6 ➡️ 7 (main) (#1236)

Signed-off-by: Louise Poubel <[email protected]>
gazebosim · Dec 8, 2021 · 18fa604 · 18fa604
2 parents 080bde1 + d53dcaa
commit 18fa604
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diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -50,7 +50,7 @@ set(CMAKE_POLICY_DEFAULT_CMP0077 NEW)
 # as protobuf could be find transitively by any dependency
 set(protobuf_MODULE_COMPATIBLE TRUE)
 
-ign_find_package(sdformat12 REQUIRED)
+ign_find_package(sdformat12 REQUIRED VERSION 12.2)
 set(SDF_VER ${sdformat12_VERSION_MAJOR})
 
 #--------------------------------------

diff --git a/Changelog.md b/Changelog.md
@@ -4,6 +4,105 @@
 
 ## Ignition Gazebo 6.x
 
+### Ignition Gazebo 6.X.X (202X-XX-XX)
+
+### Ignition Gazebo 6.2.0 (2021-11-16)
+
+1. Configurable joint state publisher's topic
+    * [Pull request #1076](https://github.com/ignitionrobotics/ign-gazebo/pull/1076)
+
+1. Thruster plugin: add tests and velocity control
+    * [Pull request #1190](https://github.com/ignitionrobotics/ign-gazebo/pull/1190)
+
+1. Prevent creation of spurious `<plugin>` elements when saving worlds
+    * [Pull request #1192](https://github.com/ignitionrobotics/ign-gazebo/pull/1192)
+
+1. Add `sdfString` to `ServerConfig`'s copy constructor.
+    * [Pull request #1185](https://github.com/ignitionrobotics/ign-gazebo/pull/1185)
+
+1. Added support for tracked vehicles
+    * [Pull request #869](https://github.com/ignitionrobotics/ign-gazebo/pull/869)
+
+1. Add components to dynamically set joint limits
+    * [Pull request #847](https://github.com/ignitionrobotics/ign-gazebo/pull/847)
+
+1. Remove bounding box when entities are removed
+    * [Pull request #1053](https://github.com/ignitionrobotics/ign-gazebo/pull/1053)
+    * [Pull request #1213](https://github.com/ignitionrobotics/ign-gazebo/pull/1213)
+
+1. Fix updating component from state
+    * [Pull request #1181](https://github.com/ignitionrobotics/ign-gazebo/pull/1181)
+
+1.  Extend odom publisher to allow 3D
+    * [Pull request #1180](https://github.com/ignitionrobotics/ign-gazebo/pull/1180)
+
+1. Support copy/paste
+    * [Pull request #1013](https://github.com/ignitionrobotics/ign-gazebo/pull/1013)
+
+1. Tweaks install instructions
+    * [Pull request #1078](https://github.com/ignitionrobotics/ign-gazebo/pull/1078)
+
+1. Publish 10 world stats msgs/sec instead of 5
+    * [Pull request #1163](https://github.com/ignitionrobotics/ign-gazebo/pull/1163)
+
+1. Add functionality to add entities via the entity tree
+    * [Pull request #1101](https://github.com/ignitionrobotics/ign-gazebo/pull/1101)
+
+1. Get updated GUI ECM info when a user presses 'play'
+    * [Pull request #1109](https://github.com/ignitionrobotics/ign-gazebo/pull/1109)
+
+1. Create expanding type header to reduce code duplication
+    * [Pull request #1169](https://github.com/ignitionrobotics/ign-gazebo/pull/1169)
+
+1. `minimal_scene.sdf` example: add `camera_clip` params
+    * [Pull request #1166](https://github.com/ignitionrobotics/ign-gazebo/pull/1166)
+
+1. Sensor systems work if loaded after sensors
+    * [Pull request #1104](https://github.com/ignitionrobotics/ign-gazebo/pull/1104)
+
+1. Support printing sensors using `ign model`
+    * [Pull request #1157](https://github.com/ignitionrobotics/ign-gazebo/pull/1157)
+
+1. Set camera clipping plane distances from the GUI
+    * [Pull request #1162](https://github.com/ignitionrobotics/ign-gazebo/pull/1162)
+
+1. Fix generation of systems library symlinks in build directory
+    * [Pull request #1160](https://github.com/ignitionrobotics/ign-gazebo/pull/1160)
+
+1. Add a default value for `isHeadlessRendering`.
+    * [Pull request #1151](https://github.com/ignitionrobotics/ign-gazebo/pull/1151)
+
+1. Component inspector
+
+    1. Edit material colors
+        * [Pull request #1123](https://github.com/ignitionrobotics/ign-gazebo/pull/1123)
+        * [Pull request #1186](https://github.com/ignitionrobotics/ign-gazebo/pull/1186)
+
+    1. Fix integers and floats
+        * [Pull request #1143](https://github.com/ignitionrobotics/ign-gazebo/pull/1143)
+
+    1. Prevent a segfault when updating
+        * [Pull request #1167](https://github.com/ignitionrobotics/ign-gazebo/pull/1167)
+
+    1. Use `uint64_t` for Entity IDs
+        * [Pull request #1144](https://github.com/ignitionrobotics/ign-gazebo/pull/1144)
+
+1. Support setting the background color for sensors
+    * [Pull request #1147](https://github.com/ignitionrobotics/ign-gazebo/pull/1147)
+
+1. Select top level entity not visual
+    * [Pull request #1150](https://github.com/ignitionrobotics/ign-gazebo/pull/1150)
+
+1. Update create entity offset on GUI side
+    * [Pull request #1145](https://github.com/ignitionrobotics/ign-gazebo/pull/1145)
+
+1. Update Select Entities GUI plugin to use Entity type
+    * [Pull request #1146](https://github.com/ignitionrobotics/ign-gazebo/pull/1146)
+
+1. Notify other GUI plugins of added/removed entities via GUI events
+    * [Pull request #1138](https://github.com/ignitionrobotics/ign-gazebo/pull/1138)
+    * [Pull request #1213](https://github.com/ignitionrobotics/ign-gazebo/pull/1213)
+
 ### Ignition Gazebo 6.1.0 (2021-10-25)
 
 1. Updates to camera video record from subt

diff --git a/examples/worlds/plane_propeller_demo.sdf b/examples/worlds/plane_propeller_demo.sdf
@@ -24,6 +24,10 @@
       filename="ignition-gazebo-scene-broadcaster-system"
       name="ignition::gazebo::systems::SceneBroadcaster">
     </plugin>
+    <plugin
+      filename='ignition-gazebo-sensors-system'
+      name='ignition::gazebo::systems::Sensors'>
+    </plugin>
 
     <light type="directional" name="sun">
       <cast_shadows>true</cast_shadows>

diff --git a/examples/worlds/sensors.sdf b/examples/worlds/sensors.sdf
@@ -35,6 +35,10 @@
       filename="ignition-gazebo-magnetometer-system"
       name="ignition::gazebo::systems::Magnetometer">
     </plugin>
+    <plugin
+      filename="ignition-gazebo-forcetorque-system"
+      name="ignition::gazebo::systems::ForceTorque">
+    </plugin>
     <plugin
       filename="ignition-gazebo-user-commands-system"
       name="ignition::gazebo::systems::UserCommands">
@@ -186,5 +190,71 @@
       </link>
     </model>
 
+    <model name="force_torque_demo">
+      <link name="base_plate">
+        <static>true</static>
+      </link>
+
+      <link name="link_1">
+        <pose> 0 0 2.0 0 0 0</pose>
+        <inertial>
+          <inertia>
+            <ixx>0.100000</ixx>
+            <ixy>0.000000</ixy>
+            <ixz>0.000000</ixz>
+            <iyy>0.100000</iyy>
+            <iyz>0.000000</iyz>
+            <izz>0.100000</izz>
+          </inertia>
+          <mass>10.000000</mass>
+        </inertial>
+        <visual name="visual_sphere">
+          <geometry>
+            <sphere>
+              <radius>0.100000</radius>
+            </sphere>
+          </geometry>
+        </visual>
+        <visual name="visual_cylinder">
+          <pose>0 0 -0.75 0 0 0</pose>
+          <geometry>
+            <cylinder>
+              <radius>0.0100000</radius>
+              <length>1.5</length>
+            </cylinder>
+          </geometry>
+        </visual>
+        <collision name="collision_sphere">
+          <geometry>
+            <sphere>
+              <radius>0.100000</radius>
+            </sphere>
+          </geometry>
+        </collision>
+      </link>
+      <joint name="joint_00" type="fixed">
+        <parent>world</parent>
+        <child>base_plate</child>
+      </joint>
+      <joint name="joint_01" type="revolute">
+        <parent>base_plate</parent>
+        <child>link_1</child>
+        <pose>0 0 -1.5 0 0 0</pose>
+        <axis>
+          <limit>
+            <lower>-1.57079</lower>
+            <upper>1.57079</upper>
+          </limit>
+          <dynamics>
+            <damping>0.000000</damping>
+            <friction>0.000000</friction>
+          </dynamics>
+          <xyz>1.000000 0.000000 0.000000</xyz>
+        </axis>
+        <sensor name="force_torque" type="force_torque">
+          <update_rate>10</update_rate>
+        </sensor>
+      </joint>
+    </model>
   </world>
 </sdf>
diff --git a/include/ignition/gazebo/gui/GuiEvents.hh b/include/ignition/gazebo/gui/GuiEvents.hh
@@ -23,6 +23,8 @@
 #include <utility>
 #include <vector>
 #include <ignition/math/Vector3.hh>
+#include <ignition/utils/ImplPtr.hh>
+#include "ignition/gazebo/gui/Export.hh"
 #include "ignition/gazebo/Entity.hh"
 #include "ignition/gazebo/config.hh"
 
@@ -38,7 +40,7 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
 namespace events
 {
   /// \brief Event that notifies when new entities have been selected.
-  class EntitiesSelected : public QEvent
+  class IGNITION_GAZEBO_GUI_VISIBLE EntitiesSelected : public QEvent
   {
     /// \brief Constructor
     /// \param[in] _entities All the selected entities
@@ -76,7 +78,7 @@ namespace events
   };
 
   /// \brief Event that notifies when all entities have been deselected.
-  class DeselectAllEntities : public QEvent
+  class IGNITION_GAZEBO_GUI_VISIBLE DeselectAllEntities : public QEvent
   {
     /// \brief Constructor
     /// \param[in] _fromUser True if the event was directly generated by the
@@ -100,68 +102,60 @@ namespace events
     private: bool fromUser{false};
   };
 
-  /// \brief Event that contains newly created and removed entities
-  class AddedRemovedEntities : public QEvent
+  /// \brief Event that contains entities newly created or removed from the
+  /// GUI, but that aren't present on the server yet.
+  /// \sa NewRemovedEntities
+  class IGNITION_GAZEBO_GUI_VISIBLE GuiNewRemovedEntities : public QEvent
   {
     /// \brief Constructor
     /// \param[in] _newEntities Set of newly created entities
     /// \param[in] _removedEntities Set of recently removed entities
-    public: AddedRemovedEntities(const std::set<Entity> &_newEntities,
-                const std::set<Entity> &_removedEntities)
-        : QEvent(kType), newEntities(_newEntities),
-          removedEntities(_removedEntities)
-    {
-    }
+    public: GuiNewRemovedEntities(const std::set<Entity> &_newEntities,
+                const std::set<Entity> &_removedEntities);
 
     /// \brief Get the set of newly created entities
-    public: const std::set<Entity> &NewEntities() const
-    {
-      return this->newEntities;
-    }
+    public: const std::set<Entity> &NewEntities() const;
 
     /// \brief Get the set of recently removed entities
-    public: const std::set<Entity> &RemovedEntities() const
-    {
-      return this->removedEntities;
-    }
+    public: const std::set<Entity> &RemovedEntities() const;
 
     /// \brief Unique type for this event.
     static const QEvent::Type kType = QEvent::Type(QEvent::User + 3);
 
-    /// \brief Set of newly created entities
-    private: std::set<Entity> newEntities;
-
-    /// \brief Set of recently removed entities
-    private: std::set<Entity> removedEntities;
+    /// \internal
+    /// \brief Private data pointer
+    IGN_UTILS_IMPL_PTR(dataPtr)
   };
 
-  /// \brief Event that notifies when new entities have been removed.
-  class RemovedEntities : public QEvent
+  /// \brief Event that notifies when new entities have been created or removed
+  /// on the server. This is a duplication of what `GuiSystem`s would get from
+  /// `EachNew` / `EachRemoved` ECM calls.
+  /// \sa GuiNewRemovedEntities
+  class IGNITION_GAZEBO_GUI_VISIBLE NewRemovedEntities : public QEvent
   {
     /// \brief Constructor
-    /// \param[in] _entities All the removed entities
-    public: explicit RemovedEntities(const std::vector<Entity> &_entities)
-        : QEvent(kType), entities(_entities)
-    {
-    }
+    /// \param[in] _newEntities Set of newly created entities
+    /// \param[in] _removedEntities Set of recently removed entities
+    public: NewRemovedEntities(const std::set<Entity> &_newEntities,
+                const std::set<Entity> &_removedEntities);
 
-    /// \brief Get the data sent with the event.
-    /// \return The entities being removed.
-    public: std::vector<Entity> Data() const
-    {
-      return this->entities;
-    }
+    /// \brief Get the set of newly created entities
+    public: const std::set<Entity> &NewEntities() const;
+
+    /// \brief Get the set of recently removed entities
+    public: const std::set<Entity> &RemovedEntities() const;
 
     /// \brief Unique type for this event.
     static const QEvent::Type kType = QEvent::Type(QEvent::User + 4);
 
-    /// \brief The removed entities.
-    private: std::vector<Entity> entities;
+    /// \internal
+    /// \brief Private data pointer
+    IGN_UTILS_IMPL_PTR(dataPtr)
   };
 
   /// \brief True if a transform control is currently active (translate /
   /// rotate / scale). False if we're in selection mode.
-  class TransformControlModeActive : public QEvent
+  class IGNITION_GAZEBO_GUI_VISIBLE TransformControlModeActive : public QEvent
   {
     /// \brief Constructor
     /// \param[in] _tranformModeActive is the transform control mode active