Merge gz-sim8 ➡️ main

.github/workflows/package_xml.yml

@@ -0,0 +1,11 @@
+name: Validate package.xml
+
+on:
+  pull_request:
+
+jobs:
+  package-xml:
+    runs-on: ubuntu-latest
+    name: Validate package.xml
+    steps:
+      - uses: gazebo-tooling/action-gz-ci/validate_package_xml@jammy

examples/plugin/custom_sensor_system/CMakeLists.txt

@@ -27,10 +27,11 @@ add_subdirectory(${sensors_clone_SOURCE_DIR}/examples/custom_sensor ${sensors_cl
 
 add_library(${PROJECT_NAME} SHARED ${PROJECT_NAME}.cc)
 target_link_libraries(${PROJECT_NAME}
-  PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
-  PRIVATE gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
-  PRIVATE gz-sensors${GZ_SENSORS_VER}::gz-sensors${GZ_SENSORS_VER}
-  PRIVATE odometer
+  PRIVATE
+    gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
+    gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
+    gz-sensors${GZ_SENSORS_VER}::gz-sensors${GZ_SENSORS_VER}
+    odometer
 )
 target_include_directories(${PROJECT_NAME}
     PUBLIC ${sensors_clone_SOURCE_DIR}/examples/custom_sensor)

examples/standalone/gtest_setup/CMakeLists.txt

@@ -10,13 +10,14 @@ set(GZ_SIM_VER ${gz-sim9_VERSION_MAJOR})
 include(FetchContent)
 FetchContent_Declare(
   googletest
-  URL https://github.com/google/googletest/archive/609281088cfefc76f9d0ce82e1ff6c30cc3591e5.zip
+  DOWNLOAD_EXTRACT_TIMESTAMP TRUE
+  # Version 1.14. Use commit hash to prevent tag relocation
+  URL https://github.com/google/googletest/archive/f8d7d77c06936315286eb55f8de22cd23c188571.zip
 )
 set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
 FetchContent_MakeAvailable(googletest)
 
 enable_testing()
-include(Dart)
 
 # Generate tests
 foreach(TEST_TARGET

examples/worlds/lighter_than_air_blimp.sdf

@@ -0,0 +1,78 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <world name="blimp">
+
+   <physics name="1ms" type="ode">
+      <max_step_size>0.001</max_step_size>
+      <!-- Zero to run as fast as possible -->
+      <real_time_factor>1</real_time_factor>
+    </physics>
+
+    <gravity>0 0 -9.81</gravity>
+
+    <plugin
+      filename="gz-sim-physics-system"
+      name="gz::sim::systems::Physics">
+    </plugin>
+    <plugin
+      filename="gz-sim-user-commands-system"
+      name="gz::sim::systems::UserCommands">
+    </plugin>
+    <plugin
+      filename="gz-sim-scene-broadcaster-system"
+      name="gz::sim::systems::SceneBroadcaster">
+    </plugin>
+
+    <plugin
+      filename="gz-sim-buoyancy-system"
+      name="gz::sim::systems::Buoyancy">
+      <uniform_fluid_density>1.097</uniform_fluid_density>
+    </plugin>
+
+    <light type="directional" name="sun">
+      <cast_shadows>true</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>1 1 1 1</diffuse>
+      <specular>0.5 0.5 0.5 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>
+      <uri>
+        https://fuel.gazebosim.org/1.0/hkotze/models/airship
+      </uri>
+    </include>
+  </world>
+</sdf>

include/gz/sim/Link.hh

@@ -24,6 +24,7 @@
 
 #include <gz/math/Inertial.hh>
 #include <gz/math/Matrix3.hh>
+#include <gz/math/Matrix6.hh>
 #include <gz/math/Pose3.hh>
 #include <gz/math/Quaternion.hh>
 #include <gz/math/Vector3.hh>
@@ -277,6 +278,14 @@ namespace gz
       public: std::optional<math::Matrix3d> WorldInertiaMatrix(
           const EntityComponentManager &_ecm) const;
 
+      /// \brief Get the fluid added mass matrix in the world frame.
+      /// \param[in] _ecm Entity-component manager.
+      /// \return Fluide added matrix in world frame, returns nullopt if link
+      /// does not have components components::Inertial and
+      /// components::WorldPose.
+      public: std::optional<math::Matrix6d> WorldFluidAddedMassMatrix(
+          const EntityComponentManager &_ecm) const;
+
       /// \brief Get the rotational and translational kinetic energy of the
       /// link with respect to the world frame.
       /// \param[in] _ecm Entity-component manager.

include/gz/sim/components/Factory.hh

@@ -17,6 +17,7 @@
 #ifndef GZ_SIM_COMPONENTS_FACTORY_HH_
 #define GZ_SIM_COMPONENTS_FACTORY_HH_
 
+#include <algorithm>
 #include <cstdint>
 #include <cstring>
 #include <deque>

package.xml

@@ -0,0 +1,55 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>gz-sim9</name>
+  <version>9.0.0</version>
+  <description>Gazebo Sim : A Robotic Simulator</description>
+  <maintainer email="[email protected]">Michael Carroll</maintainer>
+  <license>Apache License 2.0</license>
+  <url type="website">https://github.com/gazebosim/gz-sim</url>
+
+  <buildtool_depend>cmake</buildtool_depend>
+
+  <depend>benchmark</depend>
+  <depend>glut</depend>
+  <depend>gz-cmake4</depend>
+  <depend>gz-common6</depend>
+  <depend>gz-fuel_tools10</depend>
+  <depend>gz-gui9</depend>
+  <depend>gz-math8</depend>
+  <depend>gz-msgs11</depend>
+  <depend>gz-physics8</depend>
+  <depend>gz-plugin3</depend>
+  <depend>gz-rendering9</depend>
+  <depend>gz-sensors9</depend>
+  <depend>gz-tools2</depend>
+  <depend>gz-transport14</depend>
+  <depend>gz-utils3</depend>
+  <depend>libfreeimage-dev</depend>
+  <depend>libglew-dev</depend>
+  <depend>libxi-dev</depend>
+  <depend>libxmu-dev</depend>
+  <depend>protobuf-dev</depend>
+  <depend>pybind11-dev</depend>
+  <depend>python3-distutils</depend>
+  <depend>qml-module-qt-labs-folderlistmodel</depend>
+  <depend>qml-module-qt-labs-settings</depend>
+  <depend>qml-module-qtgraphicaleffects</depend>
+  <depend>qml-module-qtquick-controls2</depend>
+  <depend>qml-module-qtquick-controls</depend>
+  <depend>qml-module-qtquick-dialogs</depend>
+  <depend>qml-module-qtquick-layouts</depend>
+  <depend>qml-module-qtquick2</depend>
+  <depend>qtbase5-dev</depend>
+  <depend>qtdeclarative5-dev</depend>
+  <depend>sdformat15</depend>
+  <depend>tinyxml2</depend>
+  <depend>uuid</depend>
+
+  <test_depend>xvfb</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>cmake</build_type>
+  </export>
+</package>

src/CMakeLists.txt

@@ -124,7 +124,6 @@ set (gtest_sources
   SimulationRunner_TEST.cc
   SystemLoader_TEST.cc
   SystemManager_TEST.cc
-  System_TEST.cc
   TestFixture_TEST.cc
   Util_TEST.cc
   World_TEST.cc

src/Link.cc

@@ -356,6 +356,18 @@ std::optional<math::Matrix3d> Link::WorldInertiaMatrix(
       math::Inertiald(inertial->Data().MassMatrix(), comWorldPose).Moi());
 }
 
+std::optional<math::Matrix6d> Link::WorldFluidAddedMassMatrix(
+    const EntityComponentManager &_ecm) const
+{
+  auto inertial = _ecm.Component<components::Inertial>(this->dataPtr->id);
+  auto worldPose = _ecm.Component<components::WorldPose>(this->dataPtr->id);
+
+  if (!worldPose || !inertial)
+    return std::nullopt;
+
+  return inertial->Data().FluidAddedMass();
+}
+
 //////////////////////////////////////////////////
 std::optional<double> Link::WorldKineticEnergy(
     const EntityComponentManager &_ecm) const