Merge 13 ➡️ 14

.github/workflows/ci.yml

@@ -1,14 +1,19 @@
 name: Ubuntu
 
-on: [push, pull_request]
+on:
+  pull_request:
+  push:
+    branches:
+      - 'sdf[0-9]?'
+      - 'main'
 
 jobs:
   jammy-ci:
     runs-on: ubuntu-latest
     name: Ubuntu Jammy 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

.github/workflows/triage.yml

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

BUILD.bazel

@@ -0,0 +1,200 @@
+load(
+    "@gz//bazel/skylark:build_defs.bzl",
+    "GZ_FEATURES",
+    "GZ_ROOT",
+    "GZ_VISIBILITY",
+    "add_lint_tests",
+    "gz_configure_file",
+    "gz_configure_header",
+    "gz_export_header",
+    "gz_include_header",
+    "gz_py_binary",
+)
+
+package(
+    default_visibility = GZ_VISIBILITY,
+    features = GZ_FEATURES,
+)
+
+licenses(["notice"])
+
+exports_files(["LICENSE"])
+
+gz_configure_header(
+    name = "config",
+    src = "include/sdf/config.hh.in",
+    cmakelists = ["CMakeLists.txt"],
+    defines = {
+        "CMAKE_INSTALL_FULL_DATAROOTDIR": "unused",
+    },
+    package = "sdformat",
+)
+
+gz_py_binary(
+    name = "embed_sdf",
+    srcs = ["sdf/embedSdf.py"],
+    main = "sdf/embedSdf.py",
+)
+
+genrule(
+    name = "embed_sdf_genrule",
+    srcs = glob([
+        "sdf/**/*.sdf",
+        "sdf/**/*.convert",
+    ]),
+    outs = ["EmbeddedSdf.cc"],
+    cmd = "$(execpath :embed_sdf) --output-file $@ --sdf-root sdformat/sdf/ --input-files $(SRCS)",  # noqa
+    tools = [":embed_sdf"],
+)
+
+public_headers_no_gen = glob([
+    "include/sdf/*.h",
+    "include/sdf/*.hh",
+])
+
+private_headers = glob(["src/*.hh"])
+
+sources = glob(
+    ["src/*.cc"],
+    exclude = [
+        "src/*_TEST.cc",
+        "src/gz.cc",
+    ],
+)
+
+gz_export_header(
+    name = "include/sdf/Export.hh",
+    export_base = "GZ_SDFORMAT",
+    lib_name = "sdf",
+    visibility = ["//visibility:private"],
+)
+
+gz_include_header(
+    name = "sdformat_hh_genrule",
+    out = "include/sdformat.hh",
+    hdrs = public_headers_no_gen + [
+        "include/sdf/config.hh",
+        "include/sdf/Export.hh",
+    ],
+)
+
+public_headers = public_headers_no_gen + [
+    "include/sdf/Export.hh",
+    "include/sdf/config.hh",
+    "include/sdformat.hh",
+]
+
+cc_library(
+    name = "urdf",
+    srcs = [
+        "src/urdf/urdf_parser/joint.cpp",
+        "src/urdf/urdf_parser/link.cpp",
+        "src/urdf/urdf_parser/model.cpp",
+        "src/urdf/urdf_parser/pose.cpp",
+        "src/urdf/urdf_parser/twist.cpp",
+        "src/urdf/urdf_parser/urdf_model_state.cpp",
+        "src/urdf/urdf_parser/urdf_sensor.cpp",
+        "src/urdf/urdf_parser/world.cpp",
+    ],
+    hdrs = glob(
+        ["src/urdf/**/*.h"],
+    ),
+    copts = ["-Wno-unknown-pragmas"],
+    includes = ["src/urdf"],
+    deps = [
+        "@tinyxml2",
+    ],
+)
+
+cc_library(
+    name = "sdformat",
+    srcs = sources + private_headers + ["EmbeddedSdf.cc"],
+    hdrs = public_headers,
+    defines = [
+        'SDF_SHARE_PATH=\\".\\"',
+        'SDF_VERSION_PATH=\\"sdformat\\"',
+    ],
+    includes = [
+        "include",
+        "src",
+    ],
+    deps = [
+        ":urdf",
+        GZ_ROOT + "math",
+        GZ_ROOT + "utils",
+        "@tinyxml2",
+    ],
+)
+
+cc_library(
+    name = "sdformat_internal",
+    srcs = [
+        "src/gz.cc",
+        "src/gz.hh",
+    ],
+    visibility = ["//visibility:private"],
+    deps = [":sdformat"],
+)
+
+test_sources = glob(
+    ["src/*_TEST.cc"],
+    exclude = ["src/gz_TEST.cc"],
+)
+
+[cc_test(
+    name = src.replace("/", "_").replace(".cc", "").replace("src_", ""),
+    srcs = [src],
+    data = [
+        "sdf",
+        GZ_ROOT + "sdformat/test:integration",
+        GZ_ROOT + "sdformat/test:sdf",
+    ],
+    env = {
+        "GZ_BAZEL": "1",
+        "GZ_BAZEL_PATH": "sdformat",
+    },
+    deps = [
+        ":sdformat",
+        GZ_ROOT + "sdformat/test:test_utils",
+        "@gtest",
+        "@gtest//:gtest_main",
+    ],
+) for src in test_sources]
+
+gz_configure_file(
+    name = "sdformat.rb",
+    src = "src/cmd/cmdsdformat.rb.in",
+    out = "cmdsdformat.rb",
+    cmakelists = ["CMakeLists.txt"],
+    defines = [
+        "library_location=libgz-sdformat.so",
+    ],
+    package = "sdformat",
+    visibility = [GZ_ROOT + "tools:__pkg__"],
+)
+
+gz_configure_file(
+    name = "sdformat_yaml",
+    src = "conf/sdformat.yaml.in",
+    out = "sdformat.yaml",
+    cmakelists = ["CMakeLists.txt"],
+    defines = [
+        "gz_library_path=gz/sdformat/cmdsdformat.rb",
+    ],
+    package = "sdformat",
+    visibility = [GZ_ROOT + "tools:__pkg__"],
+)
+
+cc_binary(
+    name = "libgz-sdformat.so",
+    srcs = [":sdformat_internal"],
+    linkshared = True,
+    visibility = [GZ_ROOT + "tools:__pkg__"],
+    deps = [
+        ":sdformat",
+    ],
+)
+
+exports_files(["sdf"])
+
+add_lint_tests()

Changelog.md

@@ -525,6 +525,30 @@
 
 ## 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
@@ -1602,6 +1626,27 @@
 
 ## 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.

conf/CMakeLists.txt

@@ -1,12 +1,16 @@
 # Used only for internal testing.
-set(gz_library_path "${CMAKE_BINARY_DIR}/test/lib/ruby/gz/cmd${PROJECT_NAME}")
+set(gz_library_path "${CMAKE_BINARY_DIR}/test/lib/$<CONFIG>/ruby/gz/cmd${PROJECT_NAME}")
 
 # Generate a configuration file for internal testing.
 # Note that the major version of the library is included in the name.
 # Ex: sdformat0.yaml
 configure_file(
   "${PROJECT_NAME_NO_VERSION_LOWER}.yaml.in"
-    "${CMAKE_BINARY_DIR}/test/conf/${PROJECT_NAME}.yaml" @ONLY)
+  "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}.yaml.configured" @ONLY)
+
+file(GENERATE
+  OUTPUT "${CMAKE_BINARY_DIR}/test/conf/$<CONFIG>/${PROJECT_NAME}.yaml"
+  INPUT "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}.yaml.configured")
 
 # Used for the installed version.
 set(gz_library_path "${CMAKE_INSTALL_PREFIX}/lib/ruby/gz/cmd${PROJECT_NAME}")

include/sdf/Param.hh

@@ -85,6 +85,11 @@ namespace sdf
        : val(_val), precision(_precision) {}
   };
 
+  // Template deduction guide for ParamVariant
+  template<typename ParamVariant>
+  ParamStreamer(const ParamVariant &_val, int _precision)
+    -> ParamStreamer<ParamVariant>;
+
   template<class T>
   std::ostream& operator<<(std::ostream &os, ParamStreamer<T> s)
   {

include/sdf/config.hh.in

@@ -47,7 +47,12 @@
 
 #cmakedefine SDFORMAT_DISABLE_CONSOLE_LOGFILE 1
 
+#ifndef SDF_SHARE_PATH
 #define SDF_SHARE_PATH "${CMAKE_INSTALL_FULL_DATAROOTDIR}/"
-#define SDF_VERSION_PATH "${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${SDF_MAJOR_VERSION}/${SDF_PKG_VERSION}"
+#endif
+
+#ifndef SDF_VERSION_PATH
+#define SDF_VERSION_PATH "${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/${PROJECT_VERSION}"
+#endif
 
 #endif  // #ifndef SDF_CONFIG_HH_

sdf/CMakeLists.txt

@@ -40,7 +40,7 @@ if (GZ_PROGRAM)
     add_custom_command(
       OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/full_${desc_ver_dash}.sdf
       COMMAND
-        ${CMAKE_COMMAND} -E env GZ_CONFIG_PATH=${CMAKE_BINARY_DIR}/test/conf
+        ${CMAKE_COMMAND} -E env GZ_CONFIG_PATH=${CMAKE_BINARY_DIR}/test/conf/$<CONFIG>
         ${GZ_PROGRAM}
       ARGS sdf -d ${desc_ver} > ${CMAKE_CURRENT_BINARY_DIR}/full_${desc_ver_dash}.sdf
       COMMENT "Generating full description for spec ${desc_ver}"

sdf/embedSdf.py

@@ -161,10 +161,10 @@ def generate_map_content(paths: List[Path], relative_to: Optional[str] = None) -
     for path in paths:
         with open(path, "r", encoding="utf8") as input_sdf:
             file_content = input_sdf.read()
-
             # Strip relative path if requested
             if relative_to is not None:
-                path = path.relative_to(relative_to)
+                _, relative_path = str(path).split(relative_to)
+                path = relative_path
             # dir separator is hardcoded to '/' in C++ mapping
             posix_path = PurePosixPath(path)
             content.append(embed_sdf_content(str(posix_path), file_content))
@@ -203,4 +203,4 @@ def main(args=None) -> int:
 
 
 if __name__ == "__main__":
-    sys.exit(main())
+    sys.exit(main())