Merge branch 'gazebo11' into scpeters/plowing

.github/workflows/conda-forge.yml

@@ -37,7 +37,9 @@ jobs:
         # Compilation related dependencies
         mamba install cmake compilers make ninja pkg-config
         # Actual dependencies
-        mamba install libprotobuf libsdformat libignition-cmake2 libignition-math6 libignition-transport8 libignition-common3 libignition-fuel-tools4 qt=5.12.9=*_4 ogre=1.10 freeimage curl tbb-devel qwt tinyxml2 libccd boost-cpp libcurl tinyxml bzip2 zlib ffmpeg graphviz libgdal libusb bullet-cpp dartsim simbody hdf5 openal-soft glib gts
+        # re-add dartsim once the libsdformat 9.8 issue is resolved
+        # https://github.com/osrf/gazebo/pull/3223#issuecomment-1140019713
+        mamba install libprotobuf libsdformat libignition-cmake2 libignition-math6 libignition-transport8 libignition-common3 libignition-fuel-tools4 qt=5.12.9=*_4 ogre=1.10 freeimage curl tbb-devel qwt tinyxml2 libccd boost-cpp libcurl tinyxml bzip2 zlib ffmpeg graphviz libgdal libusb bullet-cpp simbody hdf5 openal-soft glib gts
 
     - name: Linux-only Dependencies [Linux]
       if: contains(matrix.os, 'ubuntu')

CMakeLists.txt

@@ -18,11 +18,11 @@ string (TOLOWER ${PROJECT_NAME} PROJECT_NAME_LOWER)
 string (TOUPPER ${PROJECT_NAME} PROJECT_NAME_UPPER)
 
 set (GAZEBO_MAJOR_VERSION 11)
-set (GAZEBO_MINOR_VERSION 10)
+set (GAZEBO_MINOR_VERSION 11)
 # The patch version may have been bumped for prerelease purposes; be sure to
 # check gazebo-release/ubuntu/debian/changelog@default to determine what the
 # next patch version should be for a regular release.
-set (GAZEBO_PATCH_VERSION 2)
+set (GAZEBO_PATCH_VERSION 0)
 
 set (GAZEBO_VERSION ${GAZEBO_MAJOR_VERSION}.${GAZEBO_MINOR_VERSION})
 set (GAZEBO_VERSION_FULL ${GAZEBO_MAJOR_VERSION}.${GAZEBO_MINOR_VERSION}.${GAZEBO_PATCH_VERSION})
@@ -194,6 +194,7 @@ set(OGRE_RESOURCE_PATH ${OGRE_PLUGINDIR})
 # Seems that OGRE_PLUGINDIR can end in a newline, which will cause problems when
 # we pass it to the compiler later.
 string(REPLACE "\n" "" OGRE_RESOURCE_PATH ${OGRE_RESOURCE_PATH})
+FILE(TO_CMAKE_PATH "${OGRE_RESOURCE_PATH}" OGRE_RESOURCE_PATH)
 
 
 # Check for DRI capable Display

Changelog.md

@@ -1,5 +1,37 @@
 ## Gazebo 11
 
+## Gazebo 11.11.0 (2022-05-25)
+
+1. Convert `OGRE_RESOURCE_PATH` with `TO_CMAKE_PATH`
+    * [Pull request #3165](https://github.com/osrf/gazebo/pull/3165)
+    * A contrubition from Silvio Traversaro
+
+1. Fix compatibility with FFmpeg 5.0
+    * [Pull request #3195](https://github.com/osrf/gazebo/pull/3195)
+    * A contrubition from Silvio Traversaro
+
+1. Get/Set friction coefficients of wheels
+    * [Pull request #3219](https://github.com/osrf/gazebo/pull/3219)
+
+1. Support `<anti_aliasing>` element when setting up camera
+    * [Pull request #3201](https://github.com/osrf/gazebo/pull/3201)
+
+1. Added shininess to models
+    * [Pull request #3213](https://github.com/osrf/gazebo/pull/3213)
+    * [Pull request #3223](https://github.com/osrf/gazebo/pull/3223)
+
+1. Fix missing namespace for string
+    * [Pull request #3211](https://github.com/osrf/gazebo/pull/3211)
+
+1. Fix typo in TBB target check in `gazebo-config.cmake.in`
+    * [Pull request #3207](https://github.com/osrf/gazebo/pull/3207)
+
+1. Separate cache files for each heightmap LOD
+    * [Pull request #3200](https://github.com/osrf/gazebo/pull/3200)
+
+1. Parse `ode_quiet` physics parameter from SDFormat
+    * [Pull request #3194](https://github.com/osrf/gazebo/pull/3194)
+
 ## Gazebo 11.10.2 (2022-03-19)
 
 1. Support plotting for entities with / in the name
@@ -5051,3 +5083,4 @@ compilation on Windows.
 *  Numerous bug fixes
 *  APT repository hosted at [http://osrfoundation.org OSRF]
 *  Improved process control prevents zombie processes
+

README.md

@@ -4,13 +4,13 @@ Gazebo - A dynamic multi-robot simulator
 This is the Gazebo simulator.  Gazebo simulates multiple robots in a
 3D environment, with extensive dynamic interaction between objects.
 
-  http://gazebosim.org
+  http://classic.gazebosim.org
 
 Installation
 ------------
 Instructions are located at
 
-  http://gazebosim.org/install
+  http://classic.gazebosim.org/install
 
 Gazebo cmake parameters available at configuring time:
 
@@ -51,7 +51,7 @@ Gazebo cmake parameters available at configuring time:
 
 Uninstallation
 --------------
-Read the uninstallation instructions (http://gazebosim.org/uninstall) in the
+Read the uninstallation instructions (http://classic.gazebosim.org/uninstall) in the
 online manual for generic instructions.  For most people, the following
 sequence will suffice (might need sudo if it installed in /usr):
 

cmake/SearchForStuff.cmake

@@ -608,7 +608,7 @@ endif ()
 
 ########################################
 # Find SDFormat
-set(SDF_MIN_REQUIRED_VERSION 9.3)
+set(SDF_MIN_REQUIRED_VERSION 9.8)
 find_package(sdformat9 ${SDF_MIN_REQUIRED_VERSION} REQUIRED)
 if (sdformat9_FOUND)
   message (STATUS "Looking for SDFormat9  - found")

cmake/gazebo-config.cmake.in

@@ -171,7 +171,7 @@ list(APPEND @PKG_NAME@_INCLUDE_DIRS ${PROTOBUF_INCLUDE_DIRS})
 list(APPEND @PKG_NAME@_LIBRARIES ${PROTOBUF_LIBRARIES})
 
 # Find SDFormat
-find_package(sdformat9 REQUIRED)
+find_package(sdformat9 REQUIRED VERSION 9.8)
 list(APPEND @PKG_NAME@_INCLUDE_DIRS ${SDFormat_INCLUDE_DIRS})
 list(APPEND @PKG_NAME@_LIBRARIES ${SDFormat_LIBRARIES})
 
@@ -226,7 +226,7 @@ list(APPEND @PKG_NAME@_LDFLAGS -L${GAZEBO_INSTALL_LIB_DIR}/gazebo-@GAZEBO_MAJOR_
 set (GAZEBO_HAS_TBB_GREATER_OR_EQUAL_2021 @HAVE_TBB_GREATER_OR_EQUAL_2021@)
 if (GAZEBO_HAS_TBB_GREATER_OR_EQUAL_2021)
   find_package(TBB CONFIG)
-  if (TARGET tbb::tbb)
+  if (TARGET TBB::tbb)
     list(APPEND @PKG_NAME@_LIBRARIES TBB::tbb)
   endif ()
 endif ()

gazebo/common/AudioDecoder.cc

@@ -59,8 +59,12 @@ void AudioDecoder::Cleanup()
 #ifdef HAVE_FFMPEG
 bool AudioDecoder::Decode(uint8_t **_outBuffer, unsigned int *_outBufferSize)
 {
-  AVPacket packet, packet1;
+#if LIBAVFORMAT_VERSION_MAJOR < 59
+  AVPacket *packet, packet1;
   int bytesDecoded = 0;
+#else
+  AVPacket *packet;
+#endif
   unsigned int maxBufferSize = 0;
   AVFrame *decodedFrame = nullptr;
 
@@ -97,14 +101,66 @@ bool AudioDecoder::Decode(uint8_t **_outBuffer, unsigned int *_outBufferSize)
   else
     common::AVFrameUnref(decodedFrame);
 
-  av_init_packet(&packet);
-  while (av_read_frame(this->formatCtx, &packet) == 0)
+  packet = av_packet_alloc();
+  if (!packet)
+  {
+    gzerr << "Failed to allocate AVPacket" << std::endl;
+    return false;
+  }
+  while (av_read_frame(this->formatCtx, packet) == 0)
   {
-    if (packet.stream_index == this->audioStream)
+    if (packet->stream_index == this->audioStream)
     {
+#if LIBAVFORMAT_VERSION_MAJOR >= 59
+      // Inspired from
+      // https://github.com/FFmpeg/FFmpeg/blob/n5.0/doc/examples/decode_audio.c#L71
+
+      // send the packet with the compressed data to the decoder
+      int ret = avcodec_send_packet(this->codecCtx, packet);
+      if (ret < 0)
+      {
+        gzerr << "Error submitting the packet to the decoder" << std::endl;
+        return false;
+      }
+
+      // read all the output frames
+      // (in general there may be any number of them)
+      while (ret >= 0)
+      {
+        ret = avcodec_receive_frame(this->codecCtx, decodedFrame);
+        if (ret == AVERROR(EAGAIN) || ret == AVERROR_EOF)
+        {
+          break;
+        }
+        else if (ret < 0)
+        {
+            gzerr << "Error during decoding" << std::endl;
+            return false;
+        }
+
+        // Total size of the data. Some padding can be added to
+        // decodedFrame->data[0], which is why we can't use
+        // decodedFrame->linesize[0].
+        int size = decodedFrame->nb_samples *
+          av_get_bytes_per_sample(this->codecCtx->sample_fmt) *
+          this->codecCtx->channels;
+
+        // Resize the audio buffer as necessary
+        if (*_outBufferSize + size > maxBufferSize)
+        {
+          maxBufferSize += size * 5;
+          *_outBuffer = reinterpret_cast<uint8_t*>(realloc(*_outBuffer,
+                maxBufferSize * sizeof(*_outBuffer[0])));
+        }
+
+        memcpy(*_outBuffer + *_outBufferSize, decodedFrame->data[0],
+            size);
+        *_outBufferSize += size;
+    }
+#else
       int gotFrame = 0;
 
-      packet1 = packet;
+      packet1 = *packet;
       while (packet1.size)
       {
         // Some frames rely on multiple packets, so we have to make sure
@@ -144,11 +200,12 @@ bool AudioDecoder::Decode(uint8_t **_outBuffer, unsigned int *_outBufferSize)
         packet1.data += bytesDecoded;
         packet1.size -= bytesDecoded;
       }
+#endif
     }
-    AVPacketUnref(&packet);
+    av_packet_unref(packet);
   }
 
-  AVPacketUnref(&packet);
+  av_packet_unref(packet);
 
   // Seek to the beginning so that it can be decoded again, if necessary.
   av_seek_frame(this->formatCtx, this->audioStream, 0, 0);
@@ -214,7 +271,11 @@ bool AudioDecoder::SetFile(const std::string &_filename)
 # pragma GCC diagnostic push
 # pragma GCC diagnostic ignored "-Wdeprecated-declarations"
 #endif
+#if LIBAVFORMAT_VERSION_MAJOR >= 59
+    if (this->formatCtx->streams[i]->codecpar->codec_type == AVMEDIA_TYPE_AUDIO)
+#else
     if (this->formatCtx->streams[i]->codec->codec_type == AVMEDIA_TYPE_AUDIO)
+#endif
 #ifndef _WIN32
 # pragma GCC diagnostic pop
 #endif
@@ -238,13 +299,61 @@ bool AudioDecoder::SetFile(const std::string &_filename)
 # pragma GCC diagnostic push
 # pragma GCC diagnostic ignored "-Wdeprecated-declarations"
 #endif
+#if LIBAVFORMAT_VERSION_MAJOR < 59
   this->codecCtx = this->formatCtx->streams[audioStream]->codec;
+#endif
 #ifndef _WIN32
 # pragma GCC diagnostic pop
 #endif
 
   // Find a decoder
+#if LIBAVFORMAT_VERSION_MAJOR >= 59
+  const AVCodec * local_codec = avcodec_find_decoder(this->formatCtx->streams[
+    this->audioStream]->codecpar->codec_id);
+  if (!local_codec)
+  {
+    gzerr << "Failed to find the codec" << std::endl;
+    return false;
+  }
+  this->codecCtx = avcodec_alloc_context3(local_codec);
+  if (!this->codecCtx)
+  {
+    gzerr << "Failed to allocate the codec context" << std::endl;
+    return false;
+  }
+
+  // Copy all relevant parameters from codepar to codecCtx
+  if (avcodec_parameters_to_context(this->codecCtx,
+    this->formatCtx->streams[this->audioStream]->codecpar) < 0)
+  {
+    gzerr << "Failed to copy codec parameters to decoder context"
+           << std::endl;
+    return false;
+  }
+
+  // This copy should be done by avcodec_parameters_to_context, but at least on
+  // conda-forge with 5.0.0 h594f047_1 this is not happening for some reason.
+  // As temporary workaround, we copy directly the data structures, taking the code from
+  // https://github.com/FFmpeg/FFmpeg/blob/n5.0/libavcodec/codec_par.c#L120
+  AVCodecParameters* par = this->formatCtx->streams[this->audioStream]->codecpar;
+  this->codecCtx->sample_fmt       = static_cast<AVSampleFormat>(par->format);
+  this->codecCtx->channel_layout   = par->channel_layout;
+  this->codecCtx->channels         = par->channels;
+  this->codecCtx->sample_rate      = par->sample_rate;
+  this->codecCtx->block_align      = par->block_align;
+  this->codecCtx->frame_size       = par->frame_size;
+  this->codecCtx->delay            =
+  this->codecCtx->initial_padding  = par->initial_padding;
+  this->codecCtx->trailing_padding = par->trailing_padding;
+  this->codecCtx->seek_preroll     = par->seek_preroll;
+
+  // It would be better to just define codec as const AVCodec *,
+  // but that is not done to avoid ABI problem. Anyhow, as codec
+  // it is a private attribute there should be no problem
+  this->codec = const_cast<AVCodec *>(local_codec);
+#else
   this->codec = avcodec_find_decoder(codecCtx->codec_id);
+#endif
 
   if (this->codec == nullptr)
   {