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6 ➡️ 7 (main) #1446

Merged
merged 21 commits into from
Apr 25, 2022
Merged

6 ➡️ 7 (main) #1446

merged 21 commits into from
Apr 25, 2022

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chapulina
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6 ➡️ 7

Note to maintainers: Remember to Merge with commit (not squash-merge or rebase)

azeey and others added 14 commits April 5, 2022 15:26
@azeey @mjcarroll @adlarkin
Fix segfault at exit (#1317)
031e334 
As discussed in #1158, a segfault occurs during exit because Views created as a result of an ECM query by plugins have their destructors stored in the shared library of the plugin. For GUI plugins, the plugins are unloaded from memory before the ECM is destructed, so when it's time to destruct the Views, a segfault occurs because the pointer to the virtual destructor is invalid. This PR is fixes the problem by making View a regular class instead of a template. This ensures that the destructor of View is stored in the core library of ignition-gazebo. As a result, the ECM can be destructed after GUI plugins have been unloaded.

Signed-off-by: Addisu Z. Taddese <[email protected]>

Co-authored-by: Michael Carroll <[email protected]>
Co-authored-by: Ashton Larkin <[email protected]>
@j-rivero @chapulina
Add desktop entry and svg logo (#1411)
2f7bd7e 
Signed-off-by: Jose Luis Rivero <[email protected]>

Co-authored-by: Louise Poubel <[email protected]>
@adityapande-1995 @hidmic
Supply world frame orientation and heading to IMU sensor
2e8892a 
Signed-off-by: Aditya <[email protected]>

Co-authored-by: Michel Hidalgo <[email protected]>
@scpeters
Merge branch 'ign-gazebo3' into merge36
6d225eb
@j-rivero
Use versioned svg file (#1430)
97a87c3 
To avoid conflicts between different major versions, add the major version to the svg filename.
@ahcorde
Removed screenToPlane method and use rendering::screenToPlane (#1432)
fbc16c6 
Signed-off-by: ahcorde <[email protected]>
@scpeters
Merge branch 'ign-gazebo6' into merge36
6a80901
@chapulina @j-rivero
Add Ubuntu Jammy CI (#1418)
b8eae6b 
Signed-off-by: Louise Poubel <[email protected]>
Signed-off-by: Jose Luis Rivero <[email protected]>

Co-authored-by: Jose Luis Rivero <[email protected]>
@chapulina @j-rivero
3 ➡️ 6 (#1429)
a5abbb5 
Signed-off-by: Jose Luis Rivero <[email protected]>
Signed-off-by: Louise Poubel <[email protected]>

Co-authored-by: Jose Luis Rivero <[email protected]>
Co-authored-by: Louise Poubel <[email protected]>
@iche033
Make sure pose publisher creates valid pose topics (#1433)
e3b5964 
Signed-off-by: Ian Chen <[email protected]>
Signed-off-by: Louise Poubel <[email protected]>
@chapulina
3 ➡️ 6
641946f 
Signed-off-by: Louise Poubel <[email protected]>
@methylDragon
Fix CMake version examples and bump plugin version (#1442)
e85278f 
* Fix CMake version examples and bump plugin version

Signed-off-by: methylDragon <[email protected]>

* Fix example CMake version

Signed-off-by: methylDragon <[email protected]>

* Fix typo in docs

Signed-off-by: methylDragon <[email protected]>
@chapulina @j-rivero
3 ➡️ 6 (#1438)
b825c27 
Signed-off-by: Louise Poubel <[email protected]>
Co-authored-by: Jose Luis Rivero <[email protected]>
@caguero @iche033 @arjo129
Add comms infrastructure (#1416)
7c88a8e 
This PR adds some infrastructure for being able to create comms systems. A comms system lets you send and receive data under the constrains of a given comms model. The comms model specifies when and how messages should be delivered to its destinations.

Subscribers create a regular callback via Ignition Transport and send a request to a centralized broker to bind an address, the robot attached to the address and the topic name used as a callback. Publishers fill a Dataframe message specifying the addresses of the sender and destination and set the payload. Then, publishers need to send via Ignition Transport the message to the centralized broker.

Besides the general infrastructure, this PR contains two systems: PerfectComms and CommsEndpoint.

PerfectComms is an example of a comms system. As required, it implements the ICommsModel interface and it always delivers the messages to their destinations.

CommsEndpoint is a helper system that can be optionally attached to a model (see examples/worlds/comms.sdf) and lets you assign an address to a robot and the subscription topic. The system automatically connects with the broker and bind this address/robot for you. You could do this process manually if needed but I think it's convenient for most of the users.

Signed-off-by: Carlos Agüero <[email protected]>

Co-authored-by: Ian Chen <[email protected]>
Co-authored-by: Arjo Chakravarty <[email protected]>
@chapulina chapulina added the needs upstream release Blocked by a release of an upstream library label Apr 14, 2022
@chapulina chapulina mentioned this pull request Apr 14, 2022
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@mjcarroll
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focal is busted missing dataframe.

@github-actions github-actions bot added the 🌱 garden Ignition Garden label Apr 14, 2022
@chapulina
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Yup, this needs gazebosim/gz-msgs#244 to go in first and then some nightlies

caguero and others added 3 commits April 14, 2022 10:06
@caguero @iche033 @arjo129
Adds new RFComms system (#1428)
528fb63 
* RFComms system

Signed-off-by: Carlos Agüero <[email protected]>
Co-authored-by: Ian Chen <[email protected]>
Co-authored-by: Arjo Chakravarty <[email protected]>
@chapulina
🎈 6.9.0 (#1439)
2938ede 
Signed-off-by: Louise Poubel <[email protected]>
@chapulina
6 ➡️ 7 (main)
5c7c8fa 
Signed-off-by: Louise Poubel <[email protected]>
@chapulina chapulina removed the needs upstream release Blocked by a release of an upstream library label Apr 19, 2022
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codecov bot commented Apr 19, 2022 •
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Codecov Report

Merging #1446 (e399431) into main (1083313) will not change coverage.
The diff coverage is n/a.

@@           Coverage Diff           @@
##             main    #1446   +/-   ##
=======================================
  Coverage   35.01%   35.01%           
=======================================
  Files          44       44           
  Lines        2356     2356           
=======================================
  Hits          825      825           
  Misses       1531     1531

Continue to review full report at Codecov.

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@chapulina chapulina mentioned this pull request Apr 20, 2022
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@chapulina
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I'm not sure what's up with the failure on Jenkins Ubuntu:

Errors were encountered while processing:
 /tmp/apt-dpkg-install-M4iyFG/023-libignition-common5-core-dev_4.999.999+nightly+git20220420+1r1b1ad37b31be684b3679d8b92cca957addeaab2f-1~focal_amd64.deb

GitHub actions was able to install all dependencies just fine, and I can't reproduce the issue locally. I've already tried cleaning the workspace. Maybe there's some other caching going on? CC @j-rivero

@chapulina
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failure on Jenkins Ubuntu

Should be fixed by

There are ign-common5 nightlies building, then we can retrigger CI here:

https://build.osrfoundation.org/job/ign-common5-debbuilder/

@chapulina
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CI status:

  • Actions Focal: Only a pre-existing test failure:
    • INTEGRATION_scene_broadcaster_system
  • Action Jammy: new test failures. Jammy CI is being introduced by this branch, so I think we should merge it like this and address the test failures in a separate PR. 
    103 - INTEGRATION_follow_actor_system (SEGFAULT)
139 - INTEGRATION_model_photo_shoot_default_joints (SEGFAULT)
141 - INTEGRATION_model_photo_shoot_random_joints (SEGFAULT)
173 - INTEGRATION_scene_broadcaster_system (Failed)
209 - testFixture_TEST.py (Subprocess aborted)
  • Windows: only warnings, as expected
  • Homebrew: pre-existing failures:
    • INTEGRATION_scene_broadcaster_system
    • UNIT_SimulationRunner_TEST
  • Jenkins Ubuntu: Infra is broken right now with nvidia-container-cli: initialization error: nvml error: driver/library version mismatch: unknown.

adityapande-1995
adityapande-1995 reviewed Apr 22, 2022
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@adityapande-1995 adityapande-1995 left a comment •
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In order for 2e8892a to work,

gazebosim/gz-sensors#186 and
gazebosim/gz-sensors#212 would also need to be forward ported from ign-sensors

@chapulina
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In order for 2e8892a to work,

Thanks, I think those have already been ported on these PRs

A convenient way to check what hasn't been ported yet is to click on the links on this table.

adityapande-1995
adityapande-1995 approved these changes Apr 22, 2022
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Looks good, hopefully no errors other than these : #1446 (comment)

@chapulina chapulina merged commit 7063d41 into main Apr 25, 2022
@chapulina chapulina deleted the chapulina/6_to_7 branch April 25, 2022 15:34
@j-rivero j-rivero mentioned this pull request Sep 16, 2022
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@methylDragon methylDragon methylDragon left review comments

@adityapande-1995 adityapande-1995 adityapande-1995 approved these changes

@mabelzhang mabelzhang Awaiting requested review from mabelzhang mabelzhang is a code owner

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@chapulina @mjcarroll @adityapande-1995 @methylDragon @azeey @j-rivero @scpeters @ahcorde @iche033 @caguero