Merge branch 'ign-gazebo6' into chapulina/6/inspector

Signed-off-by: Louise Poubel <[email protected]>
gazebosim · Oct 25, 2021 · 2674129 · 2674129
2 parents 6d90a5c + 15b664b
commit 2674129
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Showing 31 changed files with 860 additions and 194 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -68,7 +68,7 @@ set(IGN_MSGS_VER ${ignition-msgs8_VERSION_MAJOR})
 #--------------------------------------
 # Find ignition-common
 # Always use the profiler component to get the headers, regardless of status.
-ign_find_package(ignition-common4 VERSION 4.2
+ign_find_package(ignition-common4 VERSION 4.4
   COMPONENTS
     profiler
     events

diff --git a/Changelog.md b/Changelog.md
@@ -1034,8 +1034,37 @@
 
 ## Ignition Gazebo 3.x
 
-### Ignition Gazebo 3.X.X (202X-XX-XX)
+### Ignition Gazebo 3.10.0 (2021-10-15)
 
+1. Performance: use std::unordered_map where possible in SceneManager
+    * [Pull request #1083](https://github.com/ignitionrobotics/ign-gazebo/pull/1083)
+
+1. Enable new CMake policy to fix protobuf compilation
+    * [Pull request #1059](https://github.com/ignitionrobotics/ign-gazebo/pull/1059)
+
+1. Fix setting cast_shadows for visuals without material
+    * [Pull request #1015](https://github.com/ignitionrobotics/ign-gazebo/pull/1015)
+
+1. Remove duplicate XML tag in pendulum_links example world
+    * [Pull request #1002](https://github.com/ignitionrobotics/ign-gazebo/pull/1002)
+
+1. Enable sensor metrics on example worlds
+    * [Pull request #982](https://github.com/ignitionrobotics/ign-gazebo/pull/982)
+
+1. Improved doxygen
+    * [Pull request #996](https://github.com/ignitionrobotics/ign-gazebo/pull/996)
+
+1. JointPositionController: Improve misleading error message
+    * [Pull request #1098](https://github.com/ignitionrobotics/ign-gazebo/pull/1098)
+
+1. Adjust pose decimals based on element width
+    * [Pull request #1089](https://github.com/ignitionrobotics/ign-gazebo/pull/1089)
+
+1. Fixed IMU system plugin
+    * [Pull request #1043](https://github.com/ignitionrobotics/ign-gazebo/pull/1043)
+
+1. Use QTimer to update plugins in the Qt thread
+    * [Pull request #1095](https://github.com/ignitionrobotics/ign-gazebo/pull/1095)
 
 ### Ignition Gazebo 3.9.0 (2021-08-16)
 

diff --git a/examples/plugin/custom_sensor_system/CMakeLists.txt b/examples/plugin/custom_sensor_system/CMakeLists.txt
@@ -20,7 +20,7 @@ include(FetchContent)
 FetchContent_Declare(
   sensors_clone
   GIT_REPOSITORY https://github.com/ignitionrobotics/ign-sensors
-  GIT_TAG main
+  GIT_TAG ign-sensors6
 )
 FetchContent_Populate(sensors_clone)
 add_subdirectory(${sensors_clone_SOURCE_DIR}/examples/custom_sensor ${sensors_clone_BINARY_DIR})

diff --git a/examples/standalone/light_control/light_control.cc b/examples/standalone/light_control/light_control.cc
@@ -137,7 +137,7 @@ int main(int argc, char **argv)
       m = std::sqrt(r*r + b*b + g*g);
     }
     r /= m;
-    b /= m;
+    g /= m;
     b /= m;
 //! [random numbers]
 

diff --git a/examples/worlds/actor.sdf b/examples/worlds/actor.sdf
@@ -165,5 +165,59 @@
       </link>
     </model>
 
+    <actor name="actor_walking">
+      <skin>
+        <filename>https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor/tip/files/meshes/walk.dae</filename>
+        <scale>1.0</scale>
+      </skin>
+      <animation name="walk">
+        <filename>https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor/tip/files/meshes/walk.dae</filename>
+        <interpolate_x>true</interpolate_x>
+      </animation>
+      <script>
+        <loop>true</loop>
+        <delay_start>0.000000</delay_start>
+        <auto_start>true</auto_start>
+        <trajectory id="0" type="walk" tension="0.6">
+          <waypoint>
+            <time>0</time>
+            <pose>3 4 1.0 0 0 0</pose>
+          </waypoint>
+          <waypoint>
+            <time>2</time>
+            <pose>5 4 1.0 0 0 0</pose>
+          </waypoint>
+          <waypoint>
+            <time>2.5</time>
+            <pose>5 4 1.0 0 0 1.57</pose>
+          </waypoint>
+          <waypoint>
+            <time>4</time>
+            <pose>5 6 1.0 0 0 1.57</pose>
+          </waypoint>
+          <waypoint>
+            <time>4.5</time>
+            <pose>5 6 1.0 0 0 3.142</pose>
+          </waypoint>
+          <waypoint>
+            <time>6</time>
+            <pose>3 6 1 0 0 3.142</pose>
+          </waypoint>
+          <waypoint>
+            <time>6.5</time>
+            <pose>3 6 1 0 0 -1.57</pose>
+          </waypoint>
+          <waypoint>
+            <time>8</time>
+            <pose>3 4 1.0 0 0 -1.57</pose>
+          </waypoint>
+          <waypoint>
+            <time>8.5</time>
+            <pose>3 4 1.0 0 0 0</pose>
+          </waypoint>
+        </trajectory>
+      </script>
+    </actor>
+
   </world>
 </sdf>
diff --git a/include/ignition/gazebo/EntityComponentManager.hh b/include/ignition/gazebo/EntityComponentManager.hh
@@ -85,8 +85,11 @@ namespace ignition
       ///      canonical link.
       ///   3. Child entities that are cloned will have their parent set to the
       ///      cloned parent entity.
-      ///   4. Aside from the changes listed above, all other cloned components
+      ///   4. Cloned joints with parent/child links will have their parent and
+      ///      child links set to the cloned parent/child links.
+      ///   5. Aside from the changes listed above, all other cloned components
       ///      remain unchanged.
+      /// Currently, cloning detachable joints is not supported.
       /// \param[in] _entity The entity to clone.
       /// \param[in] _parent The parent of the cloned entity. Set this to
       /// kNullEntity if the cloned entity should not have a parent.