Cherry-pick from 9 to 11 #2926
Cherry-pick from 9 to 11 #2926
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Updated gazebo to generate shadow maps for spot lights. This does not mean the spot lights will now start casting shadows in gazebo - we still need to update the RTShaderSystem code to actually render them. This does however mean that the shadow maps are now available and we can access them through custom material shaders. The spotlight_shadow_demo.world contains a shadow receiver ground plane with custom material shaders to show how to access the shadow texture generated by OGRE. Signed-off-by: Ian Chen <ichen@osrfoundation.org>
* Add test for performance metrics deadlock Load the pr2 world with --lockstep and then subscribe to /gazebo/performance_metrics to reproduce the deadlock. * Fix deadlock when publishing performance metrics Currently the PublishPerformanceMetrics function is called within SensorManager.cc by each SensorContainer with protection by the mutex of each SensorContainer. This leads to a deadlock when a world has sensors in more than one container (i.e. more than one category of sensors) as described in gazebosim#2902. Since the PublishPerformanceMetrics function is not a member function of SensorContainer and uses only global variables, the function can be called by the SensorManager thread instead of by each SensorContainer thread. This change will avoid the deadlock. Signed-off-by: Steve Peters <scpeters@openrobotics.org>
gazebosim#2918) * add support for camera with floating point image format * visualize 16 bit float images Signed-off-by: Ian Chen <ichen@osrfoundation.org> Signed-off-by: Steve Peters <scpeters@openrobotics.org> Co-authored-by: Steve Peters <scpeters@openrobotics.org>
Signed-off-by: Steve Peters <scpeters@openrobotics.org>
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@osrf-jenkins run tests please |
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changes look fine. The ABI build gave an error |
that's the 2nd time; I thought the first time was a flaky error; I'll take a closer look |
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it may be a problem with drogon |
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@osrf-jenkins run tests please |
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there were some CI failures due to problems with build machines, but the homebrew job looks fine to me; I'll go ahead and merge without an approval since this code has previously been approved on gazebo9 |
This cherry-picks some recent pull requests (#2914, #2917, #2918) from gazebo9 to gazebo11. Use rebase and merge.