10 ➡️ master

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

.github/workflows/macos.yml

@@ -0,0 +1,45 @@
+name: macOS latest
+
+on: [push, pull_request]
+
+jobs:
+  build:
+
+    env:
+      PACKAGE: sdformat10
+    runs-on: macos-latest
+    steps:
+    - uses: actions/checkout@v2
+    - name: Set up Homebrew
+      id: set-up-homebrew
+      uses: Homebrew/actions/setup-homebrew@master
+    - run: brew config
+
+    - name: Install base dependencies
+      run: |
+        brew tap osrf/simulation;
+        brew install --only-dependencies ${PACKAGE};
+
+    - run: mkdir build
+    - name: cmake
+      working-directory: build
+      run: cmake .. -DCMAKE_INSTALL_PREFIX=/usr/local/Cellar/${PACKAGE}/HEAD
+    - run: make
+      working-directory: build
+    - run: make test
+      working-directory: build
+      env:
+        CTEST_OUTPUT_ON_FAILURE: 1
+    - name: make install
+      working-directory: build
+      run: |
+        make install;
+        brew link ${PACKAGE};
+    - name: Compile example code
+      working-directory: examples
+      run: |
+        mkdir build;
+        cd build;
+        cmake ..;
+        make;
+        ./simple ../simple.sdf;

.github/workflows/pr-collection-labeler.yml

@@ -1,6 +1,6 @@
 name: PR Collection Labeler
 
-on: pull_request
+on: pull_request_target
 
 jobs:
   pr_collection_labeler:

CMakeLists.txt

@@ -81,6 +81,8 @@ set(sdf_import_target_name ${PROJECT_EXPORT_NAME}::${sdf_target})
 set(sdf_target_output_filename "${sdf_target}-targets.cmake")
 
 
+OPTION(SDFORMAT_DISABLE_CONSOLE_LOGFILE "Disable the sdformat console logfile" OFF)
+
 if (USE_FULL_RPATH)
   # use, i.e. don't skip the full RPATH for the build tree
   set(CMAKE_SKIP_BUILD_RPATH  FALSE)

Changelog.md

@@ -23,27 +23,83 @@
 
 ### libsdformat 10.X.X (202X-XX-XX)
 
-### libsdformat 10.0.0 (202X-XX-XX)
+### libsdformat 10.1.0 (2020-12-15)
 
-1. Normalize joint axis xyz vector when parsing from SDFormat
+1. Fix supported shader types (`normal_map_X_space`)
+    * [Pull request 383](https://github.com/osrf/sdformat/pull/383)
+
+1. Prefix nested model names when flattening
+    * [Pull request 399](https://github.com/osrf/sdformat/pull/399)
+
+1. Move list of debian dependencies to packages.apt
+    * [Pull request 392](https://github.com/osrf/sdformat/pull/392)
+
+1. Remove custom element warning/error.
+    * [Pull request 402](https://github.com/osrf/sdformat/pull/402)
+
+1. Add Sky DOM.
+    * [Pull request 397](https://github.com/osrf/sdformat/pull/397)
+
+1. Add `<double_sided>` to material spec.
+    * [Pull request 410](https://github.com/osrf/sdformat/pull/410)
+
+1. Decrease far clip lower bound.
+    * [Pull request 437](https://github.com/osrf/sdformat/pull/437)
+
+1. Enable/disable tests for issue #202, add macOS workflow.
+    * [Pull request 414](https://github.com/osrf/sdformat/pull/414)
+    * [Pull request 438](https://github.com/osrf/sdformat/pull/438)
+    * [Issue 202](https://github.com/osrf/sdformat/issues/202)
+
+1. Make labeler work with PRs from forks.
+    * [Pull request 390](https://github.com/osrf/sdformat/pull/390)
+
+1. Test included model folder missing model.config
+    * [Pull request 422](https://github.com/osrf/sdformat/pull/422)
+
+1. Add lightmap to 1.7 spec and PBR material DOM
+    * [Pull request 429](https://github.com/osrf/sdformat/pull/429)
+
+### libsdformat 10.0.0 (2020-09-28)
+
+1. Return positive `INF` instead of `-1` in DOM API for unbounded symmetric joint limits.
+    * [Pull request 357](https://github.com/osrf/sdformat/pull/357)
+
+1. Add cmake option to disable console logfile.
+    * [Pull request 348](https://github.com/osrf/sdformat/pull/348)
+
+1. CMake fixes: include CMakePackageConfigHelpers and use modern cmake target for  ignition math.
+    * [Pull request 358](https://github.com/osrf/sdformat/pull/358)
+
+1. Cmake: add tinyxml2 to Config names.
+    * [Pull request 360](https://github.com/osrf/sdformat/pull/360)
+
+1. Define `PATH_MAX` for Debian Hurd system.
+    * [Pull request 369](https://github.com/osrf/sdformat/pull/369)
+
+1. Normalize joint axis xyz vector when parsing from SDFormat.
     * [Pull request 312](https://github.com/osrf/sdformat/pull/312)
 
 1. Migrate to using TinyXML2.
     * [Pull request 264](https://github.com/osrf/sdformat/pull/264)
     * [Pull request 321](https://github.com/osrf/sdformat/pull/321)
+    * [Pull request 359](https://github.com/osrf/sdformat/pull/359)
 
 1. Enforce minimum/maximum values specified in SDFormat description files.
     * [Pull request 303](https://github.com/osrf/sdformat/pull/303)
 
 1. Make parsing of values syntactically more strict with bad values generating an error.
     * [Pull request 244](https://github.com/osrf/sdformat/pull/244)
 
-1. Don't install deprecated parser_urdf.hh header file, fix cmake warning about newline file, fix cmake warning about newlines.
+1. Don't install deprecated parser\_urdf.hh header file, fix cmake warning about newline file, fix cmake warning about newlines.
     * [Pull request 276](https://github.com/osrf/sdformat/pull/276)
 
 1. Remove deprecated Pose(), PoseFrame() functions from DOM objects.
     * [Pull request 308](https://github.com/osrf/sdformat/pull/308)
 
+1. Remove deprecated UseParentModelFrame methods from JointAxis DOM.
+    * [Pull request 379](https://github.com/osrf/sdformat/pull/379)
+
 1. Changed the default radius of a Cylinder from 1.0 to 0.5 meters.
     * [BitBucket pull request 643](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/643)
 
@@ -53,6 +109,9 @@
 
 ### SDFormat 9.3.0 (2020-XX-XX)
 
+1. Store material file path information.
+    + [Pull request 349](https://github.com/osrf/sdformat/pull/349)
+
 1. Support nested models in DOM and frame semantics.
     * [Pull request 316](https://github.com/osrf/sdformat/pull/316)
     + [Pull request 341](https://github.com/osrf/sdformat/pull/341)
@@ -63,12 +122,19 @@
 1. Fix Actor copy operators and increase test coverage.
     * [Pull request 301](https://github.com/osrf/sdformat/pull/301)
 
+1. GitHub Actions CI, pull request labels.
+    * [Pull request 311](https://github.com/osrf/sdformat/pull/311)
+    * [Pull request 363](https://github.com/osrf/sdformat/pull/363)
+
 1. Change bitbucket links to GitHub.
     * [Pull request 240](https://github.com/osrf/sdformat/pull/240)
 
-1. Param_TEST: test parsing +Inf and -Inf.
+1. Param\_TEST: test parsing +Inf and -Inf.
     * [Pull request 277](https://github.com/osrf/sdformat/pull/277)
 
+1. SearchForStuff: add logic to find urdfdom without pkg-config.
+    * [Pull request 245](https://github.com/osrf/sdformat/pull/245)
+
 1. Observe the CMake variable `BUILD_TESTING` if it is defined.
     * [Pull request 269](https://github.com/osrf/sdformat/pull/269)
 
@@ -272,9 +338,21 @@
 
 ### libsdformat 8.X.X (202X-XX-XX)
 
+### SDFormat 8.9.0 (2020-09-04)
+
+1. Find python3 in cmake, fix warning
+    * [Pull request 328](https://github.com/osrf/sdformat/pull/328)
+
+1. Store material file path information
+    * [Pull request 349](https://github.com/osrf/sdformat/pull/349)
+
 1. Fix Actor copy operators and increase test coverage.
     * [Pull request 301](https://github.com/osrf/sdformat/pull/301)
 
+1. Migration to GitHub: CI, links...
+    * [Pull request 239](https://github.com/osrf/sdformat/pull/239)
+    * [Pull request 310](https://github.com/osrf/sdformat/pull/310)
+
 1. Increase output precision of URDF to SDF conversion, output -0 as 0.
     * [BitBucket pull request 675](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/675)
 

Migration.md

@@ -86,6 +86,10 @@ but with improved human-readability..
    + const std::string &PoseFrame()
    + void SetPoseFrame(const std::string &)
 
+1. + Removed deprecated functions from **sdf/JointAxis.hh**:
+   + bool UseParentModelFrame()
+   + void SetUseParentModelFrame(bool)
+
 ### Additions
 
 1. **sdf/Element.hh**
@@ -331,6 +335,14 @@ but with improved human-readability..
     + required: 0
     + [BitBucket pull request 589](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/589)
 
+1. **material.sdf** `//material/double_sided` element
+    + description: Flag to indicate whether the mesh that this material is applied to
+      will be rendered as double sided.
+    + type: bool
+    + default: false
+    + required: 0
+    + [pull request 418](https://github.com/osrf/sdformat/pull/418)
+
 1. **model.sdf** `//model/@canonical_link` attribute
     + description: The name of the canonical link in this model to which the
       model's implicit frame is attached. This implies that a model must have

cmake/SearchForStuff.cmake

@@ -31,7 +31,13 @@ if (NOT DEFINED USE_INTERNAL_URDF OR NOT USE_INTERNAL_URDF)
   pkg_check_modules(URDF urdfdom>=1.0)
 
   if (NOT URDF_FOUND)
-    if (NOT DEFINED USE_INTERNAL_URDF)
+    find_package(urdfdom)
+    if (urdfdom_FOUND)
+      set(URDF_INCLUDE_DIRS ${urdfdom_INCLUDE_DIRS})
+      # ${urdfdom_LIBRARIES} already contains absolute library filenames
+      set(URDF_LIBRARY_DIRS "")
+      set(URDF_LIBRARIES ${urdfdom_LIBRARIES})
+    elseif (NOT DEFINED USE_INTERNAL_URDF)
       message(STATUS "Couldn't find urdfdom >= 1.0, using internal copy")
       set(USE_INTERNAL_URDF true)
     else()
@@ -94,6 +100,13 @@ macro (check_gcc_visibility)
   check_cxx_compiler_flag(-fvisibility=hidden GCC_SUPPORTS_VISIBILITY)
 endmacro()
 
+########################################
+# Find ignition cmake2
+# Only for using the testing macros, not really
+# being use to configure the whole project
+find_package(ignition-cmake2 2.3 REQUIRED)
+set(IGN_CMAKE_VER ${ignition-cmake2_VERSION_MAJOR})
+
 ########################################
 # Find ignition math
 # Set a variable for generating ProjectConfig.cmake

cmake/sdf_config.h.in

@@ -31,6 +31,7 @@
 #cmakedefine BUILD_TYPE_RELEASE 1
 #cmakedefine HAVE_URDFDOM 1
 #cmakedefine USE_INTERNAL_URDF 1
+#cmakedefine SDFORMAT_DISABLE_CONSOLE_LOGFILE 1
 
 #define SDF_SHARE_PATH "${CMAKE_INSTALL_FULL_DATAROOTDIR}/"
 #define SDF_VERSION_PATH "${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${SDF_MAJOR_VERSION}/${SDF_PKG_VERSION}"

include/sdf/CMakeLists.txt

@@ -21,6 +21,7 @@ set (headers
   Frame.hh
   Geometry.hh
   Gui.hh
+  Heightmap.hh
   Imu.hh
   Joint.hh
   JointAxis.hh
@@ -42,6 +43,7 @@ set (headers
   SDFImpl.hh
   SemanticPose.hh
   Sensor.hh
+  Sky.hh
   Sphere.hh
   Surface.hh
   Types.hh

include/sdf/Console.hh

@@ -122,7 +122,10 @@ namespace sdf
                                     const std::string &file,
                                     unsigned int line, int color);
 
-    /// \brief Use this to output a message to a log file
+    /// \brief Use this to output a message to a log file at
+    /// `$HOME/.sdformat/sdformat.log`.
+    /// To disable this log file, define the following symbol when
+    /// compiling: SDFORMAT_DISABLE_CONSOLE_LOGFILE
     /// \return Reference to output stream
     public: ConsoleStream &Log(const std::string &lbl,
                                const std::string &file,

include/sdf/Geometry.hh

@@ -33,6 +33,7 @@ namespace sdf
   class Capsule;
   class Cylinder;
   class Ellipsoid;
+  class Heightmap;
   class Mesh;
   class Plane;
   class Sphere;
@@ -59,6 +60,9 @@ namespace sdf
     /// \brief A mesh geometry.
     MESH = 5,
 
+    /// \brief A heightmap geometry.
+    HEIGHTMAP = 6,
+
     /// \brief A capsule geometry.
     CAPSULE = 7,
 
@@ -189,6 +193,17 @@ namespace sdf
     /// \param[in] _mesh The mesh shape.
     public: void SetMeshShape(const Mesh &_mesh);
 
+    /// \brief Get the heightmap geometry, or nullptr if the contained geometry
+    /// is not a heightmap.
+    /// \return Pointer to the heightmap geometry, or nullptr if the geometry is
+    /// not a heightmap.
+    /// \sa GeometryType Type() const
+    public: const Heightmap *HeightmapShape() const;
+
+    /// \brief Set the heightmap shape.
+    /// \param[in] _heightmap The heightmap shape.
+    public: void SetHeightmapShape(const Heightmap &_heightmap);
+
     /// \brief Get a pointer to the SDF element that was used during
     /// load.
     /// \return SDF element pointer. The value will be nullptr if Load has