Merge 8 -> 9 #3001
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Merge 8 -> 9 #3001
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The angular velocity was calculated using euler angles which led to singularities --------- Signed-off-by: Tom Creutz <tcreutz97@gmail.com> Signed-off-by: Shameek Ganguly <shameek@google.com> Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org> Co-authored-by: Aditya Pande <aditya050995@gmail.com> Co-authored-by: Ian Chen <ichen@openrobotics.org> Co-authored-by: Shameek Ganguly <shameek@google.com>
Added a check for non-empty laser scan ranges before accessing the elements. Signed-off-by: Ian Chen <ichen@openrobotics.org>
* check !empty(), not compare to size() * include what you use: add missing, remove unused headers, alphabetize. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
* Model.hh: add ModelByName and ModelCount APIs Backport nested model accessor APIs from #2494. * Add WrenchMeasured component * Physics.cc: fix typo in comment * sensor_TEST.py: move PreUpdate callback to Update The test's PreUpdate callback assumes that it executes after the ForceTorque::PreUpdate, so just move it to Update to gurantee it. Also fix a spelling error in the callback variable names. * fix spelling in on_post_update_cb * backport minor fixes to force-torque test * Include System.hh from some systems, add comment Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Signed-off-by: Azmyin M. Kamal <azmyin12@gmail.com>
Signed-off-by: Ian Chen <ichen@openrobotics.org>
Signed-off-by: Abhiroop Bhavsar <b22me002@iitj.ac.in>
Signed-off-by: Athena Z <athenaz@google.com> Co-authored-by: Ian Chen <ichen@openrobotics.org> Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org>
Signed-off-by: Ian Chen <ichen@openrobotics.org>
* 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>
This is part of #2500 that can be backported without breaking anything. None of the default system priorities are changed to preserve existing behavior. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
…#2653) Signed-off-by: Ian Chen <ichen@openrobotics.org>
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
Signed-off-by: Ian Chen <ichen@openrobotics.org> (cherry picked from commit 57599fb)
…ary. (#2596) (#2683) * 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)
This adds SensorByName, Sensors, and SensorCount accessors to the Link class with associated python bindings. Signed-off-by: Steve Peters <scpeters@openrobotics.org> (cherry picked from commit 7f002d6)
Signed-off-by: Maksim Derbasov <ntfs.hard@gmail.com> (cherry picked from commit 6f7d21f)
Signed-off-by: Ian Chen <ichen@openrobotics.org> (cherry picked from commit f0cde05)
Signed-off-by: Tatsuro Sakaguchi <tatsuro.sakaguchi@g.softbank.co.jp> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> (cherry picked from commit dd3e241)
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> (cherry picked from commit 26621d4)
…#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> (cherry picked from commit 1739bdb)
Signed-off-by: Ian Chen <ichen@openrobotics.org> (cherry picked from commit 60a359a) Signed-off-by: Ian Chen <ichen@openrobotics.org>
…2754) Signed-off-by: Ian Chen <ichen@openrobotics.org>
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> (cherry picked from commit 13bf5be)
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> (cherry picked from commit 4b6445f)
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
Signed-off-by: Ian Chen <ichen@openrobotics.org> (cherry picked from commit 219e70b)
…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> (cherry picked from commit 4ae75e5)
…backport #2776) (#2813) * Attempts to print a stacktrace on segfault in our integration tests (#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> (cherry picked from commit 7608ed9) # Conflicts: # .github/workflows/ci.yml Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> * Update CI Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> --------- Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> Co-authored-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>
The defaultGuiConfigFile function returns type std::string, so return an empty string instead of nullptr in error cases. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Part of gazebo-tooling/release-tools#1288 Signed-off-by: Jose Luis Rivero <jrivero@honurobotics.com>
Signed-off-by: Stefano Mutti <mutti.stefano.jp@gmail.com> Signed-off-by: Stefano Mutti <stefano.mutti@supsi.ch> Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Co-authored-by: Stefano Mutti <stefano.mutti@supsi.ch> Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Co-authored-by: Ian Chen <ichen@openrobotics.org>
Signed-off-by: Ian Chen <ichen@openrobotics.org> (cherry picked from commit 2aaa0ed)
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Signed-off-by: Ian Chen <ichen@openrobotics.org> (cherry picked from commit 6444e71)
This PR fixes issue #2903 and prevents the server from segfaulting if the plugin fails to load correctly. It prints an error that the plugin was misconfigured and continues executing ahead. (cherry picked from commit 049c19e) Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> Co-authored-by: Arjo Chakravarty <arjoc@intrinsic.ai>
Signed-off-by: Ian Chen <ichen@openrobotics.org> (cherry picked from commit 9d6230a)
Signed-off-by: Gabriel Pacheco <gabriel.fpacheco@gmail.com> (cherry picked from commit ff07b7d)
Computes the link bounding boxes for all link entities that have components::AxisAlignedBox present. The computation follows the same logic as the models bbox, but falls back to the SDF calculation introduced in #2787 in case the feature is not present for the selected physics plugin. --------- Signed-off-by: Gabriel Pacheco <gabriel.fpacheco@gmail.com> Co-authored-by: Ian Chen <ichen@openrobotics.org> (cherry picked from commit 716de42)
scpeters
requested review from
azeey,
iche033,
jennuine,
mabelzhang and
mjcarroll
as code owners
|
@osrf-jenkins run tests please |
iche033
approved these changes
Jul 26, 2025
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➡️ Forward port
Port gz-sim8 to gz-sim9
Branch comparison: gz-sim9...gz-sim8
Note to maintainers: Remember to Merge with commit (not squash-merge or rebase)