Merge branch 'main' into scpeters/world_frame_name_errors

.github/workflows/macos.yml

@@ -6,7 +6,7 @@ jobs:
   build:
 
     env:
-      PACKAGE: sdformat13
+      PACKAGE: sdformat14
     runs-on: macos-latest
     steps:
     - uses: actions/checkout@v3

.gitignore

@@ -3,3 +3,4 @@ build
 build_*
 *.*.sw?
 .vscode
+__pycache__

CMakeLists.txt

@@ -5,11 +5,11 @@ if(COMMAND CMAKE_POLICY)
   CMAKE_POLICY(SET CMP0004 NEW)
 endif(COMMAND CMAKE_POLICY)
 
-project (sdformat13 VERSION 13.5.0)
+project (sdformat14 VERSION 14.0.0)
 
 # The protocol version has nothing to do with the package version.
 # It represents the current version of SDFormat implemented by the software
-set (SDF_PROTOCOL_VERSION 1.10)
+set (SDF_PROTOCOL_VERSION 1.11)
 
 OPTION(SDFORMAT_DISABLE_CONSOLE_LOGFILE "Disable the sdformat console logfile" OFF)
 
@@ -162,7 +162,7 @@ if (BUILD_SDF)
   add_subdirectory(conf)
   add_subdirectory(doc)
   if (pybind11_FOUND AND NOT SKIP_PYBIND11)
-  	add_subdirectory(python)
+    add_subdirectory(python)
   endif()
 endif(BUILD_SDF)
 

Changelog.md

@@ -1,3 +1,7 @@
+## libsdformat 14.X
+
+### libsdformat 14.0.0 (202X-XX-XX)
+
 ## libsdformat 13.X
 
 ### libsdformat 13.5.0 (2023-05-18)

README.md

@@ -114,7 +114,7 @@ conda install libsdformat=12.5.0 --channel conda-forge
 ## Source Installation
 
 
-**Note:** the `main` branch is under development for `libsdformat13` and is
+**Note:** the `main` branch is under development for `libsdformat14` and is
 currently unstable. A release branch (`sdf12`, `sdf11`, `sdf10`, `sdf9`, etc.)
 is recommended for most users.
 

examples/CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 
-find_package(sdformat13 REQUIRED)
+find_package(sdformat14 REQUIRED)
 
 set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17")
 

include/sdf/ParticleEmitter.hh

@@ -37,7 +37,7 @@ namespace sdf
 
   /// \enum ParticleEmitterType
   /// \brief The set of particle emitter types.
-  // Developer note: Make sure to update emitterTypeStrs in the source
+  // Developer note: Make sure to update kEmitterTypeStrs in the source
   // file when changing this enum.
   enum class ParticleEmitterType
   {

include/sdf/Plugin.hh

@@ -238,7 +238,7 @@ namespace sdf
                     const std::string &_name, const std::string &_xmlContent);
 
     /// \brief Private data pointer.
-    public: std::unique_ptr<sdf::PluginPrivate> dataPtr;
+    private: std::unique_ptr<sdf::PluginPrivate> dataPtr;
   };
 
   /// \brief A vector of Plugin.

include/sdf/Sensor.hh

@@ -49,7 +49,7 @@ namespace sdf
 
   /// \enum SensorType
   /// \brief The set of sensor types.
-  // Developer note: Make sure to update sensorTypeStrs in the source file
+  // Developer note: Make sure to update kSensorTypeStrs in the source file
   // when changing this enum.
   enum class SensorType
   {

include/sdf/Types.hh

@@ -25,6 +25,7 @@
 #include <utility>
 #include <vector>
 
+#include <gz/utils/NeverDestroyed.hh>
 #include <sdf/sdf_config.h>
 #include "sdf/system_util.hh"
 #include "sdf/Error.hh"
@@ -35,7 +36,21 @@ namespace sdf
   inline namespace SDF_VERSION_NAMESPACE {
   //
 
-  const std::string kSdfScopeDelimiter = "::";
+  namespace internal
+  {
+    /// \brief Initializes the scope delimiter as a function-local static
+    /// variable so it can be used to initialize kSdfScopeDelimiter.
+    /// \note This should not be used directly in user code. It will likely be
+    /// removed in libsdformat 15 with kSdfScopeDelimiter.
+    SDFORMAT_VISIBLE const std::string &SdfScopeDelimiter();
+  }  // namespace internal
+
+  constexpr std::string_view kScopeDelimiter{"::"};
+
+  // Deprecated because it violates the Google Style Guide as it is not
+  // trivially destructible. Please use sdf::kScopeDelimiter instead.
+  GZ_DEPRECATED(14)
+  inline const std::string &kSdfScopeDelimiter = internal::SdfScopeDelimiter();
 
   /// \brief The source path replacement if it was parsed from a string,
   /// instead of a file.

python/test/gz_test_deps/sdformat.py

@@ -1 +1 @@
-from sdformat13 import *
+from sdformat14 import *

python/test/pyModel_TEST.py

@@ -255,7 +255,7 @@ def test_add_modify_frame(self):
 
     def test_uri(self):
         model = Model()
-        uri = "https:#fuel.ignitionrobotics.org/1.0/openrobotics/models/my-model"
+        uri = "https:#fuel.gazebosim.org/1.0/openrobotics/models/my-model"
 
         model.set_uri(uri)
         self.assertEqual(uri, model.uri())

sdf/1.10/CMakeLists.txt

@@ -73,8 +73,8 @@ foreach(FIL ${sdfs})
 
   add_custom_command(
     OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/${FIL_WE}.xsd"
-    COMMAND ${RUBY} ${CMAKE_SOURCE_DIR}/tools/xmlschema.rb
-    ARGS -s ${CMAKE_CURRENT_SOURCE_DIR} -i ${ABS_FIL} -o ${CMAKE_CURRENT_BINARY_DIR}
+    COMMAND ${Python3_EXECUTABLE} ${CMAKE_SOURCE_DIR}/tools/xmlschema.py
+    ARGS --sdf-dir ${CMAKE_CURRENT_SOURCE_DIR} --input-file ${ABS_FIL} --output-dir ${CMAKE_CURRENT_BINARY_DIR}
     DEPENDS ${ABS_FIL}
     COMMENT "Running xml schema compiler on ${FIL}"
     VERBATIM)

sdf/1.11/1_10.convert

@@ -0,0 +1,2 @@
+<convert name="sdf">
+</convert> <!-- End SDF -->

sdf/1.11/CMakeLists.txt

@@ -0,0 +1,88 @@
+set (sdfs
+  actor.sdf
+  air_pressure.sdf
+  air_speed.sdf
+  altimeter.sdf
+  atmosphere.sdf
+  audio_source.sdf
+  audio_sink.sdf
+  battery.sdf
+  box_shape.sdf
+  camera.sdf
+  capsule_shape.sdf
+  collision.sdf
+  contact.sdf
+  cylinder_shape.sdf
+  ellipsoid_shape.sdf
+  frame.sdf
+  forcetorque.sdf
+  geometry.sdf
+  gps.sdf
+  gripper.sdf
+  gui.sdf
+  heightmap_shape.sdf
+  image_shape.sdf
+  imu.sdf
+  inertial.sdf
+  joint.sdf
+  lidar.sdf
+  light.sdf
+  light_state.sdf
+  link.sdf
+  link_state.sdf
+  logical_camera.sdf
+  magnetometer.sdf
+  material.sdf
+  mesh_shape.sdf
+  model.sdf
+  model_state.sdf
+  navsat.sdf
+  noise.sdf
+  particle_emitter.sdf
+  physics.sdf
+  plane_shape.sdf
+  plugin.sdf
+  polyline_shape.sdf
+  population.sdf
+  pose.sdf
+  projector.sdf
+  ray.sdf
+  rfidtag.sdf
+  rfid.sdf
+  road.sdf
+  root.sdf
+  scene.sdf
+  sensor.sdf
+  spherical_coordinates.sdf
+  sphere_shape.sdf
+  sonar.sdf
+  state.sdf
+  surface.sdf
+  transceiver.sdf
+  visual.sdf
+  world.sdf
+)
+
+set (SDF_SCHEMA)
+
+foreach(FIL ${sdfs})
+  get_filename_component(ABS_FIL ${FIL} ABSOLUTE)
+  get_filename_component(FIL_WE ${FIL} NAME_WE)
+
+  list(APPEND SDF_SCHEMA "${CMAKE_CURRENT_BINARY_DIR}/${FIL_WE}.xsd")
+
+  add_custom_command(
+    OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/${FIL_WE}.xsd"
+    COMMAND ${Python3_EXECUTABLE} ${CMAKE_SOURCE_DIR}/tools/xmlschema.py
+    ARGS --sdf-dir ${CMAKE_CURRENT_SOURCE_DIR} --input-file ${ABS_FIL} --output-dir ${CMAKE_CURRENT_BINARY_DIR}
+    DEPENDS ${ABS_FIL}
+    COMMENT "Running xml schema compiler on ${FIL}"
+    VERBATIM)
+endforeach()
+
+add_custom_target(schema1_11 ALL DEPENDS ${SDF_SCHEMA})
+
+set_source_files_properties(${SDF_SCHEMA} PROPERTIES GENERATED TRUE)
+
+install(FILES 1_10.convert ${sdfs} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.11)
+install(FILES ${SDF_SCHEMA} DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/1.11)

sdf/1.11/actor.sdf

@@ -0,0 +1,86 @@
+<!-- Actor -->
+<element name="actor" required="*">
+  <description>A special kind of model which can have a scripted motion. This includes both global waypoint type animations and skeleton animations.</description>
+
+  <attribute name="name" type="string" default="__default__" required="1">
+    <description>A unique name for the actor.</description>
+  </attribute>
+
+  <include filename="pose.sdf" required="0"/>
+
+  <element name="skin" required="0">
+    <description>Skin file which defines a visual and the underlying skeleton which moves it.</description>
+
+    <element name="filename" type="string" default="__default__" required="1">
+      <description>Path to skin file, accepted formats: COLLADA, BVH.</description>
+    </element>
+
+    <element name="scale" type="double" default="1.0" required="0">
+      <description>Scale the skin's size.</description>
+    </element>
+  </element> <!-- End Skin -->
+
+  <element name="animation" required="*">
+    <description>Animation file defines an animation for the skeleton in the skin. The skeleton must be compatible with the skin skeleton.</description>
+
+    <attribute name="name" type="string" default="__default__" required="1">
+      <description>Unique name for animation.</description>
+    </attribute>
+
+    <element name="filename" type="string" default="__default__" required="1">
+      <description>Path to animation file. Accepted formats: COLLADA, BVH.</description>
+    </element>
+    <element name="scale" type="double" default="1.0" required="0">
+      <description>Scale for the animation skeleton.</description>
+    </element>
+    <element name="interpolate_x" type="bool" default="false" required="0">
+      <description>Set to true so the animation is interpolated on X.</description>
+    </element>
+  </element> <!-- End Animation -->
+
+  <element name="script" required="1">
+    <description>Adds scripted trajectories to the actor.</description>
+
+    <element name="loop" type="bool" default="true" required="0">
+      <description>Set this to true for the script to be repeated in a loop. For a fluid continuous motion, make sure the last waypoint matches the first one.</description>
+    </element>
+
+    <element name="delay_start" type="double" default="0.0" required="0">
+      <description>This is the time to wait before starting the script. If running in a loop, this time will be waited before starting each cycle.</description>
+    </element>
+
+    <element name="auto_start" type="bool" default="true" required="0">
+      <description>Set to true if the animation should start as soon as the simulation starts playing. It is useful to set this to false if the animation should only start playing only when triggered by a plugin, for example.</description>
+    </element>
+
+    <element name="trajectory" required="*">
+      <description>The trajectory contains a series of keyframes to be followed.</description>
+      <attribute name="id" type="int" default="0" required="1">
+        <description>Unique id for a trajectory.</description>
+      </attribute>
+
+      <attribute name="type" type="string" default="__default__" required="1">
+        <description>If it matches the type of an animation, they will be played at the same time.</description>
+      </attribute>
+
+      <attribute name="tension" type="double" default="0.0" required="0" min="0.0" max="1.0">
+        <description>The tension of the trajectory spline. The default value of zero equates to a Catmull-Rom spline, which may also cause the animation to overshoot keyframes. A value of one will cause the animation to stick to the keyframes.</description>
+      </attribute>
+
+      <element name="waypoint" required="*">
+        <description>Each point in the trajectory.</description>
+        <element name="time" type="double" default="0.0" required="1">
+          <description>The time in seconds, counted from the beginning of the script, when the pose should be reached.</description>
+        </element>
+        <element name="pose" type="pose" default="0 0 0 0 0 0" required="1">
+          <description>The pose which should be reached at the given time.</description>
+        </element> <!-- End Pose -->
+      </element> <!-- End Waypoint -->
+    </element> <!-- End Trajectory -->
+  </element> <!-- End Script -->
+
+  <include filename="link.sdf" required="+"/>
+  <include filename="joint.sdf" required="*"/>
+  <include filename="plugin.sdf" required="*"/>
+
+</element> <!-- End Actor -->

sdf/1.11/air_pressure.sdf

@@ -0,0 +1,15 @@
+<element name="air_pressure" required="0">
+  <description>These elements are specific to an air pressure sensor.</description>
+
+  <element name="reference_altitude" type="double" default="0.0" required="0">
+    <description>The initial altitude in meters. This value can be used by a sensor implementation to augment the altitude of the sensor. For example, if you are using simulation instead of creating a 1000 m mountain model on which to place your sensor, you could instead set this value to 1000 and place your model on a ground plane with a Z height of zero.</description>
+  </element>
+
+  <element name="pressure" required="0">
+    <description>
+      Noise parameters for the pressure data.
+    </description>
+    <include filename="noise.sdf" required="0"/>
+  </element>
+
+</element>

sdf/1.11/air_speed.sdf

@@ -0,0 +1,11 @@
+<element name="air_speed" required="0">
+  <description>These elements are specific to an air speed sensor. This sensor determines speed based on the differential between static and dynamic pressure.</description>
+
+  <element name="pressure" required="0">
+    <description>
+      Noise parameters for the pressure data.
+    </description>
+    <include filename="noise.sdf" required="0"/>
+  </element>
+
+</element>

sdf/1.11/altimeter.sdf

@@ -0,0 +1,18 @@
+<element name="altimeter" required="0">
+  <description>These elements are specific to an altimeter sensor.</description>
+
+  <element name="vertical_position" required="0">
+    <description>
+      Noise parameters for vertical position
+    </description>
+    <include filename="noise.sdf" required="0"/>
+  </element>
+
+  <element name="vertical_velocity" required="0">
+    <description>
+      Noise parameters for vertical velocity
+    </description>
+    <include filename="noise.sdf" required="0"/>
+  </element>
+
+</element>

sdf/1.11/atmosphere.sdf

@@ -0,0 +1,21 @@
+<!-- Atmosphere -->
+<element name="atmosphere" required="1">
+  <description>The atmosphere tag specifies the type and properties of the atmosphere model.</description>
+
+  <attribute name="type" type="string" default="adiabatic" required="1">
+    <description>The type of the atmosphere engine. Current options are adiabatic.  Defaults to adiabatic if left unspecified.</description>
+  </attribute>
+
+  <element name="temperature" type="double" default="288.15" required="0">
+    <description>Temperature at sea level in kelvins.</description>
+  </element>
+
+  <element name="pressure" type="double" default="101325" required="0">
+    <description>Pressure at sea level in pascals.</description>
+  </element>
+
+  <element name="temperature_gradient" type="double" default="-0.0065" required="0">
+    <description>Temperature gradient with respect to increasing altitude at sea level in units of K/m.</description>
+  </element>
+
+</element> <!-- Atmosphere -->

sdf/1.11/audio_sink.sdf

@@ -0,0 +1,4 @@
+<!-- Audio Sink -->
+<element name="audio_sink" required="*">
+  <description>An audio sink.</description>
+</element>