3 ➡️ 4 #469
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Signed-off-by: Louise Poubel <louise@openrobotics.org>
Signed-off-by: John Shepherd <john@openrobotics.org>
The flakiness comes from two sources: 1. Poses recorded by the LogRecorder are published by the SceneBroadcaster system throttled at 60 Hz. The throttle mechanism uses real-time instead of sim-time which causes a variance in the number of recorded poses from run to run. However, the expected number of recorded poses was calculated with the assumption that the simulation would run with a 1.0 RTF. If the CPU load is high, there could be a mismatch between the expected and the actual number of recorded poses, which causes the test to fail. This can be checked by running the test with `cpulimit -l 20 -f bin/INTEGRATION_log_system -- --gtest_filter="*RecordAndPlayback"` 2. An attempt is made to match up played back poses with the closest timestamp in the recorded file. These poses are again published by the SceneBroadcaster, so they are subject to the same kind of timing issues as the recorded poses. The solution in this patch for the first issue is to determine the expected number of recorded poses by counting them in a separate system that mimics the throttling mechanism of ign-transport. For the second issue, a testing system is added to the playback server bypassing the SceSceneBroadcaster altogether. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
Signed-off-by: Louise Poubel <louise@openrobotics.org> Co-authored-by: Michael Carroll <michael@openrobotics.org>
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Well, the |
Codecov Report
@@ Coverage Diff @@
## ign-gazebo4 #469 +/- ##
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+ Coverage 77.27% 77.29% +0.01%
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Files 208 208
Lines 11192 11198 +6
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+ Hits 8649 8655 +6
Misses 2543 2543
Continue to review full report at Codecov.
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chapulina
commented
Dec 3, 2020
| (entIter = _msg.mutable_entities()->find(_entity)) != | ||
| _msg.mutable_entities()->end()) | ||
| { | ||
| _msg.mutable_entities()->erase(entIter); |
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The ABI checker gave what I assumed was a false positive, see gazebo-tooling/release-tools#336
I inspected the symbols locally just in case, and was surprised to see that this symbol was actually gone:
_ZNK8ignition6gazebo2v410components13BaseComponent9SerializeERSo
I narrowed it down to line 955. When it's removed, the symbol disappears with it 😨 🤷♀️
You can see all symbols before and after removing the line here: https://gist.github.com/chapulina/7f53a3d43cb031715f005650e582fcb7
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Looks like that symbol is not used by anything in libignition-gazebo.so so it must be getting optimized away. If you build in debug mode, it doesn't get removed.
Since the function is defined in a header, I think this is somewhat of a false positive. Any translation unit that includes the Component.hh header will have access to symbol. For example, UNIT_Component_TEST still has the symbol even though this it is missing from libignition-gazebo.so.
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Hum interesting and mysterious how the compiler decides to remove the symbol. Your reasoning about the ABI not being broken makes sense to me. I guess all functions defined in headers may be subject to the same rule.
Makes me wonder about why the symbol would be added in the first place. When the compiler does add the symbol, I guess it can be used directly instead of regenerated when the header is included?
This messes up the poor ABI checker 😕
nkoenig
approved these changes
Dec 9, 2020
Merged
Lobotuerk
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Jan 11, 2021
* Initial commit Signed-off-by: Martiño Crespo <marticres@gmail.com> * Added plugin files Signed-off-by: Martiño Crespo <marticres@gmail.com> * Initial .sdf file Signed-off-by: Martiño Crespo <marticres@gmail.com> * Pipeline for getting sensor contacts Signed-off-by: Martiño Crespo <marticres@gmail.com> * Added visualization of postion and forces Signed-off-by: Martiño Crespo <marticres@gmail.com> * Added plugin for Transform Control Signed-off-by: Martiño Crespo <marticres@gmail.com> * Added initial interpolation Signed-off-by: Martiño Crespo <marticres@gmail.com> * Code check Signed-off-by: Martiño Crespo <marticres@gmail.com> * Update info after specified milliseconds Signed-off-by: Martiño Crespo <marticres@gmail.com> * Set marker lifetime for better performance Signed-off-by: Martiño Crespo <marticres@gmail.com> * Added Depth Camera Signed-off-by: Martiño Crespo <marticres@gmail.com> * Added callback and unpacking to Depth Camera messages Signed-off-by: Martiño Crespo <marticres@gmail.com> * Compute and visualize normal forces Signed-off-by: Martiño Crespo <marticres@gmail.com> * PR Feedback 1 Signed-off-by: Martiño Crespo <marticres@gmail.com> * Update sdf example to a more realistic environment Signed-off-by: Martiño Crespo <marticres@gmail.com> * Allow moving Depth Camera from model origin Signed-off-by: Martiño Crespo <marticres@gmail.com> * Make markers dimensions available as parameters Signed-off-by: Martiño Crespo <marticres@gmail.com> * Visualize sensor as a marker instead of <visual> and filter out normal forces outside sensor Signed-off-by: Martiño Crespo <marticres@gmail.com> * PR Feedback 2 Signed-off-by: Martiño Crespo <marticres@gmail.com> * PR Feedback 3 Signed-off-by: Martiño Crespo <marticres@gmail.com> * Minor fixes for sdf, sensor marker and profiler Signed-off-by: Martiño Crespo <marticres@gmail.com> * PR Feedback 4 Signed-off-by: Martiño Crespo <marticres@gmail.com> * fix mac warning Signed-off-by: Mabel Zhang <mabel@openrobotics.org> * Helper function to set component data (gazebosim#436) Signed-off-by: Louise Poubel <louise@openrobotics.org> * Remove unneeded if statement (gazebosim#432) Signed-off-by: John Shepherd <john@openrobotics.org> * Fixes flaky RecordAndPlayback test in INTEGRATION_log_system (gazebosim#463) The flakiness comes from two sources: 1. Poses recorded by the LogRecorder are published by the SceneBroadcaster system throttled at 60 Hz. The throttle mechanism uses real-time instead of sim-time which causes a variance in the number of recorded poses from run to run. However, the expected number of recorded poses was calculated with the assumption that the simulation would run with a 1.0 RTF. If the CPU load is high, there could be a mismatch between the expected and the actual number of recorded poses, which causes the test to fail. This can be checked by running the test with `cpulimit -l 20 -f bin/INTEGRATION_log_system -- --gtest_filter="*RecordAndPlayback"` 2. An attempt is made to match up played back poses with the closest timestamp in the recorded file. These poses are again published by the SceneBroadcaster, so they are subject to the same kind of timing issues as the recorded poses. The solution in this patch for the first issue is to determine the expected number of recorded poses by counting them in a separate system that mimics the throttling mechanism of ign-transport. For the second issue, a testing system is added to the playback server bypassing the SceSceneBroadcaster altogether. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Make PeerTracker test more robust (gazebosim#452) Signed-off-by: Louise Poubel <louise@openrobotics.org> Co-authored-by: Michael Carroll <michael@openrobotics.org> * Clarify how sim time is interpreted in a System's step (gazebosim#467) Signed-off-by: Ashton Larkin <ashton@openrobotics.org> * 3 ➡️ 4: fixes for gazebosim#463 (gazebosim#469) Signed-off-by: Louise Poubel <louise@openrobotics.org> * Link link tutrial (gazebosim#472) Signed-off-by: Louise Poubel <louise@openrobotics.org> * Switch to async state service request (gazebosim#461) Signed-off-by: Ian Chen <ichen@osrfoundation.org> * Use a std::promise/std::future to avoid busy waiting the step ack messages in NetworkManagerPrimary (gazebosim#470) Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com> Signed-off-by: Louise Poubel <louise@openrobotics.org> Co-authored-by: Louise Poubel <louise@openrobotics.org> * Fix tests that use Fuel paths with uppercase letters (gazebosim#480) As of gazebosim/gz-fuel-tools#130, fuel paths use all lowercase letters. This fixes some tests that had uppercase letters. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * 4.1.0 (gazebosim#485) Signed-off-by: Ashton Larkin <ashton@openrobotics.org> * Update key event handling (gazebosim#466) Signed-off-by: John Shepherd <john@openrobotics.org> * Fix slot in Plotting plugin (gazebosim#490) Signed-off-by: Alejandro Hernández <ahcorde@gmail.com> * Tape Measure Plugin (gazebosim#456) Signed-off-by: John Shepherd <john@openrobotics.org> * Satisfy make codecheck (gazebosim#491) Signed-off-by: Louise Poubel <louise@openrobotics.org> * Move deselect and preview termination to render thread (gazebosim#493) Signed-off-by: John Shepherd <john@openrobotics.org> * Fix codecheck (gazebosim#499) Signed-off-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Nate Koenig <nate@openrobotics.org> * Logical Audio Sensor Plugin (gazebosim#401) Signed-off-by: Ashton Larkin <ashton@openrobotics.org> * Codecheck - initialize primitive in LogicalAudio component (gazebosim#502) Signed-off-by: Ashton Larkin <ashton@openrobotics.org> * 3 to 4: fix codecheck for ign-gazebo4 Signed-off-by: Ashton Larkin <ashton@openrobotics.org> * 3 to 4: resolve codecheck warnings Signed-off-by: Ashton Larkin <ashton@openrobotics.org> * add frame_id and child_frame_id attribute support for DiffDrive (gazebosim#361) Add configuration of the odom frame_id and child_frame_id fields from sdf attributes <frame_id> and <child_frame_id> Signed-off-by: Guillaume <guillaume.doisy@wyca.fr> Signed-off-by: Guillaume Doisy <guillaume.doisy@wyca.fr> * Require ign-gui 4.1.0 (gazebosim#505) Signed-off-by: Louise Poubel <louise@openrobotics.org> * Fix shadow artifacts by disabling double sided rendering (gazebosim#446) * read double sided sdf param Signed-off-by: Ian Chen <ichen@osrfoundation.org> * update migration Signed-off-by: Ian Chen <ichen@osrfoundation.org> * Make the tunnels example world more interesting (gazebosim#462) Signed-off-by: Louise Poubel <louise@openrobotics.org> * add double sided msg to sdf conversion Signed-off-by: Ian Chen <ichen@osrfoundation.org> Co-authored-by: Louise Poubel <louise@openrobotics.org> * Add ability to record video based on sim time (gazebosim#414) * add ability to record video from gui camera using sim time Signed-off-by: Ian Chen <ichen@osrfoundation.org> * add msg Signed-off-by: Ian Chen <ichen@osrfoundation.org> * use QueryBoolText Signed-off-by: Ian Chen <ichen@osrfoundation.org> Co-authored-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Louise Poubel <louise@openrobotics.org> * Add lockstep mode to video recording (gazebosim#419) Signed-off-by: Ian Chen <ichen@osrfoundation.org> Signed-off-by: Louise Poubel <louise@openrobotics.org> Co-authored-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Louise Poubel <louise@openrobotics.org> * Kinetic energy monitor plugin (gazebosim#492) Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar> Signed-off-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Louise Poubel <louise@openrobotics.org> * Disable right click menu when using measuring tool (gazebosim#458) Signed-off-by: John Shepherd <john@openrobotics.org> Co-authored-by: Louise Poubel <louise@openrobotics.org> * Bump to 3.6.0 (gazebosim#524) Signed-off-by: Louise Poubel <louise@openrobotics.org> * Don't make docs on macOS (gazebosim#528) add comment about doxygen bug Signed-off-by: Louise Poubel <louise@openrobotics.org> Signed-off-by: Steve Peters <scpeters@openrobotics.org> Co-authored-by: Louise Poubel <louise@openrobotics.org> * Updates to ardupilot migration tutorial (gazebosim#525) Signed-off-by: Louise Poubel <louise@openrobotics.org> * Update gtest to 1.10.0 for Windows compilation (ign-gazebo3) (gazebosim#506) * Compile new gtest with c++11 * Use INSTANTIATE_TEST_SUITE_P instead of deprecated -INSTANTIATE_TEST_CASE_P Signed-off-by: Jose Luis Rivero <jrivero@osrfoundation.org> * Apply suggestions from code review Signed-off-by: Michael Carroll <michael@openrobotics.org> Co-authored-by: Louise Poubel <louise@openrobotics.org> * change nullptr to a int ptr for qt 5.15.2 bug (gazebosim#527) See: https://bugreports.qt.io/browse/QTBUG-89114 Signed-off-by: acxz <17132214+acxz@users.noreply.github.com> Co-authored-by: Louise Poubel <louise@openrobotics.org> Signed-off-by: Louise Poubel <louise@openrobotics.org> * Generate valid topics everywhere (support names with spaces) (gazebosim#522) Signed-off-by: Louise Poubel <louise@openrobotics.org> * One more tutorial version bump Signed-off-by: Michael Carroll <michael@openrobotics.org> * Fix bad merge Signed-off-by: Michael Carroll <michael@openrobotics.org> * change nullptr to a int ptr for qt 5.15.2 bug (gazebosim#527) See: https://bugreports.qt.io/browse/QTBUG-89114 Signed-off-by: acxz <17132214+acxz@users.noreply.github.com> Co-authored-by: Louise Poubel <louise@openrobotics.org> Signed-off-by: Louise Poubel <louise@openrobotics.org> * Generate valid topics everywhere (support names with spaces) (gazebosim#522) Signed-off-by: Louise Poubel <louise@openrobotics.org> * Change deprecated test case->suite Signed-off-by: Michael Carroll <michael@openrobotics.org> * 3 ➡️ 4 (gazebosim#533) * Clarify how sim time is interpreted in a System's step (gazebosim#467) * add frame_id and child_frame_id attribute support for DiffDrive (gazebosim#361) * Add ability to record video based on sim time (gazebosim#414) * add ability to record video from gui camera using sim time * add msg * use QueryBoolText * Add lockstep mode to video recording (gazebosim#419) * Disable right click menu when using measuring tool (gazebosim#458) * Bump to 3.6.0 (gazebosim#524) * Don't make docs on macOS (gazebosim#528) * Updates to ardupilot migration tutorial (gazebosim#525) * Update gtest to 1.10.0 for Windows compilation (ign-gazebo3) (gazebosim#506) * Compile new gtest with c++11 * Use INSTANTIATE_TEST_SUITE_P instead of deprecated -INSTANTIATE_TEST_CASE_P * Apply suggestions from code review * One more tutorial version bump * Fix bad merge * change nullptr to a int ptr for qt 5.15.2 bug (gazebosim#527) * Generate valid topics everywhere (support names with spaces) (gazebosim#522) * Change deprecated test case->suite Co-authored-by: Ashton Larkin <ashton@openrobotics.org> Co-authored-by: G.Doisy <doisyg@users.noreply.github.com> Co-authored-by: Ian Chen <ichen@osrfoundation.org> Co-authored-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Louise Poubel <louise@openrobotics.org> Co-authored-by: John Shepherd <john@openrobotics.org> Co-authored-by: Steve Peters <scpeters@openrobotics.org> Co-authored-by: Jose Luis Rivero <jrivero@osrfoundation.org> Co-authored-by: Akash Patel <17132214+acxz@users.noreply.github.com> * Add support for topic statistics on breadcrumb deployments (gazebosim#532) * Add support for topic statistics on breadcrumb deployments Signed-off-by: Nate Koenig <nate@openrobotics.org> * Require version 9.1 of ignition transport Signed-off-by: Nate Koenig <nate@openrobotics.org> * Move to after mutex Signed-off-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Carlos Agüero <caguero@osrfoundation.org> Co-authored-by: Martiño Crespo <marticres@gmail.com> Co-authored-by: Louise Poubel <louise@openrobotics.org> Co-authored-by: Mabel Zhang <mabel@openrobotics.org> Co-authored-by: John Shepherd <john@openrobotics.org> Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org> Co-authored-by: Michael Carroll <michael@openrobotics.org> Co-authored-by: Ashton Larkin <ashton@openrobotics.org> Co-authored-by: Ian Chen <ichen@osrfoundation.org> Co-authored-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Co-authored-by: Nate Koenig <nkoenig@users.noreply.github.com> Co-authored-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: G.Doisy <doisyg@users.noreply.github.com> Co-authored-by: Gonzo <42421541+gonzodepedro@users.noreply.github.com> Co-authored-by: Steve Peters <scpeters@openrobotics.org> Co-authored-by: Jose Luis Rivero <jrivero@osrfoundation.org> Co-authored-by: Akash Patel <17132214+acxz@users.noreply.github.com> Co-authored-by: Carlos Agüero <caguero@osrfoundation.org>
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