Camera visual fov fix

CMakeLists.txt

@@ -14,11 +14,11 @@ string (TOLOWER ${PROJECT_NAME} PROJECT_NAME_LOWER)
 string (TOUPPER ${PROJECT_NAME} PROJECT_NAME_UPPER)
 
 set (GAZEBO_MAJOR_VERSION 9)
-set (GAZEBO_MINOR_VERSION 13)
+set (GAZEBO_MINOR_VERSION 19)
 # 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})
@@ -37,6 +37,14 @@ if(NOT DEFINED BUILD_TESTING)
     set(BUILD_TESTING OFF)
 endif()
 
+option(ENABLE_PROFILER "Enable Gazebo Profiler" FALSE)
+
+if(ENABLE_PROFILER)
+  add_definitions("-DGZ_PROFILER_ENABLE=1")
+else()
+  add_definitions("-DGZ_PROFILER_ENABLE=0")
+endif()
+
 #============================================================================
 # We turn off extensions because (1) we do not ever want to use non-standard
 # compiler extensions, and (2) this variable is on by default, causing cmake
@@ -158,11 +166,11 @@ message (STATUS "----------------------------------------\n")
 # 2. In the generation of cmake/setup.sh from cmake/setup.sh.in
 set(GAZEBO_DEFAULT_MASTER_HOST localhost)
 set(GAZEBO_DEFAULT_MASTER_PORT 11345)
-set(GAZEBO_PLUGIN_PATH ${CMAKE_INSTALL_PREFIX}/${LIB_INSTALL_DIR}/gazebo-${GAZEBO_MAJOR_VERSION}/plugins)
+set(GAZEBO_PLUGIN_PATH ${CMAKE_INSTALL_FULL_LIBDIR}/gazebo-${GAZEBO_MAJOR_VERSION}/plugins)
 FILE(TO_NATIVE_PATH "${GAZEBO_PLUGIN_PATH}" GAZEBO_PLUGIN_PATH)
-set(GAZEBO_MODEL_PATH ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_DATAROOTDIR}/gazebo-${GAZEBO_MAJOR_VERSION}/models)
+set(GAZEBO_MODEL_PATH ${CMAKE_INSTALL_FULL_DATAROOTDIR}/gazebo-${GAZEBO_MAJOR_VERSION}/models)
 FILE(TO_NATIVE_PATH "${GAZEBO_MODEL_PATH}" GAZEBO_MODEL_PATH)
-set(GAZEBO_RESOURCE_PATH ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_DATAROOTDIR}/gazebo-${GAZEBO_MAJOR_VERSION})
+set(GAZEBO_RESOURCE_PATH ${CMAKE_INSTALL_FULL_DATAROOTDIR}/gazebo-${GAZEBO_MAJOR_VERSION})
 FILE(TO_NATIVE_PATH "${GAZEBO_RESOURCE_PATH}" GAZEBO_RESOURCE_PATH)
 set(GAZEBO_MODEL_DATABASE_URI http://models.gazebosim.org)
 set(OGRE_RESOURCE_PATH ${OGRE_PLUGINDIR})
@@ -254,7 +262,11 @@ filter_valid_compiler_flags(${WARN_LEVEL}
 # Check and add visibility hidden by default. Only in UNIX
 # Windows and MacosX does not handled properly the hidden compilation
 if (UNIX AND NOT APPLE)
-  filter_valid_compiler_flags(-fvisibility=hidden -fvisibility-inlines-hidden)
+  if (ENABLE_PROFILER)
+    filter_valid_compiler_flags(-fvisibility-inlines-hidden)
+  else()
+    filter_valid_compiler_flags(-fvisibility=hidden -fvisibility-inlines-hidden)
+  endif()
 endif()
 
 if (MSVC)
@@ -320,15 +332,15 @@ else (build_errors)
   gz_install_includes("" ${PROJECT_BINARY_DIR}/gazebo/gazebo_config.h)
 
   configure_file(${CMAKE_SOURCE_DIR}/cmake/setup.sh.in ${PROJECT_BINARY_DIR}/setup.sh @ONLY)
-  install(FILES ${CMAKE_CURRENT_BINARY_DIR}/setup.sh DESTINATION ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_DATAROOTDIR}/gazebo-${GAZEBO_MAJOR_VERSION}/)
+  install(FILES ${CMAKE_CURRENT_BINARY_DIR}/setup.sh DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/gazebo-${GAZEBO_MAJOR_VERSION}/)
   # Also install the setup.sh in an unversioned location
-  install(FILES ${CMAKE_CURRENT_BINARY_DIR}/setup.sh DESTINATION ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_DATAROOTDIR}/gazebo/)
+  install(FILES ${CMAKE_CURRENT_BINARY_DIR}/setup.sh DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/gazebo/)
 
   if (WIN32)
     configure_file(${CMAKE_SOURCE_DIR}/cmake/setup.bat.in ${PROJECT_BINARY_DIR}/setup.bat @ONLY)
-    install(FILES ${CMAKE_CURRENT_BINARY_DIR}/setup.bat DESTINATION ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_DATAROOTDIR}/gazebo-${GAZEBO_MAJOR_VERSION}/)
+    install(FILES ${CMAKE_CURRENT_BINARY_DIR}/setup.bat DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/gazebo-${GAZEBO_MAJOR_VERSION}/)
     # Also install the setup.bat in an unversioned location
-    install(FILES ${CMAKE_CURRENT_BINARY_DIR}/setup.bat DESTINATION ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_DATAROOTDIR}/gazebo/)
+    install(FILES ${CMAKE_CURRENT_BINARY_DIR}/setup.bat DESTINATION ${CMAKE_INSTALL_FULL_DATAROOTDIR}/gazebo/)
   endif ()
 
   if (DEFINED CMAKE_CXX_FLAGS)
@@ -391,6 +403,10 @@ else (build_errors)
     set (Boost_PKGCONFIG_LIBS "${Boost_PKGCONFIG_LIBS} ${bname}")
   endforeach(b)
 
+  include(${gazebo_cmake_dir}/JoinPaths.cmake)
+  join_paths(pkgconfig_libdir "\${prefix}" "${CMAKE_INSTALL_LIBDIR}")
+  join_paths(pkgconfig_includedir "\${prefix}" "${CMAKE_INSTALL_INCLUDEDIR}")
+
   foreach (pkgconfig ${pkgconfig_files})
     configure_file(${CMAKE_SOURCE_DIR}/cmake/pkgconfig/${pkgconfig}.in ${CMAKE_CURRENT_BINARY_DIR}/cmake/pkgconfig/${pkgconfig}.pc @ONLY)
     install(FILES ${CMAKE_CURRENT_BINARY_DIR}/cmake/pkgconfig/${pkgconfig}.pc DESTINATION ${LIB_INSTALL_DIR}/pkgconfig COMPONENT pkgconfig)

Changelog.md

@@ -1,8 +1,124 @@
 ## Gazebo 9
 
-## Gazebo 9.xx.x (202x-xx-xx)
+## Gazebo 9.19.0 (2021-06-10)
 
-## Gazebo 9.13.2 (202x-xx-xx)
+1. Enable output of gzerr for SDF sibling elements of same type with same name,
+   following the SDF 1.6 specification.
+   Environment variable GAZEBO9_BACKWARDS_COMPAT_WARNINGS_ERRORS can be set to
+   use the previous behaviour and do not report these problems.
+    * [Pull request #3016](https://github.com/osrf/gazebo/pull/3016)
+
+1.  Add warning if GAZEBO_RESOURCE_PATH may not be set correctly
+    * [Pull request #2991](https://github.com/osrf/gazebo/pull/2991)
+
+## Gazebo 9.18.0 (2021-05-07)
+
+1. Check for nullptr in TopicManager::ConnectPubToSub
+    * A contribution from Emerson Knapp <[email protected]> (Amazon)
+    * [Pull request #2988](https://github.com/osrf/gazebo/pull/2988)
+    * [Issue #2875](https://github.com/osrf/gazebo/issues/2875)
+
+## Gazebo 9.17.0 (2021-04-21)
+
+1. Generate spot light shadow maps
+    * [Pull request #2914](https://github.com/osrf/gazebo/pull/2914)
+
+1. Fix performance metrics deadlock with multiple types of sensors
+    * [Pull request #2917](https://github.com/osrf/gazebo/pull/2917)
+    * [Issue #2902](https://github.com/osrf/gazebo/issues/2902)
+
+1. Fix support for camera with single channel floating point image format
+    * [Pull request #2918](https://github.com/osrf/gazebo/pull/2918)
+
+1. Optimize collision checking in ODE
+    * [Pull request #2945](https://github.com/osrf/gazebo/pull/2945)
+
+1. Lens flare cleanup and colorization
+    * [Pull request #2927](https://github.com/osrf/gazebo/pull/2927)
+
+1. Fix size of light visual
+    * [Pull request #2947](https://github.com/osrf/gazebo/pull/2947)
+
+1. LensFlare - allow inheritance
+    * [Pull request #2965](https://github.com/osrf/gazebo/pull/2965)
+    * [Pull request #2975](https://github.com/osrf/gazebo/pull/2975)
+
+1. Silence message conversion warning messages
+    * [Pull request #2972](https://github.com/osrf/gazebo/pull/2972)
+
+1. Fix depth camera breaking shadows
+    * [Pull request #2907](https://github.com/osrf/gazebo/pull/2907)
+
+1. Protect DepthCameraPlugin globals with a mutex
+    * [Pull request #2949](https://github.com/osrf/gazebo/pull/2949)
+
+1. Avoid deadlock in ConnectionManager::Stop
+    * [Pull request #2950](https://github.com/osrf/gazebo/pull/2950)
+
+1. Fix `ogre_log` test
+    * [Pull request #2954](https://github.com/osrf/gazebo/pull/2954)
+
+## Gazebo 9.16.0 (2020-11-24)
+
+1. Updated the version of TinyOBJLoader from 1.0.0 to 2.0.0rc8.
+    * [Pull request #2885](https://github.com/osrf/gazebo/pull/2885)
+
+1. Support resource files with spaces
+    * [Pull request #2877](https://github.com/osrf/gazebo/pull/2877)
+
+1. Fix physics based sensor update rate in lockstep mode
+    * [Pull request #2863](https://github.com/osrf/gazebo/pull/2863)
+
+1. Added Profiler to gazebo::rendering and gzclient
+    * [Pull request #2836](https://github.com/osrf/gazebo/pull/2836)
+
+1. Fix segfault when deleting an model that's being manipulated
+    * [Pull request #2856](https://github.com/osrf/gazebo/pull/2856)
+
+1. SimpleTrackedVehiclePlugin: fix for boost 1.74
+    * [Pull request #2865](https://github.com/osrf/gazebo/pull/2865)
+
+1. Add mutex to make Sensor::SetActive threadsafe
+    * [Pull request #2871](https://github.com/osrf/gazebo/pull/2871)
+
+## Gazebo 9.15.0 (2020-09-30)
+
+1. More enhancement for Windows build
+    * [Pull request #2789](https://github.com/osrf/gazebo/pull/2789)
+
+1. Fixed fails for OSX: Added using namespace boost::placeholders
+    * [Pull request #2809](https://github.com/osrf/gazebo/pull/2809)
+
+1. Add profiler
+    * [Pull request #2813](https://github.com/osrf/gazebo/pull/2813)
+
+1. ColladaLoader: fix cases where VERTEX and NORMAL share same polylist <p>
+    * [Pull request #2825](https://github.com/osrf/gazebo/pull/2825)
+
+1. Fix assumptions that CMAKE\_INSTALL\_\*DIR paths are relative
+    * [Pull request #2779](https://github.com/osrf/gazebo/pull/2779)
+
+1. Fix reflectance values for objects without a reflectance map
+    * [Pull request #2833](https://github.com/osrf/gazebo/pull/2833)
+
+1. Remove lighting param
+    * [Pull request #2840](https://github.com/osrf/gazebo/pull/2840)
+
+1. Publish performance metrics
+    * [Pull request #2819](https://github.com/osrf/gazebo/pull/2819)
+
+1. Improve transport::Publisher reliability
+    * [Pull request #2725](https://github.com/osrf/gazebo/pull/2725)
+
+## Gazebo 9.14.0 (2020-08-07)
+
+1. Lockstep between sensors and physics
+    * [Pull request #2793](https://github.com/osrf/gazebo/pull/2793)
+
+1. Fix race condition on Publisher shutdown
+    * [Pull request #2812](https://github.com/osrf/gazebo/pull/2812)
+
+## Gazebo 9.13.2 (2020-07-20)
 
 1. Fix sensor update rate throttling when new sensors are spawned
     * [Pull request #2784](https://github.com/osrf/gazebo/pull/2784)
@@ -1417,6 +1533,17 @@
 
 ## Gazebo 7.X.X (2019-XX-XX)
 
+## Gazebo 7.16.1 (2019-07-28)
+
+1. Remove X11 call from Gazebo 7
+    * [BitBucket pull request 3195](https://osrf-migration.github.io/gazebo-gh-pages/#!/osrf/gazebo/pull-requests/3195)
+
+1. Update BitBucket links
+    * [Pull request 2715](https://github.com/osrf/gazebo/pull/2715)
+
+1. [backport Gazebo7] Fixed crash when collision size is zero
+    * [Pull request 2769](https://github.com/osrf/gazebo/pull/2769)
+
 ## Gazebo 7.16.0 (2019-09-04)
 
 1. VariableGearboxPlugin: use splines to support arbitrary smooth input-output gearbox profiles

Migration.md

@@ -5,6 +5,13 @@ Deprecated code produces compile-time warnings. These warning serve as
 notification to users that their code should be upgraded. The next major
 release will remove the deprecated code.
 
+## Gazebo 9.15 to 9.16
+
+### Modifications
+
+Updated the version of TinyOBJLoader from 1.0.0 to 2.0.0rc8.
+See the changelog at https://github.com/osrf/gazebo/blob/gazebo9/deps/tinyobjloader/tiny_obj_loader.h
+
 ## Gazebo 8.4 to 9.x
 
 ### Models with duplicate names will not be inserted

cmake/GazeboTestUtils.cmake

@@ -78,7 +78,7 @@ macro (gz_build_tests)
 
     # Check that the test produced a result and create a failure if it didn't.
     # Guards against crashed and timed out tests.
-    add_test(check_${BINARY_NAME} ${PROJECT_SOURCE_DIR}/tools/check_test_ran.py
+    add_test(check_${BINARY_NAME} ${PYTHON_EXECUTABLE} ${PROJECT_SOURCE_DIR}/tools/check_test_ran.py
       ${CMAKE_BINARY_DIR}/test_results/${BINARY_NAME}.xml)
 
     if(GAZEBO_RUN_VALGRIND_TESTS AND VALGRIND_PROGRAM)

cmake/GazeboUtils.cmake

@@ -131,7 +131,11 @@ endmacro()
 #################################################
 macro (gz_install_library _name)
   set_target_properties(${_name} PROPERTIES SOVERSION ${GAZEBO_MAJOR_VERSION} VERSION ${GAZEBO_VERSION_FULL})
-  install (TARGETS ${_name} DESTINATION ${LIB_INSTALL_DIR} COMPONENT shlib)
+  install (TARGETS ${_name}
+    ARCHIVE DESTINATION ${LIB_INSTALL_DIR}
+    LIBRARY DESTINATION ${LIB_INSTALL_DIR}
+    RUNTIME DESTINATION ${BIN_INSTALL_DIR}
+    COMPONENT shlib)
 endmacro ()
 
 #################################################

cmake/JoinPaths.cmake

@@ -0,0 +1,23 @@
+# This module provides a function for joining paths
+# known from most languages
+#
+# SPDX-License-Identifier: (MIT OR CC0-1.0)
+# Copyright 2020 Jan Tojnar
+# https://github.com/jtojnar/cmake-snips
+#
+# Modelled after Python’s os.path.join
+# https://docs.python.org/3.7/library/os.path.html#os.path.join
+# Windows not supported
+function(join_paths joined_path first_path_segment)
+    set(temp_path "${first_path_segment}")
+    foreach(current_segment IN LISTS ARGN)
+        if(NOT ("${current_segment}" STREQUAL ""))
+            if(IS_ABSOLUTE "${current_segment}")
+                set(temp_path "${current_segment}")
+            else()
+                set(temp_path "${temp_path}/${current_segment}")
+            endif()
+        endif()
+    endforeach()
+    set(${joined_path} "${temp_path}" PARENT_SCOPE)
+endfunction()

cmake/SearchForStuff.cmake

@@ -92,15 +92,17 @@ endif ()
 # Find packages
 
 find_package(CURL)
-if (CURL_FOUND)
-  # FindCURL.cmake distributed with CMake exports
-  # the CURL_INCLUDE_DIRS variable, while the pkg_check_modules
-  # function exports the CURL_INCLUDEDIR variable.
-  # TODO: once the configure.bat VS2013 based script has been removed,
-  #       remove the call pkg_check_modules(CURL libcurl) and all the uses of
-  #       CURL_LIBDIR and CURL_INCLUDEDIR and use directly the variables
-  #       CURL_INCLUDE_DIRS and CURL_LIBRARIES provided by FindCURL.cmake
-  set(CURL_INCLUDEDIR ${CURL_INCLUDE_DIRS})
+if (CURL_FOUND AND NOT TARGET CURL::libcurl AND CURL_LIBRARY)
+  # Make a target on Bionic because FindCURL.cmake only sets old-style CMake variables
+  add_library(CURL::libcurl SHARED IMPORTED)
+  set_target_properties(CURL::libcurl PROPERTIES
+    IMPORTED_LOCATION "${CURL_LIBRARY}"
+    INTERFACE_INCLUDE_DIRECTORIES "${CURL_INCLUDE_DIRS}"
+    INTERFACE_LINK_LIBRARIES "${CURL_LIBRARIES}")
+  if (WIN32)
+    set_target_properties(CURL::libcurl PROPERTIES
+      INTERFACE_COMPILE_DEFINITIONS "CURL_STATICLIB")
+  endif()
 endif ()
 
 # In Visual Studio we use configure.bat to trick all path cmake
@@ -110,13 +112,6 @@ if (MSVC)
 endif()
 
 if (PKG_CONFIG_FOUND)
-  if (NOT CURL_FOUND)
-    pkg_check_modules(CURL libcurl)
-  endif ()
-  if (NOT CURL_FOUND)
-    BUILD_ERROR ("Missing: libcurl. Required for connection to model database.")
-  endif()
-
   pkg_check_modules(PROFILER libprofiler)
   if (PROFILER_FOUND)
     set (CMAKE_LINK_FLAGS_PROFILE "-Wl,--no-as-needed -lprofiler -Wl,--as-needed ${CMAKE_LINK_FLAGS_PROFILE}" CACHE INTERNAL "Link flags for profile")
@@ -303,7 +298,7 @@ if (PKG_CONFIG_FOUND)
 
   #################################################
   # Find TBB
-  pkg_check_modules(TBB tbb)
+  pkg_check_modules(TBB tbb<2021)
   set (TBB_PKG_CONFIG "tbb")
   if (NOT TBB_FOUND)
     message(STATUS "TBB not found, attempting to detect manually")
@@ -580,7 +575,7 @@ endif ()
 
 ########################################
 # Find SDFormat
-set (SDFormat_MIN_VERSION 6)
+set (SDFormat_MIN_VERSION 6.3.0)
 find_package(SDFormat ${SDFormat_MIN_VERSION})
 if (SDFormat_FOUND)
   message (STATUS "Looking for SDFormat ${SDFormat_MIN_VERSION} - found")
@@ -653,6 +648,20 @@ else()
   set(HAVE_SPNAV FALSE)
 endif()
 
+########################################
+# Find python3, which is used by tools/check_test_ran.py
+if (${CMAKE_VERSION} VERSION_LESS 3.12)
+  find_package(PythonInterp 3)
+else()
+  find_package(Python3 COMPONENTS Interpreter)
+  if (Python3_FOUND)
+    set(PYTHON_EXECUTABLE ${Python3_EXECUTABLE})
+  endif()
+endif()
+if (NOT EXISTS ${PYTHON_EXECUTABLE})
+  BUILD_WARNING("python3 not found. The check_test_ran.py script will cause tests to fail.")
+endif()
+
 ########################################
 # Find xsltproc, which is used by tools/check_test_ran.py
 find_program(XSLTPROC xsltproc)