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Merged
merged 42 commits into from
Mar 18, 2025
Merged

Merge gz-sim9 ➡️ main #2826

merged 42 commits into from
Mar 18, 2025

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➡️ Forward port

Port gz-sim9 ➡️ main

Branch comparison: main...gz-sim9

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

mergify bot and others added 30 commits November 19, 2024 11:56
@mergify @iche033
Improve load times by skipping serialization of entities when unecess…
af92e29 
…ary. (#2596) (#2682)

* A hack to greatly improve load times

I was investigating
gazebosim/gazebo_test_cases#1576 , in my
investigation it came to my notice that `sdf::Element` takes forever to
destroy (We should open a ticket somewhere about this). If we are
skipping serialization we might as well not create and destroy an
SDF Element. This hack greatly speeds up the load time for gazebo.

Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
Signed-off-by: Ian Chen <ichen@openrobotics.org>
Co-authored-by: Ian Chen <ichen@openrobotics.org>
(cherry picked from commit 1a88131)
@iche033
Remove detachable joints when a model is removed (#2686)
aa76c3e 
Signed-off-by: Ian Chen <ichen@openrobotics.org>
@scpeters
Link.hh: add Sensor accessor APIs (#2693)
7f002d6 
This adds SensorByName, Sensors, and SensorCount accessors
to the Link class with associated python bindings.

Signed-off-by: Steve Peters <scpeters@openrobotics.org>
@ntfshard
Use same FP limits for TrackedVehicle to avoid self-moving (#2651)
6f7d21f 
Signed-off-by: Maksim Derbasov <ntfs.hard@gmail.com>
@iche033
Extend shapes plugin width to include the ellipsoid button (#2699)
f0cde05 
Signed-off-by: Ian Chen <ichen@openrobotics.org>
@Tacha-S @ahcorde
Add parameter for adjust current sign in battery plugin (#2696)
dd3e241 
Signed-off-by: Tatsuro Sakaguchi <tatsuro.sakaguchi@g.softbank.co.jp>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
@iche033
Fix publishing only top level model pose in pose publisher (#2697)
9d6230a 
Signed-off-by: Ian Chen <ichen@openrobotics.org>
@ntfshard
Fix docker nightly build (#2643)
a8c5ec8 
Signed-off-by: Maksim Derbasov <ntfs.hard@gmail.com>
@peci1 @azeey
apply_joint_force: Simplified using ComponentDefault (#2630)
d83d135 
Signed-off-by: Martin Pecka <peci1@seznam.cz>
Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org>
@ntfshard
Better use of std::variant (#2714)
c72be04 
Signed-off-by: Maksim Derbasov <ntfs.hard@gmail.com>
@ntfshard
LinearBatteryPlugin stability improvement (#2725)
cb60b3d 
Signed-off-by: Maksim Derbasov <ntfs.hard@gmail.com>
@joshnewans
Fix mesh import filters not displaying correctly on KDE #2731 (#2732)
06e16bc 
Signed-off-by: Josh Newans <josh.newans@gmail.com>
@azeey
Fix illegal anchor warnings (#2741)
26621d4 
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
@EmmanuelMess @azeey
Update install link (#2745)
4782ee9 
* Update install link

Signed-off-by: Emmanuel <EmmanuelMess@users.noreply.github.com>

* Re add link to use libgz-sim as library

Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org>
Signed-off-by: Emmanuel <EmmanuelMess@users.noreply.github.com>

---------

Signed-off-by: Emmanuel <EmmanuelMess@users.noreply.github.com>
Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org>
@BA-Utkarsh @iche033
Visualize Frustum (#2707)
1eebaa3 
Signed-off-by: Utkarsh <Utkarsh.Yenurkar@Sony.com>
Signed-off-by: Utkarsh Yenurkar <80967869+BA-Utkarsh@users.noreply.github.com>
Co-authored-by: Ian Chen <ichen@openrobotics.org>
@azeey
Reduce/Eliminate sdf::Model and sdf::World serialization warnings (…
1739bdb 
…#2742)

- Reduces serialization warnings on `sdf::Model` so it only occurs when
  the `relative_to` attribute is set. This was the intended behavior
  originally, but there was a bug in the code.
- Eliminate `sdf::World` warnings by specializing the `DefaultSerializer` for `sdf::World`.

---------

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
@iche033
Add debug msg to log auto computed inertial values (#2749)
60a359a 
Signed-off-by: Ian Chen <ichen@openrobotics.org>
@erlingrj @azeey @iche033
Also handle SIGTERM gracefully (#2747)
13bf5be 
Signed-off-by: Erling Rennemo Jellum
Signed-off-by: erlingrj <erling.jellum@gmail.com>
Signed-off-by: erling <erling.jellum@gmail.com>
Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org>
Co-authored-by: Ian Chen <ichen@openrobotics.org>
@ntfshard
Improvement for Visualize lidar plugin (#2739)
b6d3233 
* For VisualizeLidarPrivate reorder members to avoid padding between it. Enabling -Wpadded for a whole project is not possible right now, due to warnings in some high-level headers
* VisualizeLidarPrivate class actually do not need a msgs::LaserScan msg member. Everything, including copying points, are happening in callback
* Avoiding redundant copying with const references
* Typos and alignment fix
* Minor C++ fixes, like removed redundant default arguments or used better api

---------

Signed-off-by: Maksim Derbasov <ntfs.hard@gmail.com>
@romulogcerqueira @azeey
Physics: Ray intersections (#2514)
4b6445f 
Introduces a component to request and receive ray intersections computed by the physics engine. This is currently only supported when using the DART physics engine with the collision detector set to `bullet`.
---------

Signed-off-by: Rômulo Cerqueira <romulogcerqueira@gmail.com>
Co-authored-by: Rômulo Cerqueira <rcerqueira@krakenrobotics.com>
Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org>
@caguero
Prepare for 9.1.0 relase (#2769)
2a9ee98 
Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
@TigerWuu
ADD: publish the wind information to gz and ros topic (#2767)
db848ac 
Create a wind plugin : windEffectPub to publish the wind information from gazebo to
```
    gz topic : /world/$myworld$/wind_info
    ros2 topic : /data/wind_true
```

Signed-off-by: TigerWuu <tiger871108@gmail.com>
@sauk2 @azeey @j-rivero
Standalone gz model executable (#2724)
2e36d08 
* Added gz model executable and updated ruby script
* Configuration file creation for model command

---------

Signed-off-by: Saurabh Kamat <kamatsaurabh01@gmail.com>
Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org>
Co-authored-by: Jose Luis Rivero <jrivero@osrfoundation.org>
@sauk2 @ahcorde @azeey
New system plugin called DriveToPoseController (#2679)
54830b9 
New system plugin to gz-sim called DriveToPoseController:

This controller receives a target pose in the Gazebo coordinate system on /cmd_pose topic and calculates and publishes a command velocity on /cmd_vel topic to move the robot towards the target. 
---------

Signed-off-by: Saurabh Kamat <kamatsaurabh01@gmail.com>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org>
@iche033
Support mesh optimization params in mesh inertial calculator (#2770)
219e70b 
Signed-off-by: Ian Chen <ichen@openrobotics.org>
@iche033
Fix SimtimeArgument test on homebrew (#2783)
c1f32b1 
Signed-off-by: Ian Chen <ichen@openrobotics.org>
@nkoenig @iche033
Break out server constructor (#2638)
4b45a44 
* Copy the code to the new function - won't compile

* Fix the build

* Replace static default world with sdf default world

* Added string and utility headers

* test moving header file

Signed-off-by: Nate Koenig <natekoenig@gmail.com>

* Move header file back

Signed-off-by: Nate Koenig <natekoenig@gmail.com>

* Move meshinertiacalculator header

Signed-off-by: Nate Koenig <natekoenig@gmail.com>

* Testing remove of literals

Signed-off-by: Nate Koenig <natekoenig@gmail.com>

* Undo tests, and just move the MeshInertiaCalculator.hh to top of file

Signed-off-by: Nate Koenig <natekoenig@gmail.com>

---------

Signed-off-by: Nate Koenig <natekoenig@gmail.com>
@iche033
Register MeshInertialCalculator when loading sim from an SDF string (#…
b675b4d 
…2754)

Signed-off-by: Ian Chen <ichen@openrobotics.org>
@iche033
Merge pull request #2760 from gazebosim/breakout_server_9
daa2460 
Port Server changes from gz-sim8 to gz-sim9 (#2638 and #2754)
@Dyst-0 @iche033
Update LogicalCamera plugin to detect nested models (#2788)
036515f 
Signed-off-by: Dyst-0 <69257845+Dyst-0@users.noreply.github.com>
Signed-off-by: Ian Chen <ichen@openrobotics.org>
Co-authored-by: Ian Chen <ichen@openrobotics.org>
AmalDevHaridevan and others added 9 commits February 22, 2025 03:10
@AmalDevHaridevan @ahcorde @azeey
Fixed GIL release issue with Python System and Python TestFixture. (#…
4df5170 
…2618)

---------

Signed-off-by: sdcnlab <haridevanamaldev@gmail.com>
Signed-off-by: Amal Dev Haridevan <haridevanamaldev@gmail.com>
Signed-off-by: AmaldevHaridevan <160554626+AmalDevHaridevan@users.noreply.github.com>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org>
@ntfshard
Cleanup for Visualize Frustum (#2794)
b2c4b27 
Signed-off-by: Maksim Derbasov <ntfs.hard@gmail.com>
@iche033
Update Windows CI badge in README.md (#2793)
3b1448a 
Signed-off-by: Ian Chen <ichen@openrobotics.org>
@iche033
Attempt to correct mass matrix in mesh inertia calculator (#2775)
1509b0f 
Signed-off-by: Ian Chen <ichen@openrobotics.org>
@iche033
Update auto inertial calculation tutorial (#2782)
7eef230 
Signed-off-by: Ian Chen <ichen@openrobotics.org>
@gabrielfpacheco
Fix initialization of world components when enabling velocity checks (#…
4ae75e5 
…2777)

Retain already initialized world component values when
enabling velocity checks and adjust expectations
accordingly in mesh_inertia_calulation integration tests.

Signed-off-by: Gabriel Pacheco <gabriel.fpacheco@gmail.com>
Co-authored-by: Gabriel Pacheco <gpacheco@krakenrobotics.com>
@arjo129 @j-rivero @caguero
Attempts to print a stacktrace on segfault in our integration tests (#…
7608ed9 
…2776)

* Attempts to print a stacktrace on segfault in our integration tests

Our integration tests often segfault in CI leaving us clueless as to
whats happening. This commit is an attempt to vendor backward-cpp and
at the same time allows us to get a stacktrace of our code. The current
status of this PR is draft.

Other options considered:

We vendor backward-cpp in `gz-launch` and in `gz-utils`. Sadly the
ubuntu package is not very useful as no cmake targets are provided. I
could try to vendor it in gz-cmake or write a besopoke `FindBackward`
package. However, our goal is to use it in tests. This is a very
specific use case and I feel maybe the simplest option is to vendor it
here and link it against the tests. That way we do not introduce more
dependencies via 3rd party package managers and the user has no need to
have anything else installed.

---------

Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
Co-authored-by: Jose Luis Rivero <jrivero@osrfoundation.org>
Co-authored-by: Carlos Agüero <caguero@openrobotics.org>
Co-authored-by: Jose Luis Rivero <jrivero@openrobotics.com>
@iche033
Update custom sensor system example to make the sensor respect update…
7fbc51c 
… rate (#2817)

Signed-off-by: Ian Chen <ichen@openrobotics.org>
@scpeters
Merge branch 'gz-sim9' into scpeters/merge_9_main
af90125
@github-actions github-actions bot added the 🪵 jetty Gazebo Jetty label Mar 17, 2025
iche033
iche033 reviewed Mar 17, 2025
View reviewed changes
.github/workflows/docker-nightly.yml Outdated
- uses: actions/checkout@v4
with:
repository: gazebosim/gz-sim
ref: gz-sim9
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should this be main?

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good catch: 0751925

@scpeters
docker-nightly.yml: build from main branch (#2826)
0751925 
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
iche033
iche033 previously approved these changes Mar 17, 2025
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@github-project-automation github-project-automation bot moved this from Inbox to In review in Core development Mar 17, 2025
@iche033 iche033 dismissed their stale review March 17, 2025 20:57

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iche033 commented Mar 17, 2025

not exactly sure why the docker nightly build is failing. It's still trying to fetch packages from focal. Maybe the base image needs to be rebuilt

@scpeters scpeters mentioned this pull request Mar 17, 2025
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not exactly sure why the docker nightly build is failing. It's still trying to fetch packages from focal. Maybe the base image needs to be rebuilt

I've opened #2827 against gz-sim9 which I think will help with the nightly workflow issue

scpeters added 2 commits March 17, 2025 17:49
@scpeters
Restrict docker-nightly workflow to base branch (#2827)
d9024d8 
Currently the nightly workflow is triggered for any
branch that receives a push, but we just want it
to run on the base branch.

Signed-off-by: Steve Peters <scpeters@openrobotics.org>
@scpeters
Merge branch 'gz-sim9' into scpeters/merge_9_main
d38ca1d
@scpeters scpeters merged commit f67671c into main Mar 18, 2025
9 checks passed
@scpeters scpeters deleted the scpeters/merge_9_main branch March 18, 2025 15:58
@github-project-automation github-project-automation bot moved this from In review to Done in Core development Mar 18, 2025
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