Merge 8 -> main

.github/workflows/ci.yml

@@ -14,3 +14,15 @@ jobs:
         uses: ignition-tooling/action-ignition-ci@focal
         with:
           codecov-enabled: true
+          cppcheck-enabled: true
+          cpplint-enabled: true
+          doxygen-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

Changelog.md

@@ -41,6 +41,34 @@
 
 ## Ignition Msgs 7.x
 
+### Ignition Msgs 7.3.0 (2022-03-17)
+
+1. Backport NavSat message for bridge compatibility
+    * [Pull request #231](https://github.com/ignitionrobotics/ign-msgs/pull/231)
+
+1. Focal CI: static checkers and doxygen linters
+    * [Pull request #230](https://github.com/ignitionrobotics/ign-msgs/pull/230)
+
+1. Add wheel slip message definition
+    * [Pull request #205](https://github.com/ignitionrobotics/ign-msgs/pull/205)
+    * [Pull request #227](https://github.com/ignitionrobotics/ign-msgs/pull/227)
+
+1. Add PointCloudPacked iterators
+    * [Pull request #210](https://github.com/ignitionrobotics/ign-msgs/pull/210)
+    * [Pull request #218](https://github.com/ignitionrobotics/ign-msgs/pull/218)
+
+1. Utility\_TEST: adjust expectations for 32-bit arch (#120)
+    * [Pull request #120) (#196](https://github.com/ignitionrobotics/ign-msgs/pull/120) (#196)
+
+1. Fix trivial typo in command line help message
+    * [Pull request #191](https://github.com/ignitionrobotics/ign-msgs/pull/191)
+
+1. Support colcon in windows CI
+    * [Pull request #189](https://github.com/ignitionrobotics/ign-msgs/pull/189)
+
+1. 🥳 Update ign-tools issue on README
+    * [Pull request #184](https://github.com/ignitionrobotics/ign-msgs/pull/184)
+
 ### Ignition Msgs 7.2.0 (2021-09-10)
 
 1. Adds PerformanceSensorMetrics proto message.
@@ -193,6 +221,18 @@
 
 ## Ignition Msgs 5.x
 
+### Ignition Msgs 5.9.0 (2022-03-16)
+
+1. Backport NavSat message for ROS bridge compatibility
+    * [Pull request #231](https://github.com/ignitionrobotics/ign-msgs/pull/231)
+
+1. Focal CI: static checkers and doxygen linters
+    * [Pull request #230](https://github.com/ignitionrobotics/ign-msgs/pull/230)
+
+1. Add PointCloudPacked iterators
+    * [Pull request #210](https://github.com/ignitionrobotics/ign-msgs/pull/210)
+    * [Pull request #218](https://github.com/ignitionrobotics/ign-msgs/pull/218)
+
 ### Ignition Msgs 5.8.1 (2021-10-29)
 
 1. Utility\_TEST: adjust expectations for 32-bit arch (Backport of #120)

include/ignition/msgs/PointCloudPackedUtils.hh

@@ -38,29 +38,30 @@ namespace msgs
 /// \brief Class that can iterate over a PointCloudPacked message.
 ///
 /// E.g, you create your message and reserve space for data as follows:
-/// \verbatim
+///
+/// \code{.cpp}
 /// ignition::msgs::PointCloudPacked pcMsg;
 /// ignition::msgs::InitPointCloudPacked(pcMsg, "my_new_frame", false,
 ///     {{"a", PointCloudPacked::Field::FLOAT32}});
 /// pcMsg.mutable_data()->resize(numPts * pcMsg.point_step());
-/// \endverbatim
+/// \endcode
 ///
 /// For iterating over "a", you do :
 ///
-/// \verbatim
+/// \code{.cpp}
 /// ignition::msgs::PointCloudPackedIterator<float> iterA(pcMsg, "a");
-/// \endverbatim
+/// \endcode
 ///
 /// And then access it through iterA[0] or *iterA.
 ///
 /// For iterating over RGBA, you can access each element as uint8_t:
 ///
-/// \verbatim
+/// \code{.cpp}
 /// ignition::msgs::PointCloudPackedIterator<uint8_t> iterR(pcMsg, "r");
 /// ignition::msgs::PointCloudPackedIterator<uint8_t> iterG(pcMsg, "g");
 /// ignition::msgs::PointCloudPackedIterator<uint8_t> iterB(pcMsg, "b");
 /// ignition::msgs::PointCloudPackedIterator<uint8_t> iterA(pcMsg, "a");
-/// \endverbatim
+/// \endcode
 ///
 /// \tparam FieldType Type of the element being iterated upon
 template<typename FieldType>

proto/ignition/msgs/odometry_with_covariance.proto

@@ -0,0 +1,40 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+syntax = "proto3";
+package ignition.msgs;
+option java_package = "com.ignition.msgs";
+option java_outer_classname = "OdometryWithCovarianceProtos";
+
+/// \ingroup ignition.msgs
+/// \interface OdometryWithCovariance
+/// \brief Message for odometry with covariance
+
+import "ignition/msgs/header.proto";
+import "ignition/msgs/pose_with_covariance.proto";
+import "ignition/msgs/twist_with_covariance.proto";
+
+message OdometryWithCovariance
+{
+  /// \brief Optional header data.
+  Header header                             = 1;
+
+  /// \brief Estimated pose.
+  PoseWithCovariance pose_with_covariance   = 2;
+
+  /// \brief Estimated linear and angular velocities.
+  TwistWithCovariance twist_with_covariance = 3;
+}

proto/ignition/msgs/pose_with_covariance.proto

@@ -0,0 +1,40 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+syntax = "proto3";
+package ignition.msgs;
+option java_package = "com.ignition.msgs";
+option java_outer_classname = "PoseWithCovarianceProtos";
+
+/// \ingroup ignition.msgs
+/// \interface PoseWithCovariance
+/// \brief Message with pose and a covariance matrix
+
+import "ignition/msgs/float_v.proto";
+import "ignition/msgs/pose.proto";
+
+message PoseWithCovariance
+{
+  /// \brief Pose message.
+  Pose pose          = 1;
+
+  /// \brief Row-major representation of the 6x6 covariance matrix
+  /// The orientation parameters use a fixed-axis representation.
+  /// In order, the parameters are:
+  /// (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)
+  Float_V covariance = 2;
+}

proto/ignition/msgs/twist.proto

@@ -32,7 +32,7 @@ message Twist
   /// \brief Optional header data.
   Header header          = 1;
 
-  /// \brief Lnear velocity in 3d space.
+  /// \brief Linear velocity in 3d space.
   Vector3d linear        = 2;
 
   /// \brief Angular velocity in 3d space.

proto/ignition/msgs/twist_with_covariance.proto

@@ -0,0 +1,40 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+syntax = "proto3";
+package ignition.msgs;
+option java_package = "com.ignition.msgs";
+option java_outer_classname = "TwistWithCovarianceProtos";
+
+/// \ingroup ignition.msgs
+/// \interface TwistWithCovariance
+/// \brief Message with twist and a covariance matrix
+
+import "ignition/msgs/float_v.proto";
+import "ignition/msgs/twist.proto";
+
+message TwistWithCovariance
+{
+  /// \brief Twist message.
+  Twist twist        = 1;
+
+  /// \brief Row-major representation of the 6x6 covariance matrix
+  /// The orientation parameters use a fixed-axis representation.
+  /// In order, the parameters are:
+  /// (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)
+  Float_V covariance = 2;
+}

proto/ignition/msgs/wheel_slip_parameters_cmd.proto

@@ -0,0 +1,72 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+syntax = "proto3";
+package ignition.msgs;
+option java_package = "com.ignition.msgs";
+option java_outer_classname = "WheelSlipParametersCmd";
+
+/// \ingroup ignition.msgs
+/// \interface WheelSlipParametersCmd
+/// \brief Message containing a wheel slip parameters user command.
+
+import "ignition/msgs/entity.proto";
+import "ignition/msgs/header.proto";
+
+message WheelSlipParametersCmd
+{
+  /// \brief Optional header data
+  Header header                       = 1;
+
+  /// \brief Entity which wheel slip parameters are going to be modified.
+  ///
+  /// The entity might be a model with at least one link or a link.
+  /// If the entity is a model, the wheel slip parameters of all its
+  /// links will be updated.
+  ///
+  /// The entity name (entity.name) will be used as an scoped name.
+  /// For example, in this
+  /// hierarchy:
+  ///
+  /// world_name
+  ///  model_name
+  ///    link_name
+  ///
+  /// All these names will return the link entity:
+  ///
+  /// * world_name::model_name::link_name
+  /// * model_name::link_name
+  /// * link_name
+  Entity entity                       = 2;
+
+  /// \brief Unitless lateral slip ratio.
+  ///
+  /// See https://en.wikipedia.org/wiki/Slip_(vehicle_dynamics).
+  /// to tangential force ratio (tangential / normal force).
+  /// At each time step, these compliances are multiplied by
+  /// the linear wheel spin velocity and divided by the wheel normal force
+  /// parameter specified in the sdf.
+  double slip_compliance_lateral      = 4;
+  /// \brief Unitless longitudinal slip ratio.
+  ///
+  /// See https://en.wikipedia.org/wiki/Slip_(vehicle_dynamics).
+  /// to tangential force ratio (tangential / normal force).
+  /// At each time step, these compliances are multiplied by
+  /// the linear wheel spin velocity and divided by the wheel normal force
+  /// parameter specified in the sdf.
+  double slip_compliance_longitudinal = 5;
+}