12 ➡️ 13 (main)

.github/CODEOWNERS

@@ -0,0 +1,4 @@
+# More info:
+# https://help.github.com/en/github/creating-cloning-and-archiving-repositories/about-code-owners
+
+*                     @azeey @scpeters

.github/workflows/ci.yml

@@ -23,4 +23,3 @@ jobs:
       - name: Compile and test
         id: ci
         uses: ignition-tooling/action-ignition-ci@focal
-

Changelog.md

@@ -5,7 +5,109 @@
 
 ## libsdformat 12.X
 
-### libsdformat 12.0.0 (202X-XX-XX)
+### libsdformat 12.3.0 (2021-12-01)
+
+1. Fix empty pose parsing fail for rotation_format='quat_xyzw' 
+    * [Pull request #729](https://github.com/ignitionrobotics/sdformat/pull/729)
+
+1. Added Add & Clear function to World, Model, and Link.
+    * [Pull request #765](https://github.com/ignitionrobotics/sdformat/pull/765)
+
+### libsdformat 12.2.0 (2021-11-23)
+
+1. Convert Joint DOM to Element.
+    * [Pull request #759](https://github.com/ignitionrobotics/sdformat/pull/759)
+
+1. Populate light sdf::ElementPtr from Light DOM
+    * [Pull request #755](https://github.com/ignitionrobotics/sdformat/pull/755)
+
+1. Add function to convert Sensor DOM to sdf::ElementPtr
+    * [Pull request #753](https://github.com/ignitionrobotics/sdformat/pull/753)
+    * [Pull request #757](https://github.com/ignitionrobotics/sdformat/pull/757)
+
+1. Support wide angle camera.
+    * [Pull request #744](https://github.com/ignitionrobotics/sdformat/pull/744)
+
+1. Forward ports
+    * [Pull request #756](https://github.com/ignitionrobotics/sdformat/pull/756)
+    * [Pull request #734](https://github.com/ignitionrobotics/sdformat/pull/734)
+    * [Pull request #738](https://github.com/ignitionrobotics/sdformat/pull/738)
+    * [Pull request #750](https://github.com/ignitionrobotics/sdformat/pull/750)
+    * [Pull request #752](https://github.com/ignitionrobotics/sdformat/pull/752)
+
+1. Changelog links to BitBucket backup.
+    * [Pull request #237](https://github.com/ignitionrobotics/sdformat/pull/237)
+
+1. Update BitBucket links.
+    * [Pull request #248](https://github.com/ignitionrobotics/sdformat/pull/248)
+
+1. Cherry-pick [sdf4] Update BitBucket links -> sdf6 
+    * [Pull request #258](https://github.com/ignitionrobotics/sdformat/pull/258)
+
+1.  Patch popen/pclose method for Windows.
+    * [Pull request #297](https://github.com/ignitionrobotics/sdformat/pull/297)
+
+1. Parse rpyOffset as radians 
+    * [Pull request #497](https://github.com/ignitionrobotics/sdformat/pull/497)
+
+1. Fix flattening logic for nested model names (sdf6) 
+    * [Pull request #597](https://github.com/ignitionrobotics/sdformat/pull/597)
+
+1. Translate poses of nested models inside other nested models (sdf6).
+    * [Pull request #596](https://github.com/ignitionrobotics/sdformat/pull/596)
+
+1. Use Ubuntu bionic in CI
+    * [Pull request #626](https://github.com/ignitionrobotics/sdformat/pull/626)
+
+1. Create CODEOWNERS with azeey and scpeters.
+    * [Pull request #650](https://github.com/ignitionrobotics/sdformat/pull/650)
+
+1. Remove bitbucket-pipelines.
+    * [Pull request #674](https://github.com/ignitionrobotics/sdformat/pull/674)
+
+1. Check joint parent/child names in Root::Load.
+    * [Pull request #727](https://github.com/ignitionrobotics/sdformat/pull/727)
+
+1. Check joint parent link names in Model::Load.
+    * [Pull request #726](https://github.com/ignitionrobotics/sdformat/pull/726)
+
+1. Add Joint DOM API to access joint sensors 
+    * [Pull request #517](https://github.com/ignitionrobotics/sdformat/pull/517)
+
+1. Remove outdated deprecation note from parser_urdf.hh
+    * [Pull request #740](https://github.com/ignitionrobotics/sdformat/pull/740)
+
+1. DOC: only allow one canonical_link attribute
+    * [Pull request #716](https://github.com/ignitionrobotics/sdformat/pull/716)
+
+1. Fix URDF fixed joint reduction of plugins
+    * [Pull request #500](https://github.com/ignitionrobotics/sdformat/pull/500)
+    * [Pull request #745](https://github.com/ignitionrobotics/sdformat/pull/745)
+
+### libsdformat 12.1.0 (2021-11-09)
+
+1. Support accessing mutable sensor types.
+    * [Pull request #737](https://github.com/ignitionrobotics/sdformat/pull/737)
+
+### libsdformat 12.0.0 (2021-09-30)
+
+1. Make exception for plugins when checking for name uniqueness
+    * [Pull request #721](https://github.com/ignitionrobotics/sdformat/pull/721)
+
+1. Remove empty //inertial/pose/@relative_to during 1_7->1.8 conversion
+    * [Pull request #720](https://github.com/ignitionrobotics/sdformat/pull/720)
+
+1. Added macos install instructions to README.md
+    * [Pull request #714](https://github.com/ignitionrobotics/sdformat/pull/714)
+
+1. Do not automatically remove //axis/initial_position
+    * [Pull request #717](https://github.com/ignitionrobotics/sdformat/pull/717)
+
+1. DOC: don't mention elements that can't be included
+    * [Pull request #715](https://github.com/ignitionrobotics/sdformat/pull/715)
+
+1. Prefix merged frames with an underscore
+    * [Pull request #711](https://github.com/ignitionrobotics/sdformat/pull/711)
 
 1. Add API changes for PrintConfig
     * [Pull request #708](https://github.com/ignitionrobotics/sdformat/pull/708)
@@ -62,6 +164,7 @@
     * [Pull request #660](https://github.com/ignitionrobotics/sdformat/pull/660)
     * [Pull request #693](https://github.com/ignitionrobotics/sdformat/pull/693)
     * [Pull request #706](https://github.com/ignitionrobotics/sdformat/pull/706)
+    * [Pull request #723](https://github.com/ignitionrobotics/sdformat/pull/723)
 
 1. Infrastructure
     * [Pull request #532](https://github.com/ignitionrobotics/sdformat/pull/532)
@@ -359,6 +462,77 @@
 
 ## libsdformat 10.X
 
+### libsdformat 10.6.0 (2021-09-08)
+
+1. Parse URDF continuous joint effort/velocity limits
+    * [Pull request #684](https://github.com/ignitionrobotics/sdformat/pull/684)
+
+1. Add enable_orientation SDF element to imu
+    * [Pull request #651](https://github.com/ignitionrobotics/sdformat/pull/651)
+
+1. Add a codecheck make target
+    * [Pull request #682](https://github.com/ignitionrobotics/sdformat/pull/682)
+
+1. Refactor sdf::readXml
+    * [Pull request #681](https://github.com/ignitionrobotics/sdformat/pull/681)
+
+1. Upgrade cpplint and fix new errors
+    * [Pull request #680](https://github.com/ignitionrobotics/sdformat/pull/680)
+
+1. BUG: add missing plugin element to include
+    * [Pull request #675](https://github.com/ignitionrobotics/sdformat/pull/675)
+
+1. Added comment reminder to update functions
+    * [Pull request #677](https://github.com/ignitionrobotics/sdformat/pull/677)
+
+1. Adds enable_metrics flag to Sensor.
+    * [Pull request #665](https://github.com/ignitionrobotics/sdformat/pull/665)
+
+1. Add GPS / NavSat sensor to sdf9
+    * [Pull request #453](https://github.com/ignitionrobotics/sdformat/pull/453)
+
+1. Support parsing elements that are not part of the schema
+    * [Pull request #638](https://github.com/ignitionrobotics/sdformat/pull/638)
+
+1. Add lightmap to 1.7 spec and PBR material DOM
+    * [Pull request #429](https://github.com/ignitionrobotics/sdformat/pull/429)
+
+1. Fix urdf link extension tags
+    * [Pull request #628](https://github.com/ignitionrobotics/sdformat/pull/628)
+
+1. Updated material spec
+    * [Pull request #644](https://github.com/ignitionrobotics/sdformat/pull/644)
+
+1. Minor fix to Migration guide
+    * [Pull request #630](https://github.com/ignitionrobotics/sdformat/pull/630)
+
+1. Error: move << operator from .hh to .cc file
+    * [Pull request #625](https://github.com/ignitionrobotics/sdformat/pull/625)
+
+1. Update build system to allow overriding CXX flags and using clang on Linux
+    * [Pull request #621](https://github.com/ignitionrobotics/sdformat/pull/621)
+
+1. Add Element::FindElement as an alternative to Element::GetElement
+    * [Pull request #620](https://github.com/ignitionrobotics/sdformat/pull/620)
+
+1. Add ValidateGraphs methods to Model/World (sdf9)
+    * [Pull request #602](https://github.com/ignitionrobotics/sdformat/pull/602)
+
+1. Fix ABI break
+    * [Pull request #605](https://github.com/ignitionrobotics/sdformat/pull/605)
+
+1. Parameter passing prototype
+    * [Pull request #413](https://github.com/ignitionrobotics/sdformat/pull/413)
+
+1. Port particle scatter ratio param to sdf 1.6
+    * [Pull request #595](https://github.com/ignitionrobotics/sdformat/pull/595)
+
+1. Making PrintValues() and ToString() able to not print default elements
+    * [Pull request #575](https://github.com/ignitionrobotics/sdformat/pull/575)
+
+1. Add API for determining if an element was set by the user
+    * [Pull request #542](https://github.com/ignitionrobotics/sdformat/pull/542)
+
 ### libsdformat 10.5.0 (2021-05-17)
 
 1. Add scatter ratio parameter to Particle Emitter DOM.
@@ -497,12 +671,49 @@
 
 ### libsdformat 9.X.X (202X-XX-XX)
 
+### libsdformat 9.7.0 (2021-11-03)
+
+1. Make exception for plugins when checking for name uniqueness
+    * [Pull request #733](https://github.com/ignitionrobotics/sdformat/pull/733)
+
+1. Backport test utilities from sdf10
+    * [Pull request #731](https://github.com/ignitionrobotics/sdformat/pull/731)
+
+1. Added Force Torque Noise functions + Unit tests
+    * [Pull request #669](https://github.com/ignitionrobotics/sdformat/pull/669)
+
+1. Add Joint DOM API to access joint sensors
+    * [Pull request #517](https://github.com/ignitionrobotics/sdformat/pull/517)
+
+1. Add force torque sensor
+    * [Pull request #393](https://github.com/ignitionrobotics/sdformat/pull/393)
+
+### libsdformat 9.6.1 (2021-09-07)
+
+1. Parse URDF continuous joint effort/velocity limits
+    * [Pull request #684](https://github.com/ignitionrobotics/sdformat/pull/684)
+
+1. Add a codecheck make target
+    * [Pull request #682](https://github.com/ignitionrobotics/sdformat/pull/682)
+
+1. Refactor sdf::readXml
+    * [Pull request #681](https://github.com/ignitionrobotics/sdformat/pull/681)
+
+1. Upgrade cpplint and fix new errors
+    * [Pull request #680](https://github.com/ignitionrobotics/sdformat/pull/680)
+
+1. BUG: add missing plugin element to include
+    * [Pull request #675](https://github.com/ignitionrobotics/sdformat/pull/675)
+
+1. Added comment reminder to update functions
+    * [Pull request #677](https://github.com/ignitionrobotics/sdformat/pull/677)
+
 ### libsdformat 9.6.0 (2021-08-18)
 
 1. Adds `enable_metrics` flag to Sensor.
     * [Pull request #665](https://github.com/ignitionrobotics/sdformat/pull/665)
 
-1. Add GPS sensor DOM to sdf9
+1. Add GPS / NavSat sensor DOM to sdf9
     * [Pull request #453](https://github.com/ignitionrobotics/sdformat/pull/453)
 
 1. Support parsing elements that are not part of the schema
@@ -1210,7 +1421,21 @@
 
 ## libsdformat 6.0
 
-### libsdformat 6.X.X (20XX-XX-XX)
+### libsdformat 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)
+
+### libsdformat 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)
+
+1. Parse rpyOffset as radians
+    * [Pull request 497](https://github.com/osrf/sdformat/pull/497)
 
 1. Parse urdf files to SDFormat 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)

Migration.md

@@ -409,6 +409,11 @@ ABI was broken for `sdf::Element`, and restored on version 11.2.1.
 
 ## SDFormat 5.x to 6.x
 
+### Additions
+
+1. **sdf/parser.hh**
+   + bool recursiveSameTypeUniqueNames(sdf::ElementPtr)
+
 ### Deprecations
 
 1. **sdf/Types.hh**

doc/header.html

@@ -41,7 +41,7 @@ <h2 style="text-align:center;">
         <dd><a href="http://sdf.com/wiki/Tutorials">Tutorials</a></dd>
         <dd><a href="http://sdf.com/downloads.html">Download</a></dd>
         -->
-        <dd><a href="https://github.com/osrf/sdformat/issues/new">Report Documentation Issues</a></dd>
+        <dd><a href="https://github.com/ignitionrobotics/sdformat/issues/new">Report Documentation Issues</a></dd>
       </dl>
     </div>
     <div>

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 <a
-  href="https://github.com/osrf/sdformat/issues/new">new GitHub issue</a>.
+  href="https://github.com/ignitionrobotics/sdformat/issues/new">new GitHub issue</a>.
 Include sufficient detail to quickly locate the problematic documentation,
 and set the issue's fields accordingly: Assignee - blank; Kind - bug;
 Priority - minor; Version - blank.

include/sdf/Actor.hh

@@ -360,6 +360,29 @@ namespace sdf
     /// not been called.
     public: sdf::ElementPtr Element() const;
 
+    /// \brief Add a link to the actor.
+    /// \param[in] _link Link to add.
+    /// \return True if successful, false if a link with the name already
+    /// exists.
+    public: bool AddLink(const Link &_link);
+
+    /// \brief Add a joint to the actor.
+    /// \param[in] _link Joint to add.
+    /// \return True if successful, false if a joint with the name already
+    /// exists.
+    public: bool AddJoint(const Joint &_joint);
+
+    /// \brief Remove all links.
+    public: void ClearLinks();
+
+    /// \brief Remove all joints.
+    public: void ClearJoints();
+
+    /// \brief Create and return an SDF element filled with data from this
+    /// actor.
+    /// \return SDF element pointer with updated actor values.
+    public: sdf::ElementPtr ToElement() const;
+
     /// \brief Private data pointer.
     IGN_UTILS_IMPL_PTR(dataPtr)
   };