Forward-port updates (#1633)

Signed-off-by: Louise Poubel <[email protected]>

.github/ci/packages.apt

@@ -1,10 +1,15 @@
 freeglut3-dev
+libdart-collision-ode-dev
+libdart-dev
+libdart-external-ikfast-dev
+libdart-external-odelcpsolver-dev
+libdart-utils-urdf-dev
 libfreeimage-dev
 libglew-dev
 libgz-cmake3-dev
 libgz-common5-dev
-libgz-gui7-dev
 libgz-fuel-tools8-dev
+libgz-gui7-dev
 libgz-math7-eigen3-dev
 libgz-msgs9-dev
 libgz-physics6-dev
@@ -15,19 +20,21 @@ libgz-tools2-dev
 libgz-transport12-dev
 libgz-utils2-cli-dev
 libogre-1.9-dev
+libogre-next-2.3-dev
 libprotobuf-dev
 libprotoc-dev
 libsdformat13-dev
 libtinyxml2-dev
 libxi-dev
 libxmu-dev
 python3-distutils
+python3-gz-math7
 python3-pybind11
 python3-pytest
 qml-module-qt-labs-folderlistmodel
 qml-module-qt-labs-settings
-qml-module-qtqml-models2
 qml-module-qtgraphicaleffects
+qml-module-qtqml-models2
 qml-module-qtquick-controls
 qml-module-qtquick-controls2
 qml-module-qtquick-dialogs

.gitignore

@@ -12,3 +12,6 @@ build_*
 
 .ycm_extra_conf.py
 *.orig
+
+# clangd index
+.cache

CMakeLists.txt

@@ -4,6 +4,7 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 # Initialize the project
 #============================================================================
 project(gz-sim7 VERSION 7.0.0)
+set (GZ_DISTRIBUTION "Garden")
 
 #============================================================================
 # Find gz-cmake

Migration.md

@@ -116,7 +116,7 @@ since pose information is being logged in the `changed_state` topic.
       + `ViewAndle`: Move camera to preset angles
 
 * The `gui.config` and `server.config` files are now located in a versioned
-  folder inside `$HOME/.gz/sim`, i.e. `$HOME/.gz/sim/6/gui.config`.
+  folder inside `$HOME/.ignition/gazebo`, i.e. `$HOME/.ignition/gazebo/6/gui.config`.
 
 * The `Component::Clone` method has been marked `const` to reflect that it
   should not mutate internal component state. Component implementations that

README.md

@@ -9,12 +9,12 @@
 
 Build | Status
 -- | --
-Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-sim/branch/main/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-sim)
+Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-sim/branch/main/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-sim/branch/main)
 Ubuntu Focal | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_gazebo-ci-main-focal-amd64)](https://build.osrfoundation.org/job/ignition_gazebo-ci-main-focal-amd64)
 Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_gazebo-ci-main-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_gazebo-ci-main-homebrew-amd64)
 Windows       | [![Build Status](https://build.osrfoundation.org/job/ign_gazebo-ci-win/badge/icon)](https://build.osrfoundation.org/job/ign_gazebo-ci-win/)
 
-Gazebo Sim is an open source robotics simulator. Through Gazebo, users have access to high fidelity physics, rendering, and sensor models. Additionally, users and developers have multiple points of entry to simulation including a graphical user interface, plugins, and asynchronous message passing and services.
+Gazebo Sim is an open source robotics simulator. Through Gazebo Sim, users have access to high fidelity physics, rendering, and sensor models. Additionally, users and developers have multiple points of entry to simulation including a graphical user interface, plugins, and asynchronous message passing and services.
 
 Gazebo Sim is derived from [Gazebo Classic](http://classic.gazebosim.org) and represents over 16 years of development and experience in robotics and simulation. This library is part of the [Gazebo](https://gazebosim.org) project.
 
@@ -59,7 +59,7 @@ force-torque, IMU, GPS, and more, all powered by
 * **Plugins**: Develop custom plugins for robot, sensor, and
 environment control.
 
-* **Graphical interface**: Create, instrospect and interact with your simulations
+* **Graphical interface**: Create, introspect and interact with your simulations
 through plugin-based graphical interfaces powered by
 [Gazebo GUI](https://github.com/gazebosim/gz-gui).
 

examples/plugin/custom_sensor_system/CMakeLists.txt

@@ -20,7 +20,7 @@ include(FetchContent)
 FetchContent_Declare(
   sensors_clone
   GIT_REPOSITORY https://github.com/gazebosim/gz-sensors
-  GIT_TAG gz-sensors7
+  GIT_TAG main
 )
 FetchContent_Populate(sensors_clone)
 add_subdirectory(${sensors_clone_SOURCE_DIR}/examples/custom_sensor ${sensors_clone_BINARY_DIR})

examples/worlds/CMakeLists.txt

@@ -1,3 +1,5 @@
 file(GLOB files "*.sdf")
 install(FILES ${files}
   DESTINATION ${GZ_DATA_INSTALL_DIR}/worlds)
+
+add_subdirectory(thumbnails)

examples/worlds/apply_link_wrench.sdf

@@ -0,0 +1,163 @@
+<?xml version="1.0" ?>
+<!--
+
+  Demostrates the ApplyLinkWrench plugin.
+
+  When simulation starts, the box model starts moving due to the persistent force defined in this file.
+
+  Wrenches can also be applied through transport.
+  For example, apply a force to the cylinder model (i.e. its canonical link) with:
+
+    gz topic -t "/world/apply_link_wrench/wrench" -m gz.msgs.EntityWrench  -p "entity: {name: 'cylinder', type: MODEL}, wrench: {force: {y: 1000, z: 10000}}"
+
+  Apply a wrench to the cylinder link with:
+
+    gz topic -t "/world/apply_link_wrench/wrench" -m gz.msgs.EntityWrench  -p "entity: {name: 'cylinder::link', type: LINK}, wrench: {force: {y: -1000, z: 10000}, torque: {x: -1000}}"
+
+  Apply a persistent force to the cylinder with:
+
+    gz topic -t "/world/apply_link_wrench/wrench/persistent" -m gz.msgs.EntityWrench  -p "entity: {name: 'cylinder', type: MODEL}, wrench: {force: {x: -20}}"
+
+  Clear the persistent force from the box with:
+
+    gz topic -t "/world/apply_link_wrench/wrench/clear" -m gz.msgs.Entity  -p "name: 'box', type: MODEL"
+
+-->
+<sdf version="1.6">
+  <world name="apply_link_wrench">
+    <plugin
+      filename="gz-sim-physics-system"
+      name="gz::sim::systems::Physics">
+    </plugin>
+    <plugin
+      filename="gz-sim-scene-broadcaster-system"
+      name="gz::sim::systems::SceneBroadcaster">
+    </plugin>
+    <plugin
+      filename="gz-sim-apply-link-wrench-system"
+      name="gz::sim::systems::ApplyLinkWrench">
+      <persistent>
+        <entity_name>box</entity_name>
+        <entity_type>model</entity_type>
+        <force>-10 0 0</force>
+        <torque>0 0 0.1</torque>
+      </persistent>
+    </plugin>
+
+    <light type="directional" name="sun">
+      <cast_shadows>true</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+    </light>
+    <model name="ground_plane">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <ambient>0.8 0.8 0.8 1</ambient>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.8 0.8 0.8 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+    <model name="box">
+      <pose>0 -2 0.5 0 0 0</pose>
+      <link name="link">
+        <inertial>
+          <inertia>
+            <ixx>1</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>1</iyy>
+            <iyz>0</iyz>
+            <izz>1</izz>
+          </inertia>
+          <mass>1.0</mass>
+        </inertial>
+        <collision name="collision">
+          <geometry>
+            <box>
+              <size>1 1 1</size>
+            </box>
+          </geometry>
+        </collision>
+
+        <visual name="visual">
+          <geometry>
+            <box>
+              <size>1 1 1</size>
+            </box>
+          </geometry>
+          <material>
+            <ambient>1 0 0 1</ambient>
+            <diffuse>1 0 0 1</diffuse>
+            <specular>1 0 0 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+    <model name="cylinder">
+      <pose>0 2 0.5 0 0 0</pose>
+      <link name="link">
+        <inertial>
+          <inertia>
+            <ixx>2</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>2</iyy>
+            <iyz>0</iyz>
+            <izz>2</izz>
+          </inertia>
+          <mass>2.0</mass>
+        </inertial>
+        <collision name="collision">
+          <geometry>
+            <cylinder>
+              <radius>0.5</radius>
+              <length>1.0</length>
+            </cylinder>
+          </geometry>
+        </collision>
+
+        <visual name="visual">
+          <geometry>
+            <cylinder>
+              <radius>0.5</radius>
+              <length>1.0</length>
+            </cylinder>
+          </geometry>
+          <material>
+            <ambient>0 1 0 1</ambient>
+            <diffuse>0 1 0 1</diffuse>
+            <specular>0 1 0 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+  </world>
+</sdf>

examples/worlds/thumbnails/CMakeLists.txt

@@ -0,0 +1,3 @@
+file(GLOB files "*.png")
+install(FILES ${files}
+  DESTINATION ${GZ_DATA_INSTALL_DIR}/worlds/thumbnails)

include/gz/sim/Model.hh

@@ -175,6 +175,12 @@ namespace gz
       public: void SetWorldPoseCmd(EntityComponentManager &_ecm,
           const math::Pose3d &_pose);
 
+      /// \brief Get the model's canonical link entity.
+      /// \param[in] _ecm Entity-component manager.
+      /// \return Link entity.
+      public: sim::Entity CanonicalLink(
+          const EntityComponentManager &_ecm) const;
+
       /// \brief Pointer to private data.
       private: std::unique_ptr<ModelPrivate> dataPtr;
     };

include/gz/sim/Util.hh

@@ -17,6 +17,8 @@
 #ifndef GZ_SIM_UTIL_HH_
 #define GZ_SIM_UTIL_HH_
 
+#include <gz/msgs/entity.pb.h>
+
 #include <string>
 #include <unordered_set>
 #include <vector>
@@ -257,6 +259,26 @@ namespace gz
       return changed;
     }
 
+    /// \brief Helper function to get an entity from an entity message.
+    /// The returned entity is not guaranteed to exist.
+    ///
+    /// The message is used as follows:
+    ///
+    ///     if id not null
+    ///       use id
+    ///     else if name not null and type not null
+    ///       use name + type
+    ///     else
+    ///       error
+    ///     end
+    ///
+    /// \param[in] _ecm Entity component manager
+    /// \param[in] _msg Entity message
+    /// \return Entity ID, or kNullEntity if a matching entity couldn't be
+    /// found.
+    Entity GZ_SIM_VISIBLE entityFromMsg(
+      const EntityComponentManager &_ecm, const msgs::Entity &_msg);
+
     /// \brief Get the spherical coordinates for an entity.
     /// \param[in] _entity Entity whose coordinates we want.
     /// \param[in] _ecm Entity component manager

include/gz/sim/config.hh.in

@@ -39,5 +39,6 @@
 #define GZ_SIM_PLUGIN_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins"
 #define GZ_SIM_GUI_PLUGIN_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins/gui"
 #define GZ_SIM_WORLD_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}/worlds"
+#define GZ_DISTRIBUTION "${GZ_DISTRIBUTION}"
 
 #endif