6 ➡️ 7

.github/ci/packages-focal.apt

@@ -3,3 +3,4 @@ libdart-dev
 libdart-external-ikfast-dev
 libdart-external-odelcpsolver-dev
 libdart-utils-urdf-dev
+python3-ignition-math7

.github/ci/packages.apt

@@ -22,6 +22,8 @@ libsdformat13-dev
 libtinyxml2-dev
 libxi-dev
 libxmu-dev
+python3-distutils
+python3-pybind11
 qml-module-qt-labs-folderlistmodel
 qml-module-qt-labs-settings
 qml-module-qtqml-models2

CMakeLists.txt

@@ -15,6 +15,7 @@ find_package(ignition-cmake2 2.8.0 REQUIRED)
 # Configure the project
 #============================================================================
 ign_configure_project(VERSION_SUFFIX pre1)
+set (CMAKE_CXX_STANDARD 17)
 
 #============================================================================
 # Set project-specific options
@@ -37,6 +38,14 @@ endif()
 include(test/find_dri.cmake)
 FindDRI()
 
+option(USE_SYSTEM_PATHS_FOR_PYTHON_INSTALLATION
+      "Install python modules in standard system paths in the system"
+      OFF)
+
+option(USE_DIST_PACKAGES_FOR_PYTHON
+      "Use dist-packages instead of site-package to install python modules"
+      OFF)
+
 #============================================================================
 # Search for project-specific dependencies
 #============================================================================
@@ -167,6 +176,26 @@ ign_find_package(IgnProtobuf
                  PRETTY Protobuf)
 set(Protobuf_IMPORT_DIRS ${ignition-msgs9_INCLUDE_DIRS})
 
+#--------------------------------------
+# Find python
+include(IgnPython)
+find_package(PythonLibs QUIET)
+if (NOT PYTHONLIBS_FOUND)
+  IGN_BUILD_WARNING("Python is missing: Python interfaces are disabled.")
+  message (STATUS "Searching for Python - not found.")
+else()
+  message (STATUS "Searching for Python - found version ${PYTHONLIBS_VERSION_STRING}.")
+
+  set(PYBIND11_PYTHON_VERSION 3)
+  find_package(pybind11 2.2 QUIET)
+
+  if (${pybind11_FOUND})
+    message (STATUS "Searching for pybind11 - found version ${pybind11_VERSION}.")
+	else()
+		IGN_BUILD_WARNING("pybind11 is missing: Python interfaces are disabled.")
+		message (STATUS "Searching for pybind11 - not found.")
+	endif()
+endif()
 # Plugin install dirs
 set(IGNITION_GAZEBO_PLUGIN_INSTALL_DIR
   ${CMAKE_INSTALL_PREFIX}/${IGN_LIB_INSTALL_DIR}/ign-${IGN_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins
@@ -187,6 +216,9 @@ add_subdirectory(examples)
 #============================================================================
 ign_create_packages()
 
+if (${pybind11_FOUND})
+	add_subdirectory(python)
+endif()
 #============================================================================
 # Configure documentation
 #============================================================================

Changelog.md

@@ -4,7 +4,108 @@
 
 ## Ignition Gazebo 6.x
 
-### Ignition Gazebo 6.X.X (202X-XX-XX)
+### Ignition Gazebo 6.6.0 (2022-02-24)
+
+1. Fix accessing empty JointPosition component in lift drag plugin
+    * [Pull request #1366](https://github.com/ignitionrobotics/ign-gazebo/pull/1366)
+
+1. Add parameter to TrajectoryFollower stop rotation when bearing is reached
+    * [Pull request #1349](https://github.com/ignitionrobotics/ign-gazebo/pull/1349)
+
+1. Support disabling pose publisher from publishing top level model pose
+    * [Pull request #1342](https://github.com/ignitionrobotics/ign-gazebo/pull/1342)
+
+1. Added more sensor properties to scene/info topic
+    * [Pull request #1344](https://github.com/ignitionrobotics/ign-gazebo/pull/1344)
+
+1. Adding ability to pause/resume the trajectory follower behavior.
+    * [Pull request #1347](https://github.com/ignitionrobotics/ign-gazebo/pull/1347)
+
+1. Logs a warning if a mode is not clearly sepecified.
+    * [Pull request #1307](https://github.com/ignitionrobotics/ign-gazebo/pull/1307)
+
+1. JointStatePublisher publish parent, child and axis data
+    * [Pull request #1345](https://github.com/ignitionrobotics/ign-gazebo/pull/1345)
+
+1. Fixed light gui component inspector
+    * [Pull request #1337](https://github.com/ignitionrobotics/ign-gazebo/pull/1337)
+
+1. Fix UNIT_SdfGenerator_TEST
+    * [Pull request #1319](https://github.com/ignitionrobotics/ign-gazebo/pull/1319)
+
+1. Add elevator system
+    * [Pull request #535](https://github.com/ignitionrobotics/ign-gazebo/pull/535)
+
+1. Removed unused variables in shapes plugin
+    * [Pull request #1321](https://github.com/ignitionrobotics/ign-gazebo/pull/1321)
+
+### Ignition Gazebo 6.5.0 (2022-02-15)
+
+1. New trajectory follower system
+    * [Pull request #1332](https://github.com/ignitionrobotics/ign-gazebo/pull/1332)
+
+1. Extend ShaderParam system to support textures
+    * [Pull request #1310](https://github.com/ignitionrobotics/ign-gazebo/pull/1310)
+
+1. Adds a `Link::SetLinearVelocity()` method
+    * [Pull request #1323](https://github.com/ignitionrobotics/ign-gazebo/pull/1323)
+
+1. Fix weird indentation in `Link.hh`
+    * [Pull request #1324](https://github.com/ignitionrobotics/ign-gazebo/pull/1324)
+
+1. Limit thruster system's input thrust cmd
+    * [Pull request #1318](https://github.com/ignitionrobotics/ign-gazebo/pull/1318)
+
+1. Load and run visual plugin (system) on GUI side
+    * [Pull request #1275](https://github.com/ignitionrobotics/ign-gazebo/pull/1275)
+
+1. Log an error if JointPositionController cannot find the joint. (citadel retarget)
+    * [Pull request #1314](https://github.com/ignitionrobotics/ign-gazebo/pull/1314)
+
+1. Update source install instructions
+    * [Pull request #1311](https://github.com/ignitionrobotics/ign-gazebo/pull/1311)
+
+1. Document the `<topic>` option for JointPositionController.
+    * [Pull request #1309](https://github.com/ignitionrobotics/ign-gazebo/pull/1309)
+
+1. Fix typo in EntityComponentManager
+    * [Pull request #1304](https://github.com/ignitionrobotics/ign-gazebo/pull/1304)
+
+1. Buoyancy: fix center of volume's reference frame
+    * [Pull request #1302](https://github.com/ignitionrobotics/ign-gazebo/pull/1302)
+
+1. Fix graded buoyancy problems
+    * [Pull request #1297](https://github.com/ignitionrobotics/ign-gazebo/pull/1297)
+
+1. Add surface to buoyancy engine. (retarget fortress)
+    * [Pull request #1298](https://github.com/ignitionrobotics/ign-gazebo/pull/1298)
+
+1. Remove EachNew calls from sensor PreUpdates
+    * [Pull request #1281](https://github.com/ignitionrobotics/ign-gazebo/pull/1281)
+
+1. Prevent GzScene3D 💥 if another scene is already loaded
+    * [Pull request #1294](https://github.com/ignitionrobotics/ign-gazebo/pull/1294)
+
+1. Fix various typos on API documentation
+    * [Pull request #1291](https://github.com/ignitionrobotics/ign-gazebo/pull/1291)
+
+1. Optional orientation when spawning entity using spherical coordinates
+    * [Pull request #1263](https://github.com/ignitionrobotics/ign-gazebo/pull/1263)
+
+1. Cleanup update call for non-rendering sensors
+    * [Pull request #1282](https://github.com/ignitionrobotics/ign-gazebo/pull/1282)
+
+1. Documentation Error
+    * [Pull request #1285](https://github.com/ignitionrobotics/ign-gazebo/pull/1285)
+
+1. Min and max parameters for velocity, acceleration, and jerk apply to linear and angular separately.
+    * [Pull request #1229](https://github.com/ignitionrobotics/ign-gazebo/pull/1229)
+
+1. Add project() call to examples
+    * [Pull request #1274](https://github.com/ignitionrobotics/ign-gazebo/pull/1274)
+
+1. Implement /server_control::stop
+    * [Pull request #1240](https://github.com/ignitionrobotics/ign-gazebo/pull/1240)
 
 ### Ignition Gazebo 6.4.0 (2021-01-13)
 
@@ -1009,6 +1110,21 @@
 
 ## Ignition Gazebo 4.x
 
+### Ignition Gazebo 4.14.0 (2021-12-20)
+
+1. Support battery draining start via topics
+    * [Pull request #1255](https://github.com/ignitionrobotics/ign-gazebo/pull/1255)
+
+1. Make tests run as fast as possible
+    * [Pull request #1194](https://github.com/ignitionrobotics/ign-gazebo/pull/1194)
+    * [Pull request #1250](https://github.com/ignitionrobotics/ign-gazebo/pull/1250)
+
+1. Fix visualize lidar
+    * [Pull request #1224](https://github.com/ignitionrobotics/ign-gazebo/pull/1224)
+
+1. Disable user commands light test on macOS
+    * [Pull request #1204](https://github.com/ignitionrobotics/ign-gazebo/pull/1204)
+
 ### Ignition Gazebo 4.13.0 (2021-11-15)
 
 1. Prevent creation of spurious `<plugin>` elements when saving worlds

Migration.md

@@ -146,6 +146,10 @@ in SDF by setting the `<visual><material><double_sided>` SDF element.
     * **Deprecated**: `Entity EntityFromNode(const rendering::NodePtr &_node) const;`
     * **Replacement**: `Entity entity = std::get<int>(visual->UserData("gazebo-entity"));`
 
+## Ignition Gazebo 3.12.0 to 3.X.X
+
+* Some sensors will only have the `SensorTopic` component after the 1st iteration.
+
 ## Ignition Gazebo 2.x to 3.x
 
 * Use ign-rendering3, ign-sensors3 and ign-gui3.

examples/scripts/python_api/README.md

@@ -0,0 +1,6 @@
+# Gazebo Python API
+
+This example shows how to use Gazebo's Python API.
+
+For more information, see the
+[Python interfaces](https://ignitionrobotics.org/api/gazebo/6.4/python_interfaces.html) tutorial.

examples/scripts/python_api/gravity.sdf

@@ -0,0 +1,22 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <world name="gravity">
+    <plugin
+      filename="ignition-gazebo-physics-system"
+      name="ignition::gazebo::systems::Physics">
+    </plugin>
+
+    <model name="falling">
+      <link name="link">
+        <inertial>
+          <inertia>
+            <ixx>0.4</ixx>
+            <iyy>0.4</iyy>
+            <izz>0.4</izz>
+          </inertia>
+          <mass>1.0</mass>
+        </inertial>
+      </link>
+    </model>
+  </world>
+</sdf>

examples/scripts/python_api/testFixture.py

@@ -0,0 +1,85 @@
+#!/usr/bin/python3
+# Copyright (C) 2021 Open Source Robotics Foundation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#       http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# If you compiled Ignition Gazebo from source you should modify your
+# `PYTHONPATH`:
+#
+# export PYTHONPATH=$PYTHONPATH:<path to ws>/install/lib/python
+#
+# Now you can run the example:
+#
+# python3 examples/scripts/python_api/helperFixture.py
+
+import os
+import time
+
+from ignition.common import set_verbosity
+from ignition.gazebo import TestFixture, World, world_entity
+from ignition.math import Vector3d
+from sdformat import Element
+
+set_verbosity(4)
+
+file_path = os.path.dirname(os.path.realpath(__file__))
+
+helper = TestFixture(os.path.join(file_path, 'gravity.sdf'))
+
+post_iterations = 0
+iterations = 0
+pre_iterations = 0
+first_iteration = True
+
+
+def on_pre_udpate_cb(_info, _ecm):
+    global pre_iterations
+    global first_iteration
+    pre_iterations += 1
+    if first_iteration:
+        first_iteration = False
+        world_e = world_entity(_ecm);
+        print('World entity is ', world_e)
+        w = World(world_e)
+        v = w.gravity(_ecm)
+        print('Gravity ', v)
+        modelEntity = w.model_by_name(_ecm, 'falling')
+        print('Entity for falling model is: ', modelEntity)
+
+
+def on_udpate_cb(_info, _ecm):
+    global iterations
+    iterations += 1
+
+
+def on_post_udpate_cb(_info, _ecm):
+    global post_iterations
+    post_iterations += 1
+    if _info.sim_time.seconds == 1:
+        print('Post update sim time: ', _info.sim_time)
+
+
+helper.on_post_update(on_post_udpate_cb)
+helper.on_update(on_udpate_cb)
+helper.on_pre_update(on_pre_udpate_cb)
+helper.finalize()
+
+server = helper.server()
+server.run(False, 1000, False)
+
+while(server.is_running()):
+    time.sleep(0.1)
+
+print('iterations ', iterations)
+print('post_iterations ', post_iterations)
+print('pre_iterations ', pre_iterations)