Merge branch 'master' into fix_precision_loss

.github/ci/after_make_test.sh

@@ -0,0 +1,16 @@
+#!/bin/sh -l
+
+set -x
+
+# Install
+make install
+
+# Compile examples
+curdir=$PWD
+cd ../examples
+mkdir build;
+cd build;
+cmake ..;
+make;
+./simple ../simple.sdf;
+cd $curdir

.github/ci/between_cmake_make.sh

@@ -0,0 +1,5 @@
+#!/bin/sh -l
+
+set -x
+
+make sdf_descriptions

.github/ci/packages.apt

@@ -0,0 +1,9 @@
+libignition-cmake2-dev
+libignition-math6-dev
+libignition-tools-dev
+libignition-utils-dev
+libtinyxml2-dev
+liburdfdom-dev
+libxml2-utils
+python-psutil
+ruby-dev

.github/workflows/ci.yml

@@ -0,0 +1,26 @@
+name: Ubuntu
+
+on: [push, pull_request]
+
+jobs:
+  bionic-ci:
+    runs-on: ubuntu-latest
+    name: Ubuntu Bionic CI
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Compile and test
+        id: ci
+        uses: ignition-tooling/action-ignition-ci@master
+        with:
+          codecov-token: ${{ secrets.CODECOV_TOKEN }}
+  focal-ci:
+    runs-on: ubuntu-latest
+    name: Ubuntu Focal CI
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Compile and test
+        id: ci
+        uses: ignition-tooling/action-ignition-ci@focal
+

.github/workflows/macos.yml

@@ -0,0 +1,45 @@
+name: macOS latest
+
+on: [push, pull_request]
+
+jobs:
+  build:
+
+    env:
+      PACKAGE: sdformat11
+    runs-on: macos-latest
+    steps:
+    - uses: actions/checkout@v2
+    - name: Set up Homebrew
+      id: set-up-homebrew
+      uses: Homebrew/actions/setup-homebrew@master
+    - run: brew config
+
+    - name: Install base dependencies
+      run: |
+        brew tap osrf/simulation;
+        brew install --only-dependencies ${PACKAGE};
+
+    - run: mkdir build
+    - name: cmake
+      working-directory: build
+      run: cmake .. -DCMAKE_INSTALL_PREFIX=/usr/local/Cellar/${PACKAGE}/HEAD
+    - run: make
+      working-directory: build
+    - run: make test
+      working-directory: build
+      env:
+        CTEST_OUTPUT_ON_FAILURE: 1
+    - name: make install
+      working-directory: build
+      run: |
+        make install;
+        brew link ${PACKAGE};
+    - name: Compile example code
+      working-directory: examples
+      run: |
+        mkdir build;
+        cd build;
+        cmake ..;
+        make;
+        ./simple ../simple.sdf;

.github/workflows/pr-collection-labeler.yml

@@ -0,0 +1,13 @@
+name: PR Collection Labeler
+
+on: pull_request_target
+
+jobs:
+  pr_collection_labeler:
+    runs-on: ubuntu-latest
+    steps:
+    - name: Add collection labels
+      if: github.event.action == 'opened'
+      uses: ignition-tooling/pr-collection-labeler@v1
+      with:
+        github-token: ${{ secrets.GITHUB_TOKEN }}

CMakeLists.txt

@@ -81,6 +81,8 @@ set(sdf_import_target_name ${PROJECT_EXPORT_NAME}::${sdf_target})
 set(sdf_target_output_filename "${sdf_target}-targets.cmake")
 
 
+OPTION(SDFORMAT_DISABLE_CONSOLE_LOGFILE "Disable the sdformat console logfile" OFF)
+
 if (USE_FULL_RPATH)
   # use, i.e. don't skip the full RPATH for the build tree
   set(CMAKE_SKIP_BUILD_RPATH  FALSE)
@@ -109,24 +111,8 @@ set (build_warnings "" CACHE INTERNAL "build warnings" FORCE)
 set (sdf_cmake_dir ${PROJECT_SOURCE_DIR}/cmake CACHE PATH
      "Location of CMake scripts")
 
-include (${sdf_cmake_dir}/SDFUtils.cmake)
-
-if (UNIX)
-  option (USE_EXTERNAL_TINYXML "Use external TinyXML" ON)
-elseif(WIN32)
-  option (USE_EXTERNAL_TINYXML "Use external TinyXML" OFF)
-else()
-  message (STATUS "Unknown platform")
-  BUILD_ERROR("Unknown platform")
-endif()
-
 message (STATUS "\n\n====== Finding 3rd Party Packages ======")
- # Use of tinyxml. System installation on UNIX. Internal copy on WIN
-if (USE_EXTERNAL_TINYXML)
-  message (STATUS "Using system tinyxml")
-else()
-  message (STATUS "Using internal tinyxml code")
-endif()
+include (${sdf_cmake_dir}/SDFUtils.cmake)
 include (${sdf_cmake_dir}/SearchForStuff.cmake)
 message (STATUS "----------------------------------------\n")
 
@@ -162,6 +148,10 @@ else()
   endif()
 endif()
 
+#============================================================================
+# Ask whether we should make a shared or static library.
+option(BUILD_SHARED_LIBS "Set this to true to generate shared libraries (recommended), or false for static libraries" ON)
+
 #####################################
 # Handle CFlags
 unset (CMAKE_C_FLAGS_ALL CACHE)
@@ -269,7 +259,15 @@ else (build_errors)
 
     link_directories(${PROJECT_BINARY_DIR}/src)
 
-    add_subdirectory(test)
+    if (NOT DEFINED BUILD_TESTING OR BUILD_TESTING)
+      set(BUILD_SDF_TEST TRUE)
+    else()
+      set(BUILD_SDF_TEST FALSE)
+    endif()
+
+    if (BUILD_SDF_TEST)
+      add_subdirectory(test)
+    endif()
     add_subdirectory(src)
     add_subdirectory(include/sdf)
     add_subdirectory(sdf)
@@ -296,6 +294,7 @@ else (build_errors)
   set(sdf_version_output "cmake/${sdf_target}-config-version.cmake")
   set(sdf_config_install_dir "${LIB_INSTALL_DIR}/cmake/${PROJECT_NAME_LOWER}/")
 
+  include(CMakePackageConfigHelpers)
   #--------------------------------------
   # Configure and install the config file
   configure_package_config_file(

CODE_OF_CONDUCT.md

@@ -0,0 +1,76 @@
+# Contributor Covenant Code of Conduct
+
+## Our Pledge
+
+In the interest of fostering an open and welcoming environment, we as
+contributors and maintainers pledge to making participation in our project
+and our community a harassment-free experience for everyone, regardless of
+age, body size, disability, ethnicity, sex characteristics, gender identity
+and expression, level of experience, education, socio-economic status,
+nationality, personal appearance, race, religion, or sexual identity and
+orientation.
+
+## Our Standards
+
+Examples of behavior that contributes to creating a positive environment
+include:
+
+* Using welcoming and inclusive language
+* Being respectful of differing viewpoints and experiences
+* Gracefully accepting constructive criticism
+* Focusing on what is best for the community
+* Showing empathy towards other community members
+
+Examples of unacceptable behavior by participants include:
+
+* The use of sexualized language or imagery and unwelcome sexual attention or
+  advances
+* Trolling, insulting/derogatory comments, and personal or political attacks
+* Public or private harassment
+* Publishing others' private information, such as a physical or electronic
+  address, without explicit permission
+* Other conduct which could reasonably be considered inappropriate in a
+  professional setting
+
+## Our Responsibilities
+
+Project maintainers are responsible for clarifying the standards of acceptable
+behavior and are expected to take appropriate and fair corrective action in
+response to any instances of unacceptable behavior.
+
+Project maintainers have the right and responsibility to remove, edit, or
+reject comments, commits, code, wiki edits, issues, and other contributions
+that are not aligned to this Code of Conduct, or to ban temporarily or
+permanently any contributor for other behaviors that they deem inappropriate,
+threatening, offensive, or harmful.
+
+## Scope
+
+This Code of Conduct applies both within project spaces and in public spaces
+when an individual is representing the project or its community. Examples of
+representing a project or community include using an official project e-mail
+address, posting via an official social media account, or acting as an appointed
+representative at an online or offline event. Representation of a project may be
+further defined and clarified by project maintainers.
+
+## Enforcement
+
+Instances of abusive, harassing, or otherwise unacceptable behavior may be
+reported by contacting the project team at [https://ignitionrobotics.org/support](https://ignitionrobotics.org/support). All
+complaints will be reviewed and investigated and will result in a response that
+is deemed necessary and appropriate to the circumstances. The project team is
+obligated to maintain confidentiality with regard to the reporter of an incident.
+Further details of specific enforcement policies may be posted separately.
+
+Project maintainers who do not follow or enforce the Code of Conduct in good
+faith may face temporary or permanent repercussions as determined by other
+members of the project's leadership.
+
+## Attribution
+
+This Code of Conduct is adapted from the [Contributor Covenant][homepage], version 1.4, available at https://www.contributor-covenant.org/version/1/4/code-of-conduct.html
+
+[homepage]: https://www.contributor-covenant.org
+
+For answers to common questions about this code of conduct, see
+https://www.contributor-covenant.org/faq

CONTRIBUTING.md

@@ -0,0 +1,3 @@
+See the
+[Ignition Robotics contributing guide](https://ignitionrobotics.org/docs/all/contributing)
+for how to contribute to SDFormat.