Merge gz-sim9 ➡️ main

BUILD.bazel

@@ -674,6 +674,7 @@ gz_sim_system_libraries(
         "@gz-sensors",
         "@gz-sensors//:dvl",
         "@gz-transport",
+        "@gz-utils//:ImplPtr",
     ],
 )
 
@@ -1556,6 +1557,7 @@ gz_sim_system_libraries(
     visibility = ["//visibility:public"],
     deps = [
         ":gz-sim",
+        "@gz-common//:gz-common",
         "@gz-common//profiler",
         "@gz-math",
         "@gz-msgs",

Changelog.md

@@ -2016,6 +2016,68 @@
 
 ## 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

include/gz/sim/Util.hh

@@ -342,6 +342,15 @@ namespace gz
     GZ_SIM_VISIBLE std::optional<math::AxisAlignedBox> meshAxisAlignedBox(
       const sdf::Mesh &_sdfMesh);
 
+    /// \brief Get the static plugin prefix
+    /// \return The static plugin prefix
+    GZ_SIM_VISIBLE const std::string &staticPluginPrefixStr();
+
+    /// \brief Check if input filename of a library is a static plugin or not.
+    /// \param _filename_ Library filename to check
+    /// \return True if input filename has a static plugin string format.
+    GZ_SIM_VISIBLE bool isStaticPlugin(const std::string &_filename);
+
     /// \brief Environment variable holding resource paths.
     const std::string kResourcePathEnv{"GZ_SIM_RESOURCE_PATH"};
 
@@ -355,6 +364,9 @@ namespace gz
     /// \brief Environment variable holding paths to custom rendering engine
     /// plugins.
     const std::string kRenderPluginPathEnv{"GZ_SIM_RENDER_ENGINE_PATH"};
+
+    /// \brief Static plugin filename prefix string.
+    const std::string kStaticPluginFilenamePrefix{"static://"};
     }
   }
 }

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/SystemLoader.cc

@@ -34,16 +34,13 @@
 #include <gz/plugin/Loader.hh>
 
 #include "gz/sim/InstallationDirectories.hh"
+#include "gz/sim/Util.hh"
 #include <gz/sim/config.hh>
 
 using namespace gz::sim;
 
 class gz::sim::SystemLoaderPrivate
 {
-  //////////////////////////////////////////////////
-  public: static constexpr std::string_view kStaticPluginFilenamePrefix =
-              "static://";
-
   //////////////////////////////////////////////////
   public: explicit SystemLoaderPrivate() = default;
 
@@ -85,7 +82,7 @@ class gz::sim::SystemLoaderPrivate
   public: bool InstantiateStaticSystemPlugin(const sdf::Plugin &_sdfPlugin,
               gz::plugin::PluginPtr &_gzPlugin)
   {
-    const size_t prefixLen = kStaticPluginFilenamePrefix.size();
+    const size_t prefixLen = staticPluginPrefixStr().size();
     const std::string filenameWoPrefix =
         _sdfPlugin.Filename().substr(prefixLen);
     std::string pluginToInstantiate =
@@ -136,8 +133,7 @@ class gz::sim::SystemLoaderPrivate
              << "]. Using [" << filename << "] instead." << std::endl;
     }
 
-    if (filename.substr(0, kStaticPluginFilenamePrefix.size()) ==
-          kStaticPluginFilenamePrefix)
+    if (isStaticPlugin(filename))
     {
       return this->InstantiateStaticSystemPlugin(_sdfPlugin, _gzPlugin);
     }

src/Util.cc

@@ -1022,6 +1022,17 @@ math::AxisAlignedBox transformAxisAlignedBox(
   );
 }
 
+const std::string &staticPluginPrefixStr()
+{
+  return kStaticPluginFilenamePrefix;
+}
+
+bool isStaticPlugin(const std::string &_filename)
+{
+  return _filename.substr(0, staticPluginPrefixStr().size()) ==
+        staticPluginPrefixStr();
+}
+
 }
 }
 }

src/Util_TEST.cc

@@ -1136,3 +1136,12 @@ TEST_F(UtilTest, TransformAxisAlignedBoxFrame)
   aabExp = aabExp + transform.Pos();
   EXPECT_EQ(aabExp, transformAxisAlignedBox(aab, transform));
 }
+
+/////////////////////////////////////////////////
+TEST_F(UtilTest, StaticPlugin)
+{
+  EXPECT_FALSE(staticPluginPrefixStr().empty());
+  EXPECT_FALSE(isStaticPlugin("my_plugin"));
+  EXPECT_FALSE(isStaticPlugin(""));
+  EXPECT_TRUE(isStaticPlugin(staticPluginPrefixStr() + "my_plugin"));
+}

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;