Merge pull request #2175 from gazebosim/merge_7_8_20230927

Merge: 7 -> 8
gazebosim · Sep 27, 2023 · 4c62304 · 4c62304
2 parents e603694 + 409d8c5
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diff --git a/Changelog.md b/Changelog.md
@@ -4,6 +4,166 @@
 
 ## Gazebo Sim 7.x
 
+### Gazebo Sim 7.6.0 (2023-09-26)
+
+1. Documentation updates
+    * [Pull request #2169](https://github.com/gazebosim/gz-sim/pull/2169)
+    * [Pull request #2135](https://github.com/gazebosim/gz-sim/pull/2135)
+    * [Pull request #2120](https://github.com/gazebosim/gz-sim/pull/2120)
+    * [Pull request #2116](https://github.com/gazebosim/gz-sim/pull/2116)
+    * [Pull request #2115](https://github.com/gazebosim/gz-sim/pull/2115)
+    * [Pull request #2108](https://github.com/gazebosim/gz-sim/pull/2108)
+    * [Pull request #2067](https://github.com/gazebosim/gz-sim/pull/2067)
+    * [Pull request #1996](https://github.com/gazebosim/gz-sim/pull/1996)
+
+1. Backport reset button fix
+    * [Pull request #2159](https://github.com/gazebosim/gz-sim/pull/2159)
+
+1. Fix SDFormat xml output of sdf_exporter
+    * [Pull request #2156](https://github.com/gazebosim/gz-sim/pull/2156)
+
+1. Fix duplicate entries in joint position controller GUI plugin
+    * [Pull request #2101](https://github.com/gazebosim/gz-sim/pull/2101)
+
+1. Use default physics engine in example worlds
+    * [Pull request #2134](https://github.com/gazebosim/gz-sim/pull/2134)
+
+1. Fix move to model
+    * [Pull request #2126](https://github.com/gazebosim/gz-sim/pull/2126)
+
+1. Remove GZ_PHYSICS_ENGINE_INSTALL_DIR deprecation warnings
+    * [Pull request #2106](https://github.com/gazebosim/gz-sim/pull/2106)
+
+1. Remove forward-ported restriction on model loading
+    * [Pull request #2104](https://github.com/gazebosim/gz-sim/pull/2104)
+
+1. Odometry topic for the track controller system
+    * [Pull request #2021](https://github.com/gazebosim/gz-sim/pull/2021)
+
+1. Add tutorials for ApplyForceTorque and MouseDrag plugins
+    * [Pull request #2083](https://github.com/gazebosim/gz-sim/pull/2083)
+
+1. Prevent crash when viewing heightmap collision
+    * [Pull request #2097](https://github.com/gazebosim/gz-sim/pull/2097)
+
+1. Force offset and vector magnitude support in ApplyForceTorque
+    * [Pull request #2056](https://github.com/gazebosim/gz-sim/pull/2056)
+
+1. Fix plugin conversion error message
+    * [Pull request #2094](https://github.com/gazebosim/gz-sim/pull/2094)
+
+1. Visualization tools for the ApplyForceTorque GUI plugin
+    * [Pull request #2051](https://github.com/gazebosim/gz-sim/pull/2051)
+
+1. Improve documentation on how to replace Scene3D plugin
+    * [Pull request #1698](https://github.com/gazebosim/gz-sim/pull/1698)
+
+1. Configurable stiffnesses in MouseDrag
+    * [Pull request #2057](https://github.com/gazebosim/gz-sim/pull/2057)
+
+1. Infrastructure
+    * [Pull request #2075](https://github.com/gazebosim/gz-sim/pull/2075)
+    * [Pull request #2066](https://github.com/gazebosim/gz-sim/pull/2066)
+    * [Pull request #2012](https://github.com/gazebosim/gz-sim/pull/2012)
+    * [Pull request #1988](https://github.com/gazebosim/gz-sim/pull/1988)
+
+1. Add new MouseDrag plugin
+    * [Pull request #2038](https://github.com/gazebosim/gz-sim/pull/2038)
+
+1. Relax scene init check in visualize lidar gui plugin
+    * [Pull request #2077](https://github.com/gazebosim/gz-sim/pull/2077)
+
+1. Add force offset support to ApplyLinkWrench system and to Link API
+    * [Pull request #2026](https://github.com/gazebosim/gz-sim/pull/2026)
+
+1. Proposal to add deadband to thruster
+    * [Pull request #1927](https://github.com/gazebosim/gz-sim/pull/1927)
+
+1. Avoid nullptr dereference if TouchPlugin is not attached to a model entity.
+    * [Pull request #2069](https://github.com/gazebosim/gz-sim/pull/2069)
+
+1. Remove unnecessary headers to fix ABI checker
+    * [Pull request #2070](https://github.com/gazebosim/gz-sim/pull/2070)
+
+1. Fix Joint Position Controller Behaviour Described in #1997
+    * [Pull request #2001](https://github.com/gazebosim/gz-sim/pull/2001)
+
+1. Include contact force, normal, and depth in contact message
+    * [Pull request #2050](https://github.com/gazebosim/gz-sim/pull/2050)
+
+1. Use sdf::Element::FindElement instead of GetElement in ApplyLinkWrench
+    * [Pull request #2052](https://github.com/gazebosim/gz-sim/pull/2052)
+
+1. Backport sensors system threading optimization changes
+    * [Pull request #2058](https://github.com/gazebosim/gz-sim/pull/2058)
+
+1. Apply Force and Torque GUI plugin
+    * [Pull request #2014](https://github.com/gazebosim/gz-sim/pull/2014)
+
+1. Adds a warning if the `Server` method of a `TestFixture` is called before `Finalize`
+    * [Pull request #2047](https://github.com/gazebosim/gz-sim/pull/2047)
+
+1. Support loading mesh by mesh name in `<mesh><uri>`
+    * [Pull request #2007](https://github.com/gazebosim/gz-sim/pull/2007)
+
+1. ComponentInspector: display PhysicsEnginePlugin
+    * [Pull request #2032](https://github.com/gazebosim/gz-sim/pull/2032)
+
+1. Send BlockOrbit false events only once from TransformControl plugin
+    * [Pull request #2030](https://github.com/gazebosim/gz-sim/pull/2030)
+
+1. Categorize tutorials list
+    * [Pull request #2028](https://github.com/gazebosim/gz-sim/pull/2028)
+
+1. Add time out to wait to avoid deadlock
+    * [Pull request #2025](https://github.com/gazebosim/gz-sim/pull/2025)
+
+1. Add optional binary relocatability
+    * [Pull request #1968](https://github.com/gazebosim/gz-sim/pull/1968)
+
+1. Several minor fixes
+    * [Pull request #2027](https://github.com/gazebosim/gz-sim/pull/2027)
+
+1. Protobuf: Do not require version 3 do support Protobuf 4.23.2 (23.2)
+    * [Pull request #2006](https://github.com/gazebosim/gz-sim/pull/2006)
+
+1. Support world joints (joints inside `<world>` tags)
+    * [Pull request #1949](https://github.com/gazebosim/gz-sim/pull/1949)
+
+1. Disable pybind11 on Windows by default
+    * [Pull request #2005](https://github.com/gazebosim/gz-sim/pull/2005)
+
+1. Port record topic fix
+    * [Pull request #2004](https://github.com/gazebosim/gz-sim/pull/2004)
+
+1. Allow re-attaching detached joint
+    * [Pull request #1687](https://github.com/gazebosim/gz-sim/pull/1687)
+
+1.  Enable GzWeb visualization of markers by republishing service requests on a topic
+    * [Pull request #1994](https://github.com/gazebosim/gz-sim/pull/1994)
+
+1. Support loading Projectors
+    * [Pull request #1979](https://github.com/gazebosim/gz-sim/pull/1979)
+
+1. Small fixes to gz headers
+    * [Pull request #1985](https://github.com/gazebosim/gz-sim/pull/1985)
+
+1. Speed up Resource Spawner load time by fetching model list asynchronously
+    * [Pull request #1962](https://github.com/gazebosim/gz-sim/pull/1962)
+
+1. Add redirection header gz/sim.hh
+    * [Pull request #1983](https://github.com/gazebosim/gz-sim/pull/1983)
+
+1. Add missing cmake exports from core library
+    * [Pull request #1978](https://github.com/gazebosim/gz-sim/pull/1978)
+
+1. Add tutorial on migrating the Sensor class from gazebo classic
+    * [Pull request #1930](https://github.com/gazebosim/gz-sim/pull/1930)
+
+1. ign -> gz Migrate Ignition Headers : gz-sim
+    * [Pull request #1646](https://github.com/gazebosim/gz-sim/pull/1646)
+
+
 ### Gazebo Sim 7.5.0 (2023-05-14)
 
 1. Actuators message input for JointController.

diff --git a/examples/plugin/rendering_plugins/rendering_plugins.sdf b/examples/plugin/rendering_plugins/rendering_plugins.sdf
@@ -79,7 +79,6 @@
           <property type="bool" key="showTitleBar">false</property>
           <property type="bool" key="resizable">false</property>
           <property type="double" key="height">72</property>
-          <property type="double" key="width">121</property>
           <property type="double" key="z">1</property>
 
           <property type="string" key="state">floating</property>

diff --git a/examples/scripts/log_video_recorder/log_video_recorder.sdf b/examples/scripts/log_video_recorder/log_video_recorder.sdf
@@ -75,7 +75,6 @@
           <property type='bool' key='showTitleBar'>false</property>
           <property type='bool' key='resizable'>false</property>
           <property type='double' key='height'>72</property>
-          <property type='double' key='width'>121</property>
           <property type='double' key='z'>1</property>
           <property type='string' key='state'>floating</property>
           <anchors target='3D View'>

diff --git a/examples/worlds/tracked_vehicle_simple.sdf b/examples/worlds/tracked_vehicle_simple.sdf
@@ -1780,7 +1780,6 @@
                     <property type='bool' key='showTitleBar'>0</property>
                     <property type='bool' key='resizable'>0</property>
                     <property type='double' key='height'>72</property>
-                    <property type='double' key='width'>121</property>
                     <property type='double' key='z'>1</property>
                     <property type='string' key='state'>floating</property>
                     <anchors target='3D View'>

diff --git a/src/gui/playback_gui.config b/src/gui/playback_gui.config
@@ -111,7 +111,6 @@
     <property type="bool" key="showTitleBar">false</property>
     <property type="bool" key="resizable">false</property>
     <property type="double" key="height">72</property>
-    <property type="double" key="width">121</property>
     <property type="double" key="z">1</property>
 
     <property type="string" key="state">floating</property>

diff --git a/test/integration/save_world.cc b/test/integration/save_world.cc
@@ -423,7 +423,7 @@ TEST_F(SdfGeneratorFixture, ModelWithNestedIncludes)
   ASSERT_NE(nullptr, uri);
   ASSERT_NE(nullptr, uri->GetText());
   EXPECT_EQ(
-    "https://fuel.gazebosim.org/1.0/openrobotics/models/coke can/2",
+    "https://fuel.gazebosim.org/1.0/openrobotics/models/coke can/3",
      std::string(uri->GetText()));
 
   name = include->FirstChildElement("name");

diff --git a/tutorials/apply_force_torque.md b/tutorials/apply_force_torque.md
@@ -15,7 +15,7 @@ gz sim shapes.sdf
 From the plugin dropdown, select the `Apply Force Torque` plugin. Make sure the
 simulation isn't paused.
 
-![Interface](https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/apply_force_torque/Interface.png)
+\image html files/apply_force_torque/Interface.png width=60%
 
 ### Apply force to a link
 
@@ -29,14 +29,14 @@ On the dialog, write `10000` on the `X` field under `Force` and click on
 applied in the link's `X` direction for a single time-step, which is in the
 order of milliseconds, thus the need for such a large force.
 
-![Apply Force](https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/apply_force_torque/Force.png)
+\image html files/apply_force_torque/Force.png width=60%
 
 ### Apply torque to a link
 
 On the dialog, write `2000` on the `X` field under `Torque` and click on
 `Apply Torque` to see the cylinder rotate slightly.
 
-![Apply Torque](https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/apply_force_torque/Torque.png)
+\image html files/apply_force_torque/Torque.png width=60%
 
 ### Apply force with an offset
 
@@ -46,7 +46,7 @@ field under `Force` and `1` under the `Z` field under `Offset`. Press
 `Apply Force` to see the model move slightly in the `X` direction while also
 rotating around the `Y` direction.
 
-![Apply Force Offset](https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/apply_force_torque/ForceOffset.png)
+\image html files/apply_force_torque/ForceOffset.png width=60%
 
 ### Rotation tool
 
@@ -56,7 +56,7 @@ force around the `Z` axis so that it is aligned with the `Y` direction. Notice
 how the XYZ fields changed, but not the magnitude. Press `Apply Force` to see
 the model move in the `Y` direction.
 
-![Rotation tool](https://raw.githubusercontent.com/gazebosim/gz-sim/main/tutorials/files/apply_force_torque/RotationTool.png)
+\image html files/apply_force_torque/RotationTool.png width=60%
 
 ## The interface explained