Merge pull request gazebosim#2288 from azeey/6_to_7

Merge ign-gazebo6 ➡️  gz-sim7

.github/ISSUE_TEMPLATE/bug_report.md

@@ -5,7 +5,7 @@ labels: bug
 ---
 
 <!-- If you're not sure whether your problem is a bug, please ask a question at
-http://answers.gazebosim.org instead.-->
+https://robotics.stackexchange.com instead.-->
 
 ## Environment
 * OS Version: <!-- e.g, Ubuntu 20.04 -->

.github/ISSUE_TEMPLATE/feature_request.md

@@ -6,7 +6,7 @@ labels: enhancement
 
 <!-- If you're not sure on the specifics of the feature or would like a broader
 discussion, please consider posting a proposal to
-http://community.gazebosim.org/ instead.-->
+https://robotics.stackexchange.com instead.-->
 
 ## Desired behavior
 <!-- Describe the current problem and the feature you want implemented.-->

.github/workflows/ci.yml

@@ -4,9 +4,9 @@ on:
   pull_request:
   push:
     branches:
-      - 'gz-sim7'
-
-# Every time you make a push to your PR, it cancel immediately the previous checks,
+      - 'ign-gazebo[0-9]'
+      - 'gz-sim[0-9]?'
+      - 'main'
 # and start a new one. The other runner will be available more quickly to your PR.
 concurrency:
   group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
@@ -18,7 +18,7 @@ jobs:
     name: Ubuntu Focal CI
     steps:
       - name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
       - uses: actions/setup-python@v3
       - uses: pre-commit/[email protected]
         with:
@@ -35,7 +35,7 @@ jobs:
     name: Ubuntu Jammy CI
     steps:
       - name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
       - uses: actions/setup-python@v3
       - uses: pre-commit/[email protected]
         with:

Changelog.md

@@ -887,6 +887,35 @@
 
 ## Gazebo Sim 6.x
 
+### Gazebo Sim 6.16.0 (2024-01-12)
+
+1. Allow using plugin file names and environment variables compatible with Garden and later
+    * [Pull request #2275](https://github.com/gazebosim/gz-sim/pull/2275)
+
+1. Update friction parameters for skid steer example
+    * [Pull request #2235](https://github.com/gazebosim/gz-sim/pull/2235)
+
+1. Relax pose check in actor no mesh test
+    * [Pull request #2196](https://github.com/gazebosim/gz-sim/pull/2196)
+
+1. Fix macOS test failures by registering components in the core library
+    * [Pull request #2220](https://github.com/gazebosim/gz-sim/pull/2220)
+
+1. Fix for sensor pointer null when navsat plugin in included in sdf
+    * [Pull request #2176](https://github.com/gazebosim/gz-sim/pull/2176)
+
+1. Fix another deadlock in sensors system
+    * [Pull request #2200](https://github.com/gazebosim/gz-sim/pull/2200)
+
+1. Backport component inspector Vector3d width fix
+    * [Pull request #2195](https://github.com/gazebosim/gz-sim/pull/2195)
+
+1. Bump Fuel model version in test
+    * [Pull request #2190](https://github.com/gazebosim/gz-sim/pull/2190)
+
+1. Infrastructure
+    * [Pull request #2237](https://github.com/gazebosim/gz-sim/pull/2237)
+    * [Pull request #2222](https://github.com/gazebosim/gz-sim/pull/2222)
 
 ### Gazebo Sim 6.15.0 (2023-08-16)
 

examples/worlds/diff_drive_skid.sdf

@@ -155,8 +155,10 @@
           <surface>
             <friction>
               <ode>
-                <mu>0.5</mu>
-                <mu2>1.0</mu2>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <slip1>0.035</slip1>
+                <slip2>0</slip2>
                 <fdir1>0 0 1</fdir1>
               </ode>
               <bullet>
@@ -203,8 +205,10 @@
           <surface>
             <friction>
               <ode>
-                <mu>0.5</mu>
-                <mu2>1.0</mu2>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <slip1>0.035</slip1>
+                <slip2>0</slip2>
                 <fdir1>0 0 1</fdir1>
               </ode>
               <bullet>
@@ -251,8 +255,10 @@
           <surface>
             <friction>
               <ode>
-                <mu>0.5</mu>
-                <mu2>1.0</mu2>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <slip1>0.035</slip1>
+                <slip2>0</slip2>
                 <fdir1>0 0 1</fdir1>
               </ode>
               <bullet>
@@ -299,8 +305,10 @@
           <surface>
             <friction>
               <ode>
-                <mu>0.5</mu>
-                <mu2>1.0</mu2>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <slip1>0.035</slip1>
+                <slip2>0</slip2>
                 <fdir1>0 0 1</fdir1>
               </ode>
               <bullet>

src/Conversions.cc

@@ -1377,6 +1377,41 @@ sdf::Sensor gz::sim::convert(const msgs::Sensor &_in)
 
     out.SetCameraSensor(sensor);
   }
+  else if (out.Type() == sdf::SensorType::GPS ||
+           out.Type() == sdf::SensorType::NAVSAT)
+  {
+    sdf::NavSat sensor;
+    if (_in.has_gps())
+    {
+      if (_in.gps().position().has_horizontal_noise())
+      {
+        sensor.SetHorizontalPositionNoise(sim::convert<sdf::Noise>(
+              _in.gps().position().horizontal_noise()));
+      }
+      if (_in.gps().position().has_vertical_noise())
+      {
+        sensor.SetVerticalPositionNoise(sim::convert<sdf::Noise>(
+              _in.gps().position().vertical_noise()));
+      }
+      if (_in.gps().velocity().has_horizontal_noise())
+      {
+        sensor.SetHorizontalVelocityNoise(sim::convert<sdf::Noise>(
+              _in.gps().velocity().horizontal_noise()));
+      }
+      if (_in.gps().velocity().has_vertical_noise())
+      {
+        sensor.SetVerticalVelocityNoise(sim::convert<sdf::Noise>(
+              _in.gps().velocity().vertical_noise()));
+      }
+    }
+    else
+    {
+      gzerr << "Attempting to convert a navsat sensor message, but the "
+             << "message does not have a navsat nested message.\n";
+    }
+
+    out.SetNavSatSensor(sensor);
+  }
   else if (out.Type() == sdf::SensorType::ALTIMETER)
   {
     sdf::Altimeter sensor;
@@ -1653,8 +1688,8 @@ msgs::ParticleEmitter gz::sim::convert(const sdf::ParticleEmitter &_in)
     std::string path = asFullPath(_in.ColorRangeImage(), _in.FilePath());
 
     common::SystemPaths systemPaths;
-    systemPaths.SetFilePathEnv(kResourcePathEnv);
-    std::string absolutePath = systemPaths.FindFile(path);
+    std::string absolutePath =
+        common::SystemPaths::LocateLocalFile(path, sim::resourcePaths());
 
     if (!absolutePath.empty())
     {

src/Server_TEST.cc

@@ -40,6 +40,7 @@
 #include "plugins/MockSystem.hh"
 #include "../test/helpers/Relay.hh"
 #include "../test/helpers/EnvTestFixture.hh"
+#include "../test/helpers/Util.hh"
 
 using namespace gz;
 using namespace gz::sim;
@@ -277,14 +278,10 @@ TEST_P(ServerFixture, GZ_UTILS_TEST_DISABLED_ON_WIN32(ServerConfigRealPlugin))
   msgs::StringMsg rep;
   bool result{false};
   bool executed{false};
-  int sleep{0};
-  int maxSleep{30};
-  while (!executed && sleep < maxSleep)
-  {
-    gzdbg << "Requesting /test/service" << std::endl;
-    executed = node.Request("/test/service", 100, rep, result);
-    sleep++;
-  }
+  const std::string service = "/test/service";
+  ASSERT_TRUE(test::waitForService(node, service));
+  gzdbg << "Requesting " << service << std::endl;
+  executed = node.Request(service, 1000, rep, result);
   EXPECT_TRUE(executed);
   EXPECT_TRUE(result);
   EXPECT_EQ("TestModelSystem", rep.data());
@@ -336,14 +333,10 @@ TEST_P(ServerFixture,
   msgs::StringMsg rep;
   bool result{false};
   bool executed{false};
-  int sleep{0};
-  int maxSleep{30};
-  while (!executed && sleep < maxSleep)
-  {
-    gzdbg << "Requesting /test/service/sensor" << std::endl;
-    executed = node.Request("/test/service/sensor", 100, rep, result);
-    sleep++;
-  }
+  const std::string service ="/test/service/sensor";
+  ASSERT_TRUE(test::waitForService(node, service));
+  gzdbg << "Requesting " << service << std::endl;
+  executed = node.Request(service, 1000, rep, result);
   EXPECT_TRUE(executed);
   EXPECT_TRUE(result);
   EXPECT_EQ("TestSensorSystem", rep.data());
@@ -779,16 +772,12 @@ TEST_P(ServerFixture, ServerControlStop)
   msgs::Boolean res;
   bool result{false};
   bool executed{false};
-  int sleep{0};
-  int maxSleep{30};
 
+  const std::string service = "/server_control";
+  ASSERT_TRUE(test::waitForService(node, service));
   // first, call with stop = false; the server should keep running
-  while (!executed && sleep < maxSleep)
-  {
-    gzdbg << "Requesting /server_control" << std::endl;
-    executed = node.Request("/server_control", req, 100, res, result);
-    sleep++;
-  }
+  gzdbg << "Requesting " << service << std::endl;
+  executed = node.Request(service, req, 1000, res, result);
   EXPECT_TRUE(executed);
   EXPECT_TRUE(result);
   EXPECT_FALSE(res.data());
@@ -801,8 +790,8 @@ TEST_P(ServerFixture, ServerControlStop)
   // now call with stop = true; the server should stop
   req.set_stop(true);
 
-  gzdbg << "Requesting /server_control" << std::endl;
-  executed = node.Request("/server_control", req, 100, res, result);
+  gzdbg << "Requesting " << service << std::endl;
+  executed = node.Request(service, req, 1000, res, result);
 
   EXPECT_TRUE(executed);
   EXPECT_TRUE(result);
@@ -1046,14 +1035,10 @@ TEST_P(ServerFixture, GetResourcePaths)
   msgs::StringMsg_V res;
   bool result{false};
   bool executed{false};
-  int sleep{0};
-  int maxSleep{30};
-  while (!executed && sleep < maxSleep)
-  {
-    gzdbg << "Requesting /gazebo/resource_paths/get" << std::endl;
-    executed = node.Request("/gazebo/resource_paths/get", 100, res, result);
-    sleep++;
-  }
+  const std::string service = "/gazebo/resource_paths/get";
+  ASSERT_TRUE(test::waitForService(node, service));
+  gzdbg << "Requesting " << service << std::endl;
+  executed = node.Request(service, 1000, res, result);
   EXPECT_TRUE(executed);
   EXPECT_TRUE(result);
   EXPECT_EQ(2, res.data_size());
@@ -1100,7 +1085,9 @@ TEST_P(ServerFixture, AddResourcePaths)
                common::SystemPaths::Delimiter() +
                std::string("/tmp/even_more"));
   req.add_data("/tmp/some/path");
-  bool executed = node.Request("/gazebo/resource_paths/add", req);
+  const std::string service = "/gazebo/resource_paths/add";
+  ASSERT_TRUE(test::waitForService(node, service));
+  bool executed = node.Request(service, req);
   EXPECT_TRUE(executed);
 
   int sleep{0};
@@ -1154,17 +1141,12 @@ TEST_P(ServerFixture, ResolveResourcePaths)
           msgs::StringMsg req, res;
           bool result{false};
           bool executed{false};
-          int sleep{0};
-          int maxSleep{30};
 
           req.set_data(_uri);
-          while (!executed && sleep < maxSleep)
-          {
-            gzdbg << "Requesting /gazebo/resource_paths/resolve" << std::endl;
-            executed = node.Request("/gazebo/resource_paths/resolve", req, 100,
-                res, result);
-            sleep++;
-          }
+          const std::string service ="/gazebo/resource_paths/resolve";
+          ASSERT_TRUE(test::waitForService(node, service));
+          gzdbg << "Requesting " << service << std::endl;
+          executed = node.Request(service, req, 1000, res, result);
           EXPECT_TRUE(executed);
           EXPECT_EQ(_found, result);
           EXPECT_EQ(_expected, res.data()) << "Expected[" << _expected