gazebosim/gz-sim

Environment Ubuntu 24.04 Gazebo Sim 8.11.0 (Harmonic) Steps to reproduce Launch an empty world: gz sim empty.sdf Open the Resource Spawner plugin. Search for the official Open Robotics Spectrum Plane model. Download the model. Click Spawn. Expected behavior The model is inserted into the world. Actual behavior The model is not spawned. The console reports: Error [Utils.cc:176] Tried to use callback in sdf::findFile(), but the callback is empty. Did you call sdf::setFindCallback()? Additional observations I tested several official Fuel models using the same workflow: ✅ Breakfast Menu Original ✅ Construction Barrel ✅ Coke Can ✅ Office Chair ✅ Pioneer3AT (spawns, but reports a missing libSkidSteerDrivePlugin.so) ❌ Spectrum Plane (does not spawn) This appears to be specific to the Spectrum Plane model or its interaction with the Resource Spawner, rather than a general Resource Spawner failure.

We have utility functions here for converting an entity to a string for visualization reasons. This function in turn is called from scopedName that is used widely in the codebase, including in hot loops (such as updating collisions in physics, which for every contact point in every mesh in every simulation step calls the function twice gz-sim/src/systems/physics/Physics.cc Lines 4552 to 4555 in 63b0440 contactMsg->mutable_collision1()->set_name( removeParentScope(scopedName(_collEntity1, _ecm, "::", 0), "::")); contactMsg->mutable_collision2()->set_name( removeParentScope(scopedName(collEntity2, _ecm, "::", 0), "::")); ). The function itself performs fairly poorly, it's a long chain of if statements that try to fetch a component which requires itse

Desired behavior As noted in gazebo-tooling/release-tools#1490, there are tests in gz-sim that are being skipped on macOS due to a missing display. However, we should still build these tests to catch potential compile errors. For example, I ran into a build error on gz-sim8 on macOS that's not caught by CI since reset_sensors.cc is never compiled on that platform. There's a fix for it in #3000, but it was not backported to gz-sim8. Alternatives considered None Implementation suggestion Instead of appending tests that need display to gtest_source, we can accumulate a separate list and call gz_build_tests on them. We can then obtain the list of test targets from gz_build_tests and call set_test_properties and set the DISABLED property on them.

Description Currently, when defining an <actor> element in SDF using skeletal animations (such as .dae or .bvh files), the <scale> tag is ignored or only applies to the skin mesh, leading to broken visual rigging. Because the bone translations are hardcoded in absolute values within the animation file, resizing an actor dynamically via SDF is impossible without manually re-rigging the files in external software like Blender. Motivation and Use Case In the context of Digital Twins and autonomous vehicle simulations (Sim-to-Real), having dynamic environments with crowds is crucial. We need to generate pedestrians of various sizes (e.g., adults and children) using the same base 3D models and animation files to keep the simulation modular and lightweight. The current lack of scaling support forces developers to maintain multiple versions of the same .dae files at different scales, which goes against the modular philosophy of SDF. Proposed Solution When the parsing engine reads a <scale>X</

Environment OS Version: Ubuntu 24.04, macOS Source or binary build? source build of main branch Description Doxygen checks are enabled in CI in #3157, but there are many existing warnings that need to be fixed. Expected behavior: make doc can be run without doxygen warnings Actual behavior: There are many warnings (see CI logs for #3157) Steps to reproduce Check out branch for #3157 from source Run cmake and make doc Check contents of gz-doxygen.warn Output Excluding errors containing Detected potential recursive class relation between class and @param is not found in the argument list of Q_DECLARE_METATYPE(ComponentTypeId): Details 2026-03-07T23:07:24.6682429Z /github/workspace/src/gui/plugins/modules/EntityContextMenu.hh:43: warning: Found ';' while parsing initializer list! (doxygen could be confused by a macro call without semicolon) ... 2026-03-07T23:07:24.7120893Z /github/workspace/tutorials/resources.md:1: warning: multiple use of section label 'resources', (first occurre