Merge remote-tracking branch 'origin/gz-sim9' into default_visual_for_model

Author: ntfshard

.github/CODEOWNERS

@@ -1,10 +1,8 @@
 # More info:
 # https://help.github.com/en/github/creating-cloning-and-archiving-repositories/about-code-owners
 
-*                     @mjcarroll
+*                     @arjo129
 */rendering/*         @iche033
-examples/*            @mabelzhang
 src/systems/physics/* @azeey
 src/systems/sensors/* @iche033
 */gui/*               @jennuine
-tutorials/*           @mabelzhang

Changelog.md

@@ -2012,6 +2012,68 @@
 
 ## Gazebo Sim 6.x
 
+### Gazebo Sim 6.17.0 (2025-01-10)
+
+1. Add parameter for adjust current sign in battery plugin
+    * [Pull request #2696](https://github.com/gazebosim/gz-sim/pull/2696)
+
+1. Fix uncontrolled cast of size_t to uint
+    * [Pull request #2687](https://github.com/gazebosim/gz-sim/pull/2687)
+
+1. Improve load times by skipping serialization of entities when unnecessary
+    * [Pull request #2596](https://github.com/gazebosim/gz-sim/pull/2596)
+
+1. Fix crash in OpticalTactilePlugin by checking for valid visualize pointer
+    * [Pull request #2674](https://github.com/gazebosim/gz-sim/pull/2674)
+
+1. Disable detachable_joint integration test case on Windows
+    * [Pull request #2523](https://github.com/gazebosim/gz-sim/pull/2523)
+
+1. Initialize threadsNeedCleanUp
+    * [Pull request #2503](https://github.com/gazebosim/gz-sim/pull/2503)
+
+1. Remove systems if their parent entity is removed
+    * [Pull request #2232](https://github.com/gazebosim/gz-sim/pull/2232)
+
+1. Disable failing testFixture_TEST for MacOS
+    * [Pull request #2499](https://github.com/gazebosim/gz-sim/pull/2499)
+
+1. backport lidar visualization frame_id fix
+    * [Pull request #2483](https://github.com/gazebosim/gz-sim/pull/2483)
+
+1. Fix DLL linkage/visibility issues
+    * [Pull request #2254](https://github.com/gazebosim/gz-sim/pull/2254)
+
+1. Address a few Windows CI Issues
+    * [Pull request #1911](https://github.com/gazebosim/gz-sim/pull/1911)
+
+1. Add GravityEnabled boolean component
+    * [Pull request #2451](https://github.com/gazebosim/gz-sim/pull/2451)
+
+1. Add support for no gravity link
+    * [Pull request #2398](https://github.com/gazebosim/gz-sim/pull/2398)
+
+1. Use VERSION_GREATER_EQUAL in cmake logic
+    * [Pull request #2418](https://github.com/gazebosim/gz-sim/pull/2418)
+
+1. Rephrase cmake comment about CMP0077
+    * [Pull request #2419](https://github.com/gazebosim/gz-sim/pull/2419)
+
+1. Fix bug where iterator was used after the underlying item was erased from the container
+    * [Pull request #2412](https://github.com/gazebosim/gz-sim/pull/2412)
+
+1. Fix namespace and class links in documentation references that use namespace `gz`
+    * [Pull request #2385](https://github.com/gazebosim/gz-sim/pull/2385)
+
+1. Fix ModelPhotoShootTest test failures
+    * [Pull request #2294](https://github.com/gazebosim/gz-sim/pull/2294)
+
+1. Setup rendering environment before cmake runs
+    * [Pull request #1965](https://github.com/gazebosim/gz-sim/pull/1965)
+
+1. Detachable joint: support for nested models of the same name
+    * [Pull request 1097](https://github.com/gazebosim/gz-sim/pull/1097)
+
 ### Gazebo Sim 6.16.0 (2024-01-12)
 
 1. Allow using plugin file names and environment variables compatible with Garden and later

README.md

@@ -1,6 +1,6 @@
 # Gazebo Sim : A Robotic Simulator
 
-**Maintainer:** michael AT openrobotics DOT org
+**Maintainer:** arjoc AT intrinsic DOT ai
 
 [![GitHub open issues](https://img.shields.io/github/issues-raw/gazebosim/gz-sim.svg)](https://github.com/gazebosim/gz-sim/issues)
 [![GitHub open pull requests](https://img.shields.io/github/issues-pr-raw/gazebosim/gz-sim.svg)](https://github.com/gazebosim/gz-sim/pulls)

examples/worlds/shader_param.sdf

@@ -181,12 +181,12 @@ ShaderParam visual plugin over time.
     <include>
       <name>deformable_sphere</name>
       <pose>0 0 1.5 0 0 0</pose>
-      <uri>https://fuel.gazebosim.org/1.0/openrobotics/models/deformable_sphere</uri>
+      <uri>https://fuel.gazebosim.org/1.0/openrobotics/models/deformable_sphere/5</uri>
     </include>
     <include>
       <name>waves</name>
       <pose>0 0 0 0 0 0</pose>
-      <uri>https://fuel.gazebosim.org/1.0/openrobotics/models/waves</uri>
+      <uri>https://fuel.gazebosim.org/1.0/openrobotics/models/waves/4</uri>
     </include>
 
     <model name="camera">

src/ServerPrivate.cc

@@ -200,16 +200,22 @@ bool ServerPrivate::Run(const uint64_t _iterations,
   }
   else
   {
+    if (!this->workerPool.has_value())
+    {
+      // Initialize the workerpool if we do have multiple simulation runners and
+      // it hasn't been initialized before
+      this->workerPool.emplace(2);
+    }
     for (std::unique_ptr<SimulationRunner> &runner : this->simRunners)
     {
-      this->workerPool.AddWork([&runner, &_iterations] ()
+      this->workerPool->AddWork([&runner, &_iterations] ()
         {
           runner->Run(_iterations);
         });
     }
 
     // Wait for the runner to complete.
-    result = this->workerPool.WaitForResults();
+    result = this->workerPool->WaitForResults();
   }
 
   // See comments ServerPrivate::Stop() for why we lock this mutex here.

src/ServerPrivate.hh

@@ -154,7 +154,10 @@ namespace gz
         const gz::msgs::ServerControl &_req, msgs::Boolean &_res);
 
       /// \brief A pool of worker threads.
-      public: common::WorkerPool workerPool{2};
+      /// \note We use optional here since most of the time, there will be a
+      /// single simulation runner and a workerpool is not needed. We will
+      /// initialize the workerpool as necessary later on.
+      public: std::optional<common::WorkerPool> workerPool;
 
       /// \brief All the simulation runners.
       public: std::vector<std::unique_ptr<SimulationRunner>> simRunners;

src/Server_TEST.cc

@@ -481,7 +481,6 @@ TEST_P(ServerFixture,
     sim::Server server(serverConfig);
     EXPECT_EQ(0u, *server.IterationCount());
     EXPECT_EQ(3u, *server.EntityCount());
-
     EXPECT_EQ(4u, *server.SystemCount());
   }
 

src/SimulationRunner.hh

@@ -41,7 +41,6 @@
 #include <sdf/World.hh>
 
 #include <gz/common/Event.hh>
-#include <gz/common/WorkerPool.hh>
 #include <gz/math/Stopwatch.hh>
 #include <gz/transport/Node.hh>
 
@@ -427,9 +426,6 @@ namespace gz
       /// \brief Manager of distributing/receiving network work.
       private: std::unique_ptr<NetworkManager> networkMgr{nullptr};
 
-      /// \brief A pool of worker threads.
-      private: common::WorkerPool workerPool{2};
-
       /// \brief Wall time of the previous update.
       private: std::chrono::steady_clock::time_point prevUpdateRealTime;
 

src/systems/detachable_joint/DetachableJoint.cc

@@ -210,8 +210,105 @@ void DetachableJoint::Configure(const Entity &_entity,
           .first;
 
   this->validConfig = true;
+
+  this->GetChildModelAndLinkEntities(_ecm);
 }
 
+//////////////////////////////////////////////////
+void DetachableJoint::GetChildModelAndLinkEntities(
+  EntityComponentManager &_ecm)
+{
+  this->childLinkEntity = kNullEntity;
+  // Look for the child model and link
+  Entity modelEntity{kNullEntity};
+
+  if ("__model__" == this->childModelName)
+  {
+    modelEntity = this->model.Entity();
+  }
+  else
+  {
+    auto entitiesMatchingName = entitiesFromScopedName(
+      this->childModelName, _ecm);
+
+    // TODO(arjoc): There is probably a more efficient way
+    // of combining entitiesFromScopedName
+    // With filtering.
+    // Filter for entities with only models
+    std::vector<Entity> candidateEntities;
+    std::copy_if(entitiesMatchingName.begin(), entitiesMatchingName.end(),
+                std::back_inserter(candidateEntities),
+                [&_ecm](Entity e) {
+                  return _ecm.EntityHasComponentType(e,
+                            components::Model::typeId);
+                });
+
+    if (candidateEntities.size() == 1)
+    {
+      // If there is one entity select that entity itself
+      modelEntity = *candidateEntities.begin();
+    }
+    else
+    {
+      std::string selectedModelName;
+      auto parentEntityScopedPath = scopedName(this->model.Entity(), _ecm);
+      // If there is more than one model with the given child model name,
+      // the plugin looks for a model which is
+      // - a descendant of the plugin's parent model with that name, and
+      // - has a child link with the given child link name
+      for (auto entity : candidateEntities)
+      {
+        auto childEntityScope = scopedName(entity, _ecm);
+        if (childEntityScope.size() < parentEntityScopedPath.size())
+        {
+          continue;
+        }
+        if (childEntityScope.rfind(parentEntityScopedPath, 0) != 0)
+        {
+          continue;
+        }
+        if (modelEntity == kNullEntity)
+        {
+
+          this->childLinkEntity = _ecm.EntityByComponents(
+                    components::Link(), components::ParentEntity(entity),
+                    components::Name(this->childLinkName));
+
+          if (kNullEntity != this->childLinkEntity)
+          {
+                // Only select this child model entity if the entity
+                // has a link with the given child link name
+                modelEntity = entity;
+                selectedModelName = childEntityScope;
+                gzdbg << "Selecting " << childEntityScope
+                  << " as model to be detached" << std::endl;
+          }
+          else
+          {
+            gzwarn << "Found " << childEntityScope
+              << " with no link named " << this->childLinkName << std::endl;
+          }
+        }
+        else
+        {
+          gzwarn << "Found multiple models skipping " << childEntityScope
+            << "Using " << selectedModelName << " instead" << std::endl;
+        }
+      }
+    }
+  }
+  if (kNullEntity != modelEntity)
+  {
+    this->childLinkEntity = _ecm.EntityByComponents(
+        components::Link(), components::ParentEntity(modelEntity),
+        components::Name(this->childLinkName));
+  }
+  else if (!this->suppressChildWarning)
+  {
+    gzwarn << "Child Model " << this->childModelName
+            << " could not be found.\n";
+  }
+}
 //////////////////////////////////////////////////
 void DetachableJoint::PreUpdate(
   const UpdateInfo &/*_info*/,
@@ -225,54 +322,36 @@ void DetachableJoint::PreUpdate(
     if (!this->attachRequested){
       return;
     }
-    // Look for the child model and link
-    Entity modelEntity{kNullEntity};
 
-    if ("__model__" == this->childModelName)
+    if (this->childLinkEntity == kNullEntity ||
+        !_ecm.HasEntity(this->childLinkEntity))
+      this->GetChildModelAndLinkEntities(_ecm);
+
+    if (kNullEntity != this->childLinkEntity)
     {
-      modelEntity = this->model.Entity();
+      // Attach the models
+      // We do this by creating a detachable joint entity.
+      this->detachableJointEntity = _ecm.CreateEntity();
+
+      _ecm.CreateComponent(
+          this->detachableJointEntity,
+          components::DetachableJoint({this->parentLinkEntity,
+                                        this->childLinkEntity, "fixed"}));
+      this->attachRequested = false;
+      this->isAttached = true;
+      this->PublishJointState(this->isAttached);
+      gzdbg << "Attaching entity: " << this->detachableJointEntity
+              << std::endl;
     }
     else
     {
-      modelEntity = _ecm.EntityByComponents(
-          components::Model(), components::Name(this->childModelName));
-    }
-    if (kNullEntity != modelEntity)
-    {
-      this->childLinkEntity = _ecm.EntityByComponents(
-          components::Link(), components::ParentEntity(modelEntity),
-          components::Name(this->childLinkName));
-
-      if (kNullEntity != this->childLinkEntity)
-      {
-        // Attach the models
-        // We do this by creating a detachable joint entity.
-        this->detachableJointEntity = _ecm.CreateEntity();
-
-        _ecm.CreateComponent(
-            this->detachableJointEntity,
-            components::DetachableJoint({this->parentLinkEntity,
-                                         this->childLinkEntity, "fixed"}));
-        this->attachRequested = false;
-        this->isAttached = true;
-        this->PublishJointState(this->isAttached);
-        gzdbg << "Attaching entity: " << this->detachableJointEntity
-               << std::endl;
-      }
-      else
-      {
-        gzwarn << "Child Link " << this->childLinkName
-                << " could not be found.\n";
-      }
-    }
-    else if (!this->suppressChildWarning)
-    {
-      gzwarn << "Child Model " << this->childModelName
+      gzwarn << "Child Link " << this->childLinkName
               << " could not be found.\n";
     }
+
   }
 
- // only allow detaching if child entity is attached
+  // only allow detaching if child entity is attached
   if (this->isAttached)
   {
     if (this->detachRequested && (kNullEntity != this->detachableJointEntity))

src/systems/detachable_joint/DetachableJoint.hh

@@ -101,6 +101,10 @@ namespace systems
     /// \brief Callback for detach request topic
     private: void OnDetachRequest(const msgs::Empty &_msg);
 
+    /// \brief Retrieve the relevant link entity
+    private: void GetChildModelAndLinkEntities(
+      gz::sim::EntityComponentManager &_ecm);
+
     /// \brief The model associated with this system.
     private: Model model;