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Merge branch 'ign-gazebo3' of github.com:ignitionrobotics/ign-gazebo …
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…into gtest_1_10_ign-gazebo3
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@j-rivero
j-rivero committed Jan 4, 2021
2 parents 3a2a66c + 88481d2 commit 1b81a5a
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Showing 14 changed files with 585 additions and 29 deletions.
33 changes: 19 additions & 14 deletions CMakeLists.txt
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Expand Up @@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.5.1 FATAL_ERROR)
#============================================================================
# Initialize the project
#============================================================================
project(ignition-gazebo3 VERSION 3.5.0)
project(ignition-gazebo3 VERSION 3.6.0)

#============================================================================
# Find ignition-cmake
Expand Down Expand Up @@ -158,19 +158,24 @@ ign_create_packages()
configure_file(${CMAKE_SOURCE_DIR}/api.md.in ${CMAKE_BINARY_DIR}/api.md)
configure_file(${CMAKE_SOURCE_DIR}/tutorials.md.in ${CMAKE_BINARY_DIR}/tutorials.md)

ign_create_docs(
API_MAINPAGE_MD "${CMAKE_BINARY_DIR}/api.md"
TUTORIALS_MAINPAGE_MD "${CMAKE_BINARY_DIR}/tutorials.md"
ADDITIONAL_INPUT_DIRS "${CMAKE_SOURCE_DIR}/src/systems ${CMAKE_SOURCE_DIR}/src/gui/plugins"
TAGFILES
"${IGNITION-MATH_DOXYGEN_TAGFILE} = ${IGNITION-MATH_API_URL}"
"${IGNITION-MSGS_DOXYGEN_TAGFILE} = ${IGNITION-MSGS_API_URL}"
"${IGNITION-PHYSICS_DOXYGEN_TAGFILE} = ${IGNITION-PHYSICS_API_URL}"
"${IGNITION-PLUGIN_DOXYGEN_TAGFILE} = ${IGNITION-PLUGIN_API_URL}"
"${IGNITION-TRANSPORT_DOXYGEN_TAGFILE} = ${IGNITION-TRANSPORT_API_URL}"
"${IGNITION-SENSORS_DOXYGEN_TAGFILE} = ${IGNITION-SENSORS_API_URL}"
"${IGNITION-COMMON_DOXYGEN_TAGFILE} = ${IGNITION-COMMON_API_URL}"
)
# disable doxygen on macOS due to issues with doxygen 1.9.0
# there is an unreleased fix; revert this when 1.9.1 is released
# https://github.com/ignitionrobotics/ign-gazebo/issues/520
if (NOT APPLE)
ign_create_docs(
API_MAINPAGE_MD "${CMAKE_BINARY_DIR}/api.md"
TUTORIALS_MAINPAGE_MD "${CMAKE_BINARY_DIR}/tutorials.md"
ADDITIONAL_INPUT_DIRS "${CMAKE_SOURCE_DIR}/src/systems ${CMAKE_SOURCE_DIR}/src/gui/plugins"
TAGFILES
"${IGNITION-MATH_DOXYGEN_TAGFILE} = ${IGNITION-MATH_API_URL}"
"${IGNITION-MSGS_DOXYGEN_TAGFILE} = ${IGNITION-MSGS_API_URL}"
"${IGNITION-PHYSICS_DOXYGEN_TAGFILE} = ${IGNITION-PHYSICS_API_URL}"
"${IGNITION-PLUGIN_DOXYGEN_TAGFILE} = ${IGNITION-PLUGIN_API_URL}"
"${IGNITION-TRANSPORT_DOXYGEN_TAGFILE} = ${IGNITION-TRANSPORT_API_URL}"
"${IGNITION-SENSORS_DOXYGEN_TAGFILE} = ${IGNITION-SENSORS_API_URL}"
"${IGNITION-COMMON_DOXYGEN_TAGFILE} = ${IGNITION-COMMON_API_URL}"
)
endif()

if(TARGET doc)
file(COPY ${CMAKE_SOURCE_DIR}/tutorials/files/ DESTINATION ${CMAKE_BINARY_DIR}/doxygen/html/files/)
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62 changes: 62 additions & 0 deletions Changelog.md
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Expand Up @@ -2,6 +2,68 @@

### Ignition Gazebo 3.X.X (20XX-XX-XX)

### Ignition Gazebo 3.6.0 (2020-12-30)

1. Fix pose msg conversion when msg is missing orientation
* [Pull Request 450](https://github.com/ignitionrobotics/ign-gazebo/pull/450)

1. Address code checker warnings
* [Pull Request 443](https://github.com/ignitionrobotics/ign-gazebo/pull/443)
* [Pull Request 491](https://github.com/ignitionrobotics/ign-gazebo/pull/491)
* [Pull Request 499](https://github.com/ignitionrobotics/ign-gazebo/pull/499)
* [Pull Request 502](https://github.com/ignitionrobotics/ign-gazebo/pull/502)

1. Test fixes
* [Pull Request 455](https://github.com/ignitionrobotics/ign-gazebo/pull/455)
* [Pull Request 463](https://github.com/ignitionrobotics/ign-gazebo/pull/463)
* [Pull Request 452](https://github.com/ignitionrobotics/ign-gazebo/pull/452)
* [Pull Request 480](https://github.com/ignitionrobotics/ign-gazebo/pull/480)

1. Documentation updates
* [Pull Request 472](https://github.com/ignitionrobotics/ign-gazebo/pull/472)

1. Fix segfault in the Breadcrumb system when associated model is unloaded
* [Pull Request 454](https://github.com/ignitionrobotics/ign-gazebo/pull/454)

1. Added user commands to example thermal camera world
* [Pull Request 442](https://github.com/ignitionrobotics/ign-gazebo/pull/442)

1. Helper function to set component data
* [Pull Request 436](https://github.com/ignitionrobotics/ign-gazebo/pull/436)

1. Remove unneeded if statement in EntityComponentManager
* [Pull Request 432](https://github.com/ignitionrobotics/ign-gazebo/pull/432)

1. Clarify how time is represented in each phase of a System step
* [Pull Request 467](https://github.com/ignitionrobotics/ign-gazebo/pull/467)

1. Switch to async state service request
* [Pull Request 461](https://github.com/ignitionrobotics/ign-gazebo/pull/461)

1. Update key event handling
* [Pull Request 466](https://github.com/ignitionrobotics/ign-gazebo/pull/466)

1. Tape Measure Plugin
* [Pull Request 456](https://github.com/ignitionrobotics/ign-gazebo/pull/456)

1. Move deselect and preview termination to render thread
* [Pull Request 493](https://github.com/ignitionrobotics/ign-gazebo/pull/493)

1. Logical audio sensor plugin
* [Pull Request 401](https://github.com/ignitionrobotics/ign-gazebo/pull/401)

1. add frame_id and child_frame_id attribute support for DiffDrive
* [Pull Request 361](https://github.com/ignitionrobotics/ign-gazebo/pull/361)

1. Add ability to record video based on sim time
* [Pull Request 414](https://github.com/ignitionrobotics/ign-gazebo/pull/414)

1. Add lockstep mode to video recording
* [Pull Request 419](https://github.com/ignitionrobotics/ign-gazebo/pull/419)

1. Disable right click menu when using measuring tool
* [Pull Request 458](https://github.com/ignitionrobotics/ign-gazebo/pull/458)

### Ignition Gazebo 3.5.0 (2020-11-03)

1. Updated source build instructions
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27 changes: 19 additions & 8 deletions include/ignition/gazebo/System.hh
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Expand Up @@ -44,21 +44,32 @@ namespace ignition
/// will only operate on an Entity if it has all of the required
/// Components.
///
/// Systems are executed in three phases:
/// Systems are executed in three phases, with each phase for a given step
/// corresponding to the entities at time UpdateInfo::simTime:
/// * PreUpdate
/// * Has read-write access to world entities and components
/// * Executed with simulation time at (t0)
/// * Has read-write access to world entities and components.
/// * This is where systems say what they'd like to happen at time
/// UpdateInfo::simTime.
/// * Can be used to modify state before physics runs, for example for
/// applying control signals or performing network syncronization.
/// * Update
/// * Has read-write access to world entities and components
/// * Responsible for propagating time from (t0) to (t0 + dt)
/// * Used for physics simulation step
/// * Has read-write access to world entities and components.
/// * Used for physics simulation step (i.e., simulates what happens at
/// time UpdateInfo::simTime).
/// * PostUpdate
/// * Has read-only access to world entities and components
/// * Executed with simulation time at (t0 + dt)
/// * Has read-only access to world entities and components.
/// * Captures everything that happened at time UpdateInfo::simTime.
/// * Used to read out results at the end of a simulation step to be used
/// for sensor or controller updates.
///
/// It's important to note that UpdateInfo::simTime does not refer to the
/// current time, but the time reached after the PreUpdate and Update calls
/// have finished. So, if any of the *Update functions are called with
/// simulation paused, time does not advance, which means the time reached
/// after PreUpdate and Update is the same as the starting time. This
/// explains why UpdateInfo::simTime is initially 0 if simulation is started
/// paused, while UpdateInfo::simTime is initially UpdateInfo::dt if
/// simulation is started un-paused.
class IGNITION_GAZEBO_VISIBLE System
{
/// \brief Constructor
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5 changes: 5 additions & 0 deletions include/ignition/gazebo/rendering/RenderUtil.hh
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Expand Up @@ -119,6 +119,11 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
/// Returns reference to the marker manager.
public: class MarkerManager &MarkerManager();

/// \brief Get simulation time that the current rendering state corresponds
/// to
/// \returns Simulation time.
public: std::chrono::steady_clock::duration SimTime() const;

/// \brief Set the entity being selected
/// \param[in] _node Node representing the selected entity
/// \TODO(anyone) Make const ref when merging forward
Expand Down
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