Merge pull request #886 from ignitionrobotics/merge12main

Merge 12 -> main
gazebosim · Mar 18, 2022 · e648189 · e648189
2 parents 297aef2 + 0a74524
commit e648189
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diff --git a/.github/ci/before_cmake.sh b/.github/ci/before_cmake.sh
@@ -7,12 +7,17 @@ BUILD_DIR=`pwd`
 cd /tmp
 
 # check that we can compile USD from sources (only Focal)
+# see https://github.com/ignitionrobotics/sdformat/issues/869
+return_code=0
+if [ "$(lsb_release -r -s)" != "20.04" ]; then
+  return_code=$(($return_code + 1))
+fi
+
 mkdir cmake_test
 cd cmake_test
 
 echo "cmake_minimum_required(VERSION 3.12)" > CMakeLists.txt
 
-return_code=0
 cmake . || return_code=$(($return_code + $?))
 if [ $return_code -eq 0 ]
 then

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -21,3 +21,12 @@ jobs:
           codecov-enabled: true
           cppcheck-enabled: true
           cpplint-enabled: true
+  jammy-ci:
+    runs-on: ubuntu-latest
+    name: Ubuntu Jammy CI
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Compile and test
+        id: ci
+        uses: ignition-tooling/action-ignition-ci@jammy
diff --git a/Changelog.md b/Changelog.md
@@ -5,6 +5,123 @@
 
 ## libsdformat 12.X
 
+### libsdformat 12.4.0 (2022-03-xx)
+
+1. SDF -> USD:
+    * [Pull request #818](https://github.com/ignitionrobotics/sdformat/pull/818)
+    * [Pull request #828](https://github.com/ignitionrobotics/sdformat/pull/828)
+    * [Pull request #829](https://github.com/ignitionrobotics/sdformat/pull/829)
+    * [Pull request #830](https://github.com/ignitionrobotics/sdformat/pull/830)
+    * [Pull request #831](https://github.com/ignitionrobotics/sdformat/pull/831)
+    * [Pull request #837](https://github.com/ignitionrobotics/sdformat/pull/837)
+
+1. ToElement
+    * [Pull request #771](https://github.com/ignitionrobotics/sdformat/pull/771)
+    * [Pull request #772](https://github.com/ignitionrobotics/sdformat/pull/772)
+    * [Pull request #775](https://github.com/ignitionrobotics/sdformat/pull/775)
+    * [Pull request #776](https://github.com/ignitionrobotics/sdformat/pull/776)
+    * [Pull request #777](https://github.com/ignitionrobotics/sdformat/pull/777)
+    * [Pull request #781](https://github.com/ignitionrobotics/sdformat/pull/781)
+    * [Pull request #782](https://github.com/ignitionrobotics/sdformat/pull/782)
+    * [Pull request #783](https://github.com/ignitionrobotics/sdformat/pull/783)
+
+1. Fix compiler warnings
+    * [Pull request #808](https://github.com/ignitionrobotics/sdformat/pull/808)
+    * [Pull request #810](https://github.com/ignitionrobotics/sdformat/pull/810)
+
+1. Infrastructure and Documentation
+    * [Pull request #861](https://github.com/ignitionrobotics/sdformat/pull/861)
+    * [Pull request #800](https://github.com/ignitionrobotics/sdformat/pull/800)
+    * [Pull request #686](https://github.com/ignitionrobotics/sdformat/pull/686)
+    * [Pull request #713](https://github.com/ignitionrobotics/sdformat/pull/713)
+
+1. Use the Plugin DOM in other DOM objects
+    * [Pull request #858](https://github.com/ignitionrobotics/sdformat/pull/858)
+
+1. Add SDFormat tags for Triggered Cameras
+    * [Pull request #846](https://github.com/ignitionrobotics/sdformat/pull/846)
+
+1. Fix bug where //include/pose was ignored when using the Interface API 
+    * [Pull request #853](https://github.com/ignitionrobotics/sdformat/pull/853)
+
+1. Fix joint parent/child frame existence checks to include interface elements
+    * [Pull request #855](https://github.com/ignitionrobotics/sdformat/pull/855)
+
+1. Remove USD visibility macro from internal APIs
+    * [Pull request #857](https://github.com/ignitionrobotics/sdformat/pull/857)
+
+1. Added non-const mutable accessors for world child objects
+    * [Pull request #840](https://github.com/ignitionrobotics/sdformat/pull/840)
+
+1. Added non-const accessors for Model child objects
+    * [Pull request #839](https://github.com/ignitionrobotics/sdformat/pull/839)
+
+1. Added to light if the light is on or off
+    * [Pull request #851](https://github.com/ignitionrobotics/sdformat/pull/851)
+
+1. Added Root mutable accessors, and Root::Clone function
+    * [Pull request #841](https://github.com/ignitionrobotics/sdformat/pull/841)
+
+1. Hide USDUtils.hh file from public API
+    * [Pull request #850](https://github.com/ignitionrobotics/sdformat/pull/850)
+
+1. Added non-const accessors for Link child objects
+    * [Pull request #838](https://github.com/ignitionrobotics/sdformat/pull/838)
+
+1. Add USDError class
+    * [Pull request #836](https://github.com/ignitionrobotics/sdformat/pull/836)
+
+1. Use USD component visibility macro
+    * [Pull request #849](https://github.com/ignitionrobotics/sdformat/pull/849)
+
+1. Add support for merge-include in the Interface API 
+    * [Pull request #768](https://github.com/ignitionrobotics/sdformat/pull/768)
+
+1. Handle `__model__` in joint parent or child when using merge-include
+    * [Pull request #835](https://github.com/ignitionrobotics/sdformat/pull/835)
+
+1. Allow model frames (__model__) to be used as joint parent or child
+    * [Pull request #833](https://github.com/ignitionrobotics/sdformat/pull/833)
+
+1. Fix bug where a sdf::ParserConfig object was not passed to all sdf::readFile calls
+    * [Pull request #824](https://github.com/ignitionrobotics/sdformat/pull/824)
+
+1. Make SDF to USD a separate component of sdformat
+    * [Pull request #817](https://github.com/ignitionrobotics/sdformat/pull/817)
+
+1. Add ParserConfig flag for preserveFixedJoint
+    * [Pull request #815](https://github.com/ignitionrobotics/sdformat/pull/815)
+
+1. Fix parsing 'type' attibutes in plugins
+    * [Pull request #809](https://github.com/ignitionrobotics/sdformat/pull/809)
+
+1. sdf_custom: fix nested model expectations
+    * [Pull request #807](https://github.com/ignitionrobotics/sdformat/pull/807)
+
+1. Replace custom cmake code with ign-cmake2
+    * [Pull request #780](https://github.com/ignitionrobotics/sdformat/pull/780)
+
+1. Support printing sdf poses in degrees and allow snapping to commonly used angles
+    * [Pull request #689](https://github.com/ignitionrobotics/sdformat/pull/689)
+
+1. Refactor FrameSemantics.cc
+    * [Pull request #764](https://github.com/ignitionrobotics/sdformat/pull/764)
+
+1. Fix loading nested include with custom attributes
+    * [Pull request #789](https://github.com/ignitionrobotics/sdformat/pull/789)
+
+1. Added plugin to SDF DOM
+    * [Pull request #788](https://github.com/ignitionrobotics/sdformat/pull/788)
+
+1. Support URI in the Model DOM
+    * [Pull request #786](https://github.com/ignitionrobotics/sdformat/pull/786)
+
+1. Support adding and clearing sensors from a joint
+    * [Pull request #785](https://github.com/ignitionrobotics/sdformat/pull/785)
+
+1. PrintConfig option to preserve includes when converting to string
+    * [Pull request #749](https://github.com/ignitionrobotics/sdformat/pull/749)
+
 ### libsdformat 12.3.0 (2021-12-01)
 
 1. Fix empty pose parsing fail for rotation_format='quat_xyzw' 

diff --git a/src/parser.cc b/src/parser.cc
@@ -155,7 +155,9 @@ static bool isSdfFile(const std::string &_fileName)
 
 //////////////////////////////////////////////////
 template <typename TPtr>
-static inline bool _initFile(const std::string &_filename, TPtr _sdf)
+static inline bool _initFile(const std::string &_filename,
+                             const ParserConfig &_config,
+                             TPtr _sdf)
 {
   auto xmlDoc = makeSdfDoc();
   if (tinyxml2::XML_SUCCESS != xmlDoc.LoadFile(_filename.c_str()))
@@ -165,7 +167,7 @@ static inline bool _initFile(const std::string &_filename, TPtr _sdf)
     return false;
   }
 
-  return initDoc(&xmlDoc, _sdf);
+  return initDoc(&xmlDoc, _config, _sdf);
 }
 
 //////////////////////////////////////////////////
@@ -181,7 +183,9 @@ static inline bool _initFile(const std::string &_filename, TPtr _sdf)
 /// \param[out] _errors Captures errors encountered during parsing.
 static void insertIncludedElement(sdf::SDFPtr _includeSDF,
                                   const SourceLocation &_sourceLoc, bool _merge,
-                                  sdf::ElementPtr _parent, sdf::Errors &_errors)
+                                  sdf::ElementPtr _parent,
+                                  const ParserConfig &_config,
+                                  sdf::Errors &_errors)
 {
   Error invalidFileError(ErrorCode::FILE_READ,
                          "Included model is invalid. Skipping model.");
@@ -230,7 +234,7 @@ static void insertIncludedElement(sdf::SDFPtr _includeSDF,
   // We create a throwaway sdf::Root object in order to validate the
   // included entity.
   sdf::Root includedRoot;
-  sdf::Errors includeDOMerrors = includedRoot.Load(_includeSDF);
+  sdf::Errors includeDOMerrors = includedRoot.Load(_includeSDF, _config);
   _errors.insert(_errors.end(), includeDOMerrors.begin(),
                  includeDOMerrors.end());
 
@@ -369,7 +373,7 @@ bool init(SDFPtr _sdf)
   std::string xmldata = SDF::EmbeddedSpec("root.sdf", false);
   auto xmlDoc = makeSdfDoc();
   xmlDoc.Parse(xmldata.c_str());
-  return initDoc(&xmlDoc, _sdf);
+  return initDoc(&xmlDoc, ParserConfig::GlobalConfig(), _sdf);
 }
 
 //////////////////////////////////////////////////
@@ -387,9 +391,10 @@ bool initFile(
   {
     auto xmlDoc = makeSdfDoc();
     xmlDoc.Parse(xmldata.c_str());
-    return initDoc(&xmlDoc, _sdf);
+    return initDoc(&xmlDoc, _config, _sdf);
   }
-  return _initFile(sdf::findFile(_filename, true, false, _config), _sdf);
+  return _initFile(sdf::findFile(_filename, true, false, _config), _config,
+                   _sdf);
 }
 
 //////////////////////////////////////////////////
@@ -407,14 +412,15 @@ bool initFile(
   {
     auto xmlDoc = makeSdfDoc();
     xmlDoc.Parse(xmldata.c_str());
-    return initDoc(&xmlDoc, _sdf);
+    return initDoc(&xmlDoc, _config, _sdf);
   }
-  return _initFile(sdf::findFile(_filename, true, false, _config), _sdf);
+  return _initFile(sdf::findFile(_filename, true, false, _config), _config,
+                   _sdf);
 }
 
 //////////////////////////////////////////////////
 bool initString(
-    const std::string &_xmlString, const ParserConfig &, SDFPtr _sdf)
+    const std::string &_xmlString, const ParserConfig &_config, SDFPtr _sdf)
 {
   auto xmlDoc = makeSdfDoc();
   if (xmlDoc.Parse(_xmlString.c_str()))
@@ -423,7 +429,7 @@ bool initString(
     return false;
   }
 
-  return initDoc(&xmlDoc, _sdf);
+  return initDoc(&xmlDoc, _config, _sdf);
 }
 
 //////////////////////////////////////////////////
@@ -452,31 +458,37 @@ inline tinyxml2::XMLElement *_initDocGetElement(tinyxml2::XMLDocument *_xmlDoc)
 }
 
 //////////////////////////////////////////////////
-bool initDoc(tinyxml2::XMLDocument *_xmlDoc, SDFPtr _sdf)
+bool initDoc(tinyxml2::XMLDocument *_xmlDoc,
+             const ParserConfig &_config,
+             SDFPtr _sdf)
 {
   auto element = _initDocGetElement(_xmlDoc);
   if (!element)
   {
     return false;
   }
 
-  return initXml(element, _sdf->Root());
+  return initXml(element, _config, _sdf->Root());
 }
 
 //////////////////////////////////////////////////
-bool initDoc(tinyxml2::XMLDocument *_xmlDoc, ElementPtr _sdf)
+bool initDoc(tinyxml2::XMLDocument *_xmlDoc,
+             const ParserConfig &_config,
+             ElementPtr _sdf)
 {
   auto element = _initDocGetElement(_xmlDoc);
   if (!element)
   {
     return false;
   }
 
-  return initXml(element, _sdf);
+  return initXml(element, _config, _sdf);
 }
 
 //////////////////////////////////////////////////
-bool initXml(tinyxml2::XMLElement *_xml, ElementPtr _sdf)
+bool initXml(tinyxml2::XMLElement *_xml,
+             const ParserConfig &_config,
+             ElementPtr _sdf)
 {
   const char *refString = _xml->Attribute("ref");
   if (refString)
@@ -594,7 +606,7 @@ bool initXml(tinyxml2::XMLElement *_xml, ElementPtr _sdf)
     else
     {
       ElementPtr element(new Element);
-      initXml(child, element);
+      initXml(child, _config, element);
       _sdf->AddElementDescription(element);
     }
   }
@@ -607,7 +619,7 @@ bool initXml(tinyxml2::XMLElement *_xml, ElementPtr _sdf)
 
     ElementPtr element(new Element);
 
-    initFile(filename, element);
+    initFile(filename, _config, element);
 
     // override description for include elements
     tinyxml2::XMLElement *description = child->FirstChildElement("description");
@@ -1510,7 +1522,7 @@ bool readXml(tinyxml2::XMLElement *_xml, ElementPtr _sdf,
     ElementPtr refSDF;
     refSDF.reset(new Element);
     std::string refFilename = refSDFStr + ".sdf";
-    initFile(refFilename, refSDF);
+    initFile(refFilename, _config, refSDF);
     _sdf->RemoveFromParent();
     _sdf->Copy(refSDF);
 
@@ -1803,7 +1815,8 @@ bool readXml(tinyxml2::XMLElement *_xml, ElementPtr _sdf,
           SourceLocation sourceLoc{includeXmlPath, _source,
                                    elemXml->GetLineNum()};
 
-          insertIncludedElement(includeSDF, sourceLoc, toMerge, _sdf, _errors);
+          insertIncludedElement(includeSDF, sourceLoc, toMerge, _sdf, _config,
+                                _errors);
           continue;
         }
       }

diff --git a/src/parser_private.hh b/src/parser_private.hh
@@ -46,25 +46,37 @@ namespace sdf
   /// This actually forwards to initXml after converting the inputs
   /// \param[in] _xmlDoc TinyXML2 document containing the SDFormat description
   /// file that corresponds with the input SDFPtr
+  /// \param[in] _config Custom parser configuration
   /// \param[out] _sdf SDF interface to be initialized
-  bool initDoc(tinyxml2::XMLDocument *_xmlDoc, SDFPtr _sdf);
+  /// \return True on success, false on error.
+  bool initDoc(tinyxml2::XMLDocument *_xmlDoc,
+               const ParserConfig &_config,
+               SDFPtr _sdf);
 
   /// \brief Initialize the SDF Element using a TinyXML2 document
   ///
   /// This actually forwards to initXml after converting the inputs
   /// \param[in] _xmlDoc TinyXML2 document containing the SDFormat description
   /// file that corresponds with the input ElementPtr
+  /// \param[in] _config Custom parser configuration
   /// \param[out] _sdf SDF Element to be initialized
-  bool initDoc(tinyxml2::XMLDocument *_xmlDoc, ElementPtr _sdf);
+  /// \return True on success, false on error.
+  bool initDoc(tinyxml2::XMLDocument *_xmlDoc,
+               const ParserConfig &_config,
+               ElementPtr _sdf);
 
   /// \brief Initialize the SDF Element by parsing the SDFormat description in
   /// the input TinyXML2 element. This is where SDFormat spec/description files
   /// are parsed
   /// \remark For internal use only. Do not use this function.
   /// \param[in] _xml TinyXML2 element containing the SDFormat description
   /// file that corresponds with the input ElementPtr
+  /// \param[in] _config Custom parser configuration
   /// \param[out] _sdf SDF ElementPtr to be initialized
-  bool initXml(tinyxml2::XMLElement *_xml, ElementPtr _sdf);
+  /// \return True on success, false on error.
+  bool initXml(tinyxml2::XMLElement *_xml,
+               const ParserConfig &_config,
+               ElementPtr _sdf);
 
   /// \brief Populate the SDF values from a TinyXML document
   bool readDoc(tinyxml2::XMLDocument *_xmlDoc, SDFPtr _sdf,
@@ -83,6 +95,7 @@ namespace sdf
   /// \param[in] _xmlRoot Pointer to the root level TinyXML element.
   /// \param[in] _source Source of the XML document.
   /// \param[in] _errors Captures errors found during the checks.
+  /// \return True on success, false on error.
   bool checkXmlFromRoot(tinyxml2::XMLElement *_xmlRoot,
       const std::string &_source, Errors &_errors);
 

diff --git a/test/usd/materials/textures/FANS_Albedo.png b/test/usd/materials/textures/FANS_Albedo.png
diff --git a/test/usd/materials/textures/FANS_Metalness.png b/test/usd/materials/textures/FANS_Metalness.png
diff --git a/test/usd/materials/textures/FANS_Normal.png b/test/usd/materials/textures/FANS_Normal.png
diff --git a/test/usd/materials/textures/FANS_Roughness.png b/test/usd/materials/textures/FANS_Roughness.png