Merge branch 'ign-gazebo6' into marcoag/thrust_coefficient_for_thrust…

…_plugin

Signed-off-by: Marco A. Gutierrez <[email protected]>

CMakeLists.txt

@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 #============================================================================
 # Initialize the project
 #============================================================================
-project(ignition-gazebo6 VERSION 6.10.0)
+project(ignition-gazebo6 VERSION 6.12.0)
 set (GZ_DISTRIBUTION "Fortress")
 
 #============================================================================

Changelog.md

@@ -1,5 +1,97 @@
 ## Ignition Gazebo 6.x
 
+### Gazebo Sim 6.12.0 (2022-08-30)
+
+1. Add topic parameter to thrust plugin
+    * [Pull request #1681](https://github.com/gazebosim/gz-sim/pull/1681)
+
+1. Add information about `<topic>` system parameter
+    * [Pull request #1671](https://github.com/gazebosim/gz-sim/pull/1671)
+
+1. Adding tests for hydrodynamics
+    * [Pull request #1617](https://github.com/gazebosim/gz-sim/pull/1617)
+
+1. Fix Windows and Doxygen
+    * [Pull request #1643](https://github.com/gazebosim/gz-sim/pull/1643)
+
+### Gazebo Sim 6.11.0 (2022-08-17)
+
+1. Add support for specifying log record period
+    * [Pull request #1636](https://github.com/gazebosim/gz-sim/pull/1636)
+
+1. Common widget GzColor replacement
+    * [Pull request #1530](https://github.com/gazebosim/gz-sim/pull/1530)
+
+1. Replace plotIcon in ComponentInspector with GzPlotIcon
+    * [Pull request #1638](https://github.com/gazebosim/gz-sim/pull/1638)
+
+1. Component Inspector with common widget pose plotting
+    * [Pull request #1607](https://github.com/gazebosim/gz-sim/pull/1607)
+
+1. Change CODEOWNERS and maintainer to Michael
+    * [Pull request #1644](https://github.com/gazebosim/gz-sim/pull/1644)
+
+1. Replace pose in ViewAngle with GzPose
+    * [Pull request #1641](https://github.com/gazebosim/gz-sim/pull/1641)
+
+1. Add system to an entity through Component Inspector
+    * [Pull request #1549](https://github.com/gazebosim/gz-sim/pull/1549)
+
+1. Quick start dialog
+    * [Pull request #1536](https://github.com/gazebosim/gz-sim/pull/1536)
+    * [Pull request #1627](https://github.com/gazebosim/gz-sim/pull/1627)
+
+1. Quiet libSDFormat console on --verbose 0
+    * [Pull request #1621](https://github.com/gazebosim/gz-sim/pull/1621)
+
+1. New Apply Link Wrench system
+    * [Pull request #1593](https://github.com/gazebosim/gz-sim/pull/1593)
+
+1. Add Tf publishing to AckermannSteering system
+    * [Pull request #1576](https://github.com/gazebosim/gz-sim/pull/1576)
+
+1. Fix component updates
+    * [Pull request #1580](https://github.com/gazebosim/gz-sim/pull/1580)
+
+1. Implement vector3 with common widget vector3
+    * [Pull request #1569](https://github.com/gazebosim/gz-sim/pull/1569)
+
+1. Fix to modelphotoshoot test
+    * [Pull request #1570](https://github.com/gazebosim/gz-sim/pull/1570)
+
+1. Update log playback gui config
+    * [Pull request #1590](https://github.com/gazebosim/gz-sim/pull/1590)
+
+1. Helper function to get an entity from an entity message
+    * [Pull request #1595](https://github.com/gazebosim/gz-sim/pull/1595)
+
+1. Fix compilation of scene broadcaster test
+    * [Pull request #1599](https://github.com/gazebosim/gz-sim/pull/1599)
+
+1. Ignition -> Gazebo
+    * [Pull request #1596](https://github.com/gazebosim/gz-sim/pull/1596)
+
+1. Add Model::CanonicalLink getter
+    * [Pull request #1594](https://github.com/gazebosim/gz-sim/pull/1594)
+
+1. Implement Pose3d with common widget pose
+    * [Pull request #1571](https://github.com/gazebosim/gz-sim/pull/1571)
+
+1. Fix UNIT_Server_TEST on Windows
+    * [Pull request #1577](https://github.com/gazebosim/gz-sim/pull/1577)
+
+1. Use pytest to generate junit xml files for python tests
+    * [Pull request #1562](https://github.com/gazebosim/gz-sim/pull/1562)
+
+1. Refactor: Utilizes function to load animations
+    * [Pull request #1568](https://github.com/gazebosim/gz-sim/pull/1568)
+
+1. Utilizes function to sequence trajectories
+    * [Pull request #1565](https://github.com/gazebosim/gz-sim/pull/1565)
+
+1. Disable MacOS flakies Citadel
+    * [Pull request #1545](https://github.com/gazebosim/gz-sim/pull/1545)
+
 ### Gazebo Sim 6.10.0 (2022-06-24)
 
 1. Expose the ability to stop a server from C++

Migration.md

@@ -5,6 +5,12 @@ Deprecated code produces compile-time warnings. These warning serve as
 notification to users that their code should be upgraded. The next major
 release will remove the deprecated code.
 
+## Ignition Gazebo 6.11.X to 6.12.X
+
+ * **Modified**:
+   + In the Hydrodynamics plugin, inverted the added mass contribution to make it
+     act in the correct direction.
+
 ## Ignition Gazebo 6.1 to 6.2
 
 * If no `<namespace>` is given to the `Thruster` plugin, the namespace now

src/LevelManager.cc

@@ -36,14 +36,14 @@
 #include "ignition/gazebo/components/Geometry.hh"
 #include "ignition/gazebo/components/Gravity.hh"
 #include "ignition/gazebo/components/Level.hh"
-#include "ignition/gazebo/components/Model.hh"
-#include "ignition/gazebo/components/Light.hh"
-#include "ignition/gazebo/components/Name.hh"
 #include "ignition/gazebo/components/LevelBuffer.hh"
 #include "ignition/gazebo/components/LevelEntityNames.hh"
+#include "ignition/gazebo/components/Light.hh"
 #include "ignition/gazebo/components/LinearVelocity.hh"
 #include "ignition/gazebo/components/LinearVelocitySeed.hh"
 #include "ignition/gazebo/components/MagneticField.hh"
+#include "ignition/gazebo/components/Model.hh"
+#include "ignition/gazebo/components/Name.hh"
 #include "ignition/gazebo/components/ParentEntity.hh"
 #include "ignition/gazebo/components/Performer.hh"
 #include "ignition/gazebo/components/PerformerLevels.hh"

src/gui/QuickStartHandler.hh

@@ -20,8 +20,8 @@
 #include <QtCore>
 #include <string>
 
-#include "ignition/gazebo/Export.hh"
 #include "ignition/gazebo/config.hh"
+#include "ignition/gazebo/gui/Export.hh"
 
 namespace ignition
 {
@@ -32,7 +32,7 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
 namespace gui
 {
 /// \brief Class for handling quick start dialog
-class QuickStartHandler : public QObject
+class IGNITION_GAZEBO_GUI_VISIBLE QuickStartHandler : public QObject
 {
   Q_OBJECT
 
@@ -44,8 +44,8 @@ class QuickStartHandler : public QObject
   /// \return Distribution name, such as 'Citadel'
   public: Q_INVOKABLE QString Distribution() const;
 
-  /// \brief Get Gazebo version
-  /// \return gazebo version
+  /// \brief Get Gazebo Sim version
+  /// \return Version
   public: Q_INVOKABLE QString SimVersion() const;
 
   /// \brief Set starting world

src/systems/ackermann_steering/AckermannSteering.hh

@@ -111,7 +111,7 @@ namespace systems
   /// right_steering_joint
   ///
   /// References:
-  /// https://github.com/ignitionrobotics/ign-gazebo/tree/main/src/systems/diff_drive
+  /// https://github.com/gazebosim/gz-sim/tree/main/src/systems/ackermann_steering
   /// https://www.auto.tuwien.ac.at/bib/pdf_TR/TR0183.pdf
   /// https://github.com/froohoo/ackermansteer/blob/master/ackermansteer/
 

src/systems/elevator/Elevator.hh

@@ -32,8 +32,7 @@ namespace ignition
 namespace gazebo
 {
 // Inline bracket to help doxygen filtering
-inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE
-{
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
 namespace systems
 {
 // Data forward declaration

src/systems/elevator/ElevatorCommonPrivate.hh

@@ -34,8 +34,7 @@ namespace ignition
 namespace gazebo
 {
 // Inline bracket to help doxygen filtering
-inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE
-{
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
 namespace systems
 {
 class ElevatorCommonPrivate

src/systems/elevator/ElevatorStateMachine.hh

@@ -35,8 +35,7 @@ namespace ignition
 namespace gazebo
 {
 // Inline bracket to help doxygen filtering
-inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE
-{
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
 namespace systems
 {
 // Data forward declarations

src/systems/elevator/state_machine/ActionsImpl.hh

@@ -27,8 +27,7 @@ namespace ignition
 namespace gazebo
 {
 // Inline bracket to help doxygen filtering
-inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE
-{
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
 namespace systems
 {
 namespace actions

src/systems/elevator/state_machine/ElevatorStateMachineImpl.hh

@@ -36,8 +36,7 @@ namespace ignition
 namespace gazebo
 {
 // Inline bracket to help doxygen filtering
-inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE
-{
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
 namespace systems
 {
 class ElevatorStateMachinePrivate

src/systems/elevator/state_machine/EventsImpl.hh

@@ -25,8 +25,7 @@ namespace ignition
 namespace gazebo
 {
 // Inline bracket to help doxygen filtering
-inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE
-{
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
 namespace systems
 {
 namespace events

src/systems/elevator/state_machine/GuardsImpl.hh

@@ -27,8 +27,7 @@ namespace ignition
 namespace gazebo
 {
 // Inline bracket to help doxygen filtering
-inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE
-{
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
 namespace systems
 {
 namespace guards

src/systems/elevator/state_machine/StatesImpl.hh

@@ -32,8 +32,7 @@ namespace ignition
 namespace gazebo
 {
 // Inline bracket to help doxygen filtering
-inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE
-{
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
 namespace systems
 {
 /// \brief State at which the elevator is idling.

src/systems/elevator/utils/DoorTimer.hh

@@ -34,8 +34,7 @@ namespace ignition
 namespace gazebo
 {
 // Inline bracket to help doxygen filtering
-inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE
-{
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
 namespace systems
 {
 // Data forward declaration

src/systems/elevator/utils/JointMonitor.hh

@@ -33,8 +33,7 @@ namespace ignition
 namespace gazebo
 {
 // Inline bracket to help doxygen filtering
-inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE
-{
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
 namespace systems
 {
 // Data forward declaration

src/systems/hydrodynamics/Hydrodynamics.cc

@@ -296,7 +296,7 @@ void Hydrodynamics::PreUpdate(
 
   // These variables follow Fossen's scheme in "Guidance and Control
   // of Ocean Vehicles." The `state` vector contains the ship's current velocity
-  // in the formate [x_vel, y_vel, z_vel, roll_vel, pitch_vel, yaw_vel].
+  // in the format [x_vel, y_vel, z_vel, roll_vel, pitch_vel, yaw_vel].
   // `stateDot` consists of the first derivative in time of the state vector.
   // `Cmat` corresponds to the Centripetal matrix
   // `Dmat` is the drag matrix
@@ -340,13 +340,15 @@ void Hydrodynamics::PreUpdate(
   state(4) = localRotationalVelocity.Y();
   state(5) = localRotationalVelocity.Z();
 
+  // TODO(anyone) Make this configurable
   auto dt = static_cast<double>(_info.dt.count())/1e9;
   stateDot = (state - this->dataPtr->prevState)/dt;
 
   this->dataPtr->prevState = state;
 
   // The added mass
-  const Eigen::VectorXd kAmassVec = this->dataPtr->Ma * stateDot;
+  // Negative sign signifies the behaviour change
+  const Eigen::VectorXd kAmassVec = - this->dataPtr->Ma * stateDot;
 
   // Coriolis and Centripetal forces for under water vehicles (Fossen P. 37)
   // Note: this is significantly different from VRX because we need to account

src/systems/joint_state_publisher/JointStatePublisher.hh

@@ -35,14 +35,17 @@ namespace systems
 {
   /// \brief The JointStatePub system publishes state information for
   /// a model. The published message type is ignition::msgs::Model, and the
-  /// publication topic is "/world/<world_name>/model/<model_name>/state".
+  /// publication topic is determined by the `<topic>` parameter.
   ///
   /// By default the JointStatePublisher will publish all joints for
   /// a model. Use the `<joint_name>` system parameter, described below, to
   /// control which joints are published.
   ///
   /// # System Parameters
   ///
+  /// `<topic>`: Name of the topic to publish to. This parameter is optional,
+  /// and if not provided, the joint state will be published to
+  /// "/world/<world_name>/model/<model_name>/state".
   /// `<joint_name>`: Name of a joint to publish. This parameter can be
   /// specified multiple times, and is optional. All joints in a model will
   /// be published if joint names are not specified.

src/systems/optical_tactile_plugin/OpticalTactilePlugin.hh

@@ -27,8 +27,7 @@ namespace ignition
 namespace gazebo
 {
 // Inline bracket to help doxygen filtering.
-inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE
-{
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
 namespace systems
 {
   // Forward declaration

src/systems/optical_tactile_plugin/Visualization.hh

@@ -32,8 +32,7 @@ namespace ignition
 namespace gazebo
 {
 // Inline bracket to help doxygen filtering.
-inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE
-{
+inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
 namespace systems
 {
 namespace optical_tactile_sensor

src/systems/particle_emitter2/ParticleEmitter2.cc

@@ -158,7 +158,7 @@ void ParticleEmitter2::PreUpdate(const ignition::gazebo::UpdateInfo &_info,
           // hack to avoid breaking the particle_emitter.proto message.
           if (_emitter->Data().has_header())
           {
-            for (const auto data : _emitter->Data().header().data())
+            for (const auto &data : _emitter->Data().header().data())
             {
               if (data.key() == "topic" && !data.value().empty())
               {
@@ -218,7 +218,7 @@ void ParticleEmitter2::PreUpdate(const ignition::gazebo::UpdateInfo &_info,
     return;
 
   // Process each command
-  for (const auto cmd : this->dataPtr->userCmd)
+  for (const auto &cmd : this->dataPtr->userCmd)
   {
     // Create component.
     auto emitterComp = _ecm.Component<components::ParticleEmitterCmd>(