Merge pull request #259 from gazebosim/Crola1702/7_to_main_23-05-2024

Merge gz-launch7 ➡️ main

.github/ci/packages.apt

@@ -20,6 +20,5 @@ libwebsockets-dev
 libxi-dev
 libxmu-dev
 libyaml-dev
-python3-yaml
 uuid-dev
 xvfb

.github/workflows/ci.yml

@@ -1,14 +1,20 @@
 name: Ubuntu CI
 
-on: [push, pull_request]
+on:
+  pull_request:
+  push:
+    branches:
+      - 'ign-launch[0-9]'
+      - 'gz-launch[0-9]?'
+      - 'main'
 
 jobs:
   jammy-ci:
     runs-on: ubuntu-latest
     name: Ubuntu Jammy CI
     steps:
       - name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
       - name: Compile and test
         id: ci
         uses: gazebo-tooling/action-gz-ci@jammy

.github/workflows/package_xml.yml

@@ -0,0 +1,11 @@
+name: Validate package.xml
+
+on:
+  pull_request:
+
+jobs:
+  package-xml:
+    runs-on: ubuntu-latest
+    name: Validate package.xml
+    steps:
+      - uses: gazebo-tooling/action-gz-ci/validate_package_xml@jammy

.github/workflows/triage.yml

@@ -14,4 +14,3 @@ jobs:
         with:
           project-url: https://github.com/orgs/gazebosim/projects/7
           github-token: ${{ secrets.TRIAGE_TOKEN }}
-

CMakeLists.txt

@@ -23,7 +23,8 @@ gz_configure_project(VERSION_SUFFIX)
 # Set project-specific options
 #============================================================================
 
-set(GZ_LAUNCH_PLUGIN_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins/")
+set(GZ_LAUNCH_PLUGIN_RELATIVE_INSTALL_PATH "${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins/")
+set(GZ_LAUNCH_PLUGIN_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/${GZ_LAUNCH_PLUGIN_RELATIVE_INSTALL_PATH}")
 
 #============================================================================
 # Search for project-specific dependencies

Changelog.md

@@ -4,6 +4,27 @@
 
 ## Gazebo Launch 7.x
 
+### Gazebo Launch 7.1.0 (2024-04-11)
+
+1. Use relative install paths for plugin shared libraries and gz-tools data
+    * [Pull request #253](https://github.com/gazebosim/gz-launch/pull/253)
+
+1. Fix bug where address of local variable was returned
+    * [Pull request #252](https://github.com/gazebosim/gz-launch/pull/252)
+
+1. Add optional binary relocatability
+    * [Pull request #218](https://github.com/gazebosim/gz-launch/pull/218)
+
+1. Fix windows warnings
+    * [Pull request #199](https://github.com/gazebosim/gz-launch/pull/199)
+    * [Pull request #250](https://github.com/gazebosim/gz-launch/pull/250)
+
+1. Update CI badges in README
+    * [Pull request #239](https://github.com/gazebosim/gz-launch/pull/239)
+
+1. Infrastructure
+    * [Pull request #238](https://github.com/gazebosim/gz-launch/pull/238)
+
 ### Gazebo Launch 7.0.0 (2023-09-29)
 
 1. Documentation fixes
@@ -84,6 +105,29 @@
 
 ## Gazebo Launch 5.x
 
+### Gazebo Launch 5.3.0 (2023-06-14)
+
+1. Forward ports
+    * [Pull request #214](https://github.com/gazebosim/gz-launch/pull/214)
+
+1. Infrastructure
+    * [Pull request #213](https://github.com/gazebosim/gz-launch/pull/213)
+
+1. Rename COPYING to LICENSE
+    * [Pull request #212](https://github.com/gazebosim/gz-launch/pull/212)
+
+1. Small cleanup fixes
+    * [Pull request #211](https://github.com/gazebosim/gz-launch/pull/211)
+
+1. Add pause and stop to Websocket Server
+    * [Pull request #187](https://github.com/gazebosim/gz-launch/pull/187)
+
+1. Return a message on asset error
+    * [Pull request #197](https://github.com/gazebosim/gz-launch/pull/197)
+
+1. Remove redundant namespace references
+    * [Pull request #190](https://github.com/gazebosim/gz-launch/pull/190)
+
 ### Gazebo Launch 5.2.0 (2022-08-16)
 
 1. Add code coverage ignore file
@@ -235,6 +279,16 @@
 
 ## Gazebo Launch 2.x
 
+### Gazebo Launch 2.3.1 (2024-01-05)
+
+1. Small cleanup fixes
+    * [Pull request #211](https://github.com/gazebosim/gz-launch/pull/211)
+
+1. Infrastructure
+    * [Pull request #238](https://github.com/gazebosim/gz-launch/pull/238)
+    * [Pull request #213](https://github.com/gazebosim/gz-launch/pull/213)
+    * [Pull request #212](https://github.com/gazebosim/gz-launch/pull/212)
+
 ### Gazebo Launch 2.3.0 (2022-08-15)
 
 1. Remove redundant namespace references

README.md

@@ -9,10 +9,10 @@
 
 Build | Status
 -- | --
-Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-launch/branch/main/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-launch)
-Ubuntu Focal | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_launch-ci-main-focal-amd64)](https://build.osrfoundation.org/job/ignition_launch-ci-main-focal-amd64)
-Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_launch-ci-main-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_launch-ci-main-homebrew-amd64)
-Windows       | [![Build Status](https://build.osrfoundation.org/job/ign_launch-ci-win/badge/icon)](https://build.osrfoundation.org/job/ign_launch-ci-win/)
+Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-launch/tree/gz-launch7/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-launch/tree/gz-launch7)
+Ubuntu Jammy  | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_launch-ci-gz-launch7-jammy-amd64)](https://build.osrfoundation.org/job/gz_launch-ci-gz-launch7-jammy-amd64)
+Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_launch-ci-gz-launch7-homebrew-amd64)](https://build.osrfoundation.org/job/gz_launch-ci-gz-launch7-homebrew-amd64)
+Windows       | [![Build Status](https://build.osrfoundation.org/job/gz_launch-7-win/badge/icon)](https://build.osrfoundation.org/job/gz_launch-7-win/)
 
 Gazebo Launch, a component of [Gazebo](https://gazebosim.org), provides a command line interface
 to run and manager application and plugins.

include/gz/launch/InstallationDirectories.hh

@@ -0,0 +1,46 @@
+/*
+ * Copyright (C) 2023 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+#ifndef GZ_LAUNCH_INSTALLATION_DIRECTORIES_HH_
+#define GZ_LAUNCH_INSTALLATION_DIRECTORIES_HH_
+
+#include <string>
+
+#include <gz/launch/config.hh>
+#include <gz/launch/Export.hh>
+
+namespace gz
+{
+  namespace launch
+  {
+    inline namespace GZ_LAUNCH_VERSION_NAMESPACE {
+
+    /// \brief getInstallPrefix return the install prefix of the library
+    /// i.e. CMAKE_INSTALL_PREFIX unless the library has been moved
+    GZ_LAUNCH_VISIBLE std::string getInstallPrefix();
+
+    /// \brief getPluginInstallPath return the plugin install path
+    GZ_LAUNCH_VISIBLE std::string getPluginInstallPath();
+
+    /// \brief getInitialConfigPath return the initial config path
+    GZ_LAUNCH_VISIBLE std::string getInitialConfigPath();
+
+    }
+  }
+}
+
+#endif

include/gz/launch/config.hh.in

@@ -31,8 +31,8 @@
 
 #define GZ_LAUNCH_VERSION_HEADER "Gazebo Launch, version ${PROJECT_VERSION_FULL}\nCopyright (C) 2019 Open Source Robotics Foundation.\nReleased under the Apache 2.0 License.\n\n"
 
-#define GZ_LAUNCH_INITIAL_CONFIG_PATH "${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}/configs"
+#define GZ_LAUNCH_INITIAL_CONFIG_PATH _Pragma ("GCC warning \"'GZ_LAUNCH_INITIAL_CONFIG_PATH' macro is deprecated, use gz::launch::getInitialConfigPath() function instead. \"") "${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}/configs"
 
-#define GZ_LAUNCH_PLUGIN_INSTALL_PATH "${GZ_LAUNCH_PLUGIN_INSTALL_PATH}"
+#define GZ_LAUNCH_PLUGIN_INSTALL_PATH _Pragma ("GCC warning \"'GZ_LAUNCH_PLUGIN_INSTALL_PATH' macro is deprecated, use gz::launch::getPluginInstallPath() function instead. \"") "${GZ_LAUNCH_PLUGIN_INSTALL_PATH}"
 
 #endif

package.xml

@@ -0,0 +1,42 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>gz-launch8</name>
+  <version>8.0.0</version>
+  <description>Gazebo Launch : Run and manage programs and plugins</description>
+  <maintainer email="natekoenig@gmail.com">Nate Koenig</maintainer>
+  <license>Apache License 2.0</license>
+  <url type="website">https://github.com/gazebosim/gz-launch</url>
+
+  <buildtool_depend>cmake</buildtool_depend>
+
+  <depend>binutils</depend>
+  <depend>gz-cmake4</depend>
+  <depend>gz-common6</depend>
+  <depend>gz-fuel-tools9</depend>
+  <depend>gz-gui9</depend>
+  <depend>gz-math8</depend>
+  <depend>gz-msgs11</depend>
+  <depend>gz-physics7</depend>
+  <depend>gz-plugin3</depend>
+  <depend>gz-rendering8</depend>
+  <depend>gz-sensors8</depend>
+  <depend>gz-sim9</depend>
+  <depend>gz-tools2</depend>
+  <depend>gz-transport14</depend>
+  <depend>libgflags-dev</depend>
+  <depend>libwebsockets-dev</depend>
+  <depend>libxi-dev</depend>
+  <depend>libxmu-dev</depend>
+  <depend>libyaml-dev</depend>
+  <depend>sdformat14</depend>
+  <depend>tinyxml2</depend>
+  <depend>uuid</depend>
+
+  <test_depend>xvfb</test_depend>
+
+  <export>
+    <build_type>cmake</build_type>
+  </export>
+</package>
+

plugins/joy_to_twist/CMakeLists.txt

@@ -11,4 +11,4 @@ target_link_libraries(${plugin}
     gz-transport${GZ_TRANSPORT_VER}::core
 )
 
-install (TARGETS ${plugin} DESTINATION ${GZ_LAUNCH_PLUGIN_INSTALL_PATH})
+install (TARGETS ${plugin} DESTINATION ${GZ_LAUNCH_PLUGIN_RELATIVE_INSTALL_PATH})

plugins/joy_to_twist/JoyToTwist.cc

@@ -21,6 +21,8 @@
   #include <unistd.h>
 #endif
 
+#include <string>
+
 #include <gz/msgs/joy.pb.h>
 #include <gz/msgs/twist.pb.h>
 
@@ -49,6 +51,22 @@ void setVectorFromString(const std::string &_str,
   }
 }
 
+//////////////////////////////////////////////////
+// String to vector helper function.
+void setVectorFromString(const std::string &_str,
+                         gz::math::Vector3i &_v)
+{
+  std::string str = gz::common::trimmed(_str);
+
+  std::vector<std::string> parts = gz::common::split(str, " ");
+  if (parts.size() == 3)
+  {
+    _v.X(std::stoi(parts[0]));
+    _v.Y(std::stoi(parts[1]));
+    _v.Z(std::stoi(parts[2]));
+  }
+}
+
 /////////////////////////////////////////////////
 JoyToTwist::JoyToTwist()
   : Plugin()
@@ -130,18 +148,21 @@ void JoyToTwist::OnJoy(const gz::msgs::Joy &_msg)
   if (this->enableTurboButton >= 0 && _msg.buttons(this->enableTurboButton))
   {
     cmdVelMsg.mutable_linear()->set_x(
-        _msg.axes(this->axisLinear.X()) * this->scaleLinearTurbo.X());
+      _msg.axes(this->axisLinear.X()) * this->scaleLinearTurbo.X());
     cmdVelMsg.mutable_linear()->set_y(
-        _msg.axes(this->axisLinear.Y()) * this->scaleLinearTurbo.Y());
+      _msg.axes(this->axisLinear.Y()) * this->scaleLinearTurbo.Y());
     cmdVelMsg.mutable_linear()->set_z(
-        _msg.axes(this->axisLinear.Z()) * this->scaleLinearTurbo.Z());
+      _msg.axes(this->axisLinear.Z()) * this->scaleLinearTurbo.Z());
 
     cmdVelMsg.mutable_angular()->set_x(
-        _msg.axes(this->axisAngular.X()) * this->scaleAngularTurbo.X());
+      _msg.axes(static_cast<int>(this->axisAngular.X())) *
+      this->scaleAngularTurbo.X());
     cmdVelMsg.mutable_angular()->set_y(
-        _msg.axes(this->axisAngular.Y()) * this->scaleAngularTurbo.Y());
+      _msg.axes(static_cast<int>(this->axisAngular.Y())) *
+      this->scaleAngularTurbo.Y());
     cmdVelMsg.mutable_angular()->set_z(
-        _msg.axes(this->axisAngular.Z()) * this->scaleAngularTurbo.Z());
+      _msg.axes(static_cast<int>(this->axisAngular.Z())) *
+      this->scaleAngularTurbo.Z());
 
     this->cmdVelPub.Publish(cmdVelMsg);
     this->sentDisableMsg = false;
@@ -150,18 +171,21 @@ void JoyToTwist::OnJoy(const gz::msgs::Joy &_msg)
   else if (_msg.buttons(this->enableButton))
   {
     cmdVelMsg.mutable_linear()->set_x(
-        _msg.axes(this->axisLinear.X()) * this->scaleLinear.X());
+      _msg.axes(this->axisLinear.X()) * this->scaleLinear.X());
     cmdVelMsg.mutable_linear()->set_y(
-        _msg.axes(this->axisLinear.Y()) * this->scaleLinear.Y());
+      _msg.axes(this->axisLinear.Y()) * this->scaleLinear.Y());
     cmdVelMsg.mutable_linear()->set_z(
-        _msg.axes(this->axisLinear.Z()) * this->scaleLinear.Z());
+      _msg.axes(this->axisLinear.Z()) * this->scaleLinear.Z());
 
     cmdVelMsg.mutable_angular()->set_x(
-        _msg.axes(this->axisAngular.X()) * this->scaleAngular.X());
+      _msg.axes(static_cast<int>(this->axisAngular.X())) *
+      this->scaleAngular.X());
     cmdVelMsg.mutable_angular()->set_y(
-        _msg.axes(this->axisAngular.Y()) * this->scaleAngular.Y());
+      _msg.axes(static_cast<int>(this->axisAngular.Y())) *
+      this->scaleAngular.Y());
     cmdVelMsg.mutable_angular()->set_z(
-        _msg.axes(this->axisAngular.Z()) * this->scaleAngular.Z());
+      _msg.axes(static_cast<int>(this->axisAngular.Z())) *
+      this->scaleAngular.Z());
 
     this->cmdVelPub.Publish(cmdVelMsg);
     this->sentDisableMsg = false;

plugins/joy_to_twist/JoyToTwist.hh

@@ -94,7 +94,7 @@ namespace gz
 
       private: int enableButton = 0;
       private: int enableTurboButton = -1;
-      private: gz::math::Vector3d axisLinear{1.0, 0.0, 0.0};
+      private: gz::math::Vector3i axisLinear{1, 0, 0};
       private: gz::math::Vector3d scaleLinear{0.5, 0.0, 0.0};
       private: gz::math::Vector3d scaleLinearTurbo{0.5, 0.0, 0.0};
 

plugins/joystick/CMakeLists.txt

@@ -11,4 +11,4 @@ target_link_libraries(${plugin}
     gz-plugin${GZ_PLUGIN_VER}::core
 )
 
-install (TARGETS ${plugin} DESTINATION ${GZ_LAUNCH_PLUGIN_INSTALL_PATH})
+install (TARGETS ${plugin} DESTINATION ${GZ_LAUNCH_PLUGIN_RELATIVE_INSTALL_PATH})

plugins/sim_factory/CMakeLists.txt

@@ -13,4 +13,4 @@ target_link_libraries(${plugin_lower}
   gz-plugin${GZ_PLUGIN_VER}::core
 )
 
-install (TARGETS ${plugin} DESTINATION ${GZ_LAUNCH_PLUGIN_INSTALL_PATH})
+install (TARGETS ${plugin} DESTINATION ${GZ_LAUNCH_PLUGIN_RELATIVE_INSTALL_PATH})

plugins/sim_gui/CMakeLists.txt

@@ -16,4 +16,4 @@ target_link_libraries(${plugin_lower}
   gz-plugin${GZ_PLUGIN_VER}::core
 )
 
-install (TARGETS ${plugin} DESTINATION ${GZ_LAUNCH_PLUGIN_INSTALL_PATH})
+install (TARGETS ${plugin} DESTINATION ${GZ_LAUNCH_PLUGIN_RELATIVE_INSTALL_PATH})

plugins/sim_server/CMakeLists.txt

@@ -13,4 +13,4 @@ target_link_libraries(${plugin_lower}
   gz-plugin${GZ_PLUGIN_VER}::core
 )
 
-install (TARGETS ${plugin} DESTINATION ${GZ_LAUNCH_PLUGIN_INSTALL_PATH})
+install (TARGETS ${plugin} DESTINATION ${GZ_LAUNCH_PLUGIN_RELATIVE_INSTALL_PATH})

plugins/websocket_server/CMakeLists.txt

@@ -25,5 +25,5 @@ if (websockets_FOUND)
       gz-transport${GZ_TRANSPORT_VER}::core
   )
 
-  install (TARGETS ${plugin} DESTINATION ${GZ_LAUNCH_PLUGIN_INSTALL_PATH})
+  install (TARGETS ${plugin} DESTINATION ${GZ_LAUNCH_PLUGIN_RELATIVE_INSTALL_PATH})
 endif()