Merge branch 'gz-sim9' into arjo/fix/a_hack_to_greatly_improve_loadtimes

gazebosim · Oct 1, 2024 · 4a833ac · 4a833ac
2 parents beadb78 + bbe2cc6
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diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -18,7 +18,7 @@ find_package(gz-cmake4 REQUIRED)
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-gz_configure_project(VERSION_SUFFIX pre1)
+gz_configure_project(VERSION_SUFFIX)
 
 #============================================================================
 # Set project-specific options

diff --git a/Changelog.md b/Changelog.md
@@ -1,9 +1,82 @@
 ## Gazebo Sim 9.x
 
-### Gazebo Sim 9.0.0 (2024-09-XX)
+### Gazebo Sim 9.0.0 (2024-09-25)
 
 1. **Baseline:** this includes all changes from 8.6.0 and earlier.
 
+1. Miscellaneous documentation fixes
+    * [Pull request #2634](https://github.com/gazebosim/gz-sim/pull/2634)
+    * [Pull request #2632](https://github.com/gazebosim/gz-sim/pull/2632)
+    * [Pull request #2628](https://github.com/gazebosim/gz-sim/pull/2628)
+    * [Pull request #2631](https://github.com/gazebosim/gz-sim/pull/2631)
+    * [Pull request #2627](https://github.com/gazebosim/gz-sim/pull/2627)
+    * [Pull request #2625](https://github.com/gazebosim/gz-sim/pull/2625)
+    * [Pull request #2622](https://github.com/gazebosim/gz-sim/pull/2622)
+    * [Pull request #2607](https://github.com/gazebosim/gz-sim/pull/2607)
+    * [Pull request #2606](https://github.com/gazebosim/gz-sim/pull/2606)
+    * [Pull request #2602](https://github.com/gazebosim/gz-sim/pull/2602)
+    * [Pull request #2601](https://github.com/gazebosim/gz-sim/pull/2601)
+    * [Pull request #2603](https://github.com/gazebosim/gz-sim/pull/2603)
+    * [Pull request #2578](https://github.com/gazebosim/gz-sim/pull/2578)
+    * [Pull request #2592](https://github.com/gazebosim/gz-sim/pull/2592)
+    * [Pull request #2582](https://github.com/gazebosim/gz-sim/pull/2582)
+    * [Pull request #2585](https://github.com/gazebosim/gz-sim/pull/2585)
+    * [Pull request #2576](https://github.com/gazebosim/gz-sim/pull/2576)
+    * [Pull request #2573](https://github.com/gazebosim/gz-sim/pull/2573)
+    * [Pull request #2571](https://github.com/gazebosim/gz-sim/pull/2571)
+    * [Pull request #2574](https://github.com/gazebosim/gz-sim/pull/2574)
+    * [Pull request #2564](https://github.com/gazebosim/gz-sim/pull/2564)
+    * [Pull request #2563](https://github.com/gazebosim/gz-sim/pull/2563)
+    * [Pull request #2562](https://github.com/gazebosim/gz-sim/pull/2562)
+    * [Pull request #2553](https://github.com/gazebosim/gz-sim/pull/2553)
+
+1. Fix log playback GUI display
+    * [Pull request #2611](https://github.com/gazebosim/gz-sim/pull/2611)
+    * [Pull request #2619](https://github.com/gazebosim/gz-sim/pull/2619)
+
+1. Add tutorial + example SDF for shadow texture size
+    * [Pull request #2597](https://github.com/gazebosim/gz-sim/pull/2597)
+
+1. Fix making breadcrumb static if it's a nested model
+    * [Pull request #2593](https://github.com/gazebosim/gz-sim/pull/2593)
+
+1. Update physics system error msg when plugin can not be loaded
+    * [Pull request #2604](https://github.com/gazebosim/gz-sim/pull/2604)
+
+1. Fix configuring global illumination GUI plugin parameters
+    * [Pull request #2594](https://github.com/gazebosim/gz-sim/pull/2594)
+
+1. Fix particle emitter color range image path warning
+    * [Pull request #2560](https://github.com/gazebosim/gz-sim/pull/2560)
+
+1. Fix empty gui world file
+    * [Pull request #2591](https://github.com/gazebosim/gz-sim/pull/2591)
+
+1. Fix crash on windows due to invalid log directory path
+    * [Pull request #2589](https://github.com/gazebosim/gz-sim/pull/2589)
+
+1. Use ogre2 for DEM worlds
+    * [Pull request #2586](https://github.com/gazebosim/gz-sim/pull/2586)
+
+1. Fix crash when running the optical tactile sensor world
+    * [Pull request #2561](https://github.com/gazebosim/gz-sim/pull/2561)
+
+1. Prevent follow actor plugin from crashing when actor is removed
+    * [Pull request #2577](https://github.com/gazebosim/gz-sim/pull/2577)
+    * [Pull request #2584](https://github.com/gazebosim/gz-sim/pull/2584)
+
+1. Fix hydrodynamics deprecation warning.
+    * [Pull request #2579](https://github.com/gazebosim/gz-sim/pull/2579)
+
+1. Removed actor population world due to bad merge
+    * [Pull request #2581](https://github.com/gazebosim/gz-sim/pull/2581)
+
+1. Fixed warning joint trayectory sdf
+    * [Pull request #2580](https://github.com/gazebosim/gz-sim/pull/2580)
+
+1. Fix looking up camera name in camera lens system
+    * [Pull request #2559](https://github.com/gazebosim/gz-sim/pull/2559)
+
 1. Add a flexible mechanism to combine user and default plugins
     * [Pull request #2497](https://github.com/gazebosim/gz-sim/pull/2497)
 

diff --git a/README.md b/README.md
@@ -32,10 +32,10 @@ Gazebo Sim is derived from [Gazebo Classic](http://classic.gazebosim.org) and re
 
 [Folder Structure](#folder-structure)
 
-[Code of Conduct](#code-of-conduct)
-
 [Contributing](#contributing)
 
+[Code of Conduct](#code-of-conduct)
+
 [Versioning](#versioning)
 
 [License](#license)
@@ -99,29 +99,20 @@ gz sim -h
 In the event that the installation is a mix of Debian and from source, command
 line tools from `gz-tools` may not work correctly.
 
-A workaround for a single package is to define the environment variable
-`GZ_CONFIG_PATH` to point to the location of the Gazebo library installation,
-where the YAML file for the package is found, such as
+A workaround is to define the environment variable
+`GZ_CONFIG_PATH` to point to the different locations of the Gazebo libraries installations,
+where the YAML files for the packages are found, such as
 ```
-export GZ_CONFIG_PATH=/usr/local/share/gz
+export GZ_CONFIG_PATH=/usr/local/share/gz:$HOME/ws/install/share/gz
 ```
 
-However, that environment variable only takes a single path, which means if the
-installations from source are in different locations, only one can be specified.
+where `$HOME/ws` is an example colcon workspace used to build Gazebo.
 
-Another workaround for working with multiple Gazebo libraries on the command
-line is using symbolic links to each library's YAML file.
-```
-mkdir ~/.gz/tools/configs -p
-cd ~/.gz/tools/configs/
-ln -s /usr/local/share/gz/fuel8.yaml .
-ln -s /usr/local/share/gz/transport14.yaml .
-ln -s /usr/local/share/gz/transportlog13.yaml .
-...
-export GZ_CONFIG_PATH=$HOME/.gz/tools/configs
-```
-
-This issue is tracked [here](https://github.com/gazebosim/gz-tools/issues/8).
+On Windows, `gz sim` (i.e. running both server and GUI in one command) doesn't yet work.
+To run Gazebo Sim on Windows, you need to run the server in one terminal (`gz sim -s <other args>`)
+and the GUI in another terminal (`gz sim -g <other args>`). Remember this when reading through
+all Gazebo Sim tutorials. Also remember that Conda and `install\setup.bat` need to be sourced
+in both terminals (as well as any changes to `GZ_PARTITION` and other environment variables).
 
 # Documentation
 
@@ -131,7 +122,7 @@ See the [installation tutorial](https://gazebosim.org/api/sim/9/install.html).
 
 See the [installation tutorial](https://gazebosim.org/api/sim/9/install.html).
 
-See the [Writing Tests section of the contributor guide](https://github.com/gazebosim/gz-sim/blob/main/CONTRIBUTING.md#writing-tests) for help creating or modifying tests.
+See the [Writing Tests section of the contributor guide](https://gazebosim.org/docs/all/contributing/#writing-tests) for help creating or modifying tests.
 
 # Folder Structure
 
@@ -154,7 +145,7 @@ gz-sim
 │   ├── performance              Performance tests.
 │   ├── plugins                  Plugins used in tests.
 │   ├── regression               Regression tests.
-│   └── tutorials                Tutorials, written in markdown.
+├── tutorials                    Tutorials, written in markdown.
 ├── Changelog.md                 Changelog.
 ├── CMakeLists.txt               CMake build script.
 ├── Migration.md                 Migration guide.
@@ -163,8 +154,8 @@ gz-sim
 
 # Contributing
 
-Please see
-[CONTRIBUTING.md](https://github.com/gazebosim/gz-sim/blob/main/CONTRIBUTING.md).
+Please see the
+[contribution guide](https://gazebosim.org/docs/all/contributing/).
 
 # Code of Conduct
 

diff --git a/examples/plugin/custom_sensor_system/README.md b/examples/plugin/custom_sensor_system/README.md
@@ -10,7 +10,7 @@ It uses the odometer created on this example:
 From the root of the `gz-sim` repository, do the following to build the example:
 
 ~~~
-cd examples/plugins/custom_sensor_system
+cd examples/plugin/custom_sensor_system
 mkdir build
 cd build
 cmake ..
@@ -27,7 +27,7 @@ the `odometer.sdf` file that's going to be loaded.
 Before starting Gazebo, we must make sure it can find the plugin by doing:
 
 ~~~
-cd examples/plugins/custom_sensor_system
+cd examples/plugin/custom_sensor_system
 export GZ_SIM_SYSTEM_PLUGIN_PATH=`pwd`/build
 ~~~
 

diff --git a/examples/worlds/actors_population.sdf b/examples/worlds/actors_population.sdf
diff --git a/examples/worlds/dem_monterey_bay.sdf b/examples/worlds/dem_monterey_bay.sdf
@@ -22,7 +22,7 @@
           <property type="string" key="state">docked</property>
         </gz-gui>
 
-        <engine>ogre</engine>
+        <engine>ogre2</engine>
         <scene>scene</scene>
         <ambient_light>0 0 0</ambient_light>
         <background_color>0.8 0.8 0.8</background_color>

diff --git a/examples/worlds/dem_moon.sdf b/examples/worlds/dem_moon.sdf
@@ -29,7 +29,7 @@
           <property type="string" key="state">docked</property>
         </gz-gui>
 
-        <engine>ogre</engine>
+        <engine>ogre2</engine>
         <scene>scene</scene>
         <ambient_light>0 0 0</ambient_light>
         <background_color>0.8 0.8 0.8</background_color>

diff --git a/examples/worlds/dem_volcano.sdf b/examples/worlds/dem_volcano.sdf
@@ -21,7 +21,7 @@
           <property type="string" key="state">docked</property>
         </gz-gui>
 
-        <engine>ogre</engine>
+        <engine>ogre2</engine>
         <scene>scene</scene>
         <ambient_light>0 0 0</ambient_light>
         <background_color>0.8 0.8 0.8</background_color>

diff --git a/examples/worlds/empty_gui.sdf b/examples/worlds/empty_gui.sdf
@@ -37,6 +37,10 @@ This example helps illustrate the interaction of the MinimalScene with other GUI
 
   <world name="empty_gui">
 
+    <gz:policies>
+      <include_gui_default_plugins>false</include_gui_default_plugins>
+    </gz:policies>
+
     <gui fullscreen="0">
       <plugin filename="MinimalScene" name="3D View">
         <gz-gui>

diff --git a/examples/worlds/joint_trajectory_controller.sdf b/examples/worlds/joint_trajectory_controller.sdf
@@ -479,21 +479,21 @@
         <child>RR_velocity_control_link1</child>
         <axis>
           <xyz>1 0 0</xyz>
+          <dynamics>
+            <damping>0.02</damping>
+          </dynamics>
         </axis>
-        <dynamics>
-          <damping>0.02</damping>
-        </dynamics>
       </joint>
       <joint name="RR_velocity_control_joint2" type="revolute">
         <pose relative_to="RR_velocity_control_link1">0 0 0.1 0 0 0</pose>
         <parent>RR_velocity_control_link1</parent>
         <child>RR_velocity_control_link2</child>
         <axis>
           <xyz>1 0 0</xyz>
+          <dynamics>
+            <damping>0.01</damping>
+          </dynamics>
         </axis>
-        <dynamics>
-          <damping>0.01</damping>
-        </dynamics>
       </joint>
       <!-- Controller -->
       <plugin

diff --git a/examples/worlds/shadow_texture_size.sdf b/examples/worlds/shadow_texture_size.sdf
@@ -0,0 +1,73 @@
+<?xml version="1.0" ?>
+<sdf version="1.9">
+  <world name="default">
+    <scene>
+      <background>0.1 0.1 0.1</background>
+      <ambient>0.0 0.0 0.0</ambient>
+    </scene>
+
+    <!--GUI plugins-->
+    <gui>
+      <plugin filename="MinimalScene" name="3D View">
+        <engine>ogre2</engine>
+        <camera_pose>-10 0 7 0 0.5 0</camera_pose>
+        <shadows>
+          <texture_size light_type="directional">8192</texture_size>
+        </shadows>
+      </plugin>
+
+      <plugin filename="GzSceneManager" name="Scene Manager"/>
+      <plugin filename="InteractiveViewControl" name="Interactive view control"/>
+    </gui>
+
+    <!--lighting-->
+    <light type="directional" name="sun">
+      <pose>0 0 8 0 0 0</pose>
+      <diffuse>1 1 1 1</diffuse>
+      <specular>0 0 0 0</specular>
+      <attenuation>
+        <range>50</range>
+        <constant>0</constant>
+        <linear>0</linear>
+        <quadratic>0</quadratic>
+      </attenuation>
+      <cast_shadows>true</cast_shadows>
+      <direction>-2 2 -1.5</direction>
+      <intensity>1.0</intensity>
+    </light>
+
+    <!--scene objects-->
+    <include>
+      <pose>0 0 0 0 0 -1.57</pose>
+      <uri>
+      https://fuel.gazebosim.org/1.0/OpenRobotics/models/Garden Mascot
+      </uri>
+    </include>
+
+    <model name="floor">
+    <pose>-5 0 -0.5 0 0 0</pose>
+    <static>true</static>
+    <link name="link">
+      <collision name="collision">
+      <geometry>
+        <box>
+        <size>15 15 1</size>
+        </box>
+      </geometry>
+      </collision>
+      <visual name="visual">
+      <geometry>
+        <box>
+        <size>15 15 1</size>
+        </box>
+      </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>
+  </world>
+</sdf>
diff --git a/python/src/gz/sim/Joint.cc b/python/src/gz/sim/Joint.cc
@@ -94,7 +94,22 @@ void defineSimJoint(py::object module)
       py::arg("ecm"),
       py::arg("limits"),
       "Set the effort limits on a joint axis.")
-  .def("set_position_imits", &gz::sim::Joint::SetPositionLimits,
+  .def("set_position_imits",
+       [](pybind11::object &self, EntityComponentManager &_ecm,
+          const std::vector<math::Vector2d> &_limits)
+       {
+            auto warnings = pybind11::module::import("warnings");
+            auto builtins = pybind11::module::import("builtins");
+            warnings.attr("warn")(
+                "set_position_imits() is deprecated, use set_position_limits() instead.",
+                builtins.attr("DeprecationWarning"));
+
+            return self.attr("set_position_limits")(_ecm, _limits);
+       },
+      py::arg("ecm"),
+      py::arg("limits"),
+      "Set the position limits on a joint axis.")
+  .def("set_position_limits", &gz::sim::Joint::SetPositionLimits,
       py::arg("ecm"),
       py::arg("limits"),
       "Set the position limits on a joint axis.")