Nkoenig/3 to 4 20210113 (#554)

* Automatically load a subset of world plugins (#281) Feature to allow loading of a default set of system plugins from a file. This behavior will trigger when a world sdf file is loaded with no plugins defined. In this case, the simulator will load the plugins from a series of locations including environment variable, the users home folder, and finally in the installation directory. This should allow users to not have to specify the same set of plugins in every world sdf file. Signed-off-by: Michael Carroll <[email protected]> Co-authored-by: Louise Poubel <[email protected]> * Added missing version namespace (#541) * Added missing version namespace Signed-off-by: Nate Koenig <[email protected]> * Fix codecheck Signed-off-by: Nate Koenig <[email protected]> Co-authored-by: Nate Koenig <[email protected]> * Fix examples in migration plugins tutorial (#543) Signed-off-by: Nick Lamprianidis <[email protected]> * Prepare for 3.7.0 release (#552) Signed-off-by: Nate Koenig <[email protected]> Co-authored-by: Nate Koenig <[email protected]> Co-authored-by: Michael Carroll <[email protected]> Co-authored-by: Louise Poubel <[email protected]> Co-authored-by: Nate Koenig <[email protected]> Co-authored-by: Nick Lamprianidis <[email protected]>
gazebosim · Jan 13, 2021 · 6fcbcea · 6fcbcea
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diff --git a/Changelog.md b/Changelog.md
@@ -155,7 +155,25 @@
 
 ## Ignition Gazebo 3.x
 
-### Ignition Gazebo 3.X.X (20XX-XX-XX)
+### Ignition Gazebo 3.7.0 (2021-01-13)
+
+1. Fix examples in migration plugins tutorial.
+    * [Pull Request 543](https://github.com/ignitionrobotics/ign-gazebo/pull/543)
+
+1. Added missing namespace in `detail/EntityComponentManager.hh`.
+    * [Pull Request 541](https://github.com/ignitionrobotics/ign-gazebo/pull/541)
+
+1. Automatically load a subset of world plugins.
+    * [Pull Request 281](https://github.com/ignitionrobotics/ign-gazebo/pull/281)
+
+1. Update gtest to 1.10.0 for Windows compilation.
+    * [Pull Request 506](https://github.com/ignitionrobotics/ign-gazebo/pull/506)
+
+1. Updates to ardupilot migration tutorial.
+    * [Pull Request 525](https://github.com/ignitionrobotics/ign-gazebo/pull/525)
+
+1. Don't make docs on macOS.
+    * [Pull Request 528](https://github.com/ignitionrobotics/ign-gazebo/pull/528)
 
 ### Ignition Gazebo 3.6.0 (2020-12-30)
 

diff --git a/include/ignition/gazebo/detail/EntityComponentManager.hh b/include/ignition/gazebo/detail/EntityComponentManager.hh
@@ -32,6 +32,8 @@ namespace ignition
 {
 namespace gazebo
 {
+// Inline bracket to help doxygen filtering.
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
 //////////////////////////////////////////////////
 namespace traits
 {
@@ -547,5 +549,6 @@ bool EntityComponentManager::RemoveComponent(Entity _entity)
 }
 }
 }
+}
 
 #endif
diff --git a/tutorials/migration_plugins.md b/tutorials/migration_plugins.md
@@ -103,6 +103,11 @@ On Ignition Gazebo, that would be implemented as follows:
 #include <ignition/gazebo/Model.hh>
 #include <ignition/gazebo/Util.hh>
 #include <ignition/gazebo/System.hh>
+#include <ignition/plugin/Register.hh>
+
+using namespace ignition;
+using namespace gazebo;
+using namespace systems;
 
 // Inherit from System and 2 extra interfaces:
 // ISystemConfigure and ISystemPostUpdate
@@ -113,25 +118,25 @@ class MyPlugin
 {
   // Implement Configure callback, provided by ISystemConfigure
   // and called once at startup.
-  void MyPlugin::Configure(const Entity &_entity,
-      const std::shared_ptr<const sdf::Element> &_sdf,
-      EntityComponentManager &_ecm,
-      EventManager &/*_eventMgr*/)
+  virtual void Configure(const Entity &_entity,
+                         const std::shared_ptr<const sdf::Element> &_sdf,
+                         EntityComponentManager &_ecm,
+                         EventManager &/*_eventMgr*/) override
   {
     // Read property from SDF
     auto linkName = _sdf->Get<std::string>("link_name");
 
-    // Create model object, to access convenient functions
+    // Create model object to access convenient functions
     auto model = Model(_entity);
 
     // Get link entity
-    auto linkEntity = model->LinkByName(_ecm, linkName);
+    this->linkEntity = model.LinkByName(_ecm, linkName);
   }
 
   // Implement PostUpdate callback, provided by ISystemPostUpdate
   // and called at every iteration, after physics is done
-  void MyPlugin::PostUpdate(const UpdateInfo &/*_info*/,
-      const EntityComponentManager &_ecm)
+  virtual void PostUpdate(const UpdateInfo &/*_info*/,
+                          const EntityComponentManager &_ecm) override
   {
     // Get link pose and print it
     std::cout << worldPose(this->linkEntity, _ecm) << std::endl;
@@ -149,7 +154,7 @@ IGNITION_ADD_PLUGIN(MyPlugin,
 
 // Add plugin alias so that we can refer to the plugin without the version
 // namespace
-IGNITION_ADD_PLUGIN_ALIAS(MyPlugin,"ignition::gazebo::systems::MyPlugin")
+IGNITION_ADD_PLUGIN_ALIAS(MyPlugin, "ignition::gazebo::systems::MyPlugin")
 ```
 
 The example above uses headers like `Model.hh` and `Util.hh`, which offer
@@ -161,6 +166,15 @@ the ECM's API:
 ```cpp
 #include <ignition/gazebo/EntityComponentManager.hh>
 #include <ignition/gazebo/System.hh>
+#include <ignition/gazebo/components/Link.hh>
+#include <ignition/gazebo/components/Name.hh>
+#include <ignition/gazebo/components/ParentEntity.hh>
+#include <ignition/gazebo/components/Pose.hh>
+#include <ignition/plugin/Register.hh>
+
+using namespace ignition;
+using namespace gazebo;
+using namespace systems;
 
 // Inherit from System and 2 extra interfaces:
 // ISystemConfigure and ISystemPostUpdate
@@ -169,43 +183,43 @@ class MyPlugin
         public ISystemConfigure,
         public ISystemPostUpdate
 {
-  void MyPlugin::Configure(const Entity &_entity,
-      const std::shared_ptr<const sdf::Element> &_sdf,
-      EntityComponentManager &_ecm,
-      EventManager &/*_eventMgr*/)
+  virtual void Configure(const Entity &_entity,
+                         const std::shared_ptr<const sdf::Element> &_sdf,
+                         EntityComponentManager &_ecm,
+                         EventManager &/*_eventMgr*/) override
   {
+    // Read property from SDF
     auto linkName = _sdf->Get<std::string>("link_name");
 
-    // Create link entity by querying for an entity that has a specific set of
+    // Get link entity by querying for an entity that has a specific set of
     // components
     this->linkEntity = _ecm.EntityByComponents(
-        components::ParentEntity(this->dataPtr->id),
-        components::Name(_name),
-        components::Link());
+        components::ParentEntity(_entity),
+        components::Name(linkName), components::Link());
   }
 
-  void MyPlugin::PostUpdate(const UpdateInfo &/*_info*/,
-      const EntityComponentManager &_ecm)
+  virtual void PostUpdate(const UpdateInfo &/*_info*/,
+                          const EntityComponentManager &_ecm) override
   {
     // Get link's local pose
     auto pose = _ecm.Component<components::Pose>(this->linkEntity)->Data();
 
     // Get link's parent entity
-    auto p = _ecm.Component<components::ParentEntity>(this->linkEntity);
+    auto parent = _ecm.Component<components::ParentEntity>(this->linkEntity);
 
     // Iterate over parents until world is reached
-    while (p)
+    while (parent)
     {
       // Get parent entity's pose
-      auto parentPose = _ecm.Component<components::Pose>(p->Data());
+      auto parentPose = _ecm.Component<components::Pose>(parent->Data());
       if (!parentPose)
         break;
 
       // Add pose
-      pose = pose + parentPose->Data();
+      pose = parentPose->Data() * pose;
 
       // keep going up the tree
-      p = _ecm.Component<components::ParentEntity>(p->Data());
+      parent = _ecm.Component<components::ParentEntity>(parent->Data());
     }
 
     std::cout << pose << std::endl;
@@ -220,7 +234,7 @@ IGNITION_ADD_PLUGIN(MyPlugin,
                     MyPlugin::ISystemConfigure,
                     MyPlugin::ISystemPostUpdate)
 
-IGNITION_ADD_PLUGIN_ALIAS(MyPlugin,"ignition::gazebo::systems::MyPlugin")
+IGNITION_ADD_PLUGIN_ALIAS(MyPlugin, "ignition::gazebo::systems::MyPlugin")
 ```
 
 In summary, the key differences between Gazebo Classic and Ignition Gazebo are:
@@ -234,7 +248,7 @@ In summary, the key differences between Gazebo Classic and Ignition Gazebo are:
 
 * Plugins don't have direct access to physics objects such as `physics::Model`.
   Instead, they can either deal directly with entities and their components by
-  calling functions in the ECM, or using convenient objects such as
+  calling functions of the ECM, or use convenient objects such as
   `ignition::gazebo::Model` which wrap the ECM interface.
 
 All these changes are meant to give plugin developers more flexibility to