Merge branch 'gz-sim9' into arjo/fix/restore_playback

README.md

@@ -32,10 +32,10 @@ Gazebo Sim is derived from [Gazebo Classic](http://classic.gazebosim.org) and re
 
 [Folder Structure](#folder-structure)
 
-[Code of Conduct](#code-of-conduct)
-
 [Contributing](#contributing)
 
+[Code of Conduct](#code-of-conduct)
+
 [Versioning](#versioning)
 
 [License](#license)
@@ -154,7 +154,7 @@ gz-sim
 │   ├── performance              Performance tests.
 │   ├── plugins                  Plugins used in tests.
 │   ├── regression               Regression tests.
-│   └── tutorials                Tutorials, written in markdown.
+├── tutorials                    Tutorials, written in markdown.
 ├── Changelog.md                 Changelog.
 ├── CMakeLists.txt               CMake build script.
 ├── Migration.md                 Migration guide.
@@ -163,8 +163,8 @@ gz-sim
 
 # Contributing
 
-Please see
-[CONTRIBUTING.md](https://github.com/gazebosim/gz-sim/blob/main/CONTRIBUTING.md).
+Please see the
+[contribution guide](https://gazebosim.org/docs/all/contributing/).
 
 # Code of Conduct
 

examples/plugin/custom_sensor_system/README.md

@@ -10,7 +10,7 @@ It uses the odometer created on this example:
 From the root of the `gz-sim` repository, do the following to build the example:
 
 ~~~
-cd examples/plugins/custom_sensor_system
+cd examples/plugin/custom_sensor_system
 mkdir build
 cd build
 cmake ..
@@ -27,7 +27,7 @@ the `odometer.sdf` file that's going to be loaded.
 Before starting Gazebo, we must make sure it can find the plugin by doing:
 
 ~~~
-cd examples/plugins/custom_sensor_system
+cd examples/plugin/custom_sensor_system
 export GZ_SIM_SYSTEM_PLUGIN_PATH=`pwd`/build
 ~~~
 

examples/worlds/dem_monterey_bay.sdf

@@ -22,7 +22,7 @@
           <property type="string" key="state">docked</property>
         </gz-gui>
 
-        <engine>ogre</engine>
+        <engine>ogre2</engine>
         <scene>scene</scene>
         <ambient_light>0 0 0</ambient_light>
         <background_color>0.8 0.8 0.8</background_color>

examples/worlds/dem_moon.sdf

@@ -29,7 +29,7 @@
           <property type="string" key="state">docked</property>
         </gz-gui>
 
-        <engine>ogre</engine>
+        <engine>ogre2</engine>
         <scene>scene</scene>
         <ambient_light>0 0 0</ambient_light>
         <background_color>0.8 0.8 0.8</background_color>

examples/worlds/dem_volcano.sdf

@@ -21,7 +21,7 @@
           <property type="string" key="state">docked</property>
         </gz-gui>
 
-        <engine>ogre</engine>
+        <engine>ogre2</engine>
         <scene>scene</scene>
         <ambient_light>0 0 0</ambient_light>
         <background_color>0.8 0.8 0.8</background_color>

examples/worlds/empty_gui.sdf

@@ -37,6 +37,10 @@ This example helps illustrate the interaction of the MinimalScene with other GUI
 
   <world name="empty_gui">
 
+    <gz:policies>
+      <include_gui_default_plugins>false</include_gui_default_plugins>
+    </gz:policies>
+
     <gui fullscreen="0">
       <plugin filename="MinimalScene" name="3D View">
         <gz-gui>

examples/worlds/joint_trajectory_controller.sdf

@@ -479,21 +479,21 @@
         <child>RR_velocity_control_link1</child>
         <axis>
           <xyz>1 0 0</xyz>
+          <dynamics>
+            <damping>0.02</damping>
+          </dynamics>
         </axis>
-        <dynamics>
-          <damping>0.02</damping>
-        </dynamics>
       </joint>
       <joint name="RR_velocity_control_joint2" type="revolute">
         <pose relative_to="RR_velocity_control_link1">0 0 0.1 0 0 0</pose>
         <parent>RR_velocity_control_link1</parent>
         <child>RR_velocity_control_link2</child>
         <axis>
           <xyz>1 0 0</xyz>
+          <dynamics>
+            <damping>0.01</damping>
+          </dynamics>
         </axis>
-        <dynamics>
-          <damping>0.01</damping>
-        </dynamics>
       </joint>
       <!-- Controller -->
       <plugin

python/src/gz/sim/Joint.cc

@@ -94,7 +94,22 @@ void defineSimJoint(py::object module)
       py::arg("ecm"),
       py::arg("limits"),
       "Set the effort limits on a joint axis.")
-  .def("set_position_imits", &gz::sim::Joint::SetPositionLimits,
+  .def("set_position_imits",
+       [](pybind11::object &self, EntityComponentManager &_ecm,
+          const std::vector<math::Vector2d> &_limits)
+       {
+            auto warnings = pybind11::module::import("warnings");
+            auto builtins = pybind11::module::import("builtins");
+            warnings.attr("warn")(
+                "set_position_imits() is deprecated, use set_position_limits() instead.",
+                builtins.attr("DeprecationWarning"));
+
+            return self.attr("set_position_limits")(_ecm, _limits);
+       },
+      py::arg("ecm"),
+      py::arg("limits"),
+      "Set the position limits on a joint axis.")
+  .def("set_position_limits", &gz::sim::Joint::SetPositionLimits,
       py::arg("ecm"),
       py::arg("limits"),
       "Set the position limits on a joint axis.")

src/SdfEntityCreator.cc

@@ -23,6 +23,7 @@
 
 #include "gz/sim/Events.hh"
 #include "gz/sim/SdfEntityCreator.hh"
+#include "gz/sim/Util.hh"
 
 #include "gz/sim/components/Actor.hh"
 #include "gz/sim/components/AirPressureSensor.hh"
@@ -67,7 +68,7 @@
 #include "gz/sim/components/NavSat.hh"
 #include "gz/sim/components/ParentEntity.hh"
 #include "gz/sim/components/ParentLinkName.hh"
-#include <gz/sim/components/ParticleEmitter.hh>
+#include "gz/sim/components/ParticleEmitter.hh"
 #include "gz/sim/components/Performer.hh"
 #include "gz/sim/components/Physics.hh"
 #include "gz/sim/components/PhysicsEnginePlugin.hh"
@@ -1004,9 +1005,27 @@ Entity SdfEntityCreator::CreateEntities(const sdf::ParticleEmitter *_emitter)
   // Entity
   Entity emitterEntity = this->dataPtr->ecm->CreateEntity();
 
+  auto particleEmitterMsg = convert<msgs::ParticleEmitter>(*_emitter);
+
+  // Update image path
+  // Ideally this is done by gz/sim/src/SceneManager.cc when creating
+  // the particle emitter. However the component stores a msg instead of
+  // an sdf so the sdf FilePath information is lost and rendering is not
+  // able to construct the full path of the image.
+  // \todo(iche033) Consider changing the ParticleEmitter component to
+  // store an sdf::ParticleEmitter object instead of msgs::ParticleEmitter.
+  std::string imagePath = _emitter->ColorRangeImage();
+  if (!imagePath.empty())
+  {
+    std::string path = common::findFile(asFullPath(imagePath,
+        _emitter->Element()->FilePath()));
+    path = path.empty() ? imagePath : path;
+    particleEmitterMsg.mutable_color_range_image()->set_data(path);
+  }
+
   // Components
   this->dataPtr->ecm->CreateComponent(emitterEntity,
-      components::ParticleEmitter(convert<msgs::ParticleEmitter>(*_emitter)));
+      components::ParticleEmitter(particleEmitterMsg));
   this->dataPtr->ecm->CreateComponent(emitterEntity,
       components::Pose(ResolveSdfPose(_emitter->SemanticPose())));
   this->dataPtr->ecm->CreateComponent(emitterEntity,

src/ServerConfig.cc

@@ -168,9 +168,13 @@ class gz::sim::ServerConfigPrivate
 
     this->timestamp = GZ_SYSTEM_TIME();
 
+    std::string timeInIso = common::timeToIso(this->timestamp);
+    #ifdef _WIN32
+      std::replace(timeInIso.begin(), timeInIso.end(), ':', '-');
+    #endif
     // Set a default log record path
     this->logRecordPath = common::joinPaths(home,
-        ".gz", "sim", "log", common::timeToIso(this->timestamp));
+        ".gz", "sim", "log", timeInIso);
 
     // If directory already exists, do not overwrite. This could potentially
     // happen if multiple simulation instances are started in rapid

src/gui/plugins/global_illumination_civct/GlobalIlluminationCiVct.cc

@@ -172,13 +172,13 @@ GlobalIlluminationCiVct::~GlobalIlluminationCiVct()
 }
 
 /////////////////////////////////////////////////
-void GlobalIlluminationCiVct::LoadGlobalIlluminationCiVct()
+bool GlobalIlluminationCiVct::LoadGlobalIlluminationCiVct()
   REQUIRES(this->dataPtr->serviceMutex)
 {
   auto loadedEngNames = rendering::loadedEngines();
   if (loadedEngNames.empty())
   {
-    return;
+    return false;
   }
 
   // assume there is only one engine loaded
@@ -194,24 +194,25 @@ void GlobalIlluminationCiVct::LoadGlobalIlluminationCiVct()
   {
     gzerr << "Internal error: failed to load engine [" << engineName
           << "]. GlobalIlluminationCiVct plugin won't work." << std::endl;
-    return;
+    return false;
   }
 
   if (engine->SceneCount() == 0)
-    return;
+    return false;
 
   // assume there is only one scene
   // load scene
   auto scene = engine->SceneByIndex(0);
   if (!scene)
   {
     gzerr << "Internal error: scene is null." << std::endl;
-    return;
+    return false;
   }
 
-  if (!scene->IsInitialized() || scene->VisualCount() == 0)
+  if (!scene->IsInitialized() || scene->VisualCount() == 0 ||
+      scene->LightCount() ==  0)
   {
-    return;
+    return false;
   }
 
   // Create visual
@@ -225,6 +226,7 @@ void GlobalIlluminationCiVct::LoadGlobalIlluminationCiVct()
           << std::endl;
 
     gz::gui::App()->findChild<gz::gui::MainWindow *>()->removeEventFilter(this);
+    return false;
   }
   else
   {
@@ -254,6 +256,7 @@ void GlobalIlluminationCiVct::LoadGlobalIlluminationCiVct()
 
     this->OnRefreshCamerasImpl();
   }
+  return true;
 }
 
 /// \brief XML helper to retrieve values and handle errors
@@ -358,9 +361,7 @@ void GlobalIlluminationCiVct::LoadConfig(
   const tinyxml2::XMLElement *_pluginElem)
 {
   if (this->title.empty())
-    this->title = "Global Illumination (VCT)";
-
-  std::lock_guard<std::mutex> lock(this->dataPtr->serviceMutex);
+    this->title = "Global Illumination (CI VCT)";
 
   if (auto elem = _pluginElem->FirstChildElement("enabled"))
   {
@@ -447,15 +448,25 @@ bool GlobalIlluminationCiVct::eventFilter(QObject *_obj, QEvent *_event)
 {
   if (_event->type() == gz::gui::events::Render::kType)
   {
-    // This event is called in Scene3d's RenderThread, so it's safe to make
+    // This event is called in the render thread, so it's safe to make
     // rendering calls here
 
-    std::lock_guard<std::mutex> lock(this->dataPtr->serviceMutex);
     if (!this->dataPtr->initialized)
     {
-      this->LoadGlobalIlluminationCiVct();
+      if (this->LoadGlobalIlluminationCiVct())
+      {
+        this->SetEnabled(this->dataPtr->enabled);
+        this->SetBounceCount(this->dataPtr->bounceCount);
+        this->SetHighQuality(this->dataPtr->highQuality);
+        this->SetAnisotropic(this->dataPtr->anisotropic);
+        this->SetDebugVisualizationMode(this->dataPtr->debugVisMode);
+        this->EnabledChanged();
+        this->LightingChanged();
+        this->DebugVisualizationModeChanged();
+      }
     }
 
+    std::lock_guard<std::mutex> lock(this->dataPtr->serviceMutex);
     if (this->dataPtr->gi)
     {
       if (!this->dataPtr->visualDirty && !this->dataPtr->gi->Enabled() &&
@@ -563,10 +574,6 @@ bool GlobalIlluminationCiVct::eventFilter(QObject *_obj, QEvent *_event)
         this->dataPtr->resetRequested = false;
       }
     }
-    else
-    {
-      gzerr << "GI pointer is not set" << std::endl;
-    }
   }
 
   // Standard event processing

src/gui/plugins/global_illumination_civct/GlobalIlluminationCiVct.hh

@@ -103,7 +103,8 @@ inline namespace GZ_SIM_VERSION_NAMESPACE
     public: bool eventFilter(QObject *_obj, QEvent *_event) override;
 
     /// \brief Load the scene and attach LidarVisual to the scene
-    public: void LoadGlobalIlluminationCiVct();
+    /// \return True if GI CIVCT is loaded successfully, false otherwise.
+    public: bool LoadGlobalIlluminationCiVct();
 
     /// \brief Set debug visualization mode GlogbalIllumination
     /// \param[in] _mode Index of selected debug visualization mode