Merge pull request #14705 from EricCousineau-TRI/feature-libsdformat10

Upgrade sdformat to 10.3.0

examples/manipulation_station/models/cupboard.sdf

@@ -110,7 +110,7 @@
     <joint name="left_door_hinge" type="revolute">
       <child>left_door</child>
       <parent>cupboard_body</parent>
-      <pose>-0.008 -0.1395 0 0 0 </pose>
+      <pose>-0.008 -0.1395 0 0 0 0</pose>
       <axis>
         <xyz> 0 0 1 </xyz>
         <limit>
@@ -174,7 +174,7 @@
     <joint name="right_door_hinge" type="revolute">
       <child>right_door</child>
       <parent>cupboard_body</parent>
-      <pose>-0.008 0.1395 0 0 0 </pose>
+      <pose>-0.008 0.1395 0 0 0 0</pose>
       <axis>
         <xyz> 0 0 1 </xyz>
         <limit>

manipulation/models/wsg_50_description/sdf/schunk_wsg_50_no_tip.sdf

@@ -1,5 +1,5 @@
-<!-- This sdf file is based on schunk_wsg_50.sdf -->
 <?xml version="1.0"?>
+<!-- This sdf file is based on schunk_wsg_50.sdf -->
 <sdf version="1.7">
   <model name="Schunk_Gripper">
     <link name="body">

manipulation/models/wsg_50_description/sdf/schunk_wsg_50_with_tip.sdf

@@ -1,5 +1,5 @@
-<!-- This sdf file is based on schunk_wsg_50.sdf -->
 <?xml version="1.0"?>
+<!-- This sdf file is based on schunk_wsg_50.sdf -->
 <sdf version="1.7">
   <model name="Schunk_Gripper">
     <link name="body">

multibody/parsing/detail_scene_graph.cc

@@ -166,6 +166,9 @@ std::unique_ptr<geometry::Shape> MakeShapeFromSdfGeometry(
         return make_unique<geometry::Mesh>(file_name, scale);
       }
     }
+    case sdf::GeometryType::HEIGHTMAP: {
+      return std::unique_ptr<geometry::Shape>(nullptr);
+    }
   }
 
   DRAKE_UNREACHABLE();
@@ -200,6 +203,7 @@ std::unique_ptr<GeometryInstance> MakeGeometryInstanceFromSdfVisual(
   // other geometry types whenever X_LC != X_LG.
   switch (sdf_geometry.Type()) {
     case sdf::GeometryType::EMPTY:  // Also includes custom geometries.
+    case sdf::GeometryType::HEIGHTMAP:
     case sdf::GeometryType::BOX:
     case sdf::GeometryType::CYLINDER:
     case sdf::GeometryType::MESH:
@@ -227,9 +231,12 @@ std::unique_ptr<GeometryInstance> MakeGeometryInstanceFromSdfVisual(
     }
   }
 
-  auto instance = make_unique<GeometryInstance>(
-      X_LC, MakeShapeFromSdfGeometry(sdf_geometry, resolve_filename),
-      sdf_visual.Name());
+  auto shape = MakeShapeFromSdfGeometry(sdf_geometry, resolve_filename);
+  if (shape == nullptr) {
+    return nullptr;
+  }
+  auto instance =
+      make_unique<GeometryInstance>(X_LC, move(shape), sdf_visual.Name());
   instance->set_illustration_properties(
       MakeVisualPropertiesFromSdfVisual(sdf_visual, resolve_filename));
   return instance;
@@ -345,6 +352,7 @@ RigidTransformd MakeGeometryPoseFromSdfCollision(
   const sdf::Geometry& sdf_geometry = *sdf_collision.Geom();
   switch (sdf_geometry.Type()) {
     case sdf::GeometryType::EMPTY:
+    case sdf::GeometryType::HEIGHTMAP:
     case sdf::GeometryType::BOX:
     case sdf::GeometryType::CYLINDER:
     case sdf::GeometryType::MESH:

multibody/parsing/detail_scene_graph.h

@@ -30,7 +30,9 @@ std::unique_ptr<geometry::Shape> MakeShapeFromSdfGeometry(
  file, this method makes a new drake::geometry::GeometryInstance object from
  this specification at a pose `X_LG` relatve to its parent link.
  This method returns nullptr when the given SDF specification corresponds
- to a geometry of type `sdf::GeometryType::EMPTY` (`<empty/>` SDF tag.)
+ to an uninterpreted geometry type:
+ - `sdf::GeometryType::EMPTY` (`<empty/>` SDF tag.)
+ - `sdf::GeometryType::HEIGHTMAP` (`<heightmap/>` SDF tag.)
 
  <!-- TODO(SeanCurtis-TRI): Ultimately, a module for what we parse should be
   written outside of this _internal_ namespace. This should go there and

multibody/parsing/test/detail_scene_graph_test.cc

@@ -343,6 +343,17 @@ GTEST_TEST(SceneGraphParserDetail, MakeConvexFromSdfGeometry) {
   EXPECT_EQ(convex->scale(), 3);
 }
 
+// Verify that MakeShapeFromSdfGeometry does nothing with a heightmap.
+GTEST_TEST(SceneGraphParserDetail, MakeHeightmapFromSdfGeometry) {
+  unique_ptr<sdf::Geometry> sdf_geometry = MakeSdfGeometryFromString(
+      "<heightmap>"
+      "  <uri>/path/to/some/heightmap.png</uri>"
+      "</heightmap>");
+  unique_ptr<Shape> shape = MakeShapeFromSdfGeometry(
+      *sdf_geometry, NoopResolveFilename);
+  EXPECT_EQ(shape, nullptr);
+}
+
 // Verify MakeGeometryInstanceFromSdfVisual can make a GeometryInstance from an
 // sdf::Visual.
 // Since we test MakeShapeFromSdfGeometry separately, there is no need to unit
@@ -430,7 +441,7 @@ GTEST_TEST(SceneGraphParserDetail, VisualGeometryNameRequirements) {
 
   // These whitespace characters are *not* considered to be whitespace by SDF.
   std::vector<std::pair<char, std::string>> ignored_whitespace{
-      {'\n', "\\n"}, {'\v', "\\v"}, {'\r', "\\r"}, {'\f', "\\f"}};
+      {'\v', "\\v"}, {'\f', "\\f"}};
   for (const auto& pair : ignored_whitespace) {
     // Case: Whitespace-only name.
     EXPECT_TRUE(valid_parse(fmt::format(visual_tag, pair.first)))
@@ -549,6 +560,25 @@ GTEST_TEST(SceneGraphParserDetail, MakeEmptyGeometryInstanceFromSdfVisual) {
   EXPECT_EQ(geometry_instance, nullptr);
 }
 
+
+// Verify that MakeGeometryInstanceFromSdfVisual does nothing with a heightmap.
+GTEST_TEST(SceneGraphParserDetail, MakeHeightmapGeometryInstanceFromSdfVisual) {
+  unique_ptr<sdf::Visual> sdf_visual = MakeSdfVisualFromString(
+    "<visual name='some_link_visual'>"
+    "  <pose>1.0 2.0 3.0 3.14 6.28 1.57</pose>"
+    "  <geometry>"
+    "    <heightmap>"
+    "      <uri>/path/to/some/heightmap.png</uri>"
+    "    </heightmap>"
+    "  </geometry>"
+    "</visual>");
+  unique_ptr<GeometryInstance> geometry_instance =
+      MakeGeometryInstanceFromSdfVisual(
+          *sdf_visual, NoopResolveFilename,
+          ToRigidTransform(sdf_visual->RawPose()));
+  EXPECT_EQ(geometry_instance, nullptr);
+}
+
 // Reports if the indicated typed geometry property matches expectations.
 // The expectation is given by an optional `expected_value`. If nullopt, we
 // expect the property to be absent. If provided, we expect the property to
@@ -779,7 +809,7 @@ GTEST_TEST(SceneGraphParserDetail, ParseVisualMaterial) {
   // TODO(SeanCurtis-TRI): The following tests capture current behavior for
   // sdformat. The behavior isn't necessarily desirable and an issue has been
   // filed.
-  // https://bitbucket.org/osrf/sdformat/issues/193/using-element-get-has-surprising-defaults
+  // https://github.com/osrf/sdformat/issues/193
   // When this issue gets resolved, modify these tests accordingly.
 
   // sdformat maps the diffuse values into a `Color` using the following rules:
@@ -824,7 +854,7 @@ GTEST_TEST(SceneGraphParserDetail, ParseVisualMaterial) {
         "</visual>");
     IllustrationProperties material =
         MakeVisualPropertiesFromSdfVisual(*sdf_visual, NoopResolveFilename);
-    Vector4<double> expected_diffuse{0, 1, 0, 1};
+    Vector4<double> expected_diffuse{0, 1, 1, 1};
     EXPECT_TRUE(expect_phong(material, true, expected_diffuse, {}, {}, {}, {}));
   }
 

tools/workspace/pkg_config.BUILD.tpl

@@ -15,6 +15,7 @@ cc_library(
     includes = %{includes},
     linkopts = %{linkopts},
     deps = %{deps},
+    deprecation = %{extra_deprecation},
 )
 
 %{build_epilog}

tools/workspace/pkg_config.bzl

@@ -221,6 +221,14 @@ def setup_pkg_config_repository(repository_ctx):
         includes += ["include/" + symlink_dest]
     hdrs_prologue = "glob([\"include/**\"]) + "
 
+    extra_deprecation = getattr(
+        repository_ctx.attr,
+        "extra_deprecation",
+        "",
+    )
+    if extra_deprecation == "":
+        extra_deprecation = None
+
     # Write out the BUILD.bazel file.
     substitutions = {
         "%{topcomment}": "DO NOT EDIT: generated by pkg_config_repository()",
@@ -254,6 +262,7 @@ def setup_pkg_config_repository(repository_ctx):
             getattr(repository_ctx.attr, "extra_deps", []),
         ),
         "%{build_epilog}": getattr(repository_ctx.attr, "build_epilog", ""),
+        "%{extra_deprecation}": repr(extra_deprecation),
     }
     template = getattr(
         repository_ctx.attr,
@@ -295,6 +304,7 @@ pkg_config_repository = repository_rule(
         "extra_deps": attr.string_list(),
         "build_epilog": attr.string(),
         "pkg_config_paths": attr.string_list(),
+        "extra_deprecation": attr.string(),
     },
     local = True,
     configure = True,
@@ -345,4 +355,6 @@ Args:
     pkg_config_paths: (Optional) Paths to find pkg-config files (.pc). Note
                       that we ignore the environment variable PKG_CONFIG_PATH
                       set by the user.
+    extra_deprecation: (Optional) Add a deprecation message to the library
+                       BUILD target.
 """