Merge 8 into main

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>

.github/ISSUE_TEMPLATE/bug_report.md

@@ -5,7 +5,7 @@ labels: bug
 ---
 
 <!-- If you're not sure whether your problem is a bug, please ask a question at
-http://answers.gazebosim.org instead.-->
+https://robotics.stackexchange.com instead.-->
 
 ## Environment
 * OS Version: <!-- e.g, Ubuntu 20.04 -->

.github/ISSUE_TEMPLATE/feature_request.md

@@ -6,7 +6,7 @@ labels: enhancement
 
 <!-- If you're not sure on the specifics of the feature or would like a broader
 discussion, please consider posting a proposal to
-http://community.gazebosim.org/ instead.-->
+https://robotics.stackexchange.com instead.-->
 
 ## Desired behavior
 <!-- Describe the current problem and the feature you want implemented.-->

.github/workflows/ci.yml

@@ -1,14 +1,20 @@
 name: Ubuntu CI
 
-on: [push, pull_request]
+on:
+  pull_request:
+  push:
+    branches:
+      - 'ign-gui[0-9]'
+      - 'gz-gui[0-9]?'
+      - 'main'
 
 jobs:
   jammy-ci:
     runs-on: ubuntu-latest
     name: Ubuntu Jammy CI
     steps:
       - name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
       - name: Compile and test
         id: ci
         uses: gazebo-tooling/action-gz-ci@jammy

.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 +4,49 @@
 
 ## Gazebo GUI 8
 
+### Gazebo GUI 8.3.0 (2024-06-20)
+
+1. Backport: Adding cone primitives.
+    * [Pull request #621](https://github.com/gazebosim/gz-gui/pull/621)
+
+### Gazebo GUI 8.2.0 (2024-06-14)
+
+1. Enhanced tracking camera and user visualization experience
+    * [Pull request #619](https://github.com/gazebosim/gz-gui/pull/619)
+
+1. Add package.xml
+    * [Pull request #613](https://github.com/gazebosim/gz-gui/pull/613)
+
+### Gazebo GUI 8.1.1 (2024-04-10)
+
+1. Fix compiler warnings in GCC-13 (Noble)
+    * [Pull request #616](https://github.com/gazebosim/gz-gui/pull/616)
+
+1. Use relative install paths for plugin shared libraries and gz-tools data
+    * [Pull request #614](https://github.com/gazebosim/gz-gui/pull/614)
+
+### Gazebo GUI 8.1.0 (2024-03-14)
+
+1. Update CI badges in README
+    * [Pull request #603](https://github.com/gazebosim/gz-gui/pull/603)
+
+1. Fix plugin filter on Windows
+    * [Pull request #567](https://github.com/gazebosim/gz-gui/pull/567)
+
+1. Tidy namespaces
+    * [Pull request #590](https://github.com/gazebosim/gz-gui/pull/590)
+
+1. Infrastructure
+    * [Pull request #591](https://github.com/gazebosim/gz-gui/pull/591)
+    * [Pull request #597](https://github.com/gazebosim/gz-gui/pull/597)
+    * [Pull request #608](https://github.com/gazebosim/gz-gui/pull/608)
+
+1. Add check for vulkan support in rendering
+    * [Pull request #589](https://github.com/gazebosim/gz-gui/pull/589)
+
+1. Add optional binary relocatability
+    * [Pull request #580](https://github.com/gazebosim/gz-gui/pull/580)
+
 ### Gazebo GUI 8.0.0 (2023-09-29)
 
 1. Use fully-qualified message names to avoid deprecation warning

conf/CMakeLists.txt

@@ -20,4 +20,4 @@ configure_file(
 
 # Install the yaml configuration files in an unversioned location.
 install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${GZ_DESIGNATION}${PROJECT_VERSION_MAJOR}.yaml
-  DESTINATION ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_DATAROOTDIR}/gz/)
+  DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/gz/)

doc/CMakeLists.txt

@@ -25,5 +25,5 @@ if (DOXYGEN_FOUND)
     COMMENT "Generating API documentation with Doxygen" VERBATIM)
 
   install(FILES ${CMAKE_BINARY_DIR}/doc/${PROJECT_NAME_LOWER}.tag.xml 
-    DESTINATION ${CMAKE_INSTALL_PREFIX}/share/gz/${PROJECT_NAME_LOWER}_${PROJECT_VERSION_MINOR})
+    DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/gz/${PROJECT_NAME_LOWER}_${PROJECT_VERSION_MINOR})
 endif()

examples/standalone/scene_provider/README.md

@@ -9,7 +9,7 @@ plugin to update the scene using Gazebo Transport.
 
 ## Build
 
-```
+```bash
 cd examples/standalone/scene_provider
 mkdir build
 cd build
@@ -21,14 +21,14 @@ make
 
 In one terminal, start the scene provider:
 
-```
+```bash
 cd examples/standalone/scene_provider/build
 ./scene_provider
 ```
 
 On another terminal, start the example config:
 
-```
+```bash
 gz gui -c examples/config/scene3d.config
 ```
 
@@ -42,24 +42,48 @@ Some commands to test camera tracking with this demo:
 
 Move to box:
 
-```
+```bash
 gz service -s /gui/move_to --reqtype gz.msgs.StringMsg --reptype gz.msgs.Boolean --timeout 2000 --req 'data: "box_model"'
 ```
 
 Echo camera pose:
 
-```
+```bash
 gz topic -e -t /gui/camera/pose
 ```
 
-Follow box:
+Echo camera tracking information:
 
+```bash
+gz topic -e -t /gui/currently_tracked
 ```
-gz service -s /gui/follow --reqtype gz.msgs.StringMsg --reptype gz.msgs.Boolean --timeout 2000 --req 'data: "box_model"'
+
+Follow box from track topic:
+
+```bash
+gz topic -t /gui/track -m gz.msgs.CameraTrack -p 'track_mode: 2, follow_target: { name: "box_model"}'
 ```
 
-Update follow offset:
+Follow box from track topic:
 
+```bash
+gz topic -t /gui/track -m gz.msgs.CameraTrack -p 'track_mode: 2, follow_target: "box_model", follow_offset: {x: -1, y: 0, z: 1}'
 ```
+
+Update follow offset from track topic:
+
+```bash
+gz topic -t /gui/track -m gz.msgs.CameraTrack -p 'track_mode: 2, follow_target: {name: "box_model"}, follow_offset: {x: -1, y: 0, z: 1}'
+```
+
+Follow box from service (deprecated):
+
+```bash
+gz service -s /gui/follow --reqtype gz.msgs.StringMsg --reptype gz.msgs.Boolean --timeout 2000 --req 'data: "box_model"'
+```
+
+Update follow offset from follow offset service (deprecated):
+
+```bash
 gz service -s /gui/follow/offset --reqtype gz.msgs.Vector3d --reptype gz.msgs.Boolean --timeout 2000 --req 'x: 5, y: 5, z: 5'
 ```

include/gz/gui/CMakeLists.txt

@@ -58,4 +58,8 @@ target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
     TINYXML2::TINYXML2
 )
 
+target_compile_definitions(${PROJECT_LIBRARY_TARGET_NAME} PRIVATE
+  SHARED_LIBRARY_PREFIX=\"${CMAKE_SHARED_LIBRARY_PREFIX}\"
+  SHARED_LIBRARY_SUFFIX=\"${CMAKE_SHARED_LIBRARY_SUFFIX}\")
+
 gz_install_all_headers()

include/gz/gui/qml/Main.qml

@@ -189,8 +189,8 @@ ApplicationWindow
         contentItem: Image {
           fillMode: Image.Pad
           horizontalAlignment: Image.AlignHCenter
-          verticalAlignment: Image.AlignVCenter
-          source: "images/drawer.png"
+          verticalAlignment: Image.AlignVCenter 
+          source: Material.theme === Material.Light ? "images/drawer.png" : "images/drawer_dark.png"
         }
         onClicked: drawer.open()
       }
@@ -221,7 +221,7 @@ ApplicationWindow
           fillMode: Image.Pad
           horizontalAlignment: Image.AlignHCenter
           verticalAlignment: Image.AlignVCenter
-          source: "images/menu.png"
+          source: Material.theme === Material.Light ? "images/menu.png"  : "images/menu_dark.png"
         }
         onClicked: pluginMenu.open()
 

include/gz/gui/resources.qrc

@@ -24,7 +24,9 @@
 
   <file>qml/images/gazebo_logo.png</file>
   <file>qml/images/drawer.png</file>
+  <file>qml/images/drawer_dark.png</file>
   <file>qml/images/menu.png</file>
+  <file>qml/images/menu_dark.png</file>
   <file>qml/images/export_icon.png</file>
   <file>qml/images/search.svg</file>
   <file>qml/images/plottable_icon.svg</file>

package.xml

@@ -0,0 +1,53 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>gz-gui9</name>
+  <version>9.0.0</version>
+  <description>Gazebo GUI : Graphical interfaces for robotics applications</description>
+  <maintainer email="jennuine@google.com">Jenn Nguyen</maintainer>
+  <license>Apache License 2.0</license>
+  <url type="website">https://github.com/gazebosim/gz-rendering</url>
+
+  <buildtool_depend>cmake</buildtool_depend>
+
+  <build_depend>gz-cmake3</build_depend>
+
+  <depend>gz-common6</depend>
+  <depend>gz-math8</depend>
+  <depend>gz-msgs11</depend>
+  <depend>gz-plugin3</depend>
+  <depend>gz-rendering9</depend>
+  <depend>gz-tools2</depend>
+  <depend>gz-transport14</depend>
+  <depend>gz-utils3</depend>
+  <depend>libqt5-core</depend>
+  <depend>libqt5-qml</depend>
+  <depend>libqt5-quick</depend>
+  <depend>libqt5-widgets</depend>
+  <depend>protobuf-dev</depend>
+  <depend>qml-module-qt-labs-folderlistmodel</depend>
+  <depend>qml-module-qt-labs-platform</depend>
+  <depend>qml-module-qt-labs-settings</depend>
+  <depend>qml-module-qtcharts</depend>
+  <depend>qml-module-qtgraphicaleffects</depend>
+  <depend>qml-module-qtlocation</depend>
+  <depend>qml-module-qtpositioning</depend>
+  <depend>qml-module-qtquick-controls2</depend>
+  <depend>qml-module-qtquick-controls</depend>
+  <depend>qml-module-qtquick-dialogs</depend>
+  <depend>qml-module-qtquick-extras</depend>
+  <depend>qml-module-qtquick-layouts</depend>
+  <depend>qml-module-qtquick-templates2</depend>
+  <depend>qml-module-qtquick-window2</depend>
+  <depend>qml-module-qtquick2</depend>
+  <depend>qtbase5-dev</depend>
+  <depend>qtdeclarative5-dev</depend>
+  <depend>qtquickcontrols2-5-dev</depend>
+  <depend>tinyxml2</depend>
+
+  <test_depend>xvfb</test_depend>
+
+  <export>
+    <build_type>cmake</build_type>
+  </export>
+</package>

src/Application.cc

@@ -843,10 +843,19 @@ std::vector<std::pair<std::string, std::vector<std::string>>>
     {
       auto plugin = common::basename(*dirIter);
 
-      // All we verify is that the file starts with "lib", any further
-      // checks would require loading the plugin.
+      // All we verify is that the file starts with shared library prefix and
+      // ends with shared library suffix, any further checks would require
+      // loading the plugin.
 
-      if (plugin.find("lib") == 0)
+      // TODO(anyone): Move this logic into gz-plugin to be reusable
+
+      // This computation could underflow the unsigned range, but that is okay
+      // as in such case we would check if the suffix is placed somewhere much
+      // further than allowed filename length.
+      const auto suffixPos = plugin.length() - strlen(SHARED_LIBRARY_SUFFIX);
+
+      if (plugin.find(SHARED_LIBRARY_PREFIX) == 0 &&
+          plugin.rfind(SHARED_LIBRARY_SUFFIX) == suffixPos)
         ps.push_back(plugin);
     }
 

src/MainWindow.cc

@@ -128,8 +128,13 @@ QStringList MainWindow::PluginListModel() const
   {
     for (auto const &plugin : path.second)
     {
-      // Remove lib and .so
-      auto pluginName = plugin.substr(3, plugin.find(".") - 3);
+      // TODO(anyone): Move this into gz-plugin to be reusable
+
+      // Remove shared library prefix and shared library suffix
+      auto pluginName = plugin.substr(
+        strlen(SHARED_LIBRARY_PREFIX),
+        plugin.length() - strlen(SHARED_LIBRARY_PREFIX) -
+        strlen(SHARED_LIBRARY_SUFFIX));
 
       // Split WWWCamelCase3D -> WWW Camel Case 3D
       std::regex reg("(\\B[A-Z][a-z])|(\\B[0-9])");

src/cmd/CMakeLists.txt

@@ -51,4 +51,4 @@ install(
   FILES
     ${CMAKE_CURRENT_BINARY_DIR}/gui${PROJECT_VERSION_MAJOR}.bash_completion.sh
   DESTINATION
-    ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_DATAROOTDIR}/gz/gz${GZ_TOOLS_VER}.completion.d)
+    ${CMAKE_INSTALL_DATAROOTDIR}/gz/gz${GZ_TOOLS_VER}.completion.d)

src/plugins/CMakeLists.txt

@@ -110,12 +110,13 @@ function(gz_gui_add_plugin plugin_name)
         COMPILE_FLAGS "/wd4251")
   endif()
 
-  install (TARGETS ${plugin_name} DESTINATION ${GZ_GUI_PLUGIN_INSTALL_DIR})
+  install (TARGETS ${plugin_name} DESTINATION ${GZ_GUI_PLUGIN_RELATIVE_INSTALL_DIR})
 endfunction()
 
 # Plugins
 add_subdirectory(camera_fps)
 add_subdirectory(camera_tracking)
+add_subdirectory(camera_tracking_config)
 add_subdirectory(grid_config)
 add_subdirectory(image_display)
 add_subdirectory(interactive_view_control)