Spotlight shadows

CMakeLists.txt

@@ -18,7 +18,7 @@ string (TOLOWER ${PROJECT_NAME} PROJECT_NAME_LOWER)
 string (TOUPPER ${PROJECT_NAME} PROJECT_NAME_UPPER)
 
 set (GAZEBO_MAJOR_VERSION 11)
-set (GAZEBO_MINOR_VERSION 5)
+set (GAZEBO_MINOR_VERSION 7)
 # The patch version may have been bumped for prerelease purposes; be sure to
 # check gazebo-release/ubuntu/debian/changelog@default to determine what the
 # next patch version should be for a regular release.

Changelog.md

@@ -1,5 +1,59 @@
 ## Gazebo 11
 
+## Gazebo 11.7.0 (2021-06-xx)
+
+1. Qualify `gazebo::util` in `using namespace` declarations.
+    * [Pull request #2979](https://github.com/osrf/gazebo/pull/2979)
+
+1. Distortion camera initialization fix
+    * [Issue #2527](https://github.com/osrf/gazebo/issues/2527)
+    * [Pull request #3033](https://github.com/osrf/gazebo/pull/3033)
+
+1. Use CURL::libcurl instead of cmake variables
+    * [Pull request #3030](https://github.com/osrf/gazebo/pull/3030)
+
+1. Allow specifying lens flare and camera distortion texture format
+    * [Issue #3005](https://github.com/osrf/gazebo/issues/3005)
+    * [Pull request #3009](https://github.com/osrf/gazebo/pull/3009)
+
+1. Camera distortion normalization improvement and fix folding
+    * [Pull request #3009](https://github.com/osrf/gazebo/pull/3009)
+
+1. Fix Windows compilation in Server.cc (not -> !)
+    * [Pull request #3021](https://github.com/osrf/gazebo/pull/3021)
+
+## Gazebo 11.6.0 (2021-06-09)
+
+1. Enable output of gzerr for SDF sibling elements of any type with same name,
+   following the SDF 1.7 specification.
+   Environment variable GAZEBO11_BACKWARDS_COMPAT_WARNINGS_ERRORS can be set to
+   use the previous behaviour and do not report these problems.
+    * [Pull request #3017](https://github.com/osrf/gazebo/pull/3017)
+
+1. Allow specifying lens flare and camera distortion texture format
+    * [Issue #3005](https://github.com/osrf/gazebo/issues/3005)
+    * [Pull request #3007](https://github.com/osrf/gazebo/pull/3007)
+
+1.  Initialize the worldPoseDirty flag in Collision.cc
+    * A contribution from Zachary Michaels zmichaels11@gmail.com>
+    * [Pull request #2999](https://github.com/osrf/gazebo/pull/2999)
+
+1.  Compile test plugins as MODULE instead of STATIC
+    * [Pull request #2897](https://github.com/osrf/gazebo/pull/2897)
+
+1.  Add warning if GAZEBO_RESOURCE_PATH may not be set correctly
+    * [Pull request #2991](https://github.com/osrf/gazebo/pull/2991)
+
+## Gazebo 11.5.1 (2021-05-05)
+
+1. Avoid range-loop-construct in TopicManager
+    * [Pull request #2983](https://github.com/osrf/gazebo/pull/2983)
+
+1. Check for nullptr in TopicManager::ConnectPubToSub
+    * A contribution from Emerson Knapp <emerson.b.knapp@gmail.com> (Amazon)
+    * [Pull request #2978](https://github.com/osrf/gazebo/pull/2978)
+    * [Issue #2875](https://github.com/osrf/gazebo/issues/2875)
+
 ## Gazebo 11.5.0 (2021-04-20)
 
 1. Specify wide angle camera cube map texture format
@@ -15,12 +69,22 @@
 1. Optimize collision checking in ODE
     * [Pull request #2945](https://github.com/osrf/gazebo/pull/2945)
 
+1. Fix size of spotlight visual
+    * [Pull request #2947](https://github.com/osrf/gazebo/pull/2947)
+
+1. Fix depth camera breaking shadows
+    * [Pull request #2907](https://github.com/osrf/gazebo/pull/2907)
+
 1. Fix color channel of point clouds from DepthCamera
     * [Pull request #2853](https://github.com/osrf/gazebo/pull/2853)
 
 1. GpuRaySensor: validate scene existence
     * [Pull request #2937](https://github.com/osrf/gazebo/pull/2937)
 
+1. LensFlare: allow inheritance
+    * [Pull request #2965](https://github.com/osrf/gazebo/pull/2965)
+    * [Pull request #2975](https://github.com/osrf/gazebo/pull/2975)
+
 1. Silence message conversion warning messages
     * [Pull request #2963](https://github.com/osrf/gazebo/pull/2963)
     * [Pull request #2973](https://github.com/osrf/gazebo/pull/2973)

README.md

@@ -14,7 +14,7 @@ Instructions are located at
 
 Gazebo cmake parameters available at configuring time:
 
- - BUILD_TESTING (boot) [default False]
+ - BUILD_TESTING (bool) [default False]
    Include the test suite compilation in the default make call (make all).
  - ENABLE_DIAGNOSTICS
    If this is defined, it will enable diagnostic timers using the macros
@@ -26,7 +26,7 @@ Gazebo cmake parameters available at configuring time:
    Check the building machine for supported compiler optimizations and use
    them to build the software.
  - USE_UPSTREAM_CFLAGS (bool) [default True]
-   Use the recommend gazebo developers compiler optimizations flags.
+   Use the recommended gazebo developers compiler optimizations flags.
  - USE_EXTERNAL_TINYXML (bool) [default True]
    Use external copy of tinyxml during the build.
  - USE_EXTERNAL_TINYXML2 (bool) [default True]

cmake/SearchForStuff.cmake

@@ -92,15 +92,17 @@ endif ()
 # Find packages
 
 find_package(CURL)
-if (CURL_FOUND)
-  # FindCURL.cmake distributed with CMake exports
-  # the CURL_INCLUDE_DIRS variable, while the pkg_check_modules
-  # function exports the CURL_INCLUDEDIR variable.
-  # TODO: once the configure.bat VS2013 based script has been removed,
-  #       remove the call pkg_check_modules(CURL libcurl) and all the uses of
-  #       CURL_LIBDIR and CURL_INCLUDEDIR and use directly the variables
-  #       CURL_INCLUDE_DIRS and CURL_LIBRARIES provided by FindCURL.cmake
-  set(CURL_INCLUDEDIR ${CURL_INCLUDE_DIRS})
+if (CURL_FOUND AND NOT TARGET CURL::libcurl AND CURL_LIBRARY)
+  # Make a target on Bionic because FindCURL.cmake only sets old-style CMake variables
+  add_library(CURL::libcurl SHARED IMPORTED)
+  set_target_properties(CURL::libcurl PROPERTIES
+    IMPORTED_LOCATION "${CURL_LIBRARY}"
+    INTERFACE_INCLUDE_DIRECTORIES "${CURL_INCLUDE_DIRS}"
+    INTERFACE_LINK_LIBRARIES "${CURL_LIBRARIES}")
+  if (WIN32)
+    set_target_properties(CURL::libcurl PROPERTIES
+      INTERFACE_COMPILE_DEFINITIONS "CURL_STATICLIB")
+  endif()
 endif ()
 
 # In Visual Studio we use configure.bat to trick all path cmake
@@ -110,13 +112,6 @@ if (MSVC)
 endif()
 
 if (PKG_CONFIG_FOUND)
-  if (NOT CURL_FOUND)
-    pkg_check_modules(CURL libcurl)
-  endif ()
-  if (NOT CURL_FOUND)
-    BUILD_ERROR ("Missing: libcurl. Required for connection to model database.")
-  endif()
-
   pkg_check_modules(PROFILER libprofiler)
   if (PROFILER_FOUND)
     set (CMAKE_LINK_FLAGS_PROFILE "-Wl,--no-as-needed -lprofiler -Wl,--as-needed ${CMAKE_LINK_FLAGS_PROFILE}" CACHE INTERNAL "Link flags for profile")

gazebo/CMakeLists.txt

@@ -16,7 +16,6 @@ link_directories(
   ${SDFormat_LIBRARY_DIRS}
   ${PROJECT_BINARY_DIR}/test
   ${TBB_LIBRARY_DIR}
-  ${CURL_LIBDIR}
   ${IGNITION-MSGS_LIBRARY_DIRS}
 )
 

gazebo/Server.cc

@@ -30,9 +30,11 @@
 #include <boost/lexical_cast.hpp>
 #include <boost/program_options.hpp>
 
+#include <sdf/parser.hh>
 #include <sdf/sdf.hh>
 
 #include <ignition/math/Rand.hh>
+#include <ignition/math/SemanticVersion.hh>
 #include <ignition/common/Profiler.hh>
 #include <ignition/common/Filesystem.hh>
 #include <ignition/common/URI.hh>
@@ -77,6 +79,26 @@ namespace gazebo
 {
   struct ServerPrivate
   {
+    void InspectSDFElement(const sdf::ElementPtr _elem)
+    {
+      if (common::getEnv("GAZEBO11_BACKWARDS_COMPAT_WARNINGS_ERRORS"))
+        return;
+
+      // SDF 1.7 and above consider invalid sibling elements of ANY type with
+      // repeated names while SDF 1.6 and lower only elements of the SAME type
+      auto sdfVersion =
+        ignition::math::SemanticVersion(_elem->OriginalVersion());
+      bool result;
+      if (sdfVersion >= ignition::math::SemanticVersion(1, 7))
+        result = sdf::recursiveSiblingUniqueNames(_elem);
+      else
+        result = sdf::recursiveSameTypeUniqueNames(_elem);
+
+      if (!result)
+        gzerr << "SDF is not valid, see errors above. "
+              << "This can lead to an unexpected behaviour." << "\n";
+    }
+
     /// \brief Boolean used to stop the server.
     static bool stop;
 
@@ -358,7 +380,13 @@ bool Server::ParseArgs(int _argc, char **_argv)
     {
       gzwarn << "Falling back on worlds/empty.world\n";
       if (!this->LoadFile("worlds/empty.world", physics))
+      {
+        gzerr << "worlds/empty.world could not be opened, "
+              << "probably because it was not found. "
+              << "Your GAZEBO_RESOURCE_PATH is probably improperly set. "
+              << "Have you sourced <prefix>/share/gazebo/setup.sh?\n";
         return false;
+      }
     }
 
     if (this->dataPtr->vm.count("profile"))
@@ -490,6 +518,8 @@ bool Server::PreLoad()
 bool Server::LoadImpl(sdf::ElementPtr _elem,
                       const std::string &_physics)
 {
+  this->dataPtr->InspectSDFElement(_elem);
+
   // If a physics engine is specified,
   if (_physics.length())
   {

gazebo/common/CMakeLists.txt

@@ -17,14 +17,6 @@ if (HAVE_GDAL)
   include_directories(${GDAL_INCLUDE_DIR})
 endif()
 
-if (CURL_FOUND)
-  include_directories(${CURL_INCLUDEDIR})
-  link_directories(${CURL_LIBDIR})
-  if (WIN32)
-    add_definitions(-DCURL_STATICLIB)
-  endif()
-endif()
-
 include_directories(${tinyxml_INCLUDE_DIRS})
 link_directories(${tinyxml_LIBRARY_DIRS})
 
@@ -237,7 +229,6 @@ target_compile_definitions(gazebo_common
 target_link_libraries(gazebo_common
   PUBLIC
     ${Boost_LIBRARIES}
-    ${CURL_LIBRARIES}
     ${freeimage_LIBRARIES}
     ignition-common3::graphics
     ${IGNITION-FUEL_TOOLS_LIBRARIES}
@@ -248,6 +239,7 @@ target_link_libraries(gazebo_common
     ${SDFormat_LIBRARIES}
     ${tinyxml_LIBRARIES}
   PRIVATE
+    CURL::libcurl
     ${libtool_library}
     ${libavcodec_LIBRARIES}
     ${libavformat_LIBRARIES}

gazebo/gui/model/JointInspector_TEST.cc

@@ -169,7 +169,7 @@ void JointInspector_TEST::Swap()
   // Get swap button
   QList<QToolButton *> toolButtons =
       jointInspector->findChildren<QToolButton *>();
-  QVERIFY(toolButtons.size() == 2);
+  QCOMPARE(toolButtons.size(), 2);
 
   // Trigger swap
   toolButtons[1]->click();
@@ -201,7 +201,7 @@ void JointInspector_TEST::RemoveButton()
   // Get buttons
   QList<QToolButton *> toolButtons =
       jointInspector->findChildren<QToolButton *>();
-  QVERIFY(toolButtons.size() == 2);
+  QCOMPARE(toolButtons.size(), 2);
   QVERIFY(toolButtons[0]->text() == "");
 
   // Trigger remove
@@ -242,22 +242,22 @@ void JointInspector_TEST::AppliedSignal()
   // Get spins
   QList<QDoubleSpinBox *> spins =
       jointInspector->findChildren<QDoubleSpinBox *>();
-  QVERIFY(spins.size() == 34);
+  QCOMPARE(spins.size(), 34);
 
   // Get combo boxes
   QList<QComboBox *> combos =
       jointInspector->findChildren<QComboBox *>();
-  QVERIFY(combos.size() == 5);
+  QCOMPARE(combos.size(), 5);
 
   // Get line edits
   QList<QLineEdit *> lineEdits =
       jointInspector->findChildren<QLineEdit *>();
-  QVERIFY(lineEdits.size() == 41);
+  QCOMPARE(lineEdits.size(), 43);
 
   // Get push buttons
   QList<QPushButton *> pushButtons =
       jointInspector->findChildren<QPushButton *>();
-  QVERIFY(pushButtons.size() == 3);
+  QCOMPARE(pushButtons.size(), 3);
 
   // Edit link (1~2)
   combos[combos.size()-1]->setCurrentIndex(1);

gazebo/physics/Collision.cc

@@ -57,7 +57,7 @@ static SDFCollisionInitializer g_SDFInit;
 
 //////////////////////////////////////////////////
 Collision::Collision(LinkPtr _link)
-: Entity(_link), maxContacts(1)
+: Entity(_link), maxContacts(1), worldPoseDirty(true)
 {
   this->AddType(Base::COLLISION);
 

gazebo/rendering/Camera.cc

@@ -1628,7 +1628,10 @@ void Camera::SetRenderTarget(Ogre::RenderTarget *_target)
     }
 
     if (this->dataPtr->distortion)
+    {
       this->dataPtr->distortion->SetCamera(shared_from_this());
+      this->renderTarget->update();
+    }
 
     if (this->GetScene()->GetSkyX() != NULL)
       this->renderTarget->addListener(this->GetScene()->GetSkyX());