Update CI and Dockerfile

Author: varunagrawal

.github/workflows/linux-ci.yml

@@ -54,7 +54,7 @@ jobs:
           sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys D2486D2DD83DB69272AFE98867170598AF249743
           sudo apt-get -y update
 
-          sudo apt-get -y install libtbb-dev libboost-all-dev libsdformat13-dev
+          sudo apt-get -y install libtbb-dev libboost-all-dev libsdformat15-dev
 
           # Install CppUnitLite.
           git clone https://github.com/borglab/CppUnitLite.git

.github/workflows/macos-ci.yml

@@ -44,7 +44,7 @@ jobs:
         run: |
           brew install boost
           brew tap osrf/simulation
-          brew install sdformat13
+          brew install sdformat15
           brew tap borglab/core
 
       - name: GTSAM

.github/workflows/python-ci.yml

@@ -54,7 +54,7 @@ jobs:
           sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
           sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys D2486D2DD83DB69272AFE98867170598AF249743
           sudo apt-get -y update
-          sudo apt-get -y install libtbb-dev libboost-all-dev libsdformat13-dev
+          sudo apt-get -y install libtbb-dev libboost-all-dev libsdformat15-dev
 
       - name: Install System Dependencies (macOS)
         if: runner.os == 'macOS'
@@ -70,7 +70,7 @@ jobs:
           fi
           brew install boost
           brew tap osrf/simulation
-          brew install sdformat13
+          brew install sdformat15
 
       - name: Python Dependencies (Linux)
         if: runner.os == 'Linux'

docker/Dockerfile

@@ -10,17 +10,17 @@ WORKDIR /usr/src/
 # Make sure we have latest packages
 RUN apt-get -y update
 
-# Install basic dependencies for sdfformat
+# Install basic dependencies for sdformat
 RUN apt-get install -y ruby-dev build-essential libboost-all-dev cmake pkg-config wget lsb-release
 
 # Get Gazebo packages
 RUN sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
 RUN wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add -
 RUN apt-get update
-RUN apt-get install -y libtinyxml2-dev liburdfdom-dev libignition-cmake2-dev libignition-tools-dev libignition-math6-dev python3-psutil
+RUN apt-get install -y libtinyxml2-dev liburdfdom-dev libgz-cmake2-dev libgz-tools-dev libgz-math6-dev python3-psutil
 
 # Get sdfformat package
-ENV GTD_SDFormat_VERSION="10.5.0"
+ENV GTD_SDFormat_VERSION="15.0.0"
 RUN wget http://osrf-distributions.s3.amazonaws.com/sdformat/releases/sdformat-${GTD_SDFormat_VERSION}.tar.bz2
 RUN tar -xvjf sdformat-${GTD_SDFormat_VERSION}.tar.bz2
 RUN rm sdformat-${GTD_SDFormat_VERSION}.tar.bz2