Merge remote-tracking branch 'origin/mjcarroll/bzlmod' into mjcarroll…

…/bzlmod

CMakeLists.txt

@@ -43,7 +43,7 @@ if (BUILD_SDF)
   gz_configure_project(
     NO_PROJECT_PREFIX
     REPLACE_INCLUDE_PATH sdf
-    VERSION_SUFFIX pre2)
+    VERSION_SUFFIX)
 
   #################################################
   # Find tinyxml2.

Changelog.md

@@ -1,9 +1,15 @@
 ## libsdformat 15.X
 
-### libsdformat 15.0.0 (2024-09-XX)
+### libsdformat 15.0.0 (2024-09-25)
 
 1. **Baseline:** this includes all changes from 14.5.0 and earlier.
 
+1. Use colcon for Windows building compilation
+    * [Pull request #1481](https://github.com/gazebosim/sdformat/pull/1481)
+
+1. Spec 1.12: link_state, joint_state changes
+    * [Pull request #1461](https://github.com/gazebosim/sdformat/pull/1461)
+
 1. Fix symbol checking test when compiled with debug symbols
     * [Pull request #1474](https://github.com/gazebosim/sdformat/pull/1474)
 

MODULE.bazel

@@ -10,21 +10,18 @@ bazel_dep(name = "rules_license", version = "0.0.8")
 bazel_dep(name = "tinyxml2", version = "10.0.0")
 
 # Gazebo Dependencies
-bazel_dep(name = "rules_gazebo")
+bazel_dep(name = "rules_gazebo", version = "0.0.2")
 bazel_dep(name = "gz-utils")
 bazel_dep(name = "gz-math")
 
-local_path_override(
-    module_name = "rules_gazebo",
-    path = "/usr/local/google/home/mjcarroll/workspaces/gz_ionic_bazel/rules_gazebo",
-)
-
-local_path_override(
+archive_override(
     module_name = "gz-utils",
-    path = "/usr/local/google/home/mjcarroll/workspaces/gz_ionic_bazel/gz-utils",
+    strip_prefix = "gz-utils-gz-utils3",
+    urls = ["https://github.com/gazebosim/gz-utils/archive/refs/heads/gz-utils3.tar.gz"],
 )
 
-local_path_override(
+archive_override(
     module_name = "gz-math",
-    path = "/usr/local/google/home/mjcarroll/workspaces/gz_ionic_bazel/gz-math",
+    strip_prefix = "gz-math-gz-math8",
+    urls = ["https://github.com/gazebosim/gz-math/archive/refs/heads/gz-math8.tar.gz"],
 )

README.md

@@ -66,14 +66,14 @@ sudo apt-get update
 sudo apt install libsdformat<#>-dev libsdformat<#>
 ```
 
-Be sure to replace `<#>` with a number value, such as 2 or 3, depending on
+Be sure to replace `<#>` with a number value, such as 14 or 15, depending on
 which version you need, or leave it empty for version 1.
 
 ### macOS
 
-On macOS, add OSRF packages:
+On macOS, after installing the [Homebrew package manager](https://brew.sh),
+add OSRF packages:
   ```sh
-  /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
   brew tap osrf/simulation
   ```
 
@@ -82,7 +82,7 @@ Install sdformat:
   brew install sdformat<#>
   ```
 
-Be sure to replace `<#>` with a number value, such as 1 or 2, depending on
+Be sure to replace `<#>` with a number value, such as 14 or 15, depending on
 which version you need.
 
 ### Windows
@@ -126,7 +126,26 @@ Clone the repository
 ```sh
 git clone https://github.com/gazebosim/sdformat -b sdf<#>
 ```
-Be sure to replace `<#>` with a number value, such as 1 or 2, depending on
+Be sure to replace `<#>` with a number value, such as 14 or 15, depending on
+which version you need.
+
+### Install dependencies
+
+#### Ubuntu
+
+```sh
+cd sdformat
+sudo apt -y install \
+  $(sort -u $(find . -iname 'packages-'`lsb_release -cs`'.apt' -o -iname 'packages.apt' | tr '\n' ' '))
+```
+
+#### macOS
+
+```sh
+brew install --only-dependencies sdformat<#>
+```
+
+Be sure to replace `<#>` with a number value, such as 14 or 15, depending on
 which version you need.
 
 ### Build from Source
@@ -144,12 +163,10 @@ make install
 
 sdformat supported cmake parameters at configuring time:
 
-* `USE_INTERNAL_URDF` (`bool`) [default `False`] <br/>
-  Use an internal copy of urdfdom 1.0.0 instead of look for one
-  installed in the system
-* `USE_UPSTREAM_CFLAGS` (`bool`) [default `True`] <br/>
-  Use the sdformat team compilation flags instead of the common set defined
-  by cmake.
+| Name                  | Type | Default  | Description                          |
+|-----------------------|------|----------|--------------------------------------|
+| `USE_INTERNAL_URDF`   | BOOL | False    | Use an internal copy of urdfdom 1.0.0 instead of looking for one installed in the system |
+| `USE_UPSTREAM_CFLAGS` | BOOL | True     | Use the sdformat team compilation flags instead of the common set defined by cmake.      |
 
 ## Uninstallation
 
@@ -160,44 +177,6 @@ cd build
 make uninstall
 ```
 
-## macOS
-
-### Prerequisites
-
-Clone the repository
-```sh
-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.
-
-Install dependencies
-```sh
-brew install --only-dependencies sdformat<#>
-```
-
-### Build from Source
-
-1. Configure and build
-  ```sh
-  cd sdformat
-  mkdir build
-  cd build
-  cmake .. # Consider specifying -DCMAKE_INSTALL_PREFIX=...
-  make
-  ```
-
-2. Optionally, install and uninstall
-  ```sh
-  sudo make install
-  ```
-
-  To uninstall the software installed with the previous steps:
-  ```sh
-  cd build/
-  sudo make uninstall
-  ```
-
 ## Windows
 
 ### Prerequisites
@@ -213,34 +192,37 @@ conda activate gz-ws
 
 Install prerequisites:
 ```
-conda install tinyxml2 urdfdom --channel conda-forge
+conda install cmake git vcstool colcon-common-extensions ^
+tinyxml2 urdfdom pybind11 -channel conda-forge
 ```
 
-Install Gazebo dependencies:
+### Getting the sources and building from Source
 
-You can view lists of dependencies:
-```
-conda search libsdformat --channel conda-forge --info
-```
+Be sure to replace `<#>` with a number value, such as 14 or 15, depending on
+which version you need.
+
+1. Getting the sources
 
-Install dependencies, replacing `<#>` with the desired versions:
 ```
-conda install libgz-cmake<#> libgz-math<#> libgz-tools<#> libgz-utils<#> --channel conda-forge
+mkdir ws\src
+cd ws
+vcs import src --input https://raw.githubusercontent.com/gazebo-tooling/gazebodistro/master/sdformat<#>.yaml
 ```
 
-### Build from Source
+2. Build from source
 
-This assumes you have created and activated a Conda environment while installing the Prerequisites.
+Note: the Gazebo library dependencies are going to be compiled from source
+with sdformat although it should be possible to install them from
+conda-forge on stable Gazebo releases using the standard conda install
+command.
 
-1. Configure and build
-  ```
-  mkdir build
-  cd build
-  cmake .. -DBUILD_TESTING=OFF  # Optionally, -DCMAKE_INSTALL_PREFIX=path\to\install
-  cmake --build . --config Release
-  ```
+Build the gazebo libraries needed as dependencies (skip testing to speed up the compilation)
+using the [colcon](https://colcon.readthedocs.io/en/released/) tool:
+```
+  colcon build --cmake-args -DBUILD_TESTING=OFF --merge-install --packages-skip sdformat<#>
+```
 
-2. Install
-  ```
-  cmake --install . --config Release
-  ```
+Build sdformat with its test suite:
+```
+  colcon build --cmake-args -DBUILD_TESTING=ON --merge-install --packages-select sdformat<#>
+```