[Update] Merge gz-rendering7 upstream changes.

.github/ISSUE_TEMPLATE/bug_report.md

@@ -0,0 +1,72 @@
+---
+name: Bug report
+about: Report a bug
+labels: bug
+---
+
+<!-- If you're not sure whether your problem is a bug, please ask a question at
+https://robotics.stackexchange.com instead.-->
+
+## Environment
+* OS Version: <!-- e.g, Ubuntu 20.04 -->
+* Source or binary build?
+  <!-- If binary, which version? -->
+  <!-- If source, which branch and what is the latest commit? -->
+* If this is a GUI or sensor rendering bug, describe your GPU and rendering system. Otherwise delete this section. <!-- If you do not know some values, leave them out. But please, at least give a try to finding them - they are really helpful when debugging rendering errors. -->
+    - Rendering plugin: [ogre | ogre2]. <!-- You can find it in the logs of Gazebo it outputs to console when you launch it with `-v 3` or `-v 4` argument. -->
+      - [ ] Sensor rendering error. <!-- Search for message like "[Msg] Loading plugin [gz-rendering-ogre]" (not starting with "[GUI]"). -->
+      - [ ] GUI rendering error. <!-- Search for message like "[GUI] [Msg] Loading plugin [gz-rendering-ogre2] -->
+    - EGL headless mode:
+      - [ ] Running in EGL headless mode <!-- only available since Gazebo Fortress, GPU display is specified as /dev/dri/card* instead of :0 -->
+    - Generally, mention all circumstances that might affect rendering capabilities: <!-- remove lines that do not apply to keep the list short -->
+      - [ ] running on a dual GPU machine (integrated GPU + discrete GPU)
+      - [ ] running on a multi-GPU machine (it has multiple discrete GPUs)
+      - [ ] running on real hardware
+      - [ ] running in virtual machine
+      - [ ] running in Docker/Singularity
+      - [ ] running remotely (e.g. via SSH)
+      - [ ] running in a cloud
+      - [ ] using VirtualGL, XVFB, Xdummy, XVNC or other indirect rendering utilities
+      - [ ] GPU is concurrently used for other tasks
+        - [ ] desktop acceleration
+        - [ ] video decoding (i.e. a playing Youtube video)
+        - [ ] video encoding
+        - [ ] CUDA/ROCm computations (Tensorflow, Torch, Caffe running)
+        - [ ] multiple simulators running at the same time
+      - [ ] other...
+    - Rendering system info:
+      - On Linux, provide the outputs of the following commands:
+          ```bash
+          LANG=C lspci -nn | grep VGA  # might require installing pciutils
+          echo "$DISPLAY"
+          LANG=C glxinfo -B | grep -i '\(direct rendering\|opengl\|profile\)'  # might require installing mesa-utils package
+          ps aux | grep Xorg
+          sudo env LANG=C X -version  # if you don't have root access, try to tell the version of Xorg e.g. via package manager
+          ```
+      - On Windows, run `dxdiag` and report the GPU-related information.
+      - On Mac OS, open a terminal and type `system_profiler SPDisplaysDataType`. Copy the output here.
+        <!-- Please note that GUI rendering is not supported on macOS. -->
+    - [ ] Please, attach the ogre.log or ogre2.log file from  `~/.gz/rendering` <!-- Choose the relevant version based on what you checked in the "Rendering plugin" question. -->
+
+<details>
+
+```
+# paste log here
+```
+
+</details>
+
+## Description
+* Expected behavior: <!-- Tell us what you expected to happen -->
+* Actual behavior: <!-- What happened instead -->
+
+## Steps to reproduce
+<!-- Provide steps so we can try to reproduce this issue -->
+
+1.
+2.
+3.
+
+## Output
+<!-- Provide screenshots, console logs, backtraces, and/or anything that could
+be useful to us resolving this issue -->

.github/ISSUE_TEMPLATE/feature_request.md

@@ -0,0 +1,23 @@
+---
+name: Feature request
+about: Request a new feature
+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
+https://robotics.stackexchange.com instead.-->
+
+## Desired behavior
+<!-- Describe the current problem and the feature you want implemented.-->
+
+## Alternatives considered
+<!-- Describe alternate solutions or features you've considered.-->
+
+## Implementation suggestion
+<!-- Provide a suggestion on how to implement this feature, which could help us
+expedite this implementation.-->
+
+## Additional context
+<!-- Provide any other additional context (e.g., screenshots) about your feature
+request.-->

.github/workflows/ci.yml

@@ -0,0 +1,34 @@
+name: Ubuntu CI
+
+on:
+  pull_request:
+  push:
+    branches:
+      - 'ign-rendering[0-9]'
+      - 'gz-rendering[0-9]?'
+      - 'main'
+
+jobs:
+  focal-ci:
+    runs-on: ubuntu-latest
+    name: Ubuntu Focal CI
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+      - name: Compile and test
+        id: ci
+        uses: gazebo-tooling/action-gz-ci@focal
+        with:
+          codecov-enabled: true
+          cppcheck-enabled: true
+          cpplint-enabled: true
+          doxygen-enabled: true
+  jammy-ci:
+    runs-on: ubuntu-latest
+    name: Ubuntu Jammy CI
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+      - name: Compile and test
+        id: ci
+        uses: gazebo-tooling/action-gz-ci@jammy

.github/workflows/triage.yml

@@ -0,0 +1,16 @@
+on:
+  issues:
+    types: [opened]
+  pull_request_target:
+    types: [opened]
+name: Ticket opened
+jobs:
+  assign:
+    name: Add ticket to inbox
+    runs-on: ubuntu-latest
+    steps:
+      - name: Add ticket to inbox
+        uses: actions/add-to-project@v0.5.0
+        with:
+          project-url: https://github.com/orgs/gazebosim/projects/7
+          github-token: ${{ secrets.TRIAGE_TOKEN }}

CMakeLists.txt

@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 #============================================================================
 # Initialize the project
 #============================================================================
-project(gz-rendering7 VERSION 7.4.0)
+project(gz-rendering7 VERSION 7.5.0)
 
 #============================================================================
 # Find gz-cmake

Changelog.md

@@ -2,6 +2,110 @@
 
 ### Gazebo Rendering 7.X
 
+### Gazebo Rendering 7.5.0 (2024-11-07)
+
+1. Fix waves 'double' to 'float' truncation warning
+    * [Pull request #1065](https://github.com/gazebosim/gz-rendering/pull/1065)
+
+1. Fixed integer underflow in OgreDistortionPass
+    * [Pull request #994](https://github.com/gazebosim/gz-rendering/pull/994)
+
+1. Parse correctly OGRE2_RESOURCE_PATH on Windows
+    * [Pull request #996](https://github.com/gazebosim/gz-rendering/pull/996)
+
+1. Fix setting normal map when not all submeshes have texcoords (ogre2)
+    * [Pull request #976](https://github.com/gazebosim/gz-rendering/pull/976)
+
+1. Improve Ogre2GpuRays performance
+    * [Pull request #955](https://github.com/gazebosim/gz-rendering/pull/955)
+
+1. Backport ogre2 lidar performance improvement
+    * [Pull request #956](https://github.com/gazebosim/gz-rendering/pull/956)
+
+1. Correctly set position-independent code
+    * [Pull request #950](https://github.com/gazebosim/gz-rendering/pull/950)
+
+1. Update github action workflows
+    * [Pull request #940](https://github.com/gazebosim/gz-rendering/pull/940)
+
+1. Add minor comments to BaseGizmoVisual
+    * [Pull request #881](https://github.com/gazebosim/gz-rendering/pull/881)
+
+1. Update github issue template
+    * [Pull request #939](https://github.com/gazebosim/gz-rendering/pull/939)
+
+1. Update examples to use metal as default graphics API on mac
+    * [Pull request #937](https://github.com/gazebosim/gz-rendering/pull/937)
+
+1. Extend ogre 1.x custom shaders support
+    * [Pull request #908](https://github.com/gazebosim/gz-rendering/pull/908)
+
+1. Fix use of srgb format for texture map data
+    * [Pull request #931](https://github.com/gazebosim/gz-rendering/pull/931)
+
+1. Update ci.yml
+    * [Pull request #925](https://github.com/gazebosim/gz-rendering/pull/925)
+
+1. Fix float comparison warnings in test
+    * [Pull request #929](https://github.com/gazebosim/gz-rendering/pull/929)
+
+### Gazebo Rendering 7.4.2 (2023-09-26)
+
+1. ogre2: use CMAKE_INSTALL_RPATH
+    * [Pull request #909](https://github.com/gazebosim/gz-rendering/pull/909)
+
+1. Disable setting color range in particle emitter
+    * [Pull request #903](https://github.com/gazebosim/gz-rendering/pull/903)
+
+1. Documentation updates
+    * [Pull request #892](https://github.com/gazebosim/gz-rendering/pull/892)
+    * [Pull request #896](https://github.com/gazebosim/gz-rendering/pull/896)
+
+1. Revert mesh viewer background color back to gray
+    * [Pull request #894](https://github.com/gazebosim/gz-rendering/pull/894)
+
+### Gazebo Rendering 7.4.1 (2023-08-17)
+
+1. Infrastructure
+    * [Pull request #879](https://github.com/gazebosim/gz-rendering/pull/879)
+    * [Pull request #878](https://github.com/gazebosim/gz-rendering/pull/878)
+
+1. Restore missing Ogre2Heightmap::DestroyImpl implementation
+    * [Pull request #870](https://github.com/gazebosim/gz-rendering/pull/870)
+
+1. Destroy sensor node on exit
+    * [Pull request #869](https://github.com/gazebosim/gz-rendering/pull/869)
+
+1. Parse `OGRE2_RESOURCE_PATH` as a list of strings
+    * [Pull request #867](https://github.com/gazebosim/gz-rendering/pull/867)
+
+1. Fix a leak in ogre2 ray query
+    * [Pull request #866](https://github.com/gazebosim/gz-rendering/pull/866)
+
+1. Fixed light visual in OGRE
+    * [Pull request #862](https://github.com/gazebosim/gz-rendering/pull/862)
+
+1. Removed unused parameter warning
+    * [Pull request #861](https://github.com/gazebosim/gz-rendering/pull/861)
+
+1. Replace ignerr with gzerr
+    * [Pull request #857](https://github.com/gazebosim/gz-rendering/pull/857)
+
+1. Minor cleanup of ogre/ogre2: fix namespace, unused variable, missing header
+    * [Pull request #858](https://github.com/gazebosim/gz-rendering/pull/858)
+
+1. Fix missing header in CameraLens
+    * [Pull request #855](https://github.com/gazebosim/gz-rendering/pull/855)
+
+1. Fix missing cstdint header in latest gcc build
+    * [Pull request #853](https://github.com/gazebosim/gz-rendering/pull/853)
+
+1. OgreNext: Fix shaders compilation on d3d12 mesa driver (WSLg)
+    * [Pull request #851](https://github.com/gazebosim/gz-rendering/pull/851)
+
+1. Fix visibility decorator of Ogre2Projector
+    * [Pull request #850](https://github.com/gazebosim/gz-rendering/pull/850)
+
 ### Gazebo Rendering 7.4.0 (2023-05-18)
 
 1. Add optional binary relocatability
@@ -323,6 +427,38 @@
 
 ### Gazebo Rendering 6.X
 
+### Gazebo Rendering 6.6.2 (2023-10-03)
+
+1. Backport camera intrinsics calculation : Refactor
+    * [Pull request #905](https://github.com/gazebosim/gz-rendering/pull/905)
+    * [Pull request #929](https://github.com/gazebosim/gz-rendering/pull/929)
+
+1. Revert mesh viewer background color back to gray
+    * [Pull request #894](https://github.com/gazebosim/gz-rendering/pull/894)
+
+### Gazebo Rendering 6.6.1 (2023-09-01)
+
+1. Fixed light visual in OGRE
+    * [Pull request #864](https://github.com/gazebosim/gz-rendering/pull/864)
+
+1. Lower severity level for ogre2 visibility mask msgs and unavailable render passes
+    * [Pull request #830](https://github.com/gazebosim/gz-rendering/pull/830)
+
+1. Infrastructure
+    * [Pull request #834](https://github.com/gazebosim/gz-rendering/pull/834)
+
+1. Rename COPYING to LICENSE
+    * [Pull request #833](https://github.com/gazebosim/gz-rendering/pull/833)
+
+1. Add message to see troubleshooting page when render engine fails to create dummy window
+    * [Pull request #829](https://github.com/gazebosim/gz-rendering/pull/829)
+
+1. Tweak max camera position limit
+    * [Pull request #827](https://github.com/gazebosim/gz-rendering/pull/827)
+
+1. Limit max camera position vector length
+    * [Pull request #824](https://github.com/gazebosim/gz-rendering/pull/824)
+
 ### Gazebo Rendering 6.6.0 (2023-02-02)
 
 1. Backport Composite BaseVisual destroy fix to 6
@@ -1211,6 +1347,16 @@
 1. Add support for transparency based on textures alpha channel for ogre1 and ogre2
     * [BitBucket pull request 229](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-rendering/pull-requests/229)
 
+### Gazebo Rendering 3.7.2 (2024-01-05)
+
+1. Update github action workflows
+    * [Pull request #940](https://github.com/gazebosim/gz-rendering/pull/940)
+    * [Pull request #834](https://github.com/gazebosim/gz-rendering/pull/834)
+    * [Pull request #833](https://github.com/gazebosim/gz-rendering/pull/833)
+
+1. Add minor comments to BaseGizmoVisual
+    * [Pull request #881](https://github.com/gazebosim/gz-rendering/pull/881)
+
 ### Gazebo Rendering 3.7.1 (2023-02-03)
 
 1. Remove fini to resolve segfault at shutdown.

examples/actor_animation/Main.cc

@@ -188,7 +188,7 @@ int main(int _argc, char** _argv)
     ogreEngineName = _argv[1];
   }
 
-  GraphicsAPI graphicsApi = GraphicsAPI::OPENGL;
+  GraphicsAPI graphicsApi = defaultGraphicsAPI();
   if (_argc > 2)
   {
     graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2]));

examples/boundingbox_camera/Main.cc

@@ -217,10 +217,11 @@ void buildScene(ScenePtr _scene, BoundingBoxType _type)
 
 //////////////////////////////////////////////////
 std::vector<CameraPtr> createCameras(const std::string &_engineName,
+    const std::map<std::string, std::string>& _params,
     BoundingBoxType _type)
 {
   // create and populate scene
-  RenderEngine *engine = rendering::engine(_engineName);
+  RenderEngine *engine = rendering::engine(_engineName, _params);
   if (!engine)
   {
     gzwarn << "Engine '" << _engineName
@@ -271,6 +272,12 @@ int main(int _argc, char** _argv)
     }
   }
 
+  GraphicsAPI graphicsApi = defaultGraphicsAPI();
+  if (_argc > 2)
+  {
+    graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2]));
+  }
+
   common::Console::SetVerbosity(4);
   std::vector<std::string> engineNames;
   std::vector<CameraPtr> cameras;
@@ -281,7 +288,14 @@ int main(int _argc, char** _argv)
   {
     try
     {
-      cameras = createCameras(engineName, bboxType);
+      std::map<std::string, std::string> params;
+      if (engineName.compare("ogre2") == 0
+          && graphicsApi == GraphicsAPI::METAL)
+      {
+        params["metal"] = "1";
+      }
+
+      cameras = createCameras(engineName, params, bboxType);
     }
     catch (...)
     {

examples/camera_tracking/Main.cc

@@ -127,7 +127,7 @@ int main(int _argc, char** _argv)
     ogreEngineName = _argv[1];
   }
 
-  GraphicsAPI graphicsApi = GraphicsAPI::OPENGL;
+  GraphicsAPI graphicsApi = defaultGraphicsAPI();
   if (_argc > 2)
   {
     graphicsApi = GraphicsAPIUtils::Set(std::string(_argv[2]));
@@ -139,7 +139,6 @@ int main(int _argc, char** _argv)
   std::vector<NodePtr> nodes;
 
   engineNames.push_back(ogreEngineName);
-  engineNames.push_back("optix");
 
   for (auto engineName : engineNames)
   {