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Addisu Z. Taddese
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Merge branch 'sdf12' into aaron/pose-quat-empty-value
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‎.github/CODEOWNERS‎

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# More info:
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# https://help.github.com/en/github/creating-cloning-and-archiving-repositories/about-code-owners
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* @azeey @scpeters

‎.github/workflows/ci.yml‎

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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
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‎CMakeLists.txt‎

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set (SDF_PROTOCOL_VERSION 1.9)
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set (SDF_MAJOR_VERSION 12)
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set (SDF_MINOR_VERSION 1)
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set (SDF_MINOR_VERSION 2)
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set (SDF_PATCH_VERSION 0)
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set (SDF_VERSION ${SDF_MAJOR_VERSION}.${SDF_MINOR_VERSION})

‎Changelog.md‎

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## libsdformat 12.X
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### libsdformat 12.2.0 (2021-11-23)
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1. Convert Joint DOM to Element.
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* [Pull request #759](https://github.com/ignitionrobotics/sdformat/pull/759)
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1. Populate light sdf::ElementPtr from Light DOM
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* [Pull request #755](https://github.com/ignitionrobotics/sdformat/pull/755)
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1. Add function to convert Sensor DOM to sdf::ElementPtr
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* [Pull request #753](https://github.com/ignitionrobotics/sdformat/pull/753)
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* [Pull request #757](https://github.com/ignitionrobotics/sdformat/pull/757)
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1. Support wide angle camera.
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* [Pull request #744](https://github.com/ignitionrobotics/sdformat/pull/744)
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1. Forward ports
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* [Pull request #756](https://github.com/ignitionrobotics/sdformat/pull/756)
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* [Pull request #734](https://github.com/ignitionrobotics/sdformat/pull/734)
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* [Pull request #738](https://github.com/ignitionrobotics/sdformat/pull/738)
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* [Pull request #750](https://github.com/ignitionrobotics/sdformat/pull/750)
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* [Pull request #752](https://github.com/ignitionrobotics/sdformat/pull/752)
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1. Changelog links to BitBucket backup.
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* [Pull request #237](https://github.com/ignitionrobotics/sdformat/pull/237)
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1. Update BitBucket links.
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* [Pull request #248](https://github.com/ignitionrobotics/sdformat/pull/248)
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1. Cherry-pick [sdf4] Update BitBucket links -> sdf6
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* [Pull request #258](https://github.com/ignitionrobotics/sdformat/pull/258)
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1. Patch popen/pclose method for Windows.
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* [Pull request #297](https://github.com/ignitionrobotics/sdformat/pull/297)
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1. Parse rpyOffset as radians
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* [Pull request #497](https://github.com/ignitionrobotics/sdformat/pull/497)
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1. Fix flattening logic for nested model names (sdf6)
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* [Pull request #597](https://github.com/ignitionrobotics/sdformat/pull/597)
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1. Translate poses of nested models inside other nested models (sdf6).
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* [Pull request #596](https://github.com/ignitionrobotics/sdformat/pull/596)
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1. Use Ubuntu bionic in CI
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* [Pull request #626](https://github.com/ignitionrobotics/sdformat/pull/626)
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1. Create CODEOWNERS with azeey and scpeters.
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* [Pull request #650](https://github.com/ignitionrobotics/sdformat/pull/650)
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1. Remove bitbucket-pipelines.
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* [Pull request #674](https://github.com/ignitionrobotics/sdformat/pull/674)
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1. Check joint parent/child names in Root::Load.
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* [Pull request #727](https://github.com/ignitionrobotics/sdformat/pull/727)
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1. Check joint parent link names in Model::Load.
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* [Pull request #726](https://github.com/ignitionrobotics/sdformat/pull/726)
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1. Add Joint DOM API to access joint sensors
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* [Pull request #517](https://github.com/ignitionrobotics/sdformat/pull/517)
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1. Remove outdated deprecation note from parser_urdf.hh
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* [Pull request #740](https://github.com/ignitionrobotics/sdformat/pull/740)
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1. DOC: only allow one canonical_link attribute
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* [Pull request #716](https://github.com/ignitionrobotics/sdformat/pull/716)
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1. Fix URDF fixed joint reduction of plugins
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* [Pull request #500](https://github.com/ignitionrobotics/sdformat/pull/500)
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* [Pull request #745](https://github.com/ignitionrobotics/sdformat/pull/745)
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### libsdformat 12.1.0 (2021-11-09)
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## libsdformat 10.X
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### libsdformat 10.6.0 (2021-09-08)
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1. Parse URDF continuous joint effort/velocity limits
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* [Pull request #684](https://github.com/ignitionrobotics/sdformat/pull/684)
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1. Add enable_orientation SDF element to imu
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* [Pull request #651](https://github.com/ignitionrobotics/sdformat/pull/651)
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1. Add a codecheck make target
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* [Pull request #682](https://github.com/ignitionrobotics/sdformat/pull/682)
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1. Refactor sdf::readXml
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* [Pull request #681](https://github.com/ignitionrobotics/sdformat/pull/681)
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1. Upgrade cpplint and fix new errors
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* [Pull request #680](https://github.com/ignitionrobotics/sdformat/pull/680)
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1. BUG: add missing plugin element to include
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* [Pull request #675](https://github.com/ignitionrobotics/sdformat/pull/675)
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1. Added comment reminder to update functions
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* [Pull request #677](https://github.com/ignitionrobotics/sdformat/pull/677)
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1. Adds enable_metrics flag to Sensor.
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* [Pull request #665](https://github.com/ignitionrobotics/sdformat/pull/665)
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1. Add GPS / NavSat sensor to sdf9
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* [Pull request #453](https://github.com/ignitionrobotics/sdformat/pull/453)
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1. Support parsing elements that are not part of the schema
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* [Pull request #638](https://github.com/ignitionrobotics/sdformat/pull/638)
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1. Add lightmap to 1.7 spec and PBR material DOM
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* [Pull request #429](https://github.com/ignitionrobotics/sdformat/pull/429)
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1. Fix urdf link extension tags
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* [Pull request #628](https://github.com/ignitionrobotics/sdformat/pull/628)
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1. Updated material spec
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* [Pull request #644](https://github.com/ignitionrobotics/sdformat/pull/644)
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1. Minor fix to Migration guide
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* [Pull request #630](https://github.com/ignitionrobotics/sdformat/pull/630)
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1. Error: move << operator from .hh to .cc file
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* [Pull request #625](https://github.com/ignitionrobotics/sdformat/pull/625)
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1. Update build system to allow overriding CXX flags and using clang on Linux
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* [Pull request #621](https://github.com/ignitionrobotics/sdformat/pull/621)
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1. Add Element::FindElement as an alternative to Element::GetElement
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* [Pull request #620](https://github.com/ignitionrobotics/sdformat/pull/620)
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1. Add ValidateGraphs methods to Model/World (sdf9)
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* [Pull request #602](https://github.com/ignitionrobotics/sdformat/pull/602)
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1. Fix ABI break
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* [Pull request #605](https://github.com/ignitionrobotics/sdformat/pull/605)
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1. Parameter passing prototype
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* [Pull request #413](https://github.com/ignitionrobotics/sdformat/pull/413)
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1. Port particle scatter ratio param to sdf 1.6
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* [Pull request #595](https://github.com/ignitionrobotics/sdformat/pull/595)
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1. Making PrintValues() and ToString() able to not print default elements
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* [Pull request #575](https://github.com/ignitionrobotics/sdformat/pull/575)
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1. Add API for determining if an element was set by the user
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* [Pull request #542](https://github.com/ignitionrobotics/sdformat/pull/542)
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### libsdformat 10.5.0 (2021-05-17)
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### libsdformat 9.X.X (202X-XX-XX)
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### libsdformat 9.7.0 (2021-11-03)
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1. Make exception for plugins when checking for name uniqueness
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* [Pull request #733](https://github.com/ignitionrobotics/sdformat/pull/733)
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1. Backport test utilities from sdf10
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* [Pull request #731](https://github.com/ignitionrobotics/sdformat/pull/731)
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1. Added Force Torque Noise functions + Unit tests
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* [Pull request #669](https://github.com/ignitionrobotics/sdformat/pull/669)
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1. Add Joint DOM API to access joint sensors
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* [Pull request #517](https://github.com/ignitionrobotics/sdformat/pull/517)
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1. Add force torque sensor
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* [Pull request #393](https://github.com/ignitionrobotics/sdformat/pull/393)
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### libsdformat 9.6.1 (2021-09-07)
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1. Parse URDF continuous joint effort/velocity limits
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* [Pull request #684](https://github.com/ignitionrobotics/sdformat/pull/684)
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1. Add a codecheck make target
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* [Pull request #682](https://github.com/ignitionrobotics/sdformat/pull/682)
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1. Refactor sdf::readXml
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* [Pull request #681](https://github.com/ignitionrobotics/sdformat/pull/681)
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1. Upgrade cpplint and fix new errors
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* [Pull request #680](https://github.com/ignitionrobotics/sdformat/pull/680)
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1. BUG: add missing plugin element to include
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* [Pull request #675](https://github.com/ignitionrobotics/sdformat/pull/675)
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1. Added comment reminder to update functions
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* [Pull request #677](https://github.com/ignitionrobotics/sdformat/pull/677)
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### libsdformat 9.6.0 (2021-08-18)
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* [Pull request #665](https://github.com/ignitionrobotics/sdformat/pull/665)
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1. Add GPS / NavSat sensor DOM to sdf9
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* [Pull request #453](https://github.com/ignitionrobotics/sdformat/pull/453)
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## libsdformat 6.0
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### libsdformat 6.X.X (20XX-XX-XX)
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### libsdformat 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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### libsdformat 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)
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1. Parse rpyOffset as radians
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* [Pull request 497](https://github.com/osrf/sdformat/pull/497)
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1. Parse urdf files to SDFormat 1.5 instead of 1.4 to avoid `use_parent_model_frame`.
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* [BitBucket pull request 575](https://osrf-migration.github.io/sdformat-gh-pages/#!/osrf/sdformat/pull-requests/575)

‎Migration.md‎

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## SDFormat 5.x to 6.x
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### Additions
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1. **sdf/parser.hh**
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+ bool recursiveSameTypeUniqueNames(sdf::ElementPtr)
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### Deprecations
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1. **sdf/Types.hh**

‎bitbucket-pipelines.yml‎

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‎doc/header.html‎

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<dd><a href="http://sdf.com/wiki/Tutorials">Tutorials</a></dd>
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<dd><a href="http://sdf.com/downloads.html">Download</a></dd>
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-->
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<dd><a href="https://github.com/osrf/sdformat/issues/new">Report Documentation Issues</a></dd>
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<dd><a href="https://github.com/ignitionrobotics/sdformat/issues/new">Report Documentation Issues</a></dd>
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</dl>
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</div>
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<div>

‎doc/mainpage.html‎

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Desctiption Format API. The code reference is divided into the groups below.
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Should you find problems with this documentation - typos, unclear phrases,
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or insufficient detail - please create a <a
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href="https://github.com/osrf/sdformat/issues/new">new GitHub issue</a>.
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href="https://github.com/ignitionrobotics/sdformat/issues/new">new GitHub issue</a>.
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Include sufficient detail to quickly locate the problematic documentation,
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and set the issue's fields accordingly: Assignee - blank; Kind - bug;
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Priority - minor; Version - blank.

‎include/sdf/parser.hh‎

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SDFORMAT_VISIBLE
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bool checkJointParentChildLinkNames(const sdf::Root *_root);
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/// \brief Check that all joints in contained models specify parent
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/// and child names that match the names of sibling links, joints,
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/// models, or frames.
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/// This checks recursively and should check the files exhaustively
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/// rather than terminating early when the first error is found.
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/// \param[in] _root SDF Root object to check recursively.
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/// \param[out] _errors Detected errors will be appended to this variable.
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SDFORMAT_VISIBLE
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void checkJointParentChildNames(const sdf::Root *_root, Errors &_errors);
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/// \brief For the world and each model, check that the attached_to graphs
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‎sdf/1.7/forcetorque.sdf‎

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"child_to_parent" if the measured wrench is the one applied by the child link on the parent link.
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</description>
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</element>
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<element name="force" required="0">
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<description>These elements are specific to measurement-frame force,
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which is expressed in Newtons</description>
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<element name="x" required="0">
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<description>Force along the X axis</description>
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<include filename="noise.sdf" required="0"/>
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</element>
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<element name="y" required="0">
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<description>Force along the Y axis</description>
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<include filename="noise.sdf" required="0"/>
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</element>
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<element name="z" required="0">
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<description>Force along the Z axis</description>
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<include filename="noise.sdf" required="0"/>
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</element>
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</element>
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<element name="torque" required="0">
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<description>These elements are specific to measurement-frame torque,
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which is expressed in Newton-meters</description>
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<element name="x" required="0">
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<description>Torque about the X axis</description>
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<include filename="noise.sdf" required="0"/>
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</element>
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<element name="y" required="0">
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<description>Force about the Y axis</description>
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<include filename="noise.sdf" required="0"/>
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</element>
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<element name="z" required="0">
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<description>Torque about the Z axis</description>
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<include filename="noise.sdf" required="0"/>
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</element>
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</element>
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</element>

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