From 8e558ee70ee0f44353a5f5ca3970a7920e7c1ae7 Mon Sep 17 00:00:00 2001 From: chapulina Date: Tue, 21 Apr 2020 19:18:26 -0700 Subject: [PATCH 01/16] [sdf6] Changelog links to BitBucket backup (#237) * [sdf6] Changelog links to BitBucket backup Signed-off-by: Louise Poubel * more fixes, new version of script Signed-off-by: Louise Poubel --- CMakeLists.txt | 2 +- Changelog.md | 358 ++++++++++++++++++++-------------------- INSTALL_WIN32.md | 2 +- Migration.md | 44 ++--- bitbucket-pipelines.yml | 2 +- doc/header.html | 2 +- doc/mainpage.html | 2 +- 7 files changed, 206 insertions(+), 206 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 78e72e624..a25b421fc 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -46,7 +46,7 @@ set (CMAKE_INCLUDE_DIRECTORIES_PROJECT_BEFORE ON) # to choose the flag -std=gnu++14 instead of -std=c++14 when the C++14 # features are requested. Explicitly turning this flag off will force cmake to # choose -std=c++14. -# See https://bitbucket.org/ignitionrobotics/ign-cmake/issues/13 for more info. +# See https://github.com/ignitionrobotics/ign-cmake/issues/13 for more info. set(CMAKE_CXX_EXTENSIONS off) # Include GNUInstallDirs to get canonical paths diff --git a/Changelog.md b/Changelog.md index bcacf2222..7763b968f 100644 --- a/Changelog.md +++ b/Changelog.md @@ -3,85 +3,85 @@ ### SDFormat 6.X.X (20XX-XX-XX) 1. Parse urdf files to sdf 1.5 instead of 1.4 to avoid `use_parent_model_frame`. - * [Pull request 575](https://bitbucket.org/osrf/sdformat/pull-requests/575) + * [BitBucket pull request 575](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/575) 1. Set camera intrinsics axis skew (s) default value to 0 - * [Pull request 504](https://bitbucket.org/osrf/sdformat/pull-requests/504) + * [BitBucket pull request 504](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/504) 1. Avoid hardcoding /machine:x64 flag on 64-bit on MSVC with CMake >= 3.5. - * [Pull request 565](https://bitbucket.org/osrf/sdformat/pull-requests/565) + * [BitBucket pull request 565](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/565) 1. Fix ign library path on macOS. - * [Pull request 552](https://bitbucket.org/osrf/sdformat/pull-requests/552) + * [BitBucket pull request 552](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/552) 1. Use `ign sdf --check` to check sibling elements of the same type for non-unique names. - * [Pull request 554](https://bitbucket.org/osrf/sdformat/pull-requests/554) + * [BitBucket pull request 554](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/554) 1. Converter: remove all matching elements specified by `` tag. - * [Pull request 551](https://bitbucket.org/osrf/sdformat/pull-requests/551) + * [BitBucket pull request 551](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/551) ### SDFormat 6.2.0 (2019-01-17) 1. Add geometry for sonar collision shape - * [Pull request 495](https://bitbucket.org/osrf/sdformat/pull-requests/495) + * [BitBucket pull request 495](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/495) 1. Add camera intrinsics (fx, fy, cx, cy, s) - * [Pull request 496](https://bitbucket.org/osrf/sdformat/pull-requests/496) + * [BitBucket pull request 496](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/496) 1. Add actor trajectory tension parameter - * [Pull request 466](https://bitbucket.org/osrf/sdformat/pull-requests/466) + * [BitBucket pull request 466](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/466) ### SDFormat 6.1.0 (2018-10-04) 1. Add collision\_detector to dart physics config - * [Pull request 440](https://bitbucket.org/osrf/sdformat/pull-requests/440) + * [BitBucket pull request 440](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/440) 1. Fix Windows support for SDFormat6 - * [Pull request 401](https://bitbucket.org/osrf/sdformat/pull-requests/401) + * [BitBucket pull request 401](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/401) 1. root.sdf: default sdf version 1.6 - * [Pull request 425](https://bitbucket.org/osrf/sdformat/pull-requests/425) + * [BitBucket pull request 425](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/425) 1. parser\_urdf: print value of highstop instead of pointer address - * [Pull request 408](https://bitbucket.org/osrf/sdformat/pull-requests/408) + * [BitBucket pull request 408](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/408) 1. Tweak error output so jenkins doesn't think it's a compiler warning - * [Pull request 402](https://bitbucket.org/osrf/sdformat/pull-requests/402) + * [BitBucket pull request 402](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/402) ### SDFormat 6.0.0 (2018-01-25) 1. SDF DOM: Added a document object model. - * [Pull request 387](https://bitbucket.org/osrf/sdformat/pull-requests/387) - * [Pull request 389](https://bitbucket.org/osrf/sdformat/pull-requests/389) + * [BitBucket pull request 387](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/387) + * [BitBucket pull request 389](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/389) 1. Add simplified ``readFile`` function. - * [Pull request 347](https://bitbucket.org/osrf/sdformat/pull-requests/347) + * [BitBucket pull request 347](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/347) 1. Remove boost::lexical cast instances - * [Pull request 342](https://bitbucket.org/osrf/sdformat/pull-requests/342) + * [BitBucket pull request 342](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/342) 1. Remove boost regex and iostreams as dependencies - * [Pull request 302](https://bitbucket.org/osrf/sdformat/pull-requests/302) + * [BitBucket pull request 302](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/302) 1. Change certain error checks from asserts to throwing sdf::AssertionInternalError, which is more appropriate for a library. - * [Pull request 315](https://bitbucket.org/osrf/sdformat/pull-requests/315) + * [BitBucket pull request 315](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/315) 1. Updated the internal copy of urdfdom to 1.0, removing more of boost. - * [Pull request 324](https://bitbucket.org/osrf/sdformat/pull-requests/324) + * [BitBucket pull request 324](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/324) 1. urdfdom 1.0 is now required on all platforms. - * [Pull request 324](https://bitbucket.org/osrf/sdformat/pull-requests/324) + * [BitBucket pull request 324](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/324) 1. Remove boost filesystem as a dependency - * [Pull request 335](https://bitbucket.org/osrf/sdformat/pull-requests/335) - * [Pull request 338](https://bitbucket.org/osrf/sdformat/pull-requests/338) - * [Pull request 339](https://bitbucket.org/osrf/sdformat/pull-requests/339) + * [BitBucket pull request 335](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/335) + * [BitBucket pull request 338](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/338) + * [BitBucket pull request 339](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/339) 1. Deprecated sdf::Color, and switch to use ignition::math::Color - * [Pull request 330](https://bitbucket.org/osrf/sdformat/pull-requests/330) + * [BitBucket pull request 330](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/330) ## SDFormat 5.x @@ -90,83 +90,83 @@ ### SDFormat 5.3.0 (2017-11-13) 1. Added wrapper around root SDF for an SDF element - * [Pull request 378](https://bitbucket.org/osrf/sdformat/pull-request/378) - * [Pull request 372](https://bitbucket.org/osrf/sdformat/pull-request/372) + * [BitBucket pull request 378](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/378) + * [BitBucket pull request 372](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/372) 1. Add ODE parallelization parameters: threaded islands and position correction - * [Pull request 380](https://bitbucket.org/osrf/sdformat/pull-request/380) + * [BitBucket pull request 380](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/380) 1. surface.sdf: expand documentation of friction and slip coefficients - * [Pull request 343](https://bitbucket.org/osrf/sdformat/pull-request/343) + * [BitBucket pull request 343](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/343) 1. Add preserveFixedJoint option to the URDF parser - * [Pull request 352](https://bitbucket.org/osrf/sdformat/pull-request/352) + * [BitBucket pull request 352](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/352) 1. Add light as child of link - * [Pull request 373](https://bitbucket.org/osrf/sdformat/pull-request/373) + * [BitBucket pull request 373](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/373) ### SDFormat 5.2.0 (2017-08-03) 1. Added a block for DART-specific physics properties. - * [Pull request 369](https://bitbucket.org/osrf/sdformat/pull-requests/369) + * [BitBucket pull request 369](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/369) 1. Fix parser to read plugin child elements within an `` - * [Pull request 350](https://bitbucket.org/osrf/sdformat/pull-request/350) + * [BitBucket pull request 350](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/350) 1. Choosing models with more recent sdf version with `` tag - * [Pull request 291](https://bitbucket.org/osrf/sdformat/pull-request/291) - * [Issue 123](https://bitbucket.org/osrf/sdformat/issues/123) + * [BitBucket pull request 291](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/291) + * [Issue 123](https://github.com/osrf/sdformat/issues/123) 1. Added `` to 1.6 surface contact parameters - * [Pull request 318](https://bitbucket.org/osrf/sdformat/pull-request/318) + * [BitBucket pull request 318](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/318) 1. Support light insertion in state - * [Pull request 325](https://bitbucket.org/osrf/sdformat/pull-request/325) + * [BitBucket pull request 325](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/325) 1. Case insensitive boolean strings - * [Pull request 322](https://bitbucket.org/osrf/sdformat/pull-request/322) + * [BitBucket pull request 322](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/322) 1. Enable coverage testing - * [Pull request 317](https://bitbucket.org/osrf/sdformat/pull-request/317) + * [BitBucket pull request 317](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/317) 1. Add `friction_model` parameter to ode solver - * [Pull request 294](https://bitbucket.org/osrf/sdformat/pull-request/294) - * [Gazebo pull request 1522](https://bitbucket.org/osrf/gazebo/pull-request/1522) + * [BitBucket pull request 294](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/294) + * [Gazebo pull request 1522](https://osrf-migration.github.io/gazebo-gh-pages/#!/osrf/gazebo/pull-request/1522) 1. Add cmake `@PKG_NAME@_LIBRARY_DIRS` variable to cmake config file - * [Pull request 292](https://bitbucket.org/osrf/sdformat/pull-request/292) + * [BitBucket pull request 292](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/292) ### SDFormat 5.1.0 (2017-02-22) 1. Fixed `sdf::convertFile` and `sdf::convertString` always converting to latest version - * [Pull request 320](https://bitbucket.org/osrf/sdformat/pull-requests/320) + * [BitBucket pull request 320](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/320) 1. Added back the ability to set sdf version at runtime - * [Pull request 307](https://bitbucket.org/osrf/sdformat/pull-requests/307) + * [BitBucket pull request 307](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/307) ### SDFormat 5.0.0 (2017-01-25) 1. Removed SDFormat 4 deprecations - * [Pull request 295](https://bitbucket.org/osrf/sdformat/pull-requests/295) + * [BitBucket pull request 295](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/295) 1. Added an example - * [Pull request 275](https://bitbucket.org/osrf/sdformat/pull-requests/275) + * [BitBucket pull request 275](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/275) 1. Move functions that use TinyXML classes in private headers A contribution from Silvio Traversaro - * [Pull request 262](https://bitbucket.org/osrf/sdformat/pull-requests/262) + * [BitBucket pull request 262](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/262) 1. Fix issues found by the Coverity tool A contribution from Olivier Crave - * [Pull request 259](https://bitbucket.org/osrf/sdformat/pull-requests/259) + * [BitBucket pull request 259](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/259) 1. Add tag to allow for specification of initial joint position - * [Pull request 279](https://bitbucket.org/osrf/sdformat/pull-requests/279) + * [BitBucket pull request 279](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/279) 1. Require ignition-math3 as dependency - * [Pull request 299](https://bitbucket.org/osrf/sdformat/pull-requests/299) + * [BitBucket pull request 299](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/299) 1. Simplifier way of retrieving a value from SDF using Get - * [Pull request 285](https://bitbucket.org/osrf/sdformat/pull-requests/285) + * [BitBucket pull request 285](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/285) ## SDFormat 4.0 @@ -175,337 +175,337 @@ ### SDFormat 4.4.0 (2017-10-26) 1. Add ODE parallelization parameters: threaded islands and position correction - * [Pull request 380](https://bitbucket.org/osrf/sdformat/pull-request/380) + * [BitBucket pull request 380](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/380) 1. surface.sdf: expand documentation of friction and slip coefficients - * [Pull request 343](https://bitbucket.org/osrf/sdformat/pull-request/343) + * [BitBucket pull request 343](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/343) 1. Add preserveFixedJoint option to the URDF parser - * [Pull request 352](https://bitbucket.org/osrf/sdformat/pull-request/352) + * [BitBucket pull request 352](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/352) 1. Add light as child of link - * [Pull request 373](https://bitbucket.org/osrf/sdformat/pull-request/373) + * [BitBucket pull request 373](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/373) ### SDFormat 4.3.2 (2017-07-19) 1. Add documentation for `Element::GetFirstElement()` and `Element::GetNextElement()` - * [Pull request 341](https://bitbucket.org/osrf/sdformat/pull-request/341) + * [BitBucket pull request 341](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/341) 1. Fix parser to read plugin child elements within an `` - * [Pull request 350](https://bitbucket.org/osrf/sdformat/pull-request/350) + * [BitBucket pull request 350](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/350) ### SDFormat 4.3.1 (2017-03-24) 1. Fix segmentation Fault in `sdf::getBestSupportedModelVersion` - * [Pull request 327](https://bitbucket.org/osrf/sdformat/pull-requests/327) - * [Issue 152](https://bitbucket.org/osrf/sdformat/issues/152) + * [BitBucket pull request 327](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/327) + * [Issue 152](https://github.com/osrf/sdformat/issues/152) ### SDFormat 4.3.0 (2017-03-20) 1. Choosing models with more recent sdf version with `` tag - * [Pull request 291](https://bitbucket.org/osrf/sdformat/pull-request/291) - * [Issue 123](https://bitbucket.org/osrf/sdformat/issues/123) + * [BitBucket pull request 291](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/291) + * [Issue 123](https://github.com/osrf/sdformat/issues/123) 1. Added `` to 1.6 surface contact parameters - * [Pull request 318](https://bitbucket.org/osrf/sdformat/pull-request/318) + * [BitBucket pull request 318](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/318) 1. Support light insertion in state - * [Pull request 325](https://bitbucket.org/osrf/sdformat/pull-request/325) + * [BitBucket pull request 325](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/325) 1. Case insensitive boolean strings - * [Pull request 322](https://bitbucket.org/osrf/sdformat/pull-request/322) + * [BitBucket pull request 322](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/322) 1. Enable coverage testing - * [Pull request 317](https://bitbucket.org/osrf/sdformat/pull-request/317) + * [BitBucket pull request 317](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/317) 1. Add `friction_model` parameter to ode solver - * [Pull request 294](https://bitbucket.org/osrf/sdformat/pull-request/294) - * [Gazebo pull request 1522](https://bitbucket.org/osrf/gazebo/pull-request/1522) + * [BitBucket pull request 294](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/294) + * [Gazebo pull request 1522](https://osrf-migration.github.io/gazebo-gh-pages/#!/osrf/gazebo/pull-request/1522) 1. Added `sampling` parameter to `` SDF element. - * [Pull request 293](https://bitbucket.org/osrf/sdformat/pull-request/293) + * [BitBucket pull request 293](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/293) 1. Added Migration guide - * [Pull request 290](https://bitbucket.org/osrf/sdformat/pull-request/290) + * [BitBucket pull request 290](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/290) 1. Add cmake `@PKG_NAME@_LIBRARY_DIRS` variable to cmake config file - * [Pull request 292](https://bitbucket.org/osrf/sdformat/pull-request/292) + * [BitBucket pull request 292](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/292) ### SDFormat 4.2.0 (2016-10-10) 1. Added tag to specify ODE friction model. - * [Pull request 294](https://bitbucket.org/osrf/sdformat/pull-request/294) + * [BitBucket pull request 294](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/294) 1. Fix URDF to SDF `self_collide` bug. - * [Pull request 287](https://bitbucket.org/osrf/sdformat/pull-request/287) + * [BitBucket pull request 287](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/287) 1. Added IMU orientation specification to SDF. - * [Pull request 284](https://bitbucket.org/osrf/sdformat/pull-request/284) + * [BitBucket pull request 284](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/284) ### SDFormat 4.1.1 (2016-07-08) 1. Added documentation and animation to `` element. - * [Pull request 280](https://bitbucket.org/osrf/sdformat/pull-request/280) + * [BitBucket pull request 280](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/280) 1. Added tag to specify initial joint position - * [Pull request 279](https://bitbucket.org/osrf/sdformat/pull-request/279) + * [BitBucket pull request 279](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/279) ### SDFormat 4.1.0 (2016-04-01) 1. Added SDF conversion functions to parser including sdf::convertFile and sdf::convertString. - * [Pull request 266](https://bitbucket.org/osrf/sdformat/pull-request/266) + * [BitBucket pull request 266](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/266) 1. Added an upload script - * [Pull request 256](https://bitbucket.org/osrf/sdformat/pull-request/256) + * [BitBucket pull request 256](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/256) ### SDFormat 4.0.0 (2015-01-12) 1. Boost pointers and boost::function in the public API have been replaced by their std::equivalents (C++11 standard) 1. Move gravity and magnetic_field tags from physics to world - * [Pull request 247](https://bitbucket.org/osrf/sdformat/pull-request/247) + * [BitBucket pull request 247](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/247) 1. Switch lump link prefix from lump:: to lump_ - * [Pull request 245](https://bitbucket.org/osrf/sdformat/pull-request/245) + * [BitBucket pull request 245](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/245) 1. New element. A contribution from Olivier Crave - * [Pull request 240](https://bitbucket.org/osrf/sdformat/pull-request/240) + * [BitBucket pull request 240](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/240) 1. Add scale to model state - * [Pull request 246](https://bitbucket.org/osrf/sdformat/pull-request/246) + * [BitBucket pull request 246](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/246) 1. Use stof functions to parse hex strings as floating point params. A contribution from Rich Mattes - * [Pull request 250](https://bitbucket.org/osrf/sdformat/pull-request/250) + * [BitBucket pull request 250](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/250) 1. Fix memory leaks. A contribution from Silvio Traversaro - * [Pull request 249](https://bitbucket.org/osrf/sdformat/pull-request/249) + * [BitBucket pull request 249](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/249) 1. Update SDF to version 1.6: new style for representing the noise properties of an `imu` - * [Pull request 243](https://bitbucket.org/osrf/sdformat/pull-request/243) - * [Pull request 199](https://bitbucket.org/osrf/sdformat/pull-requests/199) + * [BitBucket pull request 243](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/243) + * [BitBucket pull request 199](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/199) ## SDFormat 3.0 ### SDFormat 3.X.X (201X-XX-XX) 1. Improve precision of floating point parameters - * [Pull request 273](https://bitbucket.org/osrf/sdformat/pull-requests/273) - * [Pull request 276](https://bitbucket.org/osrf/sdformat/pull-requests/276) + * [BitBucket pull request 273](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/273) + * [BitBucket pull request 276](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/276) ### SDFormat 3.7.0 (2015-11-20) 1. Add spring pass through for sdf3 - * [Design document](https://bitbucket.org/osrf/gazebo_design/pull-requests/23) - * [Pull request 242](https://bitbucket.org/osrf/sdformat/pull-request/242) + * [Design document](https://bitbucket.org/osrf/gazebo_design/pull-requests/23) + * [BitBucket pull request 242](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/242) 1. Support frame specification in SDF - * [Pull request 237](https://bitbucket.org/osrf/sdformat/pull-request/237) + * [BitBucket pull request 237](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/237) 1. Remove boost from SDFExtension - * [Pull request 229](https://bitbucket.org/osrf/sdformat/pull-request/229) + * [BitBucket pull request 229](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/229) ### SDFormat 3.6.0 (2015-10-27) 1. Add light state - * [Pull request 227](https://bitbucket.org/osrf/sdformat/pull-request/227) + * [BitBucket pull request 227](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/227) 1. redo pull request #222 for sdf3 branch - * [Pull request 232](https://bitbucket.org/osrf/sdformat/pull-request/232) + * [BitBucket pull request 232](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/232) 1. Fix links in API documentation - * [Pull request 231](https://bitbucket.org/osrf/sdformat/pull-request/231) + * [BitBucket pull request 231](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/231) ### SDFormat 3.5.0 (2015-10-07) 1. Camera lens description (Replaces #213) - * [Pull request 215](https://bitbucket.org/osrf/sdformat/pull-request/215) + * [BitBucket pull request 215](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/215) 1. Fix shared pointer reference loop in Element and memory leak (#104) - * [Pull request 230](https://bitbucket.org/osrf/sdformat/pull-request/230) + * [BitBucket pull request 230](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/230) ### SDFormat 3.4.0 (2015-10-05) 1. Support nested model states - * [Pull request 223](https://bitbucket.org/osrf/sdformat/pull-request/223) + * [BitBucket pull request 223](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/223) 1. Cleaner way to set SDF_PATH for tests - * [Pull request 226](https://bitbucket.org/osrf/sdformat/pull-request/226) + * [BitBucket pull request 226](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/226) ### SDFormat 3.3.0 (2015-09-15) 1. Windows Boost linking errors - * [Pull request 206](https://bitbucket.org/osrf/sdformat/pull-request/206) + * [BitBucket pull request 206](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/206) 1. Nested SDF -> sdf3 - * [Pull request 221](https://bitbucket.org/osrf/sdformat/pull-request/221) + * [BitBucket pull request 221](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/221) 1. Pointer types - * [Pull request 218](https://bitbucket.org/osrf/sdformat/pull-request/218) + * [BitBucket pull request 218](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/218) 1. Torsional friction default surface radius not infinity - * [Pull request 217](https://bitbucket.org/osrf/sdformat/pull-request/217) + * [BitBucket pull request 217](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/217) ### SDFormat 3.2.2 (2015-08-24) 1. Added battery element (contribution from Olivier Crave) - * [Pull request #204](https://bitbucket.org/osrf/sdformat/pull-request/204) + * [BitBucket pull request #204](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/204) 1. Torsional friction backport - * [Pull request #211](https://bitbucket.org/osrf/sdformat/pull-request/211) + * [BitBucket pull request #211](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/211) 1. Allow Visual Studio 2015 - * [Pull request #208](https://bitbucket.org/osrf/sdformat/pull-request/208) + * [BitBucket pull request #208](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/208) ### SDFormat 3.1.1 (2015-08-03) 1. Fix tinyxml linking error - * [Pull request #209](https://bitbucket.org/osrf/sdformat/pull-request/209) + * [BitBucket pull request #209](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/209) ### SDFormat 3.1.0 (2015-08-02) 1. Added logical camera sensor to SDF - * [Pull request #207](https://bitbucket.org/osrf/sdformat/pull-request/207) + * [BitBucket pull request #207](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/207) ### SDFormat 3.0.0 (2015-07-24) 1. Added battery to SDF - * [Pull request 204](https://bitbucket.org/osrf/sdformat/pull-request/204) + * [BitBucket pull request 204](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/204) 1. Added altimeter sensor to SDF - * [Pull request #197](https://bitbucket.org/osrf/sdformat/pull-request/197) + * [BitBucket pull request #197](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/197) 1. Added magnetometer sensor to SDF - * [Pull request 198](https://bitbucket.org/osrf/sdformat/pull-request/198) + * [BitBucket pull request 198](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/198) 1. Fix detection of XML parsing errors - * [Pull request 190](https://bitbucket.org/osrf/sdformat/pull-request/190) + * [BitBucket pull request 190](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/190) 1. Support for fixed joints - * [Pull request 194](https://bitbucket.org/osrf/sdformat/pull-request/194) + * [BitBucket pull request 194](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/194) 1. Adding iterations to state - * [Pull request 188](https://bitbucket.org/osrf/sdformat/pull-request/188) + * [BitBucket pull request 188](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/188) 1. Convert to use ignition-math - * [Pull request 173](https://bitbucket.org/osrf/sdformat/pull-request/173) + * [BitBucket pull request 173](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/173) 1. Add world origin to scene - * [Pull request 183](https://bitbucket.org/osrf/sdformat/pull-request/183) + * [BitBucket pull request 183](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/183) 1. Fix collide bitmask - * [Pull request 182](https://bitbucket.org/osrf/sdformat/pull-request/182) + * [BitBucket pull request 182](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/182) 1. Adding meta information to visuals - * [Pull request 180](https://bitbucket.org/osrf/sdformat/pull-request/180) + * [BitBucket pull request 180](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/180) 1. Add projection type to gui camera - * [Pull request 178](https://bitbucket.org/osrf/sdformat/pull-request/178) + * [BitBucket pull request 178](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/178) 1. Fix print description to include attribute description - * [Pull request 170](https://bitbucket.org/osrf/sdformat/pull-request/170) + * [BitBucket pull request 170](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/170) 1. Add -std=c++11 flag to sdf_config.cmake.in and sdformat.pc.in, needed by downstream code - * [Pull request 172](https://bitbucket.org/osrf/sdformat/pull-request/172) + * [BitBucket pull request 172](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/172) 1. Added boost::any accessor for Param and Element - * [Pull request 166](https://bitbucket.org/osrf/sdformat/pull-request/166) + * [BitBucket pull request 166](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/166) 1. Remove tinyxml from dependency list - * [Pull request 152](https://bitbucket.org/osrf/sdformat/pull-request/152) + * [BitBucket pull request 152](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/152) 1. Added self_collide element for model - * [Pull request 149](https://bitbucket.org/osrf/sdformat/pull-request/149) + * [BitBucket pull request 149](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/149) 1. Added a collision bitmask field to sdf-1.5 and c++11 support - * [Pull request 145](https://bitbucket.org/osrf/sdformat/pull-request/145) + * [BitBucket pull request 145](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/145) 1. Fix problems with latin locales and decimal numbers (issue #60) - * [Pull request 147](https://bitbucket.org/osrf/sdformat/pull-request/147) - * [Issue 60](https://bitbucket.org/osrf/sdformat/issues/60) + * [BitBucket pull request 147](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/147) + * [Issue 60](https://github.com/osrf/sdformat/issues/60) ## SDFormat 2.x 1. rename cfm_damping --> implicit_spring_damper - * [Pull request 59](https://bitbucket.org/osrf/sdformat/pull-request/59) + * [BitBucket pull request 59](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/59) 1. add gear_ratio and reference_body for gearbox joint. - * [Pull request 62](https://bitbucket.org/osrf/sdformat/pull-request/62) + * [BitBucket pull request 62](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/62) 1. Update joint stop stiffness and dissipation - * [Pull request 61](https://bitbucket.org/osrf/sdformat/pull-request/61) + * [BitBucket pull request 61](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/61) 1. Support for GNUInstallDirs - * [Pull request 64](https://bitbucket.org/osrf/sdformat/pull-request/64) + * [BitBucket pull request 64](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/64) 1. `` element used by DEM heightmaps - * [Pull request 67](https://bitbucket.org/osrf/sdformat/pull-request/67) + * [BitBucket pull request 67](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/67) 1. Do not export urdf symbols in sdformat 1.4 - * [Pull request 75](https://bitbucket.org/osrf/sdformat/pull-request/75) + * [BitBucket pull request 75](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/75) 1. adding deformable properties per issue #32 - * [Pull request 78](https://bitbucket.org/osrf/sdformat/pull-request/78) - * [Issue 32](https://bitbucket.org/osrf/sdformat/issues/32) + * [BitBucket pull request 78](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/78) + * [Issue 32](https://github.com/osrf/sdformat/issues/32) 1. Support to use external URDF - * [Pull request 77](https://bitbucket.org/osrf/sdformat/pull-request/77) + * [BitBucket pull request 77](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/77) 1. Add lighting element to visual - * [Pull request 79](https://bitbucket.org/osrf/sdformat/pull-request/79) + * [BitBucket pull request 79](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/79) 1. SDF 1.5: add flag to fix joint axis frame #43 (gazebo issue 494) - * [Pull request 83](https://bitbucket.org/osrf/sdformat/pull-request/83) - * [Issue 43](https://bitbucket.org/osrf/sdformat/issues/43) - * [Gazebo issue 494](https://bitbucket.org/osrf/gazebo/issues/494) + * [BitBucket pull request 83](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/83) + * [Issue 43](https://github.com/osrf/sdformat/issues/43) + * [Gazebo issue 494](https://github.com/osrf/gazebo/issues/494) 1. Implement SDF_PROTOCOL_VERSION (issue #51) - * [Pull request 90](https://bitbucket.org/osrf/sdformat/pull-request/90) + * [BitBucket pull request 90](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/90) 1. Port sdformat to compile on Windows (MSVC) - * [Pull request 101](https://bitbucket.org/osrf/sdformat/pull-request/101) + * [BitBucket pull request 101](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/101) 1. Separate material properties in material.sdf - * [Pull request 104](https://bitbucket.org/osrf/sdformat/pull-request/104) + * [BitBucket pull request 104](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/104) 1. Add road textures (repeat pull request #104 for sdf_2.0) - * [Pull request 105](https://bitbucket.org/osrf/sdformat/pull-request/105) + * [BitBucket pull request 105](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/105) 1. Add Extruded Polylines as a model - * [Pull request 93](https://bitbucket.org/osrf/sdformat/pull-request/93) + * [BitBucket pull request 93](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/93) 1. Added polyline for sdf_2.0 - * [Pull request 106](https://bitbucket.org/osrf/sdformat/pull-request/106) + * [BitBucket pull request 106](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/106) 1. Add spring_reference and spring_stiffness tags to joint axis dynamics - * [Pull request 102](https://bitbucket.org/osrf/sdformat/pull-request/102) + * [BitBucket pull request 102](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/102) 1. Fix actor static - * [Pull request 110](https://bitbucket.org/osrf/sdformat/pull-request/110) + * [BitBucket pull request 110](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/110) 1. New element - * [Pull request 112](https://bitbucket.org/osrf/sdformat/pull-request/112) + * [BitBucket pull request 112](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/112) 1. Add camera distortion element - * [Pull request 120](https://bitbucket.org/osrf/sdformat/pull-request/120) + * [BitBucket pull request 120](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/120) 1. Inclusion of magnetic field strength sensor - * [Pull request 123](https://bitbucket.org/osrf/sdformat/pull-request/123) + * [BitBucket pull request 123](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/123) 1. Properly add URDF gazebo extensions blobs to SDF joint elements - * [Pull request 125](https://bitbucket.org/osrf/sdformat/pull-request/125) + * [BitBucket pull request 125](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/125) 1. Allow gui plugins to be specified in SDF - * [Pull request 127](https://bitbucket.org/osrf/sdformat/pull-request/127) + * [BitBucket pull request 127](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/127) 1. Backport magnetometer - * [Pull request 128](https://bitbucket.org/osrf/sdformat/pull-request/128) + * [BitBucket pull request 128](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/128) 1. Add flag for MOI rescaling to sdf 1.4 - * [Pull request 121](https://bitbucket.org/osrf/sdformat/pull-request/121) + * [BitBucket pull request 121](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/121) 1. Parse urdf joint friction parameters, add corresponding test - * [Pull request 129](https://bitbucket.org/osrf/sdformat/pull-request/129) + * [BitBucket pull request 129](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/129) 1. Allow reading of boolean values from plugin elements. - * [Pull request 132](https://bitbucket.org/osrf/sdformat/pull-request/132) + * [BitBucket pull request 132](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/132) 1. Implement generation of XML Schema files (issue #2) - * [Pull request 91](https://bitbucket.org/osrf/sdformat/pull-request/91) + * [BitBucket pull request 91](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/91) 1. Fix build for OS X 10.10 - * [Pull request 135](https://bitbucket.org/osrf/sdformat/pull-request/135) + * [BitBucket pull request 135](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/135) 1. Improve performance in loading SDF elements - * [Pull request 138](https://bitbucket.org/osrf/sdformat/pull-request/138) + * [BitBucket pull request 138](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/138) 1. Added urdf gazebo extension option to disable fixed joint lumping - * [Pull request 133](https://bitbucket.org/osrf/sdformat/pull-request/133) + * [BitBucket pull request 133](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/133) 1. Support urdfdom 0.3 (alternative to pull request #122) - * [Pull request 141](https://bitbucket.org/osrf/sdformat/pull-request/141) + * [BitBucket pull request 141](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/141) 1. Update list of supported joint types - * [Pull request 142](https://bitbucket.org/osrf/sdformat/pull-request/142) + * [BitBucket pull request 142](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/142) 1. Ignore unknown elements - * [Pull request 148](https://bitbucket.org/osrf/sdformat/pull-request/148) + * [BitBucket pull request 148](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/148) 1. Physics preset attributes - * [Pull request 146](https://bitbucket.org/osrf/sdformat/pull-request/146) + * [BitBucket pull request 146](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/146) 1. Backport fix for latin locales (pull request #147) - * [Pull request 150](https://bitbucket.org/osrf/sdformat/pull-request/150) + * [BitBucket pull request 150](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/150) ## SDFormat 1.4 ### SDFormat 1.4.8 (2013-09-06) 1. Fix inertia transformations when reducing fixed joints in URDF - * [Pull request 48](https://bitbucket.org/osrf/sdformat/pull-request/48/fix-for-issue-22-reducing-inertia-across/diff) + * [BitBucket pull request 48](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/48/fix-for-issue-22-reducing-inertia-across/diff) 1. Add element to support terrain paging in gazebo - * [Pull request 47](https://bitbucket.org/osrf/sdformat/pull-request/47/add-element-inside-heightmap/diff) + * [BitBucket pull request 47](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/47/add-element-inside-heightmap/diff) 1. Further reduce console output when using URDF models - * [Pull request 46](https://bitbucket.org/osrf/sdformat/pull-request/46/convert-a-few-more-sdfwarns-to-sdflog-fix/diff) - * [Commit](https://bitbucket.org/osrf/sdformat/commits/b15d5a1ecc57abee6691618d02d59bbc3d1b84dc) + * [BitBucket pull request 46](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/46/convert-a-few-more-sdfwarns-to-sdflog-fix/diff) + * [Commit](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/commits/b15d5a1ecc57abee6691618d02d59bbc3d1b84dc) ### SDFormat 1.4.7 (2013-08-22) 1. Direct console messages to std_err - * [Pull request 44](https://bitbucket.org/osrf/sdformat/pull-request/44/fix-19-direct-all-messages-to-std_err) + * [BitBucket pull request 44](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/44/fix-19-direct-all-messages-to-std_err) ### SDFormat 1.4.6 (2013-08-20) 1. Add tags for GPS sensor and sensor noise - * [Pull request 36](https://bitbucket.org/osrf/sdformat/pull-request/36/gps-sensor-sensor-noise-and-spherical) + * [BitBucket pull request 36](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/36/gps-sensor-sensor-noise-and-spherical) 1. Add tags for wireless transmitter/receiver models - * [Pull request 34](https://bitbucket.org/osrf/sdformat/pull-request/34/transceiver-support) - * [Pull request 43](https://bitbucket.org/osrf/sdformat/pull-request/43/updated-description-of-the-transceiver-sdf) + * [BitBucket pull request 34](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/34/transceiver-support) + * [BitBucket pull request 43](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/43/updated-description-of-the-transceiver-sdf) 1. Add tags for playback of audio files in Gazebo - * [Pull request 26](https://bitbucket.org/osrf/sdformat/pull-request/26/added-audio-tags) - * [Pull request 35](https://bitbucket.org/osrf/sdformat/pull-request/35/move-audio-to-link-and-playback-on-contact) + * [BitBucket pull request 26](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/26/added-audio-tags) + * [BitBucket pull request 35](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/35/move-audio-to-link-and-playback-on-contact) 1. Add tags for simbody physics parameters - * [Pull request 32](https://bitbucket.org/osrf/sdformat/pull-request/32/merging-some-updates-from-simbody-branch) + * [BitBucket pull request 32](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/32/merging-some-updates-from-simbody-branch) 1. Log messages to a file, reduce console output - * [Pull request 33](https://bitbucket.org/osrf/sdformat/pull-request/33/log-messages-to-file-8) + * [BitBucket pull request 33](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/33/log-messages-to-file-8) 1. Generalize ode's element - * [Pull request 38](https://bitbucket.org/osrf/sdformat/pull-request/38/add-provide_feedback-for-bullet-joint) + * [BitBucket pull request 38](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/38/add-provide_feedback-for-bullet-joint) 1. Various bug, style and test fixes ### SDFormat 1.4.5 (2013-07-23) diff --git a/INSTALL_WIN32.md b/INSTALL_WIN32.md index 491fd744c..2d9018b00 100644 --- a/INSTALL_WIN32.md +++ b/INSTALL_WIN32.md @@ -26,7 +26,7 @@ Windows `cmd` for configuring and building. 1. Clone sdformat - hg clone https://bitbucket.org/osrf/sdformat + git clone https://github.com/osrf/sdformat 1. Load your compiler setup, e.g. (note that we are asking for the 64-bit toolchain here): diff --git a/Migration.md b/Migration.md index 9b7fe28e9..3f2622c1b 100644 --- a/Migration.md +++ b/Migration.md @@ -75,22 +75,22 @@ but with improved human-readability.. 1. **`gravity` and `magnetic_field` elements are moved from `physics` to `world`** + In physics element: gravity and magnetic_field tags have been moved from Physics to World element. - + [pull request 247](https://bitbucket.org/osrf/sdformat/pull-requests/247) - + [gazebo pull request 2090](https://bitbucket.org/osrf/gazebo/pull-requests/2090) + + [BitBucket pull request 247](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/247) + + [gazebo pull request 2090](https://osrf-migration.github.io/gazebo-gh-pages/#!/osrf/gazebo/pull-requests/2090) 1. **New noise for IMU** + A new style for representing the noise properties of an `imu` was implemented - in [pull request 199](https://bitbucket.org/osrf/sdformat/pull-requests/199) + in [BitBucket pull request 199](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/199) for sdf 1.5 and the old style was declared as deprecated. The old style has been removed from sdf 1.6 with the conversion script updating to the new style. - + [pull request 199](https://bitbucket.org/osrf/sdformat/pull-requests/199) - + [pull request 243](https://bitbucket.org/osrf/sdformat/pull-requests/243) - + [pull request 244](https://bitbucket.org/osrf/sdformat/pull-requests/244) + + [BitBucket pull request 199](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/199) + + [BitBucket pull request 243](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/243) + + [BitBucket pull request 244](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/244) 1. **Lump:: prefix in link names** + Changed to \_fixed_joint_lump__ to avoid confusion with scoped names - + [Pull request 245](https://bitbucket.org/osrf/sdformat/pull-request/245) + + [BitBucket pull request 245](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/245) ## SDF protocol 1.5 to 1.6 @@ -106,23 +106,23 @@ but with improved human-readability.. + min: 0.0 + max: 1.0 + required: 0 - + [pull request 466](https://bitbucket.org/osrf/sdformat/pull-requests/466) + + [BitBucket pull request 466](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/466) 1. **camera.sdf** `intrinsics` sub-elements: `fx`, `fy`, `cx`, `cy`, `s` + description: Camera intrinsic parameters for setting a custom perspective projection matrix. - + [pull request 496](https://bitbucket.org/osrf/sdformat/pull-requests/496) + + [BitBucket pull request 496](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/496) 1. **link.sdf** `enable_wind` element + description: If true, the link is affected by the wind + type: bool + default: false + required: 0 - + [pull request 240](https://bitbucket.org/osrf/sdformat/pull-requests/240) + + [BitBucket pull request 240](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/240) 1. **link.sdf** `light` element + included from `light.sdf` with required="*", so a link can have any number of attached lights. - + [pull request 373](https://bitbucket.org/osrf/sdformat/pull-requests/373) + + [BitBucket pull request 373](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/373) 1. **model.sdf** `enable_wind` element + description: If set to true, all links in the model will be affected by @@ -130,14 +130,14 @@ but with improved human-readability.. + type: bool + default: false + required: 0 - + [pull request 240](https://bitbucket.org/osrf/sdformat/pull-requests/240) + + [BitBucket pull request 240](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/240) 1. **model_state.sdf** `scale` element + description: Scale for the 3 dimensions of the model. + type: vector3 + default: "1 1 1" + required: 0 - + [pull request 246](https://bitbucket.org/osrf/sdformat/pull-requests/246) + + [BitBucket pull request 246](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/246) 1. **physics.sdf** `dart::collision_detector` element + description: The collision detector for DART to use. @@ -145,7 +145,7 @@ but with improved human-readability.. + type: string + default: fcl + required: 0 - + [pull request 440](https://bitbucket.org/osrf/sdformat/pull-requests/440) + + [BitBucket pull request 440](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/440) 1. **physics.sdf** `dart::solver::solver_type` element + description: The DART LCP/constraint solver to use. @@ -153,31 +153,31 @@ but with improved human-readability.. + type: string + default: dantzig + required: 0 - + [pull request 369](https://bitbucket.org/osrf/sdformat/pull-requests/369) + + [BitBucket pull request 369](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/369) 1. **physics.sdf** `island_threads` element under `ode::solver` + description: Number of threads to use for "islands" of disconnected models. + type: int + default: 0 + required: 0 - + [pull request 380](https://bitbucket.org/osrf/sdformat/pull-requests/380) + + [BitBucket pull request 380](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/380) 1. **physics.sdf** `thread_position_correction` element under `ode::solver` + description: Flag to use threading to speed up position correction computation. + type: bool + default: 0 + required: 0 - + [pull request 380](https://bitbucket.org/osrf/sdformat/pull-requests/380) + + [BitBucket pull request 380](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/380) 1. **sonar.sdf** `geometry` element + description: The sonar collision shape. Currently supported geometries are: "cone" and "sphere". + type: string + default: "cone" + required: 0 - + [pull request 495](https://bitbucket.org/osrf/sdformat/pull-requests/495) + + [BitBucket pull request 495](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/495) 1. **state.sdf** allow `light` tags within `insertions` element - * [pull request 325](https://bitbucket.org/osrf/sdformat/pull-request/325) + * [BitBucket pull request 325](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/325) 1. **surface.sdf** `category_bitmask` element + description: Bitmask for category of collision filtering. @@ -186,16 +186,16 @@ but with improved human-readability.. + type: unsigned int + default: 65535 + required: 0 - + [pull request 318](https://bitbucket.org/osrf/sdformat/pull-requests/318) + + [BitBucket pull request 318](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/318) 1. **world.sdf** `wind` element + description: The wind tag specifies the type and properties of the wind. + required: 0 - + [pull request 240](https://bitbucket.org/osrf/sdformat/pull-requests/240) + + [BitBucket pull request 240](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/240) 1. **world.sdf** `wind::linear_velocity` element + description: Linear velocity of the wind. + type: vector3 + default: "0 0 0" + required: 0 - + [pull request 240](https://bitbucket.org/osrf/sdformat/pull-requests/240) + + [BitBucket pull request 240](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/240) diff --git a/bitbucket-pipelines.yml b/bitbucket-pipelines.yml index dc9e65465..1b04f6ee5 100644 --- a/bitbucket-pipelines.yml +++ b/bitbucket-pipelines.yml @@ -6,7 +6,7 @@ pipelines: script: # Dependencies - apt update - - apt -y install cmake build-essential lcov curl mercurial lsb-release wget + - apt -y install cmake build-essential lcov curl git lsb-release wget libtinyxml-dev libxml2-utils ruby-dev libboost-dev python-psutil - sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-latest.list' diff --git a/doc/header.html b/doc/header.html index d4b88ef24..f2e06b44a 100644 --- a/doc/header.html +++ b/doc/header.html @@ -41,7 +41,7 @@

Tutorials
Download
--> -
Report Documentation Issues
+
Report Documentation Issues
diff --git a/doc/mainpage.html b/doc/mainpage.html index 11ed37316..404390775 100644 --- a/doc/mainpage.html +++ b/doc/mainpage.html @@ -5,7 +5,7 @@ Desctiption Format API. The code reference is divided into the groups below. Should you find problems with this documentation - typos, unclear phrases, or insufficient detail - please create a new bitbucket issue. + href="https://github.com/osrf/sdf/issues/new">new GitHub issue. Include sufficient detail to quickly locate the problematic documentation, and set the issue's fields accordingly: Assignee - blank; Kind - bug; Priority - minor; Version - blank. From 530a85626303a605dc3e08508381ecdf079bc11c Mon Sep 17 00:00:00 2001 From: Steven Peters Date: Wed, 29 Apr 2020 15:07:53 -0700 Subject: [PATCH 02/16] [sdf4] Update BitBucket links (#248) (#258) * [sdf4] Update BitBucket links Signed-off-by: Louise Poubel * fix a few more links Signed-off-by: Steven Peters Co-authored-by: Steven Peters Co-authored-by: chapulina --- .hgignore => .gitignore | 1 - Changelog.md | 232 ++++++++++++++++++++-------------------- Migration.md | 4 +- sdf/1.4/physics.sdf | 2 +- sdf/1.5/joint.sdf | 4 +- sdf/1.5/physics.sdf | 2 +- sdf/1.6/joint.sdf | 4 +- sdf/1.6/physics.sdf | 6 +- sdf/Migration.md | 30 +++--- src/Param_TEST.cc | 4 +- 10 files changed, 144 insertions(+), 145 deletions(-) rename .hgignore => .gitignore (63%) diff --git a/.hgignore b/.gitignore similarity index 63% rename from .hgignore rename to .gitignore index 1b7892bf6..416ecfb5f 100644 --- a/.hgignore +++ b/.gitignore @@ -1,4 +1,3 @@ -syntax: glob build build_* diff --git a/Changelog.md b/Changelog.md index 7763b968f..9b5c91a0f 100644 --- a/Changelog.md +++ b/Changelog.md @@ -175,24 +175,24 @@ ### SDFormat 4.4.0 (2017-10-26) 1. Add ODE parallelization parameters: threaded islands and position correction - * [BitBucket pull request 380](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/380) + * [BitBucket pull request 380](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/380) 1. surface.sdf: expand documentation of friction and slip coefficients - * [BitBucket pull request 343](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/343) + * [BitBucket pull request 343](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/343) 1. Add preserveFixedJoint option to the URDF parser - * [BitBucket pull request 352](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/352) + * [BitBucket pull request 352](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/352) 1. Add light as child of link - * [BitBucket pull request 373](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/373) + * [BitBucket pull request 373](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/373) ### SDFormat 4.3.2 (2017-07-19) 1. Add documentation for `Element::GetFirstElement()` and `Element::GetNextElement()` - * [BitBucket pull request 341](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/341) + * [BitBucket pull request 341](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/341) 1. Fix parser to read plugin child elements within an `` - * [BitBucket pull request 350](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/350) + * [BitBucket pull request 350](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/350) ### SDFormat 4.3.1 (2017-03-24) @@ -203,83 +203,83 @@ ### SDFormat 4.3.0 (2017-03-20) 1. Choosing models with more recent sdf version with `` tag - * [BitBucket pull request 291](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/291) + * [BitBucket pull request 291](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/291) * [Issue 123](https://github.com/osrf/sdformat/issues/123) 1. Added `` to 1.6 surface contact parameters - * [BitBucket pull request 318](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/318) + * [BitBucket pull request 318](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/318) 1. Support light insertion in state - * [BitBucket pull request 325](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/325) + * [BitBucket pull request 325](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/325) 1. Case insensitive boolean strings - * [BitBucket pull request 322](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/322) + * [BitBucket pull request 322](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/322) 1. Enable coverage testing - * [BitBucket pull request 317](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/317) + * [BitBucket pull request 317](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/317) 1. Add `friction_model` parameter to ode solver - * [BitBucket pull request 294](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/294) - * [Gazebo pull request 1522](https://osrf-migration.github.io/gazebo-gh-pages/#!/osrf/gazebo/pull-request/1522) + * [BitBucket pull request 294](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/294) + * [Gazebo pull request 1522](https://osrf-migration.github.io/gazebo-gh-pages/#!/osrf/gazebo/pull-requests/1522) 1. Added `sampling` parameter to `` SDF element. - * [BitBucket pull request 293](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/293) + * [BitBucket pull request 293](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/293) 1. Added Migration guide - * [BitBucket pull request 290](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/290) + * [BitBucket pull request 290](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/290) 1. Add cmake `@PKG_NAME@_LIBRARY_DIRS` variable to cmake config file - * [BitBucket pull request 292](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/292) + * [BitBucket pull request 292](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/292) ### SDFormat 4.2.0 (2016-10-10) 1. Added tag to specify ODE friction model. - * [BitBucket pull request 294](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/294) + * [BitBucket pull request 294](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/294) 1. Fix URDF to SDF `self_collide` bug. - * [BitBucket pull request 287](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/287) + * [BitBucket pull request 287](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/287) 1. Added IMU orientation specification to SDF. - * [BitBucket pull request 284](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/284) + * [BitBucket pull request 284](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/284) ### SDFormat 4.1.1 (2016-07-08) 1. Added documentation and animation to `` element. - * [BitBucket pull request 280](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/280) + * [BitBucket pull request 280](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/280) 1. Added tag to specify initial joint position - * [BitBucket pull request 279](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/279) + * [BitBucket pull request 279](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/279) ### SDFormat 4.1.0 (2016-04-01) 1. Added SDF conversion functions to parser including sdf::convertFile and sdf::convertString. - * [BitBucket pull request 266](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/266) + * [BitBucket pull request 266](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/266) 1. Added an upload script - * [BitBucket pull request 256](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/256) + * [BitBucket pull request 256](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/256) ### SDFormat 4.0.0 (2015-01-12) 1. Boost pointers and boost::function in the public API have been replaced by their std::equivalents (C++11 standard) 1. Move gravity and magnetic_field tags from physics to world - * [BitBucket pull request 247](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/247) + * [BitBucket pull request 247](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/247) 1. Switch lump link prefix from lump:: to lump_ - * [BitBucket pull request 245](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/245) + * [BitBucket pull request 245](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/245) 1. New element. A contribution from Olivier Crave - * [BitBucket pull request 240](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/240) + * [BitBucket pull request 240](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/240) 1. Add scale to model state - * [BitBucket pull request 246](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/246) + * [BitBucket pull request 246](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/246) 1. Use stof functions to parse hex strings as floating point params. A contribution from Rich Mattes - * [BitBucket pull request 250](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/250) + * [BitBucket pull request 250](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/250) 1. Fix memory leaks. A contribution from Silvio Traversaro - * [BitBucket pull request 249](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/249) + * [BitBucket pull request 249](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/249) 1. Update SDF to version 1.6: new style for representing the noise properties of an `imu` - * [BitBucket pull request 243](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/243) + * [BitBucket pull request 243](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/243) * [BitBucket pull request 199](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/199) ## SDFormat 3.0 @@ -293,219 +293,219 @@ ### SDFormat 3.7.0 (2015-11-20) 1. Add spring pass through for sdf3 - * [Design document](https://bitbucket.org/osrf/gazebo_design/pull-requests/23) - * [BitBucket pull request 242](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/242) + * [Design document](https://github.com/osrf/gazebo_design/pull-requests/23) + * [BitBucket pull request 242](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/242) 1. Support frame specification in SDF - * [BitBucket pull request 237](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/237) + * [BitBucket pull request 237](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/237) 1. Remove boost from SDFExtension - * [BitBucket pull request 229](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/229) + * [BitBucket pull request 229](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/229) ### SDFormat 3.6.0 (2015-10-27) 1. Add light state - * [BitBucket pull request 227](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/227) + * [BitBucket pull request 227](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/227) 1. redo pull request #222 for sdf3 branch - * [BitBucket pull request 232](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/232) + * [BitBucket pull request 232](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/232) 1. Fix links in API documentation - * [BitBucket pull request 231](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/231) + * [BitBucket pull request 231](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/231) ### SDFormat 3.5.0 (2015-10-07) 1. Camera lens description (Replaces #213) - * [BitBucket pull request 215](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/215) + * [BitBucket pull request 215](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/215) 1. Fix shared pointer reference loop in Element and memory leak (#104) - * [BitBucket pull request 230](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/230) + * [BitBucket pull request 230](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/230) ### SDFormat 3.4.0 (2015-10-05) 1. Support nested model states - * [BitBucket pull request 223](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/223) + * [BitBucket pull request 223](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/223) 1. Cleaner way to set SDF_PATH for tests - * [BitBucket pull request 226](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/226) + * [BitBucket pull request 226](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/226) ### SDFormat 3.3.0 (2015-09-15) 1. Windows Boost linking errors - * [BitBucket pull request 206](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/206) + * [BitBucket pull request 206](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/206) 1. Nested SDF -> sdf3 - * [BitBucket pull request 221](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/221) + * [BitBucket pull request 221](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/221) 1. Pointer types - * [BitBucket pull request 218](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/218) + * [BitBucket pull request 218](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/218) 1. Torsional friction default surface radius not infinity - * [BitBucket pull request 217](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/217) + * [BitBucket pull request 217](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/217) ### SDFormat 3.2.2 (2015-08-24) 1. Added battery element (contribution from Olivier Crave) - * [BitBucket pull request #204](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/204) + * [BitBucket pull request #204](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/204) 1. Torsional friction backport - * [BitBucket pull request #211](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/211) + * [BitBucket pull request #211](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/211) 1. Allow Visual Studio 2015 - * [BitBucket pull request #208](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/208) + * [BitBucket pull request #208](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/208) ### SDFormat 3.1.1 (2015-08-03) 1. Fix tinyxml linking error - * [BitBucket pull request #209](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/209) + * [BitBucket pull request #209](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/209) ### SDFormat 3.1.0 (2015-08-02) 1. Added logical camera sensor to SDF - * [BitBucket pull request #207](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/207) + * [BitBucket pull request #207](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/207) ### SDFormat 3.0.0 (2015-07-24) 1. Added battery to SDF - * [BitBucket pull request 204](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/204) + * [BitBucket pull request 204](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/204) 1. Added altimeter sensor to SDF - * [BitBucket pull request #197](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/197) + * [BitBucket pull request #197](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/197) 1. Added magnetometer sensor to SDF - * [BitBucket pull request 198](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/198) + * [BitBucket pull request 198](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/198) 1. Fix detection of XML parsing errors - * [BitBucket pull request 190](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/190) + * [BitBucket pull request 190](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/190) 1. Support for fixed joints - * [BitBucket pull request 194](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/194) + * [BitBucket pull request 194](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/194) 1. Adding iterations to state - * [BitBucket pull request 188](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/188) + * [BitBucket pull request 188](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/188) 1. Convert to use ignition-math - * [BitBucket pull request 173](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/173) + * [BitBucket pull request 173](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/173) 1. Add world origin to scene - * [BitBucket pull request 183](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/183) + * [BitBucket pull request 183](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/183) 1. Fix collide bitmask - * [BitBucket pull request 182](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/182) + * [BitBucket pull request 182](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/182) 1. Adding meta information to visuals - * [BitBucket pull request 180](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/180) + * [BitBucket pull request 180](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/180) 1. Add projection type to gui camera - * [BitBucket pull request 178](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/178) + * [BitBucket pull request 178](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/178) 1. Fix print description to include attribute description - * [BitBucket pull request 170](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/170) + * [BitBucket pull request 170](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/170) 1. Add -std=c++11 flag to sdf_config.cmake.in and sdformat.pc.in, needed by downstream code - * [BitBucket pull request 172](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/172) + * [BitBucket pull request 172](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/172) 1. Added boost::any accessor for Param and Element - * [BitBucket pull request 166](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/166) + * [BitBucket pull request 166](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/166) 1. Remove tinyxml from dependency list - * [BitBucket pull request 152](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/152) + * [BitBucket pull request 152](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/152) 1. Added self_collide element for model - * [BitBucket pull request 149](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/149) + * [BitBucket pull request 149](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/149) 1. Added a collision bitmask field to sdf-1.5 and c++11 support - * [BitBucket pull request 145](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/145) + * [BitBucket pull request 145](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/145) 1. Fix problems with latin locales and decimal numbers (issue #60) - * [BitBucket pull request 147](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/147) + * [BitBucket pull request 147](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/147) * [Issue 60](https://github.com/osrf/sdformat/issues/60) ## SDFormat 2.x 1. rename cfm_damping --> implicit_spring_damper - * [BitBucket pull request 59](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/59) + * [BitBucket pull request 59](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/59) 1. add gear_ratio and reference_body for gearbox joint. - * [BitBucket pull request 62](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/62) + * [BitBucket pull request 62](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/62) 1. Update joint stop stiffness and dissipation - * [BitBucket pull request 61](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/61) + * [BitBucket pull request 61](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/61) 1. Support for GNUInstallDirs - * [BitBucket pull request 64](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/64) + * [BitBucket pull request 64](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/64) 1. `` element used by DEM heightmaps - * [BitBucket pull request 67](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/67) + * [BitBucket pull request 67](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/67) 1. Do not export urdf symbols in sdformat 1.4 - * [BitBucket pull request 75](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/75) + * [BitBucket pull request 75](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/75) 1. adding deformable properties per issue #32 - * [BitBucket pull request 78](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/78) + * [BitBucket pull request 78](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/78) * [Issue 32](https://github.com/osrf/sdformat/issues/32) 1. Support to use external URDF - * [BitBucket pull request 77](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/77) + * [BitBucket pull request 77](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/77) 1. Add lighting element to visual - * [BitBucket pull request 79](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/79) + * [BitBucket pull request 79](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/79) 1. SDF 1.5: add flag to fix joint axis frame #43 (gazebo issue 494) - * [BitBucket pull request 83](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/83) + * [BitBucket pull request 83](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/83) * [Issue 43](https://github.com/osrf/sdformat/issues/43) * [Gazebo issue 494](https://github.com/osrf/gazebo/issues/494) 1. Implement SDF_PROTOCOL_VERSION (issue #51) - * [BitBucket pull request 90](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/90) + * [BitBucket pull request 90](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/90) 1. Port sdformat to compile on Windows (MSVC) - * [BitBucket pull request 101](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/101) + * [BitBucket pull request 101](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/101) 1. Separate material properties in material.sdf - * [BitBucket pull request 104](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/104) + * [BitBucket pull request 104](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/104) 1. Add road textures (repeat pull request #104 for sdf_2.0) - * [BitBucket pull request 105](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/105) + * [BitBucket pull request 105](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/105) 1. Add Extruded Polylines as a model - * [BitBucket pull request 93](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/93) + * [BitBucket pull request 93](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/93) 1. Added polyline for sdf_2.0 - * [BitBucket pull request 106](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/106) + * [BitBucket pull request 106](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/106) 1. Add spring_reference and spring_stiffness tags to joint axis dynamics - * [BitBucket pull request 102](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/102) + * [BitBucket pull request 102](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/102) 1. Fix actor static - * [BitBucket pull request 110](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/110) + * [BitBucket pull request 110](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/110) 1. New element - * [BitBucket pull request 112](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/112) + * [BitBucket pull request 112](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/112) 1. Add camera distortion element - * [BitBucket pull request 120](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/120) + * [BitBucket pull request 120](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/120) 1. Inclusion of magnetic field strength sensor - * [BitBucket pull request 123](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/123) + * [BitBucket pull request 123](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/123) 1. Properly add URDF gazebo extensions blobs to SDF joint elements - * [BitBucket pull request 125](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/125) + * [BitBucket pull request 125](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/125) 1. Allow gui plugins to be specified in SDF - * [BitBucket pull request 127](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/127) + * [BitBucket pull request 127](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/127) 1. Backport magnetometer - * [BitBucket pull request 128](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/128) + * [BitBucket pull request 128](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/128) 1. Add flag for MOI rescaling to sdf 1.4 - * [BitBucket pull request 121](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/121) + * [BitBucket pull request 121](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/121) 1. Parse urdf joint friction parameters, add corresponding test - * [BitBucket pull request 129](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/129) + * [BitBucket pull request 129](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/129) 1. Allow reading of boolean values from plugin elements. - * [BitBucket pull request 132](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/132) + * [BitBucket pull request 132](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/132) 1. Implement generation of XML Schema files (issue #2) - * [BitBucket pull request 91](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/91) + * [BitBucket pull request 91](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/91) 1. Fix build for OS X 10.10 - * [BitBucket pull request 135](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/135) + * [BitBucket pull request 135](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/135) 1. Improve performance in loading SDF elements - * [BitBucket pull request 138](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/138) + * [BitBucket pull request 138](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/138) 1. Added urdf gazebo extension option to disable fixed joint lumping - * [BitBucket pull request 133](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/133) + * [BitBucket pull request 133](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/133) 1. Support urdfdom 0.3 (alternative to pull request #122) - * [BitBucket pull request 141](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/141) + * [BitBucket pull request 141](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/141) 1. Update list of supported joint types - * [BitBucket pull request 142](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/142) + * [BitBucket pull request 142](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/142) 1. Ignore unknown elements - * [BitBucket pull request 148](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/148) + * [BitBucket pull request 148](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/148) 1. Physics preset attributes - * [BitBucket pull request 146](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/146) + * [BitBucket pull request 146](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/146) 1. Backport fix for latin locales (pull request #147) - * [BitBucket pull request 150](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/150) + * [BitBucket pull request 150](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/150) ## SDFormat 1.4 ### SDFormat 1.4.8 (2013-09-06) 1. Fix inertia transformations when reducing fixed joints in URDF - * [BitBucket pull request 48](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/48/fix-for-issue-22-reducing-inertia-across/diff) + * [BitBucket pull request 48](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/48/fix-for-issue-22-reducing-inertia-across/diff) 1. Add element to support terrain paging in gazebo - * [BitBucket pull request 47](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/47/add-element-inside-heightmap/diff) + * [BitBucket pull request 47](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/47/add-element-inside-heightmap/diff) 1. Further reduce console output when using URDF models - * [BitBucket pull request 46](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/46/convert-a-few-more-sdfwarns-to-sdflog-fix/diff) + * [BitBucket pull request 46](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/46/convert-a-few-more-sdfwarns-to-sdflog-fix/diff) * [Commit](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/commits/b15d5a1ecc57abee6691618d02d59bbc3d1b84dc) ### SDFormat 1.4.7 (2013-08-22) 1. Direct console messages to std_err - * [BitBucket pull request 44](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/44/fix-19-direct-all-messages-to-std_err) + * [BitBucket pull request 44](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/44/fix-19-direct-all-messages-to-std_err) ### SDFormat 1.4.6 (2013-08-20) 1. Add tags for GPS sensor and sensor noise - * [BitBucket pull request 36](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/36/gps-sensor-sensor-noise-and-spherical) + * [BitBucket pull request 36](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/36/gps-sensor-sensor-noise-and-spherical) 1. Add tags for wireless transmitter/receiver models - * [BitBucket pull request 34](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/34/transceiver-support) - * [BitBucket pull request 43](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/43/updated-description-of-the-transceiver-sdf) + * [BitBucket pull request 34](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/34/transceiver-support) + * [BitBucket pull request 43](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/43/updated-description-of-the-transceiver-sdf) 1. Add tags for playback of audio files in Gazebo - * [BitBucket pull request 26](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/26/added-audio-tags) - * [BitBucket pull request 35](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/35/move-audio-to-link-and-playback-on-contact) + * [BitBucket pull request 26](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/26/added-audio-tags) + * [BitBucket pull request 35](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/35/move-audio-to-link-and-playback-on-contact) 1. Add tags for simbody physics parameters - * [BitBucket pull request 32](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/32/merging-some-updates-from-simbody-branch) + * [BitBucket pull request 32](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/32/merging-some-updates-from-simbody-branch) 1. Log messages to a file, reduce console output - * [BitBucket pull request 33](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/33/log-messages-to-file-8) + * [BitBucket pull request 33](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/33/log-messages-to-file-8) 1. Generalize ode's element - * [BitBucket pull request 38](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/38/add-provide_feedback-for-bullet-joint) + * [BitBucket pull request 38](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/38/add-provide_feedback-for-bullet-joint) 1. Various bug, style and test fixes ### SDFormat 1.4.5 (2013-07-23) diff --git a/Migration.md b/Migration.md index 3f2622c1b..752c94b1e 100644 --- a/Migration.md +++ b/Migration.md @@ -90,7 +90,7 @@ but with improved human-readability.. 1. **Lump:: prefix in link names** + Changed to \_fixed_joint_lump__ to avoid confusion with scoped names - + [BitBucket pull request 245](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/245) + + [BitBucket pull request 245](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/245) ## SDF protocol 1.5 to 1.6 @@ -177,7 +177,7 @@ but with improved human-readability.. + [BitBucket pull request 495](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/495) 1. **state.sdf** allow `light` tags within `insertions` element - * [BitBucket pull request 325](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-request/325) + * [BitBucket pull request 325](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/325) 1. **surface.sdf** `category_bitmask` element + description: Bitmask for category of collision filtering. diff --git a/sdf/1.4/physics.sdf b/sdf/1.4/physics.sdf index 2cb836fa1..2f50db2e7 100644 --- a/sdf/1.4/physics.sdf +++ b/sdf/1.4/physics.sdf @@ -177,7 +177,7 @@ Flag to enable dynamic rescaling of moment of inertia in constrained directions. See gazebo pull request 1114 for the implementation of this feature. - https://bitbucket.org/osrf/gazebo/pull-request/1114 + https://osrf-migration.github.io/gazebo-gh-pages/#!/osrf/gazebo/pull-request/1114 diff --git a/sdf/1.5/joint.sdf b/sdf/1.5/joint.sdf index abc97508f..fa8ad618a 100644 --- a/sdf/1.5/joint.sdf +++ b/sdf/1.5/joint.sdf @@ -55,7 +55,7 @@ Flag to interpret the axis xyz element in the parent model frame instead of joint frame. Provided for Gazebo compatibility - (see https://bitbucket.org/osrf/gazebo/issue/494 ). + (see https://github.com/osrf/gazebo/issue/494 ). @@ -114,7 +114,7 @@ Flag to interpret the axis xyz element in the parent model frame instead of joint frame. Provided for Gazebo compatibility - (see https://bitbucket.org/osrf/gazebo/issue/494 ). + (see https://github.com/osrf/gazebo/issue/494 ). diff --git a/sdf/1.5/physics.sdf b/sdf/1.5/physics.sdf index f4f0bf918..3e065e76e 100644 --- a/sdf/1.5/physics.sdf +++ b/sdf/1.5/physics.sdf @@ -189,7 +189,7 @@ Flag to enable dynamic rescaling of moment of inertia in constrained directions. See gazebo pull request 1114 for the implementation of this feature. - https://bitbucket.org/osrf/gazebo/pull-request/1114 + https://osrf-migration.github.io/gazebo-gh-pages/#!/osrf/gazebo/pull-request/1114 diff --git a/sdf/1.6/joint.sdf b/sdf/1.6/joint.sdf index 75e3e6388..724e598cd 100644 --- a/sdf/1.6/joint.sdf +++ b/sdf/1.6/joint.sdf @@ -60,7 +60,7 @@ Flag to interpret the axis xyz element in the parent model frame instead of joint frame. Provided for Gazebo compatibility - (see https://bitbucket.org/osrf/gazebo/issue/494 ). + (see https://github.com/osrf/gazebo/issue/494 ). @@ -124,7 +124,7 @@ Flag to interpret the axis xyz element in the parent model frame instead of joint frame. Provided for Gazebo compatibility - (see https://bitbucket.org/osrf/gazebo/issue/494 ). + (see https://github.com/osrf/gazebo/issue/494 ). diff --git a/sdf/1.6/physics.sdf b/sdf/1.6/physics.sdf index e0277e4a2..38c22f633 100644 --- a/sdf/1.6/physics.sdf +++ b/sdf/1.6/physics.sdf @@ -200,7 +200,7 @@ Flag to enable dynamic rescaling of moment of inertia in constrained directions. See gazebo pull request 1114 for the implementation of this feature. - https://bitbucket.org/osrf/gazebo/pull-request/1114 + https://osrf-migration.github.io/gazebo-gh-pages/#!/osrf/gazebo/pull-request/1114 @@ -213,8 +213,8 @@ cone_model: friction force magnitude limited in proportion to normal force. See gazebo pull request 1522 for the implementation of this feature. - https://bitbucket.org/osrf/gazebo/pull-request/1522 - https://bitbucket.org/osrf/gazebo/commits/8c05ad64967c + https://osrf-migration.github.io/gazebo-gh-pages/#!/osrf/gazebo/pull-request/1522 + https://github.com/osrf/gazebo/commit/968dccafdfbfca09c9b3326f855612076fed7e6f diff --git a/sdf/Migration.md b/sdf/Migration.md index cdc63b360..a6e0f945c 100644 --- a/sdf/Migration.md +++ b/sdf/Migration.md @@ -24,14 +24,14 @@ but with improved human-readability. + type: unsigned int + default: 2 + required: 0 - + [pull request 293](https://bitbucket.org/osrf/sdformat/pull-requests/293) + + [Bitbucket pull request 293](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/293) 1. **link.sdf** `enable_wind` element + description: If true, the link is affected by the wind + type: bool + default: false + required: 0 - + [pull request 240](https://bitbucket.org/osrf/sdformat/pull-requests/240) + + [Bitbucket pull request 240](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/240) 1. **model.sdf** `enable_wind` element + description: If set to true, all links in the model @@ -40,14 +40,14 @@ but with improved human-readability. + type: bool + default: false + required: 0 - + [pull request 240](https://bitbucket.org/osrf/sdformat/pull-requests/240) + + [Bitbucket pull request 240](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/240) 1. **model_state.sdf** `scale` element + description: Scale for the 3 dimensions of the model. + type: vector3 + default: "1 1 1" + required: 0 - + [pull request 246](https://bitbucket.org/osrf/sdformat/pull-requests/246) + + [Bitbucket pull request 246](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/246) 1. **physics.sdf** `friction_model` element + description: Name of ODE friction model to use. Valid values include: @@ -55,39 +55,39 @@ but with improved human-readability. in proportion to normal force. + box_model: friction forces limited to constant in two directions. + cone_model: friction force magnitude limited in proportion to normal force. - See [gazebo pull request 1522](https://bitbucket.org/osrf/gazebo/pull-request/1522) - (merged in [gazebo 8c05ad64967c](https://bitbucket.org/osrf/gazebo/commits/8c05ad64967c)) + See [gazebo pull request 1522](https://osrf-migration.github.io/gazebo-gh-pages/#!/osrf/gazebo/pull-request/1522) + (merged in [gazebo 8c05ad64967c](https://github.com/osrf/gazebo/commit/968dccafdfbfca09c9b3326f855612076fed7e6f)) for the implementation of this feature. + type: string + default: "pyramid_model" + required: 0 - + [pull request 294](https://bitbucket.org/osrf/sdformat/pull-requests/294) + + [Bitbucket pull request 294](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/294) 1. **world.sdf** `wind` element + description: The wind tag specifies the type and properties of the wind. + required: 0 - + [pull request 240](https://bitbucket.org/osrf/sdformat/pull-requests/240) + + [Bitbucket pull request 240](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/240) 1. **world.sdf** `wind::linear_velocity` element + description: Linear velocity of the wind. + type: vector3 + default: "0 0 0" + required: 0 - + [pull request 240](https://bitbucket.org/osrf/sdformat/pull-requests/240) + + [Bitbucket pull request 240](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/240) ### Modifications 1. `gravity` and `magnetic_field` elements are moved from `physics` to `world` - + [pull request 247](https://bitbucket.org/osrf/sdformat/pull-requests/247) - + [gazebo pull request 2090](https://bitbucket.org/osrf/gazebo/pull-requests/2090) + + [Bitbucket pull request 247](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/247) + + [gazebo pull request 2090](https://osrf-migration.github.io/gazebo-gh-pages/#!/osrf/gazebo/pull-requests/2090) 1. A new style for representing the noise properties of an `imu` was implemented - in [pull request 199](https://bitbucket.org/osrf/sdformat/pull-requests/199) + in [Bitbucket pull request 199](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/199) for sdf 1.5 and the old style was declared as deprecated. The old style has been removed from sdf 1.6 with the conversion script updating to the new style. - + [pull request 199](https://bitbucket.org/osrf/sdformat/pull-requests/199) - + [pull request 243](https://bitbucket.org/osrf/sdformat/pull-requests/243) - + [pull request 244](https://bitbucket.org/osrf/sdformat/pull-requests/244) + + [Bitbucket pull request 199](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/199) + + [Bitbucket pull request 243](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/243) + + [Bitbucket pull request 244](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/244) diff --git a/src/Param_TEST.cc b/src/Param_TEST.cc index 4ba3571c9..8f9a49396 100644 --- a/src/Param_TEST.cc +++ b/src/Param_TEST.cc @@ -158,7 +158,7 @@ TEST(Param, HexUInt) TEST(Param, HexFloat) { // Microsoft does not parse hex values properly. -// https://bitbucket.org/osrf/sdformat/issues/114 +// https://github.com/osrf/sdformat/issues/114 #ifndef _MSC_VER sdf::Param floatParam("key", "float", "0", false, "description"); float value; @@ -193,7 +193,7 @@ TEST(Param, HexDouble) EXPECT_DOUBLE_EQ(value, 0.0); // Microsoft does not parse hex values properly. -// https://bitbucket.org/osrf/sdformat/issues/114 +// https://github.com/osrf/sdformat/issues/114 #ifndef _MSC_VER EXPECT_TRUE(doubleParam.SetFromString("0x01")); EXPECT_TRUE(doubleParam.Get(value)); From 40ded2a5725b5ad6ca30cdd7ae9b6d54fdd6dc6b Mon Sep 17 00:00:00 2001 From: Jose Luis Rivero Date: Thu, 11 Jun 2020 15:59:57 +0200 Subject: [PATCH 03/16] Patch popen/pclose method for Windows Signed-off-by: Jose Luis Rivero --- src/ign_TEST.cc | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/src/ign_TEST.cc b/src/ign_TEST.cc index dc21740dd..2ea18410a 100644 --- a/src/ign_TEST.cc +++ b/src/ign_TEST.cc @@ -23,6 +23,11 @@ #include "sdf/sdf_config.h" #include "test_config.h" +#ifdef _WIN32 + #define popen _popen + #define pclose _pclose +#endif + static const std::string g_sdfVersion(" --force-version " + std::string(SDF_VERSION_FULL)); static const std::string g_ignCommand(std::string(IGN_PATH) + "/ign"); From 38480665de9f13d4fe0328ac39f35863f3db437d Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Tue, 16 Mar 2021 15:27:24 -0700 Subject: [PATCH 04/16] Parse rpyOffset as radians (#497) Signed-off-by: Ian Chen --- src/parser_urdf.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/parser_urdf.cc b/src/parser_urdf.cc index 5380da09f..39774457f 100644 --- a/src/parser_urdf.cc +++ b/src/parser_urdf.cc @@ -3467,7 +3467,7 @@ void ReduceSDFExtensionPluginFrameReplace( TiXmlNode* rpyKey = (*_blobIt)->FirstChild("rpyOffset"); if (rpyKey) { - urdf::Vector3 rpy = ParseVector3(rpyKey, M_PI/180.0); + urdf::Vector3 rpy = ParseVector3(rpyKey); _reductionTransform.Rot() = ignition::math::Quaterniond::EulerToQuaternion(rpy.x, rpy.y, rpy.z); // remove xyzOffset and rpyOffset From 3571e626f49edc33cfa363a03b60f099e5f66f55 Mon Sep 17 00:00:00 2001 From: Jose Luis Rivero Date: Mon, 7 Jun 2021 14:01:41 -0700 Subject: [PATCH 05/16] Merge pull request #580 from osrf/sdf6_pr606_backport Backport sdf6: Move recursiveSameTypeUniqueNames from ign.cc to parser.cc --- Changelog.md | 3 +++ Migration.md | 5 +++++ include/sdf/parser.hh | 9 +++++++++ src/ign.cc | 35 +---------------------------------- src/parser.cc | 27 +++++++++++++++++++++++++++ src/parser_TEST.cc | 29 ++++++++++++++++++++++++++++- 6 files changed, 73 insertions(+), 35 deletions(-) diff --git a/Changelog.md b/Changelog.md index 9b5c91a0f..6c13d1c5a 100644 --- a/Changelog.md +++ b/Changelog.md @@ -2,6 +2,9 @@ ### SDFormat 6.X.X (20XX-XX-XX) +1. Move recursiveSameTypeUniqueNames from ign.cc to parser.cc and make public. + * [Pull request 580](https://github.com/osrf/sdformat/pull/580) + 1. Parse urdf files to sdf 1.5 instead of 1.4 to avoid `use_parent_model_frame`. * [BitBucket pull request 575](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/575) diff --git a/Migration.md b/Migration.md index 752c94b1e..59b70dc8f 100644 --- a/Migration.md +++ b/Migration.md @@ -14,6 +14,11 @@ but with improved human-readability.. ## SDFormat 5.x to 6.x +### Additions + +1. **sdf/parser.hh** + + bool recursiveSameTypeUniqueNames(sdf::ElementPtr) + ### Deprecations 1. **sdf/Types.hh** diff --git a/include/sdf/parser.hh b/include/sdf/parser.hh index 1af5c4373..2884ba688 100644 --- a/include/sdf/parser.hh +++ b/include/sdf/parser.hh @@ -141,5 +141,14 @@ namespace sdf SDFORMAT_VISIBLE bool convertString(const std::string &_sdfString, const std::string &_version, SDFPtr _sdf); + + /// \brief Check that all sibling elements of the same type have unique names. + /// This checks recursively and should check the files exhaustively + /// rather than terminating early when the first duplicate name is found. + /// \param[in] _elem sdf Element to check recursively. + /// \return True if all contained elements have do not share a name with + /// sibling elements of the same type. + SDFORMAT_VISIBLE + bool recursiveSameTypeUniqueNames(sdf::ElementPtr _elem); } #endif diff --git a/src/ign.cc b/src/ign.cc index 806643119..4b7169b62 100644 --- a/src/ign.cc +++ b/src/ign.cc @@ -23,39 +23,6 @@ #include "sdf/parser.hh" #include "sdf/system_util.hh" -////////////////////////////////////////////////// -/// \brief Check that all sibling elements of the same type have unique names. -/// This checks recursively and should check the files exhaustively -/// rather than terminating early when the first duplicate name is found. -/// \param[in] _elem sdf Element to check recursively. -/// \return True if all contained elements have do not share a name with -/// sibling elements of the same type. -bool recursiveSameTypeUniqueNames(sdf::ElementPtr _elem) -{ - bool result = true; - auto typeNames = _elem->GetElementTypeNames(); - for (const std::string &typeName : typeNames) - { - if (!_elem->HasUniqueChildNames(typeName)) - { - std::cerr << "Non-unique names detected in type " - << typeName << " in\n" - << _elem->ToString("") - << std::endl; - result = false; - } - } - - sdf::ElementPtr child = _elem->GetFirstElement(); - while (child) - { - result = recursiveSameTypeUniqueNames(child) && result; - child = child->GetNextElement(); - } - - return result; -} - ////////////////////////////////////////////////// // cppcheck-suppress unusedFunction extern "C" SDFORMAT_VISIBLE int cmdCheck(const char *_path) @@ -80,7 +47,7 @@ extern "C" SDFORMAT_VISIBLE int cmdCheck(const char *_path) return -1; } - if (!recursiveSameTypeUniqueNames(sdf->Root())) + if (!sdf::recursiveSameTypeUniqueNames(sdf->Root())) { std::cerr << "Error: non-unique names detected.\n"; return -1; diff --git a/src/parser.cc b/src/parser.cc index bdffa50ce..037798e32 100644 --- a/src/parser.cc +++ b/src/parser.cc @@ -1208,4 +1208,31 @@ bool convertString(const std::string &_sdfString, const std::string &_version, return false; } + +////////////////////////////////////////////////// +bool recursiveSameTypeUniqueNames(sdf::ElementPtr _elem) +{ + bool result = true; + auto typeNames = _elem->GetElementTypeNames(); + for (const std::string &typeName : typeNames) + { + if (!_elem->HasUniqueChildNames(typeName)) + { + std::cerr << "Non-unique names detected in type " + << typeName << " in\n" + << _elem->ToString("") + << std::endl; + result = false; + } + } + + sdf::ElementPtr child = _elem->GetFirstElement(); + while (child) + { + result = recursiveSameTypeUniqueNames(child) && result; + child = child->GetNextElement(); + } + + return result; +} } diff --git a/src/parser_TEST.cc b/src/parser_TEST.cc index d49e0dca6..22250b916 100644 --- a/src/parser_TEST.cc +++ b/src/parser_TEST.cc @@ -18,9 +18,10 @@ #include #include "sdf/parser.hh" #include "sdf/Element.hh" +#include "test_config.h" ///////////////////////////////////////////////// -TEST(parser, initStringTrim) +TEST(Parser, initStringTrim) { sdf::SDFPtr sdf(new sdf::SDF()); std::ostringstream stream; @@ -48,6 +49,32 @@ TEST(parser, initStringTrim) EXPECT_TRUE(attr->GetRequired()); } +///////////////////////////////////////////////// +/// Tests whether the input sdf string satisfies the unique name criteria among +/// same types +sdf::SDFPtr InitSDF() +{ + sdf::SDFPtr sdf(new sdf::SDF()); + sdf::init(sdf); + return sdf; +} + +///////////////////////////////////////////////// +TEST(Parser, NameUniqueness) +{ + std::string pathBase = PROJECT_SOURCE_PATH; + pathBase += "/test/sdf"; + + // Check an SDF file with sibling elements of the same type (world) + // that have duplicate names. + { + std::string path = pathBase +"/world_duplicate.sdf"; + sdf::SDFPtr sdf = InitSDF(); + EXPECT_TRUE(sdf::readFile(path, sdf)); + EXPECT_FALSE(sdf::recursiveSameTypeUniqueNames(sdf->Root())); + } +} + ///////////////////////////////////////////////// /// Main int main(int argc, char **argv) From 4d0ca5218bf260c2d9811f58b8e14032d5d32e4c Mon Sep 17 00:00:00 2001 From: Jose Luis Rivero Date: Mon, 7 Jun 2021 16:42:30 -0700 Subject: [PATCH 06/16] Prepare 6.3.0 release (#587) * Prepare version 6.3.0 * Add entry in Changelog for 497 --- CMakeLists.txt | 2 +- Changelog.md | 3 +++ 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index a25b421fc..911714956 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -28,7 +28,7 @@ string (TOLOWER ${PROJECT_NAME} PROJECT_NAME_LOWER) set (SDF_PROTOCOL_VERSION 1.6) set (SDF_MAJOR_VERSION 6) -set (SDF_MINOR_VERSION 2) +set (SDF_MINOR_VERSION 3) set (SDF_PATCH_VERSION 0) set (SDF_VERSION ${SDF_MAJOR_VERSION}.${SDF_MINOR_VERSION}) diff --git a/Changelog.md b/Changelog.md index 6c13d1c5a..eae3784b8 100644 --- a/Changelog.md +++ b/Changelog.md @@ -5,6 +5,9 @@ 1. Move recursiveSameTypeUniqueNames from ign.cc to parser.cc and make public. * [Pull request 580](https://github.com/osrf/sdformat/pull/580) +1. Parse rpyOffset as radians + * [Pull request 497](https://github.com/osrf/sdformat/pull/497) + 1. Parse urdf files to sdf 1.5 instead of 1.4 to avoid `use_parent_model_frame`. * [BitBucket pull request 575](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/575) From e17aef4392b36019c4f64337ca672864857d5676 Mon Sep 17 00:00:00 2001 From: Jose Luis Rivero Date: Wed, 30 Jun 2021 14:34:15 +0200 Subject: [PATCH 07/16] Fix flattening logic for nested model names (sdf6) (#597) * Fix flattening logic for composed names in nested models When nested models use names composed by several elements (i.e: my_model::link) these were not converted by the flattening logic inside parser.cc. The change makes the logic to work with composed names. Added a test to check that this is indeed working as expected. Signed-off-by: Jose Luis Rivero --- src/parser.cc | 32 +++++++----- .../model/nested_names_test/model.config | 14 ++++++ .../model/nested_names_test/submodel_test.sdf | 21 ++++++++ test/integration/nested_model.cc | 50 +++++++++++++++++++ 4 files changed, 105 insertions(+), 12 deletions(-) create mode 100644 test/integration/model/nested_names_test/model.config create mode 100644 test/integration/model/nested_names_test/submodel_test.sdf diff --git a/src/parser.cc b/src/parser.cc index 037798e32..bfd1973ca 100644 --- a/src/parser.cc +++ b/src/parser.cc @@ -1074,11 +1074,18 @@ void addNestedModel(ElementPtr _sdf, ElementPtr _includeSDF) std::string modelName = modelPtr->Get("name"); while (elem) { - if (elem->GetName() == "link") + // protect elements that should not change the name attribute + // i.e: plugin + if ((elem->GetName() == "link") || (elem->GetName() == "joint") || + (elem->GetName() == "model")) { std::string elemName = elem->Get("name"); std::string newName = modelName + "::" + elemName; replace[elemName] = newName; + } + + if (elem->GetName() == "link") + { if (elem->HasElementDescription("pose")) { ignition::math::Pose3d offsetPose = @@ -1092,11 +1099,6 @@ void addNestedModel(ElementPtr _sdf, ElementPtr _includeSDF) } else if (elem->GetName() == "joint") { - // for joints, we need to - // prefix name like we did with links, and - std::string elemName = elem->Get("name"); - std::string newName = modelName + "::" + elemName; - replace[elemName] = newName; // rotate the joint axis because they are model-global if (elem->HasElement("axis")) { @@ -1113,12 +1115,18 @@ void addNestedModel(ElementPtr _sdf, ElementPtr _includeSDF) for (std::map::iterator iter = replace.begin(); iter != replace.end(); ++iter) { - replace_all(str, std::string("\"") + iter->first + "\"", - std::string("\"") + iter->second + "\""); - replace_all(str, std::string("'") + iter->first + "'", - std::string("'") + iter->second + "'"); - replace_all(str, std::string(">") + iter->first + "<", - std::string(">") + iter->second + "<"); + std::string oldName(iter->first); + std::string nameWithNestedPrefix(iter->second); + replace_all(str, std::string("\"") + oldName + "\"", + std::string("\"") + nameWithNestedPrefix + "\""); + replace_all(str, std::string("'") + oldName + "'", + std::string("'") + nameWithNestedPrefix + "'"); + replace_all(str, std::string(">") + oldName + "<", + std::string(">") + nameWithNestedPrefix + "<"); + // Deal with nested model inside other nested model and already with + // ::namespace:: entries in the name + replace_all(str, std::string(">") + oldName + "::", + std::string(">") + nameWithNestedPrefix + "::"); } _includeSDF->ClearElements(); diff --git a/test/integration/model/nested_names_test/model.config b/test/integration/model/nested_names_test/model.config new file mode 100644 index 000000000..6bb3d1f60 --- /dev/null +++ b/test/integration/model/nested_names_test/model.config @@ -0,0 +1,14 @@ + + + + Submodel + 0.1.0 + submodel_test.sdf + + Christina Gomez + cgomez@swri.org + + + A hinged door with two handles + + diff --git a/test/integration/model/nested_names_test/submodel_test.sdf b/test/integration/model/nested_names_test/submodel_test.sdf new file mode 100644 index 000000000..2bd5d5294 --- /dev/null +++ b/test/integration/model/nested_names_test/submodel_test.sdf @@ -0,0 +1,21 @@ + + + + + 0.06 -0.0005 0 0 -0 0 + + + + + + + subnested_model + subnested_model::link1 + + + + main_model_prefix::subnested_model::link1 + joint1 + + + diff --git a/test/integration/nested_model.cc b/test/integration/nested_model.cc index 94ec7564d..48c2583c6 100644 --- a/test/integration/nested_model.cc +++ b/test/integration/nested_model.cc @@ -24,6 +24,8 @@ #include "sdf/sdf.hh" +#include "test_config.h" + //////////////////////////////////////// // Test parsing nested model with joint TEST(NestedModel, NestedModel) @@ -239,3 +241,51 @@ TEST(NestedModel, State) EXPECT_EQ(nestedLinkStateElem->Get("wrench"), ignition::math::Pose3d(0, 0, 0, 0, 0, 0)); } + +//////////////////////////////////////// +// Test parsing a include element that has a pose element and includes a +// submodel +TEST(NestedModel, IncludeFlatteningNames) +{ + const std::string MODEL_PATH = + sdf::filesystem::append(PROJECT_SOURCE_PATH, "test", "integration", + "model", "nested_names_test"); + + std::ostringstream stream; + std::string version = SDF_VERSION; + stream + << "" + << "" + << " " + << " " + MODEL_PATH +"" + << " " + << "" + << ""; + + sdf::SDFPtr sdfParsed(new sdf::SDF()); + sdf::init(sdfParsed); + ASSERT_TRUE(sdf::readString(stream.str(), sdfParsed)); + + sdf::ElementPtr modelElem = sdfParsed->Root()->GetElement("model"); + EXPECT_EQ(modelElem->Get("name"), "top_level_model"); + + sdf::ElementPtr linkElem = modelElem->GetElement("link"); + EXPECT_EQ(linkElem->Get("name"), "main_model_prefix::frame"); + + sdf::ElementPtr jointElem = modelElem->GetElement("joint"); + EXPECT_EQ(jointElem->Get("name"), "main_model_prefix::joint1"); + EXPECT_EQ(jointElem->Get("parent"), + "main_model_prefix::subnested_model"); + EXPECT_EQ(jointElem->Get("child"), + "main_model_prefix::subnested_model::link1") << + "Flattening logic for nested models failed (check parser.cc)"; + + sdf::ElementPtr joint2Elem = jointElem->GetNextElement("joint"); + EXPECT_EQ(joint2Elem->Get("name"), "main_model_prefix::joint2"); + EXPECT_EQ(joint2Elem->Get("parent"), + "main_model_prefix::subnested_model::link1") << + "Flattening logic for nested models failed (check parser.cc)"; + EXPECT_EQ(joint2Elem->Get("child"), + "main_model_prefix::joint1") << + "Flattening logic for nested models failed (check parser.cc)"; +} From 41a2c3c165cbf84c1f4adc69586b4fc63fa42aa2 Mon Sep 17 00:00:00 2001 From: Jose Luis Rivero Date: Wed, 30 Jun 2021 20:48:03 +0200 Subject: [PATCH 08/16] Translate poses of nested models inside other nested models (sdf6) (#596) Translate poses of nested models inside other nested models When addNestedModel function is called, it processes links and joints to translate the pose accordingly to parent pose. This was not done for nested models inside the SDF being processed. The change includes nested models in the same way that is doing for links and add a test that fails without the change. Signed-off-by: Jose Luis Rivero Co-authored-by: Addisu Z. Taddese --- src/parser.cc | 2 +- test/integration/frame.cc | 60 +++++++++++++++++++ .../model/box_with_submodel/model.config | 15 +++++ .../model/box_with_submodel/model.sdf | 13 ++++ 4 files changed, 89 insertions(+), 1 deletion(-) create mode 100644 test/integration/model/box_with_submodel/model.config create mode 100644 test/integration/model/box_with_submodel/model.sdf diff --git a/src/parser.cc b/src/parser.cc index bfd1973ca..f101b1a53 100644 --- a/src/parser.cc +++ b/src/parser.cc @@ -1084,7 +1084,7 @@ void addNestedModel(ElementPtr _sdf, ElementPtr _includeSDF) replace[elemName] = newName; } - if (elem->GetName() == "link") + if ((elem->GetName() == "link") || (elem->GetName() == "model")) { if (elem->HasElementDescription("pose")) { diff --git a/test/integration/frame.cc b/test/integration/frame.cc index 6cd151b3f..f7485d6f8 100644 --- a/test/integration/frame.cc +++ b/test/integration/frame.cc @@ -1255,3 +1255,63 @@ TEST(Frame, IncludeFrame) EXPECT_EQ(modelPoseElem->Get(), ignition::math::Pose3d(5, -2, 1, 0, 0, 0)); } + +//////////////////////////////////////// +// Test parsing a include element that has a pose element and includes a +// submodel +TEST(Frame, IncludeFrameWithSubmodel) +{ + const std::string MODEL_PATH = + sdf::filesystem::append(PROJECT_SOURCE_PATH, "test", "integration", + "model", "box_with_submodel"); + + std::ostringstream stream; + std::string version = SDF_VERSION; + stream + << "" + << "" + << "" + << " " + << " false" + << " 5 5 0 0 0 0" + << " " + MODEL_PATH +"" + << " " + << "" + << "" + << ""; + + sdf::SDFPtr sdfParsed(new sdf::SDF()); + sdf::init(sdfParsed); + ASSERT_TRUE(sdf::readString(stream.str(), sdfParsed)); + sdf::ElementPtr worldElem = sdfParsed->Root()->GetElement("world"); + + /* top level model: using include will merge top_level_model and box_with_submodel into: + * + * + * 5 5 0 0 -0 0 <<-- pose has been translated + * + * + * ... + * + * + */ + sdf::ElementPtr modelElem = worldElem->GetElement("model"); + EXPECT_EQ(modelElem->Get("name"), "top_level_model"); + sdf::ElementPtr modelPoseElem = modelElem->GetElement("link")->GetElement("pose"); + EXPECT_EQ(modelPoseElem->Get(), + ignition::math::Pose3d(5, 5, 0, 0, 0, 0)); + /* submodel: pose from parent is translated to model. links are the same + * ... + * + * + * 0 0 0 0 -0 0 + * + * 5 5 0 0 -0 0 + * + */ + sdf::ElementPtr subModelElem = modelElem->GetElement("model"); + EXPECT_EQ(subModelElem->Get("name"), "box_with_submodel::submodel_of_box_with_submodel"); + sdf::ElementPtr subModelPoseElem = subModelElem->GetElement("pose"); + EXPECT_EQ(subModelPoseElem->Get(), + ignition::math::Pose3d(5, 5, 0, 0, 0, 0)); +} diff --git a/test/integration/model/box_with_submodel/model.config b/test/integration/model/box_with_submodel/model.config new file mode 100644 index 000000000..4db7fabb4 --- /dev/null +++ b/test/integration/model/box_with_submodel/model.config @@ -0,0 +1,15 @@ + + + BoxWithSubmodel + 1.0 + model.sdf + + + Jose Luis Rivero + jrivero@osrfoundation.org + + + + A box with a nested model + + diff --git a/test/integration/model/box_with_submodel/model.sdf b/test/integration/model/box_with_submodel/model.sdf new file mode 100644 index 000000000..be94c6dab --- /dev/null +++ b/test/integration/model/box_with_submodel/model.sdf @@ -0,0 +1,13 @@ + + + + + 0 0 0 0 0 0 + + + + 0 0 0 0 0 0 + + + + From 6deeb06d7c67eb7ecb08d37714003c657b2f6e17 Mon Sep 17 00:00:00 2001 From: Jose Luis Rivero Date: Wed, 7 Jul 2021 14:26:39 +0200 Subject: [PATCH 09/16] Prepare version 6.3.1 (#617) * Prepare version 6.3.1 * Implement github actions for sdf6 branch Signed-off-by: Steve Peters Signed-off-by: Jose Luis Rivero --- .github/ci/after_make_test.sh | 18 ++++++++++++++ .github/ci/packages.apt | 6 +++++ .github/workflows/ci.yml | 25 +++++++++++++++++++ .github/workflows/macos.yml | 45 +++++++++++++++++++++++++++++++++++ CMakeLists.txt | 2 +- Changelog.md | 10 +++++++- test/integration/frame.cc | 6 +++-- 7 files changed, 108 insertions(+), 4 deletions(-) create mode 100644 .github/ci/after_make_test.sh create mode 100644 .github/ci/packages.apt create mode 100644 .github/workflows/ci.yml create mode 100644 .github/workflows/macos.yml diff --git a/.github/ci/after_make_test.sh b/.github/ci/after_make_test.sh new file mode 100644 index 000000000..0aca36841 --- /dev/null +++ b/.github/ci/after_make_test.sh @@ -0,0 +1,18 @@ +#!/bin/sh -l + +set -x + +BUILD_DIR=`pwd` + +# Install +make install + +# Compile examples +cd ../examples +mkdir build; +cd build; +cmake ..; +make; +./simple ../simple.sdf; + +cd $BUILD_DIR diff --git a/.github/ci/packages.apt b/.github/ci/packages.apt new file mode 100644 index 000000000..7cbfeb92a --- /dev/null +++ b/.github/ci/packages.apt @@ -0,0 +1,6 @@ +libignition-math4-dev +libignition-tools-dev +libboost-system-dev +libtinyxml-dev +python-psutil +ruby-dev diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml new file mode 100644 index 000000000..2914eb5d5 --- /dev/null +++ b/.github/workflows/ci.yml @@ -0,0 +1,25 @@ +name: Ubuntu + +on: [push, pull_request] + +jobs: + bionic-ci: + runs-on: ubuntu-latest + name: Ubuntu Bionic CI + steps: + - name: Checkout + uses: actions/checkout@v2 + - name: Compile and test + id: ci + uses: ignition-tooling/action-ignition-ci@bionic + with: + codecov-enabled: true + focal-ci: + runs-on: ubuntu-latest + name: Ubuntu Focal CI + steps: + - name: Checkout + uses: actions/checkout@v2 + - name: Compile and test + id: ci + uses: ignition-tooling/action-ignition-ci@focal diff --git a/.github/workflows/macos.yml b/.github/workflows/macos.yml new file mode 100644 index 000000000..870858218 --- /dev/null +++ b/.github/workflows/macos.yml @@ -0,0 +1,45 @@ +name: macOS latest + +on: [push, pull_request] + +jobs: + build: + + env: + PACKAGE: sdformat6 + runs-on: macos-latest + steps: + - uses: actions/checkout@v2 + - name: Set up Homebrew + id: set-up-homebrew + uses: Homebrew/actions/setup-homebrew@master + - run: brew config + + - name: Install base dependencies + run: | + brew tap osrf/simulation; + brew install --only-dependencies ${PACKAGE}; + + - run: mkdir build + - name: cmake + working-directory: build + run: cmake .. -DCMAKE_INSTALL_PREFIX=/usr/local/Cellar/${PACKAGE}/HEAD + - run: make + working-directory: build + - run: make test + working-directory: build + env: + CTEST_OUTPUT_ON_FAILURE: 1 + - name: make install + working-directory: build + run: | + make install; + brew link ${PACKAGE}; + - name: Compile example code + working-directory: examples + run: | + mkdir build; + cd build; + cmake ..; + make; + ./simple ../simple.sdf; diff --git a/CMakeLists.txt b/CMakeLists.txt index 911714956..3d401f1bc 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -29,7 +29,7 @@ set (SDF_PROTOCOL_VERSION 1.6) set (SDF_MAJOR_VERSION 6) set (SDF_MINOR_VERSION 3) -set (SDF_PATCH_VERSION 0) +set (SDF_PATCH_VERSION 1) set (SDF_VERSION ${SDF_MAJOR_VERSION}.${SDF_MINOR_VERSION}) set (SDF_VERSION_FULL ${SDF_MAJOR_VERSION}.${SDF_MINOR_VERSION}.${SDF_PATCH_VERSION}) diff --git a/Changelog.md b/Changelog.md index eae3784b8..47af0b3cd 100644 --- a/Changelog.md +++ b/Changelog.md @@ -1,6 +1,14 @@ ## SDFormat 6.0 -### SDFormat 6.X.X (20XX-XX-XX) +### SDFormat 6.3.1 (2021-07-06) + +1. Fix flattening logic for nested model names + * [Pull request 597](https://github.com/osrf/sdformat/pull/597) + +1. Translate poses of nested models inside other nested models + * [Pull request 596](https://github.com/osrf/sdformat/pull/596) + +### SDFormat 6.3.0 (2021-06-21) 1. Move recursiveSameTypeUniqueNames from ign.cc to parser.cc and make public. * [Pull request 580](https://github.com/osrf/sdformat/pull/580) diff --git a/test/integration/frame.cc b/test/integration/frame.cc index f7485d6f8..0394b0638 100644 --- a/test/integration/frame.cc +++ b/test/integration/frame.cc @@ -1297,7 +1297,8 @@ TEST(Frame, IncludeFrameWithSubmodel) */ sdf::ElementPtr modelElem = worldElem->GetElement("model"); EXPECT_EQ(modelElem->Get("name"), "top_level_model"); - sdf::ElementPtr modelPoseElem = modelElem->GetElement("link")->GetElement("pose"); + sdf::ElementPtr modelPoseElem = + modelElem->GetElement("link")->GetElement("pose"); EXPECT_EQ(modelPoseElem->Get(), ignition::math::Pose3d(5, 5, 0, 0, 0, 0)); /* submodel: pose from parent is translated to model. links are the same @@ -1310,7 +1311,8 @@ TEST(Frame, IncludeFrameWithSubmodel) * */ sdf::ElementPtr subModelElem = modelElem->GetElement("model"); - EXPECT_EQ(subModelElem->Get("name"), "box_with_submodel::submodel_of_box_with_submodel"); + EXPECT_EQ(subModelElem->Get("name"), + "box_with_submodel::submodel_of_box_with_submodel"); sdf::ElementPtr subModelPoseElem = subModelElem->GetElement("pose"); EXPECT_EQ(subModelPoseElem->Get(), ignition::math::Pose3d(5, 5, 0, 0, 0, 0)); From feec202e7e358f2865ffb433db2147691554a195 Mon Sep 17 00:00:00 2001 From: Steve Peters Date: Tue, 13 Jul 2021 22:51:10 -0700 Subject: [PATCH 10/16] Use Ubuntu bionic in CI (#626) Signed-off-by: Steven Peters --- bitbucket-pipelines.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/bitbucket-pipelines.yml b/bitbucket-pipelines.yml index 1b04f6ee5..d363ade5c 100644 --- a/bitbucket-pipelines.yml +++ b/bitbucket-pipelines.yml @@ -1,4 +1,4 @@ -image: ubuntu:xenial +image: ubuntu:bionic pipelines: default: From f13264e855ddbf60c46f84333077b8766a5bc304 Mon Sep 17 00:00:00 2001 From: Steve Peters Date: Tue, 3 Aug 2021 17:34:16 -0700 Subject: [PATCH 11/16] Create CODEOWNERS with azeey and scpeters (#650) Signed-off-by: Steve Peters --- .github/CODEOWNERS | 4 ++++ 1 file changed, 4 insertions(+) create mode 100644 .github/CODEOWNERS diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS new file mode 100644 index 000000000..fa88665d8 --- /dev/null +++ b/.github/CODEOWNERS @@ -0,0 +1,4 @@ +# More info: +# https://help.github.com/en/github/creating-cloning-and-archiving-repositories/about-code-owners + +* @azeey @scpeters From b06cc1852bd16a609d0e86d592891885aed56ec3 Mon Sep 17 00:00:00 2001 From: Louise Poubel Date: Mon, 23 Aug 2021 19:07:47 -0700 Subject: [PATCH 12/16] =?UTF-8?q?=F0=9F=91=A9=E2=80=8D=F0=9F=8C=BE=20Remov?= =?UTF-8?q?e=20bitbucket-pipelines=20and=20backport=20labeler=20/=20triage?= =?UTF-8?q?=20(#674)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Louise Poubel --- .github/workflows/pr-collection-labeler.yml | 13 ++++++++ .github/workflows/triage.yml | 19 ++++++++++++ bitbucket-pipelines.yml | 34 --------------------- 3 files changed, 32 insertions(+), 34 deletions(-) create mode 100644 .github/workflows/pr-collection-labeler.yml create mode 100644 .github/workflows/triage.yml delete mode 100644 bitbucket-pipelines.yml diff --git a/.github/workflows/pr-collection-labeler.yml b/.github/workflows/pr-collection-labeler.yml new file mode 100644 index 000000000..7d7b4e179 --- /dev/null +++ b/.github/workflows/pr-collection-labeler.yml @@ -0,0 +1,13 @@ +name: PR Collection Labeler + +on: pull_request_target + +jobs: + pr_collection_labeler: + runs-on: ubuntu-latest + steps: + - name: Add collection labels + if: github.event.action == 'opened' + uses: ignition-tooling/pr-collection-labeler@v1 + with: + github-token: ${{ secrets.GITHUB_TOKEN }} diff --git a/.github/workflows/triage.yml b/.github/workflows/triage.yml new file mode 100644 index 000000000..736670e0e --- /dev/null +++ b/.github/workflows/triage.yml @@ -0,0 +1,19 @@ +on: + issues: + types: [opened] + pull_request_target: + types: [opened] +name: Ticket opened +jobs: + assign: + name: Add ticket to inbox + runs-on: ubuntu-latest + steps: + - name: Add ticket to inbox + uses: technote-space/create-project-card-action@v1 + with: + PROJECT: Core development + COLUMN: Inbox + GITHUB_TOKEN: ${{ secrets.TRIAGE_TOKEN }} + CHECK_ORG_PROJECT: true + diff --git a/bitbucket-pipelines.yml b/bitbucket-pipelines.yml deleted file mode 100644 index d363ade5c..000000000 --- a/bitbucket-pipelines.yml +++ /dev/null @@ -1,34 +0,0 @@ -image: ubuntu:bionic - -pipelines: - default: - - step: - script: - # Dependencies - - apt update - - apt -y install cmake build-essential lcov curl git lsb-release wget - libtinyxml-dev libxml2-utils ruby-dev libboost-dev - python-psutil - - sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-latest.list' - - wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add - - - apt update - - apt install -y - libignition-math4-dev - libignition-tools-dev - # SDFormat - - mkdir build - - cd build - - cmake .. -DCMAKE_BUILD_TYPE=coverage - - make -j4 - - make test - - make coverage - - bash <(curl -s https://codecov.io/bash) - - make install - # Examples - - cd .. - - cd examples - - mkdir build - - cd build - - cmake .. - - make -j4 - - ./simple ../simple.sdf From c02aca7fc689592ba10e15baa1f6cea88e405186 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Mon, 30 Aug 2021 13:59:46 -0700 Subject: [PATCH 13/16] Fix xyz and rpy offsets in fixed joint reduction (#500) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * parse rpyOffset as radians Signed-off-by: Ian Chen * update tf for xyz and rpy offsets Signed-off-by: Ian Chen * remove inverse transform function in urdf parser Signed-off-by: Ian Chen * inject corrected_offets tag Signed-off-by: Ian Chen * Fix tag removal logic Signed-off-by: Steven Peters Co-authored-by: Alejandro Hernández Cordero Co-authored-by: Steve Peters --- src/parser_urdf.cc | 41 ++----- test/integration/fixed_joint_reduction.cc | 29 +++++ ...oint_reduction_plugin_frame_extension.urdf | 103 ++++++++++++++++++ 3 files changed, 143 insertions(+), 30 deletions(-) create mode 100644 test/integration/fixed_joint_reduction_plugin_frame_extension.urdf diff --git a/src/parser_urdf.cc b/src/parser_urdf.cc index 39774457f..a83ee21c1 100644 --- a/src/parser_urdf.cc +++ b/src/parser_urdf.cc @@ -219,10 +219,6 @@ std::string Values2str(unsigned int _count, const double *_values); void CreateGeometry(TiXmlElement* _elem, urdf::GeometrySharedPtr _geometry); -ignition::math::Pose3d inverseTransformToParentFrame( - ignition::math::Pose3d _transformInLinkFrame, - urdf::Pose _parentToLinkTransform); - /// reduced fixed joints: transform to parent frame urdf::Pose TransformToParentFrame(urdf::Pose _transformInLinkFrame, urdf::Pose _parentToLinkTransform); @@ -2420,31 +2416,6 @@ ignition::math::Pose3d TransformToParentFrame( return transformInParentLinkFrame; } -///////////////////////////////////////////////// -/// reduced fixed joints: transform to parent frame -ignition::math::Pose3d inverseTransformToParentFrame( - ignition::math::Pose3d _transformInLinkFrame, - urdf::Pose _parentToLinkTransform) -{ - ignition::math::Pose3d transformInParentLinkFrame; - // rotate link pose to parentLink frame - urdf::Rotation ri = _parentToLinkTransform.rotation.GetInverse(); - ignition::math::Quaterniond q1(ri.w, ri.x, ri.y, ri.z); - transformInParentLinkFrame.Pos() = q1 * _transformInLinkFrame.Pos(); - urdf::Rotation r2 = _parentToLinkTransform.rotation.GetInverse(); - ignition::math::Quaterniond q3(r2.w, r2.x, r2.y, r2.z); - transformInParentLinkFrame.Rot() = q3 * _transformInLinkFrame.Rot(); - // translate link to parentLink frame - transformInParentLinkFrame.Pos().X() = transformInParentLinkFrame.Pos().X() - - _parentToLinkTransform.position.x; - transformInParentLinkFrame.Pos().Y() = transformInParentLinkFrame.Pos().Y() - - _parentToLinkTransform.position.y; - transformInParentLinkFrame.Pos().Z() = transformInParentLinkFrame.Pos().Z() - - _parentToLinkTransform.position.z; - - return transformInParentLinkFrame; -} - //////////////////////////////////////////////////////////////////////////////// void ReduceSDFExtensionToParent(urdf::LinkSharedPtr _link) { @@ -3473,14 +3444,21 @@ void ReduceSDFExtensionPluginFrameReplace( // remove xyzOffset and rpyOffset (*_blobIt)->RemoveChild(rpyKey); } + TiXmlNode* correctedOffsetKey = + (*_blobIt)->FirstChild("ignition::corrected_offsets"); + if (correctedOffsetKey) + { + (*_blobIt)->RemoveChild(correctedOffsetKey); + } // pass through the parent transform from fixed joint reduction - _reductionTransform = inverseTransformToParentFrame(_reductionTransform, + _reductionTransform = TransformToParentFrame(_reductionTransform, _link->parent_joint->parent_to_joint_origin_transform); // create new offset xml blocks xyzKey = new TiXmlElement("xyzOffset"); rpyKey = new TiXmlElement("rpyOffset"); + correctedOffsetKey = new TiXmlElement("ignition::corrected_offsets"); // create new offset xml blocks urdf::Vector3 reductionXyz(_reductionTransform.Pos().X(), @@ -3501,12 +3479,15 @@ void ReduceSDFExtensionPluginFrameReplace( TiXmlText* xyzTxt = new TiXmlText(xyzStream.str()); TiXmlText* rpyTxt = new TiXmlText(rpyStream.str()); + TiXmlText* correctedOffsetTxt = new TiXmlText("1"); xyzKey->LinkEndChild(xyzTxt); rpyKey->LinkEndChild(rpyTxt); + correctedOffsetKey->LinkEndChild(correctedOffsetTxt); (*_blobIt)->LinkEndChild(xyzKey); (*_blobIt)->LinkEndChild(rpyKey); + (*_blobIt)->LinkEndChild(correctedOffsetKey); } } } diff --git a/test/integration/fixed_joint_reduction.cc b/test/integration/fixed_joint_reduction.cc index 6e2d5b628..f15080d3c 100644 --- a/test/integration/fixed_joint_reduction.cc +++ b/test/integration/fixed_joint_reduction.cc @@ -48,6 +48,9 @@ const std::string SDF_TEST_FILE_COLLISION_VISUAL_EXTENSION_EMPTY_ROOT = const std::string SDF_TEST_FILE_COLLISION_VISUAL_EXTENSION_EMPTY_ROOT_SDF = sdf::filesystem::append(PROJECT_SOURCE_PATH, "test", "integration", "fixed_joint_reduction_collision_visual_empty_root.sdf"); +const std::string SDF_TEST_FILE_PLUGIN_FRAME_EXTENSION = + sdf::filesystem::append(PROJECT_SOURCE_PATH, "test", "integration", + "fixed_joint_reduction_plugin_frame_extension.urdf"); const double gc_tolerance = 1e-6; @@ -736,3 +739,29 @@ TEST(SDFParser, FixedJointReductionSimple) EXPECT_NEAR(iyz, mapIxyIxzIyz[linkName].Z(), gc_tolerance); } } + +///////////////////////////////////////////////// +// This test uses a urdf that has chained fixed joints with plugin that +// contains bodyName, xyzOffset and rpyOffset. +// Test to make sure the offsets have the correct transfrom and frame of +// reference +TEST(SDFParser, FixedJointReductionPluginFrameExtensionTest) +{ + sdf::SDFPtr robot(new sdf::SDF()); + sdf::init(robot); + ASSERT_TRUE(sdf::readFile(SDF_TEST_FILE_PLUGIN_FRAME_EXTENSION, robot)); + + sdf::ElementPtr model = robot->Root()->GetElement("model"); + sdf::ElementPtr plugin = model->GetElement("plugin"); + + auto xyzOffset = plugin->Get("xyzOffset"); + auto rpyOffset = plugin->Get("rpyOffset"); + auto bodyName = plugin->Get("bodyName"); + EXPECT_EQ("base_link", bodyName); + EXPECT_EQ(ignition::math::Vector3d(-0.707108, 1.70711, 0), xyzOffset); + EXPECT_EQ(ignition::math::Vector3d(0, 0, 1.5708), rpyOffset); + + bool correctedOffset = plugin->Get("ignition::corrected_offsets"); + EXPECT_TRUE(correctedOffset); +} + diff --git a/test/integration/fixed_joint_reduction_plugin_frame_extension.urdf b/test/integration/fixed_joint_reduction_plugin_frame_extension.urdf new file mode 100644 index 000000000..4c2293670 --- /dev/null +++ b/test/integration/fixed_joint_reduction_plugin_frame_extension.urdf @@ -0,0 +1,103 @@ + + + + + /test/plugin/service + /test/plugin/topic + link2 + 100 + 0 0 0 + 0 0 0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From 331ea5386a373fef562280e98023199c0d635aa3 Mon Sep 17 00:00:00 2001 From: Steve Peters Date: Fri, 5 Nov 2021 16:53:02 -0700 Subject: [PATCH 14/16] Fix test file path in fixed_joint_reduction.cc Signed-off-by: Steve Peters --- test/integration/fixed_joint_reduction.cc | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/test/integration/fixed_joint_reduction.cc b/test/integration/fixed_joint_reduction.cc index 6dfbfd5e0..58e5df7ed 100644 --- a/test/integration/fixed_joint_reduction.cc +++ b/test/integration/fixed_joint_reduction.cc @@ -36,6 +36,8 @@ const char SDF_TEST_FILE_COLLISION_VISUAL_EXTENSION_EMPTY_ROOT[] = "fixed_joint_reduction_collision_visual_empty_root.urdf"; const char SDF_TEST_FILE_COLLISION_VISUAL_EXTENSION_EMPTY_ROOT_SDF[] = "fixed_joint_reduction_collision_visual_empty_root.sdf"; +const char SDF_TEST_FILE_PLUGIN_FRAME_EXTENSION[] = + "fixed_joint_reduction_plugin_frame_extension.urdf"; static std::string GetFullTestFilePath(const char *_input) { @@ -744,7 +746,9 @@ TEST(SDFParser, FixedJointReductionPluginFrameExtensionTest) { sdf::SDFPtr robot(new sdf::SDF()); sdf::init(robot); - ASSERT_TRUE(sdf::readFile(SDF_TEST_FILE_PLUGIN_FRAME_EXTENSION, robot)); + ASSERT_TRUE(sdf::readFile( + GetFullTestFilePath(SDF_TEST_FILE_PLUGIN_FRAME_EXTENSION), + robot)); sdf::ElementPtr model = robot->Root()->GetElement("model"); sdf::ElementPtr plugin = model->GetElement("plugin"); From d6fab5984a3b5ae0e8d6a551babad4b4a38c3c2c Mon Sep 17 00:00:00 2001 From: Steve Peters Date: Fri, 5 Nov 2021 16:53:41 -0700 Subject: [PATCH 15/16] Use SemanticPose API in test Signed-off-by: Steve Peters --- test/integration/frame.cc | 40 ++++++++++++++++++++++++++------------- 1 file changed, 27 insertions(+), 13 deletions(-) diff --git a/test/integration/frame.cc b/test/integration/frame.cc index 97d9ce4d9..fd1b89080 100644 --- a/test/integration/frame.cc +++ b/test/integration/frame.cc @@ -1323,10 +1323,13 @@ TEST(Frame, IncludeFrameWithSubmodel) << "" << ""; - sdf::SDFPtr sdfParsed(new sdf::SDF()); - sdf::init(sdfParsed); - ASSERT_TRUE(sdf::readString(stream.str(), sdfParsed)); - sdf::ElementPtr worldElem = sdfParsed->Root()->GetElement("world"); + sdf::Root root; + sdf::Errors errors = root.LoadSdfString(stream.str()); + EXPECT_TRUE(errors.empty()) << errors[0].Message(); + + const sdf::World *world = root.WorldByIndex(0); + ASSERT_NE(nullptr, world); + ASSERT_EQ(1u, world->ModelCount()); /* top level model: using include will merge top_level_model and box_with_submodel into: * @@ -1338,11 +1341,18 @@ TEST(Frame, IncludeFrameWithSubmodel) * * */ - sdf::ElementPtr modelElem = worldElem->GetElement("model"); - EXPECT_EQ(modelElem->Get("name"), "top_level_model"); - sdf::ElementPtr modelPoseElem = - modelElem->GetElement("link")->GetElement("pose"); - EXPECT_EQ(modelPoseElem->Get(), + const sdf::Model *model = world->ModelByIndex(0); + ASSERT_NE(nullptr, model); + EXPECT_EQ(model->Name(), "top_level_model"); + + const sdf::Link *link0 = model->LinkByIndex(0); + ASSERT_NE(nullptr, link0); + EXPECT_EQ(link0->Name(), "box_with_submodel::link"); + + ignition::math::Pose3d linkPose; + sdf::Errors resolveErrors = link0->SemanticPose().Resolve(linkPose); + EXPECT_TRUE(resolveErrors.empty()) << resolveErrors[0].Message(); + EXPECT_EQ(linkPose, ignition::math::Pose3d(5, 5, 0, 0, 0, 0)); /* submodel: pose from parent is translated to model. links are the same * ... @@ -1353,10 +1363,14 @@ TEST(Frame, IncludeFrameWithSubmodel) * 5 5 0 0 -0 0 * */ - sdf::ElementPtr subModelElem = modelElem->GetElement("model"); - EXPECT_EQ(subModelElem->Get("name"), + const sdf::Model *submodel = model->ModelByIndex(0); + ASSERT_NE(nullptr, submodel); + EXPECT_EQ(submodel->Name(), "box_with_submodel::submodel_of_box_with_submodel"); - sdf::ElementPtr subModelPoseElem = subModelElem->GetElement("pose"); - EXPECT_EQ(subModelPoseElem->Get(), + + ignition::math::Pose3d submodelPose; + resolveErrors = submodel->SemanticPose().Resolve(submodelPose); + EXPECT_TRUE(resolveErrors.empty()) << resolveErrors[0].Message(); + EXPECT_EQ(submodelPose, ignition::math::Pose3d(5, 5, 0, 0, 0, 0)); } From 38be09c68fd15e308710717e02f128cca9a1d4da Mon Sep 17 00:00:00 2001 From: Steve Peters Date: Fri, 5 Nov 2021 16:59:58 -0700 Subject: [PATCH 16/16] Include nested model test Signed-off-by: Steve Peters --- test/integration/nested_model.cc | 48 ++++++++++++++++++++++++++++++++ 1 file changed, 48 insertions(+) diff --git a/test/integration/nested_model.cc b/test/integration/nested_model.cc index 29ba5b8b9..e25053537 100644 --- a/test/integration/nested_model.cc +++ b/test/integration/nested_model.cc @@ -243,6 +243,54 @@ TEST(NestedModel, State) ignition::math::Pose3d(0, 0, 0, 0, 0, 0)); } +//////////////////////////////////////// +// Test parsing a include element that has a pose element and includes a +// submodel +TEST(NestedModel, IncludeFlatteningNames) +{ + const std::string MODEL_PATH = + sdf::filesystem::append(PROJECT_SOURCE_PATH, "test", "integration", + "model", "nested_names_test"); + + std::ostringstream stream; + std::string version = SDF_VERSION; + stream + << "" + << "" + << " " + << " " + MODEL_PATH +"" + << " " + << "" + << ""; + + sdf::SDFPtr sdfParsed(new sdf::SDF()); + sdf::init(sdfParsed); + ASSERT_TRUE(sdf::readString(stream.str(), sdfParsed)); + + sdf::ElementPtr modelElem = sdfParsed->Root()->GetElement("model"); + EXPECT_EQ(modelElem->Get("name"), "top_level_model"); + + sdf::ElementPtr linkElem = modelElem->GetElement("link"); + EXPECT_EQ(linkElem->Get("name"), "main_model_prefix::frame"); + + sdf::ElementPtr jointElem = modelElem->GetElement("joint"); + EXPECT_EQ(jointElem->Get("name"), "main_model_prefix::joint1"); + EXPECT_EQ(jointElem->Get("parent"), + "main_model_prefix::subnested_model"); + EXPECT_EQ(jointElem->Get("child"), + "main_model_prefix::subnested_model::link1") << + "Flattening logic for nested models failed (check parser.cc)"; + + sdf::ElementPtr joint2Elem = jointElem->GetNextElement("joint"); + EXPECT_EQ(joint2Elem->Get("name"), "main_model_prefix::joint2"); + EXPECT_EQ(joint2Elem->Get("parent"), + "main_model_prefix::subnested_model::link1") << + "Flattening logic for nested models failed (check parser.cc)"; + EXPECT_EQ(joint2Elem->Get("child"), + "main_model_prefix::joint1") << + "Flattening logic for nested models failed (check parser.cc)"; +} + //////////////////////////////////////// // Test parsing models with joints nested via // Confirm that joint axis rotation is handled differently for 1.4 and 1.5+