diff --git a/.github/workflows/deploy.yml b/.github/workflows/deploy.yml
new file mode 100644
index 0000000000..0dc4c3f88e
--- /dev/null
+++ b/.github/workflows/deploy.yml
@@ -0,0 +1,97 @@
+# yaml-language-server: $schema=https://json.schemastore.org/github-workflow.json
+name: Deploy Website and Docs
+
+on:
+ pull_request:
+ push:
+ branches:
+ - master
+
+ # Allows you to run this workflow manually from the Actions tab
+ workflow_dispatch:
+
+jobs:
+ build_website:
+ runs-on: ubuntu-latest
+ steps:
+ # Build website from gazebosim-web-frontend
+ - name: Checkout
+ uses: actions/checkout@v4
+ with:
+ repository: gazebo-web/gazebosim-web-frontend
+ ref: main
+ - name: Setup Node
+ uses: actions/setup-node@v4
+ with:
+ node-version: "20"
+ cache: npm
+ cache-dependency-path: package-lock.json
+ - name: Setup Pages
+ id: pages
+ uses: actions/configure-pages@v5
+ - name: Install Website dependencies
+ run: npm ci
+ - name: Build Website
+ run: npm run build -- --base-href "${{ steps.pages.outputs.base_url }}/"
+ # Upload the artifact for local preview
+ - name: Upload artifact
+ uses: actions/upload-artifact@v4
+ with:
+ name: website
+ path: dist
+
+ # Build Docs
+ build_docs:
+ runs-on: ubuntu-latest
+ steps:
+ - name: Checkout
+ uses: actions/checkout@v4
+ - name: Setup Pages
+ id: pages
+ uses: actions/configure-pages@v5
+ - name: Setup Python
+ uses: actions/setup-python@v5
+ with:
+ python-version: '3.12'
+ cache: 'pip'
+ - name: Install Docs dependencies
+ run: pip install -r requirements.txt
+ - name: Build Docs
+ run: python build_multiversion.py --pointers --libs --output_dir .build
+ env:
+ GZ_DEPLOY_URL: "${{ steps.pages.outputs.base_url }}"
+
+ # Upload the artifact for local preview
+ - name: Upload artifact
+ uses: actions/upload-artifact@v4
+ with:
+ name: docs
+ path: .build
+
+ deploy:
+ runs-on: ubuntu-latest
+ needs: [build_website, build_docs]
+ permissions:
+ contents: write
+ # Allow only one concurrent deployment between this and the nightly-upload workflow.
+ concurrency:
+ group: pages
+ cancel-in-progress: false
+ steps:
+ - uses: actions/download-artifact@v4
+ with:
+ merge-multiple: true
+ - name: Upload merged
+ uses: actions/upload-artifact@v4
+ with:
+ name: website-docs-merged
+ path: ./
+ - name: Commit
+ uses: peaceiris/actions-gh-pages@v4
+ # The workflow upto this point is good for generating a preview,
+ # but only commit to deploy if we are on the master branch (not a pull request).
+ if: github.ref == 'refs/heads/master'
+ with:
+ github_token: ${{ secrets.GITHUB_TOKEN }}
+ publish_dir: ./
+ keep_files: true
diff --git a/.github/workflows/nightly-upload.yml b/.github/workflows/nightly-upload.yml
index cd80dfcfa5..0f9e92cdca 100644
--- a/.github/workflows/nightly-upload.yml
+++ b/.github/workflows/nightly-upload.yml
@@ -58,17 +58,14 @@ jobs:
needs: build
runs-on: ubuntu-latest
permissions:
- id-token: write
- contents: read
+ contents: write
+ # Allow only one concurrent deployment between this and the deploy workflow.
+ concurrency:
+ group: pages
+ cancel-in-progress: false
steps:
- name: Checkout
uses: actions/checkout@v4
- - name: Configure AWS Credentials
- id: creds
- uses: aws-actions/configure-aws-credentials@v4
- with:
- aws-region: us-east-1
- role-to-assume: arn:aws:iam::200670743174:role/github-oidc-deployment-gz-web-app
- uses: actions/download-artifact@v4
id: download
with:
@@ -81,8 +78,10 @@ jobs:
with:
name: api-docs
path: .api-out/*
- - name: Run nightly upload
- run: aws s3 sync .api-out/ s3://gazebosim.org/api/
- - name: Invalidate Cloudfront distribution
- run: |
- aws cloudfront create-invalidation --distribution-id ${{ secrets.CLOUDFRONT_DISTRIBUTION_ID }} --paths '/*' --region us-east-1
+ - name: Commit
+ uses: peaceiris/actions-gh-pages@v4
+ with:
+ github_token: ${{ secrets.GITHUB_TOKEN }}
+ publish_dir: ./.api-out
+ destination_dir: api
+ keep_files: true
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000000..7afd5d306b
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,3 @@
+.build
+.tmp
+.venv
diff --git a/README.md b/README.md
index 0761587011..731656c61b 100644
--- a/README.md
+++ b/README.md
@@ -15,9 +15,45 @@ found under the `API Reference` section of [https://gazebosim.org/docs](https://
## Main docs
-The documentation in this repository is updated whenever the
-[gazebosim-web-backend](https://github.com/gazebo-web/gazebosim-web-backend),
-is deployed. The gazebosim-web-backend webserver maintains a clone of this repository, and serves the markdown pages to https://gazebosim.org/docs.
+The documentation in this repository is built using [Sphinx](https://www.sphinx-doc.org/).
+To build, you need to install the following:
+
+* python virtualenv
+
+Create the virtual env and activate it:
+
+```bash
+python3 -m venv .venv
+source .venv/bin/activate
+```
+
+Then install the necessary dependencies:
+
+```bash
+pip install -r requirements.txt
+```
+
+```bash
+python3 build_multiversion.py
+```
+
+This will build all the documentation for all versions of Gazebo.
+You can preview the result locally by running an HTTP server on
+the output directory `.build`. For example:
+
+```bash
+python3 -m http.server 8000 -d .build
+
+```
+
+This will serve the website on <http://localhost:8000>
+
+For quicker iteration, you can build the documentation for a subset
+of Gazebo versions. To build `garden` and `harmonic`:
+
+```bash
+python3 build_multiversion.py --release garden harmonic
+```
## Library docs
diff --git a/_static/css/gazebo.css b/_static/css/gazebo.css
new file mode 100644
index 0000000000..aa9cd46bcd
--- /dev/null
+++ b/_static/css/gazebo.css
@@ -0,0 +1,149 @@
+html {
+ --pst-font-family-base: Roboto, var(--pst-font-family-base-system);
+ --pst-font-size-base: 14px;
+ --pst-header-height: 64px;
+ --gz-doc-header-height: 120px;
+ scroll-padding-top: calc(var(--pst-header-height) + var(--gz-doc-header-height) + 1rem);
+}
+
+html[data-theme="light"] {
+ --gz-color-doc-header: #4fc3f7;
+ --gz-color-doc-header-text: #fff;
+ --pst-color-primary: #0277bd;
+ --gz-color-primary-sidebar: #f8f9fa;
+}
+
+html[data-theme="dark"] {
+ --gz-color-doc-header: rgb(15 23 36 / 30%);
+ --gz-color-doc-header-text: #fff;
+ --pst-color-primary: #0277bd;
+ --gz-color-primary-sidebar: #1a1c1e;
+ --pst-color-background: #131416;
+}
+
+a {
+ text-decoration: none;
+}
+
+pre {
+ border: none;
+}
+.bd-main .bd-content .bd-article-container {
+ max-width: 160em;
+}
+
+.bd-page-width {
+ max-width: 100%;
+}
+
+.bd-sidebar {
+ max-width: 20em;
+}
+
+.sidebar-primary-items__end {
+ display: none;
+}
+
+.bd-links__title {
+ display: none;
+}
+
+.navbar-nav .nav-item {
+ letter-spacing: normal;
+ text-transform: uppercase;
+ font-size: 16px;
+ text-decoration: none;
+ outline: 0;
+ transition: 0.5s;
+ font-weight: 400;
+ color: #6e6e6e;
+ border-bottom: 1px solid rgba(0, 0, 0, 0);
+}
+.navbar-nav li a {
+ margin-right: 20px;
+}
+
+.bd-header .navbar-header-items {
+ padding-left: 5em;
+}
+
+.nav-link.nav-external:after {
+ display: none;
+}
+
+.doc-header {
+ width: 100%;
+ background-color: var(--gz-color-doc-header);
+ color: var(--gz-color-doc-header-text);
+ height: var(--gz-doc-header-height);
+}
+
+.banner {
+ align-items: center;
+ padding: 20px 40px;
+ place-content: center space-between;
+ height: 100%;
+}
+
+header.navbar {
+ display: block;
+}
+
+.bd-sidebar-primary {
+ max-height: calc(100vh - var(--pst-header-height) + var(--gz-doc-header-height));
+ top: calc(var(--pst-header-height) + var(--gz-doc-header-height));
+ background-color: var(--gz-color-primary-sidebar);
+}
+
+.bd-sidebar-secondary {
+ max-height: calc(100vh - var(--pst-header-height) + var(--gz-doc-header-height));
+ top: calc(var(--pst-header-height) + var(--gz-doc-header-height));
+}
+
+.gz-version-switcher {
+ display: flex;
+}
+button.btn.version-switcher__button {
+ color: var(--gz-color-doc-header-text);
+ border-color: var(--gz-color-doc-header-text);
+}
+.bd-header-version-info {
+ background-color: var(--pst-color-info-bg);
+}
+
+.navbar-brand img {
+ height: 84px;
+}
+
+.warning {
+ border-left: 3px solid rgb(228, 167, 2);
+ padding: 15px;
+ margin: 15px 0;
+ color: #8a6c40;
+ background: rgb(252, 248, 228);
+}
+
+/* Style for /libs */
+.gz-libs-lists {
+ display: inline;
+ padding: 0;
+}
+
+.gz-libs-lists p {
+ display: inline;
+}
+
+.gz-libs-lists li, .gz-libs-cards li {
+ list-style-type: none;
+ display: inline;
+ padding-left: 0px;
+ padding-right: 30px;
+}
+
+.gz-libs-cards ul {
+ padding-left: 1em;
+}
+
+.gz-libs-cards .sd-card-text {
+ display: inline;
+}
diff --git a/_static/icon/favicon.ico b/_static/icon/favicon.ico
new file mode 100644
index 0000000000..3979b1cf68
Binary files /dev/null and b/_static/icon/favicon.ico differ
diff --git a/_static/images/logos/gazebo_horz_neg.svg b/_static/images/logos/gazebo_horz_neg.svg
new file mode 100644
index 0000000000..1b0aaab8d8
--- /dev/null
+++ b/_static/images/logos/gazebo_horz_neg.svg
@@ -0,0 +1,110 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
+<svg
+ xmlns:dc="http://purl.org/dc/elements/1.1/"
+ xmlns:cc="http://creativecommons.org/ns#"
+ xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+ xmlns:svg="http://www.w3.org/2000/svg"
+ xmlns="http://www.w3.org/2000/svg"
+ xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+ xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+ version="1.1"
+ width="979.84998"
+ height="478.5"
+ id="svg2"
+ inkscape:version="0.48.4 r9939"
+ sodipodi:docname="gazebo_horz_neg.svg">
+ <sodipodi:namedview
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+ bordercolor="#666666"
+ borderopacity="1"
+ objecttolerance="10"
+ gridtolerance="10"
+ guidetolerance="10"
+ inkscape:pageopacity="0"
+ inkscape:pageshadow="2"
+ inkscape:window-width="1664"
+ inkscape:window-height="920"
+ id="namedview3462"
+ showgrid="false"
+ inkscape:zoom="0.74470588"
+ inkscape:cx="525.78645"
+ inkscape:cy="15.753716"
+ inkscape:window-x="299"
+ inkscape:window-y="126"
+ inkscape:window-maximized="0"
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+ <defs
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+ <clipPath
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+ </clipPath>
+ </defs>
+ <metadata
+ id="metadata7">
+ <rdf:RDF>
+ <cc:Work
+ rdf:about="">
+ <dc:format>image/svg+xml</dc:format>
+ <dc:type
+ rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+ <dc:title />
+ </cc:Work>
+ </rdf:RDF>
+ </metadata>
+ <path
+ style="fill:#000000;stroke:#000000;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;fill-opacity:1"
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diff --git a/_static/images/logos/gazebo_horz_pos.svg b/_static/images/logos/gazebo_horz_pos.svg
new file mode 100644
index 0000000000..c3f296ee8e
--- /dev/null
+++ b/_static/images/logos/gazebo_horz_pos.svg
@@ -0,0 +1,136 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
+<svg
+ xmlns:dc="http://purl.org/dc/elements/1.1/"
+ xmlns:cc="http://creativecommons.org/ns#"
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+ xmlns:svg="http://www.w3.org/2000/svg"
+ xmlns="http://www.w3.org/2000/svg"
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+ xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+ version="1.1"
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+ height="478.5"
+ id="svg2"
+ inkscape:version="0.48.4 r9939"
+ sodipodi:docname="gazebo_horz_pos.svg">
+ <sodipodi:namedview
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+ bordercolor="#666666"
+ borderopacity="1"
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+ id="path3022"
+ inkscape:connector-curvature="0" />
+ </clipPath>
+ <clipPath
+ id="clipPath3111">
+ <path
+ d="m 0,0 5286.98,0 0,1276 L 0,1276 0,0 z"
+ id="path3113"
+ inkscape:connector-curvature="0" />
+ </clipPath>
+ </defs>
+ <metadata
+ id="metadata7">
+ <rdf:RDF>
+ <cc:Work
+ rdf:about="">
+ <dc:format>image/svg+xml</dc:format>
+ <dc:type
+ rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+ <dc:title />
+ </cc:Work>
+ </rdf:RDF>
+ </metadata>
+ <path
+ style="fill:#ffffff;stroke:#000000;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1;fill-opacity:1"
+ d="m 164.74024,205.99021 1.89902,67.41531 59.81923,38.92997 0.94951,-34.65717 35.13192,-19.46498 z"
+ id="path4004"
+ inkscape:connector-curvature="0" />
+ <g
+ transform="translate(-170.935,-653.61217)"
+ id="layer1">
+ <g
+ transform="matrix(1.25,0,0,-1.25,330.42374,972.61217)"
+ id="g3103">
+ <g
+ transform="scale(0.1,0.1)"
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+ id="g3107">
+ <g
+ clip-path="url(#clipPath3111)"
+ id="g3109">
+ <path
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+ style="fill:#231f20;fill-opacity:1;fill-rule:nonzero;stroke:none"
+ inkscape:connector-curvature="0" />
+ <path
+ d="m 573.73,305.855 0.618,-204.984 430.272,267.184 -0.6,205.73 -430.29,-267.93"
+ id="path3117"
+ style="fill:#ffffff;fill-opacity:1;fill-rule:nonzero;stroke:none"
+ inkscape:connector-curvature="0" />
+ <path
+ d="M 104.512,928.055 538.43,658.629 972.344,928.844 538.469,1197.53 104.512,928.055"
+ id="path3119"
+ style="fill:#f58113;fill-opacity:1;fill-rule:nonzero;stroke:none"
+ inkscape:connector-curvature="0" />
+ <path
+ d="m 1989.61,614.242 c -13.48,-174.551 -165.8,-280.086 -310.23,-280.086 -175.34,0 -315,142.012 -315,303.887 0,152.336 126.17,303.895 314.21,303.895 155.51,0 254.68,-107.118 277.71,-166.622 l -68.23,0 c -33.32,57.911 -111.1,113.457 -208.69,113.457 -148.36,0 -256.28,-120.601 -256.28,-251.531 0,-130.898 107.92,-249.933 258.68,-249.933 124.55,0 216.6,92.05 237.22,173.773 l -327.68,0 0,53.16 398.29,0"
+ id="path3121"
+ style="fill:#231f20;fill-opacity:1;fill-rule:nonzero;stroke:none"
+ inkscape:connector-curvature="0" />
+ <path
+ d="m 2324.3,595.199 227.72,0 -112.67,269.758 -115.05,-269.758 z m 81.72,336.418 65.86,0 252.29,-587.148 -64.28,0 -84.84,197.558 -272.96,0 -85.69,-197.558 -61.11,0 250.73,587.148"
+ id="path3123"
+ style="fill:#231f20;fill-opacity:1;fill-rule:nonzero;stroke:none"
+ inkscape:connector-curvature="0" />
+ <path
+ d="m 2923.5,397.633 288.81,480.82 -280.08,0 0,53.164 345.92,0 0,-53.164 -288.03,-480.82 296.76,0 0,-53.164 -363.38,0 0,53.164"
+ id="path3125"
+ style="fill:#231f20;fill-opacity:1;fill-rule:nonzero;stroke:none"
+ inkscape:connector-curvature="0" />
+ <path
+ d="m 3507.56,931.617 321.37,0 0,-53.164 -262.62,0 0,-211.062 253.89,0 0,-53.149 -253.89,0 0,-216.609 262.62,0 0,-53.164 -321.37,0 0,587.148"
+ id="path3127"
+ style="fill:#231f20;fill-opacity:1;fill-rule:nonzero;stroke:none"
+ inkscape:connector-curvature="0" />
+ <path
+ d="m 4138.48,397.633 82.5,0 c 49.22,0 79.38,2.375 111.06,15.058 36.5,15.059 61.91,55.536 61.91,99.981 0,45.234 -30.16,84.109 -69,99.18 -27.8,11.125 -51.59,13.496 -114.28,13.496 l -72.19,0 0,-227.715 z m 0,280.887 73.75,0 c 46.08,0 72.23,2.375 100.82,16.64 27.76,14.301 47.58,47.578 47.58,82.512 0,26.98 -9.55,46.016 -24.57,64.297 -23.01,26.164 -58.75,36.484 -119.04,36.484 l -78.54,0 0,-199.933 z m -58.75,253.097 147.58,0 c 184.86,0 192.01,-132.48 192.01,-156.301 0,-69.05 -43.63,-101.558 -64.2,-118.211 58.63,-23.808 97.54,-76.964 97.54,-144.433 0,-56.336 -26.17,-107.902 -67.44,-135.672 -50,-29.336 -88.91,-33.32 -157.91,-32.531 l -147.58,0 0,587.148"
+ id="path3129"
+ style="fill:#231f20;fill-opacity:1;fill-rule:nonzero;stroke:none"
+ inkscape:connector-curvature="0" />
+ <path
+ d="m 4975.96,387.309 c 135.67,0 252.31,110.304 252.31,249.933 0,137.266 -113.44,251.531 -252.31,251.531 -132.52,0 -251.56,-107.918 -251.56,-253.906 0,-134.078 115.06,-247.558 251.56,-247.558 z m 0,554.629 c 165,0 311.02,-130.918 311.02,-303.895 0,-172.969 -146.78,-303.887 -311.02,-303.887 -166.64,0 -310.25,135.711 -310.25,300.711 0,184.895 153.9,307.071 310.25,307.071"
+ id="path3131"
+ style="fill:#231f20;fill-opacity:1;fill-rule:nonzero;stroke:none"
+ inkscape:connector-curvature="0" />
+ </g>
+ </g>
+ </g>
+ </g>
+ </g>
+</svg>
diff --git a/_templates/fuel_app_link.html b/_templates/fuel_app_link.html
new file mode 100644
index 0000000000..5e9c34e13e
--- /dev/null
+++ b/_templates/fuel_app_link.html
@@ -0,0 +1 @@
+<a class="btn btn-outline-secondary" href="https://app.gazebosim.org">APP</a>
diff --git a/_templates/gz-footer.html b/_templates/gz-footer.html
new file mode 100644
index 0000000000..1af95b7893
--- /dev/null
+++ b/_templates/gz-footer.html
@@ -0,0 +1,4 @@
+<p> Brought to you by <a href="https://openrobotics.org">Open Robotics</a>. </p>
+<p> Except where otherwise noted, the gazebosim.org web pages are licensed under <a
+ href="https://creativecommons.org/licenses/by/3.0/us/">Creative Commons
+ Attribution 3.0</a>. </p>
diff --git a/_templates/gz-navbar-nav.html b/_templates/gz-navbar-nav.html
new file mode 100644
index 0000000000..c52a58fbb1
--- /dev/null
+++ b/_templates/gz-navbar-nav.html
@@ -0,0 +1,19 @@
+<nav class="navbar-nav">
+ <ul class="bd-navbar-elements navbar-nav">
+ <li class="nav-item"><a class="nav-link nav-internal" href="{{ deploy_url }}/features">Features</a></li>
+ <li class="nav-item"><a class="nav-link nav-internal" href="{{ deploy_url }}/showcase">Showcase</a></li>
+ <li class="nav-item"><a class="nav-link nav-internal" href="{{ deploy_url }}/docs">Docs</a></li>
+ <li class="nav-item"><a class="nav-link nav-internal" href="https://community.gazebosim.org/">Community</a></li>
+ <li class="nav-item dropdown">
+ <button class="btn dropdown-toggle nav-item" type="button" data-bs-toggle="dropdown" aria-expanded="false" aria-controls="pst-nav-more-links">More</button>
+ <ul class="dropdown-menu">
+ <li class="nav-item"><a class="nav-link nav-internal" href="{{ deploy_url }}/about">About</a></li>
+ <li class="nav-item"><a class="nav-link nav-internal" href='https://community.gazebosim.org' title="Discussion forum">Community</a>
+ <li class="nav-item"><a class="nav-link nav-internal" href='https://robotics.stackexchange.org' title="Technical help">Answers</a>
+ <li class="nav-item"><a class="nav-link nav-internal" href="https://blog.openrobotics.org/tag/gazebo">Blog</a>
+ <li class="nav-item"><a class="nav-link nav-internal" href="{{ deploy_url }}/media">Media</a></li>
+ </ul>
+ </li>
+ </ul>
+</nav>
+
diff --git a/_templates/gz-sidebar-nav.html b/_templates/gz-sidebar-nav.html
new file mode 100644
index 0000000000..db9b8f866b
--- /dev/null
+++ b/_templates/gz-sidebar-nav.html
@@ -0,0 +1,16 @@
+{# Temlate to generate sidedbar navigation from level 0 toc items #}
+<nav class="bd-docs-nav bd-links"
+ aria-label="{{ _('Section Navigation') }}">
+ <div class="bd-toc-item navbar-nav">
+ {{- generate_toctree_html(
+ "sidebar",
+ startdepth=0,
+ show_nav_level=theme_show_nav_level | int,
+ maxdepth=theme_navigation_depth | int,
+ collapse=theme_collapse_navigation | tobool,
+ includehidden=theme_sidebar_includehidden | tobool,
+ titles_only=True
+ )
+ -}}
+ </div>
+</nav>
diff --git a/_templates/gz-version-switcher.html b/_templates/gz-version-switcher.html
new file mode 100644
index 0000000000..5808190226
--- /dev/null
+++ b/_templates/gz-version-switcher.html
@@ -0,0 +1,4 @@
+<div class="gz-version-switcher">
+ <span class="fs-4 fw-light pe-2">Release:</span>
+{%- include 'version-switcher.html' -%}
+</div>
diff --git a/_templates/sections/header.html b/_templates/sections/header.html
new file mode 100644
index 0000000000..d046f3e16d
--- /dev/null
+++ b/_templates/sections/header.html
@@ -0,0 +1,52 @@
+{% if release_info %}
+ {% if not release_info.preferred %}
+ <aside aria-label="Version warning" class="bd-header-announcement bd-header-version-{{'warning' if release_info.eol else 'info'}}" style="min-height: 3rem;">
+ <div class="bd-header-announcement__content">
+ <div class="sidebar-message">
+ {% if release_info.eol %}
+ This is documentation for <strong>Gazebo {{ release_info.name | capitalize}}</strong>, which has reached its EOL
+ (end-of-life) and is no longer officially supported.
+ {% elif release_info.dev %}
+ This is documentation for <strong> Gazebo {{ release_info.name | capitalize}}</strong> which is still under
+ development.
+ {% else %}
+ This is documentation for <strong> Gazebo {{ release_info.name | capitalize}}</strong>,
+ an older but still supported version of Gazebo. {% endif %}
+ <a class="btn text-wrap font-weight-bold ms-3 my-1 align-baseline pst-button-link-to-stable-version"
+ href="{{ pathto(root_doc) }}../{{preferred_release.name}}/{{pagename}}">Switch to the latest stable version</a>
+ </div>
+ </div>
+ </aside>
+ {% endif %}
+{% endif %}
+
+{% include "!sections/header.html" %}
+
+{% if release_info %}
+<div class="doc-header">
+ <div class="banner d-flex flex-column-reverse flex-sm-row">
+ <div>
+ <div class="d-none d-sm-block">
+ <span class="d-inline fs-2">Docs / Gazebo {{ release_info.name | capitalize }}</span>
+ {% if release_info.lts %}
+ <span class="badge bg-primary fs-4 fw-light ms-2">LTS</span>
+ {% elif release_info.eol %}
+ <span class="badge bg-danger fs-4 fw-light ms-2">EOL</span>
+ {% endif %}
+ </div>
+ <span>{{ release_info.description}}</span>
+ </div>
+ {%- include 'gz-version-switcher.html' -%}
+ </div>
+</div>
+{% else %}
+{# Assume /libs #}
+<div class="doc-heading">
+ <div class="banner">
+ <div class="d-sm-block">
+ <div class="h1">Development Libraries</div>
+ <span>Explore the complete set of development libraries offered by Gazebo.</span>
+ </div>
+ </div>
+</div>
+{% endif %}
diff --git a/base_conf.py b/base_conf.py
new file mode 100644
index 0000000000..b29260d9db
--- /dev/null
+++ b/base_conf.py
@@ -0,0 +1,102 @@
+# -*- coding: utf-8 -*-
+# Copyright (C) 2024 Open Source Robotics Foundation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# Configuration file for the Sphinx documentation builder.
+#
+# For the full list of built-in configuration values, see the documentation:
+# https://www.sphinx-doc.org/en/master/usage/configuration.html
+
+# -- Project information -----------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#project-information
+
+import os
+
+project = "Gazebo"
+copyright = "2024, Open Robotics"
+author = "Gazebo Team"
+
+# -- General configuration ---------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#general-configuration
+
+extensions = [
+ "myst_parser",
+ "sphinx_copybutton",
+ "sphinx_design",
+ # 'sphinx_sitemap',
+]
+
+templates_path = ["_templates"]
+
+source_suffix = [
+ ".md",
+]
+
+myst_heading_anchors = 4
+myst_all_links_external = True
+
+myst_enable_extensions = [
+ "amsmath",
+ "attrs_inline",
+ "attrs_block",
+ "colon_fence",
+ "deflist",
+ "dollarmath",
+ "fieldlist",
+ "html_admonition",
+ "html_image",
+ "linkify",
+ "replacements",
+ "smartquotes",
+ "strikethrough",
+ "substitution",
+ "tasklist",
+]
+
+# -- Options for HTML output -------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#options-for-html-output
+
+html_theme = "pydata_sphinx_theme"
+html_static_path = ["_static"]
+html_css_files = ["css/gazebo.css"]
+html_favicon = "_static/icon/favicon.ico"
+
+html_theme_options = {
+ "header_links_before_dropdown": 4,
+ "use_edit_page_button": True,
+ "show_toc_level": 1,
+ "navigation_with_keys": False,
+ "show_prev_next": False,
+ "footer_center": ["gz-footer"],
+ "footer_start": ["sphinx-version"],
+ "secondary_sidebar_items": ["page-toc", "edit-this-page"],
+ "navbar_align": "left",
+ "navbar_center": ["gz-navbar-nav"],
+ "navbar_end": ["navbar-icon-links", "theme-switcher", "fuel_app_link"],
+ "pygments_light_style": "tango",
+ "pygments_dark_style": "monokai",
+ "logo": {
+ "image_light": "_static/images/logos/gazebo_horz_pos.svg",
+ "image_dark": "_static/images/logos/gazebo_horz_neg.svg",
+ },
+ "check_switcher": False,
+ # We have our own version, so we disable the one from the theme.
+ "show_version_warning_banner": False,
+}
+
+html_sidebars = {"**": ["gz-sidebar-nav"]}
+
+html_context = {
+ "deploy_url": os.environ.get("GZ_DEPLOY_URL", "")
+}
diff --git a/blueprint/ros_integration.md b/blueprint/ros_integration.md
index be30d83f92..520865f38f 100644
--- a/blueprint/ros_integration.md
+++ b/blueprint/ros_integration.md
@@ -101,4 +101,4 @@ The screenshot shows all the shell windows and their expected content
(it was taken using ROS Melodic):
-
+
diff --git a/build_multiversion.py b/build_multiversion.py
new file mode 100644
index 0000000000..3662bc108c
--- /dev/null
+++ b/build_multiversion.py
@@ -0,0 +1,454 @@
+# -*- coding: utf-8 -*-
+# Copyright (C) 2024 Open Source Robotics Foundation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from pathlib import Path
+from string import Template
+import argparse
+import copy
+import json
+import os
+import requests
+import shutil
+import sys
+import subprocess
+import yaml
+
+additional_shared_directories = ["images", "releasing"]
+
+
+def _combine_nav(common_nav, release_nav):
+ combined = copy.deepcopy(common_nav)
+ # Release are added after 'get_started'
+ for i, item in enumerate(release_nav):
+ combined.insert(i + 1, item)
+ return combined
+
+
+def copy_pages(pages, root_src_dir, dst):
+ for page in pages:
+ full_dst = Path(dst) / page["file"]
+ if full_dst.parent != dst:
+ full_dst.parent.mkdir(parents=True, exist_ok=True)
+
+ shutil.copy2(root_src_dir / page["file"], full_dst)
+ if "children" in page:
+ copy_pages(page["children"], root_src_dir, dst)
+
+
+def generate_sources(gz_nav_yaml, root_src_dir, tmp_dir, gz_release):
+
+ if not gz_release:
+ raise RuntimeError("gz_release not provided")
+ # Copy release-specific directory
+ version_src_dir = Path(root_src_dir) / gz_release
+
+ matching_release = [
+ release for release in gz_nav_yaml["releases"] if release["name"] == gz_release
+ ]
+ if not matching_release:
+ raise RuntimeError(
+ f"Provided gz_release '{gz_release}' not registered in `index.yaml`"
+ )
+ elif len(matching_release) > 1:
+ raise RuntimeError(f"More than one releases named '{gz_release}' found.")
+
+ release_info = matching_release[0]
+
+ tmp_dir.mkdir(exist_ok=True)
+ version_tmp_dir = tmp_dir / gz_release
+
+ shutil.copytree(version_src_dir, version_tmp_dir, dirs_exist_ok=True)
+ for dir in ["_static", "_templates"]:
+ shutil.copytree(root_src_dir / dir, version_tmp_dir / dir, dirs_exist_ok=True)
+
+ shutil.copy2(root_src_dir / "base_conf.py", version_tmp_dir)
+ shutil.copy2(root_src_dir / "conf.py", version_tmp_dir)
+
+ for dir in additional_shared_directories:
+ shutil.copytree(root_src_dir / dir, version_tmp_dir / dir, dirs_exist_ok=True)
+
+ copy_pages(gz_nav_yaml["pages"], root_src_dir, version_tmp_dir)
+
+ deploy_url = os.environ.get("GZ_DEPLOY_URL", "")
+ # Write switcher.json file
+ switcher = []
+ for release in gz_nav_yaml["releases"]:
+ name = release["name"].capitalize()
+ if release["eol"]:
+ name += " (EOL)"
+ elif release["lts"]:
+ name += " (LTS)"
+ elif release.get("dev", False):
+ name += " (dev)"
+
+ switcher.append(
+ {
+ "name": name,
+ "version": release["name"],
+ "url": f"{deploy_url}/docs/{release['name']}/",
+ "preferred": release.get("preferred", False)
+ }
+ )
+
+ static_dir = version_tmp_dir / "_static"
+ static_dir.mkdir(exist_ok=True)
+ json.dump(switcher, open(static_dir / "switcher.json", "w"))
+
+ def handle_file_url_rename(file_path, file_url):
+ computed_url, ext = os.path.splitext(file_path)
+ # print("renames:", file_path, file_url)
+ if file_url != computed_url:
+ new_path = file_url + ext
+ # If the file url is inside a directory, we want the new path to end up in the same directory
+ # print("Moving", version_tmp_dir / file_path, version_tmp_dir / new_path)
+ shutil.move(version_tmp_dir / file_path, version_tmp_dir / new_path)
+ return new_path
+ return file_path
+
+ toc_directives = ["{toctree}", ":hidden:", ":maxdepth: 1", ":titlesonly:"]
+
+ with open(version_tmp_dir / "index.yaml") as f:
+ version_nav_yaml = yaml.safe_load(f)
+ combined_nav = _combine_nav(gz_nav_yaml["pages"], version_nav_yaml["pages"])
+
+ nav_md = []
+ # TODO(azeey) Make this recursive so multiple levels of
+ # 'children' can be supported.
+ for page in combined_nav:
+ file_url = page["name"]
+ file_path = page["file"]
+
+ children = page.get("children")
+ nav_md.append(f"{page['title']} <{page['name']}>")
+ new_file_path = handle_file_url_rename(file_path, file_url)
+
+ if children:
+ child_md = []
+ for child in children:
+ file_url = child["name"]
+ file_path = child["file"]
+ handle_file_url_rename(file_path, file_url)
+ child_md.append(f"{child['title']} <{file_url}>")
+
+ with open(version_tmp_dir / new_file_path, "a") as ind_f:
+ ind_f.write("```")
+ ind_f.write("\n".join(toc_directives) + "\n")
+ ind_f.writelines("\n".join(child_md) + "\n")
+ ind_f.write("```\n")
+
+ library_reference_nav = "library_reference_nav"
+ libraries = release_info["libraries"]
+ if libraries:
+ nav_md.append(library_reference_nav)
+ # Add Library Reference
+ with open(version_tmp_dir / f"{library_reference_nav}.md", "w") as ind_f:
+ ind_f.write("# Library Reference\n\n")
+ ind_f.write("```")
+ ind_f.write("{toctree}\n")
+ for library in libraries:
+ ind_f.write(
+ f"{library['name']} <https://gazebosim.org/api/{library['name']}/{library['version']}>\n"
+ )
+ ind_f.write("```\n\n")
+
+ with open(version_tmp_dir / "index.md", "w") as ind_f:
+ ind_f.write(
+ """---
+myst:
+ html_meta:
+ "http-equiv=refresh": "0; url=getstarted"
+---
+"""
+ )
+ ind_f.write("# Index\n\n")
+ ind_f.write("```")
+ ind_f.write("\n".join(toc_directives) + "\n")
+ ind_f.writelines("\n".join(nav_md) + "\n")
+ ind_f.write("```\n\n")
+
+
+def get_preferred_release(releases: dict):
+ preferred = [rel for rel in releases if rel.get("preferred", False)]
+ assert len(preferred) == 1
+ return preferred[0]
+
+
+def github_repo_name(lib_name):
+ prefix = "gz-" if lib_name != "sdformat" else ""
+ return f"{prefix}{lib_name.replace('_','-')}"
+
+
+def github_branch(repo_name, version):
+ return f"{repo_name}{version}" if repo_name != "sdformat" else f"sdf{version}"
+
+
+def github_url(lib_name):
+ return f"https://github.com/gazebosim/{github_repo_name(lib_name)}"
+
+
+def api_url(lib_name, version):
+ if lib_name == "sdformat":
+ return "http://sdformat.org/api"
+ else:
+ return f"https://gazebosim.org/api/{lib_name}/{version}"
+
+
+def get_github_content(lib_name, version, file_path):
+ repo_name = github_repo_name(lib_name)
+ branch = github_branch(repo_name, version)
+ url = f"https://raw.githubusercontent.com/gazebosim/{repo_name}/{branch}/{file_path}"
+ if os.environ.get("SKIP_FETCH_CONTENT", False):
+ return f"Skipped fetching context from {url}"
+
+ print(f"fetching {url}")
+ result = requests.get(url, allow_redirects=True)
+ return result.text
+
+
+def generate_individual_lib(library, libs_dir):
+ lib_name = library["name"]
+ version = library["version"]
+ cur_lib_dir = libs_dir / lib_name
+ cur_lib_dir.mkdir(exist_ok=True)
+
+ template = Template("""\
+# $name
+
+{.gz-libs-lists}
+- [{material-regular}`code;2em` Source Code]($github_url)
+- [{material-regular}`description;2em` API & Tutorials]($api_url)
+
+::::{tab-set}
+
+:::{tab-item} Readme
+$readme
+:::
+
+:::{tab-item} Changelog
+$changelog
+:::
+
+::::
+ """)
+
+ mapping = {
+ "name": lib_name,
+ "readme": get_github_content(lib_name, version, "README.md"),
+ "changelog": get_github_content(lib_name, version, "Changelog.md"),
+ "github_url": github_url(lib_name),
+ "api_url": api_url(lib_name, version),
+ }
+ with open(cur_lib_dir / "index.md", "w") as f:
+ f.write(template.substitute(mapping))
+
+
+def generate_libs(gz_nav_yaml, libs_dir):
+ libraries = get_preferred_release(gz_nav_yaml["releases"])["libraries"]
+ library_directives = "\n".join([
+ f"{library['name'].capitalize()} <{library['name']}/index>"
+ for library in libraries
+ ])
+
+ index_md_header_template = Template("""\
+# Libraries
+
+```{toctree}
+:maxdepth: 1
+:hidden:
+:titlesonly:
+$library_directives
+```
+
+""")
+
+ library_card_template = Template("""\
+:::{card} [$name_cap]($name/index)
+:class-card: gz-libs-cards
+ - [{material-regular}`fullscreen;2em` Details]($name/index)
+ - [{material-regular}`code;2em` Source Code]($github_url)
+ - [{material-regular}`description;2em` API & Tutorials]($api_url)
++++,
+
+$description
+:::
+
+
+""")
+ with open(libs_dir / "index.md", "w") as f:
+ f.write(
+ index_md_header_template.substitute(library_directives=library_directives)
+ )
+
+ for library in sorted(libraries, key=lambda lib: lib["name"]):
+ name = library["name"]
+ try:
+ description = gz_nav_yaml["library_info"][name]["description"]
+ except KeyError as e:
+ print(
+ f"Description for library {name} not found."
+ "Make sure there is an entry for it in index.yaml"
+ )
+ print(e)
+ description = ""
+ mapping = {
+ "name": name,
+ "name_cap": name.capitalize(),
+ "github_url": github_url(name),
+ "api_url": api_url(name, library["version"]),
+ "description": description,
+ }
+ f.write(library_card_template.substitute(mapping))
+
+ generate_individual_lib(library, libs_dir)
+
+
+def build_libs(gz_nav_yaml, src_dir, tmp_dir, build_dir):
+ libs_dir = tmp_dir / "libs"
+ libs_dir.mkdir(exist_ok=True)
+ shutil.copy2(src_dir / "base_conf.py", libs_dir/"base_conf.py")
+ shutil.copy2(src_dir / "libs_conf.py", libs_dir/"conf.py")
+ if len(gz_nav_yaml["releases"]) == 0:
+ print("No releases found in 'index.yaml'.")
+ return
+
+ for dir in ["_static", "_templates"]:
+ shutil.copytree(src_dir / dir, libs_dir / dir, dirs_exist_ok=True)
+
+ build_dir = build_dir / "libs"
+
+ generate_libs(gz_nav_yaml, libs_dir)
+
+ sphinx_args = [
+ "sphinx-build",
+ "-b",
+ "dirhtml",
+ f"{libs_dir}",
+ f"{build_dir}",
+ ]
+ subprocess.run(sphinx_args)
+
+
+def main(argv=None):
+ src_dir = Path(__file__).parent
+
+ # We will assume that this file is in the same directory as documentation
+ # sources and conf.py files.
+ parser = argparse.ArgumentParser()
+ parser.add_argument(
+ "-r",
+ "--releases",
+ metavar="GZ_RELEASES",
+ nargs="*",
+ help="Names of releases to build. Builds all known releases if empty.",
+ )
+ parser.add_argument(
+ "--output_dir", default=src_dir / ".build", help="Path to output directory"
+ )
+ parser.add_argument(
+ "--libs", action="store_true", default=False, help="Build /libs page"
+ )
+ parser.add_argument(
+ "--libs_only", action="store_true", default=False, help="Build only /libs page"
+ )
+ parser.add_argument(
+ "--pointers",
+ action="store_true",
+ default=False,
+ help="Build 'latest' and 'all'",
+ )
+
+ args, unknown_args = parser.parse_known_args(argv)
+
+ index_yaml = src_dir / "index.yaml"
+ assert index_yaml.exists()
+
+ with open(index_yaml) as top_index_file:
+ gz_nav_yaml = yaml.safe_load(top_index_file)
+
+ if not args.releases:
+ args.releases = [release["name"] for release in gz_nav_yaml["releases"]]
+
+ preferred_release = get_preferred_release(gz_nav_yaml["releases"])
+ tmp_dir = src_dir / ".tmp"
+ tmp_dir.mkdir(exist_ok=True)
+ build_dir = Path(args.output_dir)
+ build_dir.mkdir(exist_ok=True)
+ if args.libs or args.libs_only:
+ build_libs(gz_nav_yaml, src_dir, tmp_dir, build_dir)
+
+ if args.libs_only:
+ return
+
+ build_docs_dir = build_dir / "docs"
+ for release in args.releases:
+ generate_sources(gz_nav_yaml, src_dir, tmp_dir, release)
+ release_build_dir = build_docs_dir / release
+ sphinx_args = [
+ "sphinx-build",
+ "-b",
+ "dirhtml",
+ f"{tmp_dir/release}",
+ f"{release_build_dir }",
+ "-D",
+ f"gz_release={release}",
+ "-D",
+ f"gz_root_index_file={index_yaml}",
+ *unknown_args,
+ ]
+ subprocess.run(sphinx_args)
+
+ # Handle "latest" and "all"
+ release = preferred_release["name"]
+ if args.pointers and (release in args.releases):
+ for pointer in ["latest", "all"]:
+ release_build_dir = build_docs_dir / pointer
+ pointer_tmp_dir = tmp_dir/pointer
+ try:
+ pointer_tmp_dir.symlink_to(tmp_dir/release)
+ except FileExistsError:
+ # It's okay for it to exist, but make sure it's a symlink
+ if not pointer_tmp_dir.is_symlink:
+ raise RuntimeError(
+ f"{pointer_tmp_dir} already exists and is not a symlink"
+ )
+
+ sphinx_args = [
+ "sphinx-build",
+ "-b",
+ "dirhtml",
+ f"{pointer_tmp_dir}",
+ f"{release_build_dir}",
+ "-D",
+ f"gz_release={release}",
+ "-D",
+ f"gz_root_index_file={index_yaml}",
+ *unknown_args,
+ ]
+ subprocess.run(sphinx_args)
+
+ # Create a redirect to "/latest"
+ redirect_page = build_docs_dir / "index.html"
+ redirect_page.write_text("""\
+<!DOCTYPE html>
+<html>
+ <head>
+ <meta content="0; url=latest" http-equiv="refresh" />
+ </head>
+</html>
+""")
+
+
+if __name__ == "__main__":
+ sys.exit(main(sys.argv[1:]))
diff --git a/citadel/index.yaml b/citadel/index.yaml
index f58d5ec5d0..f293b7a473 100644
--- a/citadel/index.yaml
+++ b/citadel/index.yaml
@@ -41,6 +41,9 @@ pages:
- name: troubleshooting
title: Troubleshooting
file: troubleshooting.md
+ - name: ign_docker_env
+ title: Dockerized Dev Env
+ file: ign_docker_env.md
- name: comparison
title: Feature Comparison
file: comparison.md
diff --git a/citadel/install_osx_src.md b/citadel/install_osx_src.md
index 77e564cb4a..8c9b78edaa 100644
--- a/citadel/install_osx_src.md
+++ b/citadel/install_osx_src.md
@@ -122,7 +122,7 @@ If you want to compile Ignition Libraries in MacOS Catalina (10.15) you will nee
Create a file called `intern.patch` with the following content:
-```patch
+```diff
--- intern.h 2019-12-16 18:17:08.000000000 +0100
+++ /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX10.15.sdk/System/Library/Frameworks/Ruby.framework/Headers/ruby/ruby/intern.h
@@ -14,6 +14,10 @@
@@ -140,7 +140,7 @@ Create a file called `intern.patch` with the following content:
Now we can apply the patch:
-```{.sh}
+```sh
sudo patch -p0 < intern.patch
```
@@ -164,7 +164,7 @@ Create a file called `config.patch` with the following content:
Now we can appply the patch:
-```{.sh}
+```sh
sudo patch -p0 < config.patch
```
diff --git a/citadel/ros_integration.md b/citadel/ros_integration.md
index 460a698549..22184cefa4 100644
--- a/citadel/ros_integration.md
+++ b/citadel/ros_integration.md
@@ -96,4 +96,4 @@ The screenshot shows all the shell windows and their expected content
(it was taken using ROS Melodic):
-
+
diff --git a/citadel/sensors.md b/citadel/sensors.md
index c5f8f101fe..34d0e120a8 100644
--- a/citadel/sensors.md
+++ b/citadel/sensors.md
@@ -362,14 +362,14 @@ Inside the main we subscribe to the `lidar` topic, and wait until the node is sh
Download the [CMakeLists.txt](https://github.com/ignitionrobotics/docs/blob/master/citadel/tutorials/sensors/CMakeLists.txt), and in the same folder of `lidar_node` create `build/` directory:
-```{.sh}
+```sh
mkdir build
cd build
```
Run cmake and build the code:
-```{.sh}
+```sh
cmake ..
make lidar_node
```
@@ -378,13 +378,13 @@ make lidar_node
Run the node from terminal 1:
-```{.sh}
+```sh
./build/lidar_node
```
Run the world from terminal 2:
-```{.sh}
+```sh
ign gazebo sensor_tutorial.sdf
```
@@ -413,7 +413,7 @@ The first command is `ign gazebo sensor_tutorial.sdf` which launches the world.
And the second command is `./build/lidar_node` which runs the `lidar_node`.
Save the file as `sensor_launch.ign`, and then run it using the following command:
-```{.sh}
+```sh
ign launch sensor_launch.ign
```
diff --git a/conf.py b/conf.py
new file mode 100644
index 0000000000..6145489349
--- /dev/null
+++ b/conf.py
@@ -0,0 +1,128 @@
+# -*- coding: utf-8 -*-
+# Copyright (C) 2024 Open Source Robotics Foundation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# Configuration file for the Sphinx documentation builder.
+#
+# For the full list of built-in configuration values, see the documentation:
+# https://www.sphinx-doc.org/en/master/usage/configuration.html
+
+# -- Project information -----------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#project-information
+import sys
+from pathlib import Path
+import yaml
+
+
+from sphinx.application import Sphinx
+from sphinx.config import Config
+
+
+sys.path.append(str(Path(__file__).parent))
+from base_conf import * # noqa
+
+html_baseurl = f"{html_context['deploy_url']}/docs/latest" # noqa
+
+html_context.update({
+ "github_user": "gazebosim",
+ "github_repo": "docs",
+ "github_version": "master",
+ "edit_page_url_template": "{{ github_url }}/{{ github_user }}/{{ github_repo }}"
+ "/edit/{{ github_version }}/{{ get_file_from_map(file_name) }}",
+ "edit_page_provider_name": "GitHub",
+})
+
+
+def setup_file_map(app: Sphinx, pagename: str, templatename: str, context, doctree):
+ def get_file_from_map(file_name: str):
+ result = context["file_name_map"].get(Path(file_name).stem)
+ if result:
+ return result
+ return file_name
+
+ context["get_file_from_map"] = get_file_from_map
+
+
+def load_releases(index_file):
+ with open(index_file) as top_index_file:
+ gz_nav_yaml = yaml.safe_load(top_index_file)
+
+ return dict([(release["name"], release) for release in gz_nav_yaml["releases"]])
+
+
+def get_preferred_release(releases: dict):
+ preferred = [rel for rel in releases.values() if rel.get("preferred", False)]
+ assert len(preferred) == 1
+ return preferred[0]
+
+
+def create_file_rename_map(nav_yaml_pages, release):
+ file_name_map = {}
+
+ prefix = f"{release}/" if release is not None else ""
+
+ for page in nav_yaml_pages:
+ file_name_map[page["name"]] = f"{prefix}{page['file']}"
+
+ children = page.get("children")
+ if children:
+ file_name_map.update(create_file_rename_map(children, release))
+
+ return file_name_map
+
+
+def config_init(app: Sphinx, config: Config):
+ if not config.gz_release:
+ raise RuntimeError("gz_release not provided")
+ config.release = config.gz_release # type: ignore
+ config.version = config.gz_release # type: ignore
+
+ file_name_map = {}
+
+ with open(app.config.gz_root_index_file) as f:
+ file_name_map.update(create_file_rename_map(yaml.safe_load(f)["pages"], None))
+
+ with open(Path(app.srcdir) / "index.yaml") as f:
+ file_name_map.update(
+ create_file_rename_map(yaml.safe_load(f)["pages"], config.release)
+ )
+
+ config.html_context["file_name_map"] = file_name_map
+
+ # We've disabled "check_switcher" since it doesn't play well with our directory structure.
+ # So we check for the existence of switcher.json here
+ #
+ assert Path(f"{app.srcdir}/_static/switcher.json").exists()
+ config.html_theme_options["switcher"] = {
+ "json_url": f"{html_context['deploy_url']}/docs/{config.gz_release}/_static/switcher.json",
+ "version_match": config.gz_release,
+ }
+
+ try:
+ releases = load_releases(config.gz_root_index_file)
+ app.config.html_context["release_info"] = releases[config.gz_release]
+ app.config.html_context["preferred_release"] = get_preferred_release(releases)
+
+ except KeyError as e:
+ print(e)
+ raise RuntimeError(
+ f"Provided gz_release '{config.gz_release}' not registered in `index.yaml`"
+ )
+
+
+def setup(app: Sphinx):
+ app.add_config_value("gz_release", "", rebuild="env", types=[str])
+ app.add_config_value("gz_root_index_file", "", rebuild="env", types=[str])
+ app.connect("html-page-context", setup_file_map)
+ app.connect("config-inited", config_init)
diff --git a/contributing.md b/contributing.md
index b7c3c4d5ec..0c5459a259 100644
--- a/contributing.md
+++ b/contributing.md
@@ -8,29 +8,6 @@ Organization](https://github.com/gazebosim) on GitHub. These
are mostly guidelines, not rules. Use your best judgment, and feel free to
propose changes to this document in a pull request.
-#### Table of Contents
-
-[Code of Conduct](https://gazebosim.org/docs/all/contributing#code-of-conduct)
-
-[Project Design](https://gazebosim.org/docs/all/contributing#project-design)
-
- * [Repository List](https://gazebosim.org/docs/all/contributing#repository-list)
-
-[How to Contribute](https://gazebosim.org/docs/all/contributing#how-to-contribute)
-
- * [Reporting Bugs](https://gazebosim.org/docs/all/contributing#reporting-bugs)
- * [Suggesting Enhancements](https://gazebosim.org/docs/all/contributing#suggesting-enhancements)
- * [Contributing Code](https://gazebosim.org/docs/all/contributing#contributing-code)
- * [Tracking Progress](https://gazebosim.org/docs/all/contributing#tracking-progress)
-
-[Writing Tests](https://gazebosim.org/docs/all/contributing#writing-tests)
-
- * [Test Coverage](https://gazebosim.org/docs/all/contributing#test-coverage)
-
-[Styleguides](https://gazebosim.org/docs/all/contributing#style-guides)
-
-[Appendix](https://gazebosim.org/docs/all/contributing#appendix)
-
## Code of Conduct
This project and everyone participating in it is governed by the [Gazebo
diff --git a/dome/install_osx_src.md b/dome/install_osx_src.md
index ceaa16d487..2c4e5ceae0 100644
--- a/dome/install_osx_src.md
+++ b/dome/install_osx_src.md
@@ -122,7 +122,7 @@ If you want to compile Ignition Libraries in MacOS Catalina (10.15) you will nee
Create a file called `intern.patch` with the following content:
-```patch
+```diff
--- intern.h 2019-12-16 18:17:08.000000000 +0100
+++ /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX10.15.sdk/System/Library/Frameworks/Ruby.framework/Headers/ruby/ruby/intern.h
@@ -14,6 +14,10 @@
@@ -140,7 +140,7 @@ Create a file called `intern.patch` with the following content:
Now we can apply the patch:
-```{.sh}
+```sh
sudo patch -p0 < intern.patch
```
@@ -164,7 +164,7 @@ Create a file called `config.patch` with the following content:
Now we can appply the patch:
-```{.sh}
+```sh
sudo patch -p0 < config.patch
```
diff --git a/dome/sensors.md b/dome/sensors.md
index 31ab5597ec..6bb641cfd8 100644
--- a/dome/sensors.md
+++ b/dome/sensors.md
@@ -362,14 +362,14 @@ Inside the main we subscribe to the `lidar` topic, and wait until the node is sh
Download the [CMakeLists.txt](https://github.com/ignitionrobotics/docs/blob/master/dome/tutorials/sensors/CMakeLists.txt), and in the same folder of `lidar_node` create `build/` directory:
-```{.sh}
+```sh
mkdir build
cd build
```
Run cmake and build the code:
-```{.sh}
+```sh
cmake ..
make lidar_node
```
@@ -378,13 +378,13 @@ make lidar_node
Run the node from terminal 1:
-```{.sh}
+```sh
./build/lidar_node
```
Run the world from terminal 2:
-```{.sh}
+```sh
ign gazebo sensor_tutorial.sdf
```
@@ -413,7 +413,7 @@ The first command is `ign gazebo sensor_tutorial.sdf` which launches the world.
And the second command is `./build/lidar_node` which runs the `lidar_node`.
Save the file as `sensor_launch.ign`, and then run it using the following command:
-```{.sh}
+```sh
ign launch sensor_launch.ign
```
diff --git a/dome/web_visualization.md b/dome/web_visualization.md
index 97239a74ee..4cd1a1c01f 100644
--- a/dome/web_visualization.md
+++ b/dome/web_visualization.md
@@ -62,7 +62,7 @@ matching key using an "auth" call on the websocket. If the `<admin_authorization
1. Is you notice an issue with web visualization, then please
file a ticket at
- [https://gitlab.com/ignitionrobotics/web/app/-/issues](https://gitlab.com/ignitionrobotics/web/app/-/issues).
+ [https://github.com/gazebo-web/gzweb/issues](https://github.com/gazebo-web/gzweb/issues).
## Troubleshooting
diff --git a/edifice/install_osx_src.md b/edifice/install_osx_src.md
index d476c1054f..5bb5b06add 100644
--- a/edifice/install_osx_src.md
+++ b/edifice/install_osx_src.md
@@ -122,7 +122,7 @@ If you want to compile Ignition Libraries in MacOS Catalina (10.15) you will nee
Create a file called `intern.patch` with the following content:
-```patch
+```diff
--- intern.h 2019-12-16 18:17:08.000000000 +0100
+++ /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX10.15.sdk/System/Library/Frameworks/Ruby.framework/Headers/ruby/ruby/intern.h
@@ -14,6 +14,10 @@
@@ -140,7 +140,7 @@ Create a file called `intern.patch` with the following content:
Now we can apply the patch:
-```{.sh}
+```sh
sudo patch -p0 < intern.patch
```
@@ -164,7 +164,7 @@ Create a file called `config.patch` with the following content:
Now we can appply the patch:
-```{.sh}
+```sh
sudo patch -p0 < config.patch
```
diff --git a/edifice/sensors.md b/edifice/sensors.md
index ef80024ef0..22b560c77b 100644
--- a/edifice/sensors.md
+++ b/edifice/sensors.md
@@ -362,14 +362,14 @@ Inside the main we subscribe to the `lidar` topic, and wait until the node is sh
Download the [CMakeLists.txt](https://github.com/ignitionrobotics/docs/blob/master/edifice/tutorials/sensors/CMakeLists.txt), and in the same folder of `lidar_node` create `build/` directory:
-```{.sh}
+```sh
mkdir build
cd build
```
Run cmake and build the code:
-```{.sh}
+```sh
cmake ..
make lidar_node
```
@@ -378,13 +378,13 @@ make lidar_node
Run the node from terminal 1:
-```{.sh}
+```sh
./build/lidar_node
```
Run the world from terminal 2:
-```{.sh}
+```sh
ign gazebo sensor_tutorial.sdf
```
@@ -413,7 +413,7 @@ The first command is `ign gazebo sensor_tutorial.sdf` which launches the world.
And the second command is `./build/lidar_node` which runs the `lidar_node`.
Save the file as `sensor_launch.ign`, and then run it using the following command:
-```{.sh}
+```sh
ign launch sensor_launch.ign
```
diff --git a/fortress/install_osx_src.md b/fortress/install_osx_src.md
index 4eea0450ee..9f3ae62103 100644
--- a/fortress/install_osx_src.md
+++ b/fortress/install_osx_src.md
@@ -122,7 +122,7 @@ If you want to compile Ignition Libraries in MacOS Catalina (10.15) you will nee
Create a file called `intern.patch` with the following content:
-```patch
+```diff
--- intern.h 2019-12-16 18:17:08.000000000 +0100
+++ /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX10.15.sdk/System/Library/Frameworks/Ruby.framework/Headers/ruby/ruby/intern.h
@@ -14,6 +14,10 @@
@@ -140,7 +140,7 @@ Create a file called `intern.patch` with the following content:
Now we can apply the patch:
-```{.sh}
+```sh
sudo patch -p0 < intern.patch
```
@@ -148,7 +148,7 @@ sudo patch -p0 < intern.patch
Create a file called `config.patch` with the following content:
-```patch
+```diff
--- config.h 2019-12-16 18:19:13.000000000 +0100
+++ /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX10.15.sdk/System/Library/Frameworks/Ruby.framework/Headers/ruby/ruby/config.h
@@ -410,6 +410,6 @@
@@ -164,7 +164,7 @@ Create a file called `config.patch` with the following content:
Now we can appply the patch:
-```{.sh}
+```sh
sudo patch -p0 < config.patch
```
diff --git a/fortress/sensors.md b/fortress/sensors.md
index bfa6d5ccf4..2ac11c522a 100644
--- a/fortress/sensors.md
+++ b/fortress/sensors.md
@@ -384,14 +384,14 @@ Inside the main we subscribe to the `lidar` topic, and wait until the node is sh
Download the [CMakeLists.txt](https://github.com/ignitionrobotics/docs/blob/master/fortress/tutorials/sensors/CMakeLists.txt), and in the same folder of `lidar_node` create `build/` directory:
-```{.sh}
+```sh
mkdir build
cd build
```
Run cmake and build the code:
-```{.sh}
+```sh
cmake ..
make lidar_node
```
@@ -400,13 +400,13 @@ make lidar_node
Run the node from terminal 1:
-```{.sh}
+```sh
./build/lidar_node
```
Run the world from terminal 2:
-```{.sh}
+```sh
ign gazebo sensor_tutorial.sdf
```
@@ -435,7 +435,7 @@ The first command is `ign gazebo sensor_tutorial.sdf` which launches the world.
And the second command is `./build/lidar_node` which runs the `lidar_node`.
Save the file as `sensor_launch.ign`, and then run it using the following command:
-```{.sh}
+```sh
ign launch sensor_launch.ign
```
diff --git a/garden/install_osx_src.md b/garden/install_osx_src.md
index 7038e44fb6..3caba545cc 100644
--- a/garden/install_osx_src.md
+++ b/garden/install_osx_src.md
@@ -136,7 +136,7 @@ If you want to compile Gazebo Libraries in MacOS Catalina (10.15) you will need
Create a file called `intern.patch` with the following content:
-```patch
+```diff
--- intern.h 2019-12-16 18:17:08.000000000 +0100
+++ /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX10.15.sdk/System/Library/Frameworks/Ruby.framework/Headers/ruby/ruby/intern.h
@@ -14,6 +14,10 @@
@@ -154,7 +154,7 @@ Create a file called `intern.patch` with the following content:
Now we can apply the patch:
-```{.sh}
+```sh
sudo patch -p0 < intern.patch
```
@@ -162,7 +162,7 @@ sudo patch -p0 < intern.patch
Create a file called `config.patch` with the following content:
-```patch
+```diff
--- config.h 2019-12-16 18:19:13.000000000 +0100
+++ /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX10.15.sdk/System/Library/Frameworks/Ruby.framework/Headers/ruby/ruby/config.h
@@ -410,6 +410,6 @@
@@ -178,7 +178,7 @@ Create a file called `config.patch` with the following content:
Now we can appply the patch:
-```{.sh}
+```sh
sudo patch -p0 < config.patch
```
diff --git a/garden/migration_from_ignition.md b/garden/migration_from_ignition.md
index 07ad69c901..b0fe2a9f67 100644
--- a/garden/migration_from_ignition.md
+++ b/garden/migration_from_ignition.md
@@ -239,7 +239,7 @@ In `CMakeLists.txt` files (and their references in your source files!):
**Variables and macro/function calls**
-```cpp
+```
Find: IGN(ITION)?_GAZEBO
Replace: GZ_SIM
@@ -255,7 +255,7 @@ Replace: gz_
**Includes**
-```cpp
+```
Find: include\(Ign
Replace: include(Gz
@@ -271,7 +271,7 @@ Replace: gz_find_package(Gz-
**Project Names**
-```cpp
+```
Find: ignition-gazebo
Replace: gz-sim
@@ -288,7 +288,7 @@ Replace: gz-
Migrate source macros and environment variables
-```cpp
+```
Find: IGN(ITION)?_GAZEBO
Replace: GZ_SIM
@@ -319,7 +319,7 @@ Additionally, the logging macros have also been migrated! Migrate any uses!
In `.sdf` files:
-```cpp
+```
Find: <ignition
Replace: <gz
@@ -341,7 +341,7 @@ The plugin finder is able to find plugins even if their filenames are stripped o
In `.sdf` files and source files (e.g. `.cc`):
-```cpp
+```
Find: (lib)?ign(ition)?-gazebo([^. ]*)\.so
Replace: gz-sim\3
@@ -359,7 +359,7 @@ Replace: gz::
In Python files (e.g. `.py`)
-```cpp
+```
Find: ignition.gazebo
Replace: gz.sim
@@ -369,7 +369,7 @@ Replace: gz.
In Ruby files (e.g. `.i`, `.rb`)
-```cpp
+```
Find: ign(ition)?/
Replace: gz/
```
@@ -378,7 +378,7 @@ Replace: gz/
In your message definitions
-```cpp
+```
Find: ign(ition)?\.gazebo
Replace: gz.sim
@@ -398,7 +398,7 @@ Sweeping checks everywhere (pay special attention to reviewing these!)
**Headers**
-```cpp
+```
Find: #include\s*([<"])ign(ition)?/gazebo
Replace: #include \1gz/sim
@@ -416,7 +416,7 @@ Replace: #endif // GZ$1_H
**Namespaces**
-```cpp
+```
Find: namespace\s*ignition
Replace: namespace gz
@@ -449,13 +449,13 @@ And also be mindful that certain instances of `gazebo` (usually as part of an AP
Where you used to use:
-```cpp
+```
ign gazebo shapes.sdf
```
Now you should use:
-```cpp
+```
gz sim shapes.sdf
```
diff --git a/garden/sensors.md b/garden/sensors.md
index 079e154233..fbf229c243 100644
--- a/garden/sensors.md
+++ b/garden/sensors.md
@@ -361,14 +361,14 @@ Inside the main we subscribe to the `lidar` topic, and wait until the node is sh
Download the [CMakeLists.txt](https://github.com/gazebosim/docs/blob/master/garden/tutorials/sensors/CMakeLists.txt), and in the same folder of `lidar_node` create `build/` directory:
-```{.sh}
+```sh
mkdir build
cd build
```
Run cmake and build the code:
-```{.sh}
+```sh
cmake ..
make lidar_node
```
@@ -377,13 +377,13 @@ make lidar_node
Run the node from terminal 1:
-```{.sh}
+```sh
./build/lidar_node
```
Run the world from terminal 2:
-```{.sh}
+```sh
gz sim sensor_tutorial.sdf
```
@@ -412,7 +412,7 @@ The first command is `gz sim sensor_tutorial.sdf` which launches the world.
And the second command is `./build/lidar_node` which runs the `lidar_node`.
Save the file as `sensor_launch.gzlaunch`, and then run it using the following command:
-```{.sh}
+```sh
gz launch sensor_launch.gzlaunch
```
diff --git a/get_started.md b/get_started.md
index bac67148b0..bfc8d40c6b 100644
--- a/get_started.md
+++ b/get_started.md
@@ -17,22 +17,22 @@ packages available for the platform to use:
|Platform|Gazebo Versions|
|---|---|
-| Ubuntu 22.04 Jammy | [Gazebo Harmonic](/docs/harmonic/install_ubuntu) (recommended), [Gazebo Garden](/docs/garden/install_ubuntu) and [Gazebo Fortress](/docs/fortress/install_ubuntu) (recommended if using ROS 2 Humble or Iron)
-| Ubuntu 20.04 Focal | [Gazebo Garden](/docs/garden/install_ubuntu) (recommended), [Gazebo Fortress](/docs/fortress/install_ubuntu) and [Gazebo Citadel](/docs/citadel/install_ubuntu)
-| Ubuntu 18.04 Bionic | [Gazebo Citadel](/docs/citadel/install_ubuntu)
-| Mac Ventura | [Gazebo Harmonic](/docs/harmonic/install_osx) (recommended), [Gazebo Garden](/docs/garden/install_osx), [Gazebo Fortress](/docs/fortress/install_osx) and [Gazebo Citadel](/docs/citadel/install_osx)
-| Mac Monterey | [Gazebo Harmonic](/docs/harmonic/install_osx) (recommended), [Gazebo Garden](/docs/garden/install_osx), [Gazebo Fortress](/docs/fortress/install_osx) and [Gazebo Citadel](/docs/citadel/install_osx)
+| Ubuntu 22.04 Jammy | [Gazebo Harmonic](/docs/harmonic/install_ubuntu){.external} (recommended), [Gazebo Garden](/docs/garden/install_ubuntu){.external} and [Gazebo Fortress](/docs/fortress/install_ubuntu){.external} (recommended if using ROS 2 Humble or Iron)
+| Ubuntu 20.04 Focal | [Gazebo Garden](/docs/garden/install_ubuntu){.external} (recommended), [Gazebo Fortress](/docs/fortress/install_ubuntu){.external} and [Gazebo Citadel](/docs/citadel/install_ubuntu){.external}
+| Ubuntu 18.04 Bionic | [Gazebo Citadel](/docs/citadel/install_ubuntu){.external}
+| Mac Ventura | [Gazebo Harmonic](/docs/harmonic/install_osx){.external} (recommended), [Gazebo Garden](/docs/garden/install_osx){.external}, [Gazebo Fortress](/docs/fortress/install_osx){.external} and [Gazebo Citadel](/docs/citadel/install_osx){.external}
+| Mac Monterey | [Gazebo Harmonic](/docs/harmonic/install_osx){.external} (recommended), [Gazebo Garden](/docs/garden/install_osx){.external}, [Gazebo Fortress](/docs/fortress/install_osx){.external} and [Gazebo Citadel](/docs/citadel/install_osx){.external}
| Windows | Support via Conda-Forge is not fully functional, as there are known runtime issues [see this issue for details](https://github.com/gazebosim/gz-sim/issues/168).
If the desired platform is not listed above or if a particular feature in a
-given [Gazebo release](/docs/latest/releases) is needed,
+given [Gazebo release](releases) is needed,
there is an installation package per release available with all the
installation options:
-* [Gazebo Harmonic installation](/docs/harmonic/install) options (EOL 2028 Sep)
-* [Gazebo Garden installation](/docs/garden/install) options (EOL 2024 Sep)
-* [Gazebo Fortress (LTS) installation](/docs/fortress/install) options (EOL 2026 Sep)
-* [Gazebo Citadel (LTS) installation](/docs/citadel/install) options (EOL 2024 Dec)
+* [Gazebo Harmonic installation](/docs/harmonic/install){.external} options (EOL 2028 Sep)
+* [Gazebo Garden installation](/docs/garden/install){.external} options (EOL 2024 Sep)
+* [Gazebo Fortress (LTS) installation](/docs/fortress/install){.external} options (EOL 2026 Sep)
+* [Gazebo Citadel (LTS) installation](/docs/citadel/install){.external} options (EOL 2024 Dec)
## Step 2: Run
@@ -95,14 +95,14 @@ custom SDF file.
## Step 4: Explore and learn
This tutorial has covered the basics of getting started with Gazebo.
-Starting with Citadel, there are more [versioned tutorials](/docs/citadel/tutorials)
+Starting with Citadel, there are more [versioned tutorials](/docs/citadel/tutorials){.external}
covering the basics of the GUI, creating worlds and robots, and more.
Each [Gazebo library](/libs) also has a set of tutorials and
examples. Explore these resources, and don't forget to ask questions and
find solutions at [answers.gazebosim.org](http://answers.gazebosim.org).
-# macOS
+## macOS
On macOS, you will need to run Gazebo using two terminals, one for the server
and another for the GUI:
diff --git a/harmonic/install_windows_src.md b/harmonic/install_windows_src.md
index 59e28efec1..b3e3a3d5ff 100644
--- a/harmonic/install_windows_src.md
+++ b/harmonic/install_windows_src.md
@@ -144,7 +144,7 @@ page to start using Gazebo!
> **NOTE**
> As Gazebo GUI is not yet working, running `gz sim` will not work. You can run only the server with
-> ```cmd
+> ```bat
> gz sim -s -v
> ```
@@ -152,7 +152,7 @@ page to start using Gazebo!
> If your username contains spaces (which is quite common on Windows), you will probably get errors
> saying `Invalid partition name [Computer:My User With Spaces]`. Fix this by changing `GZ_PARTITION`
> to something else:
-> ```cmd
+> ```bat
> set GZ_PARTITION=test
> ```
> Remember to set the same partition in all other consoles.
diff --git a/harmonic/migration_from_ignition.md b/harmonic/migration_from_ignition.md
index 30e5da93ae..d630b85584 100644
--- a/harmonic/migration_from_ignition.md
+++ b/harmonic/migration_from_ignition.md
@@ -239,7 +239,7 @@ In `CMakeLists.txt` files (and their references in your source files!):
**Variables and macro/function calls**
-```cpp
+```
Find: IGN(ITION)?_GAZEBO
Replace: GZ_SIM
@@ -255,7 +255,7 @@ Replace: gz_
**Includes**
-```cpp
+```
Find: include\(Ign
Replace: include(Gz
@@ -271,7 +271,7 @@ Replace: gz_find_package(Gz-
**Project Names**
-```cpp
+```
Find: ignition-gazebo
Replace: gz-sim
@@ -288,7 +288,7 @@ Replace: gz-
Migrate source macros and environment variables
-```cpp
+```
Find: IGN(ITION)?_GAZEBO
Replace: GZ_SIM
@@ -319,7 +319,7 @@ Additionally, the logging macros have also been migrated! Migrate any uses!
In `.sdf` files:
-```cpp
+```
Find: <ignition
Replace: <gz
@@ -341,7 +341,7 @@ The plugin finder is able to find plugins even if their filenames are stripped o
In `.sdf` files and source files (e.g. `.cc`):
-```cpp
+```
Find: (lib)?ign(ition)?-gazebo([^. ]*)\.so
Replace: gz-sim\3
@@ -359,7 +359,7 @@ Replace: gz::
In Python files (e.g. `.py`)
-```cpp
+```
Find: ignition.gazebo
Replace: gz.sim
@@ -369,7 +369,7 @@ Replace: gz.
In Ruby files (e.g. `.i`, `.rb`)
-```cpp
+```
Find: ign(ition)?/
Replace: gz/
```
@@ -378,7 +378,7 @@ Replace: gz/
In your message definitions
-```cpp
+```
Find: ign(ition)?\.gazebo
Replace: gz.sim
@@ -398,7 +398,7 @@ Sweeping checks everywhere (pay special attention to reviewing these!)
**Headers**
-```cpp
+```
Find: #include\s*([<"])ign(ition)?/gazebo
Replace: #include \1gz/sim
@@ -416,7 +416,7 @@ Replace: #endif // GZ$1_H
**Namespaces**
-```cpp
+```
Find: namespace\s*ignition
Replace: namespace gz
@@ -449,13 +449,13 @@ And also be mindful that certain instances of `gazebo` (usually as part of an AP
Where you used to use:
-```cpp
+```
ign gazebo shapes.sdf
```
Now you should use:
-```cpp
+```
gz sim shapes.sdf
```
diff --git a/harmonic/sensors.md b/harmonic/sensors.md
index 24f3ea514b..e958298278 100644
--- a/harmonic/sensors.md
+++ b/harmonic/sensors.md
@@ -382,14 +382,14 @@ Inside the main we subscribe to the `lidar` topic, and wait until the node is sh
Download the [CMakeLists.txt](https://github.com/gazebosim/docs/blob/master/harmonic/tutorials/sensors/CMakeLists.txt), and in the same folder of `lidar_node` create `build/` directory:
-```{.sh}
+```sh
mkdir build
cd build
```
Run cmake and build the code:
-```{.sh}
+```sh
cmake ..
make lidar_node
```
@@ -398,13 +398,13 @@ make lidar_node
Run the node from terminal 1:
-```{.sh}
+```sh
./build/lidar_node
```
Run the world from terminal 2:
-```{.sh}
+```sh
gz sim sensor_tutorial.sdf
```
@@ -433,7 +433,7 @@ The first command is `gz sim sensor_tutorial.sdf` which launches the world.
And the second command is `./build/lidar_node` which runs the `lidar_node`.
Save the file as `sensor_launch.gzlaunch`, and then run it using the following command:
-```{.sh}
+```sh
gz launch sensor_launch.gzlaunch
```
diff --git a/index.yaml b/index.yaml
index 15dfd4d34e..d77496a73a 100644
--- a/index.yaml
+++ b/index.yaml
@@ -97,9 +97,48 @@ pages:
title: What is Fair Use
file: fuel/fair_use.md
releases:
+ - name: ionic
+ lts: false
+ eol: false
+ dev: true
+ description: Supported Sep, 2024 to Sep, 2026
+ libraries:
+ - name: cmake
+ version: 4
+ - name: common
+ version: 6
+ - name: fuel_tools
+ version: 10
+ - name: gui
+ version: 9
+ - name: launch
+ version: 8
+ - name: math
+ version: 8
+ - name: msgs
+ version: 11
+ - name: physics
+ version: 8
+ - name: plugin
+ version: 3
+ - name: rendering
+ version: 9
+ - name: sensors
+ version: 9
+ - name: sim
+ version: 9
+ - name: tools
+ version: 2
+ - name: transport
+ version: 14
+ - name: utils
+ version: 3
+ - name: sdformat
+ version: 15
- name: harmonic
lts: true
eol: false
+ preferred: true # Only one preferred=true is allowed
description: Supported Sep, 2023 to Sep, 2028
libraries:
- name: cmake
@@ -385,4 +424,38 @@ releases:
version: 6
- name: sdformat
version: 8
-
+# This dictionary is used to supply the description of each library and any other
+# information about each library that doesn't change between releases
+library_info:
+ cmake:
+ description: Provides modules that are used to find dependencies of Gazebo projects and generate cmake targets for consumers of Gazebo projects to link against.
+ common:
+ description: A collection of useful classes and functions for handling many command tasks. This includes parsing 3D mesh files, managing console output, and using PID controllers.
+ fuel_tools:
+ description: A C++ client library and command line tools for interacting with Gazebo Fuel servers
+ gui:
+ description: A framework for graphical user interfaces centered around QT. Each component in Gazebo GUI is an independent plugin
+ launch:
+ description: Launch is a system that runs and manages plugins and programs. A configuration script can be used to specify which programs and plugins to run. Alternatively, individual programs and plugins can be run from the command line.
+ math:
+ description: A small, fast, and high performance math library. This library is a self-contained set of classes and functions suitable for robot applications.
+ msgs:
+ description: Standard set of message definitions, used by Gazebo Transport, and other applications.
+ physics:
+ description: A plugin based interface to physics engines, such as ODE, Bullet, and DART.
+ plugin:
+ description: A plugin loading library
+ rendering:
+ description: A plugin based interface to rendering engines, such as OGRE and Optix.
+ sensors:
+ description: A large set of sensor and noise models suitable for generating realistic data in simulation.
+ sim:
+ description: Gazebo simulates multiple robots in a 3D environment, with extensive dynamic interaction between objects.
+ tools:
+ description: Gazebo tools provides the gz command line tool that accepts multiple subcommands.
+ transport:
+ description: The transport library combines ZeroMQ with Protobufs to create a fast and efficient message passing system. Asynchronous message publication and subscription is provided along with service calls and discovery.
+ sdformat:
+ description: Simulation Description Format parser and description files.
+ utils:
+ description: General purpose classes and functions with minimal dependencies. It includes command line parsing, a helper class to implement the PIMPL pattern, macros to suppress warnings, etc.
diff --git a/ionic/install_windows_src.md b/ionic/install_windows_src.md
index 3506a2ab5c..2bf62c2603 100644
--- a/ionic/install_windows_src.md
+++ b/ionic/install_windows_src.md
@@ -144,7 +144,7 @@ page to start using Gazebo!
> **NOTE**
> As Gazebo GUI is not yet working, running `gz sim` will not work. You can run only the server with
-> ```cmd
+> ```batch
> gz sim -s -v
> ```
@@ -152,7 +152,7 @@ page to start using Gazebo!
> If your username contains spaces (which is quite common on Windows), you will probably get errors
> saying `Invalid partition name [Computer:My User With Spaces]`. Fix this by changing `GZ_PARTITION`
> to something else:
-> ```cmd
+> ```batch
> set GZ_PARTITION=test
> ```
> Remember to set the same partition in all other consoles.
diff --git a/ionic/migration_from_ignition.md b/ionic/migration_from_ignition.md
index 6798db1d87..5d0eafa300 100644
--- a/ionic/migration_from_ignition.md
+++ b/ionic/migration_from_ignition.md
@@ -239,7 +239,7 @@ In `CMakeLists.txt` files (and their references in your source files!):
**Variables and macro/function calls**
-```cpp
+```
Find: IGN(ITION)?_GAZEBO
Replace: GZ_SIM
@@ -255,7 +255,7 @@ Replace: gz_
**Includes**
-```cpp
+```
Find: include\(Ign
Replace: include(Gz
@@ -271,7 +271,7 @@ Replace: gz_find_package(Gz-
**Project Names**
-```cpp
+```
Find: ignition-gazebo
Replace: gz-sim
@@ -288,7 +288,7 @@ Replace: gz-
Migrate source macros and environment variables
-```cpp
+```
Find: IGN(ITION)?_GAZEBO
Replace: GZ_SIM
@@ -319,7 +319,7 @@ Additionally, the logging macros have also been migrated! Migrate any uses!
In `.sdf` files:
-```cpp
+```
Find: <ignition
Replace: <gz
@@ -341,7 +341,7 @@ The plugin finder is able to find plugins even if their filenames are stripped o
In `.sdf` files and source files (e.g. `.cc`):
-```cpp
+```
Find: (lib)?ign(ition)?-gazebo([^. ]*)\.so
Replace: gz-sim\3
@@ -359,7 +359,7 @@ Replace: gz::
In Python files (e.g. `.py`)
-```cpp
+```
Find: ignition.gazebo
Replace: gz.sim
@@ -369,7 +369,7 @@ Replace: gz.
In Ruby files (e.g. `.i`, `.rb`)
-```cpp
+```
Find: ign(ition)?/
Replace: gz/
```
@@ -378,7 +378,7 @@ Replace: gz/
In your message definitions
-```cpp
+```
Find: ign(ition)?\.gazebo
Replace: gz.sim
@@ -398,7 +398,7 @@ Sweeping checks everywhere (pay special attention to reviewing these!)
**Headers**
-```cpp
+```
Find: #include\s*([<"])ign(ition)?/gazebo
Replace: #include \1gz/sim
@@ -416,7 +416,7 @@ Replace: #endif // GZ$1_H
**Namespaces**
-```cpp
+```
Find: namespace\s*ignition
Replace: namespace gz
@@ -449,13 +449,13 @@ And also be mindful that certain instances of `gazebo` (usually as part of an AP
Where you used to use:
-```cpp
+```
ign gazebo shapes.sdf
```
Now you should use:
-```cpp
+```
gz sim shapes.sdf
```
diff --git a/ionic/sensors.md b/ionic/sensors.md
index c8afc7ed07..0d2d3705bd 100644
--- a/ionic/sensors.md
+++ b/ionic/sensors.md
@@ -382,14 +382,14 @@ Inside the main we subscribe to the `lidar` topic, and wait until the node is sh
Download the [CMakeLists.txt](https://github.com/gazebosim/docs/blob/master/ionic/tutorials/sensors/CMakeLists.txt), and in the same folder of `lidar_node` create `build/` directory:
-```{.sh}
+```sh
mkdir build
cd build
```
Run cmake and build the code:
-```{.sh}
+```sh
cmake ..
make lidar_node
```
@@ -398,13 +398,13 @@ make lidar_node
Run the node from terminal 1:
-```{.sh}
+```sh
./build/lidar_node
```
Run the world from terminal 2:
-```{.sh}
+```sh
gz sim sensor_tutorial.sdf
```
@@ -433,7 +433,7 @@ The first command is `gz sim sensor_tutorial.sdf` which launches the world.
And the second command is `./build/lidar_node` which runs the `lidar_node`.
Save the file as `sensor_launch.gzlaunch`, and then run it using the following command:
-```{.sh}
+```sh
gz launch sensor_launch.gzlaunch
```
diff --git a/libs_conf.py b/libs_conf.py
new file mode 100644
index 0000000000..59518ed694
--- /dev/null
+++ b/libs_conf.py
@@ -0,0 +1,34 @@
+# -*- coding: utf-8 -*-
+# Copyright (C) 2024 Open Source Robotics Foundation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# Configuration file for the Sphinx documentation builder.
+#
+# For the full list of built-in configuration values, see the documentation:
+# https://www.sphinx-doc.org/en/master/usage/configuration.html
+
+# -- Project information -----------------------------------------------------
+# https://www.sphinx-doc.org/en/master/usage/configuration.html#project-information
+import sys
+from pathlib import Path
+
+sys.path.append(str(Path(__file__).parent))
+
+# Import the base_conf.py and override settings for /libs
+from base_conf import * # noqa
+
+html_baseurl = f"{html_context['deploy_url']}/libs" # noqa
+
+html_theme_options["use_edit_page_button"] = False
+html_theme_options["secondary_sidebar_items"] = []
diff --git a/release.md b/release.md
index 9286e877f1..9d66bcd3e3 100644
--- a/release.md
+++ b/release.md
@@ -233,4 +233,10 @@ During the Gazebo Garden development period, this packaage was
to use stable and nightly binaries.
It is customary to use nightly binaries for all unreleased package versions.
+```{toctree}
+:hidden:
+:maxdepth: 1
+:titlesonly:
+releasing/versioning_pre_nightly
+```
diff --git a/release_instructions.md b/release_instructions.md
index d157fd074a..927d756240 100644
--- a/release_instructions.md
+++ b/release_instructions.md
@@ -64,7 +64,7 @@ features), patch number (patches and bugfixes).
**Bumping major number** of the version implies some work to have the
[metadata](#metadata-for-releasing) updated correctly. There is a [dedicated
-document](releasing/bump_major) that you should go through before continuing to work through the steps in this
+document](releasing/bump_major.md) that you should go through before continuing to work through the steps in this
document.
1. To update the upstream version a local checkout of the Gz library is
diff --git a/releasing/bump_major.md b/releasing/bump_major.md
index fea81aad14..8b37507478 100644
--- a/releasing/bump_major.md
+++ b/releasing/bump_major.md
@@ -1,3 +1,6 @@
+---
+orphan: true
+---
# Bump major versions
> WARNING: this document is no more than a list of steps. Check with the infra-team
diff --git a/releasing/release_repositories.md b/releasing/release_repositories.md
index bddbdf3d1b..52b7157bca 100644
--- a/releasing/release_repositories.md
+++ b/releasing/release_repositories.md
@@ -1,3 +1,6 @@
+---
+orphan: true
+---
# Release repositories
> TODO: the document needs to be completed with real information. The points
diff --git a/releasing/versioning_pre_nightly.md b/releasing/versioning_pre_nightly.md
index 80e7b36fcc..ed90409899 100644
--- a/releasing/versioning_pre_nightly.md
+++ b/releasing/versioning_pre_nightly.md
@@ -1,4 +1,4 @@
-## Debian/Ubuntu versioning in nightly and prerelease binaries
+# Debian/Ubuntu versioning in nightly and prerelease binaries
Binary packages produced for prerelease and nightly builds have some
particularities to establish the priority among them nicely.
@@ -17,7 +17,7 @@ this precedence, the nighlty version uses the trick of setting the version to
`{X-1.99.99}` (i.e: if the version to release is `9.0.0`, the nightlies used before
the version will use `8.99.99`).
-### Version schemes
+## Version schemes
**Prerelease** versioning scheme: `{upcoming_version}~pre{prerelease_version}`
@@ -39,7 +39,7 @@ the version will use `8.99.99`).
* `nightly_revision`: revision number to apply to the nightly. It is also
used to generate a new nightly using the same date timestamp.
-### Versions when mixing stable, prerelease and nightly
+## Versions when mixing stable, prerelease and nightly
Which version has priority when using prerelease and stable repositories?
diff --git a/requirements.txt b/requirements.txt
new file mode 100644
index 0000000000..78dc33dcab
--- /dev/null
+++ b/requirements.txt
@@ -0,0 +1,7 @@
+myst-parser[linkify]
+pydata-sphinx-theme
+pyyaml
+sphinx
+sphinx-copybutton
+sphinx-design
+requests
diff --git a/ros_installation.md b/ros_installation.md
index 40eb95fb2d..5518ad1780 100644
--- a/ros_installation.md
+++ b/ros_installation.md
@@ -98,9 +98,9 @@ versions that have the same major number (`gz-sim7_7.0.0`, `gz-sim7_7.1.0`,
`gz-sim7_7.0.1`, ...) are binary compatible and thus interchangeable with a
given ROS distro.
-## Installing Gazebo
+### Installing Gazebo
-### Gazebo Packages for Ubuntu
+#### Gazebo Packages for Ubuntu
The easiest way of installing Gazebo on Ubuntu is to use binary packages. There
are two main repositories that host Gazebo simulator and Gazebo libraries: one
@@ -254,7 +254,7 @@ Getting the latest versions of the Gazebo libraries and simulator is as easy
as installing the [`osrfoundation.org` repository](https://gazebosim.org/docs/latest/install_ubuntu_src#install-dependencies)
together with the ROS repository. Updates should be fully compatible.
-## FAQ
+### FAQ
#### I am not using ROS at all, which version should I use?
diff --git a/tutorials.yaml b/tutorials.yaml
deleted file mode 100644
index 72ec21e964..0000000000
--- a/tutorials.yaml
+++ /dev/null
@@ -1,8 +0,0 @@
-# This file is an index of the pages to display on the documentation website
-# (https://gazebosim.org/tutorials). The order of the pages in this file
-# is reflected on the website's left sidebar.
-
-releases:
- - citadel
- - blueprint
- - acropolis