Merge pull request #2013 from azeey/3_to_6

Merge ign-gazebo3 ➡️  ign-gazebo6

.github/workflows/ci.yml

@@ -1,6 +1,10 @@
 name: Ubuntu CI
 
-on: [push, pull_request]
+on:
+  pull_request:
+  push:
+    branches:
+      - 'ign-gazebo6'
 
 jobs:
   bionic-ci:

Changelog.md

@@ -2243,6 +2243,70 @@
 
 ## Gazebo Sim 3.x
 
+### Gazebo Sim 3.15.0 (2023-05-08)
+
+1. Speed up Resource Spawner load time by fetching model list asynchronously
+    * [Pull request #1962](https://github.com/gazebosim/gz-sim/pull/1962)
+
+1. ign -> gz Migrate Ignition Headers : gz-sim
+    * [Pull request #1646](https://github.com/gazebosim/gz-sim/pull/1646)
+    * [Pull request #1967](https://github.com/gazebosim/gz-sim/pull/1967)
+    * [Pull request #1978](https://github.com/gazebosim/gz-sim/pull/1978)
+    * [Pull request #1983](https://github.com/gazebosim/gz-sim/pull/1983)
+    * [Pull request #1985](https://github.com/gazebosim/gz-sim/pull/1985)
+
+1. Infrastructure
+    * [Pull request #1940](https://github.com/gazebosim/gz-sim/pull/1940)
+    * [Pull request #1937](https://github.com/gazebosim/gz-sim/pull/1937)
+
+1. Backport portion of #1771 to fix command-line test
+    * [Pull request #1771](https://github.com/gazebosim/gz-sim/pull/1771)
+
+1. cmdsim.rb: fix ruby syntax
+    * [Pull request #1884](https://github.com/gazebosim/gz-sim/pull/1884)
+
+1. Fix loading wold with record topic
+    * [Pull request #1855](https://github.com/gazebosim/gz-sim/pull/1855)
+
+1. Remove duplicate Fuel server used by ResourceSpawner
+    * [Pull request #1830](https://github.com/gazebosim/gz-sim/pull/1830)
+
+1. Re-add namespace for GUI render event
+    * [Pull request #1826](https://github.com/gazebosim/gz-sim/pull/1826)
+
+1. Fix QML warnings regarding binding loops
+    * [Pull request #1829](https://github.com/gazebosim/gz-sim/pull/1829)
+
+1. Update documentation on `UpdateInfo::realTime`
+    * [Pull request #1817](https://github.com/gazebosim/gz-sim/pull/1817)
+
+1. Add jennuine as GUI codeowner
+    * [Pull request #1800](https://github.com/gazebosim/gz-sim/pull/1800)
+
+1. Remove plotIcon in Physics.qml for Component Inspector
+    * [Pull request #1658](https://github.com/gazebosim/gz-sim/pull/1658)
+
+1. Convert ignitionrobotics to gazebosim in tutorials
+    * [Pull request #1757](https://github.com/gazebosim/gz-sim/pull/1757)
+    * [Pull request #1758](https://github.com/gazebosim/gz-sim/pull/1758)
+    * [Pull request #1759](https://github.com/gazebosim/gz-sim/pull/1759)
+    * [Pull request #1760](https://github.com/gazebosim/gz-sim/pull/1760)
+
+1. Added collection name to About Dialog
+    * [Pull request #1756](https://github.com/gazebosim/gz-sim/pull/1756)
+
+1. Remove compiler warnings
+    * [Pull request #1753](https://github.com/gazebosim/gz-sim/pull/1753)
+
+1. Update examples to use gazebosim.org
+    * [Pull request #1749](https://github.com/gazebosim/gz-sim/pull/1749)
+
+1. Remove actors from screen when they are supposed to
+    * [Pull request #1699](https://github.com/gazebosim/gz-sim/pull/1699)
+
+1. Readd namespaces for Q_ARGS
+    * [Pull request #1670](https://github.com/gazebosim/gz-sim/pull/1670)
+
 ### Gazebo Sim 3.14.0 (2022-08-17)
 
 1. Change `CODEOWNERS` and maintainer to Michael

src/CMakeLists.txt

@@ -152,13 +152,17 @@ ign_add_component(ign
     ${cli_sources}
   GET_TARGET_NAME ign_lib_target)
 target_link_libraries(${ign_lib_target}
-  PRIVATE
+  PUBLIC
     ${PROJECT_LIBRARY_TARGET_NAME}
     ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER}
     ignition-gazebo${PROJECT_VERSION_MAJOR}
     ignition-gazebo${PROJECT_VERSION_MAJOR}-gui
 )
 
+# Executable target that runs the GUI without ruby for debugging purposes.
+add_executable(runGui gz.cc)
+target_link_libraries(runGui PRIVATE ${ign_lib_target})
+
 # Create the library target
 ign_create_core_library(SOURCES ${sources} CXX_STANDARD 17)
 target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}

src/Server.cc

@@ -140,6 +140,14 @@ Server::Server(const ServerConfig &_config)
     return;
   }
 
+  if (this->dataPtr->sdfRoot.WorldCount() == 0)
+  {
+    ignerr << "SDF file doesn't contain a world. " <<
+      "If you wish to spawn a model, use the ResourceSpawner GUI plugin " <<
+      "or the 'world/<world_name>/create' service.\n";
+    return;
+  }
+
   // Add record plugin
   if (_config.UseLogRecord())
   {

src/Server_TEST.cc

@@ -1203,6 +1203,45 @@ TEST_P(ServerFixture, Stop)
   EXPECT_FALSE(server.Running());
 }
 
+/////////////////////////////////////////////////
+TEST_P(ServerFixture, SdfWithoutWorld)
+{
+  // Initialize logging
+  std::string logBasePath = common::joinPaths(PROJECT_BINARY_PATH, "tmp");
+  common::setenv(IGN_HOMEDIR, logBasePath);
+  std::string path = common::uuid();
+  ignLogInit(path, "test.log");
+
+  // Start server with model SDF file
+  ServerConfig serverConfig;
+  serverConfig.SetSdfFile(common::joinPaths(PROJECT_SOURCE_PATH,
+      "test", "worlds", "models", "sphere", "model.sdf"));
+
+  gz::sim::Server server(serverConfig);
+  EXPECT_FALSE(server.Running());
+  EXPECT_FALSE(server.Running(0).has_value());
+
+  // Check error message in log file
+  std::string logFullPath = common::joinPaths(logBasePath, path, "test.log");
+  std::ifstream ifs(logFullPath.c_str(), std::ios::in);
+  bool errFound = false;
+  while ((!errFound) && (!ifs.eof()))
+  {
+    std::string line;
+    std::getline(ifs, line);
+    std::string errString = "SDF file doesn't contain a world. ";
+    errString += "If you wish to spawn a model, ";
+    errString += "use the ResourceSpawner GUI plugin ";
+    errString += "or the 'world/<world_name>/create' service.";
+    errFound = (line.find(errString) != std::string::npos);
+  }
+  EXPECT_TRUE(errFound);
+
+  // Stop logging
+  ignLogClose();
+  common::removeAll(logBasePath);
+}
+
 // Run multiple times. We want to make sure that static globals don't cause
 // problems.
 INSTANTIATE_TEST_SUITE_P(ServerRepeat, ServerFixture, ::testing::Range(1, 2));