Merge sdf12 ➡️ sdf13

.github/workflows/ci.yml

@@ -1,14 +1,19 @@
 name: Ubuntu
 
-on: [push, pull_request]
+on:
+  pull_request:
+  push:
+    branches:
+      - 'sdf[0-9]?'
+      - 'main'
 
 jobs:
   focal-ci:
     runs-on: ubuntu-latest
     name: Ubuntu Focal CI
     steps:
       - name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
       - name: Compile and test
         id: ci
         uses: gazebo-tooling/action-gz-ci@focal

.github/workflows/triage.yml

@@ -14,4 +14,3 @@ jobs:
         with:
           project-url: https://github.com/orgs/gazebosim/projects/7
           github-token: ${{ secrets.TRIAGE_TOKEN }}
-

Changelog.md

@@ -462,6 +462,30 @@
 
 ## libsdformat 12.X
 
+### libsdformat 12.7.2 (2023-09-01)
+
+1. Fixed 1.9/light.sdf
+    * [Pull request #1281](https://github.com/gazebosim/sdformat/pull/1281)
+
+1. URDF->SDF handle links with no inertia or small mass
+    * [Pull request #1238](https://github.com/gazebosim/sdformat/pull/1238)
+
+1. Fix Element::Set method return value
+    * [Pull request #1256](https://github.com/gazebosim/sdformat/pull/1256)
+
+1. Add missing values in Surace ToElement method
+    * [Pull request #1263](https://github.com/gazebosim/sdformat/pull/1263)
+
+1. Rename COPYING to LICENSE
+    * [Pull request #1252](https://github.com/gazebosim/sdformat/pull/1252)
+
+1. Infrastructure
+    * [Pull request #1245](https://github.com/gazebosim/sdformat/pull/1245)
+    * [Pull request #1271](https://github.com/gazebosim/sdformat/pull/1271)
+
+1. Allow relative paths in URDF
+    * [Pull request #1213](https://github.com/gazebosim/sdformat/pull/1213)
+
 ### libsdformat 12.7.1 (2023-02-28)
 
 1. Fix camera info topic default value
@@ -1539,6 +1563,27 @@
 
 ## libsdformat 9.X
 
+### libsdformat 9.10.1 (2024-01-05)
+
+1. URDF->SDF handle links with no inertia or small mass
+    * [Pull request #1238](https://github.com/gazebosim/sdformat/pull/1238)
+
+1. Fix Element::Set method return value
+    * [Pull request #1256](https://github.com/gazebosim/sdformat/pull/1256)
+
+1. Allowing relative paths in URDF
+    * [Pull request #1213](https://github.com/gazebosim/sdformat/pull/1213)
+
+1. Use `File.exist?` for Ruby 3.2 compatibility
+    * [Pull request #1216](https://github.com/gazebosim/sdformat/pull/1216)
+
+1. Infrastructure
+    * [Pull request #1217](https://github.com/gazebosim/sdformat/pull/1217)
+    * [Pull request #1225](https://github.com/gazebosim/sdformat/pull/1225)
+    * [Pull request #1271](https://github.com/gazebosim/sdformat/pull/1271)
+    * [Pull request #1345](https://github.com/gazebosim/sdformat/pull/1345)
+    * [Pull request #1252](https://github.com/gazebosim/sdformat/pull/1252)
+
 ### libsdformat 9.10.0 (2022-11-30)
 
 1. Ign to gz header migration.

src/CMakeLists.txt

@@ -5,10 +5,9 @@ gz_get_libsources_and_unittests(sources gtest_sources)
 # Add the source file auto-generated into the build folder from sdf/CMakeLists.txt
 list(APPEND sources EmbeddedSdf.cc)
 
-# Use interface library to deduplicate cmake logic for URDF linking
-add_library(using_parser_urdf INTERFACE)
+# When using the internal URDF parser, we build its sources with the core library
 if (USE_INTERNAL_URDF)
-  set(sources ${sources}
+  set(urdf_internal_sources
     urdf/urdf_parser/model.cpp
     urdf/urdf_parser/link.cpp
     urdf/urdf_parser/joint.cpp
@@ -17,67 +16,48 @@ if (USE_INTERNAL_URDF)
     urdf/urdf_parser/urdf_model_state.cpp
     urdf/urdf_parser/urdf_sensor.cpp
     urdf/urdf_parser/world.cpp)
-  target_include_directories(using_parser_urdf INTERFACE
-    ${CMAKE_CURRENT_SOURCE_DIR}/urdf)
-  if (WIN32)
-    target_compile_definitions(using_parser_urdf INTERFACE -D_USE_MATH_DEFINES)
-  endif()
-else()
-  target_link_libraries(using_parser_urdf INTERFACE
-    GzURDFDOM::GzURDFDOM)
+  set(sources ${sources} ${urdf_internal_sources})
 endif()
 
-if (BUILD_TESTING)
-  # Build this test file only if Gazebo Tools is installed.
-  if (NOT GZ_PROGRAM)
-    list(REMOVE_ITEM gtest_sources gz_TEST.cc)
-  endif()
-
-  # Skip tests that don't work on Windows
-  if (WIN32)
-    list(REMOVE_ITEM gtest_sources Converter_TEST.cc)
-    list(REMOVE_ITEM gtest_sources FrameSemantics_TEST.cc)
-    list(REMOVE_ITEM gtest_sources ParamPassing_TEST.cc)
-    list(REMOVE_ITEM gtest_sources Utils_TEST.cc)
-    list(REMOVE_ITEM gtest_sources XmlUtils_TEST.cc)
-    list(REMOVE_ITEM gtest_sources parser_urdf_TEST.cc)
-  endif()
-
-  gz_build_tests(
-    TYPE UNIT
-    SOURCES ${gtest_sources}
-    INCLUDE_DIRS
-      ${CMAKE_CURRENT_SOURCE_DIR}
-      ${PROJECT_SOURCE_DIR}/test
+gz_create_core_library(SOURCES ${sources}
+  CXX_STANDARD 17
+  LEGACY_PROJECT_PREFIX SDFormat
   )
 
-  if (TARGET UNIT_Converter_TEST)
-    target_link_libraries(UNIT_Converter_TEST
-      TINYXML2::TINYXML2)
-    target_sources(UNIT_Converter_TEST PRIVATE
-      Converter.cc
-      EmbeddedSdf.cc
-      Utils.cc
-      XmlUtils.cc)
+target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
+  PUBLIC
+    gz-math${GZ_MATH_VER}::gz-math${GZ_MATH_VER}
+    gz-utils${GZ_UTILS_VER}::gz-utils${GZ_UTILS_VER}
+  PRIVATE
+    TINYXML2::TINYXML2)
+
+  if (USE_INTERNAL_URDF)
+    target_include_directories(${PROJECT_LIBRARY_TARGET_NAME} PRIVATE
+      ${CMAKE_CURRENT_SOURCE_DIR}/urdf)
+    if (WIN32)
+      target_compile_definitions(${PROJECT_LIBRARY_TARGET_NAME} PRIVATE -D_USE_MATH_DEFINES)
+    endif()
+  else()
+    target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME} PRIVATE
+      GzURDFDOM::GzURDFDOM)
   endif()
 
-  if (TARGET UNIT_gz_TEST)
-    target_compile_definitions(UNIT_gz_TEST PRIVATE
-      -DGZ_PATH="${GZ_PROGRAM}"
-      -DDETAIL_GZ_CONFIG_PATH="${CMAKE_BINARY_DIR}/test/conf/$<CONFIG>"
-      -DGZ_TEST_LIBRARY_PATH="${PROJECT_BINARY_DIR}/src")
-  endif()
+if (WIN32 AND USE_INTERNAL_URDF)
+  target_compile_definitions(${PROJECT_LIBRARY_TARGET_NAME} PRIVATE URDFDOM_STATIC)
+endif()
+
+target_include_directories(${PROJECT_LIBRARY_TARGET_NAME}
+  PRIVATE
+    ${CMAKE_CURRENT_SOURCE_DIR}
+)
 
-  if (TARGET UNIT_FrameSemantics_TEST)
-    target_sources(UNIT_FrameSemantics_TEST PRIVATE FrameSemantics.cc Utils.cc)
-    target_link_libraries(UNIT_FrameSemantics_TEST TINYXML2::TINYXML2)
+if (BUILD_TESTING)
+  # Build this test file only if Gazebo Tools is installed.
+  if (NOT GZ_PROGRAM)
+    list(REMOVE_ITEM gtest_sources gz_TEST.cc)
   endif()
 
-  if (TARGET UNIT_ParamPassing_TEST)
-    target_link_libraries(UNIT_ParamPassing_TEST
-      TINYXML2::TINYXML2
-      using_parser_urdf)
-    target_sources(UNIT_ParamPassing_TEST PRIVATE
+  add_library(library_for_tests OBJECT
       Converter.cc
       EmbeddedSdf.cc
       FrameSemantics.cc
@@ -86,51 +66,47 @@ if (BUILD_TESTING)
       Utils.cc
       XmlUtils.cc
       parser.cc
-      parser_urdf.cc)
-  endif()
+      parser_urdf.cc
+  )
 
-  if (TARGET UNIT_Utils_TEST)
-    target_sources(UNIT_Utils_TEST PRIVATE Utils.cc)
-    target_link_libraries(UNIT_Utils_TEST TINYXML2::TINYXML2)
+  if (USE_INTERNAL_URDF)
+    target_sources(library_for_tests PRIVATE ${urdf_internal_sources})
   endif()
 
-  if (TARGET UNIT_XmlUtils_TEST)
-    target_link_libraries(UNIT_XmlUtils_TEST
-      TINYXML2::TINYXML2)
-    target_sources(UNIT_XmlUtils_TEST PRIVATE XmlUtils.cc)
-  endif()
+  # Link against the publicly and privately linked libraries of the core library
+  target_link_libraries(library_for_tests
+    $<TARGET_PROPERTY:${PROJECT_LIBRARY_TARGET_NAME},LINK_LIBRARIES>
+  )
 
-  if (TARGET UNIT_parser_urdf_TEST)
-    target_link_libraries(UNIT_parser_urdf_TEST
-      TINYXML2::TINYXML2
-      using_parser_urdf)
-    target_sources(UNIT_parser_urdf_TEST PRIVATE
-      SDFExtension.cc
-      XmlUtils.cc
-      parser_urdf.cc)
-  endif()
-endif()
+  # Use the include flags from the core library
+  target_include_directories(library_for_tests PUBLIC
+    $<TARGET_PROPERTY:${PROJECT_LIBRARY_TARGET_NAME},INCLUDE_DIRECTORIES>
+  )
 
-gz_create_core_library(SOURCES ${sources}
-  CXX_STANDARD 17
-  LEGACY_PROJECT_PREFIX SDFormat
+  # Use the private compile flags from the core library. Also set GZ_SDFORMAT_STATIC_DEFINE to avoid
+  # inconsistent linkage issues on windows. Setting the define will cause the SDFORMAT_VISIBLE/SDFORMAT_HIDDEN  macros
+  # to expand to nothing when building a static library
+  target_compile_definitions(library_for_tests PUBLIC
+    $<TARGET_PROPERTY:${PROJECT_LIBRARY_TARGET_NAME},COMPILE_DEFINITIONS>
+    -DGZ_SDFORMAT_STATIC_DEFINE
   )
 
-target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
-  PUBLIC
-    gz-math${GZ_MATH_VER}::gz-math${GZ_MATH_VER}
-    gz-utils${GZ_UTILS_VER}::gz-utils${GZ_UTILS_VER}
-  PRIVATE
-    TINYXML2::TINYXML2
-    using_parser_urdf)
+  gz_build_tests(
+    TYPE UNIT
+    SOURCES ${gtest_sources}
+    INCLUDE_DIRS
+      ${CMAKE_CURRENT_SOURCE_DIR}
+      ${PROJECT_SOURCE_DIR}/test
+    LIB_DEPS
+      library_for_tests
+  )
 
-if (WIN32)
-  target_compile_definitions(${PROJECT_LIBRARY_TARGET_NAME} PRIVATE URDFDOM_STATIC)
+  if (TARGET UNIT_gz_TEST)
+    target_compile_definitions(UNIT_gz_TEST PRIVATE
+      -DGZ_PATH="${GZ_PROGRAM}"
+      -DDETAIL_GZ_CONFIG_PATH="${CMAKE_BINARY_DIR}/test/conf/$<CONFIG>"
+      -DGZ_TEST_LIBRARY_PATH="${PROJECT_BINARY_DIR}/src")
+  endif()
 endif()
 
-target_include_directories(${PROJECT_LIBRARY_TARGET_NAME}
-  PRIVATE
-    ${CMAKE_CURRENT_SOURCE_DIR}
-)
-
 add_subdirectory(cmd)

src/ParamPassing_TEST.cc

@@ -101,6 +101,15 @@ TEST(ParamPassing, GetElementByNameWarningOutput)
   sdf::testing::RedirectConsoleStream redir(
       sdf::Console::Instance()->GetMsgStream(), &buffer);
 
+  #ifdef _WIN32
+    sdf::Console::Instance()->SetQuiet(false);
+    sdf::testing::ScopeExit revertSetQuiet(
+      []
+      {
+        sdf::Console::Instance()->SetQuiet(true);
+      });
+  #endif
+
   std::ostringstream stream;
   stream << "<?xml version=\"1.0\"?>"
          << "<sdf version='1.8'>"
@@ -149,7 +158,7 @@ TEST(ParamPassing, GetElementByNameWarningOutput)
   EXPECT_NE(std::string::npos, buffer.str().find(
       "The original element [model] contains the attribute 'name' but none "
       "was provided in the element modifier. The assumed element to be "
-      "modified is: <model name='test_model'>"));
+      "modified is: <model name='test_model'>")) << buffer.str();
 }
 
 ////////////////////////////////////////
@@ -160,6 +169,15 @@ TEST(ParamPassing, ModifyChildrenNameWarningOutput)
   sdf::testing::RedirectConsoleStream redir(
       sdf::Console::Instance()->GetMsgStream(), &buffer);
 
+  #ifdef _WIN32
+    sdf::Console::Instance()->SetQuiet(false);
+    sdf::testing::ScopeExit revertSetQuiet(
+      []
+      {
+        sdf::Console::Instance()->SetQuiet(true);
+      });
+  #endif
+
   std::ostringstream stream;
   stream << "<?xml version=\"1.0\"?>"
          << "<sdf version='1.8'>"
@@ -212,5 +230,5 @@ TEST(ParamPassing, ModifyChildrenNameWarningOutput)
   EXPECT_NE(std::string::npos, buffer.str().find(
       "No modifications for element <model name=\"test\"/>\n provided, "
       "skipping modification for:\n<sdf version=\"1.8\">\n"
-      "    <model name=\"test\"/>\n</sdf>"));
+      "    <model name=\"test\"/>\n</sdf>")) << buffer.str();
 }