE_INSTALL_PREFIX=/usr -DBUILD_DOCS=OFF'
           codecov-enabled: true
           cppcheck-enabled: true
           cpplint-enabled: true

Changelog.md

@@ -463,6 +463,65 @@
 
 ## Gazebo Sim 7.x
 
+### Gazebo Sim 7.8.0 (2024-07-22)
+
+1. Added support for spacecraft thrusters
+    * [Pull request #2431](https://github.com/gazebosim/gz-sim/pull/2431)
+
+1. Disable rendering tests that are failing on github actions
+    * [Pull request #2480](https://github.com/gazebosim/gz-sim/pull/2480)
+
+1. Consolidate entity creation.
+    * [Pull request #2452](https://github.com/gazebosim/gz-sim/pull/2452)
+
+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)
+
+1. Remove a few extra zeros from some sdf files
+    * [Pull request #2426](https://github.com/gazebosim/gz-sim/pull/2426)
+
+1. Use VERSION_GREATER_EQUAL in cmake logic
+    * [Pull request #2418](https://github.com/gazebosim/gz-sim/pull/2418)
+
+1. Rephrase cmake comment about CMP0077
+    * [Pull request #2419](https://github.com/gazebosim/gz-sim/pull/2419)
+
+1. ForceTorque system: improve readability
+    * [Pull request #2403](https://github.com/gazebosim/gz-sim/pull/2403)
+
+1. LTA Dynamics System
+    * [Pull request #2241](https://github.com/gazebosim/gz-sim/pull/2241)
+
+1. Fix namespace and class links in documentation references that use namespace `gz`
+    * [Pull request #2385](https://github.com/gazebosim/gz-sim/pull/2385)
+
+1. Fix ModelPhotoShootTest test failures
+    * [Pull request #2294](https://github.com/gazebosim/gz-sim/pull/2294)
+
+1. update sdf version
+    * [Pull request #2313](https://github.com/gazebosim/gz-sim/pull/2313)
+
+1. Fix Gazebo/White and refactored MaterialParser
+    * [Pull request #2302](https://github.com/gazebosim/gz-sim/pull/2302)
+
+1. Support for Gazebo materials
+    * [Pull request #2269](https://github.com/gazebosim/gz-sim/pull/2269)
+
 ### Gazebo Sim 7.7.0 (2024-01-17)
 
 1. Allow using plugin file names and environment variables compatible with Garden and later
@@ -3866,6 +3925,36 @@
 
 ## Gazebo Sim 3.x
 
+### Gazebo Sim 3.15.1 (2024-01-05)
+
+1. Update github action workflows
+    * [Pull request #2237](https://github.com/gazebosim/gz-sim/pull/2237)
+    * [Pull request #1988](https://github.com/gazebosim/gz-sim/pull/1988)
+
+1. Fix macOS test failures by registering components in the core library
+    * [Pull request #2220](https://github.com/gazebosim/gz-sim/pull/2220)
+
+1. Bump Fuel model version in test
+    * [Pull request #2190](https://github.com/gazebosim/gz-sim/pull/2190)
+
+1. Fix a minor issue in the documentation of the server API
+    * [Pull request #2067](https://github.com/gazebosim/gz-sim/pull/2067)
+
+1. Use sdf::Element::FindElement instead of GetElement in ApplyLinkWrench
+    * [Pull request #2052](https://github.com/gazebosim/gz-sim/pull/2052)
+
+1. Adds a warning if the `Server` method of a `TestFixture` is called before `Finalize`
+    * [Pull request #2047](https://github.com/gazebosim/gz-sim/pull/2047)
+
+1. Protobuf: Do not require version 3 do support Protobuf 4.23.2 (23.2)
+    * [Pull request #2006](https://github.com/gazebosim/gz-sim/pull/2006)
+
+1. Print an error message when trying to load SDF files that don't contain a `<world>`
+    * [Pull request #1998](https://github.com/gazebosim/gz-sim/pull/1998)
+
+1.  Enable GzWeb visualization of markers by republishing service requests on a topic
+    * [Pull request #1994](https://github.com/gazebosim/gz-sim/pull/1994)
+
 ### Gazebo Sim 3.15.0 (2023-05-08)
 
 1. Speed up Resource Spawner load time by fetching model list asynchronously

examples/worlds/ground_spacecraft_testbed.sdf

@@ -0,0 +1,77 @@
+<?xml version="1.0" ?>
+<!--
+  Spacecraft thruster plugin demo
+
+  Send commands to a single thruster:
+
+      gz topic -p 'normalized:[1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]' -t /dart/command/duty_cycle --msgtype gz.msgs.Actuators
+-->
+<sdf version="1.6">
+  <world name="ground_testbed">
+    <gravity>0 0 -9.8066</gravity>
+    <physics name="1ms" type="ignored">
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+    </physics>
+    <plugin
+      filename="gz-sim-physics-system"
+      name="gz::sim::systems::Physics">
+    </plugin>
+    <plugin
+      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>
+    <plugin
+      filename="gz-sim-sensors-system"
+      name="gz::sim::systems::Sensors">
+      <render_engine>ogre2</render_engine>
+    </plugin>
+    <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="ground_plane">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <ambient>0.8 0.8 0.8 1</ambient>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.8 0.8 0.8 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+    <include>
+      <pose>0 0 0 0 0 0</pose>
+      <uri>https://fuel.gazebosim.org/1.0/proque/models/kth_freeflyer</uri>
+    </include>
+  </world>
+</sdf>

examples/worlds/spacecraft.sdf

@@ -0,0 +1,51 @@
+<?xml version="1.0" ?>
+<!--
+  Spacecraft thruster plugin demo
+
+  Send commands to a single thruster:
+
+      gz topic -p 'normalized:[1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]' -t /dart/command/duty_cycle --msgtype gz.msgs.Actuators
+-->
+<sdf version="1.6">
+  <world name="zero_g">
+    <gravity>0 0 0</gravity>
+    <physics name="1ms" type="ignored">
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+    </physics>
+    <plugin
+      filename="gz-sim-physics-system"
+      name="gz::sim::systems::Physics">
+    </plugin>
+    <plugin
+      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>
+    <plugin
+      filename="gz-sim-sensors-system"
+      name="gz::sim::systems::Sensors">
+      <render_engine>ogre2</render_engine>
+    </plugin>
+    <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>
+      <pose>0 0 0 0 0 0</pose>
+      <uri>https://fuel.gazebosim.org/1.0/proque/models/dart/7</uri>
+    </include>
+  </world>
+</sdf>

include/gz/sim/EntityComponentManager.hh

@@ -675,6 +675,14 @@ namespace gz
       /// \return True if there are components marked for removal.
       public: bool HasRemovedComponents() const;
 
+      /// \brief Get an Entity based on a name component that is associated
+      /// with the entity.
+      /// \param[in] _name Name associated with the Entity
+      /// \return The Entity, if an Entity with the given name exists,
+      /// otherwise return std::nullopt.
+      public: std::optional<Entity> EntityByName(
+                  const std::string &_name) const;
+
       /// \brief Clear the list of newly added entities so that a call to
       /// EachAdded after this will have no entities to iterate. This function
       /// is protected to facilitate testing.

include/gz/sim/SdfEntityCreator.hh

@@ -93,6 +93,13 @@ namespace gz
       /// \return World entity.
       public: Entity CreateEntities(const sdf::World *_world);
 
+      /// \brief Create all entities that exist in the sdf::World object and
+      /// load their plugins.
+      /// \param[in] _world SDF world object.
+      /// \param[in] _worldEntity The world entity object.
+      public: void CreateEntities(const sdf::World *_world,
+                  Entity _worldEntity);
+
       /// \brief Create all entities that exist in the sdf::Model object and
       /// load their plugins. Also loads plugins of child sensors.
       /// \param[in] _model SDF model object.
@@ -186,6 +193,9 @@ namespace gz
       private: Entity CreateEntities(const sdf::Model *_model,
                                      bool _staticParent);
 
+      /// \brief Load plugins for all models
+      private: void LoadModelPlugins();
+
       /// \brief Pointer to private data.
       private: std::unique_ptr<SdfEntityCreatorPrivate> dataPtr;
     };

include/gz/sim/components/Performer.hh

@@ -17,6 +17,7 @@
 #ifndef GZ_SIM_COMPONENTS_PERFORMER_HH_
 #define GZ_SIM_COMPONENTS_PERFORMER_HH_
 
+#include <string>
 #include <gz/sim/config.hh>
 #include <gz/sim/Export.hh>
 
@@ -34,6 +35,11 @@ namespace components
   /// \brief This component identifies an entity as being a performer.
   using Performer = Component<NoData, class PerformerTag>;
   GZ_SIM_REGISTER_COMPONENT("gz_sim_components.Performer", Performer)
+
+  /// \brief This component contains the performer reference name.
+  using PerformerRef = Component<std::string, class PerformerRefTag,
+      serializers::StringSerializer>;
+  GZ_SIM_REGISTER_COMPONENT("gz_sim_components.PerformerRef", PerformerRef)
 }
 }
 }

src/EntityComponentManager.cc

@@ -2314,3 +2314,15 @@ void EntityComponentManager::ResetTo(const EntityComponentManager &_other)
   tmpCopy.ApplyEntityDiff(*this, ecmDiff);
   this->CopyFrom(tmpCopy);
 }
+
+/////////////////////////////////////////////////
+std::optional<Entity> EntityComponentManager::EntityByName(
+    const std::string &_name) const
+{
+  std::optional<Entity> entity;
+   Entity entByName = EntityByComponents(components::Name(_name));
+  if (entByName != kNullEntity)
+    entity = entByName;
+
+  return entity;
+}

src/EntityComponentManager_TEST.cc

@@ -3421,6 +3421,23 @@ TEST_P(EntityComponentManagerFixture,
   EXPECT_EQ(321, comp->Data());
 }
 
+//////////////////////////////////////////////////
+TEST_P(EntityComponentManagerFixture, EntityByName)
+{
+  // Create an entity, and give it a name
+  Entity entity = manager.CreateEntity();
+  manager.CreateComponent(entity, components::Name("entity_name_a"));
+
+  // Try to get an entity that doesn't exist
+  std::optional<Entity> entityByName = manager.EntityByName("a_bad_name");
+  EXPECT_FALSE(entityByName);
+
+  entityByName = manager.EntityByName("entity_name_a");
+  EXPECT_TRUE(entityByName);
+  CompareEntityComponents<components::Name>(manager, entity,
+    *entityByName, true);
+}
+
 // Run multiple times. We want to make sure that static globals don't cause
 // problems.
 INSTANTIATE_TEST_SUITE_P(EntityComponentManagerRepeat,