Merge branch 'sdf14' into arjo/fix/example_sdf

CMakeLists.txt

@@ -5,7 +5,7 @@ if(COMMAND CMAKE_POLICY)
   CMAKE_POLICY(SET CMP0004 NEW)
 endif(COMMAND CMAKE_POLICY)
 
-project (sdformat14 VERSION 14.5.0)
+project (sdformat14 VERSION 14.6.0)
 
 # The protocol version has nothing to do with the package version.
 # It represents the current version of SDFormat implemented by the software
@@ -97,16 +97,6 @@ if (BUILD_SDF)
     )
     if (NOT Python3_Development_FOUND)
       GZ_BUILD_WARNING("Python development libraries are missing: Python interfaces are disabled.")
-    else()
-      set(PYBIND11_PYTHON_VERSION 3)
-      find_package(pybind11 2.4 CONFIG QUIET)
-
-      if (pybind11_FOUND)
-        message (STATUS "Searching for pybind11 - found version ${pybind11_VERSION}.")
-      else()
-        GZ_BUILD_WARNING("pybind11 is missing: Python interfaces are disabled.")
-        message (STATUS "Searching for pybind11 - not found.")
-      endif()
     endif()
   endif()
 
@@ -136,9 +126,11 @@ if (BUILD_SDF)
 
   ################################################
   # Find psutil python package for memory tests
-  find_python_module(psutil)
-  if (NOT PY_PSUTIL)
-    gz_build_warning("Python psutil package not found. Memory leak tests will be skipped")
+  if (BUILD_TESTING)
+    find_python_module(psutil)
+    if (NOT PY_PSUTIL)
+      gz_build_warning("Python psutil package not found. Memory leak tests will be skipped")
+    endif()
   endif()
 
   ########################################
@@ -159,7 +151,7 @@ if (BUILD_SDF)
   add_subdirectory(sdf)
   add_subdirectory(conf)
   add_subdirectory(doc)
-  if (pybind11_FOUND AND NOT SKIP_PYBIND11)
+  if (Python3_Development_FOUND AND NOT SKIP_PYBIND11)
     add_subdirectory(python)
   endif()
 endif(BUILD_SDF)

Changelog.md

@@ -1,5 +1,28 @@
 ## libsdformat 14.X
 
+### libsdformat 14.6.0 (2024-11-18)
+
+1. Support removing the actor, light, or model from the root.
+    * [Pull request #1492](https://github.com/gazebosim/sdformat/pull/1492)
+
+1. Backport: Permit building python bindings separately from libsdformat library.
+    * [Pull request #1497](https://github.com/gazebosim/sdformat/pull/1497)
+
+1. Backport: Improve installation instructions.
+    * [Pull request #1496](https://github.com/gazebosim/sdformat/pull/1496)
+
+1. Backport: Fix symbol checking test when compiled with debug symbols.
+    * [Pull request #1476](https://github.com/gazebosim/sdformat/pull/1476)
+
+1. Update joinPaths implementation in InstallationDirectories.
+    * [Pull request #1469](https://github.com/gazebosim/sdformat/pull/1469)
+
+1. Decouple linking to shlwapi from `BUILD_TESTING`.
+    * [Pull request #1468](https://github.com/gazebosim/sdformat/pull/1468)
+
+1. Add optional binary relocatability.
+    * [Pull request #1414](https://github.com/gazebosim/sdformat/pull/1414)
+
 ### libsdformat 14.5.0 (2024-08-05)
 
 1. Adding Errors structure to XmlUtils

Migration.md

@@ -12,6 +12,19 @@ forward programmatically.
 This document aims to contain similar information to those files
 but with improved human-readability..
 
+## libsdformat 14.6.0 to 14.7.0
+
+1. Inertial parameters can now be automatically calculated with a specified
+mass. Previously when the `//inertial/@auto` attribute is set to true, the
+`//inertial/mass` value is ignored and the mass, center of mass location, and
+inertia matrix are computed based on the collision geometries and densities.
+The new behavior is that if `//inertial/mass` is specified, the inertial values
+will be computed to preserve the specified mass. This is done by first
+calculating inertial parameters from all collisions using density as usual,
+calculating the ratio between user-specified mass and the auto-computed mass,
+and rescaling the computed mass and moment of inertia by that mass ratio so
+that the resulting mass matches the specified mass.
+
 ## libsdformat 13.x to 14.x
 
 ### Additions

README.md

@@ -71,9 +71,9 @@ 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
   ```
 
@@ -129,6 +129,25 @@ 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
+
+#### 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
 
 Standard installation can be performed in UNIX systems using the following
@@ -144,12 +163,35 @@ 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                          |
+|-----------------------|------|----------|--------------------------------------|
+| `SKIP_PYBIND11`       | BOOL | False    | Skip generating Python bindings via pybind11 |
+| `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.      |
+
+### Build python bindings separately from main library
+
+If you want to build Python bindings separately from the main libsdformat library
+(for example if you want to build Python bindings for multiple versions of Python),
+you can invoke cmake on the `python` folder instead of the root folder.
+This requires cmake version 3.22.1 due to the use of a `CMAKE_REQUIRE_FIND_PACKAGE_*`
+variable, which is newer than the minimum required version of cmake for sdformat14.
+Specify the path to the python executable with which you wish to build bindings
+in the `Python3_EXECUTABLE` cmake variable.
+Specify the install path for the bindings in the `CMAKE_INSTALL_PREFIX`
+variable, and be sure to set your `PYTHONPATH` accordingly after install.
+
+```bash
+cd sdformat
+mkdir build_python3
+cd build_python3
+cmake ../python \
+    -DPython3_EXECUTABLE=/usr/local/bin/python3.12 \
+    -DCMAKE_INSTALL_PREFIX=<prefix>
+```
+
+See the homebrew [sdformat15 formula](https://github.com/osrf/homebrew-simulation/blob/027d06f5be49da1e40d01180aedae7f76dc7ff47/Formula/sdformat15.rb#L12-L56)
+for an example of building bindings for multiple versions of Python.
 
 ## Uninstallation
 
@@ -160,44 +202,6 @@ 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

include/sdf/Collision.hh

@@ -170,12 +170,15 @@ namespace sdf
     /// \param[in] _autoInertiaParams An ElementPtr to the auto_inertia_params
     /// element to be used if the auto_inertia_params have not been set in this
     /// collision.
+    /// \param[in] _warnIfDensityIsUnset True to generate a warning that
+    /// the default density value will be used if it is not explicitly set.
     public: void CalculateInertial(
                     sdf::Errors &_errors,
                     gz::math::Inertiald &_inertial,
                     const ParserConfig &_config,
                     const std::optional<double> &_density,
-                    sdf::ElementPtr _autoInertiaParams);
+                    sdf::ElementPtr _autoInertiaParams,
+                    bool _warnIfDensityIsUnset = true);
 
     /// \brief Get a pointer to the SDF element that was used during
     /// load.

include/sdf/Link.hh

@@ -351,9 +351,13 @@ namespace sdf
                                    const std::string &_resolveTo = "") const;
 
     /// \brief Calculate & set inertial values(mass, mass matrix
-    /// & inertial pose) for the link. Inertial values can be provided
-    /// by the user through the SDF or can be calculated automatically
-    /// by setting the auto attribute to true.
+    /// & inertial pose) for the link. This function will calculate
+    /// the inertial values if the auto attribute is set to true.
+    /// If mass is not provided by the user, the inertial values will be
+    /// determined based on either link density or collision density if
+    /// explicitly set. Otherwise, if mass is specified, the inertia matrix
+    /// will be scaled to match the desired mass, while respecting
+    /// the ratio of density values between collisions.
     /// \param[out] _errors A vector of Errors object. Each object
     /// would contain an error code and an error message.
     /// \param[in] _config Custom parser configuration

include/sdf/ParserConfig.hh

@@ -60,7 +60,13 @@ enum class ConfigureResolveAutoInertials
 
   /// \brief If this values is used, CalculateInertial() would be
   /// called and the computed inertial values would be saved
-  SAVE_CALCULATION
+  SAVE_CALCULATION,
+
+  /// \brief If this values is used, CalculateInertial() would be
+  /// called and the computed inertial values would be saved and
+  /// written to the XML Element, allowing the calculated values
+  /// to be printed with `gz sdf --print`.
+  SAVE_CALCULATION_IN_ELEMENT,
 };
 
 // Forward declare private data class.

include/sdf/Root.hh

@@ -246,6 +246,11 @@ namespace sdf
     public: sdf::ElementPtr ToElement(
         const OutputConfig &_config = OutputConfig::GlobalConfig()) const;
 
+    /// \brief Remove the actor, light, or model if one of them exists.
+    /// The SDF Root object can only hold one, or none, from the set
+    /// [Actor, Light, Model].
+    public: void ClearActorLightModel();
+
     /// \brief Private data pointer
     GZ_UTILS_IMPL_PTR(dataPtr)
   };

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>sdformat14</name>
-  <version>14.5.0</version>
+  <version>14.6.0</version>
   <description>SDFormat is an XML file format that describes environments, objects, and robots
 in a manner suitable for robotic applications</description>
 

python/CMakeLists.txt

@@ -1,15 +1,39 @@
-if(WIN32 AND CMAKE_BUILD_TYPE STREQUAL "Debug")
-  # pybind11 logic for setting up a debug build when both a debug and release
-  # python interpreter are present in the system seems to be pretty much broken.
-  # This works around the issue.
-  set(PYTHON_LIBRARIES "${PYTHON_DEBUG_LIBRARIES}")
+# Detect if we are doing a standalone build of the bindings, using an external sdformat
+if(CMAKE_SOURCE_DIR STREQUAL CMAKE_CURRENT_SOURCE_DIR)
+  cmake_minimum_required(VERSION 3.22.1)
+  set(SDF_VER 14)
+  project(sdformat${SDF_VER}-python VERSION ${SDF_VER})
+  find_package(sdformat${SDF_VER} REQUIRED)
+  set(PROJECT_LIBRARY_TARGET_NAME "sdformat${PROJECT_VERSION_MAJOR}::sdformat${PROJECT_VERSION_MAJOR}")
+  # require python dependencies to be found
+  find_package(Python3 COMPONENTS Interpreter Development REQUIRED)
+  set(CMAKE_REQUIRE_FIND_PACKAGE_pybind11 TRUE)
+  include(GNUInstallDirs)
+  include(CTest)
+elseif(${CMAKE_VERSION} VERSION_LESS "3.12.0")
+  # TODO: remove once the minimum CMake version is increased
+  if(WIN32 AND CMAKE_BUILD_TYPE STREQUAL "Debug")
+    # pybind11 logic for setting up a debug build when both a debug and release
+    # python interpreter are present in the system seems to be pretty much broken.
+    # This works around the issue.
+    set(PYTHON_LIBRARIES "${PYTHON_DEBUG_LIBRARIES}")
+  endif()
 endif()
 
+set(PYBIND11_PYTHON_VERSION 3)
+find_package(pybind11 2.4 CONFIG QUIET)
+
+if (pybind11_FOUND)
+  message (STATUS "Searching for pybind11 - found version ${pybind11_VERSION}.")
+else()
+  message(WARNING "pybind11 is missing: Python interfaces are disabled.")
+  return()
+endif()
 
 if(USE_SYSTEM_PATHS_FOR_PYTHON_INSTALLATION)
   if(${CMAKE_VERSION} VERSION_LESS "3.12.0")
     execute_process(
-      COMMAND "${PYTHON_EXECUTABLE}" -c "if True:
+      COMMAND "${Python3_EXECUTABLE}" -c "if True:
   from distutils import sysconfig as sc
   print(sc.get_python_lib(plat_specific=True))"
       OUTPUT_VARIABLE Python3_SITEARCH
@@ -28,7 +52,7 @@ if(USE_SYSTEM_PATHS_FOR_PYTHON_INSTALLATION)
   endif()
 else()
   # If not a system installation, respect local paths
-  set(GZ_PYTHON_INSTALL_PATH ${GZ_LIB_INSTALL_DIR}/python)
+  set(GZ_PYTHON_INSTALL_PATH ${CMAKE_INSTALL_LIBDIR}/python)
 endif()
 
 # Set the build location and install location for a CPython extension
@@ -124,7 +148,6 @@ if (BUILD_TESTING AND NOT WIN32)
 
   target_link_libraries(sdformattest PRIVATE
     ${PROJECT_LIBRARY_TARGET_NAME}
-    gz-utils${GZ_UTILS_VER}::gz-utils${GZ_UTILS_VER}
   )
 
   set(python_tests

python/src/sdf/pyRoot.cc

@@ -96,6 +96,10 @@ void defineRoot(pybind11::object module)
     .def("set_light", &sdf::Root::SetLight,
          "Set the light object. This will override any existing model, "
          "actor, and light object.")
+    .def("clear_actor_light_model", &sdf::Root::ClearActorLightModel,
+         "Remove the actor, light, or model if one of them exists."
+         "The SDF Root object can only hold one, or none, from the set"
+         "[Actor, Light, Model].")
     .def("add_world", [](Root &self, const World &_world)
          {
            ThrowIfErrors(self.AddWorld(_world));