diff --git a/README.md b/README.md
index 392e0c525..d6789a091 100644
--- a/README.md
+++ b/README.md
@@ -1,5 +1,21 @@
# sdformat
+[](https://github.com/gazebosim/sdformat/issues)
+[](https://github.com/gazebosim/sdformat/pulls)
+[](https://community.gazebosim.org)
+[](https://www.apache.org/licenses/LICENSE-2.0)
+
+
+Build | Status
+-- | --
+Test coverage | [](https://codecov.io/gh/gazebosim/sdformat/branch/sdf12)
+Ubuntu Focal | [](https://build.osrfoundation.org/job/sdformat-ci-sdformat12-focal-amd64)
+Homebrew | [](https://build.osrfoundation.org/job/sdformat-ci-sdformat12-homebrew-amd64)
+Windows | [](https://build.osrfoundation.org/job/sdformat-ci-sdformat12-windows7-amd64)
+
+
SDFormat is an XML file format that describes environments, objects, and robots
in a manner suitable for robotic applications. SDFormat is capable of representing
and describing different physic engines, lighting properties, terrain, static
@@ -13,7 +29,7 @@ See the [SDFormat Website](http://sdformat.org/) for a more comprehensive
description of the specification, proposals for modifications, developer
information, etc.
This website is published using some information from the
-[`sdf_tutorials`](https://github.com/osrf/sdf_tutorials) repository.
+[`sdf_tutorials`](https://github.com/gazebosim/sdf_tutorials) repository.
-[](https://codecov.io/gh/ignitionrobotics/sdformat/branch/sdf12)
+[http://sdformat.org/](http://sdformat.org/)
# Installation
@@ -79,8 +92,8 @@ Miniconda suffices.
Create if necessary, and activate a Conda environment:
```
-conda create -n ign-ws
-conda activate ign-ws
+conda create -n gz-ws
+conda activate gz-ws
```
Install `sdformat`:
@@ -95,14 +108,14 @@ conda search libsdformat --channel conda-forge
and install a specific minor version with
```
-conda install libsdformat=9.3.0 --channel conda-forge
+conda install libsdformat=12.5.0 --channel conda-forge
```
## Source Installation
-**Note:** the `main` branch is under development for `libsdformat12` and is
-currently unstable. A release branch (`sdf11`, `sdf10`, `sdf9`, etc.) is
+**Note:** the `main` branch is under development for `libsdformat13` and is
+currently unstable. A release branch (`sdf12`, `sdf11`, `sdf10`, `sdf9`, etc.) is
recommended for most users.
## UNIX
@@ -143,7 +156,7 @@ make uninstall
Clone the repository
```sh
-git clone https://github.com/ignitionrobotics/sdformat -b sdf<#>
+git clone https://github.com/gazebosim/sdformat -b sdf<#>
```
Be sure to replace `<#>` with a number value, such as 1 or 2, depending on
which version you need.
@@ -184,8 +197,8 @@ Miniconda suffices.
Create if necessary, and activate a Conda environment:
```
-conda create -n ign-ws
-conda activate ign-ws
+conda create -n gz-ws
+conda activate gz-ws
```
Install prerequisites:
@@ -193,7 +206,7 @@ Install prerequisites:
conda install urdfdom --channel conda-forge
```
-Install Ignition dependencies:
+Install Gazebo dependencies:
You can view lists of dependencies:
```
diff --git a/cmake/SearchForStuff.cmake b/cmake/SearchForStuff.cmake
new file mode 100644
index 000000000..3ae8d19c6
--- /dev/null
+++ b/cmake/SearchForStuff.cmake
@@ -0,0 +1,152 @@
+include (FindPkgConfig)
+
+# Detect the architecture
+include (${project_cmake_dir}/TargetArch.cmake)
+target_architecture(ARCH)
+message(STATUS "Building for arch: ${ARCH}")
+
+if (USE_EXTERNAL_TINYXML)
+ #################################################
+ # Find tinyxml. Only debian distributions package tinyxml with a pkg-config
+ # Use pkg_check_modules and fallback to manual detection (needed, at least, for MacOS)
+ pkg_check_modules(tinyxml tinyxml)
+ if (NOT tinyxml_FOUND)
+ find_path (tinyxml_INCLUDE_DIRS tinyxml.h ${tinyxml_INCLUDE_DIRS} ENV CPATH)
+ find_library(tinyxml_LIBRARIES NAMES tinyxml)
+ set (tinyxml_FAIL False)
+ if (NOT tinyxml_INCLUDE_DIRS)
+ message (STATUS "Looking for tinyxml headers - not found")
+ set (tinyxml_FAIL True)
+ endif()
+ if (NOT tinyxml_LIBRARIES)
+ message (STATUS "Looking for tinyxml library - not found")
+ set (tinyxml_FAIL True)
+ endif()
+ endif()
+
+ if (tinyxml_FAIL)
+ message (STATUS "Looking for tinyxml.h - not found")
+ BUILD_ERROR("Missing: tinyxml")
+ endif()
+else()
+ # Needed in WIN32 since in UNIX the flag is added in the code installed
+ add_definitions(-DTIXML_USE_STL)
+ include_directories (${PROJECT_SOURCE_DIR}/src/win/tinyxml)
+ set (tinyxml_LIBRARIES "tinyxml")
+ set (tinyxml_LIBRARY_DIRS "")
+endif()
+
+################################################
+# Find urdfdom parser. Logic:
+#
+# 1. if USE_INTERNAL_URDF is unset, try to use system installation, fallback to internal copy
+# 2. if USE_INTERNAL_URDF is set to True, use the internal copy
+# 3. if USE_INTERNAL_URDF is set to False, force to search system installation, fail on error
+
+if (NOT PKG_CONFIG_FOUND)
+ if (NOT DEFINED USE_INTERNAL_URDF)
+ BUILD_WARNING("Couldn't find pkg-config for urdfdom, using internal copy")
+ set(USE_INTERNAL_URDF true)
+ elseif(NOT USE_INTERNAL_URDF)
+ BUILD_ERROR("Couldn't find pkg-config for urdfdom")
+ endif()
+endif()
+
+if (NOT DEFINED USE_INTERNAL_URDF OR NOT USE_INTERNAL_URDF)
+ # check for urdfdom with pkg-config
+ pkg_check_modules(URDF urdfdom>=1.0)
+
+ if (NOT URDF_FOUND)
+ find_package(urdfdom)
+ if (urdfdom_FOUND)
+ set(URDF_INCLUDE_DIRS ${urdfdom_INCLUDE_DIRS})
+ # ${urdfdom_LIBRARIES} already contains absolute library filenames
+ set(URDF_LIBRARY_DIRS "")
+ set(URDF_LIBRARIES ${urdfdom_LIBRARIES})
+ elseif (NOT DEFINED USE_INTERNAL_URDF)
+ message(STATUS "Couldn't find urdfdom >= 1.0, using internal copy")
+ set(USE_INTERNAL_URDF true)
+ else()
+ BUILD_ERROR("Couldn't find the urdfdom >= 1.0 system installation")
+ endif()
+ else()
+ # what am I doing here? pkg-config and cmake
+ set(URDF_INCLUDE_DIRS ${URDF_INCLUDEDIR})
+ set(URDF_LIBRARY_DIRS ${URDF_LIBDIR})
+ endif()
+endif()
+
+#################################################
+# Find ign command line utility:
+find_package(ignition-tools)
+if (IGNITION-TOOLS_BINARY_DIRS)
+ message(STATUS "Looking for ignition-tools-config.cmake - found")
+else()
+ BUILD_WARNING ("ignition-tools not found, for command line utilities and for \
+generating aggregated SDFormat descriptions for sdformat.org, please install \
+ignition-tools.")
+endif()
+if (ignition-tools_FOUND)
+ set (HAVE_IGN_TOOLS TRUE)
+endif()
+# Note that CLI files are installed regardless of whether the dependency is
+# available during build time
+set (IGN_TOOLS_VER 1)
+
+################################################
+# Find the Python interpreter for running the
+# check_test_ran.py script
+find_package(PythonInterp 3 QUIET)
+
+################################################
+# Find psutil python package for memory tests
+find_python_module(psutil)
+if(NOT PY_PSUTIL)
+ BUILD_WARNING("Python psutil package not found. Memory leak tests will be skipped")
+endif()
+
+################################################
+# Find Valgrind for checking memory leaks in the
+# tests
+find_program(VALGRIND_PROGRAM NAMES valgrind PATH ${VALGRIND_ROOT}/bin)
+option(SDFORMAT_RUN_VALGRIND_TESTS "Run sdformat tests with Valgrind" FALSE)
+mark_as_advanced(SDFORMAT_RUN_VALGRIND_TESTS)
+if (SDFORMAT_RUN_VALGRIND_TESTS AND NOT VALGRIND_PROGRAM)
+ BUILD_WARNING("valgrind not found. Memory check tests will be skipped.")
+endif()
+
+################################################
+# Find ruby executable to produce xml schemas
+find_program(RUBY ruby)
+if (NOT RUBY)
+ BUILD_ERROR ("Ruby version 1.9 is needed to build xml schemas")
+else()
+ message(STATUS "Found ruby executable: ${RUBY}")
+endif()
+
+#################################################
+# Macro to check for visibility capability in compiler
+# Original idea from: https://gitorious.org/ferric-cmake-stuff/
+macro (check_gcc_visibility)
+ include (CheckCXXCompilerFlag)
+ check_cxx_compiler_flag(-fvisibility=hidden GCC_SUPPORTS_VISIBILITY)
+endmacro()
+
+########################################
+# Find ignition cmake2
+# Only for using the testing macros and creating the codecheck target, not
+# really being use to configure the whole project
+find_package(ignition-cmake2 REQUIRED)
+set(IGN_CMAKE_VER ${ignition-cmake2_VERSION_MAJOR})
+
+########################################
+# Find ignition math
+# Set a variable for generating ProjectConfig.cmake
+find_package(ignition-math6 QUIET)
+if (NOT ignition-math6_FOUND)
+ message(STATUS "Looking for ignition-math6-config.cmake - not found")
+ BUILD_ERROR ("Missing: Ignition math (libignition-math6-dev)")
+else()
+ set(IGN_MATH_VER ${ignition-math6_VERSION_MAJOR})
+ message(STATUS "Looking for ignition-math${IGN_MATH_VER}-config.cmake - found")
+endif()
diff --git a/include/sdf/Link.hh b/include/sdf/Link.hh
index bc86b1bc0..6bbbc2a8a 100644
--- a/include/sdf/Link.hh
+++ b/include/sdf/Link.hh
@@ -263,6 +263,16 @@ namespace sdf
/// \sa const ignition::math::Inertiald &Inertial() const
public: bool SetInertial(const ignition::math::Inertiald &_inertial);
+ /// \brief Resolve the Inertial to a specified frame.
+ /// If there are any errors resolving the Inertial, the output will not
+ /// be modified.
+ /// \param[out] _inertial The resolved Inertial.
+ /// \param[in] _resolveTo The Inertial will be resolved with respect to this
+ /// frame. If unset or empty, the default resolve-to frame will be used.
+ /// \return Errors in resolving pose.
+ public: Errors ResolveInertial(ignition::math::Inertiald &_inertial,
+ const std::string &_resolveTo = "") const;
+
/// \brief Get the pose of the link. This is the pose of the link
/// as specified in SDF ( ... ).
/// \return The pose of the link.
diff --git a/src/Link.cc b/src/Link.cc
index 1b788279c..951d7f6f8 100644
--- a/src/Link.cc
+++ b/src/Link.cc
@@ -421,6 +421,21 @@ bool Link::SetInertial(const ignition::math::Inertiald &_inertial)
return _inertial.MassMatrix().IsValid();
}
+/////////////////////////////////////////////////
+Errors Link::ResolveInertial(
+ ignition::math::Inertiald &_inertial,
+ const std::string &_resolveTo) const
+{
+ ignition::math::Pose3d linkPose;
+ auto errors = this->SemanticPose().Resolve(linkPose, _resolveTo);
+ if (errors.empty())
+ {
+ _inertial = this->dataPtr->inertial;
+ _inertial.SetPose(linkPose * _inertial.Pose());
+ }
+ return errors;
+}
+
/////////////////////////////////////////////////
const ignition::math::Pose3d &Link::RawPose() const
{
diff --git a/src/cmd/CMakeLists.txt b/src/cmd/CMakeLists.txt
index e831d413a..49f75c7ea 100644
--- a/src/cmd/CMakeLists.txt
+++ b/src/cmd/CMakeLists.txt
@@ -42,3 +42,16 @@ file(GENERATE
# Install the ruby command line library in an unversioned location.
install(FILES ${cmd_script_generated} DESTINATION lib/ruby/ignition)
+
+#===============================================================================
+# Bash completion
+
+# Tack version onto and install the bash completion script
+configure_file(
+ "sdf.bash_completion.sh"
+ "${CMAKE_CURRENT_BINARY_DIR}/sdf${PROJECT_VERSION_MAJOR}.bash_completion.sh" @ONLY)
+install(
+ FILES
+ ${CMAKE_CURRENT_BINARY_DIR}/sdf${PROJECT_VERSION_MAJOR}.bash_completion.sh
+ DESTINATION
+ ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_DATAROOTDIR}/gz/gz${IGN_TOOLS_VER}.completion.d)
diff --git a/src/cmd/sdf.bash_completion.sh b/src/cmd/sdf.bash_completion.sh
new file mode 100644
index 000000000..53f545be8
--- /dev/null
+++ b/src/cmd/sdf.bash_completion.sh
@@ -0,0 +1,54 @@
+#!/usr/bin/env bash
+#
+# Copyright (C) 2022 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.
+#
+
+# bash tab-completion
+
+# This is a per-library function definition, used in conjunction with the
+# top-level entry point in ign-tools.
+
+GZ_SDF_COMPLETION_LIST="
+ -k --check
+ -d --describe
+ -p --print
+ --inertial-stats
+ -h --help
+ --force-version
+ --versions
+"
+
+function _gz_sdf
+{
+ if [[ ${COMP_WORDS[COMP_CWORD]} == -* ]]; then
+ # Specify options (-*) word list for this subcommand
+ COMPREPLY=($(compgen -W "$GZ_SDF_COMPLETION_LIST" \
+ -- "${COMP_WORDS[COMP_CWORD]}" ))
+ return
+ else
+ # Just use bash default auto-complete, because we never have two
+ # subcommands in the same line. If that is ever needed, change here to
+ # detect subsequent subcommands
+ COMPREPLY=($(compgen -o default -- "${COMP_WORDS[COMP_CWORD]}"))
+ return
+ fi
+}
+
+function _gz_sdf_flags
+{
+ for word in $GZ_SDF_COMPLETION_LIST; do
+ echo "$word"
+ done
+}
diff --git a/src/ign.cc b/src/ign.cc
index b3aca2517..d8f5f850e 100644
--- a/src/ign.cc
+++ b/src/ign.cc
@@ -314,13 +314,9 @@ extern "C" SDFORMAT_VISIBLE int cmdInertialStats(
for (uint64_t i = 0; i < model->LinkCount(); i++)
{
- ignition::math::Pose3d linkPoseRelativeToModel;
- errors = model->LinkByIndex(i)->SemanticPose().
- Resolve(linkPoseRelativeToModel, "__model__");
+ ignition::math::Inertiald currentLinkInertial;
+ model->LinkByIndex(i)->ResolveInertial(currentLinkInertial, "__model__");
- auto currentLinkInertial = model->LinkByIndex(i)->Inertial();
- currentLinkInertial.SetPose(linkPoseRelativeToModel *
- currentLinkInertial.Pose());
totalInertial += currentLinkInertial;
}
diff --git a/src/ign_TEST.cc b/src/ign_TEST.cc
index 2541f1869..3370c142d 100644
--- a/src/ign_TEST.cc
+++ b/src/ign_TEST.cc
@@ -16,12 +16,14 @@
*/
#include
+#include
#include
#include
#include
#include
+#include "sdf/Filesystem.hh"
#include "sdf/parser.hh"
#include "sdf/SDFImpl.hh"
#include "sdf/sdf_config.h"
@@ -1878,6 +1880,38 @@ TEST(inertial_stats, IGN_UTILS_TEST_DISABLED_ON_WIN32(SDF))
}
}
+//////////////////////////////////////////////////
+/// \brief Check help message and bash completion script for consistent flags
+TEST(HelpVsCompletionFlags, SDF)
+{
+ // Flags in help message
+ std::string helpOutput = custom_exec_str(IgnCommand() + " sdf --help");
+
+ // Call the output function in the bash completion script
+ std::string scriptPath = PROJECT_SOURCE_PATH;
+ scriptPath = sdf::filesystem::append(scriptPath, "src", "cmd",
+ "sdf.bash_completion.sh");
+
+ // Equivalent to:
+ // sh -c "bash -c \". /path/to/sdf.bash_completion.sh; _gz_sdf_flags\""
+ std::string cmd = "bash -c \". " + scriptPath +
+ "; _gz_sdf_flags\"";
+ std::string scriptOutput = custom_exec_str(cmd);
+
+ // Tokenize script output
+ std::istringstream iss(scriptOutput);
+ std::vector flags((std::istream_iterator(iss)),
+ std::istream_iterator());
+
+ EXPECT_GT(flags.size(), 0u);
+
+ // Match each flag in script output with help message
+ for (const auto &flag : flags)
+ {
+ EXPECT_NE(std::string::npos, helpOutput.find(flag)) << helpOutput;
+ }
+}
+
/////////////////////////////////////////////////
/// Main
int main(int argc, char **argv)