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Use sdf plugin #1352

Merged
merged 42 commits into from
Jun 23, 2022
Merged

Use sdf plugin #1352

merged 42 commits into from
Jun 23, 2022

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nkoenig
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@nkoenig nkoenig commented Feb 19, 2022 •
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🎉 New feature

Summary

This PR changes Gazebo from using sdf::ElementPtr to sdf::Plugin when loading plugins. There is a lot of changes here because it's difficult to split plugin loading functionality into multiple PRs.

Use of sdf::ElementPtr will still work, and SystemPlugins still are configured using an sdf::ElementPtr. The existing tests should cover the new functionality in the PR. Under the hood, the old plugin loading functions utilize the new sdf::Plugin functions.

Here is a draft forward port of this code to Garden: #1390

Test it

Run the tests, and try to load worlds with plugins.

Checklist

  • Signed all commits for DCO
  • Added tests
  • Added example and/or tutorial
  • Updated documentation (as needed)
  • Updated migration guide (as needed)
  • codecheck passed (See contributing)
  • All tests passed (See test coverage)
  • While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

Nate Koenig and others added 8 commits February 10, 2022 20:59
Added more tests
0896ac1 
Signed-off-by: Nate Koenig <nate@openrobotics.org>
merged with ign-gazebo6
60be532 
Signed-off-by: Nate Koenig <nate@openrobotics.org>
Change clone
2770692 
Signed-off-by: Nate Koenig <nate@openrobotics.org>
Use sdf::Plugin instead of sdf::ElementPtr
4a9822b 
Signed-off-by: Nate Koenig <nate@openrobotics.org>
Address review comments
f32555b 
Signed-off-by: Nate Koenig <nate@openrobotics.org>
@mjcarroll
Merge branch 'ign-gazebo6' into server-config-root-dom
171d745
Fix linter, and added tests
7d33cf0 
Signed-off-by: Nate Koenig <nate@openrobotics.org>
Merge branch 'server-config-root-dom' of github.com:ignitionrobotics/…
7fedd8d 
…ign-gazebo into server-config-root-dom
@nkoenig nkoenig requested a review from chapulina as a code owner February 19, 2022 01:15
@github-actions github-actions bot added the 🏯 fortress Ignition Fortress label Feb 19, 2022
@nkoenig nkoenig marked this pull request as draft February 19, 2022 01:15
@nkoenig nkoenig mentioned this pull request Feb 19, 2022
Merged
8 tasks
@nkoenig nkoenig changed the base branch from ign-gazebo6 to server-config-root-dom March 9, 2022 16:33
Nate Koenig and others added 6 commits March 9, 2022 08:36
Merged with server-config-root-dom
7ac1b4e 
Signed-off-by: Nate Koenig <nate@openrobotics.org>
Tweaks
d60d34a 
Signed-off-by: Nate Koenig <nate@openrobotics.org>
@nkoenig
Merge branch 'ign-gazebo6' into server-config-root-dom
bb3d2a6
Merge branch 'server-config-root-dom' into use_sdf_plugin
1469cd3
Updates to match garden forward port
ae00505 
Signed-off-by: Nate Koenig <nate@openrobotics.org>
Updated documentation and minor cleanup
f23935c 
Signed-off-by: Nate Koenig <nate@openrobotics.org>
@nkoenig nkoenig marked this pull request as ready for review March 14, 2022 21:29
@nkoenig nkoenig mentioned this pull request Mar 14, 2022
Closed
srmainwaring added a commit to srmainwaring/gz-sim that referenced this pull request Aug 13, 2022
@srmainwaring
Partial revert gazebosim#1352 - GzSceneManager
cbec183 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
@srmainwaring srmainwaring mentioned this pull request Aug 13, 2022
Open
srmainwaring added a commit to srmainwaring/gz-sim that referenced this pull request Aug 30, 2022
@srmainwaring
Partial revert gazebosim#1352 - GzSceneManager
fe95878 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
@chapulina chapulina mentioned this pull request Aug 31, 2022
Merged
8 tasks
srmainwaring added a commit to srmainwaring/gz-sim that referenced this pull request Sep 8, 2022
@srmainwaring
Partial revert gazebosim#1352 - GzSceneManager
cdb494d 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
srmainwaring added a commit to srmainwaring/gz-sim that referenced this pull request Sep 8, 2022
@srmainwaring
Partial revert gazebosim#1352 - GzSceneManager
5078d1b 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
srmainwaring added a commit to srmainwaring/gz-sim that referenced this pull request Sep 14, 2022
@srmainwaring
Partial revert gazebosim#1352 - GzSceneManager
7e341f6 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
srmainwaring added a commit to srmainwaring/gz-sim that referenced this pull request Nov 24, 2022
@srmainwaring
Partial revert gazebosim#1352 - GzSceneManager
73e0c4f 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
srmainwaring added a commit to srmainwaring/gz-sim that referenced this pull request Nov 29, 2022
@srmainwaring
Partial revert gazebosim#1352 - GzSceneManager
284118e 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
srmainwaring added a commit to srmainwaring/gz-sim that referenced this pull request Dec 14, 2022
@srmainwaring
Partial revert gazebosim#1352 - GzSceneManager
97a8d09 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
srmainwaring added a commit to srmainwaring/gz-sim that referenced this pull request Dec 21, 2022
@srmainwaring
Partial revert gazebosim#1352 - GzSceneManager
1f387bd 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
srmainwaring added a commit to srmainwaring/gz-sim that referenced this pull request Jan 27, 2023
@srmainwaring
Partial revert gazebosim#1352 - GzSceneManager
7336dfd 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
srmainwaring added a commit to srmainwaring/gz-sim that referenced this pull request Feb 2, 2023
@srmainwaring
Partial revert gazebosim#1352 - GzSceneManager
51119fa 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
srmainwaring added a commit to srmainwaring/gz-sim that referenced this pull request Feb 7, 2023
@srmainwaring
Partial revert gazebosim#1352 - GzSceneManager
e378f63 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
srmainwaring added a commit to srmainwaring/gz-sim that referenced this pull request Feb 8, 2023
@srmainwaring
Partial revert gazebosim#1352 - GzSceneManager
22da9b5 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
srmainwaring added a commit to srmainwaring/gz-sim that referenced this pull request Feb 15, 2023
@srmainwaring
Partial revert gazebosim#1352 - GzSceneManager
3c54b1a 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
srmainwaring added a commit to srmainwaring/gz-sim that referenced this pull request Feb 16, 2023
@srmainwaring
Partial revert gazebosim#1352 - GzSceneManager
dfe89e7 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
srmainwaring added a commit to srmainwaring/gz-sim that referenced this pull request Mar 4, 2023
@srmainwaring
Partial revert gazebosim#1352 - GzSceneManager
48ebb6a 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
srmainwaring added a commit to srmainwaring/gz-sim that referenced this pull request Mar 18, 2023
@srmainwaring
Partial revert gazebosim#1352 - GzSceneManager
15b15ed 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
srmainwaring added a commit to srmainwaring/gz-sim that referenced this pull request Mar 23, 2023
@srmainwaring
Partial revert gazebosim#1352 - GzSceneManager
ab7b872 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
srmainwaring added a commit to srmainwaring/gz-sim that referenced this pull request Mar 30, 2023
@srmainwaring
Partial revert gazebosim#1352 - GzSceneManager
4b9600e 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
srmainwaring added a commit to srmainwaring/gz-sim that referenced this pull request May 8, 2023
@srmainwaring
Partial revert gazebosim#1352 - GzSceneManager
942d3c2 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
srmainwaring added a commit to srmainwaring/gz-sim that referenced this pull request May 14, 2023
@srmainwaring
Partial revert gazebosim#1352 - GzSceneManager
6eaff2e 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
srmainwaring added a commit to srmainwaring/gz-sim that referenced this pull request May 14, 2023
@srmainwaring
Partial revert gazebosim#1352 - GzSceneManager
d61bc1f 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
srmainwaring added a commit to srmainwaring/gz-sim that referenced this pull request May 26, 2023
@srmainwaring
Partial revert gazebosim#1352 - GzSceneManager
20793d9 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
srmainwaring added a commit to srmainwaring/gz-sim that referenced this pull request May 30, 2023
@srmainwaring
Partial revert gazebosim#1352 - GzSceneManager
73903d1 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
srmainwaring added a commit to srmainwaring/gz-sim that referenced this pull request Jul 8, 2023
@srmainwaring
Partial revert gazebosim#1352 - GzSceneManager
e251548 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
srmainwaring added a commit to srmainwaring/gz-sim that referenced this pull request Sep 3, 2023
@srmainwaring
Partial revert gazebosim#1352 - GzSceneManager
4aafc4b 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
srmainwaring added a commit to srmainwaring/gz-sim that referenced this pull request Oct 31, 2023
@srmainwaring
Partial revert gazebosim#1352 - GzSceneManager
634d5c9 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
srmainwaring added a commit to srmainwaring/gz-sim that referenced this pull request Dec 15, 2023
@srmainwaring
Partial revert gazebosim#1352 - GzSceneManager
9b351f1 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
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@nkoenig @chapulina @mjcarroll @ahcorde @iche033