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Merge gz-sim7 ➡️ gz-sim8 #2158

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merged 12 commits into from
Sep 21, 2023
Merged

Merge gz-sim7 ➡️ gz-sim8 #2158

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b3731d6
Remove forward-ported restriction on model loading (#2104)
mjcarroll Aug 31, 2023
7179716
fix broken link to API (#2108)
mabelzhang Sep 1, 2023
2dbcc6c
Remove GZ_PHYSICS_ENGINE_INSTALL_DIR deprecation warnings (#2106)
caguero Aug 31, 2023
5ebf860
Fix default topic name of JointStatePublisher (#2115)
Bi0T1N Sep 5, 2023
b938768
Add link to existing issue (#2116)
Bi0T1N Sep 5, 2023
5bb1b1c
Fix thrust cmd topic in underwater tutorial (#2120)
iche033 Sep 6, 2023
9055d88
fix move to model (#2126)
iche033 Sep 7, 2023
183c04f
Use default physics engine in example worlds (#2134)
iche033 Sep 8, 2023
967f4f1
Fix duplicate entries in joint position controller GUI plugin (#2101)
iche033 Sep 11, 2023
9d79b62
Update video recorder tutorial screenshot (#2135)
iche033 Sep 12, 2023
3eb2c7c
Fix SDFormat xml output of sdf_exporter (#2156)
azeey Sep 20, 2023
f5087df
Merge gz-sim7 into gz-sim8
azeey Sep 20, 2023
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Remove GZ_PHYSICS_ENGINE_INSTALL_DIR deprecation warnings (#2106) 
Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
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@caguero @azeey
caguero authored and azeey committed Sep 1, 2023
commit 2dbcc6c872a204e44f4dd3e3be8c44a98b04452f
3 changes: 2 additions & 1 deletion src/systems/physics/EntityFeatureMap_TEST.cc
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Expand Up @@ -25,6 +25,7 @@
#include <gz/physics/Entity.hh>
#include <gz/physics/ForwardStep.hh>
#include <gz/physics/Implements.hh>
#include <gz/physics/InstallationDirectories.hh>
#include <gz/physics/Link.hh>
#include <gz/physics/RemoveEntities.hh>
#include <gz/physics/config.hh>
Expand Down Expand Up @@ -57,7 +58,7 @@ class EntityFeatureMapFixture: public InternalFixture<::testing::Test>
const std::string pluginLib = "gz-physics-dartsim-plugin";

common::SystemPaths systemPaths;
systemPaths.AddPluginPaths({GZ_PHYSICS_ENGINE_INSTALL_DIR});
systemPaths.AddPluginPaths(gz::physics::getEngineInstallDir());

auto pathToLib = systemPaths.FindSharedLibrary(pluginLib);
ASSERT_FALSE(pathToLib.empty())
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3 changes: 2 additions & 1 deletion src/systems/physics/Physics.cc
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Expand Up @@ -48,6 +48,7 @@
#include <gz/physics/FeatureList.hh>
#include <gz/physics/FeaturePolicy.hh>
#include <gz/physics/heightmap/HeightmapShape.hh>
#include <gz/physics/InstallationDirectories.hh>
#include <gz/physics/RelativeQuantity.hh>
#include <gz/physics/RequestEngine.hh>

Expand Down Expand Up @@ -811,7 +812,7 @@ void Physics::Configure(const Entity &_entity,
// * Engines installed with gz-physics
common::SystemPaths systemPaths;
systemPaths.SetPluginPathEnv(this->dataPtr->pluginPathEnv);
systemPaths.AddPluginPaths({GZ_PHYSICS_ENGINE_INSTALL_DIR});
systemPaths.AddPluginPaths(gz::physics::getEngineInstallDir());

auto pathToLib = systemPaths.FindSharedLibrary(pluginLib);
if (pathToLib.empty())
Expand Down
3 changes: 2 additions & 1 deletion test/integration/tracked_vehicle_system.cc
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Expand Up @@ -27,6 +27,7 @@
#include <gz/physics/ContactProperties.hh>
#include <gz/physics/FeatureList.hh>
#include <gz/physics/FeaturePolicy.hh>
#include <gz/physics/InstallationDirectories.hh>
#include <gz/physics/config.hh>
#include <gz/plugin/Loader.hh>
#include <gz/utils/ExtraTestMacros.hh>
Expand Down Expand Up @@ -105,7 +106,7 @@ class TrackedVehicleTest : public InternalFixture<::testing::Test>
// modifications)
common::SystemPaths systemPaths;
systemPaths.SetPluginPathEnv("GZ_SIM_PHYSICS_ENGINE_PATH");
systemPaths.AddPluginPaths({GZ_PHYSICS_ENGINE_INSTALL_DIR});
systemPaths.AddPluginPaths(gz::physics::getEngineInstallDir());

auto pathToLib = systemPaths.FindSharedLibrary(*pluginLib);
ASSERT_FALSE(pathToLib.empty())
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