Merge branch 'gz-sim9' into Amal-python-system-GIL

CMakeLists.txt

@@ -18,7 +18,7 @@ find_package(gz-cmake4 REQUIRED)
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-gz_configure_project(VERSION_SUFFIX pre1)
+gz_configure_project(VERSION_SUFFIX)
 
 #============================================================================
 # Set project-specific options

Changelog.md

@@ -1,9 +1,82 @@
 ## Gazebo Sim 9.x
 
-### Gazebo Sim 9.0.0 (2024-09-XX)
+### Gazebo Sim 9.0.0 (2024-09-25)
 
 1. **Baseline:** this includes all changes from 8.6.0 and earlier.
 
+1. Miscellaneous documentation fixes
+    * [Pull request #2634](https://github.com/gazebosim/gz-sim/pull/2634)
+    * [Pull request #2632](https://github.com/gazebosim/gz-sim/pull/2632)
+    * [Pull request #2628](https://github.com/gazebosim/gz-sim/pull/2628)
+    * [Pull request #2631](https://github.com/gazebosim/gz-sim/pull/2631)
+    * [Pull request #2627](https://github.com/gazebosim/gz-sim/pull/2627)
+    * [Pull request #2625](https://github.com/gazebosim/gz-sim/pull/2625)
+    * [Pull request #2622](https://github.com/gazebosim/gz-sim/pull/2622)
+    * [Pull request #2607](https://github.com/gazebosim/gz-sim/pull/2607)
+    * [Pull request #2606](https://github.com/gazebosim/gz-sim/pull/2606)
+    * [Pull request #2602](https://github.com/gazebosim/gz-sim/pull/2602)
+    * [Pull request #2601](https://github.com/gazebosim/gz-sim/pull/2601)
+    * [Pull request #2603](https://github.com/gazebosim/gz-sim/pull/2603)
+    * [Pull request #2578](https://github.com/gazebosim/gz-sim/pull/2578)
+    * [Pull request #2592](https://github.com/gazebosim/gz-sim/pull/2592)
+    * [Pull request #2582](https://github.com/gazebosim/gz-sim/pull/2582)
+    * [Pull request #2585](https://github.com/gazebosim/gz-sim/pull/2585)
+    * [Pull request #2576](https://github.com/gazebosim/gz-sim/pull/2576)
+    * [Pull request #2573](https://github.com/gazebosim/gz-sim/pull/2573)
+    * [Pull request #2571](https://github.com/gazebosim/gz-sim/pull/2571)
+    * [Pull request #2574](https://github.com/gazebosim/gz-sim/pull/2574)
+    * [Pull request #2564](https://github.com/gazebosim/gz-sim/pull/2564)
+    * [Pull request #2563](https://github.com/gazebosim/gz-sim/pull/2563)
+    * [Pull request #2562](https://github.com/gazebosim/gz-sim/pull/2562)
+    * [Pull request #2553](https://github.com/gazebosim/gz-sim/pull/2553)
+
+1. Fix log playback GUI display
+    * [Pull request #2611](https://github.com/gazebosim/gz-sim/pull/2611)
+    * [Pull request #2619](https://github.com/gazebosim/gz-sim/pull/2619)
+
+1. Add tutorial + example SDF for shadow texture size
+    * [Pull request #2597](https://github.com/gazebosim/gz-sim/pull/2597)
+
+1. Fix making breadcrumb static if it's a nested model
+    * [Pull request #2593](https://github.com/gazebosim/gz-sim/pull/2593)
+
+1. Update physics system error msg when plugin can not be loaded
+    * [Pull request #2604](https://github.com/gazebosim/gz-sim/pull/2604)
+
+1. Fix configuring global illumination GUI plugin parameters
+    * [Pull request #2594](https://github.com/gazebosim/gz-sim/pull/2594)
+
+1. Fix particle emitter color range image path warning
+    * [Pull request #2560](https://github.com/gazebosim/gz-sim/pull/2560)
+
+1. Fix empty gui world file
+    * [Pull request #2591](https://github.com/gazebosim/gz-sim/pull/2591)
+
+1. Fix crash on windows due to invalid log directory path
+    * [Pull request #2589](https://github.com/gazebosim/gz-sim/pull/2589)
+
+1. Use ogre2 for DEM worlds
+    * [Pull request #2586](https://github.com/gazebosim/gz-sim/pull/2586)
+
+1. Fix crash when running the optical tactile sensor world
+    * [Pull request #2561](https://github.com/gazebosim/gz-sim/pull/2561)
+
+1. Prevent follow actor plugin from crashing when actor is removed
+    * [Pull request #2577](https://github.com/gazebosim/gz-sim/pull/2577)
+    * [Pull request #2584](https://github.com/gazebosim/gz-sim/pull/2584)
+
+1. Fix hydrodynamics deprecation warning.
+    * [Pull request #2579](https://github.com/gazebosim/gz-sim/pull/2579)
+
+1. Removed actor population world due to bad merge
+    * [Pull request #2581](https://github.com/gazebosim/gz-sim/pull/2581)
+
+1. Fixed warning joint trayectory sdf
+    * [Pull request #2580](https://github.com/gazebosim/gz-sim/pull/2580)
+
+1. Fix looking up camera name in camera lens system
+    * [Pull request #2559](https://github.com/gazebosim/gz-sim/pull/2559)
+
 1. Add a flexible mechanism to combine user and default plugins
     * [Pull request #2497](https://github.com/gazebosim/gz-sim/pull/2497)
 

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 main
+  GIT_TAG gz-sensors${GZ_SENSORS_VER}
 )
 FetchContent_Populate(sensors_clone)
 add_subdirectory(${sensors_clone_SOURCE_DIR}/examples/custom_sensor ${sensors_clone_BINARY_DIR})

include/gz/sim/Link.hh

@@ -136,6 +136,14 @@ namespace gz
       public: sim::Entity CollisionByName(const EntityComponentManager &_ecm,
           const std::string &_name) const;
 
+      /// \brief Get the ID of a sensor entity which is an immediate child of
+      /// this link.
+      /// \param[in] _ecm Entity-component manager.
+      /// \param[in] _name Sensor name.
+      /// \return Sensor entity.
+      public: sim::Entity SensorByName(const EntityComponentManager &_ecm,
+          const std::string &_name) const;
+
       /// \brief Get the ID of a visual entity which is an immediate child of
       /// this link.
       /// \param[in] _ecm Entity-component manager.
@@ -150,6 +158,12 @@ namespace gz
       public: std::vector<sim::Entity> Collisions(
           const EntityComponentManager &_ecm) const;
 
+      /// \brief Get all sensors which are immediate children of this link.
+      /// \param[in] _ecm Entity-component manager.
+      /// \return All sensors in this link.
+      public: std::vector<sim::Entity> Sensors(
+          const EntityComponentManager &_ecm) const;
+
       /// \brief Get all visuals which are immediate children of this link.
       /// \param[in] _ecm Entity-component manager.
       /// \return All visuals in this link.
@@ -162,6 +176,12 @@ namespace gz
       /// \return Number of collisions in this link.
       public: uint64_t CollisionCount(const EntityComponentManager &_ecm) const;
 
+      /// \brief Get the number of sensors which are immediate children of this
+      /// link.
+      /// \param[in] _ecm Entity-component manager.
+      /// \return Number of sensors in this link.
+      public: uint64_t SensorCount(const EntityComponentManager &_ecm) const;
+
       /// \brief Get the number of visuals which are immediate children of this
       /// link.
       /// \param[in] _ecm Entity-component manager.

include/gz/sim/components/Model.hh

@@ -75,10 +75,18 @@ namespace serializers
         }
       }
 
-      _out << "<?xml version=\"1.0\" ?>"
-           << "<sdf version='" << SDF_PROTOCOL_VERSION << "'>"
-           << (skip ? std::string() : modelElem->ToString(""))
-           << "</sdf>";
+      if (!skip)
+      {
+        _out << "<?xml version=\"1.0\" ?>"
+              << "<sdf version='" << SDF_PROTOCOL_VERSION << "'>"
+              << modelElem->ToString("")
+              << "</sdf>";
+
+      }
+      else
+      {
+        _out << "";
+      }
       return _out;
     }
 
@@ -89,13 +97,18 @@ namespace serializers
     public: static std::istream &Deserialize(std::istream &_in,
                 sdf::Model &_model)
     {
-      sdf::Root root;
       std::string sdf(std::istreambuf_iterator<char>(_in), {});
+      if (sdf.empty())
+      {
+        return _in;
+      }
 
+      // Its super expensive to create an SDFElement for some reason
+      sdf::Root root;
       sdf::Errors errors = root.LoadSdfString(sdf);
       if (!root.Model())
       {
-        gzwarn << "Unable to deserialize sdf::Model" << std::endl;
+        gzwarn << "Unable to deserialize sdf::Model " << sdf<< std::endl;
         return _in;
       }
 

python/CMakeLists.txt

@@ -105,7 +105,7 @@ if (BUILD_TESTING)
     endif()
 
     set(_env_vars)
-    list(APPEND _env_vars "PYTHONPATH=${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}/python/")
+    list(APPEND _env_vars "PYTHONPATH=${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}/python/:$ENV{PYTHONPATH}")
     list(APPEND _env_vars "LD_LIBRARY_PATH=${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}:$ENV{LD_LIBRARY_PATH}")
     set_tests_properties(${test} PROPERTIES
       ENVIRONMENT "${_env_vars}")

python/src/gz/sim/Link.cc

@@ -57,6 +57,11 @@ void defineSimLink(py::object module)
       py::arg("name"),
       "Get the ID of a collision entity which is an immediate child of "
       "this link.")
+  .def("sensor_by_name", &gz::sim::Link::SensorByName,
+      py::arg("ecm"),
+      py::arg("name"),
+      "Get the ID of a sensor entity which is an immediate child of "
+      "this link.")
   .def("visual_by_name", &gz::sim::Link::VisualByName,
       py::arg("ecm"),
       py::arg("name"),
@@ -65,13 +70,20 @@ void defineSimLink(py::object module)
   .def("collisions", &gz::sim::Link::Collisions,
       py::arg("ecm"),
       "Get all collisions which are immediate children of this link.")
+  .def("sensors", &gz::sim::Link::Sensors,
+      py::arg("ecm"),
+      "Get all sensors which are immediate children of this link.")
   .def("visuals", &gz::sim::Link::Visuals,
       py::arg("ecm"),
       "Get all visuals which are immediate children of this link.")
   .def("collision_count", &gz::sim::Link::CollisionCount,
       py::arg("ecm"),
       "Get the number of collisions which are immediate children of "
       "this link.")
+  .def("sensor_count", &gz::sim::Link::SensorCount,
+      py::arg("ecm"),
+      "Get the number of sensors which are immediate children of this "
+      "link.")
   .def("visual_count", &gz::sim::Link::VisualCount,
       py::arg("ecm"),
       "Get the number of visuals which are immediate children of this "

python/test/link_TEST.py

@@ -56,6 +56,9 @@ def on_pre_udpate_cb(_info, _ecm):
             # Collisions Test
             self.assertNotEqual(K_NULL_ENTITY, link.collision_by_name(_ecm, 'collision_test'))
             self.assertEqual(1, link.collision_count(_ecm))
+            # Sensors Test
+            self.assertNotEqual(K_NULL_ENTITY, link.sensor_by_name(_ecm, 'my_sensor'))
+            self.assertEqual(1, link.sensor_count(_ecm))
             # Visuals Test
             self.assertNotEqual(K_NULL_ENTITY, link.visual_by_name(_ecm, 'visual_test'))
             self.assertEqual(1, link.visual_count(_ecm))

src/EntityComponentManager.cc

@@ -34,6 +34,7 @@
 #include "gz/sim/components/CanonicalLink.hh"
 #include "gz/sim/components/ChildLinkName.hh"
 #include "gz/sim/components/Component.hh"
+#include "gz/sim/components/DetachableJoint.hh"
 #include "gz/sim/components/Factory.hh"
 #include "gz/sim/components/Joint.hh"
 #include "gz/sim/components/Link.hh"
@@ -711,6 +712,25 @@ void EntityComponentManager::RequestRemoveEntity(Entity _entity,
   else
   {
     this->dataPtr->InsertEntityRecursive(_entity, tmpToRemoveEntities);
+
+    // remove detachable joint entities that are connected to
+    // any of the entities to be removed
+    std::unordered_set<Entity> detachableJoints;
+    this->Each<components::DetachableJoint>(
+        [&](const Entity &_jointEntity,
+            const components::DetachableJoint *_jointInfo) -> bool
+        {
+          Entity parentLinkEntity = _jointInfo->Data().parentLink;
+          Entity childLinkEntity = _jointInfo->Data().childLink;
+          if (tmpToRemoveEntities.find(parentLinkEntity) !=
+              tmpToRemoveEntities.end() ||
+              tmpToRemoveEntities.find(childLinkEntity) !=
+              tmpToRemoveEntities.end())
+            detachableJoints.insert(_jointEntity);
+          return true;
+        });
+    tmpToRemoveEntities.insert(detachableJoints.begin(),
+                               detachableJoints.end());
   }
 
   // Remove entities from tmpToRemoveEntities that are marked as

src/Link.cc

@@ -37,6 +37,7 @@
 #include "gz/sim/components/Name.hh"
 #include "gz/sim/components/ParentEntity.hh"
 #include "gz/sim/components/Pose.hh"
+#include "gz/sim/components/Sensor.hh"
 #include "gz/sim/components/Visual.hh"
 #include "gz/sim/components/WindMode.hh"
 #include "gz/sim/Util.hh"
@@ -126,6 +127,16 @@ Entity Link::CollisionByName(const EntityComponentManager &_ecm,
       components::Collision());
 }
 
+//////////////////////////////////////////////////
+Entity Link::SensorByName(const EntityComponentManager &_ecm,
+    const std::string &_name) const
+{
+  return _ecm.EntityByComponents(
+      components::ParentEntity(this->dataPtr->id),
+      components::Name(_name),
+      components::Sensor());
+}
+
 //////////////////////////////////////////////////
 Entity Link::VisualByName(const EntityComponentManager &_ecm,
     const std::string &_name) const
@@ -144,6 +155,14 @@ std::vector<Entity> Link::Collisions(const EntityComponentManager &_ecm) const
       components::Collision());
 }
 
+//////////////////////////////////////////////////
+std::vector<Entity> Link::Sensors(const EntityComponentManager &_ecm) const
+{
+  return _ecm.EntitiesByComponents(
+      components::ParentEntity(this->dataPtr->id),
+      components::Sensor());
+}
+
 //////////////////////////////////////////////////
 std::vector<Entity> Link::Visuals(const EntityComponentManager &_ecm) const
 {
@@ -158,6 +177,12 @@ uint64_t Link::CollisionCount(const EntityComponentManager &_ecm) const
   return this->Collisions(_ecm).size();
 }
 
+//////////////////////////////////////////////////
+uint64_t Link::SensorCount(const EntityComponentManager &_ecm) const
+{
+  return this->Sensors(_ecm).size();
+}
+
 //////////////////////////////////////////////////
 uint64_t Link::VisualCount(const EntityComponentManager &_ecm) const
 {