Merge pull request #2641 from gazebosim/merge_9_main_20241007

Merge 9 -> main

Changelog.md

@@ -1,6 +1,210 @@
 ## Gazebo Sim 9.x
 
-### Gazebo Sim 9.0.0 (2024-XX-XX)
+### Gazebo Sim 9.0.0 (2024-09-25)
+
+1. **Baseline:** this includes all changes from 8.6.0 and earlier.
+
+1. Miscellaneous documentation fixes
+    * [Pull request #2634](https://github.com/gazebosim/gz-sim/pull/2634)
+    * [Pull request #2632](https://github.com/gazebosim/gz-sim/pull/2632)
+    * [Pull request #2628](https://github.com/gazebosim/gz-sim/pull/2628)
+    * [Pull request #2631](https://github.com/gazebosim/gz-sim/pull/2631)
+    * [Pull request #2627](https://github.com/gazebosim/gz-sim/pull/2627)
+    * [Pull request #2625](https://github.com/gazebosim/gz-sim/pull/2625)
+    * [Pull request #2622](https://github.com/gazebosim/gz-sim/pull/2622)
+    * [Pull request #2607](https://github.com/gazebosim/gz-sim/pull/2607)
+    * [Pull request #2606](https://github.com/gazebosim/gz-sim/pull/2606)
+    * [Pull request #2602](https://github.com/gazebosim/gz-sim/pull/2602)
+    * [Pull request #2601](https://github.com/gazebosim/gz-sim/pull/2601)
+    * [Pull request #2603](https://github.com/gazebosim/gz-sim/pull/2603)
+    * [Pull request #2578](https://github.com/gazebosim/gz-sim/pull/2578)
+    * [Pull request #2592](https://github.com/gazebosim/gz-sim/pull/2592)
+    * [Pull request #2582](https://github.com/gazebosim/gz-sim/pull/2582)
+    * [Pull request #2585](https://github.com/gazebosim/gz-sim/pull/2585)
+    * [Pull request #2576](https://github.com/gazebosim/gz-sim/pull/2576)
+    * [Pull request #2573](https://github.com/gazebosim/gz-sim/pull/2573)
+    * [Pull request #2571](https://github.com/gazebosim/gz-sim/pull/2571)
+    * [Pull request #2574](https://github.com/gazebosim/gz-sim/pull/2574)
+    * [Pull request #2564](https://github.com/gazebosim/gz-sim/pull/2564)
+    * [Pull request #2563](https://github.com/gazebosim/gz-sim/pull/2563)
+    * [Pull request #2562](https://github.com/gazebosim/gz-sim/pull/2562)
+    * [Pull request #2553](https://github.com/gazebosim/gz-sim/pull/2553)
+
+1. Fix log playback GUI display
+    * [Pull request #2611](https://github.com/gazebosim/gz-sim/pull/2611)
+    * [Pull request #2619](https://github.com/gazebosim/gz-sim/pull/2619)
+
+1. Add tutorial + example SDF for shadow texture size
+    * [Pull request #2597](https://github.com/gazebosim/gz-sim/pull/2597)
+
+1. Fix making breadcrumb static if it's a nested model
+    * [Pull request #2593](https://github.com/gazebosim/gz-sim/pull/2593)
+
+1. Update physics system error msg when plugin can not be loaded
+    * [Pull request #2604](https://github.com/gazebosim/gz-sim/pull/2604)
+
+1. Fix configuring global illumination GUI plugin parameters
+    * [Pull request #2594](https://github.com/gazebosim/gz-sim/pull/2594)
+
+1. Fix particle emitter color range image path warning
+    * [Pull request #2560](https://github.com/gazebosim/gz-sim/pull/2560)
+
+1. Fix empty gui world file
+    * [Pull request #2591](https://github.com/gazebosim/gz-sim/pull/2591)
+
+1. Fix crash on windows due to invalid log directory path
+    * [Pull request #2589](https://github.com/gazebosim/gz-sim/pull/2589)
+
+1. Use ogre2 for DEM worlds
+    * [Pull request #2586](https://github.com/gazebosim/gz-sim/pull/2586)
+
+1. Fix crash when running the optical tactile sensor world
+    * [Pull request #2561](https://github.com/gazebosim/gz-sim/pull/2561)
+
+1. Prevent follow actor plugin from crashing when actor is removed
+    * [Pull request #2577](https://github.com/gazebosim/gz-sim/pull/2577)
+    * [Pull request #2584](https://github.com/gazebosim/gz-sim/pull/2584)
+
+1. Fix hydrodynamics deprecation warning.
+    * [Pull request #2579](https://github.com/gazebosim/gz-sim/pull/2579)
+
+1. Removed actor population world due to bad merge
+    * [Pull request #2581](https://github.com/gazebosim/gz-sim/pull/2581)
+
+1. Fixed warning joint trayectory sdf
+    * [Pull request #2580](https://github.com/gazebosim/gz-sim/pull/2580)
+
+1. Fix looking up camera name in camera lens system
+    * [Pull request #2559](https://github.com/gazebosim/gz-sim/pull/2559)
+
+1. Add a flexible mechanism to combine user and default plugins
+    * [Pull request #2497](https://github.com/gazebosim/gz-sim/pull/2497)
+
+1. Fix crash at exit due to a race condition with new signal handler
+    * [Pull request #2545](https://github.com/gazebosim/gz-sim/pull/2545)
+
+1. Remove <gz:system_priority/> from test worlds
+    * [Pull request #2551](https://github.com/gazebosim/gz-sim/pull/2551)
+
+1. Consolidate entity creation.
+    * [Pull request #2452](https://github.com/gazebosim/gz-sim/pull/2452)
+    * [Pull request #2527](https://github.com/gazebosim/gz-sim/pull/2527)
+    * [Pull request #2546](https://github.com/gazebosim/gz-sim/pull/2546)
+
+1. Add cmake install prefix
+    * [Pull request #2539](https://github.com/gazebosim/gz-sim/pull/2539)
+
+1. Fix UNIT_Server_TEST failure caused by change in behavior of `gz::common::SignalHandler`
+    * [Pull request #2537](https://github.com/gazebosim/gz-sim/pull/2537)
+
+1. Fix SphericalCoordinates deprecation warnings
+    * [Pull request #2535](https://github.com/gazebosim/gz-sim/pull/2535)
+
+1. Revert behavior change introduced in #2452
+
+1. Specify System::PreUpdate, Update execution order
+    * [Pull request #2487](https://github.com/gazebosim/gz-sim/pull/2487)
+
+1. Add System interface to set default priority
+    * [Pull request #2500](https://github.com/gazebosim/gz-sim/pull/2500)
+
+1. Force Qt to use xcb plugin on Wayland
+    * [Pull request #2526](https://github.com/gazebosim/gz-sim/pull/2526)
+
+1. Physics: set link velocity from VelocityReset components
+    * [Pull request #2489](https://github.com/gazebosim/gz-sim/pull/2489)
+
+1. ForceTorque system: write WrenchMeasured to ECM
+    * [Pull request #2494](https://github.com/gazebosim/gz-sim/pull/2494)
+
+1. Remove unused var
+    * [Pull request #2524](https://github.com/gazebosim/gz-sim/pull/2524)
+
+1. Deprecate use of added mass via hydrodynamics
+    * [Pull request #2493](https://github.com/gazebosim/gz-sim/pull/2493)
+
+1. Make sure steering joints exist before updating velocity / odometry in AckermannSteering plugin
+    * [Pull request #2521](https://github.com/gazebosim/gz-sim/pull/2521)
+
+1. Fix ResourceSpawner
+    * [Pull request #2490](https://github.com/gazebosim/gz-sim/pull/2490)
+
+1. gui_system_plugin: clarify description in README
+    * [Pull request #2253](https://github.com/gazebosim/gz-sim/pull/2253)
+
+1. Fix adding system to non-existent entity
+    * [Pull request #2516](https://github.com/gazebosim/gz-sim/pull/2516)
+
+1. Remove ignition related deprecations
+    * [Pull request #2505](https://github.com/gazebosim/gz-sim/pull/2505)
+
+1. Fix #2458 - Checking linkEnity is empty
+    * [Pull request #2509](https://github.com/gazebosim/gz-sim/pull/2509)
+
+1. Specify System::PreUpdate, Update execution order
+    * [Pull request #2487](https://github.com/gazebosim/gz-sim/pull/2487)
+
+1. Improve signal handling
+    * [Pull request #2501](https://github.com/gazebosim/gz-sim/pull/2501)
+
+1. Initialize threadsNeedCleanUp
+    * [Pull request #2503](https://github.com/gazebosim/gz-sim/pull/2503)
+
+1. Added support for spacecraft thrusters
+    * [Pull request #2431](https://github.com/gazebosim/gz-sim/pull/2431)
+
+1. Remove systems if their parent entity is removed
+    * [Pull request #2232](https://github.com/gazebosim/gz-sim/pull/2232)
+
+1. Disable rendering tests that are failing on github actions
+    * [Pull request #2480](https://github.com/gazebosim/gz-sim/pull/2480)
+
+1. Fix warnings generated by NetworkConfigTest
+    * [Pull request #2469](https://github.com/gazebosim/gz-sim/pull/2469)
+
+1. Support visualizing mesh collisions with convex decomposition
+    * [Pull request #2352](https://github.com/gazebosim/gz-sim/pull/2352)
+
+1. Remove python3-distutils from package.xml
+    * [Pull request #2450](https://github.com/gazebosim/gz-sim/pull/2450)
+
+1. shapes.sdf example: bump to 1.12, add cone shape
+    * [Pull request #2448](https://github.com/gazebosim/gz-sim/pull/2448)
+
+1. Adding cone primitives.
+    * [Pull request #2410](https://github.com/gazebosim/gz-sim/pull/2410)
+    * [Pull request #2449](https://github.com/gazebosim/gz-sim/pull/2449)
+
+1. Enable 24.04 CI, require cmake 3.22.1
+    * [Pull request #2420](https://github.com/gazebosim/gz-sim/pull/2420)
+
+1. Parse and set bullet solver iterations
+    * [Pull request #2351](https://github.com/gazebosim/gz-sim/pull/2351)
+
+1. ForceTorque system: improve readability
+    * [Pull request #2403](https://github.com/gazebosim/gz-sim/pull/2403)
+
+1. Fix warn unused variable in test
+    * [Pull request #2388](https://github.com/gazebosim/gz-sim/pull/2388)
+
+1. Physics: remove VelocityCmd at each time step
+    * [Pull request #2228](https://github.com/gazebosim/gz-sim/pull/2228)
+
+1. Regroup tutorials into four categories
+    * [Pull request #2109](https://github.com/gazebosim/gz-sim/pull/2109)
+
+1. Remove HIDE_SYMBOLS_BY_DEFAULT: replace by a default configuration in gz-cmake.
+    * [Pull request #2283](https://github.com/gazebosim/gz-sim/pull/2283)
+
+1.   Enable HIDE_SYMBOLS_BY_DEFAULT + linux patches
+    * [Pull request #2248](https://github.com/gazebosim/gz-sim/pull/2248)
+
+1. Use sdf FindElement API to avoid const_cast
+    * [Pull request #2231](https://github.com/gazebosim/gz-sim/pull/2231)
+
+1. Bumps in Ionic: gz-sim9
+    * [Pull request #2205](https://github.com/gazebosim/gz-sim/pull/2205)
+    * [Pull request #2211](https://github.com/gazebosim/gz-sim/pull/2211)
 
 ## Gazebo Sim 8.x
 

README.md

@@ -9,10 +9,10 @@
 
 Build | Status
 -- | --
-Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-sim/tree/gz-sim8/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-sim/tree/gz-sim8)
-Ubuntu Jammy  | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_sim-ci-gz-sim8-jammy-amd64)](https://build.osrfoundation.org/job/gz_sim-ci-gz-sim8-jammy-amd64)
-Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_sim-ci-gz-sim8-homebrew-amd64)](https://build.osrfoundation.org/job/gz_sim-ci-gz-sim8-homebrew-amd64)
-Windows       | [![Build Status](https://build.osrfoundation.org/job/gz_sim-8-win/badge/icon)](https://build.osrfoundation.org/job/gz_sim-8-win/)
+Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-sim/tree/main/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-sim/tree/main)
+Ubuntu Noble  | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_sim-ci-main-noble-amd64)](https://build.osrfoundation.org/job/gz_sim-ci-main-noble-amd64)
+Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_sim-ci-main-homebrew-amd64)](https://build.osrfoundation.org/job/gz_sim-ci-main-homebrew-amd64)
+Windows       | [![Build Status](https://build.osrfoundation.org/job/gz_sim-main-win/badge/icon)](https://build.osrfoundation.org/job/gz_sim-main-win/)
 
 Gazebo Sim is an open source robotics simulator. Through Gazebo Sim, users have access to high fidelity physics, rendering, and sensor models. Additionally, users and developers have multiple points of entry to simulation including a graphical user interface, plugins, and asynchronous message passing and services.
 
@@ -32,10 +32,10 @@ Gazebo Sim is derived from [Gazebo Classic](http://classic.gazebosim.org) and re
 
 [Folder Structure](#folder-structure)
 
-[Code of Conduct](#code-of-conduct)
-
 [Contributing](#contributing)
 
+[Code of Conduct](#code-of-conduct)
+
 [Versioning](#versioning)
 
 [License](#license)
@@ -99,29 +99,20 @@ gz sim -h
 In the event that the installation is a mix of Debian and from source, command
 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
+A workaround is to define the environment variable
+`GZ_CONFIG_PATH` to point to the different locations of the Gazebo libraries installations,
+where the YAML files for the packages are found, such as
 ```
-export GZ_CONFIG_PATH=/usr/local/share/gz
+export GZ_CONFIG_PATH=/usr/local/share/gz:$HOME/ws/install/share/gz
 ```
 
-However, that environment variable only takes a single path, which means if the
-installations from source are in different locations, only one can be specified.
+where `$HOME/ws` is an example colcon workspace used to build Gazebo.
 
-Another workaround for working with multiple Gazebo libraries on the command
-line is using symbolic links to each library's YAML file.
-```
-mkdir ~/.gz/tools/configs -p
-cd ~/.gz/tools/configs/
-ln -s /usr/local/share/gz/fuel8.yaml .
-ln -s /usr/local/share/gz/transport14.yaml .
-ln -s /usr/local/share/gz/transportlog13.yaml .
-...
-export GZ_CONFIG_PATH=$HOME/.gz/tools/configs
-```
-
-This issue is tracked [here](https://github.com/gazebosim/gz-tools/issues/8).
+On Windows, `gz sim` (i.e. running both server and GUI in one command) doesn't yet work.
+To run Gazebo Sim on Windows, you need to run the server in one terminal (`gz sim -s <other args>`)
+and the GUI in another terminal (`gz sim -g <other args>`). Remember this when reading through
+all Gazebo Sim tutorials. Also remember that Conda and `install\setup.bat` need to be sourced
+in both terminals (as well as any changes to `GZ_PARTITION` and other environment variables).
 
 # Documentation
 
@@ -131,7 +122,7 @@ See the [installation tutorial](https://gazebosim.org/api/sim/9/install.html).
 
 See the [installation tutorial](https://gazebosim.org/api/sim/9/install.html).
 
-See the [Writing Tests section of the contributor guide](https://github.com/gazebosim/gz-sim/blob/main/CONTRIBUTING.md#writing-tests) for help creating or modifying tests.
+See the [Writing Tests section of the contributor guide](https://gazebosim.org/docs/all/contributing/#writing-tests) for help creating or modifying tests.
 
 # Folder Structure
 
@@ -154,7 +145,7 @@ gz-sim
 │   ├── performance              Performance tests.
 │   ├── plugins                  Plugins used in tests.
 │   ├── regression               Regression tests.
-│   └── tutorials                Tutorials, written in markdown.
+├── tutorials                    Tutorials, written in markdown.
 ├── Changelog.md                 Changelog.
 ├── CMakeLists.txt               CMake build script.
 ├── Migration.md                 Migration guide.
@@ -163,8 +154,8 @@ gz-sim
 
 # Contributing
 
-Please see
-[CONTRIBUTING.md](https://github.com/gazebosim/gz-sim/blob/main/CONTRIBUTING.md).
+Please see the
+[contribution guide](https://gazebosim.org/docs/all/contributing/).
 
 # Code of Conduct
 

examples/plugin/custom_sensor_system/README.md

@@ -10,7 +10,7 @@ It uses the odometer created on this example:
 From the root of the `gz-sim` repository, do the following to build the example:
 
 ~~~
-cd examples/plugins/custom_sensor_system
+cd examples/plugin/custom_sensor_system
 mkdir build
 cd build
 cmake ..
@@ -27,7 +27,7 @@ the `odometer.sdf` file that's going to be loaded.
 Before starting Gazebo, we must make sure it can find the plugin by doing:
 
 ~~~
-cd examples/plugins/custom_sensor_system
+cd examples/plugin/custom_sensor_system
 export GZ_SIM_SYSTEM_PLUGIN_PATH=`pwd`/build
 ~~~
 

examples/worlds/dem_monterey_bay.sdf

@@ -22,7 +22,7 @@
           <property type="string" key="state">docked</property>
         </gz-gui>
 
-        <engine>ogre</engine>
+        <engine>ogre2</engine>
         <scene>scene</scene>
         <ambient_light>0 0 0</ambient_light>
         <background_color>0.8 0.8 0.8</background_color>

examples/worlds/dem_moon.sdf

@@ -29,7 +29,7 @@
           <property type="string" key="state">docked</property>
         </gz-gui>
 
-        <engine>ogre</engine>
+        <engine>ogre2</engine>
         <scene>scene</scene>
         <ambient_light>0 0 0</ambient_light>
         <background_color>0.8 0.8 0.8</background_color>

examples/worlds/dem_volcano.sdf

@@ -21,7 +21,7 @@
           <property type="string" key="state">docked</property>
         </gz-gui>
 
-        <engine>ogre</engine>
+        <engine>ogre2</engine>
         <scene>scene</scene>
         <ambient_light>0 0 0</ambient_light>
         <background_color>0.8 0.8 0.8</background_color>

examples/worlds/empty_gui.sdf

@@ -37,6 +37,10 @@ This example helps illustrate the interaction of the MinimalScene with other GUI
 
   <world name="empty_gui">
 
+    <gz:policies>
+      <include_gui_default_plugins>false</include_gui_default_plugins>
+    </gz:policies>
+
     <gui fullscreen="0">
       <plugin filename="MinimalScene" name="3D View">
         <gz-gui>

examples/worlds/joint_trajectory_controller.sdf

@@ -479,21 +479,21 @@
         <child>RR_velocity_control_link1</child>
         <axis>
           <xyz>1 0 0</xyz>
+          <dynamics>
+            <damping>0.02</damping>
+          </dynamics>
         </axis>
-        <dynamics>
-          <damping>0.02</damping>
-        </dynamics>
       </joint>
       <joint name="RR_velocity_control_joint2" type="revolute">
         <pose relative_to="RR_velocity_control_link1">0 0 0.1 0 0 0</pose>
         <parent>RR_velocity_control_link1</parent>
         <child>RR_velocity_control_link2</child>
         <axis>
           <xyz>1 0 0</xyz>
+          <dynamics>
+            <damping>0.01</damping>
+          </dynamics>
         </axis>
-        <dynamics>
-          <damping>0.01</damping>
-        </dynamics>
       </joint>
       <!-- Controller -->
       <plugin