Schema accessor

.github/ci/packages.apt

@@ -7,7 +7,6 @@ libtinyxml2-dev
 liburdfdom-dev
 libxml2-utils
 python3-dev
-python3-distutils
 python3-gz-math7
 python3-psutil
 python3-pybind11

.github/workflows/ci.yml

@@ -21,3 +21,12 @@ jobs:
           codecov-enabled: true
           cppcheck-enabled: true
           cpplint-enabled: true
+  noble-ci:
+    runs-on: ubuntu-latest
+    name: Ubuntu Noble CI
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+      - name: Compile and test
+        id: ci
+        uses: gazebo-tooling/action-gz-ci@noble

.github/workflows/package_xml.yml

@@ -0,0 +1,11 @@
+name: Validate package.xml
+
+on:
+  pull_request:
+
+jobs:
+  package-xml:
+    runs-on: ubuntu-latest
+    name: Validate package.xml
+    steps:
+      - uses: gazebo-tooling/action-gz-ci/validate_package_xml@jammy

CMakeLists.txt

@@ -5,7 +5,7 @@ if(COMMAND CMAKE_POLICY)
   CMAKE_POLICY(SET CMP0004 NEW)
 endif(COMMAND CMAKE_POLICY)
 
-project (sdformat14 VERSION 14.1.1)
+project (sdformat14 VERSION 14.4.0)
 
 # The protocol version has nothing to do with the package version.
 # It represents the current version of SDFormat implemented by the software

Changelog.md

@@ -1,5 +1,62 @@
 ## libsdformat 14.X
 
+### libsdformat 14.4.0 (2024-06-20)
+
+1. Add Cone as a primitive parametric shape.
+    * [Pull request #1415](https://github.com/gazebosim/sdformat/pull/1415)
+    * Thanks to Benjamin Perseghetti
+
+1. Add custom attribute to custom element in test
+    * [Pull request #1406](https://github.com/gazebosim/sdformat/pull/1406)
+
+### libsdformat 14.3.0 (2024-06-14)
+
+1. Backport voxel_resolution sdf element
+    * [Pull request #1429](https://github.com/gazebosim/sdformat/pull/1429)
+
+1. Added Automatic Moment of Inertia Calculations for Basic Shapes Python wrappers
+    * [Pull request #1424](https://github.com/gazebosim/sdformat/pull/1424)
+
+1. Add support for no gravity link
+    * [Pull request #1410](https://github.com/gazebosim/sdformat/pull/1410)
+    * [Pull request #1419](https://github.com/gazebosim/sdformat/pull/1419)
+
+1. Update default camera instrinsics skew to 0, which matches spec
+    * [Pull request #1423](https://github.com/gazebosim/sdformat/pull/1423)
+    * [Pull request #1425](https://github.com/gazebosim/sdformat/pull/1425)
+
+1. Allow empty strings in plugin and custom attributes
+    * [Pull request #1407](https://github.com/gazebosim/sdformat/pull/1407)
+
+1. (Backport) Enable 24.04 CI, remove distutils dependency
+    * [Pull request #1413](https://github.com/gazebosim/sdformat/pull/1413)
+
+1. Fix macOS workflow and backport windows fix
+    * [Pull request #1409](https://github.com/gazebosim/sdformat/pull/1409)
+
+1. Fix warning with pybind11 2.12
+    * [Pull request #1389](https://github.com/gazebosim/sdformat/pull/1389)
+
+1. Add bullet and torsional friction DOM
+    * [Pull request #1351](https://github.com/gazebosim/sdformat/pull/1351)
+    * [Pull request #1427](https://github.com/gazebosim/sdformat/pull/1427)
+
+### libsdformat 14.2.0 (2024-04-23)
+
+1. Fix trivial warning on 24.04 for JointAxis_TEST.cc
+    * [Pull request #1402](https://github.com/gazebosim/sdformat/pull/1402)
+
+1. Add package.xml, fix `gz sdf` tests on Windows
+    * [Pull request #1374](https://github.com/gazebosim/sdformat/pull/1374)
+
+1. Backport mesh optimization feature
+    * [Pull request #1398](https://github.com/gazebosim/sdformat/pull/1398)
+    * [Pull request #1386](https://github.com/gazebosim/sdformat/pull/1386)
+    * [Pull request #1382](https://github.com/gazebosim/sdformat/pull/1382)
+
+1. Param_TEST: Check return values of Param::Get/Set
+    * [Pull request #1394](https://github.com/gazebosim/sdformat/pull/1394)
+
 ### libsdformat 14.1.1 (2024-03-28)
 
 1. Fix warning with pybind11 2.12
@@ -574,6 +631,21 @@
 
 ## libsdformat 12.X
 
+### libsdformat 12.8.0 (2024-06-06)
+
+1. Add support for no gravity link
+    * [Pull request #1410](https://github.com/gazebosim/sdformat/pull/1410)
+
+1. Add bullet and torsional friction DOM
+    * [Pull request #1351](https://github.com/gazebosim/sdformat/pull/1351)
+
+1. Fix static builds and optimize test compilation
+    * [Pull request #1343](https://github.com/gazebosim/sdformat/pull/1343)
+    * [Pull request #1347](https://github.com/gazebosim/sdformat/pull/1347)
+
+1. Update github action workflows
+    * [Pull request #1345](https://github.com/gazebosim/sdformat/pull/1345)
+
 ### libsdformat 12.7.2 (2023-09-01)
 
 1. Fixed 1.9/light.sdf

Migration.md

@@ -22,6 +22,9 @@ but with improved human-readability..
 
 ### Modifications
 
+1. The default camera lens intrinsics skew value in the Camera DOM class changed
+   from `1` to `0` to match the SDF specification.
+
 1. World class only renames frames with name collisions if original file version
    is 1.6 or earlier. Name collisions in newer files will cause `DUPLICATE_NAME`
    errors, which now matches the behavior of the Model class.

format_schema.py

@@ -0,0 +1,79 @@
+import os
+
+lines = os.listdir('./sdf/1.11/')
+# Only keep the files that end with .sdf
+lines = [line for line in lines if line.endswith('.sdf')]
+for line in lines:
+    # Remove .sdf extension
+    snake_case = line.strip().split('.')[0]
+    # Convert from snake_case to CamelCase
+    camel_case = ''.join([word.capitalize() for word in snake_case.split('_')])
+
+    addHeader = """\n    /// \\brief Get the schema file name accessor
+    public: static inline std::string_view SchemaFile();\n"""
+
+    addImpl = f"""
+/////////////////////////////////////////////////
+inline std::string_view {camel_case}::SchemaFile()
+{{
+    static const char kSchemaFile[] = "{line}";
+    return kSchemaFile;
+}}\n\n"""
+    # Debug print statements
+    # print(addHeader)
+    # print(addImpl)
+    # print(addTest)
+    # print("\n")
+
+    print(line)
+
+    # Edit './include/sdf/{camel_case}.hh'
+    # Find the line with 'class SDFFORMAT_VISIBLE {camel_case}`
+    try:
+        f = open('./include/sdf/' + camel_case + '.hh', 'r')
+        read_lines = f.readlines()
+        f.close()
+        line_number = 0
+        for i, line_raw in enumerate(read_lines):
+            if line_raw == "  class SDFORMAT_VISIBLE " + camel_case + '\n':
+                line_number = i+3 # After the class line there is `\n{\n` and then the constructor
+                break
+        if line_number == 0:
+            print("Error: Could not find class declaration in " + camel_case + ".hh")
+            exit(1)
+        try:
+            with open('./include/sdf/' + camel_case + '.hh', 'w') as file:
+                for i, line_raw in enumerate(read_lines):
+                    file.write(line_raw)
+                    if i == line_number:
+                        file.write(addHeader)
+        except:
+            print("Unexpected error while writing to: " + camel_case + ".hh.")
+    except:
+        print("Error while writing to: " + camel_case + ".hh." + " Check if file exists.")
+
+    # Replace all instances of `line` with `std::string(this->SchemaFile())`
+    if (os.path.exists('./src/' + camel_case + '.cc')):
+        try:
+            f = open('./src/' + camel_case + '.cc', 'r')
+            read_lines = f.readlines()
+            f.close()
+
+            with open('./src/' + camel_case + '.cc', 'w') as file:
+                for i, line_raw in enumerate(read_lines):
+                  if "kSchemaFile[]" not in line_raw:
+                    file.write(line_raw.replace(f'"{line}"', 'std::string(this->SchemaFile())'))
+                  else:
+                    file.write(line_raw)
+        except:
+            print("Unexpected error while reading from: " + camel_case + ".cc.")
+
+    # Edit './src/{camel_case}.cc' if it exists
+    # Add implementation to end of document
+    if os.path.exists('./src/' + camel_case + '.cc'):
+        with open('./src/' + camel_case + '.cc', 'a') as file:
+            file.write(addImpl)
+    else:
+        print("Error: Could not find " + camel_case + ".cc")
+
+    print("Changes written to source successfully")

include/sdf/Actor.hh

@@ -193,6 +193,9 @@ namespace sdf
     /// \brief Default constructor
     public: Actor();
 
+    /// \brief Get the schema file name accessor
+    public: static inline std::string_view SchemaFile();
+
     /// \brief Load the actor based on a element pointer. This is *not* the
     /// usual entry point. Typical usage of the SDF DOM is through the Root
     /// object.

include/sdf/AirPressure.hh

@@ -36,6 +36,9 @@ namespace sdf
     /// \brief Default constructor
     public: AirPressure();
 
+    /// \brief Get the schema file name accessor
+    public: static inline std::string_view SchemaFile();
+
     /// \brief Load the airPressure based on an element pointer.
     /// This is *not* the usual entry point. Typical usage of the SDF DOM is
     /// through the Root object.

include/sdf/AirSpeed.hh

@@ -36,6 +36,9 @@ namespace sdf
     /// \brief Default constructor
     public: AirSpeed();
 
+    /// \brief Get the schema file name accessor
+    public: static inline std::string_view SchemaFile();
+
     /// \brief Load the air speed based on an element pointer.
     /// This is *not* the usual entry point. Typical usage of the SDF DOM is
     /// through the Root object.

include/sdf/Altimeter.hh

@@ -35,6 +35,9 @@ namespace sdf
     /// \brief Default constructor
     public: Altimeter();
 
+    /// \brief Get the schema file name accessor
+    public: static inline std::string_view SchemaFile();
+
     /// \brief Load the altimeter based on an element pointer. This is *not*
     /// the usual entry point. Typical usage of the SDF DOM is through the Root
     /// object.

include/sdf/Atmosphere.hh

@@ -47,6 +47,9 @@ namespace sdf
     /// \brief Default constructor
     public: Atmosphere();
 
+    /// \brief Get the schema file name accessor
+    public: static inline std::string_view SchemaFile();
+
     /// \brief Load the atmosphere based on a element pointer. This is *not* the
     /// usual entry point. Typical usage of the SDF DOM is through the Root
     /// object.

include/sdf/Camera.hh

@@ -62,6 +62,9 @@ namespace sdf
     /// \brief Constructor
     public: Camera();
 
+    /// \brief Get the schema file name accessor
+    public: static inline std::string_view SchemaFile();
+
     /// \brief Return true if both Camera objects contain the same values.
     /// \param[_in] _alt Camera value to compare.
     /// \returen True if 'this' == _alt.

include/sdf/Collision.hh

@@ -52,6 +52,9 @@ namespace sdf
     /// \brief Default constructor
     public: Collision();
 
+    /// \brief Get the schema file name accessor
+    public: static inline std::string_view SchemaFile();
+
     /// \brief Load the collision based on a element pointer. This is *not* the
     /// usual entry point. Typical usage of the SDF DOM is through the Root
     /// object.

include/sdf/Cone.hh

@@ -0,0 +1,108 @@
+/*
+ * Copyright 2024 CogniPilot Foundation
+ * Copyright 2024 Open Source Robotics Foundation
+ * Copyright 2024 Rudis Laboratories
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+#ifndef SDF_CONE_HH_
+#define SDF_CONE_HH_
+
+#include <optional>
+
+#include <gz/math/Cone.hh>
+#include <gz/math/Inertial.hh>
+#include <gz/utils/ImplPtr.hh>
+#include <sdf/Error.hh>
+#include <sdf/Element.hh>
+#include <sdf/sdf_config.h>
+
+namespace sdf
+{
+  // Inline bracket to help doxygen filtering.
+  inline namespace SDF_VERSION_NAMESPACE {
+  /// \brief Cone represents a cone shape, and is usually accessed
+  /// through a Geometry.
+  class SDFORMAT_VISIBLE Cone
+  {
+    /// \brief Constructor
+    public: Cone();
+
+    /// \brief Load the cone geometry based on a element pointer.
+    /// This is *not* the usual entry point. Typical usage of the SDF DOM is
+    /// through the Root object.
+    /// \param[in] _sdf The SDF Element pointer
+    /// \return Errors, which is a vector of Error objects. Each Error includes
+    /// an error code and message. An empty vector indicates no error.
+    public: Errors Load(ElementPtr _sdf);
+
+    /// \brief Get the cone's radius in meters.
+    /// \return The radius of the cone in meters.
+    public: double Radius() const;
+
+    /// \brief Set the cone's radius in meters.
+    /// \param[in] _radius The radius of the cone in meters.
+    public: void SetRadius(double _radius);
+
+    /// \brief Get the cone's length in meters.
+    /// \return The length of the cone in meters.
+    public: double Length() const;
+
+    /// \brief Set the cone's length in meters.
+    /// \param[in] _length The length of the cone in meters.
+    public: void SetLength(double _length);
+
+    /// \brief Get a pointer to the SDF element that was used during
+    /// load.
+    /// \return SDF element pointer. The value will be nullptr if Load has
+    /// not been called.
+    public: sdf::ElementPtr Element() const;
+
+    /// \brief Get the Gazebo Math representation of this cone.
+    /// \return A const reference to a gz::math::Sphered object.
+    public: const gz::math::Coned &Shape() const;
+
+    /// \brief Get a mutable Gazebo Math representation of this cone.
+    /// \return A reference to a gz::math::Coned object.
+    public: gz::math::Coned &Shape();
+
+    /// \brief Calculate and return the Inertial values for the cone. In
+    /// order to calculate the inertial properties, the function mutates the
+    /// object by updating its material properties.
+    /// \param[in] _density Density of the cone in kg/m^3
+    /// \return A std::optional with gz::math::Inertiald object or std::nullopt
+    public: std::optional<gz::math::Inertiald>
+            CalculateInertial(double _density);
+
+    /// \brief Create and return an SDF element filled with data from this
+    /// cone.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
+    /// \return SDF element pointer with updated cone values.
+    public: sdf::ElementPtr ToElement() const;
+
+    /// \brief Create and return an SDF element filled with data from this
+    /// cone.
+    /// Note that parameter passing functionality is not captured with this
+    /// function.
+    /// \param[out] _errors Vector of errors.
+    /// \return SDF element pointer with updated cone values.
+    public: sdf::ElementPtr ToElement(sdf::Errors &_errors) const;
+
+    /// \brief Private data pointer.
+    GZ_UTILS_IMPL_PTR(dataPtr)
+  };
+  }
+}
+#endif