Gravity set command fixed

[IceShuttle]

🦟 Bug fix

Summary

This pull requests solves the issue in gz-physics but since it requires changes in this repo instead of gz-physics I am opening this pr here.
With this gazebo now supports changing gravity at runtime by running
'gz service -s /world/world_demo/set_physics --reqtype gz.msgs.Physics --reptype gz.msgs.Boolean --timeout 2000 --req 'gravity { x: 0 y: 0 z: -2.8 }'

Checklist

• Signed all commits for DCO
• Added tests
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers
• Was GenAI used to generate this PR? If so, make sure to add "Generated-by" to your commits. (See this policy for more info.)

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by and Generated-by messages.

Signed-off-by: Shivang [email protected]

[arjo129]

Can we also get an integration test to ensure this does not accidentally get deleted or broken?

[arjo129]

Can you also fix the DCO signature following these instructions: https://github.com/gazebosim/gz-sim/pull/3189/checks?check_run_id=55365258481

[IceShuttle]

Can we also get an integration test to ensure this does not accidentally get deleted or broken?

Hi I have tried to add the test but I don't know if this works properly since I have a weak laptop it gives me an oom error.
So I have to rely on the automated workflow or anyone else to run it untill I can my hands on something more powerful
Sorry for the inconvenience

[arjo129]

One way I avoid OOM errors while building gazebo is to use export MAKEFLAGS=-j1 and build using colcon build --executor sequential. You also probably only want to run the test that you affected. So rather than colcon test you can find the binaries of the individual tests inside the build directory created by colcon.

[IceShuttle]

One way I avoid OOM errors while building gazebo is to use export MAKEFLAGS=-j1 and build using colcon build --executor sequential. You also probably only want to run the test that you affected. So rather than colcon test you can find the binaries of the individual tests inside the build directory created by colcon.

It actually builds just fine and I tried running only the individual tests by running ctest --rerun-failed --output-on-failure command

[IceShuttle]

Thanks for you suggestion of manually running the binary that helped me find out that the out of memory error was actually not out of memory it was because of my code accidentally tried to double free a pointer. (I don't know why it said oom? maybe it just classifies memory errors as oom??) wierd!!
Anyways now its working correctly

[arjo129]

LGTM once you get passed the style related issues flagged by the CI. I tested it and it works well.
You can use pre-commit if you want to automatically format your code.
Thanks for your contribution.

[arjo129]

Couple more minor style issues:

[IceShuttle]

Ran pre-commit hopefully this time it should work

[arjo129]

Just pushed a minor style fix. LGTM! Thanks for your work on this.

[arjo129]

@Mergifyio backport gz-sim10 gz-sim9 gz-sim8 ign-gazebo6

[mergify]

backport gz-sim10 gz-sim9 gz-sim8 ign-gazebo6

✅ Backports have been created

• #3192 Gravity set command fixed (backport #3189) has been created for branch gz-sim10
• #3190 Gravity set command fixed (backport #3189) has been created for branch gz-sim9
• #3191 Gravity set command fixed (backport #3189) has been created for branch gz-sim8
• #3193 Gravity set command fixed (backport #3189) has been created for branch ign-gazebo6 but encountered conflicts