Merge branch 'gz-sim8' into ahcorde/8/gravity_static

Author: ahcorde

.github/ci/packages.apt

@@ -1,5 +1,8 @@
+binutils-dev
 freeglut3-dev
 libbenchmark-dev
+libdwarf-dev
+libdw-dev
 libfreeimage-dev
 libglew-dev
 libgz-cmake3-dev

.github/workflows/ci.yml

@@ -32,4 +32,3 @@ jobs:
           codecov-enabled: true
           cppcheck-enabled: true
           cpplint-enabled: true
-          apt-dependencies: libdwarf-dev libdw-dev binutils-dev

CMakeLists.txt

@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 #============================================================================
 # Initialize the project
 #============================================================================
-project(gz-sim8 VERSION 8.9.0)
+project(gz-sim8 VERSION 8.10.0)
 set (GZ_DISTRIBUTION "Harmonic")
 
 #============================================================================

Changelog.md

@@ -1,5 +1,152 @@
 ## Gazebo Sim 8.x
 
+### Gazebo Sim 8.10.0 (2025-10-23)
+
+1. Clean up temporary home directory to make tests more robust
+    * [Pull request #3146](https://github.com/gazebosim/gz-sim/pull/3146)
+
+1. Fix UserCommands services so that they return the actual status the executed command
+    * [Pull request #2999](https://github.com/gazebosim/gz-sim/pull/2999)
+
+1. Add EntitySemantics system that enables setting categories and tags
+    * [Pull request #3005](https://github.com/gazebosim/gz-sim/pull/3005)
+
+1. Refactor Transport service handlers `UserCommands`
+    * [Pull request #2996](https://github.com/gazebosim/gz-sim/pull/2996)
+
+1. Expose APIs for clearing the ECMs internal state tracking addition and removal
+    * [Pull request #3002](https://github.com/gazebosim/gz-sim/pull/3002)
+
+1. Disable failing test on macOS in EntityComponentManager_TEST
+    * [Pull request #3113](https://github.com/gazebosim/gz-sim/pull/3113)
+
+1. Fix crash when setting debug visualization mode while GI is disabled
+    * [Pull request #3059](https://github.com/gazebosim/gz-sim/pull/3059)
+
+1. Fix crash and synchronize gui when disabling GI with active debug visualization mode
+    * [Pull request #3062](https://github.com/gazebosim/gz-sim/pull/3062)
+
+1. Add Null check for scene initialization in `onRefreshCamerasImpl` to prevent crash
+    * [Pull request #3051](https://github.com/gazebosim/gz-sim/pull/3051)
+
+1. Update logic for setting initial state
+    * [Pull request #3044](https://github.com/gazebosim/gz-sim/pull/3044)
+
+1. Fix compatibility with protobuf v30
+    * [Pull request #3034](https://github.com/gazebosim/gz-sim/pull/3034)
+
+1. Adds a regression test for logplayback fix in #2611
+    * [Pull request #2619](https://github.com/gazebosim/gz-sim/pull/2619)
+
+1. Add missing algorithm include
+    * [Pull request #3022](https://github.com/gazebosim/gz-sim/pull/3022)
+
+1. Update our usage of workerpools
+    * [Pull request #2995](https://github.com/gazebosim/gz-sim/pull/2995)
+
+1. Fix log playback GUI display
+    * [Pull request #2611](https://github.com/gazebosim/gz-sim/pull/2611)
+
+1. Assign new gz-sim maintainer
+    * [Pull request #3008](https://github.com/gazebosim/gz-sim/pull/3008)
+
+1. Physics System populates link bounding boxes
+    * [Pull request #2821](https://github.com/gazebosim/gz-sim/pull/2821)
+
+1. Add support to get link AABB from its collisions
+    * [Pull request #2787](https://github.com/gazebosim/gz-sim/pull/2787)
+
+1. Set IGN_IP=127.0.0.1 in cmd tests
+    * [Pull request #2959](https://github.com/gazebosim/gz-sim/pull/2959)
+    * [Pull request #2887](https://github.com/gazebosim/gz-sim/pull/2887)
+
+1. Fix publishing only top level model pose in pose publisher
+    * [Pull request #2697](https://github.com/gazebosim/gz-sim/pull/2697)
+
+1. Fix crash when adding the `AdvancedLiftDrag` plugin without designating specific entity
+    * [Pull request #2923](https://github.com/gazebosim/gz-sim/pull/2923)
+
+1. Fix crash when adding the `LiftDrag` plugin without designating specific entity
+    * [Pull request #2907](https://github.com/gazebosim/gz-sim/pull/2907)
+
+1. Do not create light visuals on server side
+    * [Pull request #2888](https://github.com/gazebosim/gz-sim/pull/2888)
+
+1. [Documentation] Address #2850: Mention `GZ_SIM_SYSTEM_PLUGIN_PATH`
+    * [Pull request #2863](https://github.com/gazebosim/gz-sim/pull/2863)
+
+1. Bring back feature for plotting pose attributes from Component Inspector
+    * [Pull request #2835](https://github.com/gazebosim/gz-sim/pull/2835)
+
+1. Add more documentation to environmental_sensor.sdf example world
+    * [Pull request #2836](https://github.com/gazebosim/gz-sim/pull/2836)
+
+1. Add MecanumDrive plugin with Odom and Tf, with Tests.
+    * [Pull request #2297](https://github.com/gazebosim/gz-sim/pull/2297)
+
+1. Also handle SIGTERM gracefully
+    * [Pull request #2747](https://github.com/gazebosim/gz-sim/pull/2747)
+
+1. Gui.cc: return "" instead of nullptr
+    * [Pull request #2819](https://github.com/gazebosim/gz-sim/pull/2819)
+
+1. Attempts to print a stacktrace on segfault in our integration tests
+    * [Pull request #2776](https://github.com/gazebosim/gz-sim/pull/2776)
+
+1. Fix initialization of world components when enabling velocity checks
+    * [Pull request #2777](https://github.com/gazebosim/gz-sim/pull/2777)
+
+1. Attempt to correct mass matrix in mesh inertia calculator
+    * [Pull request #2775](https://github.com/gazebosim/gz-sim/pull/2775)
+
+1. Update LogicalCamera plugin to detect nested models
+    * [Pull request #2788](https://github.com/gazebosim/gz-sim/pull/2788)
+
+1. Support mesh optimization params in mesh inertial calculator
+    * [Pull request #2770](https://github.com/gazebosim/gz-sim/pull/2770)
+
+1. Reduce/Eliminate `sdf::Model` and `sdf::World` serialization warnings
+    * [Pull request #2742](https://github.com/gazebosim/gz-sim/pull/2742)
+
+1. Fix mesh import filters not displaying correctly on KDE
+    * [Pull request #2732](https://github.com/gazebosim/gz-sim/pull/2732)
+
+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. Check valid 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. 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. 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. Setup rendering environment before cmake runs
+    * [Pull request #1965](https://github.com/gazebosim/gz-sim/pull/1965)
+
 ### Gazebo Sim 8.9.0 (2025-02-10)
 
 1. Physics: Add components to request and receive Ray intersections

include/gz/sim/EntityComponentManager.hh

@@ -684,21 +684,19 @@ namespace gz
                   const std::string &_name) const;
 
       /// \brief Clear the list of newly added entities so that a call to
-      /// EachAdded after this will have no entities to iterate. This function
-      /// is protected to facilitate testing.
-      protected: void ClearNewlyCreatedEntities();
+      /// EachAdded after this will have no entities to iterate.
+      public: void ClearNewlyCreatedEntities();
 
       /// \brief Clear the list of removed components so that a call to
       /// RemoveComponent doesn't make the list grow indefinitely.
-      protected: void ClearRemovedComponents();
+      public: void ClearRemovedComponents();
 
       /// \brief Process all entity remove requests. This will remove
-      /// entities and their components. This function is protected to
-      /// facilitate testing.
-      protected: void ProcessRemoveEntityRequests();
+      /// entities and their components.
+      public: void ProcessRemoveEntityRequests();
 
       /// \brief Mark all components as not changed.
-      protected: void SetAllComponentsUnchanged();
+      public: void SetAllComponentsUnchanged();
 
       /// Compute the diff between this EntityComponentManager and _other at the
       /// entity level. This does not compute the diff between components of an

include/gz/sim/components/SemanticCategory.hh

@@ -0,0 +1,46 @@
+/*
+ * Copyright (C) 2025 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+#ifndef GZ_SIM_COMPONENTS_SEMANTIC_CATEGORY_HH_
+#define GZ_SIM_COMPONENTS_SEMANTIC_CATEGORY_HH_
+
+#include <cstdint>
+
+#include "gz/sim/components/Component.hh"
+#include "gz/sim/components/Factory.hh"
+#include "gz/sim/config.hh"
+
+namespace gz
+{
+namespace sim
+{
+// Inline bracket to help doxygen filtering.
+inline namespace GZ_SIM_VERSION_NAMESPACE {
+namespace components
+{
+/// \brief A component that holds the semantic category of an entity. This is
+/// meant to be used by systems such as EntitySemantics to assign categories to
+/// entities.
+/// See
+/// https://github.com/ros-simulation/simulation_interfaces/blob/1.0.0/msg/EntityCategory.msg
+using SemanticCategory = Component<uint8_t, class SemanticCategoryTag>;
+GZ_SIM_REGISTER_COMPONENT("gz_sim_components.SemanticCategory",
+                          SemanticCategory)
+}  // namespace components
+}  // namespace GZ_SIM_VERSION_NAMESPACE
+}  // namespace sim
+}  // namespace gz
+#endif

include/gz/sim/components/SemanticDescription.hh

@@ -0,0 +1,74 @@
+/*
+ * Copyright (C) 2025 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+#ifndef GZ_SIM_COMPONENTS_SEMANTIC_DESCRIPTION_HH_
+#define GZ_SIM_COMPONENTS_SEMANTIC_DESCRIPTION_HH_
+
+#include <gz/msgs/stringmsg.pb.h>
+
+#include <istream>
+#include <ostream>
+#include <string>
+
+#include "gz/sim/components/Component.hh"
+#include "gz/sim/components/Factory.hh"
+#include "gz/sim/components/Serialization.hh"
+#include "gz/sim/config.hh"
+
+namespace gz
+{
+namespace sim
+{
+// Inline bracket to help doxygen filtering.
+inline namespace GZ_SIM_VERSION_NAMESPACE {
+namespace serializers
+{
+class SemanticDescriptionSerializer
+{
+  public:
+  static std::ostream &Serialize(std::ostream &_out, const std::string &_desc)
+  {
+    msgs::StringMsg msg;
+    msg.set_data(_desc);
+    msg.SerializeToOstream(&_out);
+    return _out;
+  }
+
+  public:
+  static std::istream &Deserialize(std::istream &_in, std::string &_desc)
+  {
+    msgs::StringMsg msg;
+    msg.ParsePartialFromIstream(&_in);
+    _desc = msg.data();
+    return _in;
+  }
+};
+}  // namespace serializers
+namespace components
+{
+/// \brief A component that holds the semantic description of an entity. This is
+/// meant to be used by systems such as EntitySemantics to assign descriptions
+/// to entities. See
+/// https://github.com/ros-simulation/simulation_interfaces/blob/1.0.0/msg/EntityInfo.msg
+using SemanticDescription = Component<std::string, class SemanticDescriptionTag,
+                                      serializers::StringSerializer>;
+GZ_SIM_REGISTER_COMPONENT("gz_sim_components.SemanticDescription",
+                          SemanticDescription)
+}  // namespace components
+}  // namespace GZ_SIM_VERSION_NAMESPACE
+}  // namespace sim
+}  // namespace gz
+#endif