merged from gazebo7

CMakeLists.txt

@@ -10,11 +10,11 @@ string (TOLOWER ${PROJECT_NAME} PROJECT_NAME_LOWER)
 string (TOUPPER ${PROJECT_NAME} PROJECT_NAME_UPPER)
 
 set (GAZEBO_MAJOR_VERSION 7)
-set (GAZEBO_MINOR_VERSION 7)
+set (GAZEBO_MINOR_VERSION 8)
 # 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.
-set (GAZEBO_PATCH_VERSION 0)
+set (GAZEBO_PATCH_VERSION 1)
 
 set (GAZEBO_VERSION ${GAZEBO_MAJOR_VERSION}.${GAZEBO_MINOR_VERSION})
 set (GAZEBO_VERSION_FULL ${GAZEBO_MAJOR_VERSION}.${GAZEBO_MINOR_VERSION}.${GAZEBO_PATCH_VERSION})

Changelog.md

@@ -1,6 +1,19 @@
 ## Gazebo 7
 
-## Gazebo 7.X.X (201X-XX-XX)
+## Gazebo 7.x.x (2017-xx-xx)
+
+## Gazebo 7.8.1 (2017-06-08)
+
+1. ODE slip parameter example world and test
+    * [Pull request 2717](https://bitbucket.org/osrf/gazebo/pull-request/2717)
+
+1. Fix inserted mesh scale during log playback
+    * [Pull request #2723](https://bitbucket.org/osrf/gazebo/pull-request/2723)
+
+## Gazebo 7.8.0 (2017-06-02)
+
+1. Add log record filter options
+    * [Pull request 2715](https://bitbucket.org/osrf/gazebo/pull-request/2715)
 
 1. Backport wide angle camera VM FSAA fix
     * [Pull request 2711](https://bitbucket.org/osrf/gazebo/pull-request/2711)
@@ -24,7 +37,7 @@
     * [Pull request 2669](https://bitbucket.org/osrf/gazebo/pull-request/2669)
 
 1. Subdivide large heightmaps to fix LOD and support global texture mapping
-    * [Pull request 2655](https://bitbucket.org/osrf/gazebo/pull-request/2655)   
+    * [Pull request 2655](https://bitbucket.org/osrf/gazebo/pull-request/2655)
 
 ## Gazebo 7.6.0 (2017-03-20)
 

Migration.md

@@ -5,6 +5,25 @@ Deprecated code produces compile-time warnings. These warning serve as
 notification to users that their code should be upgraded. The next major
 release will remove the deprecated code.
 
+## Gazebo 7.9.0 to 7.X
+
+### Modifications
+
+1. **gazebo/physics/ode/ODEPhysics.cc**
+   `ODEPhysics::Collide` combines surface slip parameters with a sum
+   instead of `std::min`.
+   Please see [Pull request 2717](https://bitbucket.org/osrf/gazebo/pull-request/2717)
+   for more details.
+
+## Gazebo 7.8.0 to 7.X
+
+### Modifications
+
+1. **gz log**
+   Gazebo log files no longer store velocity data and have reduced floating point precision.
+   See [pull request 2715](https://bitbucket.org/osrf/gazebo/pull-requests/2715/add-log-record-filter-options)
+   for further details.
+
 ## Gazebo 7.3.1 to 7.X
 
 ### Deprecations

gazebo/Server.cc

@@ -155,6 +155,10 @@ bool Server::ParseArgs(int _argc, char **_argv)
      "Compression encoding format for log data (zlib|bz2|txt).")
     ("record_path", po::value<std::string>()->default_value(""),
      "Absolute path in which to store state data")
+    ("record_period", po::value<double>()->default_value(-1),
+     "Recording period (seconds).")
+    ("record_filter", po::value<std::string>()->default_value(""),
+     "Recording filter (supports wildcard and regular expression).")
     ("seed",  po::value<double>(), "Start with a given random number seed.")
     ("iters",  po::value<unsigned int>(), "Number of iterations to simulate.")
     ("minimal_comms", "Reduce the TCP/IP traffic output by gzserver")
@@ -252,9 +256,9 @@ bool Server::ParseArgs(int _argc, char **_argv)
   if (this->dataPtr->vm.count("record"))
   {
     this->dataPtr->params["record"] =
-        this->dataPtr->vm["record_path"].as<std::string>();
+      this->dataPtr->vm["record_path"].as<std::string>();
     this->dataPtr->params["record_encoding"] =
-        this->dataPtr->vm["record_encoding"].as<std::string>();
+      this->dataPtr->vm["record_encoding"].as<std::string>();
   }
 
   if (this->dataPtr->vm.count("iters"))
@@ -612,8 +616,13 @@ void Server::ProcessParams()
     }
     else if (iter->first == "record")
     {
-      util::LogRecord::Instance()->Start(
-          this->dataPtr->params["record_encoding"], iter->second);
+      util::LogRecordParams params;
+
+      params.encoding = this->dataPtr->params["record_encoding"];
+      params.path = iter->second;
+      params.period = this->dataPtr->vm["record_period"].as<double>();
+      params.filter = this->dataPtr->vm["record_filter"].as<std::string>();
+      util::LogRecord::Instance()->Start(params);
     }
   }
 }

gazebo/gazebo.1.ronn

@@ -29,6 +29,10 @@ Gazebo server runs simulation and handles commandline options, starts a Master,
  Compression encoding format for log data (zlib|bz2|txt).
 * --record_path arg :
  Absolute path in which to store state data.
+* --record_period arg (=-1) :
+ Recording period (seconds).
+* --record_filter arg :
+ Recording filter (supports wildcard and regular expression).
 * --seed arg :
  Start with a given random number seed.
 * --iters arg :

gazebo/gazebo_main.cc

@@ -54,6 +54,9 @@ void help()
   << "                                (zlib|bz2|txt).\n"
   << "  --record_path arg             Absolute path in which to store "
   << "state data.\n"
+  << "  --record_period arg (=-1)     Recording period (seconds).\n"
+  << "  --record_filter arg           Recording filter (supports wildcard and "
+  << "regular expression).\n"
   << "  --seed arg                    Start with a given random number seed.\n"
   << "  --iters arg                   Number of iterations to simulate.\n"
   << "  --minimal_comms               Reduce the TCP/IP traffic output by "

gazebo/gzserver.1.ronn

@@ -29,6 +29,10 @@ Gazebo server runs simulation and handles commandline options, starts a Master,
  Compression encoding format for log data (zlib|bz2|txt).
 * --record_path arg :
  Absolute path in which to store state data
+* --record_period arg (=-1) :
+ Recording period (seconds).
+* --record_filter arg :
+ Recording filter (supports wildcard and regular expression).
 * --seed arg :
  Start with a given random number seed.
 * --iters arg :

gazebo/physics/LinkState.cc

@@ -24,6 +24,10 @@
 using namespace gazebo;
 using namespace physics;
 
+// TODO declared here for ABI compatibility
+// move to class member variable when merging forward.
+static bool gRecordVelocity = false;
+
 /////////////////////////////////////////////////
 LinkState::LinkState()
 : State()
@@ -363,3 +367,15 @@ void LinkState::SetIterations(const uint64_t _iterations)
   for (auto &collisionState : this->collisionStates)
     collisionState.SetIterations(_iterations);
 }
+
+/////////////////////////////////////////////////
+void LinkState::SetRecordVelocity(const bool _record)
+{
+  gRecordVelocity = _record;
+}
+
+/////////////////////////////////////////////////
+bool LinkState::RecordVelocity() const
+{
+  return gRecordVelocity;
+}

gazebo/physics/LinkState.hh

@@ -21,6 +21,7 @@
 #ifndef _LINKSTATE_HH_
 #define _LINKSTATE_HH_
 
+#include <iostream>
 #include <vector>
 #include <string>
 
@@ -189,28 +190,33 @@ namespace gazebo
                   const gazebo::physics::LinkState &_state)
       {
         math::Vector3 q(_state.pose.rot.GetAsEuler());
-        _out << std::fixed <<std::setprecision(5)
+        _out.unsetf(std::ios_base::floatfield);
+        _out << std::setprecision(4)
           << "<link name='" << _state.name << "'>"
           << "<pose>"
-          << _state.pose.pos.x << " "
-          << _state.pose.pos.y << " "
-          << _state.pose.pos.z << " "
-          << q.x << " "
-          << q.y << " "
-          << q.z << " "
+          << ignition::math::precision(_state.pose.pos.x, 4) << " "
+          << ignition::math::precision(_state.pose.pos.y, 4) << " "
+          << ignition::math::precision(_state.pose.pos.z, 4) << " "
+          << ignition::math::precision(q.x, 4) << " "
+          << ignition::math::precision(q.y, 4) << " "
+          << ignition::math::precision(q.z, 4) << " "
           << "</pose>";
 
-        /// Disabling this for efficiency.
-        q = _state.velocity.rot.GetAsEuler();
-         _out << std::fixed <<std::setprecision(4)
-           << "<velocity>"
-           << _state.velocity.pos.x << " "
-           << _state.velocity.pos.y << " "
-           << _state.velocity.pos.z << " "
-           << q.x << " "
-           << q.y << " "
-           << q.z << " "
-           << "</velocity>";
+        if (_state.RecordVelocity())
+        {
+          /// Disabling this for efficiency.
+          q = _state.velocity.rot.GetAsEuler();
+          _out.unsetf(std::ios_base::floatfield);
+          _out << std::setprecision(4)
+            << "<velocity>"
+            << ignition::math::precision(_state.velocity.pos.x, 4) << " "
+            << ignition::math::precision(_state.velocity.pos.y, 4) << " "
+            << ignition::math::precision(_state.velocity.pos.z, 4) << " "
+            << ignition::math::precision(q.x, 4) << " "
+            << ignition::math::precision(q.y, 4) << " "
+            << ignition::math::precision(q.z, 4) << " "
+            << "</velocity>";
+        }
         // << "<acceleration>" << _state.acceleration << "</acceleration>"
         // << "<wrench>" << _state.wrench << "</wrench>";
 
@@ -227,6 +233,15 @@ namespace gazebo
         return _out;
       }
 
+      /// \brief Set whether to record link velocity
+      /// \param[in] _record True to record link velocity, false to leave it
+      /// out of the log
+      public: void SetRecordVelocity(const bool _record);
+
+      /// \brief Get whether link velocity is recorded
+      /// \return True if link velocity is recorded
+      public: bool RecordVelocity() const;
+
       /// \brief 3D pose of the link relative to the model.
       private: math::Pose pose;
 

gazebo/physics/Model.cc

@@ -569,8 +569,7 @@ const sdf::ElementPtr Model::UnscaledSDF()
         }
         else if (geomElem->HasElement("mesh"))
         {
-          geomElem->GetElement("mesh")->GetElement("scale")->Set(
-              ignition::math::Vector3d::One);
+          // Keep mesh scale because meshes can't be scaled yet (issue #1473)
         }
 
         visualElem = visualElem->GetNextElement("visual");
@@ -613,8 +612,7 @@ const sdf::ElementPtr Model::UnscaledSDF()
         }
         else if (geomElem->HasElement("mesh"))
         {
-          geomElem->GetElement("mesh")->GetElement("scale")->Set(
-              ignition::math::Vector3d::One);
+          // Keep mesh scale because meshes can't be scaled yet (issue #1473)
         }
 
         collisionElem = collisionElem->GetNextElement("collision");

gazebo/physics/ModelState.hh

@@ -244,19 +244,21 @@ namespace gazebo
                   const gazebo::physics::ModelState &_state)
       {
         math::Vector3 q(_state.pose.rot.GetAsEuler());
-        _out << std::fixed <<std::setprecision(3)
+        _out.unsetf(std::ios_base::floatfield);
+        _out << std::setprecision(3)
           << "<model name='" << _state.GetName() << "'>"
           << "<pose>"
-          << _state.pose.pos.x << " "
-          << _state.pose.pos.y << " "
-          << _state.pose.pos.z << " "
-          << q.x << " "
-          << q.y << " "
-          << q.z << " "
-          << "</pose>"
-          << "<scale>"
-          << _state.scale
-          << "</scale>";
+          << ignition::math::precision(_state.pose.pos.x, 4) << " "
+          << ignition::math::precision(_state.pose.pos.y, 4) << " "
+          << ignition::math::precision(_state.pose.pos.z, 4) << " "
+          << ignition::math::precision(q.x, 4) << " "
+          << ignition::math::precision(q.y, 4) << " "
+          << ignition::math::precision(q.z, 4) << " "
+          << "</pose>";
+
+        // Only record scale if it is not the default value of [1, 1, 1].
+        if (_state.scale != ignition::math::Vector3d::One)
+          _out << "<scale>" << _state.scale << "</scale>";
 
         for (LinkState_M::const_iterator iter =
             _state.linkStates.begin(); iter != _state.linkStates.end();