Merge branch 'ign-gazebo4' into ports/3_to_4

Signed-off-by: Michael Carroll <[email protected]>

.github/CODEOWNERS

@@ -2,7 +2,6 @@
 # https://help.github.com/en/github/creating-cloning-and-archiving-repositories/about-code-owners
 
 *                     @chapulina
-tutorials/*           @maryaB-osr
 */rendering/*         @iche033
 src/systems/physics/* @azeey
 src/systems/sensors/* @iche033

.github/ci/after_make.sh

@@ -1,6 +1,7 @@
 #!/bin/sh -l
 
 set -x
+set -e
 
 # Install (needed for some tests)
 make install

.github/ci/packages.apt

@@ -1,15 +1,37 @@
+freeglut3-dev
+libfreeimage-dev
+libglew-dev
 libignition-cmake2-dev
 libignition-common3-dev
-libignition-fuel-tools4-dev
-libignition-gui3-dev
+libignition-gui4-dev
+libignition-fuel-tools5-dev
 libignition-math6-eigen3-dev
-libignition-msgs5-dev
-libignition-physics2-dev
+libignition-msgs6-dev
+libignition-physics3-dev
 libignition-plugin-dev
-libignition-rendering3-dev
-libignition-sensors3-dev
+libignition-rendering4-dev
+libignition-sensors4-dev
 libignition-tools-dev
-libignition-transport8-dev
-libsdformat9-dev
+libignition-transport9-dev
+libogre-1.9-dev
+libogre-2.1-dev
+libprotobuf-dev
+libprotoc-dev
+libsdformat10-dev
+libtinyxml2-dev
+libxi-dev
+libxmu-dev
+qml-module-qt-labs-folderlistmodel
+qml-module-qt-labs-settings
 qml-module-qtqml-models2
+qml-module-qtgraphicaleffects
+qml-module-qtquick-controls
+qml-module-qtquick-controls2
+qml-module-qtquick-dialogs
+qml-module-qtquick-layouts
+qml-module-qtquick2
+qtbase5-dev
+qtdeclarative5-dev
+qtquickcontrols2-5-dev
+uuid-dev
 xvfb

CMakeLists.txt

@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.5.1 FATAL_ERROR)
 #============================================================================
 # Initialize the project
 #============================================================================
-project(ignition-gazebo3 VERSION 3.6.0)
+project(ignition-gazebo4 VERSION 4.1.0)
 
 #============================================================================
 # Find ignition-cmake
@@ -14,7 +14,7 @@ find_package(ignition-cmake2 2.3 REQUIRED)
 #============================================================================
 # Configure the project
 #============================================================================
-ign_configure_project()
+ign_configure_project(VERSION_SUFFIX)
 
 #============================================================================
 # Set project-specific options
@@ -38,8 +38,8 @@ endif()
 # Search for project-specific dependencies
 #============================================================================
 
-ign_find_package(sdformat9 REQUIRED VERSION 9.3.0)
-set(SDF_VER ${sdformat9_VERSION_MAJOR})
+ign_find_package(sdformat10 REQUIRED)
+set(SDF_VER ${sdformat10_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-plugin
@@ -48,18 +48,18 @@ set(IGN_PLUGIN_VER ${ignition-plugin1_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-transport
-ign_find_package(ignition-transport8 REQUIRED COMPONENTS log)
-set(IGN_TRANSPORT_VER ${ignition-transport8_VERSION_MAJOR})
+ign_find_package(ignition-transport9 REQUIRED COMPONENTS log)
+set(IGN_TRANSPORT_VER ${ignition-transport9_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-msgs
-ign_find_package(ignition-msgs5 REQUIRED VERSION 5.3)
-set(IGN_MSGS_VER ${ignition-msgs5_VERSION_MAJOR})
+ign_find_package(ignition-msgs6 REQUIRED)
+set(IGN_MSGS_VER ${ignition-msgs6_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-common
 # Always use the profiler component to get the headers, regardless of status.
-ign_find_package(ignition-common3 VERSION 3.4
+ign_find_package(ignition-common3 VERSION 3.5
   COMPONENTS
     profiler
     events
@@ -70,13 +70,13 @@ set(IGN_COMMON_VER ${ignition-common3_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-fuel_tools
-ign_find_package(ignition-fuel_tools4 REQUIRED VERSION 4.3)
-set(IGN_FUEL_TOOLS_VER ${ignition-fuel_tools4_VERSION_MAJOR})
+ign_find_package(ignition-fuel_tools5 REQUIRED)
+set(IGN_FUEL_TOOLS_VER ${ignition-fuel_tools5_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-gui
-ign_find_package(ignition-gui3 REQUIRED VERSION 3.4)
-set(IGN_GUI_VER ${ignition-gui3_VERSION_MAJOR})
+ign_find_package(ignition-gui4 REQUIRED VERSION 4.1)
+set(IGN_GUI_VER ${ignition-gui4_VERSION_MAJOR})
 ign_find_package (Qt5
   COMPONENTS
     Core
@@ -87,17 +87,17 @@ ign_find_package (Qt5
 
 #--------------------------------------
 # Find ignition-physics
-ign_find_package(ignition-physics2 VERSION 2.3
+ign_find_package(ignition-physics3 VERSION 3.1
   COMPONENTS
     mesh
     sdf
   REQUIRED
 )
-set(IGN_PHYSICS_VER ${ignition-physics2_VERSION_MAJOR})
+set(IGN_PHYSICS_VER ${ignition-physics3_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-sensors
-ign_find_package(ignition-sensors3 REQUIRED
+ign_find_package(ignition-sensors4 REQUIRED
   COMPONENTS
     rendering
     air_pressure
@@ -110,12 +110,12 @@ ign_find_package(ignition-sensors3 REQUIRED
     depth_camera
     thermal_camera
 )
-set(IGN_SENSORS_VER ${ignition-sensors3_VERSION_MAJOR})
+set(IGN_SENSORS_VER ${ignition-sensors4_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-rendering
-ign_find_package(ignition-rendering3 REQUIRED VERSION 3.2)
-set(IGN_RENDERING_VER ${ignition-rendering3_VERSION_MAJOR})
+ign_find_package(ignition-rendering4 REQUIRED VERSION 4.1.0)
+set(IGN_RENDERING_VER ${ignition-rendering4_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-math
@@ -130,7 +130,7 @@ ign_find_package(IgnProtobuf
                  REQUIRED
                  COMPONENTS all
                  PRETTY Protobuf)
-set(PROTOBUF_IMPORT_DIRS ${ignition-msgs5_INCLUDE_DIRS})
+set(PROTOBUF_IMPORT_DIRS ${ignition-msgs6_INCLUDE_DIRS})
 
 # Plugin install dirs
 set(IGNITION_GAZEBO_PLUGIN_INSTALL_DIR

CONTRIBUTING.md

@@ -1 +1 @@
-See [Ignition's contribution guide](https://ignitionrobotics.org/docs/all/contributing).
+See the [Ignition Robotics contributing guide](https://ignitionrobotics.org/docs/all/contributing).

Changelog.md

@@ -1,3 +1,158 @@
+## Ignition Gazebo 4.x
+
+### Ignition Gazebo 4.X.X (20XX-XX-XX)
+
+### Ignition Gazebo 4.1.0 (2020-12-11)
+
+1. Update Dockerfiles to use focal images
+    * [pull request 388](https://github.com/ignitionrobotics/ign-gazebo/pull/388)
+
+1. Updated source build instructions for ign-gazebo4
+    * [pull request 404](https://github.com/ignitionrobotics/ign-gazebo/pull/404)
+
+1. Add tests for the AnimationTime component
+    * [pull request 433](https://github.com/ignitionrobotics/ign-gazebo/pull/433)
+
+1. Fix pose msg conversion when msg is missing orientation
+    * [pull request 450](https://github.com/ignitionrobotics/ign-gazebo/pull/450)
+    * [pull request 459](https://github.com/ignitionrobotics/ign-gazebo/pull/459)
+
+1. Resolved updated codecheck issues
+    * [pull request 443](https://github.com/ignitionrobotics/ign-gazebo/pull/443)
+    * [pull request 457](https://github.com/ignitionrobotics/ign-gazebo/pull/457)
+    * [pull request 459](https://github.com/ignitionrobotics/ign-gazebo/pull/459)
+
+1. Use new backpack version in tests
+    * [pull request 455](https://github.com/ignitionrobotics/ign-gazebo/pull/455)
+    * [pull request 457](https://github.com/ignitionrobotics/ign-gazebo/pull/457)
+    * [pull request 459](https://github.com/ignitionrobotics/ign-gazebo/pull/459)
+
+1. Fix segfault in the Breadcrumb system when associated model is unloaded
+    * [pull request 454](https://github.com/ignitionrobotics/ign-gazebo/pull/454)
+    * [pull request 457](https://github.com/ignitionrobotics/ign-gazebo/pull/457)
+    * [pull request 459](https://github.com/ignitionrobotics/ign-gazebo/pull/459)
+
+1. Added user commands to example thermal camera world
+    * [pull request 442](https://github.com/ignitionrobotics/ign-gazebo/pull/442)
+    * [pull request 459](https://github.com/ignitionrobotics/ign-gazebo/pull/459)
+
+1. Helper function to set component data
+    * [pull request 436](https://github.com/ignitionrobotics/ign-gazebo/pull/436)
+    * [pull request 469](https://github.com/ignitionrobotics/ign-gazebo/pull/469)
+
+1. Remove unneeded if statement
+    * [pull request 432](https://github.com/ignitionrobotics/ign-gazebo/pull/432)
+    * [pull request 469](https://github.com/ignitionrobotics/ign-gazebo/pull/469)
+
+1. Fix flaky RecordAndPlayback test in INTEGRATION_log_system
+    * [pull request 463](https://github.com/ignitionrobotics/ign-gazebo/pull/463)
+    * [pull request 469](https://github.com/ignitionrobotics/ign-gazebo/pull/469)
+
+1. Make PeerTracker test more robust
+    * [pull request 452](https://github.com/ignitionrobotics/ign-gazebo/pull/452)
+    * [pull request 469](https://github.com/ignitionrobotics/ign-gazebo/pull/469)
+
+1. Use a [std::promise](https://en.cppreference.com/w/cpp/thread/promise)/[std::future](https://en.cppreference.com/w/cpp/thread/future) mechanism to avoid waiting in a looop until all `stepAck` messages are received
+    * [pull request 470](https://github.com/ignitionrobotics/ign-gazebo/pull/470)
+
+1. Optical Tactile Sensor Plugin
+    * [pull request 229](https://github.com/ignitionrobotics/ign-gazebo/pull/229)
+
+1. All changes up to and including those in version 3.5.0 and version 2.25.0
+
+### Ignition Gazebo 4.0.0 (2020-09-30)
+
+1. Names with spaces: add string serializer
+    * [pull request 244](https://github.com/ignitionrobotics/ign-gazebo/pull/244)
+
+1. Filter mesh collision based on `collide_bitmask` property
+    * [pull request 160](https://github.com/ignitionrobotics/ign-gazebo/pull/160)
+
+1. Add force focus when mouse enters render window
+    * [pull request 97](https://github.com/ignitionrobotics/ign-gazebo/pull/97)
+
+1. Fixed docblock showGrid
+    * [pull request 152](https://github.com/ignitionrobotics/ign-gazebo/pull/152)
+
+1. More actor components and follow plugin
+    * [pull request 157](https://github.com/ignitionrobotics/ign-gazebo/pull/157)
+
+1. Filter the record menu and write the format to the file according to which button the user pushed (mp4 or ogv)
+    * [pull request 153](https://github.com/ignitionrobotics/ign-gazebo/pull/153)
+
+1. Fix scene manager losing header file
+    * [pull request 211](https://github.com/ignitionrobotics/ign-gazebo/pull/211)
+
+1. Fixed left menu events
+    * [pull request 218](https://github.com/ignitionrobotics/ign-gazebo/pull/218)
+
+1. Fix yaw units typo in Component Inspector plugin
+    * [pull request 238](https://github.com/ignitionrobotics/ign-gazebo/pull/238)
+
+1. Enable alpha based transparency on PBR materials by default
+    * [pull request 249](https://github.com/ignitionrobotics/ign-gazebo/pull/249)
+
+1. Qt auto scale factor for HiDPI displays
+    * [pull request 291](https://github.com/ignitionrobotics/ign-gazebo/pull/291)
+
+1. Sync components removal
+    * [pull request 272](https://github.com/ignitionrobotics/ign-gazebo/pull/272)
+
+1. Add error handling for JointAxis::SetXyz and remove use of use_parent_model_frame
+    * [pull request 288](https://github.com/ignitionrobotics/ign-gazebo/pull/288)
+
+1. Make some tests more robust
+    * [pull request 314](https://github.com/ignitionrobotics/ign-gazebo/pull/314)
+
+1. Fix Qt5 warnings for using anchors
+    * [pull request 363](https://github.com/ignitionrobotics/ign-gazebo/pull/363)
+
+1. Plotting Components Plugin
+    * [pull request 270](https://github.com/ignitionrobotics/ign-gazebo/pull/270)
+
+1. Visualize Lidar Plugin
+    * [pull request 301](https://github.com/ignitionrobotics/ign-gazebo/pull/301)
+    * [pull request 391](https://github.com/ignitionrobotics/ign-gazebo/pull/391)
+
+1. Replaced common::Time for std::chrono
+    * [pull request 309](https://github.com/ignitionrobotics/ign-gazebo/pull/309)
+
+1. Tutorial, examples and documentation updates
+    * [pull request 380](https://github.com/ignitionrobotics/ign-gazebo/pull/380)
+    * [pull request 386](https://github.com/ignitionrobotics/ign-gazebo/pull/386)
+    * [pull request 387](https://github.com/ignitionrobotics/ign-gazebo/pull/387)
+    * [pull request 390](https://github.com/ignitionrobotics/ign-gazebo/pull/390)
+
+1. Migration from BitBucket to GitHub
+    * [pull request 73](https://github.com/ignitionrobotics/ign-gazebo/pull/73)
+    * [pull request 68](https://github.com/ignitionrobotics/ign-gazebo/pull/68)
+    * [pull request 67](https://github.com/ignitionrobotics/ign-gazebo/pull/67)
+    * [pull request 130](https://github.com/ignitionrobotics/ign-gazebo/pull/130)
+
+1. Use interpolate\_x sdf parameter for actor animations
+    * [BitBucket pull request 536](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/536)
+
+1. Actor skeleton animation (auto update mode)
+    * [BitBucket pull request 579](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/579)
+
+1. Added support for removing sensors at runtime
+    * [BitBucket pull request 558](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/558)
+
+1. Add support for visual visibility flags and camera visibility mask
+    * [BitBucket pull request 559](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/559)
+
+1. Support <actor><pose> and <actor><plugin>
+    * [BitBucket pull request 542](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/542)
+
+1. Depend on ign-rendering4, ign-gui4, ign-sensors4
+    * [BitBucket pull request 540](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/540)
+
+1. Axis-Aligned Bounding Boxes
+    * [BitBucket pull request 565](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/565)
+
+1. Add window focus upon mouse entering the render window
+    * [Github pull request 97](https://github.com/ignitionrobotics/ign-gazebo/pull/97)
+
 ## Ignition Gazebo 3.x
 
 ### Ignition Gazebo 3.X.X (20XX-XX-XX)
@@ -184,10 +339,6 @@
 1. Support spawning during log playback.
     * [Pull Request 346](https://github.com/ignitionrobotics/ign-gazebo/pull/346)
 
-1. Added wheel slip system plugin.
-    * [Pull Request 134](https://github.com/ignitionrobotics/ign-gazebo/pull/134)
-    * [Pull Request 357](https://github.com/ignitionrobotics/ign-gazebo/pull/357)
-
 1. Add Render Engine Cmd Line option
     * [Pull Request 331](https://github.com/ignitionrobotics/ign-gazebo/pull/331)
 

Migration.md

@@ -5,6 +5,25 @@ 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 4.0.0 to 4.X.X
+
+* Ignition Gazebo 4.0.0 enabled double sided material by default but this
+caused shadow artifacts to appear on some meshes. Double sided material is
+now disabled and made an opt-in feature. Users can configure this property
+in SDF by setting the `<visual><material><double_sided>` SDF element.
+
+## Ignition Gazebo 3.x to 4.x
+
+* The `RenderUtil::SetEnabledSensors` callback in gazebo rendering has a new
+  required function argument for the Entity of the sensor.
+    * ***Removed***
+      `public: void SetEnableSensors(bool, std::function<
+          std::string(const sdf::Sensor &, const std::string &)>)`
+    * ***Replacement***
+      `public: void SetEnableSensors(bool, std::function<
+          std::string(const gazebo::Entity &,
+          const sdf::Sensor &, const std::string &)>)`
+
 ## Ignition Gazebo 2.x to 3.x
 
 * Use ign-rendering3, ign-sensors3 and ign-gui3.