Merged with sdf14

Signed-off-by: Nate Koenig <[email protected]>

.github/ci/packages.apt

@@ -7,9 +7,7 @@ libtinyxml2-dev
 liburdfdom-dev
 libxml2-utils
 python3-dev
-python3-distutils
 python3-gz-math7
 python3-psutil
 python3-pybind11
 python3-pytest
-ruby-dev

.github/workflows/ci.yml

@@ -4,29 +4,29 @@ on:
   pull_request:
   push:
     branches:
-      - 'sdf[0-9]?'
+      - 'sdf[1-9]?[0-9]'
       - 'main'
 
 jobs:
-  focal-ci:
+  jammy-ci:
     runs-on: ubuntu-latest
-    name: Ubuntu Focal CI
+    name: Ubuntu Jammy CI
     steps:
       - name: Checkout
         uses: actions/checkout@v4
       - name: Compile and test
         id: ci
-        uses: gazebo-tooling/action-gz-ci@focal
+        uses: gazebo-tooling/action-gz-ci@jammy
         with:
           codecov-enabled: true
           cppcheck-enabled: true
           cpplint-enabled: true
-  jammy-ci:
+  noble-ci:
     runs-on: ubuntu-latest
-    name: Ubuntu Jammy CI
+    name: Ubuntu Noble CI
     steps:
       - name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
       - name: Compile and test
         id: ci
-        uses: gazebo-tooling/action-gz-ci@jammy
+        uses: gazebo-tooling/action-gz-ci@noble

.github/workflows/macos.yml

@@ -6,7 +6,7 @@ jobs:
   build:
 
     env:
-      PACKAGE: sdformat13
+      PACKAGE: sdformat14
     runs-on: macos-latest
     steps:
     - uses: actions/checkout@v3

.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

.gitignore

@@ -3,5 +3,4 @@ build
 build_*
 *.*.sw?
 .vscode
-
 __pycache__

CMakeLists.txt

@@ -5,11 +5,11 @@ if(COMMAND CMAKE_POLICY)
   CMAKE_POLICY(SET CMP0004 NEW)
 endif(COMMAND CMAKE_POLICY)
 
-project (sdformat13 VERSION 13.8.0)
+project (sdformat14 VERSION 14.5.0)
 
 # The protocol version has nothing to do with the package version.
 # It represents the current version of SDFormat implemented by the software
-set (SDF_PROTOCOL_VERSION 1.10)
+set (SDF_PROTOCOL_VERSION 1.11)
 
 OPTION(SDFORMAT_DISABLE_CONSOLE_LOGFILE "Disable the sdformat console logfile" OFF)
 
@@ -49,6 +49,13 @@ if (BUILD_SDF)
   # Find tinyxml2.
   gz_find_package(TINYXML2 REQUIRED)
 
+  #################################################
+  # Find DL if doing relocatable installation
+  if (GZ_ENABLE_RELOCATABLE_INSTALL)
+    gz_find_package(DL REQUIRED)
+  endif()
+
+
   ################################################
   # Find urdfdom parser. Logic:
   #
@@ -82,9 +89,12 @@ if (BUILD_SDF)
   # Find python
   if (SKIP_PYBIND11)
     message(STATUS "SKIP_PYBIND11 set - disabling python bindings")
-    find_package(Python3 COMPONENTS Interpreter)
+    find_package(Python3 REQUIRED COMPONENTS Interpreter)
   else()
-    find_package(Python3 COMPONENTS Interpreter Development)
+    find_package(Python3 REQUIRED
+      COMPONENTS Interpreter
+      OPTIONAL_COMPONENTS Development
+    )
     if (NOT Python3_Development_FOUND)
       GZ_BUILD_WARNING("Python development libraries are missing: Python interfaces are disabled.")
     else()
@@ -131,15 +141,6 @@ if (BUILD_SDF)
     gz_build_warning("Python psutil package not found. Memory leak tests will be skipped")
   endif()
 
-  ################################################
-  # Find ruby executable to produce xml schemas
-  find_program(RUBY ruby)
-  if (NOT RUBY)
-    gz_build_error ("Ruby version 1.9 is needed to build xml schemas")
-  else()
-    message(STATUS "Found ruby executable: ${RUBY}")
-  endif()
-
   ########################################
   # Find gz math
   # Set a variable for generating ProjectConfig.cmake

Changelog.md

@@ -1,3 +1,192 @@
+## libsdformat 14.X
+
+### libsdformat 14.5.0 (2024-08-05)
+
+1. Adding Errors structure to XmlUtils
+    * [Pull request #1296](https://github.com/gazebosim/sdformat/pull/1296)
+
+1. Disable latex and class hierarchy generation
+    * [Pull request #1447](https://github.com/gazebosim/sdformat/pull/1447)
+
+1. Added SetHeightMap and Heighmap to Geometry Python binding
+    * [Pull request #1440](https://github.com/gazebosim/sdformat/pull/1440)
+
+1. workflows/ci.yml fix push branch regex
+    * [Pull request #1445](https://github.com/gazebosim/sdformat/pull/1445)
+
+1. SDF.cc update calls to use sdf::Errors output
+    * [Pull request #1295](https://github.com/gazebosim/sdformat/pull/1295)
+
+1. Added World::ActorByName
+    * [Pull request #1436](https://github.com/gazebosim/sdformat/pull/1436)
+
+### 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
+    * [Pull request #1389](https://github.com/gazebosim/sdformat/pull/1389)
+
+1. Use relative install paths in CMake
+    * [Pull request #1387](https://github.com/gazebosim/sdformat/pull/1387)
+
+### libsdformat 14.1.0 (2024-03-14)
+
+1. Resolve URIs relative to file path
+    * [Pull request #1373](https://github.com/gazebosim/sdformat/pull/1373)
+
+1. Use `//link/inertial/density` for auto-inertials
+    * [Pull request #1335](https://github.com/gazebosim/sdformat/pull/1335)
+
+1. Fix a little typo in the README.md
+    * [Pull request #1365](https://github.com/gazebosim/sdformat/pull/1365)
+
+1. Fix version variable in reference manual PDF filename
+    * [Pull request #1363](https://github.com/gazebosim/sdformat/pull/1363)
+
+1. In parser config test, use a filename less likely to exist
+    * [Pull request #1362](https://github.com/gazebosim/sdformat/pull/1362)
+
+1. Update CI badges in README
+    * [Pull request #1352](https://github.com/gazebosim/sdformat/pull/1352)
+
+1. Bazel updates for Garden build
+    * [Pull request #1239](https://github.com/gazebosim/sdformat/pull/1239)
+
+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. Install ruby commands on Windows
+    * [Pull request #1339](https://github.com/gazebosim/sdformat/pull/1339)
+
+1. Infrastructure
+    * [Pull request #1336](https://github.com/gazebosim/sdformat/pull/1336)
+    * [Pull request #1345](https://github.com/gazebosim/sdformat/pull/1345)
+    * [Pull request #1367](https://github.com/gazebosim/sdformat/pull/1367)
+
+1. URDF parser: use SDFormat 1.11, parse joint mimic
+    * [Pull request #1333](https://github.com/gazebosim/sdformat/pull/1333)
+
+1. URDF->SDF handle links with no inertia or small mass
+    * [Pull request #1238](https://github.com/gazebosim/sdformat/pull/1238)
+
+### libsdformat 14.0.0 (2023-09-29)
+
+1. Add missing conda dependencies
+    * [Pull request #1324](https://github.com/gazebosim/sdformat/pull/1324)
+
+1. Correct spelling of Python variable in CMake
+    * [Pull request #1319](https://github.com/gazebosim/sdformat/pull/1319)
+
+1. Remove hard dependence on ruby
+    * [Pull request #1323](https://github.com/gazebosim/sdformat/pull/1323)
+
+1. Documentation fixes
+    * [Pull request #1322](https://github.com/gazebosim/sdformat/pull/1322)
+
+1. Automatic Moment of Inertia Calculations for Basic Shapes
+    * [Pull request #1299](https://github.com/gazebosim/sdformat/pull/1299)
+    * [Pull request #1304](https://github.com/gazebosim/sdformat/pull/1304)
+    * [Pull request #1317](https://github.com/gazebosim/sdformat/pull/1317)
+    * [Pull request #1325](https://github.com/gazebosim/sdformat/pull/1325)
+
+1. Joint axis mimic constraints: add `sdf` element
+    * [Pull request #1166](https://github.com/gazebosim/sdformat/pull/1166)
+
+1. Add python bindings for `sdf::Element` and `sdf::Param`
+    * [Pull request #1303](https://github.com/gazebosim/sdformat/pull/1303)
+
+1. World: handle name collisions like Model
+    * [Pull request #1311](https://github.com/gazebosim/sdformat/pull/1311)
+
+1. ign -> gz
+    * [Pull request #1301](https://github.com/gazebosim/sdformat/pull/1301)
+
+1. Copy 1.10 spec to 1.11 for sdformat14
+    * [Pull request #1298](https://github.com/gazebosim/sdformat/pull/1298)
+
+1. Make sure the deprecated kSdfScopeDelimiter still works
+    * [Pull request #1305](https://github.com/gazebosim/sdformat/pull/1305)
+
+1. Python script to replace ruby xmlschema generator
+    * [Pull request #1232](https://github.com/gazebosim/sdformat/pull/1232)
+
+1. Make dataPtr private in sdf::Plugin
+    * [Pull request #1268](https://github.com/gazebosim/sdformat/pull/1268)
+
+1. Fix GSG violations on non-trivially destructible types
+    * [Pull request #1264](https://github.com/gazebosim/sdformat/pull/1264)
+
+1. Port embedSdf script from Ruby to Python3 and provide unittests
+    * [Pull request #884](https://github.com/gazebosim/sdformat/pull/884)
+    * [Pull request #1297](https://github.com/gazebosim/sdformat/pull/1297)
+
+1. World: sdfwarns to sdf::Errors when warnings policy set to sdf::EnforcementPolicy::ERR
+    * [Pull request #1131](https://github.com/gazebosim/sdformat/pull/1131)
+
+1. Add sdf::Errors output to API methods
+    * [Pull request #1098](https://github.com/gazebosim/sdformat/pull/1098)
+    * [Pull request #1095](https://github.com/gazebosim/sdformat/pull/1095)
+
+1. ⬆️  Bump main to 14.0.0~pre1
+    * [Pull request #1104](https://github.com/gazebosim/sdformat/pull/1104)
+
 ## libsdformat 13.X
 
 ### libsdformat 13.8.0 (2024-06-25)