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Jose Luis Rivero
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Prepare version 6.3.1 (#617)
* Prepare version 6.3.1 * Implement github actions for sdf6 branch Signed-off-by: Steve Peters <scpeters@openrobotics.org> Signed-off-by: Jose Luis Rivero <jrivero@osrfoundation.org>
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‎.github/ci/after_make_test.sh‎

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#!/bin/sh -l
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set -x
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BUILD_DIR=`pwd`
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# Install
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make install
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# Compile examples
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cd ../examples
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mkdir build;
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cd build;
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cmake ..;
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make;
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./simple ../simple.sdf;
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cd $BUILD_DIR

‎.github/ci/packages.apt‎

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libignition-math4-dev
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libignition-tools-dev
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libboost-system-dev
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libtinyxml-dev
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python-psutil
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ruby-dev

‎.github/workflows/ci.yml‎

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name: Ubuntu
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on: [push, pull_request]
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jobs:
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bionic-ci:
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runs-on: ubuntu-latest
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name: Ubuntu Bionic CI
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steps:
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- name: Checkout
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uses: actions/checkout@v2
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- name: Compile and test
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id: ci
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uses: ignition-tooling/action-ignition-ci@bionic
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with:
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codecov-enabled: true
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focal-ci:
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runs-on: ubuntu-latest
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name: Ubuntu Focal CI
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steps:
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- name: Checkout
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uses: actions/checkout@v2
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- name: Compile and test
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id: ci
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uses: ignition-tooling/action-ignition-ci@focal

‎.github/workflows/macos.yml‎

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name: macOS latest
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on: [push, pull_request]
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jobs:
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build:
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env:
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PACKAGE: sdformat6
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runs-on: macos-latest
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steps:
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- uses: actions/checkout@v2
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- name: Set up Homebrew
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id: set-up-homebrew
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uses: Homebrew/actions/setup-homebrew@master
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- run: brew config
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- name: Install base dependencies
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run: |
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brew tap osrf/simulation;
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brew install --only-dependencies ${PACKAGE};
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- run: mkdir build
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- name: cmake
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working-directory: build
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run: cmake .. -DCMAKE_INSTALL_PREFIX=/usr/local/Cellar/${PACKAGE}/HEAD
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- run: make
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working-directory: build
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- run: make test
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working-directory: build
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env:
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CTEST_OUTPUT_ON_FAILURE: 1
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- name: make install
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working-directory: build
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run: |
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make install;
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brew link ${PACKAGE};
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- name: Compile example code
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working-directory: examples
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run: |
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mkdir build;
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cd build;
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cmake ..;
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make;
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./simple ../simple.sdf;

‎CMakeLists.txt‎

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set (SDF_MAJOR_VERSION 6)
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set (SDF_MINOR_VERSION 3)
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set (SDF_PATCH_VERSION 0)
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set (SDF_PATCH_VERSION 1)
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set (SDF_VERSION ${SDF_MAJOR_VERSION}.${SDF_MINOR_VERSION})
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set (SDF_VERSION_FULL ${SDF_MAJOR_VERSION}.${SDF_MINOR_VERSION}.${SDF_PATCH_VERSION})

‎Changelog.md‎

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## SDFormat 6.0
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### SDFormat 6.X.X (20XX-XX-XX)
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### SDFormat 6.3.1 (2021-07-06)
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1. Fix flattening logic for nested model names
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* [Pull request 597](https://github.com/osrf/sdformat/pull/597)
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1. Translate poses of nested models inside other nested models
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* [Pull request 596](https://github.com/osrf/sdformat/pull/596)
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### SDFormat 6.3.0 (2021-06-21)
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1. Move recursiveSameTypeUniqueNames from ign.cc to parser.cc and make public.
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* [Pull request 580](https://github.com/osrf/sdformat/pull/580)

‎test/integration/frame.cc‎

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*/
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sdf::ElementPtr modelElem = worldElem->GetElement("model");
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EXPECT_EQ(modelElem->Get<std::string>("name"), "top_level_model");
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sdf::ElementPtr modelPoseElem = modelElem->GetElement("link")->GetElement("pose");
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sdf::ElementPtr modelPoseElem =
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modelElem->GetElement("link")->GetElement("pose");
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EXPECT_EQ(modelPoseElem->Get<ignition::math::Pose3d>(),
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ignition::math::Pose3d(5, 5, 0, 0, 0, 0));
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/* submodel: pose from parent is translated to model. links are the same
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* </model>
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*/
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sdf::ElementPtr subModelElem = modelElem->GetElement("model");
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EXPECT_EQ(subModelElem->Get<std::string>("name"), "box_with_submodel::submodel_of_box_with_submodel");
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EXPECT_EQ(subModelElem->Get<std::string>("name"),
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"box_with_submodel::submodel_of_box_with_submodel");
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sdf::ElementPtr subModelPoseElem = subModelElem->GetElement("pose");
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EXPECT_EQ(subModelPoseElem->Get<ignition::math::Pose3d>(),
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ignition::math::Pose3d(5, 5, 0, 0, 0, 0));

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