9 ➡ 12

Signed-off-by: Jenn Nguyen <[email protected]>

CMakeLists.txt

@@ -56,6 +56,9 @@ if (BUILD_SDF)
  #################################################
  # Find ign command line utility:
  find_program(IGN_PROGRAM ign)
+ # Note that CLI files are installed regardless of whether the dependency is
+ # available during build time
+ set(IGN_TOOLS_VER 1)
 
  #################################################
  # Copied from catkin/cmake/empy.cmake

README.md

@@ -1,5 +1,21 @@
 # sdformat
 
+[![GitHub open issues](https://img.shields.io/github/issues-raw/gazebosim/sdformat.svg)](https://github.com/gazebosim/sdformat/issues)
+[![GitHub open pull requests](https://img.shields.io/github/issues-pr-raw/gazebosim/sdformat.svg)](https://github.com/gazebosim/sdformat/pulls)
+[![Discourse topics](https://img.shields.io/discourse/https/community.gazebosim.org/topics.svg)](https://community.gazebosim.org)
+[![Hex.pm](https://img.shields.io/hexpm/l/plug.svg)](https://www.apache.org/licenses/LICENSE-2.0)
+
+<!--
+Note: The branch name in the codecov URL & library version should be updated when forward porting
+-->
+Build | Status
+-- | --
+Test coverage | [![codecov](https://codecov.io/gh/gazebosim/sdformat/branch/sdf12/graph/badge.svg)](https://codecov.io/gh/gazebosim/sdformat/branch/sdf12)
+Ubuntu Focal | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=sdformat-ci-sdformat12-focal-amd64)](https://build.osrfoundation.org/job/sdformat-ci-sdformat12-focal-amd64)
+Homebrew | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=sdformat-ci-sdformat12-homebrew-amd64)](https://build.osrfoundation.org/job/sdformat-ci-sdformat12-homebrew-amd64)
+Windows | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=sdformat-ci-sdformat12-windows7-amd64)](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.
 
 <!--
 TODO(eric.cousineau): Move installation instructions to sdf_tutorials, and link
@@ -29,10 +45,7 @@ TODO(eric.cousineau): Move terminology section to sdf_tutorials?
 * `libsdformat` - The C++ parsing code contained within this repository,
  which can be used to read SDFormat files and return a C++ interface.
 
-## Test coverage
-
-<!-- Note: The branch name in the codecov URL should be updated when forward porting -->
-[![codecov](https://codecov.io/gh/ignitionrobotics/sdformat/branch/sdf12/graph/badge.svg)](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.
@@ -184,16 +197,16 @@ 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:
 ```
 conda install urdfdom --channel conda-forge
 ```
 
-Install Ignition dependencies:
+Install Gazebo dependencies:
 
 You can view lists of dependencies:
 ```

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 (<link> <pose> ... </pose></link>).
  /// \return The pose of the link.

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
 {

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)

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
+}

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;
  }
 

src/ign_TEST.cc

@@ -16,12 +16,14 @@
 */
 
 #include <gtest/gtest.h>
+#include <iostream>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string>
 
 #include <ignition/utils/ExtraTestMacros.hh>
 
+#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<std::string> flags((std::istream_iterator<std::string>(iss)),
+ std::istream_iterator<std::string>());
+
+ 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)