Merge pull request #1486 from gazebosim/merge_15_main_20241007

Merge 15 -> main

Changelog.md

@@ -1,6 +1,23 @@
 ## libsdformat 15.X
 
-### libsdformat 15.0.0 (2024-09-XX)
+### libsdformat 15.0.0 (2024-09-25)
+
+1. **Baseline:** this includes all changes from 14.5.0 and earlier.
+
+1. Use colcon for Windows building compilation
+    * [Pull request #1481](https://github.com/gazebosim/sdformat/pull/1481)
+
+1. Spec 1.12: link_state, joint_state changes
+    * [Pull request #1461](https://github.com/gazebosim/sdformat/pull/1461)
+
+1. Fix symbol checking test when compiled with debug symbols
+    * [Pull request #1474](https://github.com/gazebosim/sdformat/pull/1474)
+
+1. README: update badges for sdf15
+    * [Pull request #1472](https://github.com/gazebosim/sdformat/pull/1472)
+
+1. Ionic Changelog
+    * [Pull request #1471](https://github.com/gazebosim/sdformat/pull/1471)
 
 1. Spec 1.12: add `_state` suffix to //state subelements
     * [Pull request #1455](https://github.com/gazebosim/sdformat/pull/1455)
@@ -27,6 +44,10 @@
 1. Print auto inertial values with `gz sdf --print --expand-auto-inertials`
     * [Pull request #1422](https://github.com/gazebosim/sdformat/pull/1422)
 
+1. Add cone shape to SDFormat spec
+    * [Pull request #1418](https://github.com/gazebosim/sdformat/pull/1418)
+    * [Pull request #1434](https://github.com/gazebosim/sdformat/pull/1434)
+
 1. Enable 24.04 CI, remove distutils dependency
     * [Pull request #1408](https://github.com/gazebosim/sdformat/pull/1408)
 
@@ -38,6 +59,11 @@
     * [Pull request #1399](https://github.com/gazebosim/sdformat/pull/1399)
     * [Pull request #1462](https://github.com/gazebosim/sdformat/pull/1462)
 
+1. Spec 1.11+: add `//mesh/@optimization`, `//mesh/convex_decomposition`
+    * [Pull request #1382](https://github.com/gazebosim/sdformat/pull/1382)
+    * [Pull request #1386](https://github.com/gazebosim/sdformat/pull/1386)
+    * [Pull request #1403](https://github.com/gazebosim/sdformat/pull/1403)
+
 1. Copy 1.11 spec to 1.12 for libsdformat15
     * [Pull request #1375](https://github.com/gazebosim/sdformat/pull/1375)
 

Migration.md

@@ -628,6 +628,33 @@ ABI was broken for `sdf::Element`, and restored on version 11.2.1.
 
 ## SDFormat specification 1.11 to 1.12
 
+### Additions
+
+1. **joint_state.sdf**:
+    + `//joint_state/axis_state/position`
+    + `//joint_state/axis_state/velocity`
+    + `//joint_state/axis_state/acceleration`
+    + `//joint_state/axis_state/effort`
+    + `//joint_state/axis2_state/position`
+    + `//joint_state/axis2_state/velocity`
+    + `//joint_state/axis2_state/acceleration`
+    + `//joint_state/axis2_state/effort`
+
+1. **link_state.sdf**:
+    + `//link_state/linear_velocity`
+    + `//link_state/angular_velocity`
+    + `//link_state/linear_acceleration`
+    + `//link_state/angular_acceleration`
+    + `//link_state/force`
+    + `//link_state/torque`
+
+1. **model.sdf**:
+    + `//model/model_state`
+    + `//model/include/model_state`
+
+1. **world.sdf**:
+    + `//world/include/model_state`
+
 ### Modifications
 
 1. **state.sdf**, **model_state.sdf**, **joint_state.sdf**, **link_state.sdf**,
@@ -645,6 +672,20 @@ ABI was broken for `sdf::Element`, and restored on version 11.2.1.
     `//world/joint` and `//state/insertions/joint` can represent inserted
     `//world/joint` elements.
 
+### Deprecations
+
+1. **joint_state.sdf**:
+    + `//joint_state/angle` is deprecated in favor of `//joint_state/axis_state/position`
+      and  `//joint_state/axis2_state/position`.
+
+1. **link_state.sdf**:
+    + `//link_state/velocity` is deprecated in favor of `//link_state/angular_velocity`
+      and  `//link_state/linear_velocity`.
+    + `//link_state/acceleration` is deprecated in favor of `//link_state/angular_acceleration`
+      and  `//link_state/linear_acceleration`.
+    + `//link_state/wrench` is deprecated in favor of `//link_state/torque`
+      and  `//link_state/force`.
+
 ## SDFormat specification 1.10 to 1.11
 
 ### Additions

README.md

@@ -11,7 +11,7 @@ Note: The branch name in the codecov URL & library version should be updated whe
 Build | Status
 -- | --
 Test coverage | [![codecov](https://codecov.io/gh/gazebosim/sdformat/tree/main/graph/badge.svg)](https://codecov.io/gh/gazebosim/sdformat/tree/main)
-Ubuntu Jammy  | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=sdformat-ci-main-jammy-amd64)](https://build.osrfoundation.org/job/sdformat-ci-main-jammy-amd64)
+Ubuntu Jammy  | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=sdformat-ci-main-noble-amd64)](https://build.osrfoundation.org/job/sdformat-ci-main-noble-amd64)
 Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=sdformat-ci-main-homebrew-amd64)](https://build.osrfoundation.org/job/sdformat-ci-main-homebrew-amd64)
 Windows       | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=sdformat-main-win)](https://build.osrfoundation.org/job/sdformat-main-win)
 
@@ -66,7 +66,7 @@ sudo apt-get update
 sudo apt install libsdformat<#>-dev libsdformat<#>
 ```
 
-Be sure to replace `<#>` with a number value, such as 2 or 3, depending on
+Be sure to replace `<#>` with a number value, such as 14 or 15, depending on
 which version you need, or leave it empty for version 1.
 
 ### macOS
@@ -82,7 +82,7 @@ Install sdformat:
   brew install sdformat<#>
   ```
 
-Be sure to replace `<#>` with a number value, such as 1 or 2, depending on
+Be sure to replace `<#>` with a number value, such as 14 or 15, depending on
 which version you need.
 
 ### Windows
@@ -126,7 +126,7 @@ Clone the repository
 ```sh
 git clone https://github.com/gazebosim/sdformat -b sdf<#>
 ```
-Be sure to replace `<#>` with a number value, such as 1 or 2, depending on
+Be sure to replace `<#>` with a number value, such as 14 or 15, depending on
 which version you need.
 
 ### Build from Source
@@ -168,7 +168,7 @@ Clone the repository
 ```sh
 git clone https://github.com/gazebosim/sdformat -b sdf<#>
 ```
-Be sure to replace `<#>` with a number value, such as 1 or 2, depending on
+Be sure to replace `<#>` with a number value, such as 14 or 15, depending on
 which version you need.
 
 Install dependencies
@@ -213,34 +213,37 @@ conda activate gz-ws
 
 Install prerequisites:
 ```
-conda install tinyxml2 urdfdom --channel conda-forge
+conda install cmake git vcstool colcon-common-extensions ^
+tinyxml2 urdfdom pybind11 -channel conda-forge
 ```
 
-Install Gazebo dependencies:
+### Getting the sources and building from Source
 
-You can view lists of dependencies:
-```
-conda search libsdformat --channel conda-forge --info
-```
+Be sure to replace `<#>` with a number value, such as 14 or 15, depending on
+which version you need.
+
+1. Getting the sources
 
-Install dependencies, replacing `<#>` with the desired versions:
 ```
-conda install libgz-cmake<#> libgz-math<#> libgz-tools<#> libgz-utils<#> --channel conda-forge
+mkdir ws\src
+cd ws
+vcs import src --input https://raw.githubusercontent.com/gazebo-tooling/gazebodistro/master/sdformat<#>.yaml
 ```
 
-### Build from Source
+2. Build from source
 
-This assumes you have created and activated a Conda environment while installing the Prerequisites.
+Note: the Gazebo library dependencies are going to be compiled from source
+with sdformat although it should be possible to install them from
+conda-forge on stable Gazebo releases using the standard conda install
+command.
 
-1. Configure and build
-  ```
-  mkdir build
-  cd build
-  cmake .. -DBUILD_TESTING=OFF  # Optionally, -DCMAKE_INSTALL_PREFIX=path\to\install
-  cmake --build . --config Release
-  ```
+Build the gazebo libraries needed as dependencies (skip testing to speed up the compilation)
+using the [colcon](https://colcon.readthedocs.io/en/released/) tool:
+```
+  colcon build --cmake-args -DBUILD_TESTING=OFF --merge-install --packages-skip sdformat<#>
+```
 
-2. Install
-  ```
-  cmake --install . --config Release
-  ```
+Build sdformat with its test suite:
+```
+  colcon build --cmake-args -DBUILD_TESTING=ON --merge-install --packages-select sdformat<#>
+```

sdf/1.12/joint_state.sdf

@@ -9,11 +9,125 @@
     <description>Name of the joint</description>
   </attribute>
 
-  <element name="angle" type="double" default="0" required="+">
+  <element name="angle" type="double" default="0" required="-1">
     <attribute name="axis" type="unsigned int" default="0" required="1">
       <description>Index of the axis.</description>
     </attribute>
 
     <description>Angle of an axis</description>
   </element>
+
+  <element name="axis_state" required="0">
+    <description>
+      Contains the state of the first joint axis.
+    </description>
+
+    <element name="position" type="double" default="0" required="0">
+      <description>The position of the first joint axis.</description>
+
+      <attribute name="degrees" type="bool" default="false" required="0">
+        <description>
+          If this is a rotational axis and this attribute is true,
+          the joint position is expressed in units of degrees [deg],
+          otherwise it is expressed in radians [rad].
+          If this axis is translational (such as a prismatic joint), the
+          units will be interpreted in meters [m] regardless of the value of
+          this attribute.
+        </description>
+      </attribute>
+    </element>
+
+    <element name="velocity" type="double" default="0" required="0">
+      <description>The velocity of the first joint axis.</description>
+
+      <attribute name="degrees" type="bool" default="false" required="0">
+        <description>
+          If this is a rotational axis and this attribute is true,
+          the joint velocity is expressed in units of degrees per
+          second [deg/s], otherwise it is expressed in radians per second
+          [rad/s].
+          If this axis is translational (such as a prismatic joint), the
+          units will be interpreted in meters per second [m/s] regardless of
+          the value of this attribute.
+        </description>
+      </attribute>
+    </element>
+
+    <element name="acceleration" type="double" default="0" required="0">
+      <description>The acceleration of the first joint axis.</description>
+
+      <attribute name="degrees" type="bool" default="false" required="0">
+        <description>
+          If this is a rotational axis and this attribute is true,
+          the joint acceleration is expressed in units of degrees per
+          second per second [deg/s^2], otherwise it is expressed in radians per
+          second per second [rad/s^2].
+          If this axis is translational (such as a prismatic joint), the
+          units will be interpreted in meters per second per second [m/s^2]
+          regardless of the value of this attribute.
+        </description>
+      </attribute>
+    </element>
+
+    <element name="effort" type="double" default="0" required="0">
+      <description>The effort applied at the first joint axis.</description>
+    </element>
+  </element>
+
+  <element name="axis2_state" required="0">
+    <description>
+      Contains the state of the second joint axis.
+    </description>
+
+    <element name="position" type="double" default="0" required="0">
+      <description>The position of the second joint axis.</description>
+
+      <attribute name="degrees" type="bool" default="false" required="0">
+        <description>
+          If this is a rotational axis and this attribute is true,
+          the joint position is expressed in units of degrees [deg],
+          otherwise it is expressed in radians [rad].
+          If this axis is translational (such as a prismatic joint), the
+          units will be interpreted in meters [m] regardless of the value of
+          this attribute.
+        </description>
+      </attribute>
+    </element>
+
+    <element name="velocity" type="double" default="0" required="0">
+      <description>The velocity of the second joint axis.</description>
+
+      <attribute name="degrees" type="bool" default="false" required="0">
+        <description>
+          If this is a rotational axis and this attribute is true,
+          the joint velocity is expressed in units of degrees per
+          second [deg/s], otherwise it is expressed in radians per second
+          [rad/s].
+          If this axis is translational (such as a prismatic joint), the
+          units will be interpreted in meters per second [m/s] regardless of
+          the value of this attribute.
+        </description>
+      </attribute>
+    </element>
+
+    <element name="acceleration" type="double" default="0" required="0">
+      <description>The acceleration of the second joint axis.</description>
+
+      <attribute name="degrees" type="bool" default="false" required="0">
+        <description>
+          If this is a rotational axis and this attribute is true,
+          the joint acceleration is expressed in units of degrees per
+          second per second [deg/s^2], otherwise it is expressed in radians per
+          second per second [rad/s^2].
+          If this axis is translational (such as a prismatic joint), the
+          units will be interpreted in meters per second per second [m/s^2]
+          regardless of the value of this attribute.
+        </description>
+      </attribute>
+    </element>
+
+    <element name="effort" type="double" default="0" required="0">
+      <description>The effort applied at the second joint axis.</description>
+    </element>
+  </element>
 </element> <!-- End Joint -->