Fix build and codecheck

Signed-off-by: Nate Koenig <[email protected]>
gazebosim · Jan 8, 2021 · e491a52 · e491a52
2 parents c70ee17 + 8ab2b7b
commit e491a52
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diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -75,7 +75,7 @@ set(IGN_FUEL_TOOLS_VER ${ignition-fuel_tools5_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-gui
-ign_find_package(ignition-gui4 REQUIRED VERSION 4.1)
+ign_find_package(ignition-gui4 REQUIRED VERSION 4.1.1)
 set(IGN_GUI_VER ${ignition-gui4_VERSION_MAJOR})
 ign_find_package (Qt5
   COMPONENTS
@@ -158,19 +158,24 @@ ign_create_packages()
 configure_file(${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/)

diff --git a/Changelog.md b/Changelog.md
@@ -157,6 +157,68 @@
 
 ### 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

diff --git a/examples/worlds/spaces.sdf b/examples/worlds/spaces.sdf
@@ -0,0 +1,108 @@
+<?xml version="1.0" ?>
+<!--
+
+This demo shows that it's possible to have entities with spaces in their names.
+
+-->
+<sdf version="1.6">
+  <world name="world with spaces">
+    <physics name="1ms" type="ignored">
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+    </physics>
+    <plugin
+      filename="ignition-gazebo-physics-system"
+      name="ignition::gazebo::systems::Physics">
+    </plugin>
+    <plugin
+      filename="ignition-gazebo-user-commands-system"
+      name="ignition::gazebo::systems::UserCommands">
+    </plugin>
+    <plugin
+      filename="ignition-gazebo-scene-broadcaster-system"
+      name="ignition::gazebo::systems::SceneBroadcaster">
+    </plugin>
+
+    <scene>
+      <ambient>1.0 1.0 1.0</ambient>
+      <background>0.8 0.8 0.8</background>
+    </scene>
+
+    <light type="directional" name="light with spaces">
+      <cast_shadows>true</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.8 0.8 0.8 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+    </light>
+
+    <model name="ground plane">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+            </plane>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <ambient>0.8 0.8 0.8 1</ambient>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.8 0.8 0.8 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+    <model name="model with spaces">
+      <pose>0 0 0.5 0 0 0</pose>
+      <link name="link with spaces">
+        <inertial>
+          <inertia>
+            <ixx>1</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>1</iyy>
+            <iyz>0</iyz>
+            <izz>1</izz>
+          </inertia>
+          <mass>1.0</mass>
+        </inertial>
+        <collision name="collision with spaces">
+          <geometry>
+            <box>
+              <size>1 1 1</size>
+            </box>
+          </geometry>
+        </collision>
+
+        <visual name="visual with spaces">
+          <geometry>
+            <box>
+              <size>1 1 1</size>
+            </box>
+          </geometry>
+          <material>
+            <ambient>1 0 0 1</ambient>
+            <diffuse>1 0 0 1</diffuse>
+            <specular>1 0 0 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+  </world>
+</sdf>
diff --git a/include/ignition/gazebo/System.hh b/include/ignition/gazebo/System.hh
@@ -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

diff --git a/include/ignition/gazebo/Util.hh b/include/ignition/gazebo/Util.hh
@@ -139,6 +139,21 @@ namespace ignition
         const Entity &_entity,
         const EntityComponentManager &_ecm);
 
+    /// \brief Helper function to generate a valid transport topic, given
+    /// a list of topics ordered by preference. The generated topic will be,
+    /// in this order:
+    ///
+    /// 1. The first topic unchanged, if valid.
+    /// 2. A valid version of the first topic, if possible.
+    /// 3. The second topic unchanged, if valid.
+    /// 4. A valid version of the second topic, if possible.
+    /// 5. ...
+    /// 6. If no valid topics could be generated, return an empty string.
+    ///
+    /// \param[in] _topics Topics ordered by preference.
+    std::string IGNITION_GAZEBO_VISIBLE validTopic(
+        const std::vector<std::string> &_topics);
+
     /// \brief Environment variable holding resource paths.
     const std::string kResourcePathEnv{"IGN_GAZEBO_RESOURCE_PATH"};
 

diff --git a/include/ignition/gazebo/rendering/RenderUtil.hh b/include/ignition/gazebo/rendering/RenderUtil.hh
@@ -124,6 +124,11 @@ 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
     public: void SetSelectedEntity(const rendering::NodePtr &_node);

diff --git a/src/EntityComponentManager_TEST.cc b/src/EntityComponentManager_TEST.cc
@@ -2362,5 +2362,5 @@ TEST_P(EntityComponentManagerFixture, RemovedComponentsSyncBetweenServerAndGUI)
 
 // Run multiple times. We want to make sure that static globals don't cause
 // problems.
-INSTANTIATE_TEST_CASE_P(EntityComponentManagerRepeat,
+INSTANTIATE_TEST_SUITE_P(EntityComponentManagerRepeat,
     EntityComponentManagerFixture, ::testing::Range(1, 10));
diff --git a/src/LevelManager.cc b/src/LevelManager.cc
@@ -76,8 +76,14 @@ LevelManager::LevelManager(SimulationRunner *_runner, const bool _useLevels)
   this->ReadLevelPerformerInfo();
   this->CreatePerformers();
 
-  std::string service = "/world/";
-  service += this->runner->sdfWorld->Name() + "/level/set_performer";
+  std::string service = transport::TopicUtils::AsValidTopic("/world/" +
+      this->runner->sdfWorld->Name() + "/level/set_performer");
+  if (service.empty())
+  {
+    ignerr << "Failed to generate set_performer topic for world ["
+           << this->runner->sdfWorld->Name() << "]" << std::endl;
+    return;
+  }
   this->node.Advertise(service, &LevelManager::OnSetPerformer, this);
 }
 

diff --git a/src/Server_TEST.cc b/src/Server_TEST.cc
@@ -995,4 +995,4 @@ TEST_P(ServerFixture, AddResourcePaths)
 
 // Run multiple times. We want to make sure that static globals don't cause
 // problems.
-INSTANTIATE_TEST_CASE_P(ServerRepeat, ServerFixture, ::testing::Range(1, 2));
+INSTANTIATE_TEST_SUITE_P(ServerRepeat, ServerFixture, ::testing::Range(1, 2));
diff --git a/src/SimulationRunner.cc b/src/SimulationRunner.cc
@@ -157,15 +157,20 @@ SimulationRunner::SimulationRunner(const sdf::World *_world,
 
   // World control
   transport::NodeOptions opts;
+  std::string ns{"/world/" + this->worldName};
   if (this->networkMgr)
   {
-    opts.SetNameSpace(this->networkMgr->Namespace() +
-                      "/world/" + this->worldName);
+    ns = this->networkMgr->Namespace() + ns;
   }
-  else
+
+  auto validNs = transport::TopicUtils::AsValidTopic(ns);
+  if (validNs.empty())
   {
-    opts.SetNameSpace("/world/" + this->worldName);
+    ignerr << "Invalid namespace [" << ns
+           << "], not initializing runner transport." << std::endl;
+    return;
   }
+  opts.SetNameSpace(validNs);
 
   this->node = std::make_unique<transport::Node>(opts);
 

diff --git a/src/SimulationRunner_TEST.cc b/src/SimulationRunner_TEST.cc
@@ -1294,5 +1294,5 @@ TEST_P(SimulationRunnerTest, GenerateWorldSdf)
 
 // Run multiple times. We want to make sure that static globals don't cause
 // problems.
-INSTANTIATE_TEST_CASE_P(ServerRepeat, SimulationRunnerTest,
+INSTANTIATE_TEST_SUITE_P(ServerRepeat, SimulationRunnerTest,
     ::testing::Range(1, 2));
diff --git a/src/Util.cc b/src/Util.cc
@@ -24,6 +24,7 @@
 #endif
 #include <ignition/common/Filesystem.hh>
 #include <ignition/common/StringUtils.hh>
+#include <ignition/transport/TopicUtils.hh>
 
 #include "ignition/gazebo/components/Actor.hh"
 #include "ignition/gazebo/components/Collision.hh"
@@ -416,6 +417,27 @@ ignition::gazebo::Entity topLevelModel(const Entity &_entity,
   }
   return entity;
 }
+
+//////////////////////////////////////////////////
+std::string validTopic(const std::vector<std::string> &_topics)
+{
+  for (const auto &topic : _topics)
+  {
+    auto validTopic = transport::TopicUtils::AsValidTopic(topic);
+    if (validTopic.empty())
+    {
+      ignerr << "Topic [" << topic << "] is invalid, ignoring." << std::endl;
+      continue;
+    }
+    if (validTopic != topic)
+    {
+      igndbg << "Topic [" << topic << "] changed to valid topic ["
+             << validTopic << "]" << std::endl;
+    }
+    return validTopic;
+  }
+  return std::string();
+}
 }
 }
 }