Merge gz-msgs10 ➡️ main

CMakeLists.txt

@@ -20,12 +20,6 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 gz_configure_project(VERSION_SUFFIX
   CONFIG_EXTRAS "gz-msgs-extras.cmake.in")
 
-# Install cmake support files
-install(
-  DIRECTORY cmake/
-  DESTINATION "${PROJECT_CMAKE_EXTRAS_INSTALL_DIR}"
-)
-
 #============================================================================
 # Set project-specific options
 #============================================================================
@@ -114,16 +108,18 @@ endif()
 # Find Python
 find_package(Python3 REQUIRED COMPONENTS Interpreter)
 
-if(USE_SYSTEM_PATHS_FOR_PYTHON_INSTALLATION)
-  if(USE_DIST_PACKAGES_FOR_PYTHON)
-    string(REPLACE "site-packages" "dist-packages" GZ_PYTHON_INSTALL_PATH ${Python3_SITELIB})
+if(NOT GZ_PYTHON_INSTALL_PATH)
+  if(USE_SYSTEM_PATHS_FOR_PYTHON_INSTALLATION)
+    if(USE_DIST_PACKAGES_FOR_PYTHON)
+      string(REPLACE "site-packages" "dist-packages" GZ_PYTHON_INSTALL_PATH ${Python3_SITELIB})
+    else()
+      # Python3_SITELIB might use dist-packages in some platforms
+      string(REPLACE "dist-packages" "site-packages" GZ_PYTHON_INSTALL_PATH ${Python3_SITELIB})
+    endif()
   else()
-    # Python3_SITELIB might use dist-packages in some platforms
-    string(REPLACE "dist-packages" "site-packages" GZ_PYTHON_INSTALL_PATH ${Python3_SITELIB})
+    # If not a system installation, respect local paths
+    set(GZ_PYTHON_INSTALL_PATH ${GZ_LIB_INSTALL_DIR}/python)
   endif()
-else()
-  # If not a system installation, respect local paths
-  set(GZ_PYTHON_INSTALL_PATH ${GZ_LIB_INSTALL_DIR}/python)
 endif()
 #============================================================================
 # Configure the build
@@ -153,6 +149,22 @@ add_subdirectory(python)
 #============================================================================
 gz_create_packages()
 
+#============================================================================
+# Install cmake extras for downstream users
+#============================================================================
+# Necessary to populate generator expressions
+file(
+  GENERATE
+  OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/gz-cmake/gz-msgs-extras.cmake"
+  INPUT "${CMAKE_CURRENT_BINARY_DIR}/gz-cmake/gz-msgs-extras.cmake"
+)
+
+# Install cmake support files
+install(
+  DIRECTORY cmake/
+  DESTINATION "${PROJECT_CMAKE_EXTRAS_INSTALL_DIR}"
+)
+
 #============================================================================
 # Create documentation
 #============================================================================
@@ -163,6 +175,7 @@ configure_file(${CMAKE_SOURCE_DIR}/tutorials.md.in ${CMAKE_BINARY_DIR}/tutorials
 gz_create_docs(
   API_MAINPAGE_MD "${CMAKE_BINARY_DIR}/api.md"
   TUTORIALS_MAINPAGE_MD "${CMAKE_BINARY_DIR}/tutorials.md"
+  IMAGE_PATH_DIRS "${CMAKE_SOURCE_DIR}/tutorials/files"
   TAGFILES
     "${GZ-MATH_DOXYGEN_TAGFILE} = ${GZ-MATH_API_URL}"
 )

Changelog.md

@@ -1,10 +1,93 @@
 ## Gazebo Msgs 10.x
 
-### Gazebo Msgs 10.0.0 (202x-xx-xx)
+### Gazebo Msgs 10.0.0 (2023-09-29)
+
+1. Add missing `<functional>` header
+    * [Pull request #382](https://github.com/gazebosim/gz-msgs/pull/382)
+
+1. Documentation fixes
+    * [Pull request #381](https://github.com/gazebosim/gz-msgs/pull/381)
+
+1. Generate messages in downstream builds
+    * [Pull request #339](https://github.com/gazebosim/gz-msgs/pull/339)
+    * [Pull request #356](https://github.com/gazebosim/gz-msgs/pull/356)
+    * [Pull request #359](https://github.com/gazebosim/gz-msgs/pull/359)
+    * [Pull request #361](https://github.com/gazebosim/gz-msgs/pull/361)
+    * [Pull request #368](https://github.com/gazebosim/gz-msgs/pull/368)
+    * [Pull request #374](https://github.com/gazebosim/gz-msgs/pull/374)
+    * [Pull request #377](https://github.com/gazebosim/gz-msgs/pull/377)
+    * [Pull request #379](https://github.com/gazebosim/gz-msgs/pull/379)
+    * [Pull request #386](https://github.com/gazebosim/gz-msgs/pull/386)
+    * [Pull request #384](https://github.com/gazebosim/gz-msgs/pull/384)
+
+1. Add python message generation
+    * [Pull request #362](https://github.com/gazebosim/gz-msgs/pull/362)
+    * [Pull request #364](https://github.com/gazebosim/gz-msgs/pull/364)
+
+1. Added AirSpeedSensor msgs to Sensor msg
+    * [Pull request #365](https://github.com/gazebosim/gz-msgs/pull/365)
+
+1. Add covariance fields to imu message
+    * [Pull request #333](https://github.com/gazebosim/gz-msgs/pull/333)
+
+1. Remove ignition
+    * [Pull request #367](https://github.com/gazebosim/gz-msgs/pull/367)
+    * [Pull request #335](https://github.com/gazebosim/gz-msgs/pull/335)
+
+1. Infrastructure
+    * [Pull request #370](https://github.com/gazebosim/gz-msgs/pull/370)
+    * [Pull request #369](https://github.com/gazebosim/gz-msgs/pull/369)
+    * [Pull request #363](https://github.com/gazebosim/gz-msgs/pull/363)
+    * [Pull request #331](https://github.com/gazebosim/gz-msgs/pull/331)
+
+1. Added cubemap_uri to sky
+    * [Pull request #306](https://github.com/gazebosim/gz-msgs/pull/306)
+
+1. Add id and visibility flags field to projector msg
+    * [Pull request #345](https://github.com/gazebosim/gz-msgs/pull/345)
+
+1. Add new discovery types
+    * [Pull request #322](https://github.com/gazebosim/gz-msgs/pull/322)
+
+1. ⬆️  Bump main to 10.0.0~pre1
+    * [Pull request #292](https://github.com/gazebosim/gz-msgs/pull/292)
 
 
 ## Gazebo Msgs 9.x
 
+### Gazebo Msgs 9.5.0 (2023-08-25)
+
+1. Remove deprecated flag output_to_genfiles
+    * [Pull request #347](https://github.com/gazebosim/gz-msgs/pull/347)
+
+1. GzProtobuf: Do not require version 3
+    * [Pull request #346](https://github.com/gazebosim/gz-msgs/pull/346)
+
+1. Fix typos
+    * [Pull request #344](https://github.com/gazebosim/gz-msgs/pull/344)
+    * [Pull request #314](https://github.com/gazebosim/gz-msgs/pull/314)
+
+1. Few clangtidy fixes
+    * [Pull request #343](https://github.com/gazebosim/gz-msgs/pull/343)
+
+1. Remove unused load in gz_msgs_generate
+    * [Pull request #342](https://github.com/gazebosim/gz-msgs/pull/342)
+
+1. Remove unused ignstrtok variable
+    * [Pull request #340](https://github.com/gazebosim/gz-msgs/pull/340)
+
+1. Adds a message that allows loading environments via a topic
+    * [Pull request #320](https://github.com/gazebosim/gz-msgs/pull/320)
+
+1. Rename COPYING to LICENSE
+    * [Pull request #330](https://github.com/gazebosim/gz-msgs/pull/330)
+
+1. Infrastructure
+    * [Pull request #370](https://github.com/gazebosim/gz-msgs/pull/370)
+    * [Pull request #369](https://github.com/gazebosim/gz-msgs/pull/369)
+    * [Pull request #331](https://github.com/gazebosim/gz-msgs/pull/331)
+
+
 ### Gazebo Msgs 9.4.0 (2023-03-10)
 
 1. Support for bazel in garden

README.md

@@ -19,7 +19,7 @@ framework, a set of libraries designed to rapidly develop robot applications.
 
 ## Installation
 
-See the [installation tutorial](https://gazebosim.org/api/msgs/7.0/install.html).
+See the [installation tutorial](https://gazebosim.org/api/msgs/10/install.html).
 
 ## Known issue of command line tools
 
@@ -29,7 +29,7 @@ line tools from `gz-tools` may not work correctly.
 A workaround for a single package is to define the environment variable
 `GZ_CONFIG_PATH` to point to the location of the Gazebo library installation,
 where the YAML file for the package is found, such as
-```
+```{.sh}
 export GZ_CONFIG_PATH=/usr/local/share/gz
 ```
 
@@ -38,7 +38,7 @@ installations from source are in different locations, only one can be specified.
 
 Another workaround for working with multiple Gazebo libraries on the command
 line is using symbolic links to each library's YAML file.
-```
+```{.sh}
 mkdir ~/.gz/tools/configs -p
 cd ~/.gz/tools/configs/
 ln -s /usr/local/share/gz/fuel8.yaml .

cmake/gz_msgs_generate.cmake

@@ -8,6 +8,7 @@
 #   FACTORY_GEN_SCRIPT  - Location of the factory generator script
 #   PROTO_PATH          - Base directory of the proto files
 #   DEPENDENCY_DESCRIPTIONS - .gz_desc files for each dependency
+#   DLLEXPORT_DECL      - Visibilty macro to apply to messages
 #   OUTPUT_DIRECTORY    - CMake binary directoy to place generated artifacts
 #   OUTPUT_SOURCES      - Variable to contain list of generated source files
 #   OUTPUT_HEADERS      - Variable to contain list of generated header files
@@ -21,6 +22,7 @@ function(gz_msgs_generate_messages_impl)
     # Inputs
     PROTO_PACKAGE MSGS_GEN_SCRIPT GZ_PROTOC_PLUGIN FACTORY_GEN_SCRIPT PROTO_PATH
     DEPENDENCY_DESCRIPTIONS
+    DLLEXPORT_DECL
     OUTPUT_DIRECTORY
     # Outputs
     OUTPUT_SOURCES
@@ -57,6 +59,8 @@ function(gz_msgs_generate_messages_impl)
 
       # Cpp Specific arguments
       GENERATE_CPP
+      DLLEXPORT_DECL
+        ${generate_messages_DLLEXPORT_DECL}
       OUTPUT_CPP_HH_VAR
         ${generate_messages_OUTPUT_HEADERS}
       OUTPUT_DETAIL_CPP_HH_VAR

cmake/gz_msgs_protoc.cmake

@@ -8,6 +8,7 @@
 #   PROTO_PACKAGE       - Protobuf package the file belongs to (e.g. "gz.msgs")
 #   PROTOC_EXEC         - Path to protoc
 #   GZ_PROTOC_PLUGIN    - Path to the gazebo-specific protobuf compiler executable
+#   DLLEXPORT_DECL      - DLL visibility macro (eg GZ_MSGS_VISIBLE)
 #   INPUT_PROTO         - Path to the input .proto file
 #   OUTPUT_CPP_DIR      - Path where C++ files are saved
 #   OUTPUT_PYTON_DIR    - Path where Python files are saved
@@ -25,6 +26,7 @@ function(gz_msgs_protoc)
     PROTO_PACKAGE
     PROTOC_EXEC
     GZ_PROTOC_PLUGIN
+    DLLEXPORT_DECL
     INPUT_PROTO
     OUTPUT_CPP_DIR
     OUTPUT_CPP_HH_VAR
@@ -96,6 +98,12 @@ function(gz_msgs_protoc)
     )
   endif()
 
+  if(gz_msgs_protoc_DLLEXPORT_DECL)
+    list(APPEND GENERATE_ARGS
+      --dllexport-decl "${gz_msgs_protoc_DLLEXPORT_DECL}"
+    )
+  endif()
+
   if(${gz_msgs_protoc_GENERATE_CPP})
     list(APPEND GENERATE_ARGS
       --generate-cpp

core/CMakeLists.txt

@@ -35,6 +35,8 @@ gz_msgs_generate_messages_impl(
     $<TARGET_FILE:${PROJECT_NAME}_protoc_plugin>
   INPUT_PROTOS
     ${proto_files}
+  DLLEXPORT_DECL
+    "GZ_MSGS_VISIBLE"
   PROTO_PACKAGE
     "gz.msgs"
   PROTO_PATH

core/include/gz/msgs/PointCloudPackedUtils.hh

@@ -24,6 +24,7 @@
 #include <gz/msgs/pointcloud_packed.pb.h>
 
 #include <cstdarg>
+#include <functional>
 #include <sstream>
 #include <string>
 #include <utility>

core/include/gz/msgs/convert/Pose.hh

@@ -40,8 +40,17 @@ inline void Set(gz::msgs::Pose *_msg, const gz::math::Pose3d &_data)
 
 inline void Set(gz::math::Pose3d *_data, const gz::msgs::Pose &_msg)
 {
-  auto pos = Convert(_msg.position());
-  auto orientation = Convert(_msg.orientation());
+  gz::math::Vector3d pos;
+  gz::math::Quaterniond orientation;
+
+  if (_msg.has_position())
+    pos = Convert(_msg.position());
+
+  // This bit is critical.  If orientation hasn't been set in the message,
+  // then we want the quaternion to default to identity.
+  if (_msg.has_orientation())
+    orientation = Convert(_msg.orientation());
+
   _data->Set(pos, orientation);
 }
 

core/src/DynamicFactory.cc

@@ -113,6 +113,16 @@ void DynamicFactory::LoadDescriptors(const std::string &_paths)
       for (const google::protobuf::FileDescriptorProto &fileDescriptorProto :
            fileDescriptorSet.file())
       {
+        // If the descriptor already exists in the database, then skip it.
+        // This may happen as gz_desc files can potentially contain the
+        // transitive message definitions
+        google::protobuf::FileDescriptorProto checkDescriptorProto;
+        if (this->db.FindFileByName(
+          fileDescriptorProto.name(), &checkDescriptorProto))
+        {
+          continue;
+        }
+
         if (!static_cast<bool>(pool.BuildFile(fileDescriptorProto)))
         {
           std::cerr << "DynamicFactory(). Unable to place descriptors from ["

core/src/DynamicFactory.hh

@@ -30,6 +30,7 @@
 #pragma warning(pop)
 #endif
 
+#include <functional>
 #include <map>
 #include <memory>
 #include <string>