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6 ➡️ 7 #1367

Merged
merged 57 commits into from
Mar 10, 2022
Merged

6 ➡️ 7 #1367

merged 57 commits into from
Mar 10, 2022

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mjcarroll
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6 ➡️ 7

Port ign-gazebo6 to main

Branch comparison: main...ign-gazebo6

Note to maintainers: Remember to Merge with commit (not squash-merge or rebase)

chapulina and others added 30 commits December 22, 2021 10:46
@chapulina
🎈 4.14.0 (#1261)
2a076e9 
Signed-off-by: Louise Poubel <[email protected]>
@chapulina
Prevent GzScene3D 💥 if another scene is already loaded (#1294)
6f58c91 
Signed-off-by: Louise Poubel <[email protected]>
@chapulina
Remove EachNew calls from sensor PreUpdates (#1281)
650b746 
Signed-off-by: Louise Poubel <[email protected]>
@chapulina
Buoyancy: fix center of volume's reference frame (#1302)
749884d 
Signed-off-by: Louise Poubel <[email protected]>
@chapulina
Update source install instructions (#1311)
912e2ce 
Signed-off-by: Louise Poubel <[email protected]>
@arjo129
Log an error if JointPositionController cannot find the joint. (citad…
ebb3a9a 
…el retarget) (#1314)

In the event a user enters the wrong name for a certain joint, the JointPositionController system will silently fail. This PR adds a simple error message that tells the user that the joint was not found.

Signed-off-by: Arjo Chakravarty <[email protected]>
@chapulina
3 ➡️ 5
37a3a46 
Signed-off-by: Louise Poubel <[email protected]>
@iche033
Merge pull request #1315 from ignitionrobotics/chapulina/3_to_5
c8d3f06 
3 ➡️ 5
@iche033
Load and run visual plugin (system) on GUI side (#1275)
717a7e9 
* load and run visual plugins on gui end

Signed-off-by: Ian Chen <[email protected]>

* scene update event emitted on both server and gui side

Signed-off-by: Ian Chen <[email protected]>

* shader param update working

Signed-off-by: Ian Chen <[email protected]>

* sim time, constants, full example working

Signed-off-by: Ian Chen <[email protected]>

* add integration test

Signed-off-by: Ian Chen <[email protected]>

* code cleanup

Signed-off-by: Ian Chen <[email protected]>

* more code cleanup

Signed-off-by: Ian Chen <[email protected]>

* style fixes and add some comments

Signed-off-by: Ian Chen <[email protected]>

* review changes

Signed-off-by: Ian Chen <[email protected]>

* require display for shader param test

Signed-off-by: Ian Chen <[email protected]>

* style and comment

Signed-off-by: Ian Chen <[email protected]>
@iche033
Limit thruster system's input thrust cmd (#1318)
986e30f 
* limit thrust cmd

Signed-off-by: Ian Chen <[email protected]>

* check and error when max < min

Signed-off-by: Ian Chen <[email protected]>
@iche033
merge from ign-gazebo5
6ec4ae2 
Signed-off-by: Ian Chen <[email protected]>
@ahcorde
Removed unused variables in shapes plugin (#1321)
e032208 
Signed-off-by: ahcorde <[email protected]>
@iche033
fix buoyancy test by increasing tol
756fa13 
Signed-off-by: Ian Chen <[email protected]>
@nlamprian @nkoenig
Add elevator system (#535)
7b4fcda 
* Add elevator system

Closes #420

Signed-off-by: Nick Lamprianidis <[email protected]>

* Limit line length for transition table

Signed-off-by: Nick Lamprianidis <[email protected]>

* Add PRIVATE_INCLUDE_DIRS argument to gz_add_system

Signed-off-by: Nick Lamprianidis <[email protected]>

* Add afsm and metapushkin libraries

Signed-off-by: Nick Lamprianidis <[email protected]>

* Add namespace to events, actions and guards

Signed-off-by: Nick Lamprianidis <[email protected]>

* Migrate to afsm

Signed-off-by: Nick Lamprianidis <[email protected]>

* Fixes

Signed-off-by: Nick Lamprianidis <[email protected]>

Co-authored-by: Nate Koenig <[email protected]>
@arjo129
Fix weird indentation in Link.hh (#1324)
1ef2c62 
There was some weird indentation going on in the `Link.hh` header file. This PR fixes it.

Signed-off-by: Arjo Chakravarty <[email protected]>
Forward port 4 to 5
c0cfcc8 
Signed-off-by: Nate Koenig <[email protected]>
@nkoenig
Merge branch 'ign-gazebo6' into merge_5_6_20220203
6fb3609
@nkoenig
Merge pull request #1326 from ignitionrobotics/4-5-20220207
c4d33ab 
Forward port 4 to 5 Feb 7 2022
Merge branch 'ign-gazebo5' into merge_5_6_20220203
2b409b0
@iche033 @scpeters
fix UNIT_SdfGenerator_TEST (#1319)
012c25c 
Signed-off-by: Ian Chen <[email protected]>

Co-authored-by: Steve Peters <[email protected]>
@iche033
Merge pull request #1322 from ignitionrobotics/merge_5_6_20220203
eeb80cd 
5 -> 6
@arjo129
Adds a Link::SetLinearVelocity() method (#1323)
83f2f74 
This PR adds a Link::SetLinearVelocity() method. I foresee this method being useful for testing behaviour of systems like the hydrodynamics or liftDrag plugin which are dependent on velocity for their output forces.

Signed-off-by: Arjo Chakravarty [email protected]
@iche033
Extend ShaderParam system to support textures (#1310)
77dd855 
updates the ShaderParam system with the ability to parse texture params and pass them to custom shaders

Signed-off-by: Ian Chen <[email protected]>
@iche033
merge from ign-gazebo3
30c2510 
Signed-off-by: Ian Chen <[email protected]>
@iche033
disable elevator system on windows
9feb7b5 
Signed-off-by: Ian Chen <[email protected]>
@caguero
New trajectory follower system (#1332)
49d0673 
* New trajectory follower system

Signed-off-by: Carlos Agüero <[email protected]>
Signed-off-by: Ian Chen <[email protected]>
@iche033
Merge pull request #1330 from ignitionrobotics/merge_3_5_20220209
bcb1a36 
3 -> 5
@iche033
Merge branch 'ign-gazebo5' into merge_5_6_20220214
e273d43
@j-rivero
Prepare for releasing 6.5.0 (#1338)
7901903 
* Update changelog
* Bump to 6.5.0

Signed-off-by: Jose Luis Rivero <[email protected]>
@iche033
Merge branch 'ign-gazebo6' into merge_5_6_20220214
12ea34a
@scpeters
Use pose multiplication instead of addition (#1369)
6ac12c6 
The ign-math Pose addition operator is going to be
deprecated, so use the multiplication operator instead.
It works in the opposite order, matching the behavior
of coordinate transform multiplication.

Signed-off-by: Steve Peters <[email protected]>
@scpeters scpeters mentioned this pull request Mar 3, 2022
Merged
8 tasks
@chapulina chapulina added 🌱 garden Ignition Garden and removed 🏯 fortress Ignition Fortress labels Mar 4, 2022
@chapulina
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The only new test failure seems to be INTEGRATION_shader_param_system. Any suggestions on forward-porting this, @iche033 ?

@mjcarroll
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For more context, it looks like the SceneUpdate Event is still firing even after the server has run all of it's iterations?

(gdb) bt
#0  [33mignition::rendering::v7::ShaderParams::operator[][m ([36mthis=this@entry[m=0x0, [36m_name[m="color") at [32m/home/mjcarroll/workspaces/ign_garden/src/ign-rendering/src/ShaderParams.cc[m:130
#1  [34m0x00007fffcbe53393[m in [33mignition::gazebo::v7::systems::ShaderParamPrivate::OnUpdate[m ([36mthis[m=0x5555574e1260) at [32m/home/mjcarroll/workspaces/ign_garden/src/ign-gazebo/src/systems/shader_param/ShaderParam.cc[m:468
#2  [34m0x00007fffd0b19c51[m in [33mstd::function<void ()>::operator()() const[m ([36mthis[m=<optimized out>) at [32m/usr/include/c++/9/bits/std_function.h[m:683
#3  [33mignition::common::EventT<void (), ignition::gazebo::v7::events::SceneUpdateTag>::Signal<>()[m ([36mthis[m=0x555557128d10) at [32m/home/mjcarroll/workspaces/ign_garden/install/include/ignition/common5/ignition/common/Event.hh[m:146
#4  [33mignition::gazebo::v7::EventManager::Emit<ignition::common::EventT<void (), ignition::gazebo::v7::events::SceneUpdateTag>>()[m ([36mthis[m=<optimized out>) at [32m/home/mjcarroll/workspaces/ign_garden/src/ign-gazebo/include/ignition/gazebo/EventManager.hh[m:112
#5  [34m0x00007fffd0a8c061[m in [33mignition::gazebo::v7::RenderUtil::Update[m ([36mthis=this@entry[m=0x5555574d9d88) at [32m/home/mjcarroll/workspaces/ign_garden/src/ign-gazebo/src/rendering/RenderUtil.cc[m:1592
#6  [34m0x00007fffec224774[m in [33mignition::gazebo::v7::systems::SensorsPrivate::RunOnce[m ([36mthis[m=0x5555574d9d70) at [32m/home/mjcarroll/workspaces/ign_garden/src/ign-gazebo/src/systems/sensors/Sensors.cc[m:242
#7  [34m0x00007fffec225158[m in [33mignition::gazebo::v7::systems::SensorsPrivate::RenderThread[m ([36mthis[m=0x5555574d9d70) at [32m/home/mjcarroll/workspaces/ign_garden/src/ign-gazebo/src/systems/sensors/Sensors.cc[m:312
#8  [34m0x00007ffff7294de4[m in [33m??[m () from [32m/lib/x86_64-linux-gnu/libstdc++.so.6[m
#9  [34m0x00007ffff7c16609[m in [33mstart_thread[m ([36marg[m=<optimized out>) at [32mpthread_create.c[m:477
#10 [34m0x00007ffff70d0163[m in [33mclone[m () at [32m../sysdeps/unix/sysv/linux/x86_64/clone.S[m:95

@iche033
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iche033 commented Mar 8, 2022

The only new test failure seems to be INTEGRATION_shader_param_system. Any suggestions on forward-porting this, @iche033 ?

looks like ign-fuel_tools8 have issue downloading these models. I tried downloading the models using the command line in Fortress and Garden:

ign fuel download -v 4 --url "https://fuel.ignitionrobotics.org/1.0/openrobotics/models/waves"

With Garden, I see that the meshes and materials directories do not exist after unzipping. It could be something to do with recent changes in ign-common filesystem but not sure yet.

@iche033
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iche033 commented Mar 8, 2022

For more context, it looks like the SceneUpdate Event is still firing even after the server has run all of it's iterations?

I think the segfault is due to missing model files. If I copy the correctly downloaded / unzipped models to the test directory's fuel cache, the test passes.

@chapulina
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With Garden, I see that the meshes and materials directories do not exist after unzipping. It could be something to do with recent changes in ign-common filesystem but not sure yet.

Oh I believe that was fixed by gazebosim/gz-common#308, maybe we just need to retrigger CI then

chapulina
chapulina approved these changes Mar 8, 2022
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I retriggered just the build where the shader test was failing. I think this is good to go if that passes.

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iche033 commented Mar 8, 2022

Oh I believe that was fixed by ignitionrobotics/ign-common#308, maybe we just need to retrigger CI then

nice I just updated ign-common5 in my workspace and that fixed the test.

@mjcarroll
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mjcarroll commented Mar 8, 2022 •
edited
Loading

Now getting new failures:

INTEGRATION_recreate_entities

[ RUN      ] RecreateEntitiesFixture.RecreateEntities_WorldJoint
  [Msg] Loading SDF world file[/github/workspace/test/worlds/fixed_world_joint.sdf].
  [Msg] Loaded level [3]
  [Msg] No systems loaded from SDF, loading defaults
  [Dbg] [ServerConfig.cc:931] Loaded (3) plugins from file [/github/workspace/build/test/fake_home/.ignition/gazebo/7/server.config]
  [Dbg] [Physics.cc:801] Loaded [ignition::physics::dartsim::Plugin] from library [/usr/lib/x86_64-linux-gnu/ign-physics-6/engine-plugins/libignition-physics-dartsim-plugin.so]
  [Dbg] [SystemManager.cc:49] Loaded system [ignition::gazebo::systems::Physics] for entity [1]
  [Msg] Create service on [/world/default/create]
  [Msg] Remove service on [/world/default/remove]
  [Msg] Pose service on [/world/default/set_pose]
  [Msg] Light configuration service on [/world/default/light_config]
  [Msg] Physics service on [/world/default/set_physics]
  [Msg] SphericalCoordinates service on [/world/default/set_spherical_coordinates]
  [Msg] Enable collision service on [/world/default/enable_collision]
  [Msg] Disable collision service on [/world/default/disable_collision]
  [Msg] Material service on [/world/default/visual_config]
  [Dbg] [SystemManager.cc:49] Loaded system [ignition::gazebo::systems::UserCommands] for entity [1]
  [Dbg] [SystemManager.cc:49] Loaded system [ignition::gazebo::systems::SceneBroadcaster] for entity [1]
  [Msg] Serving world controls on [/world/default/control], [/world/default/control/state] and [/world/default/playback/control]
  [Msg] Serving GUI information on [/world/default/gui/info]
  [Msg] World [default] initialized with [1ms] physics profile.
  [Msg] Serving world SDF generation service on [/world/default/generate_world_sdf]
  [Msg] Serving world names on [/gazebo/worlds]
  [Msg] Resource path add service on [/gazebo/resource_paths/add].
  [Msg] Resource path get service on [/gazebo/resource_paths/get].
  [Msg] Resource paths published on [/gazebo/resource_paths].
  [Msg] Server control service on [/server_control].
  [Msg] Found no publishers on /stats, adding root stats topic
  [Msg] Found no publishers on /clock, adding root clock topic
  [Dbg] [SimulationRunner.cc:490] Creating PostUpdate worker threads: 3
  [Dbg] [SimulationRunner.cc:501] Creating postupdate worker thread (0)
  [Dbg] [SimulationRunner.cc:501] Creating postupdate worker thread (1)
  [Msmalloc(): invalid next->prev_inuse (unsorted)

195/195 Test #195: testFixture_TEST.py ....................................Child aborted***Exception:   3.31 sec
  terminate called after throwing an instance of 'pybind11::error_already_set'
    what():  TypeError: Unable to convert function return value to a Python type! The signature was
  	(self: ignition.gazebo.World, arg0: ignition.gazebo.EntityComponentManager) -> Optional[ignition::math::v7::Vector3<double>]
  
  At:
    /github/workspace/python/test/testFixture_TEST.py(46): on_pre_udpate_cb

@chapulina
math6 -> math7 (#1367)
ce0a85f 
Signed-off-by: Louise Poubel <[email protected]>
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The testFixture.py failure should be fixed by ce0a85f, but we need to release python3-ignition-math7. I'm on it.

I can't reproduce the INTEGRATION_recreate_entities failure either.

@mjcarroll
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I can't reproduce the INTEGRATION_recreate_entities failure either.

The final error message would make me think it's probably some sort of heap corruption, but I don't know how to even begin to unwind that without more context.

This was referenced Mar 9, 2022
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@chapulina
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I opened #1380 with a subset of commits from this PR while we sort out the python3-ignition-math7 release.

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CI is happy!

@chapulina chapulina merged commit 3969f5b into main Mar 10, 2022
@chapulina chapulina deleted the ports/6_to_main branch March 10, 2022 19:03
@j-rivero j-rivero mentioned this pull request Sep 16, 2022
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@chapulina chapulina chapulina approved these changes

@scpeters scpeters scpeters approved these changes

@iche033 iche033 Awaiting requested review from iche033 iche033 is a code owner

@mabelzhang mabelzhang Awaiting requested review from mabelzhang mabelzhang is a code owner

@azeey azeey Awaiting requested review from azeey azeey is a code owner

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