Merge branch 'Amal-python-system-GIL' of https://github.com/AmalDevHaridevan/gz-sim into Amal-python-system-GIL

Author: AmalDevHaridevan

.dockerignore

@@ -1,2 +1,5 @@
+.git
+.github
+.vscode
 build
 build_*

.github/workflows/docker-nightly.yml

@@ -0,0 +1,33 @@
+name: nightly docker image builds
+
+on:
+  push:
+  schedule:
+    - cron: '0 6 * * *'
+
+jobs:
+  main:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: docker/setup-buildx-action@v3
+        with:
+          driver: docker
+      - uses: actions/checkout@v4
+        with:
+          repository: gazebosim/gz-sim
+          ref: gz-sim9
+          path: src
+      - name: build base image
+        uses: docker/build-push-action@v6
+        with:
+          file: src/docker/Dockerfile.base
+          context: src
+          tags: gz-sim:base
+          load: true
+      - name: build nightly image
+        uses: docker/build-push-action@v6
+        with:
+          file: src/docker/Dockerfile.nightly
+          build-contexts: |
+            gz-sim:base=docker-image://gz-sim:base
+          context: src

README.md

@@ -78,7 +78,7 @@ introspection and control.
 
 # Install
 
-See the [installation tutorial](https://gazebosim.org/api/sim/9/install.html).
+For installing Gazebo, see the [getting started guide](https://gazebosim.org/docs/latest/getstarted/). If you want to use `libgz-sim` as a library, see the [installation tutorial](https://gazebosim.org/api/sim/9/install.html)
 
 # Usage
 

docker/Dockerfile.base

@@ -1,4 +1,4 @@
-FROM ubuntu:focal
+FROM ubuntu:noble
 
 RUN apt-get update \
  && apt-get install -y \
@@ -10,6 +10,3 @@ RUN scripts/enable_stable.sh
 
 COPY docker/scripts/install_common_deps.sh scripts/install_common_deps.sh
 RUN scripts/install_common_deps.sh
-
-COPY docker/scripts/enable_gcc8.sh scripts/enable_gcc8.sh
-RUN scripts/enable_gcc8.sh

docker/Dockerfile.nightly

@@ -23,7 +23,9 @@ RUN apt-get update \
     libgz-gui9-dev \
     libgz-msgs11-dev \
     libgz-sensors9-dev \
-    libsdformat15-dev
+    libsdformat15-dev \
+ && apt-get clean \
+ && rm -rf /var/lib/apt/lists/*
 
 COPY . gz-sim
 RUN cd gz-sim \

docker/README.md

@@ -17,6 +17,8 @@ use the Gazebo code found in the current source tree.
 
 1. [Install Docker](#Install-Docker)
 
+    You need at least 10GB or free space on a hard drive.
+
 1. *Optional:* [Install NVidia Docker](#Install-Nvidia-Docker)
 
     Nvidia docker will be needed if you plan to run the GUI and/or sensors
@@ -46,13 +48,13 @@ use the Gazebo code found in the current source tree.
 3. Run the docker image with a bash shell.
 
     ```
-    docker run -it gz-sim:nightly /bin/bash
+    docker run --rm -it gz-sim:nightly /bin/bash
     ```
 
 4. Alternatively, you can directly run Gazebo using
 
     ```
-    ./docker/run.bash gz-sim:nightly gz-sim-server -v 4
+    ./docker/run.bash gz-sim:nightly gz sim -v 4
     ```
 
 ## Gazebo Using Debians In Docker

docker/run.bash

@@ -20,7 +20,7 @@ ARGS=("$@")
 XAUTH=/tmp/.docker.xauth
 if [ ! -f $XAUTH ]
 then
-    xauth_list=$(xauth nlist :0 | sed -e 's/^..../ffff/')
+    xauth_list=$(xauth nlist $DISPLAY | sed -e 's/^..../ffff/')
     if [ ! -z "$xauth_list" ]
     then
         echo $xauth_list | xauth -f $XAUTH nmerge -

docker/scripts/enable_gcc8.sh

@@ -17,16 +17,17 @@ sudo apt-get install --no-install-recommends -y \
   cppcheck \
   curl \
   git \
-  g++-8 \
-  pkg-config \
+  g++ \
+  lcov \
+  pkg-config
 
 sudo apt-get install --no-install-recommends -y \
-  clang-tidy-6.0 \
-  python-yaml \
-  libclang-6.0-dev
+  clang-tidy \
+  python3-yaml
 
+# for benchmarks in gz-sim/test/benchmark
 sudo apt-get install --no-install-recommends -y \
-  libbenchmark-dev \
-  libbenchmark1
+  libbenchmark-dev
 
-sudo apt-get clean && sudo rm -rf /var/lib/apt/lists/*
+sudo apt-get clean
+sudo rm -rf /var/lib/apt/lists/*

docker/scripts/install_common_deps.sh

@@ -221,7 +221,7 @@
       </link>
 
       <link name='front_right_wheel'>
-        <pose>0.554282 -0.625029 -0.025 -1.5707 0 0</pose>
+        <pose>0.554283 -0.625029 -0.025 -1.5707 0 0</pose>
         <inertial>
           <mass>2</mass>
           <inertia>