Merge branch 'master' into patch-1

.github/CODEOWNERS

@@ -1,4 +1,4 @@
 # More info:
 # https://help.github.com/en/github/creating-cloning-and-archiving-repositories/about-code-owners
 
-*                     @mabelzhang
+*                     @azeey

.github/workflows/nightly-upload.yml

@@ -22,9 +22,6 @@ jobs:
           - ubuntu_distribution: focal
             gazebo_distribution: fortress
 
-          - ubuntu_distribution: focal
-            gazebo_distribution: garden
-
           - ubuntu_distribution: jammy
             gazebo_distribution: harmonic
 

base_conf.py

@@ -34,6 +34,7 @@
     "myst_parser",
     "sphinx_copybutton",
     "sphinx_design",
+    "sphinxcontrib.googleanalytics",
     # 'sphinx_sitemap',
 ]
 
@@ -100,3 +101,5 @@
 html_context = {
     "deploy_url":  os.environ.get("GZ_DEPLOY_URL", "")
 }
+
+googleanalytics_id = "G-JKS50SX85K"

citadel/install.md

@@ -2,6 +2,10 @@
 
 Ignition Citadel is the 3rd major release of Ignition, and its 1st 5-year-LTS.
 
+**Citadel has reached end-of-life on December 2024.
+This page exists for archival purposes.
+Please refer to the latest supported version.**
+
 ## Binary installation instructions
 
 Binary installation is the recommended method of installing Ignition.

citadel/install_ubuntu_src.md

@@ -24,7 +24,7 @@ cases where the default option cannot be easily changed.
 Install tools needed by this tutorial:
 
 ```bash
-sudo apt install python3-pip lsb-release gnupg curl
+sudo apt install python3-pip lsb-release gnupg curl git
 ```
 
 ## vcstool and colcon from pip
@@ -67,15 +67,6 @@ sudo apt-get update
 sudo apt-get install python3-vcstool python3-colcon-common-extensions
 ```
 
-## Git
-
-Ignition libraries use `git` for version control, so it must be available
-in the system for `vcstool` to work properly.
-
-```bash
-sudo apt-get install git
-```
-
 ## Getting the sources
 
 The first step is to create a developer workspace in which `vcstool` and

dome/install_ubuntu_src.md

@@ -24,7 +24,7 @@ cases where the default option cannot be easily changed.
 Install tools needed by this tutorial:
 
 ```bash
-sudo apt install python3-pip wget lsb-release gnupg curl
+sudo apt install python3-pip wget lsb-release gnupg curl git
 ```
 
 ## vcstool and colcon from pip
@@ -67,15 +67,6 @@ sudo apt-get update
 sudo apt-get install python3-vcstool python3-colcon-common-extensions
 ```
 
-## Git
-
-Ignition libraries use `git` for version control, so it must be available
-in the system for `vcstool` to work properly.
-
-```bash
-sudo apt-get install git
-```
-
 ## Getting the sources
 
 The instructions below use some UNIX commands to manage directories but the

edifice/install_ubuntu_src.md

@@ -24,7 +24,7 @@ cases where the default option cannot be easily changed.
 Install tools needed by this tutorial:
 
 ```bash
-sudo apt install python3-pip wget lsb-release gnupg curl
+sudo apt install python3-pip wget lsb-release gnupg curl git
 ```
 
 ## vcstool and colcon from pip
@@ -67,15 +67,6 @@ sudo apt-get update
 sudo apt-get install python3-vcstool python3-colcon-common-extensions
 ```
 
-## Git
-
-Ignition libraries use `git` for version control, so it must be available
-in the system for `vcstool` to work properly.
-
-```bash
-sudo apt-get install git
-```
-
 ## Getting the sources
 
 The instructions below use some UNIX commands to manage directories but the

fortress/install_ubuntu_src.md

@@ -24,7 +24,7 @@ cases where the default option cannot be easily changed.
 Install tools needed by this tutorial:
 
 ```bash
-sudo apt install python3-pip lsb-release gnupg curl
+sudo apt install python3-pip lsb-release gnupg curl git
 ```
 
 ## vcstool and colcon from pip
@@ -67,15 +67,6 @@ sudo apt-get update
 sudo apt-get install python3-vcstool python3-colcon-common-extensions
 ```
 
-## Git
-
-Ignition libraries use `git` for version control, so it must be available
-in the system for `vcstool` to work properly.
-
-```bash
-sudo apt-get install git
-```
-
 ## Getting the sources
 
 The instructions below use some UNIX commands to manage directories but the

garden/install.md

@@ -1,8 +1,13 @@
 # Gazebo Garden
 
-Gazebo Garden will be the 7th major release of Gazebo. It will be a
+Gazebo Garden was the 7th major release of Gazebo. It was a
 short-term release.
 
+:::{warning}
+Garden has reached end-of-life on November 2024. This page exists for archival purposes.
+Please refer to the latest supported version.
+:::
+
 ## Binary installation instructions
 
 Binary installation is the recommended method of installing Gazebo.

garden/install_ubuntu_src.md

@@ -24,7 +24,7 @@ cases where the default option cannot be easily changed.
 Install tools needed by this tutorial:
 
 ```bash
-sudo apt install python3-pip lsb-release gnupg curl
+sudo apt install python3-pip lsb-release gnupg curl git
 ```
 
 ## vcstool and colcon from pip
@@ -67,15 +67,6 @@ sudo apt-get update
 sudo apt-get install python3-vcstool python3-colcon-common-extensions
 ```
 
-## Git
-
-Gazebo libraries use `git` for version control, so it must be available
-in the system for `vcstool` to work properly.
-
-```bash
-sudo apt-get install git
-```
-
 ## Getting the sources
 
 The instructions below use some UNIX commands to manage directories but the

governance.md

@@ -53,13 +53,17 @@ The Gazebo PMC currently consists of the following individuals:
 | Name                 | Affiliation                                    | Github Handle                                   | PMC Role       | Time Zone (optional)    |
 | -------------------- | ---------------------------------------------- | ----------------------------------------------- | -------------- | ----------------------- |
 | Carlos Agüero        | [Honu Robotics](https://www.honurobotics.com/) | [caguero](https://github.com/caguero)           | Member         | CET (UTC+2)/CET (UTC+1) |
+| Michael Carroll      | [Intrinsic](https://www.intrinsic.ai/)         | [mjcarroll](https://github.com/mjcarroll)       | Member         | CST (UTC-6)/CDT (UTC-5) | 
 | Ian Chen             | [Intrinsic](https://www.intrinsic.ai/)         | [iche033](https://github.com/iche033)           | Member         | PST (UTC-8)/PDT (UTC-7) |
 | Alejandro Hernández  | [Honu Robotics](https://www.honurobotics.com/) | [ahcorde](https://github.com/ahcorde)           | Member         | CET (UTC+2)/CET (UTC+1) |
+| Jenn Nguyen          | [Intrinsic](https://www.intrinsic.ai/)         | [jennuine](https://github.com/jennuine)         | Member         | PST (UTC-8)/PDT (UTC-7) |
 | Benjamin Perseghetti | [Rudis Labs](https://github.com/rudislabs)     | [bperseghetti](https://github.com/bperseghetti) | Member         | EST (UTC-5)/EDT (UTC-4) |
 | Steve Peters         | [Intrinsic](https://www.intrinsic.ai/)         | [scpeters](https://github.com/scpeters)         | Member         | PST (UTC-8)/PDT (UTC-7) |
 | Jose Luis Rivero     | [Honu Robotics](https://www.honurobotics.com/) | [jrivero](https://github.com/j-rivero)          | Member         | CET (UTC+2)/CET (UTC+1) |
+| Silvio Traversaro    | [Italian Institute of Technology](https://www.iit.it) | [traversaro](https://github.com/traversaro)  | Member     | CEST (UTC+2)/CET (UTC+1) |
 | Addisu Z. Taddese    | [Intrinsic](https://www.intrinsic.ai/)         | [azeey](https://github.com/azeey)               | Project Leader | CST (UTC-6)/CDT (UTC-5) |
 
+
 ## Current Gazebo Committers
 
 The Gazebo Committers (who are not also PMC members) currently consist of the

harmonic/GUI_tutorial.md

@@ -119,7 +119,7 @@ Along the bottom edge of the scene, you'll notice several buttons:
 
 ![Playback buttons](tutorials/gui/playback.png)
 
-From left to right, the options are `Play`, `Steps` and `RTF` (real time factor).
+From left to right, the options are `Play`, `Steps`, `Reset`,  `RTF` (real time factor).
 
 Pressing `Play` will start the simulation.
 You can use the same button to pause the simulation as well.
@@ -129,6 +129,8 @@ You can customize step size by hovering over the button.
 
 ![hover steps](tutorials/gui/hover_steps.png)
 
+Pressing `Reset` will clear any unsaved modification to the scene. Clicking it will remove the newly inserted shapes `box_0`, `sphere_0` and `capsule_0`.
+
 At the furthest right end of the scene, you can expand `RTF` to see not only the percentage value that compares real time with sim time, but also those individual values themselves, as well as iteration count.
 
 ![RTF expanded](tutorials/gui/rtf_expanded.png)

harmonic/Model_insertion_fuel.md

@@ -32,31 +32,31 @@ Check that the file size on the right is reasonable for your application before
 
 There are a few different ways to spawn a model into the simulation. 
 
-1. **Spawn from 'Fuel Resource' using the Resource Spawner plugin.**
+1. **Spawn from 'Fuel resources' using the Resource Spawner plugin.**
 
     Select the Resource Spawner plugin from the plugin menu (top right corner).
     The plugin will appear in the right panel, you might need to scroll down to be able to see the plugin. 
-    Wait until the resource are loaded under the 'Fuel Resource' panel. 
+    Wait until the resources are loaded under the 'Fuel resources' panel. 
     Select a resource owner (e.g. openrobotics), you can now search for the model name in the right panel. 
     Click on the cloud icon to download the model. 
     When the model has been downloaded, you can click on the model and insert it into your simulation scene. 
 
-    ![Resource Spawner - Fuel Resource](tutorials/fuel_insert/resource_spawner_cloud.png)
+    ![Resource Spawner - Fuel resources](tutorials/fuel_insert/resource_spawner_cloud.png)
 
 
 2. **Download model files from Fuel and spawn from local sources using the Resource Spawner plugin.**
 
     - Download the model files from [app.gazebosim.org/fuel/models](https://app.gazebosim.org/fuel/models).
-    - Extract the files and places them under your local model directory (e.g. `~/my-local-models/model-name`). 
+    - Extract the files and place them under your local model directory (e.g. `~/my-local-models/model-name`). 
     The folder should contain `materials`, `meshes` as well as the `model.config` and the `model.sdf` files. 
     - Add your model directory as a resource with `export GZ_SIM_RESOURCE_PATH=~/my-local-models/`
     - Open the Gazebo Simulator and add the Resource Spawner Plugin, the model should now show up under your local resources. 
 
-    ![Resource Spawner - Fuel Resource](tutorials/fuel_insert/resource_spawner_local.png)
+    ![Resource Spawner - Fuel resources](tutorials/fuel_insert/resource_spawner_local.png)
 
 3. **Copying the SDF snippet and adding it to your custom world SDF file.**
 
-    With the `<>` button you can directly copy a SDF snippet to paste into your world SDF file. 
+    With the `<>` button you can directly copy an SDF snippet to paste into your world SDF file. 
     The SDF snippet will look something like this: 
 
     ```
@@ -72,10 +72,10 @@ There are a few different ways to spawn a model into the simulation.
     
     ![spawn](tutorials/fuel_insert/husky.gif)
 
-4. **Downloading the code to permanently add a Fuel model to your custum SDF file.**
+4. **Downloading the code to permanently add a Fuel model to your custom SDF file.**
 
     If you prefer to add a Fuel model permanently to an `sdf` file, you can just as easily download the code by clicking the download-arrow icon to the right of the model's image.
-    Kook at the tutorial on [SDF Worlds](sdf_worlds) for more information on how to construct a custom world SDF file.
+    Look at the tutorial on [SDF Worlds](sdf_worlds) for more information on how to construct a custom world SDF file.
 
 Now you can add more models, or even load in any one of the plugins you learned about to interact with the model the same way you could with the shapes in the previous tutorial.
 

harmonic/install_ubuntu_src.md

@@ -24,37 +24,22 @@ cases where the default option cannot be easily changed.
 Install tools needed by this tutorial:
 
 ```bash
-sudo apt install python3-pip lsb-release gnupg curl
+sudo apt install python3-pip python3-venv lsb-release gnupg curl git
 ```
 
 ## vcstool and colcon from pip
 
-PIP is available on all platforms:
+PIP is available on all platforms. Using a PIP workspace to install the tools:
 
 ```bash
-pip install vcstool || pip3 install vcstool
+python3 -m venv $HOME/vcs_colcon_installation
+. $HOME/vcs_colcon_installation/bin/activate
+pip3 install vcstool colcon-common-extensions
 ```
 
-```bash
-pip install -U colcon-common-extensions || pip3 install -U colcon-common-extensions
-```
-
-Check that no errors were printed while installing with PIP. If your system is not recognising the commands, and you're using a system that is compatible with Debian or Ubuntu packages, see the instructions below to install using `apt`.
-
-After installing `vcstool` and `colcon` with PIP, you may need to add their executables to your `$PATH`.
-Check where the installation of these packages took place:
-
-```bash
-pip show vcstool || pip3 show vcstool | grep Location
-
-pip show colcon-common-extensions || pip3 show colcon-common-extensions | grep Location
-```
-
-If your install path is prefixed with `$HOME/.local`, you'll probably need to add the executables within this directory to your `$PATH` in order to avoid "command not found" errors when using `vcstool` and `colcon` later on:
-
-```bash
-export PATH=$PATH:$HOME/.local/bin/
-```
+`vcs` and `colcon` are now available from the PIP workspace in the current
+terminal. For using them in other terminals run the `activate` script as
+done above.
 
 ## vcstool and colcon from apt
 
@@ -67,15 +52,6 @@ sudo apt-get update
 sudo apt-get install python3-vcstool python3-colcon-common-extensions
 ```
 
-## Git
-
-Gazebo libraries use `git` for version control, so it must be available
-in the system for `vcstool` to work properly.
-
-```bash
-sudo apt-get install git
-```
-
 ## Getting the sources
 
 The instructions below use some UNIX commands to manage directories but the
@@ -143,14 +119,23 @@ colcon graph
 If that is the case, then you are ready
 to build the whole set of libraries:
 
+:::{warning}
+
+Compilation can take up to 16Gb of RAM memory. Use MAKEFLAGS with
+colcon as detailed in its instructions to reduce the number of
+compilation threads if needed.
+
+:::
+
+
 ```bash
 colcon build --merge-install
 ```
 
 To speed up the build process, you could also disable tests by using
 
 ```bash
-colcon build --cmake-args -DBUILD_TESTING=OFF --merge-install
+colcon build --cmake-args ' -DBUILD_TESTING=OFF' --merge-install
 ```
 
 To use debuggers activate debug symbols. Gazebo will run slower, but you'll be able to use GDB:
@@ -228,7 +213,7 @@ To perform QML debugging you'll need:
 You will need to build Gazebo with:
 
 ```bash
-colcon build --cmake-args -DQT_QML_DEBUG --merge-install
+colcon build --cmake-args ' -DQT_QML_DEBUG' --merge-install
 ```
 
 > **Note:** Advanced users may note that only the `gz-sim` project needs this flag.