[pull] gz-sim8 from gazebosim:gz-sim8#20
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[pull] gz-sim8 from gazebosim:gz-sim8#20pull[bot] wants to merge 227 commits intoMRE-Code-Hub:gz-sim8from
pull[bot] wants to merge 227 commits intoMRE-Code-Hub:gz-sim8from
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Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
Signed-off-by: Arjo Chakravarty <arjo@openrobotics.org>
…cs/ign-gazebo into arjo/fix/detachable_joint
Signed-off-by: Louise Poubel <louise@openrobotics.org>
Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai>
CMake checks if rendering is available to enable some tests, so the rendering environment needs to be set before CMake runs. --------- Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
* test script tag Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * add dark grey before creating component Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * material parser Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * linters Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * Update src/rendering/MaterialParser/MaterialParser.cc Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Signed-off-by: Dharini Dutia <dharinidutia@gmail.com> Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * fix configLoader, material struct and feedback Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * default color and todos Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * install/load one file, range based loop, hardcode dependent solid colors Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * fix install_dir property Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * credits, initializing cleanup Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * eof Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * reformat Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * add integration test Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * migration note Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * intends, default case, invalid color Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * optional materialValues, typo Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * feedback Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * size check Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * get color values Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * migration doc update Signed-off-by: Dharini Dutia <dharini@openrobotics.org> --------- Signed-off-by: Dharini Dutia <dharini@openrobotics.org> Signed-off-by: Dharini Dutia <dharinidutia@gmail.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
Edited gazebo.material file to remove multiple passes in solid colors. Refactored the parser based on Gazebo's style guide. Signed-off-by: Dharini Dutia <dharini@openrobotics.org> Signed-off-by: Dharini Dutia <dharinidutia@gmail.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
Signed-off-by: Dharini Dutia <dharini@openrobotics.org>
The failures are caused by a change in the DART physics engine (dartsim/dart#1774) which causes joints to recover after reaching or exceeding their position limits. It seems like the model used in this plugin starts off with joint limits violated and recovers after a few iterations. This causes a small movement of the robot. Since the test works by comparing images taken of the robot at the start of simulation and after a few iterations, the small movement causes a discrepancy in the images. The solution here is to run the whole test while simulation is paused. This also cleans up some TestFixture warnings. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
Merge ign-gazebo6 ➡️ gz-sim7
…mespace `gz` (#2385) The `gz` namespace is not recognized by doxygen enough for it to autogenerate links to inner namespaces and classes. For example, `\ref gz::sim::systems` or simply `gz::sim::systems` don't link to the namespace documentation. You'd have to use `ignition::gazebo::systems` instead. I was hoping there was a more clever solution that would allow all `gz::` refs to work automatically, but I was not able to find one, so this is a compromise to fix the landing page for ign-gazebo6 (https://gazebosim.org/api/sim/6) Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
The package name has an underscore between `fuel` and `tools`. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
Welcome to Codecov 🎉Once you merge this PR into your default branch, you're all set! Codecov will compare coverage reports and display results in all future pull requests. Thanks for integrating Codecov - We've got you covered ☂️ |
Signed-off-by: Jorge Perez <jjperez@ekumenlabs.com>
* Use latest 1.14 google-test in gtest_setup
Signed-off-by: Jose Luis Rivero <jrivero@osrfoundation.org>
* Make gcc happy about dangling pointer
GCC is emitting a warning about a possible danling pointer on table
like definitions:
warning: possibly dangling reference to a temporary [-Wdangling-reference]
660 | auto const& table = get_current_events_table(state_indexes{});
| ^~~~~
Which I think that really comes from the use of state_indexes{} as
argument:
note: the temporary was destroyed at the end of the full expression
660 | auto const& table = get_current_events_table(state_indexes{});
| ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~
Clang is quiet about this and make me think that is a false positive
since the metaprogramming code is using just the type of the state_indexes
as much as I can see.
---------
Signed-off-by: Jose Luis Rivero <jrivero@osrfoundation.org>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
The test in this file does nothing. We should remove it. Signed-off-by: Arjo Chakravarty <arjoc@google.com>
This adds the dynamics to simulate a lighter-than-air vehicle such as blimps/airships. The modelling is based on [1] and [2]. Previously we added an airship-dynamics-plugin to Gazebo-Classic for [PX4 Gazebo SITL](PX4/PX4-SITL_gazebo-classic#490) , but we suffered simulation instability similar to that of the underwater-vehicles since Gazebo-Classic could not simulate the Added Mass dynamics. This PR brings that airship-dynamics-plugin to Gazebo which supports the Added Mass dynamics. Furthermore, I have extended, the Link class to provide access to the AddedMassMatrix, to allow the lighter-than-air system to easily access this matrix. The code is somewhat based of the Hydrodynamics system. I have an STL file which I can contribute, which is an envelope from [Wind Reiter](https://www.windreiter.com/shop/sb-324-300/), and the coefficients in the integrations test is for this envelope model. ### Citations [1] Li, Y., & Nahon, M. (2007). Modeling and simulation of airship dynamics. Journal of Guidance, Control, and Dynamics, 30(6), 1691–1700. [2] Li, Y., Nahon, M., & Sharf, I. (2011). Airship dynamics modeling: A literature review. Progress in Aerospace Sciences, 47(3), 217–239. Signed-off-by: henrykotze <henry@flycloudline.com>
This adds some comments and uses structured bindings in range-based for loops to improve readability. It also adds const to unmodified variables in a loop. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
Signed-off-by: Benjamin Perseghetti <bperseghetti@rudislabs.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Co-authored-by: Jenn Nguyen <jenn.nguyen02@gmail.com>
Merge gz-sim7 ➡️ gz-sim8
…from the container (#2412) Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
Signed-off-by: Ian Chen <ichen@openrobotics.org>
Signed-off-by: Ian Chen <ichen@openrobotics.org> (cherry picked from commit f8f8a80)
This is nessecary to get stacktraces properly formatted in our CI when developing. Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> (cherry picked from commit ed0321a)
Signed-off-by: Maksim Derbasov <ntfs.hard@gmail.com> Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org> (cherry picked from commit 2d4d4f7) Signed-off-by: Ian Chen <ichen@openrobotics.org>
This pull requests solves the [issue](gazebosim/gz-physics#766) in gz-physics but since it requires changes in this repo instead of gz-physics I am opening this pr here. With this gazebo now supports changing gravity at runtime by running 'gz service -s /world/world_demo/set_physics --reqtype gz.msgs.Physics --reptype gz.msgs.Boolean --timeout 2000 --req 'gravity { x: 0 y: 0 z: -2.8 }' --------- (cherry picked from commit d2780bb) Signed-off-by: Shivang <shivangso23@iitk.ac.in> Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai> Co-authored-by: Shivang <75626127+IceShuttle@users.noreply.github.com> Co-authored-by: Arjo Chakravarty <arjoc@intrinsic.ai>
Signed-off-by: miguelgonrod <miguelgonrod2004@gmail.com>
* Use `Node::CreateSubscriber` API in `ApplyLinkWrench` system This API creates subscriber objects that automatically unsubscribe from the given topic when destroyed. * Set GZ_IP on tests Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> --------- Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> (cherry picked from commit 49db230)
Signed-off-by: Ian Chen <ichen@openrobotics.org> (cherry picked from commit 80246e0)
`benchmark::internal::Benchmark` was deprecated in google/benchmark#2101 which was released as 1.9.5 Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> (cherry picked from commit 8edb19f)
…urce URIs (#3286) * Clear findfile callbacks to avoid lifetime mismatches This was causing a crash where the callbacks that were registered in an earlier test were being called in a later test. Since the pointers accessed in the callbacks have long been destroyed, a memory corruption occurs. --------- Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> Signed-off-by: Ian Chen <ichen@openrobotics.org> Co-authored-by: Ian Chen <ichen@openrobotics.org> (cherry picked from commit 3c66274) Signed-off-by: Ian Chen <ichen@openrobotics.org> # Conflicts: # MODULE.bazel
Signed-off-by: miguelgonrod <miguel.gonzalez@ekumenlabs.com>
* Add collision param to touch plugin --------- Signed-off-by: Ian Chen <ichen@openrobotics.org> (cherry picked from commit 5441010)
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> (cherry picked from commit af94079)
Signed-off-by: Addisu Z. Taddese <addisuzt@intrinsic.ai>
* Fix unused-result warnings in tests Expect ParseFromString to return true. * Fix additional warnings (#3383) Signed-off-by: Steve Peters <scpeters@intrinsic.ai> Signed-off-by: Addisu Z. Taddese <addisuzt@intrinsic.ai> Co-authored-by: Addisu Z. Taddese <addisuzt@intrinsic.ai> (cherry picked from commit 39b6250)
Signed-off-by: momo <2438833481@qq.com> Co-authored-by: Ian Chen <ichen@openrobotics.org> (cherry picked from commit 07b9ed0) # Conflicts: # src/gui/plugins/visualize_frustum/VisualizeFrustum.cc # src/gui/plugins/visualize_frustum/VisualizeFrustum.hh Co-authored-by: Oscmoar07 <108773152+XINJIANGMO@users.noreply.github.com>
Signed-off-by: Ian Chen <iche@intrinsic.ai> Co-authored-by: Ian Chen <iche@intrinsic.ai> (cherry picked from commit fbf9aa6)
Signed-off-by: Carlos Agüero <caguero@osrfoundation.org> (cherry picked from commit b370313)
…3438) * Fix crash when calling reset in model_photo_shoot (#3416) Signed-off-by: momo <2438833481@qq.com> (cherry picked from commit fe17422) Signed-off-by: momo <2438833481@qq.com> Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Co-authored-by: Oscmoar07 <108773152+XINJIANGMO@users.noreply.github.com> Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
…3450) * docs: fix selected Doxygen warnings in docs build (#3445) Signed-off-by: Ammaar Ahmed <ammaarlatif53@gmail.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> (cherry picked from commit 8bb61f8) Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com> Co-authored-by: Ammaar Ahmed <ammaarlatif53@gmail.com> Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
This patch adds multiple improvements to the Hydrodynamic system:
## Bug fixes
- Coriolis matrix C(0,5): fixed wrong sign (Fossen eq. 6.43).
- Coriolis matrix C(5,0): fixed wrong index and sign; restores skew-symmetry.
- abs() → std::abs(): prevents silent truncation to int for sub-unit velocities; added `#include <cmath>`.
- First-timestep spike: firstIteration flag initializes prevState from actual velocity instead of zero.
- Dead waterDensity variable: removed (was set but never used).
- Coriolis current-velocity correction: when `<fluid_added_mass>` and ocean current are both present, applies a correction wrench so Coriolis uses relative velocity.
## New functionality
- Double added mass guard: emits `gzerr` if both native `<fluid_added_mass>` and plugin added mass parameters are active without `<disable_added_mass>true`.
- Context-dependent deprecation warning: replaces the unconditional "migrate to native" warning with engine-aware advice — recommends `<fluid_added_mass>` for DART, notes that Bullet/MuJoCo only support plugin-based added mass .
- Added simulation reset.
## Refactoring
- Extracted math into `HydrodynamicsUtils.hh`: `buildCoriolisMatrix()`, `buildDampingMatrix()`, `buildFullCoriolisMatrix()`, `skew3()`.
- `buildDampingMatrix()` uses references-to-arrays `(const double (&)[36], const double (&)[216])` for compile-time size checking.
- Fixed-size `Eigen` types throughout (stack-allocated, SIMD-friendly
## Tests
- `Hydrodynamics_TEST.cc` with unit tests covering:
- Known-value validation for all 18 Coriolis entries.
- Skew-symmetry and energy conservation properties.
- Regression tests for the two Coriolis bugs fixed.
- Sub-unit velocity regression for the `abs()` bug.
- Damping matrix: linear, quadratic, combined, cross-terms.
- Full Coriolis matrix: diagonal equivalence, correction wrench.
## Documentation
- `Hydrodynamics.hh`: updated Doxygen — added mass section scoped to DART, double-counting warning, engine recommendation.
- `Migration.md`: deprecation scoped to DART, double-counting warning, migration example labeled "(DART)".
- `theory_hydrodynamics.md`: added physics engine recommendation table.
- Tutorial files updated for new configuration style.
Signed-off-by: Carlos Aguero <caguero@honurobotics.com>
* Tweaks
Signed-off-by: Carlos Aguero <caguero@honurobotics.com>
* Tweaks
Signed-off-by: Carlos Aguero <caguero@honurobotics.com>
* Reset
Signed-off-by: Carlos Aguero <caguero@honurobotics.com>
* Exclude test file for Bazel
Signed-off-by: Carlos Aguero <caguero@honurobotics.com>
* Fix Windows
Signed-off-by: Carlos Aguero <caguero@honurobotics.com>
* Fix Win
Signed-off-by: Carlos Aguero <caguero@honurobotics.com>
* Build test
Signed-off-by: Carlos Aguero <caguero@honurobotics.com>
---------
Signed-off-by: Carlos Agüero <caguero@osrfoundation.org>
Signed-off-by: Carlos Aguero <caguero@honurobotics.com>
(cherry picked from commit 57e28a0)
# Conflicts:
# BUILD.bazel
# Migration.md
# src/systems/hydrodynamics/Hydrodynamics.cc
# src/systems/hydrodynamics/Hydrodynamics.hh
) (#3472) ## Summary The `RenderEngineServerApiBackend` component header exists and is registered in the component factory, and `ServerConfig` exposes the `RenderEngineServerApiBackend()` accessor. However, `SimulationRunner` never creates this component on the world entity, so the render engine API backend setting from the server configuration is silently ignored at runtime. ### Changes Add the missing `CreateComponent` call for `RenderEngineServerApiBackend` in `SimulationRunner::OnWorldControl`, alongside the other render engine components (`RenderEngineServerPlugin`, `RenderEngineServerHeadless`, `RenderEngineGuiPlugin`). Generated-by: Claude Code (cherry picked from commit 7277624) Signed-off-by: Taylor Howard <taylor.howard@absiko.com.au> Co-authored-by: Taylor Howard <taylorhoward@me.com> Co-authored-by: Taylor Howard <taylor.howard@absiko.com.au>
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