2 ➡️ 3

CMakeLists.txt

@@ -53,7 +53,7 @@ set(IGN_TRANSPORT_VER ${ignition-transport8_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-msgs
-ign_find_package(ignition-msgs5 REQUIRED)
+ign_find_package(ignition-msgs5 REQUIRED VERSION 5.2)
 set(IGN_MSGS_VER ${ignition-msgs5_VERSION_MAJOR})
 
 #--------------------------------------
@@ -92,8 +92,6 @@ ign_find_package(ignition-physics2
   COMPONENTS
     mesh
     sdf
-    dartsim
-    dartsim-plugin
   REQUIRED
 )
 set(IGN_PHYSICS_VER ${ignition-physics2_VERSION_MAJOR})

Changelog.md

@@ -70,9 +70,37 @@
 
 ## Ignition Gazebo 2.x
 
-### Ignition Gazebo 2.xx.xx (20XX-XX-XX)
+### Ignition Gazebo 2.xx.xx (2020-xx-xx)
 
-1.  Add DetachableJoint: A system that initially attaches two models via a fixed joint and allows for the models to get detached during simulation via a topic.
+### Ignition Gazebo 2.17.0 (2020-05-13)
+
+1. Allow battery plugin to work with joint force systems.
+    * [Pull Request 120](https://github.com/ignitionrobotics/ign-gazebo/pull/120)
+
+1. Make breadcrumb static after specified time
+    * [Pull Request 90](https://github.com/ignitionrobotics/ign-gazebo/pull/90)
+
+1. Disable breadcrumbs if the `max_deployments` == 0.
+    * [Pull Request 88](https://github.com/ignitionrobotics/ign-gazebo/pull/88)
+
+1. Add static pose publisher and support pose\_v msg type in pose publisher system
+    * [Pull Request 65](https://github.com/ignitionrobotics/ign-gazebo/pull/65)
+
+1. Refactor Gui.hh so that the Gazebo GUI can be ran from other packages
+    * [Pull Request 79](https://github.com/ignitionrobotics/ign-gazebo/pull/79)
+
+1. Add ability to save worlds to SDFormat
+    * [BitBucket pull request 545](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/545)
+
+1. Add window focus upon mouse entering the render window
+    * [Github pull request 95](https://github.com/ignitionrobotics/ign-gazebo/pull/95)
+
+### Ignition Gazebo 2.16.0 (2020-03-24)
+
+1. Add support for computing model bounding box in physics system
+    * [BitBucket pull request 546](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/546)
+
+1. Add DetachableJoint: A system that initially attaches two models via a fixed joint and allows for the models to get detached during simulation via a topic.
     * [BitBucket pull request 440](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/440)
 
 1. Update physics state even when paused (not stepping)
@@ -90,6 +118,45 @@
 1. Add `JointPositionReset` and `JointVelocityReset` components to reset the joint state.
     * [BitBucket pull request 437](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/437)
 
+1. Logging meshes and materials
+    * [BitBucket pull request 367](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/367)
+
+1. List plugin env vars
+    * [BitBucket pull request 560](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/560)
+
+1. Fix protobuf / clang warnings
+    * [BitBucket pull request 555](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/555)
+
+1. Component inspector
+    * [BitBucket pull request 528](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/528)
+
+1. Log compress
+    * [BitBucket pull request 500](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/500)
+
+1. Set process titles
+    * [BitBucket pull request 530](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/530)
+
+1. Add custom user snapping
+    * [BitBucket pull request 493](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/493)
+
+1. Add GUI to configure grid
+    * [BitBucket pull request 507](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/507)
+
+1. Add multiple entity selection to view angle
+    * [BitBucket pull request 531](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/531)
+
+1. Highlight selected entities
+    * [BitBucket pull request 515](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/515)
+
+1. Log record overwrite
+    * [BitBucket pull request 497](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/497)
+
+1. Add copyright to QML files
+    * [BitBucket pull request 527](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/527)
+
+1. Fix shift translation bug
+    * [BitBucket pull request 529](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/529)
+
 ### Ignition Gazebo 2.15.0 (2020-02-07)
 
 1. Fix seeking back in time in log playback

examples/plugin/gui_system_plugin/CMakeLists.txt

@@ -0,0 +1,21 @@
+cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+
+if(POLICY CMP0100)
+  cmake_policy(SET CMP0100 NEW)
+endif()
+
+project(GuiSystemPlugin)
+
+set(CMAKE_AUTOMOC ON)
+
+find_package(ignition-gazebo3 REQUIRED COMPONENTS gui)
+
+QT5_ADD_RESOURCES(resources_RCC ${PROJECT_NAME}.qrc)
+
+add_library(${PROJECT_NAME} SHARED
+  ${PROJECT_NAME}.cc
+  ${resources_RCC}
+)
+target_link_libraries(${PROJECT_NAME}
+  PRIVATE ignition-gazebo3::gui
+)

examples/plugin/gui_system_plugin/GuiSystemPlugin.cc

@@ -0,0 +1,73 @@
+/*
+ * Copyright (C) 2020 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.
+ *
+*/
+
+#include <ignition/plugin/Register.hh>
+#include <ignition/gazebo/components/Name.hh>
+#include <ignition/gazebo/components/World.hh>
+#include <ignition/gazebo/EntityComponentManager.hh>
+#include <ignition/gazebo/gui/GuiEvents.hh>
+
+#include "GuiSystemPlugin.hh"
+
+/////////////////////////////////////////////////
+GuiSystemPlugin::GuiSystemPlugin() = default;
+
+/////////////////////////////////////////////////
+GuiSystemPlugin::~GuiSystemPlugin() = default;
+
+/////////////////////////////////////////////////
+void GuiSystemPlugin::LoadConfig(const tinyxml2::XMLElement * /*_pluginElem*/)
+{
+  if (this->title.empty())
+    this->title = "GUI system plugin";
+
+  // Here you can read configuration from _pluginElem, if it's not null.
+}
+
+//////////////////////////////////////////////////
+void GuiSystemPlugin::Update(const ignition::gazebo::UpdateInfo & /*_info*/,
+    ignition::gazebo::EntityComponentManager &_ecm)
+{
+  // In the update loop, you can for example get the name of the world and set
+  // it as a property that can be read from the QML.
+  _ecm.Each<ignition::gazebo::components::Name,
+            ignition::gazebo::components::World>(
+    [&](const ignition::gazebo::Entity &_entity,
+        const ignition::gazebo::components::Name *_name,
+        const ignition::gazebo::components::World *)->bool
+  {
+    this->SetCustomProperty(QString::fromStdString(_name->Data()));
+    return true;
+  });
+}
+
+/////////////////////////////////////////////////
+QString GuiSystemPlugin::CustomProperty() const
+{
+  return this->customProperty;
+}
+
+/////////////////////////////////////////////////
+void GuiSystemPlugin::SetCustomProperty(const QString &_customProperty)
+{
+  this->customProperty = _customProperty;
+  this->CustomPropertyChanged();
+}
+
+// Register this plugin
+IGNITION_ADD_PLUGIN(GuiSystemPlugin,
+                    ignition::gui::Plugin)

examples/plugin/gui_system_plugin/GuiSystemPlugin.hh

@@ -0,0 +1,80 @@
+/*
+ * Copyright (C) 2020 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.
+ *
+*/
+
+#ifndef IGNITION_GAZEBO_GUISYSTEMPLUGIN_HH_
+#define IGNITION_GAZEBO_GUISYSTEMPLUGIN_HH_
+
+#include <ignition/gazebo/gui/GuiSystem.hh>
+
+/// \brief Example of a GUI plugin that has access to entities and components.
+class GuiSystemPlugin : public ignition::gazebo::GuiSystem
+{
+  Q_OBJECT
+
+    /// \brief Custom property. Use this to create properties that can be read
+    /// from the QML file. See the declarations below.
+    Q_PROPERTY(
+      QString customProperty
+      READ CustomProperty
+      WRITE SetCustomProperty
+      NOTIFY CustomPropertyChanged
+    )
+
+  /// \brief Constructor
+  public: GuiSystemPlugin();
+
+  /// \brief Destructor
+  public: ~GuiSystemPlugin() override;
+
+  /// \brief `ignition::gui::Plugin`s can overload this function to
+  /// receive custom configuration from an XML file. Here, it comes from the
+  /// SDF.
+  ///
+  /// <gui>
+  ///   <plugin ...> <!-- this is the plugin element -->
+  ///     ...
+  ///   </plugin>
+  /// </gui>
+  ///
+  /// \param[in] _pluginElem SDF <plugin> element. Will be null if the plugin
+  /// is loaded without any XML configuration.
+  public: void LoadConfig(const tinyxml2::XMLElement *_pluginElem) override;
+
+  /// \brief GUI systems can overload this function to receive updated simulation
+  /// state. This is called whenever the server sends state updates to the GUI.
+  /// \param[in] _info Simulation information such as time.
+  /// \param[in] _ecm Entity component manager, which can be used to get the
+  /// latest information about entities and components.
+  public: void Update(const ignition::gazebo::UpdateInfo &_info,
+      ignition::gazebo::EntityComponentManager &_ecm) override;
+
+  /// \brief Get the custom property as a string.
+  /// \return Custom property
+  public: Q_INVOKABLE QString CustomProperty() const;
+
+  /// \brief Set the custom property from a string.
+  /// \param[in] _customProperty Custom property
+  public: Q_INVOKABLE void SetCustomProperty(const QString &_customProperty);
+
+  /// \brief Notify that custom property has changed
+  signals: void CustomPropertyChanged();
+
+  /// \brief Custom property
+  private: QString customProperty;
+};
+
+#endif

examples/plugin/gui_system_plugin/GuiSystemPlugin.qml

@@ -0,0 +1,24 @@
+/*
+ * Copyright (C) 2020 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.
+ *
+*/
+import QtQuick 2.9
+import QtQuick.Controls 2.2
+
+// Display custom property text
+Text {
+  width: 300
+  text: GuiSystemPlugin.customProperty
+}

examples/plugin/gui_system_plugin/GuiSystemPlugin.qrc

@@ -0,0 +1,5 @@
+<!DOCTYPE RCC><RCC version="1.0">
+<qresource prefix="GuiSystemPlugin/">
+  <file>GuiSystemPlugin.qml</file>
+</qresource>
+</RCC>

examples/plugin/gui_system_plugin/README.md

@@ -0,0 +1,41 @@
+# GUI system plugin
+
+This example shows how to create a GUI system plugin.
+
+Ignition Gazebo supports any kind of Ignition GUI plugin
+(`ignition::gui::Plugin`). Gazebo GUI plugins are a special type of Ignition
+GUI plugin which also have access to entity and component updates coming from
+the server.
+
+See `GuiSystemPluginPlugin.hh` for more information.
+
+## Build
+
+From the root of the `ign-gazebo` repository, do the following to build the example:
+
+~~~
+cd ign-gazebo/examples/plugins/gui_system_plugin
+mkdir build
+cd build
+cmake ..
+make
+~~~
+
+This will generate the `libGuiSystemPlugin.so` library under `build`.
+
+## Run
+
+Add the library to the path:
+
+~~~
+cd ign-gazebo/examples/plugins/gui_system_plugin
+export IGN_GUI_PLUGIN_PATH=`pwd`/build
+~~~
+
+Then run a world, for example:
+
+    ign gazebo -v 4 shapes.sdf
+
+From the GUI plugin menu on the top-right, choose "Gui System Plugin".
+
+You'll see your plugin, displaying the world name `shapes`.

examples/standalone/custom_server/CMakeLists.txt

@@ -0,0 +1,11 @@
+cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+
+if(${CMAKE_SYSTEM_NAME} STREQUAL "Linux")
+  find_package(ignition-gazebo3 REQUIRED)
+  set(IGN_COMMON_VER ${ignition-gazebo3_VERSION_MAJOR})
+
+  add_executable(custom_server custom_server.cc)
+  target_link_libraries(custom_server
+    ignition-gazebo${IGN_COMMON_VER}::ignition-gazebo${IGN_COMMON_VER}
+    )
+endif()

examples/standalone/custom_server/README.md

@@ -0,0 +1,21 @@
+# Custom server
+
+This example demonstrates how to run a simulation server headless
+using the C++ API, instead of using Ignition Gazebo from the command line.
+
+## Build Instructions
+
+From this directory:
+
+    cd ign-gazebo/examples/standalone/custom_server
+    mkdir build
+    cd build
+    cmake ..
+    make
+
+## Execute Instructions
+
+    ./custom_server
+
+The server will run `shapes.sdf` for 100 iterations and exit. No GUI will
+show up.