Merge branch 'sdf15' into gz_sdf_executable

gazebosim · Dec 3, 2024 · cad2158 · cad2158
2 parents 7592414 + 9661794
commit cad2158
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Showing 87 changed files with 162 additions and 145 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -97,16 +97,6 @@ if (BUILD_SDF)
     )
     if (NOT Python3_Development_FOUND)
       GZ_BUILD_WARNING("Python development libraries are missing: Python interfaces are disabled.")
-    else()
-      set(PYBIND11_PYTHON_VERSION 3)
-      find_package(pybind11 2.4 CONFIG QUIET)
-
-      if (pybind11_FOUND)
-        message (STATUS "Searching for pybind11 - found version ${pybind11_VERSION}.")
-      else()
-        GZ_BUILD_WARNING("pybind11 is missing: Python interfaces are disabled.")
-        message (STATUS "Searching for pybind11 - not found.")
-      endif()
     endif()
   endif()
 
@@ -136,9 +126,11 @@ if (BUILD_SDF)
 
   ################################################
   # Find psutil python package for memory tests
-  find_python_module(psutil)
-  if (NOT PY_PSUTIL)
-    gz_build_warning("Python psutil package not found. Memory leak tests will be skipped")
+  if (BUILD_TESTING)
+    find_python_module(psutil)
+    if (NOT PY_PSUTIL)
+      gz_build_warning("Python psutil package not found. Memory leak tests will be skipped")
+    endif()
   endif()
 
   ########################################
@@ -159,7 +151,7 @@ if (BUILD_SDF)
   add_subdirectory(sdf)
   add_subdirectory(conf)
   add_subdirectory(doc)
-  if (pybind11_FOUND AND NOT SKIP_PYBIND11)
+  if (Python3_Development_FOUND AND NOT SKIP_PYBIND11)
     add_subdirectory(python)
   endif()
 endif(BUILD_SDF)

diff --git a/README.md b/README.md
@@ -71,9 +71,9 @@ which version you need, or leave it empty for version 1.
 
 ### macOS
 
-On macOS, add OSRF packages:
+On macOS, after installing the [Homebrew package manager](https://brew.sh),
+add OSRF packages:
   ```sh
-  /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
   brew tap osrf/simulation
   ```
 
@@ -129,6 +129,25 @@ git clone https://github.com/gazebosim/sdformat -b sdf<#>
 Be sure to replace `<#>` with a number value, such as 14 or 15, depending on
 which version you need.
 
+### Install dependencies
+
+#### Ubuntu
+
+```sh
+cd sdformat
+sudo apt -y install \
+  $(sort -u $(find . -iname 'packages-'`lsb_release -cs`'.apt' -o -iname 'packages.apt' | tr '\n' ' '))
+```
+
+#### macOS
+
+```sh
+brew install --only-dependencies sdformat<#>
+```
+
+Be sure to replace `<#>` with a number value, such as 14 or 15, depending on
+which version you need.
+
 ### Build from Source
 
 Standard installation can be performed in UNIX systems using the following
@@ -144,60 +163,43 @@ make install
 
 sdformat supported cmake parameters at configuring time:
 
-* `USE_INTERNAL_URDF` (`bool`) [default `False`] <br/>
-  Use an internal copy of urdfdom 1.0.0 instead of look for one
-  installed in the system
-* `USE_UPSTREAM_CFLAGS` (`bool`) [default `True`] <br/>
-  Use the sdformat team compilation flags instead of the common set defined
-  by cmake.
+| Name                  | Type | Default  | Description                          |
+|-----------------------|------|----------|--------------------------------------|
+| `SKIP_PYBIND11`       | BOOL | False    | Skip generating Python bindings via pybind11 |
+| `USE_INTERNAL_URDF`   | BOOL | False    | Use an internal copy of urdfdom 1.0.0 instead of looking for one installed in the system |
+| `USE_UPSTREAM_CFLAGS` | BOOL | True     | Use the sdformat team compilation flags instead of the common set defined by cmake.      |
 
-## Uninstallation
+### Build python bindings separately from main library
 
-To uninstall the software installed with the previous steps:
+If you want to build Python bindings separately from the main libsdformat library
+(for example if you want to build Python bindings for multiple versions of Python),
+you can invoke cmake on the `python` folder instead of the root folder.
+Specify the path to the python executable with which you wish to build bindings
+in the `Python3_EXECUTABLE` cmake variable.
+Specify the install path for the bindings in the `CMAKE_INSTALL_PREFIX`
+variable, and be sure to set your `PYTHONPATH` accordingly after install.
 
-```sh
-cd build
-make uninstall
+```bash
+cd sdformat
+mkdir build_python3
+cd build_python3
+cmake ../python \
+    -DPython3_EXECUTABLE=/usr/local/bin/python3.12 \
+    -DCMAKE_INSTALL_PREFIX=<prefix>
 ```
 
-## macOS
+See the homebrew [sdformat15 formula](https://github.com/osrf/homebrew-simulation/blob/027d06f5be49da1e40d01180aedae7f76dc7ff47/Formula/sdformat15.rb#L12-L56)
+for an example of building bindings for multiple versions of Python.
 
-### Prerequisites
+## Uninstallation
 
-Clone the repository
-```sh
-git clone https://github.com/gazebosim/sdformat -b sdf<#>
-```
-Be sure to replace `<#>` with a number value, such as 14 or 15, depending on
-which version you need.
+To uninstall the software installed with the previous steps:
 
-Install dependencies
 ```sh
-brew install --only-dependencies sdformat<#>
+cd build
+make uninstall
 ```
 
-### Build from Source
-
-1. Configure and build
-  ```sh
-  cd sdformat
-  mkdir build
-  cd build
-  cmake .. # Consider specifying -DCMAKE_INSTALL_PREFIX=...
-  make
-  ```
-
-2. Optionally, install and uninstall
-  ```sh
-  sudo make install
-  ```
-
-  To uninstall the software installed with the previous steps:
-  ```sh
-  cd build/
-  sudo make uninstall
-  ```
-
 ## Windows
 
 ### Prerequisites

diff --git a/include/sdf/Actor.hh b/include/sdf/Actor.hh
@@ -28,7 +28,7 @@
 #include "sdf/Link.hh"
 #include "sdf/Joint.hh"
 #include "sdf/Plugin.hh"
-#include "sdf/sdf_config.h"
+#include "sdf/config.hh"
 #include "sdf/system_util.hh"
 
 namespace sdf

diff --git a/include/sdf/AirPressure.hh b/include/sdf/AirPressure.hh
@@ -22,7 +22,7 @@
 #include <sdf/Error.hh>
 #include <sdf/Element.hh>
 #include <sdf/Noise.hh>
-#include <sdf/sdf_config.h>
+#include <sdf/config.hh>
 
 namespace sdf
 {

diff --git a/include/sdf/AirSpeed.hh b/include/sdf/AirSpeed.hh
@@ -22,7 +22,7 @@
 #include <sdf/Error.hh>
 #include <sdf/Element.hh>
 #include <sdf/Noise.hh>
-#include <sdf/sdf_config.h>
+#include <sdf/config.hh>
 
 namespace sdf
 {

diff --git a/include/sdf/Altimeter.hh b/include/sdf/Altimeter.hh
@@ -22,7 +22,7 @@
 #include <sdf/Error.hh>
 #include <sdf/Element.hh>
 #include <sdf/Noise.hh>
-#include <sdf/sdf_config.h>
+#include <sdf/config.hh>
 
 namespace sdf
 {

diff --git a/include/sdf/Atmosphere.hh b/include/sdf/Atmosphere.hh
@@ -22,7 +22,7 @@
 
 #include "sdf/Element.hh"
 #include "sdf/Types.hh"
-#include "sdf/sdf_config.h"
+#include "sdf/config.hh"
 #include "sdf/system_util.hh"
 
 

diff --git a/include/sdf/Box.hh b/include/sdf/Box.hh
@@ -25,7 +25,7 @@
 #include <gz/utils/ImplPtr.hh>
 #include <sdf/Error.hh>
 #include <sdf/Element.hh>
-#include <sdf/sdf_config.h>
+#include <sdf/config.hh>
 
 namespace sdf
 {

diff --git a/include/sdf/Camera.hh b/include/sdf/Camera.hh
@@ -24,7 +24,7 @@
 #include <sdf/Error.hh>
 #include <sdf/Element.hh>
 #include <sdf/Noise.hh>
-#include <sdf/sdf_config.h>
+#include <sdf/config.hh>
 
 namespace sdf
 {

diff --git a/include/sdf/Capsule.hh b/include/sdf/Capsule.hh
@@ -24,7 +24,7 @@
 #include <gz/utils/ImplPtr.hh>
 #include <sdf/Error.hh>
 #include <sdf/Element.hh>
-#include <sdf/sdf_config.h>
+#include <sdf/config.hh>
 
 namespace sdf
 {

diff --git a/include/sdf/Collision.hh b/include/sdf/Collision.hh
@@ -27,7 +27,7 @@
 #include "sdf/Element.hh"
 #include "sdf/SemanticPose.hh"
 #include "sdf/Types.hh"
-#include "sdf/sdf_config.h"
+#include "sdf/config.hh"
 #include "sdf/system_util.hh"
 #include "sdf/ParserConfig.hh"
 

diff --git a/include/sdf/Cone.hh b/include/sdf/Cone.hh
@@ -26,7 +26,7 @@
 #include <gz/utils/ImplPtr.hh>
 #include <sdf/Error.hh>
 #include <sdf/Element.hh>
-#include <sdf/sdf_config.h>
+#include <sdf/config.hh>
 
 namespace sdf
 {

diff --git a/include/sdf/Console.hh b/include/sdf/Console.hh
@@ -23,7 +23,7 @@
 #include <memory>
 #include <string>
 
-#include <sdf/sdf_config.h>
+#include <sdf/config.hh>
 #include "sdf/system_util.hh"
 
 #ifdef _WIN32

diff --git a/include/sdf/Cylinder.hh b/include/sdf/Cylinder.hh
@@ -24,7 +24,7 @@
 #include <gz/utils/ImplPtr.hh>
 #include <sdf/Error.hh>
 #include <sdf/Element.hh>
-#include <sdf/sdf_config.h>
+#include <sdf/config.hh>
 
 namespace sdf
 {

diff --git a/include/sdf/Element.hh b/include/sdf/Element.hh
@@ -28,7 +28,7 @@
 #include "sdf/Error.hh"
 #include "sdf/Param.hh"
 #include "sdf/PrintConfig.hh"
-#include "sdf/sdf_config.h"
+#include "sdf/config.hh"
 #include "sdf/system_util.hh"
 #include "sdf/Types.hh"
 

diff --git a/include/sdf/Ellipsoid.hh b/include/sdf/Ellipsoid.hh
@@ -24,7 +24,7 @@
 #include <gz/utils/ImplPtr.hh>
 #include <sdf/Error.hh>
 #include <sdf/Element.hh>
-#include <sdf/sdf_config.h>
+#include <sdf/config.hh>
 
 namespace sdf
 {

diff --git a/include/sdf/Error.hh b/include/sdf/Error.hh
@@ -21,7 +21,7 @@
 #include <string>
 #include <optional>
 #include <gz/utils/ImplPtr.hh>
-#include <sdf/sdf_config.h>
+#include <sdf/config.hh>
 #include "sdf/Console.hh"
 #include "sdf/system_util.hh"
 

diff --git a/include/sdf/Exception.hh b/include/sdf/Exception.hh
@@ -25,7 +25,7 @@
 #include <string>
 
 #include <gz/utils/ImplPtr.hh>
-#include <sdf/sdf_config.h>
+#include <sdf/config.hh>
 #include "sdf/system_util.hh"
 
 namespace sdf

diff --git a/include/sdf/Filesystem.hh b/include/sdf/Filesystem.hh
@@ -22,7 +22,7 @@
 #include <string>
 
 #include <gz/utils/ImplPtr.hh>
-#include <sdf/sdf_config.h>
+#include <sdf/config.hh>
 #include "sdf/system_util.hh"
 
 namespace sdf

diff --git a/include/sdf/ForceTorque.hh b/include/sdf/ForceTorque.hh
@@ -22,7 +22,7 @@
 #include <sdf/Error.hh>
 #include <sdf/Element.hh>
 #include <sdf/Noise.hh>
-#include <sdf/sdf_config.h>
+#include <sdf/config.hh>
 
 namespace sdf
 {

diff --git a/include/sdf/Frame.hh b/include/sdf/Frame.hh
@@ -24,7 +24,7 @@
 #include "sdf/Element.hh"
 #include "sdf/SemanticPose.hh"
 #include "sdf/Types.hh"
-#include "sdf/sdf_config.h"
+#include "sdf/config.hh"
 #include "sdf/system_util.hh"
 
 namespace sdf

diff --git a/include/sdf/Geometry.hh b/include/sdf/Geometry.hh
@@ -24,7 +24,7 @@
 #include <gz/math/Inertial.hh>
 #include <sdf/Error.hh>
 #include <sdf/Element.hh>
-#include <sdf/sdf_config.h>
+#include <sdf/config.hh>
 #include <sdf/ParserConfig.hh>
 #include <sdf/Types.hh>
 

diff --git a/include/sdf/Gui.hh b/include/sdf/Gui.hh
@@ -21,7 +21,7 @@
 #include "sdf/Element.hh"
 #include "sdf/Plugin.hh"
 #include "sdf/Types.hh"
-#include "sdf/sdf_config.h"
+#include "sdf/config.hh"
 #include "sdf/system_util.hh"
 
 namespace sdf

diff --git a/include/sdf/Heightmap.hh b/include/sdf/Heightmap.hh
@@ -22,7 +22,7 @@
 #include <gz/utils/ImplPtr.hh>
 #include <sdf/Element.hh>
 #include <sdf/Error.hh>
-#include <sdf/sdf_config.h>
+#include <sdf/config.hh>
 
 namespace sdf
 {

diff --git a/include/sdf/Imu.hh b/include/sdf/Imu.hh
@@ -22,7 +22,7 @@
 #include <sdf/Error.hh>
 #include <sdf/Element.hh>
 #include <sdf/Noise.hh>
-#include <sdf/sdf_config.h>
+#include <sdf/config.hh>
 
 namespace sdf
 {

diff --git a/include/sdf/InstallationDirectories.hh b/include/sdf/InstallationDirectories.hh
@@ -20,7 +20,7 @@
 
 #include <string>
 
-#include <sdf/sdf_config.h>
+#include <sdf/config.hh>
 #include <sdf/system_util.hh>
 
 namespace sdf

diff --git a/include/sdf/InterfaceElements.hh b/include/sdf/InterfaceElements.hh
@@ -28,7 +28,7 @@
 #include "sdf/InterfaceModel.hh"
 #include "sdf/Types.hh"
 
-#include "sdf/sdf_config.h"
+#include "sdf/config.hh"
 #include "sdf/system_util.hh"
 
 namespace sdf

diff --git a/include/sdf/InterfaceFrame.hh b/include/sdf/InterfaceFrame.hh
@@ -23,7 +23,7 @@
 #include <gz/math/Pose3.hh>
 #include <gz/utils/ImplPtr.hh>
 
-#include "sdf/sdf_config.h"
+#include "sdf/config.hh"
 #include "sdf/system_util.hh"
 
 namespace sdf