Merge pull request gazebosim#1420 from gazebosim/scpeters/merge_14_main

Merge sdf14 ➡️  main

.github/workflows/package_xml.yml

@@ -0,0 +1,11 @@
+name: Validate package.xml
+
+on:
+  pull_request:
+
+jobs:
+  package-xml:
+    runs-on: ubuntu-latest
+    name: Validate package.xml
+    steps:
+      - uses: gazebo-tooling/action-gz-ci/validate_package_xml@jammy

Changelog.md

@@ -4,6 +4,22 @@
 
 ## libsdformat 14.X
 
+### libsdformat 14.2.0 (2024-04-23)
+
+1. Fix trivial warning on 24.04 for JointAxis_TEST.cc
+    * [Pull request #1402](https://github.com/gazebosim/sdformat/pull/1402)
+
+1. Add package.xml, fix `gz sdf` tests on Windows
+    * [Pull request #1374](https://github.com/gazebosim/sdformat/pull/1374)
+
+1. Backport mesh optimization feature
+    * [Pull request #1398](https://github.com/gazebosim/sdformat/pull/1398)
+    * [Pull request #1386](https://github.com/gazebosim/sdformat/pull/1386)
+    * [Pull request #1382](https://github.com/gazebosim/sdformat/pull/1382)
+
+1. Param_TEST: Check return values of Param::Get/Set
+    * [Pull request #1394](https://github.com/gazebosim/sdformat/pull/1394)
+
 ### libsdformat 14.1.1 (2024-03-28)
 
 1. Fix warning with pybind11 2.12

package.xml

@@ -0,0 +1,32 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>sdformat15</name>
+  <version>15.0.0</version>
+  <description>SDFormat is an XML file format that describes environments, objects, and robots
+in a manner suitable for robotic applications</description>
+
+  <maintainer email="[email protected]">Addisu Z. Taddese</maintainer>
+  <maintainer email="[email protected]">Steve Peters</maintainer>
+
+  <license>Apache License 2.0</license>
+
+  <url type="website">https://github.com/gazebosim/sdformat</url>
+
+  <buildtool_depend>cmake</buildtool_depend>
+  <build_depend>gz-cmake4</build_depend>
+  <depend>gz-math8</depend>
+  <depend>gz-utils3</depend>
+  <depend>tinyxml2</depend>
+  <depend>liburdfdom-dev</depend>
+  <depend>pybind11-dev</depend>
+
+  <exec_depend>gz-tools2</exec_depend>
+
+  <test_depend>libxml2-utils</test_depend>
+  <test_depend>python3-psutil</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>cmake</build_type>
+  </export>
+</package>

src/Console.cc

@@ -34,13 +34,7 @@ using namespace sdf;
 static std::shared_ptr<Console> myself;
 static std::mutex g_instance_mutex;
 
-/// \todo Output disabled for windows, to allow tests to pass. We should
-/// disable output just for tests on windows.
-#ifndef _WIN32
 static bool g_quiet = false;
-#else
-static bool g_quiet = true;
-#endif
 
 static Console::ConsoleStream g_NullStream(nullptr);
 

src/JointAxis_TEST.cc

@@ -226,58 +226,58 @@ TEST(DOMJointAxis, ToElement)
   sdf::ElementPtr dynElem = elem->GetElement("dynamics", errors);
   ASSERT_TRUE(errors.empty());
 
-  double damping = 0;
-  damping = dynElem->Get<double>(errors, "damping", damping).first;
+  double damping;
+  damping = dynElem->Get<double>(errors, "damping", 0.0).first;
   ASSERT_TRUE(errors.empty());
   EXPECT_DOUBLE_EQ(0.2, damping);
 
-  double friction = 0;
-  friction = dynElem->Get<double>(errors, "friction", friction).first;
+  double friction;
+  friction = dynElem->Get<double>(errors, "friction", 0.0).first;
   ASSERT_TRUE(errors.empty());
   EXPECT_DOUBLE_EQ(1.3, friction);
 
-  double springReference = 0;
+  double springReference;
   springReference = dynElem->Get<double>(
-      errors, "spring_reference", springReference).first;
+      errors, "spring_reference", 0.0).first;
   ASSERT_TRUE(errors.empty());
   EXPECT_DOUBLE_EQ(2.4, springReference);
 
-  double springStiffness = 0;
+  double springStiffness;
   springStiffness = dynElem->Get<double>(
-      errors, "spring_stiffness", springStiffness).first;
+      errors, "spring_stiffness", 0.0).first;
   ASSERT_TRUE(errors.empty());
   EXPECT_DOUBLE_EQ(-1.2, springStiffness);
 
   // Check //axis/limit
   sdf::ElementPtr limitElem = elem->GetElement("limit", errors);
-  double lower = 0;
-  lower = limitElem->Get<double>(errors, "lower", lower).first;
+  double lower;
+  lower = limitElem->Get<double>(errors, "lower", 0.0).first;
   ASSERT_TRUE(errors.empty());
   EXPECT_DOUBLE_EQ(-10.8, lower);
 
-  double upper = 0;
-  upper = limitElem->Get<double>(errors, "upper", upper).first;
+  double upper;
+  upper = limitElem->Get<double>(errors, "upper", 0.0).first;
   ASSERT_TRUE(errors.empty());
   EXPECT_DOUBLE_EQ(123.4, upper);
 
-  double effort = 0;
-  effort = limitElem->Get<double>(errors, "effort", effort).first;
+  double effort;
+  effort = limitElem->Get<double>(errors, "effort", 0.0).first;
   ASSERT_TRUE(errors.empty());
   EXPECT_DOUBLE_EQ(3.2, effort);
 
-  double maxVel = 0;
-  maxVel = limitElem->Get<double>(errors, "velocity", maxVel).first;
+  double maxVel;
+  maxVel = limitElem->Get<double>(errors, "velocity", 0.0).first;
   ASSERT_TRUE(errors.empty());
   EXPECT_DOUBLE_EQ(54.2, maxVel);
 
-  double stiffness = 0;
-  stiffness = limitElem->Get<double>(errors, "stiffness", stiffness).first;
+  double stiffness;
+  stiffness = limitElem->Get<double>(errors, "stiffness", 0.0).first;
   ASSERT_TRUE(errors.empty());
   EXPECT_DOUBLE_EQ(1e2, stiffness);
 
-  double dissipation = 0;
+  double dissipation;
   dissipation = limitElem->Get<double>(
-      errors, "dissipation", dissipation).first;
+      errors, "dissipation", 0.0).first;
   ASSERT_TRUE(errors.empty());
   EXPECT_DOUBLE_EQ(1.5, dissipation);
 
@@ -286,31 +286,31 @@ TEST(DOMJointAxis, ToElement)
   ASSERT_NE(nullptr, mimicElem);
   std::string mimicJointName;
   mimicJointName = mimicElem->Get<std::string>(
-      errors, "joint", mimicJointName).first;
+      errors, "joint", "").first;
   ASSERT_TRUE(errors.empty());
   EXPECT_EQ("test_joint", mimicJointName);
 
   std::string mimicAxisName;
   mimicAxisName = mimicElem->Get<std::string>(
-      errors, "axis", mimicAxisName).first;
+      errors, "axis", "").first;
   ASSERT_TRUE(errors.empty());
   EXPECT_EQ("axis2", mimicAxisName);
 
   double multiplier;
   multiplier = mimicElem->Get<double>(
-      errors, "multiplier", multiplier).first;
+      errors, "multiplier", 0.0).first;
   ASSERT_TRUE(errors.empty());
   EXPECT_DOUBLE_EQ(5.0, multiplier);
 
   double offset;
   offset = mimicElem->Get<double>(
-      errors, "offset", offset).first;
+      errors, "offset", 0.0).first;
   ASSERT_TRUE(errors.empty());
   EXPECT_DOUBLE_EQ(1.0, offset);
 
   double reference;
   reference = mimicElem->Get<double>(
-      errors, "reference", reference).first;
+      errors, "reference", 0.0).first;
   ASSERT_TRUE(errors.empty());
   EXPECT_DOUBLE_EQ(2.0, reference);
 

src/cmd/CMakeLists.txt

@@ -31,7 +31,13 @@ set(cmd_script_configured "${CMAKE_CURRENT_BINARY_DIR}/cmd${PROJECT_NAME}.rb.con
 
 # Set the library_location variable to the relative path to the library file
 # within the install directory structure.
-set(library_location "../../../${CMAKE_INSTALL_LIBDIR}/$<TARGET_FILE_NAME:${PROJECT_NAME}>")
+if (MSVC)
+  set(library_location_prefix "${CMAKE_INSTALL_BINDIR}")
+else()
+  set(library_location_prefix "${CMAKE_INSTALL_LIBDIR}")
+endif()
+
+set(library_location "../../../${library_location_prefix}/$<TARGET_FILE_NAME:${PROJECT_NAME}>")
 
 configure_file(
   "cmd${PROJECT_NAME_NO_VERSION_LOWER}.rb.in"

src/cmd/cmdsdformat.rb.in

@@ -26,6 +26,8 @@ else
 end
 
 require 'optparse'
+require 'pathname'
+
 
 # Constants.
 LIBRARY_NAME = '@library_location@'
@@ -174,9 +176,7 @@ class Cmd
     # puts options
 
     # Read the plugin that handles the command.
-    if LIBRARY_NAME[0] == '/'
-      # If the first character is a slash, we'll assume that we've been given an
-      # absolute path to the library. This is only used during test mode.
+    if Pathname.new(LIBRARY_NAME).absolute?
       plugin = LIBRARY_NAME
     else
       # We're assuming that the library path is relative to the current
@@ -185,10 +185,18 @@ class Cmd
     end
     conf_version = LIBRARY_VERSION
 
+    if defined? RubyInstaller
+      # RubyInstaller does not search for dlls in PATH or the directory that tests are running from,
+      # so we'll add the parent directory of the plugin to the search path.
+      # https://github.com/oneclick/rubyinstaller2/wiki/For-gem-developers#-dll-loading
+      RubyInstaller::Runtime.add_dll_directory(File.dirname(plugin))
+    end
+
     begin
       Importer.dlload plugin
-    rescue DLError
+    rescue DLError => error
       puts "Library error: [#{plugin}] not found."
+      puts "DLError: #{error.message}"
       exit(-1)
     end