3 ➡️ 4 (#533)

* Clarify how sim time is interpreted in a System's step (#467) * add frame_id and child_frame_id attribute support for DiffDrive (#361) * Add ability to record video based on sim time (#414) * add ability to record video from gui camera using sim time * add msg * use QueryBoolText * Add lockstep mode to video recording (#419) * Disable right click menu when using measuring tool (#458) * Bump to 3.6.0 (#524) * Don't make docs on macOS (#528) * Updates to ardupilot migration tutorial (#525) * Update gtest to 1.10.0 for Windows compilation (ign-gazebo3) (#506) * Compile new gtest with c++11 * Use INSTANTIATE_TEST_SUITE_P instead of deprecated -INSTANTIATE_TEST_CASE_P * Apply suggestions from code review * One more tutorial version bump * Fix bad merge * change nullptr to a int ptr for qt 5.15.2 bug (#527) * Generate valid topics everywhere (support names with spaces) (#522) * Change deprecated test case->suite Co-authored-by: Ashton Larkin <[email protected]> Co-authored-by: G.Doisy <[email protected]> Co-authored-by: Ian Chen <[email protected]> Co-authored-by: Nate Koenig <[email protected]> Co-authored-by: Louise Poubel <[email protected]> Co-authored-by: John Shepherd <[email protected]> Co-authored-by: Steve Peters <[email protected]> Co-authored-by: Jose Luis Rivero <[email protected]> Co-authored-by: Akash Patel <[email protected]>
gazebosim · Jan 8, 2021 · dfb97f4 · dfb97f4
1 parent d18026e
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diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -158,19 +158,24 @@ ign_create_packages()
 configure_file(${CMAKE_SOURCE_DIR}/api.md.in ${CMAKE_BINARY_DIR}/api.md)
 configure_file(${CMAKE_SOURCE_DIR}/tutorials.md.in ${CMAKE_BINARY_DIR}/tutorials.md)
 
-ign_create_docs(
-  API_MAINPAGE_MD "${CMAKE_BINARY_DIR}/api.md"
-  TUTORIALS_MAINPAGE_MD "${CMAKE_BINARY_DIR}/tutorials.md"
-  ADDITIONAL_INPUT_DIRS "${CMAKE_SOURCE_DIR}/src/systems ${CMAKE_SOURCE_DIR}/src/gui/plugins"
-  TAGFILES
-   "${IGNITION-MATH_DOXYGEN_TAGFILE} = ${IGNITION-MATH_API_URL}"
-   "${IGNITION-MSGS_DOXYGEN_TAGFILE} = ${IGNITION-MSGS_API_URL}"
-   "${IGNITION-PHYSICS_DOXYGEN_TAGFILE} = ${IGNITION-PHYSICS_API_URL}"
-   "${IGNITION-PLUGIN_DOXYGEN_TAGFILE} = ${IGNITION-PLUGIN_API_URL}"
-   "${IGNITION-TRANSPORT_DOXYGEN_TAGFILE} = ${IGNITION-TRANSPORT_API_URL}"
-   "${IGNITION-SENSORS_DOXYGEN_TAGFILE} = ${IGNITION-SENSORS_API_URL}"
-   "${IGNITION-COMMON_DOXYGEN_TAGFILE} = ${IGNITION-COMMON_API_URL}"
-)
+# disable doxygen on macOS due to issues with doxygen 1.9.0
+# there is an unreleased fix; revert this when 1.9.1 is released
+# https://github.com/ignitionrobotics/ign-gazebo/issues/520
+if (NOT APPLE)
+  ign_create_docs(
+    API_MAINPAGE_MD "${CMAKE_BINARY_DIR}/api.md"
+    TUTORIALS_MAINPAGE_MD "${CMAKE_BINARY_DIR}/tutorials.md"
+    ADDITIONAL_INPUT_DIRS "${CMAKE_SOURCE_DIR}/src/systems ${CMAKE_SOURCE_DIR}/src/gui/plugins"
+    TAGFILES
+     "${IGNITION-MATH_DOXYGEN_TAGFILE} = ${IGNITION-MATH_API_URL}"
+     "${IGNITION-MSGS_DOXYGEN_TAGFILE} = ${IGNITION-MSGS_API_URL}"
+     "${IGNITION-PHYSICS_DOXYGEN_TAGFILE} = ${IGNITION-PHYSICS_API_URL}"
+     "${IGNITION-PLUGIN_DOXYGEN_TAGFILE} = ${IGNITION-PLUGIN_API_URL}"
+     "${IGNITION-TRANSPORT_DOXYGEN_TAGFILE} = ${IGNITION-TRANSPORT_API_URL}"
+     "${IGNITION-SENSORS_DOXYGEN_TAGFILE} = ${IGNITION-SENSORS_API_URL}"
+     "${IGNITION-COMMON_DOXYGEN_TAGFILE} = ${IGNITION-COMMON_API_URL}"
+  )
+endif()
 
 if(TARGET doc)
   file(COPY ${CMAKE_SOURCE_DIR}/tutorials/files/ DESTINATION ${CMAKE_BINARY_DIR}/doxygen/html/files/)

diff --git a/Changelog.md b/Changelog.md
@@ -157,6 +157,68 @@
 
 ### Ignition Gazebo 3.X.X (20XX-XX-XX)
 
+### Ignition Gazebo 3.6.0 (2020-12-30)
+
+1. Fix pose msg conversion when msg is missing orientation
+    * [Pull Request 450](https://github.com/ignitionrobotics/ign-gazebo/pull/450)
+
+1. Address code checker warnings
+    * [Pull Request 443](https://github.com/ignitionrobotics/ign-gazebo/pull/443)
+    * [Pull Request 491](https://github.com/ignitionrobotics/ign-gazebo/pull/491)
+    * [Pull Request 499](https://github.com/ignitionrobotics/ign-gazebo/pull/499)
+    * [Pull Request 502](https://github.com/ignitionrobotics/ign-gazebo/pull/502)
+
+1. Test fixes
+    * [Pull Request 455](https://github.com/ignitionrobotics/ign-gazebo/pull/455)
+    * [Pull Request 463](https://github.com/ignitionrobotics/ign-gazebo/pull/463)
+    * [Pull Request 452](https://github.com/ignitionrobotics/ign-gazebo/pull/452)
+    * [Pull Request 480](https://github.com/ignitionrobotics/ign-gazebo/pull/480)
+
+1. Documentation updates
+    * [Pull Request 472](https://github.com/ignitionrobotics/ign-gazebo/pull/472)
+
+1. Fix segfault in the Breadcrumb system when associated model is unloaded
+    * [Pull Request 454](https://github.com/ignitionrobotics/ign-gazebo/pull/454)
+
+1. Added user commands to example thermal camera world
+    * [Pull Request 442](https://github.com/ignitionrobotics/ign-gazebo/pull/442)
+
+1. Helper function to set component data
+    * [Pull Request 436](https://github.com/ignitionrobotics/ign-gazebo/pull/436)
+
+1. Remove unneeded if statement in EntityComponentManager
+    * [Pull Request 432](https://github.com/ignitionrobotics/ign-gazebo/pull/432)
+
+1. Clarify how time is represented in each phase of a System step
+    * [Pull Request 467](https://github.com/ignitionrobotics/ign-gazebo/pull/467)
+
+1. Switch to async state service request
+    * [Pull Request 461](https://github.com/ignitionrobotics/ign-gazebo/pull/461)
+
+1. Update key event handling
+    * [Pull Request 466](https://github.com/ignitionrobotics/ign-gazebo/pull/466)
+
+1. Tape Measure Plugin
+    * [Pull Request 456](https://github.com/ignitionrobotics/ign-gazebo/pull/456)
+
+1. Move deselect and preview termination to render thread
+    * [Pull Request 493](https://github.com/ignitionrobotics/ign-gazebo/pull/493)
+
+1. Logical audio sensor plugin
+    * [Pull Request 401](https://github.com/ignitionrobotics/ign-gazebo/pull/401)
+
+1. add frame_id and child_frame_id attribute support for DiffDrive
+    * [Pull Request 361](https://github.com/ignitionrobotics/ign-gazebo/pull/361)
+
+1. Add ability to record video based on sim time
+    * [Pull Request 414](https://github.com/ignitionrobotics/ign-gazebo/pull/414)
+
+1. Add lockstep mode to video recording
+    * [Pull Request 419](https://github.com/ignitionrobotics/ign-gazebo/pull/419)
+
+1. Disable right click menu when using measuring tool
+    * [Pull Request 458](https://github.com/ignitionrobotics/ign-gazebo/pull/458)
+
 ### Ignition Gazebo 3.5.0 (2020-11-03)
 
 1. Updated source build instructions

diff --git a/include/ignition/gazebo/System.hh b/include/ignition/gazebo/System.hh
@@ -44,21 +44,32 @@ namespace ignition
     /// will only operate on an Entity if it has all of the required
     /// Components.
     ///
-    /// Systems are executed in three phases:
+    /// Systems are executed in three phases, with each phase for a given step
+    /// corresponding to the entities at time UpdateInfo::simTime:
     ///  * PreUpdate
-    ///    * Has read-write access to world entities and components
-    ///    * Executed with simulation time at (t0)
+    ///    * Has read-write access to world entities and components.
+    ///    * This is where systems say what they'd like to happen at time
+    ///      UpdateInfo::simTime.
     ///    * Can be used to modify state before physics runs, for example for
     ///      applying control signals or performing network syncronization.
     ///  * Update
-    ///    * Has read-write access to world entities and components
-    ///    * Responsible for propagating time from (t0) to (t0 + dt)
-    ///    * Used for physics simulation step
+    ///    * Has read-write access to world entities and components.
+    ///    * Used for physics simulation step (i.e., simulates what happens at
+    ///      time UpdateInfo::simTime).
     ///  * PostUpdate
-    ///    * Has read-only access to world entities and components
-    ///    * Executed with simulation time at (t0 + dt)
+    ///    * Has read-only access to world entities and components.
+    ///    * Captures everything that happened at time UpdateInfo::simTime.
     ///    * Used to read out results at the end of a simulation step to be used
     ///      for sensor or controller updates.
+    ///
+    /// It's important to note that UpdateInfo::simTime does not refer to the
+    /// current time, but the time reached after the PreUpdate and Update calls
+    /// have finished. So, if any of the *Update functions are called with
+    /// simulation paused, time does not advance, which means the time reached
+    /// after PreUpdate and Update is the same as the starting time. This
+    /// explains why UpdateInfo::simTime is initially 0 if simulation is started
+    /// paused, while UpdateInfo::simTime is initially UpdateInfo::dt if
+    /// simulation is started un-paused.
     class IGNITION_GAZEBO_VISIBLE System
     {
       /// \brief Constructor

diff --git a/include/ignition/gazebo/rendering/RenderUtil.hh b/include/ignition/gazebo/rendering/RenderUtil.hh
@@ -124,6 +124,11 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
     /// Returns reference to the marker manager.
     public: class MarkerManager &MarkerManager();
 
+    /// \brief Get simulation time that the current rendering state corresponds
+    /// to
+    /// \returns Simulation time.
+    public: std::chrono::steady_clock::duration SimTime() const;
+
     /// \brief Set the entity being selected
     /// \param[in] _node Node representing the selected entity
     public: void SetSelectedEntity(const rendering::NodePtr &_node);

diff --git a/src/EntityComponentManager_TEST.cc b/src/EntityComponentManager_TEST.cc
@@ -2362,5 +2362,5 @@ TEST_P(EntityComponentManagerFixture, RemovedComponentsSyncBetweenServerAndGUI)
 
 // Run multiple times. We want to make sure that static globals don't cause
 // problems.
-INSTANTIATE_TEST_CASE_P(EntityComponentManagerRepeat,
+INSTANTIATE_TEST_SUITE_P(EntityComponentManagerRepeat,
     EntityComponentManagerFixture, ::testing::Range(1, 10));
diff --git a/src/Server_TEST.cc b/src/Server_TEST.cc
@@ -995,4 +995,4 @@ TEST_P(ServerFixture, AddResourcePaths)
 
 // Run multiple times. We want to make sure that static globals don't cause
 // problems.
-INSTANTIATE_TEST_CASE_P(ServerRepeat, ServerFixture, ::testing::Range(1, 2));
+INSTANTIATE_TEST_SUITE_P(ServerRepeat, ServerFixture, ::testing::Range(1, 2));
diff --git a/src/SimulationRunner_TEST.cc b/src/SimulationRunner_TEST.cc
@@ -1294,5 +1294,5 @@ TEST_P(SimulationRunnerTest, GenerateWorldSdf)
 
 // Run multiple times. We want to make sure that static globals don't cause
 // problems.
-INSTANTIATE_TEST_CASE_P(ServerRepeat, SimulationRunnerTest,
+INSTANTIATE_TEST_SUITE_P(ServerRepeat, SimulationRunnerTest,
     ::testing::Range(1, 2));