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Enable use of ign gazebo -s on Windows #1574

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Enable use of ign gazebo -s on Windows #1574

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cac78d9
Enable use of ign gazebo -s on Windows
traversaro Jul 5, 2022
0a47703
Update src/CMakeLists.txt
traversaro Aug 29, 2022
df42865
Add information about <topic> system paramter (#1671)
ijnek Aug 29, 2022
e7f8b80
Add topic parameter to thrust plugin (#1681)
caguero Aug 30, 2022
7b473e0
🎈 6.12.0: bumped minor and updated changelog (#1682)
quarkytale Aug 31, 2022
0aa66b2
Fix reference link in ackermann steering (#1683)
ijnek Sep 1, 2022
70aa84c
Fix installation instructions on Ubuntu 22.04 (#1686)
traversaro Sep 2, 2022
bd1c5b6
Add a service to trigger functionality (#1611)
liamhan0905 Sep 7, 2022
35ce83a
Fix loading render engine plugins in GUI (#1694)
iche033 Sep 9, 2022
bacff19
Fix cmdmodel6.rb and cmdgazebo6.rb contining the same code
traversaro Oct 19, 2022
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2 changes: 1 addition & 1 deletion CMakeLists.txt
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Expand Up @@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
#============================================================================
# Initialize the project
#============================================================================
project(ignition-gazebo6 VERSION 6.11.0)
project(ignition-gazebo6 VERSION 6.12.0)
set (GZ_DISTRIBUTION "Fortress")

#============================================================================
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14 changes: 14 additions & 0 deletions Changelog.md
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@@ -1,5 +1,19 @@
## Ignition Gazebo 6.x

### Gazebo Sim 6.12.0 (2022-08-30)

1. Add topic parameter to thrust plugin
* [Pull request #1681](https://github.com/gazebosim/gz-sim/pull/1681)

1. Add information about `<topic>` system parameter
* [Pull request #1671](https://github.com/gazebosim/gz-sim/pull/1671)

1. Adding tests for hydrodynamics
* [Pull request #1617](https://github.com/gazebosim/gz-sim/pull/1617)

1. Fix Windows and Doxygen
* [Pull request #1643](https://github.com/gazebosim/gz-sim/pull/1643)

### Gazebo Sim 6.11.0 (2022-08-17)

1. Add support for specifying log record period
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6 changes: 6 additions & 0 deletions Migration.md
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Expand Up @@ -5,6 +5,12 @@ 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.

## Ignition Gazebo 6.11.X to 6.12.X

* **Modified**:
+ In the Hydrodynamics plugin, inverted the added mass contribution to make it
act in the correct direction.

## Ignition Gazebo 6.1 to 6.2

* If no `<namespace>` is given to the `Thruster` plugin, the namespace now
Expand Down
35 changes: 30 additions & 5 deletions examples/worlds/triggered_publisher.sdf
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Expand Up @@ -387,13 +387,17 @@ start falling.
<time>0.001</time>
<enabled>true</enabled>
</plugin>
<plugin filename="ignition-gazebo-detachable-joint-system" name="ignition::gazebo::systems::DetachableJoint">
<plugin
filename="ignition-gazebo-detachable-joint-system"
name="ignition::gazebo::systems::DetachableJoint">
<parent_link>body</parent_link>
<child_model>box1</child_model>
<child_link>box_body</child_link>
<topic>/box1/detach</topic>
</plugin>
<plugin filename="ignition-gazebo-detachable-joint-system" name="ignition::gazebo::systems::DetachableJoint">
<plugin
filename="ignition-gazebo-detachable-joint-system"
name="ignition::gazebo::systems::DetachableJoint">
<parent_link>body</parent_link>
<child_model>box2</child_model>
<child_link>box_body</child_link>
Expand Down Expand Up @@ -448,19 +452,40 @@ start falling.
</link>
</model>

<plugin filename="ignition-gazebo-triggered-publisher-system" name="ignition::gazebo::systems::TriggeredPublisher">
<plugin
filename="ignition-gazebo-triggered-publisher-system"
name="ignition::gazebo::systems::TriggeredPublisher">
<input type="ignition.msgs.Empty" topic="/start"/>
<output type="ignition.msgs.Twist" topic="/cmd_vel">
linear: {x: 3}
</output>
</plugin>
<plugin filename="ignition-gazebo-triggered-publisher-system" name="ignition::gazebo::systems::TriggeredPublisher">
<plugin
filename="ignition-gazebo-triggered-publisher-system"
name="ignition::gazebo::systems::TriggeredPublisher">
<input type="ignition.msgs.Empty" topic="/reset_robot"/>
<output type="ignition.msgs.Twist" topic="/cmd_vel">
linear: {x: 0}
</output>
<service
name="/world/triggered_publisher/set_pose"
reqType="ignition.msgs.Pose"
repType="ignition.msgs.Boolean"
timeout="3000"
reqMsg="name: 'blue_vehicle', position: {x: -3, z: 0.325}">
</service>
</plugin>
<plugin
filename="ignition-gazebo-triggered-publisher-system"
name="ignition::gazebo::systems::TriggeredPublisher">
<input type="ignition.msgs.Boolean" topic="/trigger/touched">
<match>data: true</match>
</input>
<output type="ignition.msgs.Empty" topic="/box1/detach"/>
</plugin>
<plugin filename="ignition-gazebo-triggered-publisher-system" name="ignition::gazebo::systems::TriggeredPublisher">
<plugin
filename="ignition-gazebo-triggered-publisher-system"
name="ignition::gazebo::systems::TriggeredPublisher">
<input type="ignition.msgs.Altimeter" topic="/altimeter">
<match field="vertical_position" tol="0.2">-7.5</match>
</input>
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4 changes: 4 additions & 0 deletions include/ignition/gazebo/rendering/RenderUtil.hh
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Expand Up @@ -201,6 +201,10 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
/// \brief Clears the set of selected entities and lowlights all of them.
public: void DeselectAllEntities();

/// \brief Init render engine plugins paths. This lets gz-rendering know
/// paths to find render engine plugins
public: void InitRenderEnginePluginPaths();

/// \brief Helper function to get all child links of a model entity.
/// \param[in] _entity Entity to find child links
/// \return Vector of child links found for the parent entity
Expand Down
32 changes: 26 additions & 6 deletions src/CMakeLists.txt
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Expand Up @@ -92,19 +92,29 @@ set (gtest_sources
TestFixture_TEST.cc
Util_TEST.cc
World_TEST.cc
ign_TEST.cc
comms/Broker_TEST.cc
comms/MsgManager_TEST.cc
network/NetworkConfig_TEST.cc
network/PeerTracker_TEST.cc
network/NetworkManager_TEST.cc
)

# ign_TEST and ModelCommandAPI_TEST are not supported with multi config
# CMake generators, see also cmd/CMakeLists.txt
get_property(GENERATOR_IS_MULTI_CONFIG GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG)
if(NOT GENERATOR_IS_MULTI_CONFIG)
list(APPEND gtest_sources ign_TEST.cc)
endif()


# Tests that require a valid display
set(tests_needing_display
ModelCommandAPI_TEST.cc
)

if(NOT GENERATOR_IS_MULTI_CONFIG)
list(APPEND tests_needing_display ModelCommandAPI_TEST.cc)
endif()

# Add systems that need a valid display here.
# \todo(anyone) Find a way to run these tests with a virtual display such Xvfb
# or Xdummy instead of skipping them
Expand Down Expand Up @@ -222,9 +232,19 @@ foreach(CMD_TEST
set_tests_properties(${CMD_TEST} PROPERTIES
ENVIRONMENT "${_env_vars}")

endforeach()
# On Windows there is no RPATH, so an alternative way for tests for finding .dll libraries
# in build directory in necessary. For regular tests, the trick is to place all libraries
# and executables in a common CMAKE_RUNTIME_OUTPUT_DIRECTORY, so that the .dll are found
# as they are in the same directory where the executable is loaded. For tests that are
# launched via Ruby, this does not work, so we need to manually add CMAKE_RUNTIME_OUTPUT_DIRECTORY
# to the PATH. This is done via the ENVIRONMENT_MODIFICATION that is only available
# since CMake 3.22. However, if an older CMake is used another trick to install the libraries
# beforehand
if (WIN32 AND CMAKE_VERSION STRGREATER "3.22")
set_tests_properties(${CMD_TEST} PROPERTIES
ENVIRONMENT_MODIFICATION "PATH=path_list_prepend:${CMAKE_RUNTIME_OUTPUT_DIRECTORY}")
endif()

if(NOT WIN32)
add_subdirectory(cmd)
endif()
endforeach()

add_subdirectory(cmd)
121 changes: 69 additions & 52 deletions src/cmd/CMakeLists.txt
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Expand Up @@ -2,12 +2,19 @@
# Generate the ruby script.
# Note that the major version of the library is included in the name.
# Ex: cmdgazebo0.rb
set(cmd_script_generated "${CMAKE_CURRENT_BINARY_DIR}/cmd${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}.rb")
set(cmd_script_configured "${cmd_script_generated}.configured")
set(cmd_script_name "cmd${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}.rb")
set(cmd_script_generated "${CMAKE_CURRENT_BINARY_DIR}/$<CONFIG>_${cmd_script_name}")
set(cmd_script_configured "${CMAKE_CURRENT_BINARY_DIR}/${cmd_script_name}.configured")

# Set the library_location variable to the relative path to the library file
# within the install directory structure.
set(library_location "../../../${CMAKE_INSTALL_LIBDIR}/$<TARGET_FILE_NAME:${ign_lib_target}>")
if(WIN32)
set(plugin_location ${CMAKE_INSTALL_BINDIR})
else()
set(plugin_location ${CMAKE_INSTALL_LIBDIR})
endif()

set(library_location "../../../${plugin_location}/$<TARGET_FILE_NAME:${ign_lib_target}>")

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Windows CI is failing on this file:

[12.204s] CMake Error in src/cmd/CMakeLists.txt:
[12.204s]   Evaluation file to be written multiple times with different content.  This
[12.204s]   is generally caused by the content evaluating the configuration type,
[12.204s]   language, or location of object files:
[12.204s] 
[12.204s]    C:/Jenkins/workspace/ign_gazebo-pr-win/ws/build/ignition-gazebo6/test/lib/ruby/ignition/cmdgazebo6.rb

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Thanks. For reference, I was developing using Ninja cmake generator, while this error appears with Visual Studio 16 2019.

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This turned out to be quite a can of worms. Basically, all the logic that is generating .yaml files and ruby scripts for testing was written strictly assuming the use of a single-config CMake generator. So everything was working fine when using make, single-config Ninja or NMake Makefiles, but it was going to fail as soon as Visual Studio, XCode or multiple config Ninja was used.

Initially, I tried to make the CMake code support also multiple config generator, but that was going to make that code quite difficult to mantain. For this reason, I switched the PR to explicitly disable the UNIT_ign_TEST and UNIT_ModelCommandAPI_TEST test when a multiple-config CMake generator is used. Note that this test can be run on Windows using any of the available single-config CMake generators, such as Ninja or NMake Makefiles.

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By the way, while working on this I also got UNIT_ign_TEST to work on Windows.

configure_file(
"cmd${IGN_DESIGNATION}.rb.in"
Expand All @@ -19,7 +26,7 @@ file(GENERATE
INPUT "${cmd_script_configured}")

# Install the ruby command line library in an unversioned location.
install(FILES ${cmd_script_generated} DESTINATION lib/ruby/ignition)
install(FILES ${cmd_script_generated} DESTINATION lib/ruby/ignition RENAME ${cmd_script_name})

set(ign_library_path "${CMAKE_INSTALL_PREFIX}/lib/ruby/ignition/cmd${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}")

Expand All @@ -40,8 +47,9 @@ install( FILES
# Used for the installed model command version.
# Generate the ruby script that gets installed.
# Note that the major version of the library is included in the name.
set(cmd_model_script_generated "${CMAKE_CURRENT_BINARY_DIR}/cmdmodel${PROJECT_VERSION_MAJOR}.rb")
set(cmd_model_script_configured "${cmd_model_script_generated}.configured")
set(cmd_model_script_name "cmdmodel${PROJECT_VERSION_MAJOR}.rb")
set(cmd_model_script_generated "${CMAKE_CURRENT_BINARY_DIR}/$<CONFIG>_${cmd_model_script_name}")
set(cmd_model_script_configured "${CMAKE_CURRENT_BINARY_DIR}/${cmd_model_script_name}.configured")

configure_file(
"cmdmodel.rb.in"
Expand All @@ -51,7 +59,7 @@ file(GENERATE
OUTPUT "${cmd_model_script_generated}"
INPUT "${cmd_model_script_configured}")

install(FILES ${cmd_model_script_generated} DESTINATION lib/ruby/ignition)
install(FILES ${cmd_model_script_generated} DESTINATION lib/ruby/ignition RENAME ${cmd_model_script_name})

# Used for the installed version.
set(ign_model_ruby_path "${CMAKE_INSTALL_PREFIX}/lib/ruby/ignition/cmdmodel${PROJECT_VERSION_MAJOR}")
Expand All @@ -68,55 +76,64 @@ install(FILES ${model_configured} DESTINATION ${CMAKE_INSTALL_PREFIX}/${CMAKE_IN
# Generate the ruby script for internal testing.
# Note that the major version of the library is included in the name.
# Ex: cmdgazebo0.rb
set(cmd_script_generated_test "${CMAKE_BINARY_DIR}/test/lib/ruby/ignition/cmd${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}.rb")
set(cmd_script_configured_test "${cmd_script_generated_test}.configured")

# Set the library_location variable to the relative path to the library file
# within the install directory structure.
set(library_location "$<TARGET_FILE:${ign_lib_target}>")

configure_file(
"cmd${IGN_DESIGNATION}.rb.in"
"${cmd_script_configured_test}"
@ONLY)

file(GENERATE
OUTPUT "${cmd_script_generated_test}"
INPUT "${cmd_script_configured_test}")

# Used only for internal testing.
set(ign_library_path
"${CMAKE_BINARY_DIR}/test/lib/ruby/ignition/cmd${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}")

# Generate a configuration file for internal testing.
# Note that the major version of the library is included in the name.
# Ex: gazebo0.yaml
configure_file(
"${IGN_DESIGNATION}.yaml.in"
"${CMAKE_BINARY_DIR}/test/conf/${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}.yaml" @ONLY)
# The logic is valid only for single-config CMake generators, so no script is
# generated if a multiple-config CMake geneator is used
get_property(GENERATOR_IS_MULTI_CONFIG GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG)
if(NOT GENERATOR_IS_MULTI_CONFIG)
set(cmd_script_generated_test "${CMAKE_BINARY_DIR}/test/lib/ruby/ignition/cmd${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}.rb")
set(cmd_script_configured_test "${cmd_script_generated_test}.configured")

# Set the library_location variable to the relative path to the library file
# within the install directory structure.
set(library_location "$<TARGET_FILE:${ign_lib_target}>")

configure_file(
"cmd${IGN_DESIGNATION}.rb.in"
"${cmd_script_configured_test}"
@ONLY)

file(GENERATE
OUTPUT "${cmd_script_generated_test}"
INPUT "${cmd_script_configured_test}")

# Used only for internal testing.
set(ign_library_path
"${CMAKE_BINARY_DIR}/test/lib/ruby/ignition/cmd${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}")

# Generate a configuration file for internal testing.
# Note that the major version of the library is included in the name.
# Ex: gazebo0.yaml
configure_file(
"${IGN_DESIGNATION}.yaml.in"
"${CMAKE_BINARY_DIR}/test/conf/${IGN_DESIGNATION}${PROJECT_VERSION_MAJOR}.yaml" @ONLY)
endif()

#===============================================================================
# Generate the ruby script for internal testing.
# Note that the major version of the library is included in the name.
set(cmd_model_ruby_test_dir "${CMAKE_BINARY_DIR}/test/lib/ruby/ignition")
set(cmd_model_script_generated_test "${cmd_model_ruby_test_dir}/cmdmodel${PROJECT_VERSION_MAJOR}.rb")
set(cmd_model_script_configured_test "${cmd_model_script_generated_test}.configured")

configure_file(
"cmdmodel.rb.in"
"${cmd_model_script_configured_test}"
@ONLY)

file(GENERATE
OUTPUT "${cmd_model_script_generated_test}"
INPUT "${cmd_model_script_configured_test}")

# Used for internal testing.
set(ign_model_ruby_path "${cmd_model_script_generated_test}")

configure_file(
"model.yaml.in"
"${CMAKE_BINARY_DIR}/test/conf/model${PROJECT_VERSION_MAJOR}.yaml" @ONLY)
# The logic is valid only for single-config CMake generators, so no script is
# generated if a multiple-config CMake geneator is used
if(NOT GENERATOR_IS_MULTI_CONFIG)
set(cmd_model_ruby_test_dir "${CMAKE_BINARY_DIR}/test/lib/ruby/ignition")
set(cmd_model_script_generated_test "${cmd_model_ruby_test_dir}/cmdmodel${PROJECT_VERSION_MAJOR}.rb")
set(cmd_model_script_configured_test "${cmd_model_script_generated_test}.configured")

configure_file(
"cmdmodel.rb.in"
"${cmd_model_script_configured_test}"
@ONLY)

file(GENERATE
OUTPUT "${cmd_model_script_generated_test}"
INPUT "${cmd_model_script_configured_test}")

# Used for internal testing.
set(ign_model_ruby_path "${cmd_model_script_generated_test}")

configure_file(
"model.yaml.in"
"${CMAKE_BINARY_DIR}/test/conf/model${PROJECT_VERSION_MAJOR}.yaml" @ONLY)
endif()

#===============================================================================
# Bash completion
Expand Down
6 changes: 4 additions & 2 deletions src/cmd/ModelCommandAPI.hh
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Expand Up @@ -15,16 +15,18 @@
*
*/

#include "ignition/gazebo/Export.hh"

/// \brief External hook to get a list of available models.
extern "C" void cmdModelList();
extern "C" IGNITION_GAZEBO_VISIBLE void cmdModelList();

/// \brief External hook to dump model information.
/// \param[in] _modelName Model name.
/// \param[in] _pose --pose option.
/// \param[in] _linkName Link name.
/// \param[in] _jointName Joint name.
/// \param[in] _sensorName Sensor name.
extern "C" void cmdModelInfo(
extern "C" IGNITION_GAZEBO_VISIBLE void cmdModelInfo(
const char *_modelName, int _pose, const char *_linkName,
const char *_jointName,
const char *_sensorName);
Expand Down
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