Merge pull request #2477 from gazebosim/merge_6_7_20240712

Merge 6 -> 7

.github/ci/after_make.sh

@@ -6,12 +6,3 @@ set -e
 # Install (needed for some tests)
 make install
 export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:/usr/local/lib
-
-# For gz-tools
-export GZ_CONFIG_PATH=/usr/local/share/gz
-
-# For rendering / window tests
-Xvfb :1 -screen 0 1280x1024x24 &
-export DISPLAY=:1.0
-export RENDER_ENGINE_VALUES=ogre2
-export MESA_GL_VERSION_OVERRIDE=3.3

.github/ci/before_cmake.sh

@@ -0,0 +1,9 @@
+#!/bin/sh -l
+
+set -x
+
+# For rendering / window tests
+Xvfb :1 -screen 0 1280x1024x24 &
+export DISPLAY=:1.0
+export RENDER_ENGINE_VALUES=ogre2
+export MESA_GL_VERSION_OVERRIDE=3.3

.github/ci/packages.apt

@@ -46,3 +46,5 @@ qtdeclarative5-dev
 qtquickcontrols2-5-dev
 uuid-dev
 xvfb
+x11-utils
+mesa-utils

.github/workflows/ci.yml

@@ -30,6 +30,7 @@ jobs:
           codecov-enabled: true
           cppcheck-enabled: true
           cpplint-enabled: true
+          cmake-args: "-DCMAKE_INSTALL_PREFIX=/usr"
   jammy-ci:
     runs-on: ubuntu-latest
     name: Ubuntu Jammy CI
@@ -45,4 +46,4 @@ jobs:
         uses: gazebo-tooling/action-gz-ci@jammy
         with:
           # per bug https://github.com/gazebosim/gz-sim/issues/1409
-          cmake-args: '-DBUILD_DOCS=OFF'
+          cmake-args: '-DCMAKE_INSTALL_PREFIX=/usr -DBUILD_DOCS=OFF'

Changelog.md

@@ -3403,6 +3403,36 @@
 
 ## Gazebo Sim 3.x
 
+### Gazebo Sim 3.15.1 (2024-01-05)
+
+1. Update github action workflows
+    * [Pull request #2237](https://github.com/gazebosim/gz-sim/pull/2237)
+    * [Pull request #1988](https://github.com/gazebosim/gz-sim/pull/1988)
+
+1. Fix macOS test failures by registering components in the core library
+    * [Pull request #2220](https://github.com/gazebosim/gz-sim/pull/2220)
+
+1. Bump Fuel model version in test
+    * [Pull request #2190](https://github.com/gazebosim/gz-sim/pull/2190)
+
+1. Fix a minor issue in the documentation of the server API
+    * [Pull request #2067](https://github.com/gazebosim/gz-sim/pull/2067)
+
+1. Use sdf::Element::FindElement instead of GetElement in ApplyLinkWrench
+    * [Pull request #2052](https://github.com/gazebosim/gz-sim/pull/2052)
+
+1. Adds a warning if the `Server` method of a `TestFixture` is called before `Finalize`
+    * [Pull request #2047](https://github.com/gazebosim/gz-sim/pull/2047)
+
+1. Protobuf: Do not require version 3 do support Protobuf 4.23.2 (23.2)
+    * [Pull request #2006](https://github.com/gazebosim/gz-sim/pull/2006)
+
+1. Print an error message when trying to load SDF files that don't contain a `<world>`
+    * [Pull request #1998](https://github.com/gazebosim/gz-sim/pull/1998)
+
+1.  Enable GzWeb visualization of markers by republishing service requests on a topic
+    * [Pull request #1994](https://github.com/gazebosim/gz-sim/pull/1994)
+
 ### Gazebo Sim 3.15.0 (2023-05-08)
 
 1. Speed up Resource Spawner load time by fetching model list asynchronously

test/integration/camera_video_record_system.cc

@@ -43,6 +43,15 @@ class CameraVideoRecorderTest : public InternalFixture<::testing::Test>
 /////////////////////////////////////////////////
 TEST_F(CameraVideoRecorderTest, GZ_UTILS_TEST_DISABLED_ON_MAC(RecordVideo))
 {
+  // This test fails on Github Actions. Skip it for now.
+  // Note: The GITHUB_ACTIONS environment variable is automatically set when
+  // running on Github Actions.
+  std::string githubAction;
+  if (common::env("GITHUB_ACTIONS", githubAction))
+  {
+    GTEST_SKIP();
+  }
+
   // Start server
   ServerConfig serverConfig;
   serverConfig.SetSdfFile(std::string(PROJECT_SOURCE_PATH) +

test/integration/distortion_camera.cc

@@ -69,6 +69,15 @@ void imageCb(const msgs::Image &_msg)
 TEST_F(DistortionCameraTest,
     GZ_UTILS_TEST_DISABLED_ON_MAC(DistortionCameraBox))
 {
+  // This test fails on Github Actions. Skip it for now.
+  // Note: The GITHUB_ACTIONS environment variable is automatically set when
+  // running on Github Actions.
+  std::string githubAction;
+  if (common::env("GITHUB_ACTIONS", githubAction))
+  {
+    GTEST_SKIP();
+  }
+
   // Start server
   ServerConfig serverConfig;
   const auto sdfFile = common::joinPaths(std::string(PROJECT_SOURCE_PATH),

test/integration/reset_sensors.cc

@@ -140,6 +140,15 @@ common::Image toImage(const msgs::Image &_msg)
 /// are removed and then added back
 TEST_F(ResetFixture, GZ_UTILS_TEST_DISABLED_ON_MAC(HandleReset))
 {
+  // This test fails on Github Actions. Skip it for now.
+  // Note: The GITHUB_ACTIONS environment variable is automatically set when
+  // running on Github Actions.
+  std::string githubAction;
+  if (common::env("GITHUB_ACTIONS", githubAction))
+  {
+    GTEST_SKIP();
+  }
+
   gz::sim::ServerConfig serverConfig;
 
   const std::string sdfFile = common::joinPaths(PROJECT_SOURCE_PATH,

test/integration/shader_param_system.cc

@@ -62,6 +62,15 @@ void imageCb(const msgs::Image &_msg)
 // custom material shaders
 TEST_F(ShaderParamTest, GZ_UTILS_TEST_DISABLED_ON_MAC(ShaderParam))
 {
+  // This test fails on Github Actions. Skip it for now.
+  // Note: The GITHUB_ACTIONS environment variable is automatically set when
+  // running on Github Actions.
+  std::string githubAction;
+  if (common::env("GITHUB_ACTIONS", githubAction))
+  {
+    GTEST_SKIP();
+  }
+
   // Start server
   ServerConfig serverConfig;
   const auto sdfFile = common::joinPaths(std::string(PROJECT_SOURCE_PATH),

test/integration/wide_angle_camera.cc

@@ -63,6 +63,15 @@ void imageCb(const msgs::Image &_msg)
 // The test checks the Wide Angle Camera readings
 TEST_F(WideAngleCameraTest, GZ_UTILS_TEST_DISABLED_ON_MAC(WideAngleCameraBox))
 {
+  // This test fails on Github Actions. Skip it for now.
+  // Note: The GITHUB_ACTIONS environment variable is automatically set when
+  // running on Github Actions.
+  std::string githubAction;
+  if (common::env("GITHUB_ACTIONS", githubAction))
+  {
+    GTEST_SKIP();
+  }
+
   // Start server
   ServerConfig serverConfig;
   const auto sdfFile = common::joinPaths(std::string(PROJECT_SOURCE_PATH),