Diff of the two buildlogs:

--
--- b1/build.log	2023-04-16 21:56:38.879349802 +0000
+++ b2/build.log	2023-04-16 22:03:48.372306023 +0000
@@ -1,6 +1,6 @@
 I: pbuilder: network access will be disabled during build
-I: Current time: Sun Apr 16 09:37:16 -12 2023
-I: pbuilder-time-stamp: 1681681036
+I: Current time: Sun May 19 18:19:39 +14 2024
+I: pbuilder-time-stamp: 1716092379
 I: Building the build Environment
 I: extracting base tarball [/var/cache/pbuilder/bookworm-reproducible-base.tgz]
 I: copying local configuration
@@ -17,7 +17,7 @@
 I: copying [./sdformat_12.3.0+ds.orig.tar.xz]
 I: copying [./sdformat_12.3.0+ds-2.debian.tar.xz]
 I: Extracting source
-gpgv: Signature made Tue Jan 11 06:07:39 2022 -12
+gpgv: Signature made Wed Jan 12 08:07:39 2022 +14
 gpgv:                using RSA key A08161BBEC1CC063961459035E946C090AFF0427
 gpgv:                issuer "jrivero@osrfoundation.org"
 gpgv: Can't check signature: No public key
@@ -34,137 +34,169 @@
 dpkg-source: info: applying 0001_detect_ign_no_cmake.patch
 I: Not using root during the build.
 I: Installing the build-deps
-I: user script /srv/workspace/pbuilder/4030/tmp/hooks/D02_print_environment starting
+I: user script /srv/workspace/pbuilder/115288/tmp/hooks/D01_modify_environment starting
+debug: Running on ionos16-i386.
+I: Changing host+domainname to test build reproducibility
+I: Adding a custom variable just for the fun of it...
+I: Changing /bin/sh to bash
+'/bin/sh' -> '/bin/bash'
+lrwxrwxrwx 1 root root 9 May 19 18:19 /bin/sh -> /bin/bash
+I: Setting pbuilder2's login shell to /bin/bash
+I: Setting pbuilder2's GECOS to second user,second room,second work-phone,second home-phone,second other
+I: user script /srv/workspace/pbuilder/115288/tmp/hooks/D01_modify_environment finished
+I: user script /srv/workspace/pbuilder/115288/tmp/hooks/D02_print_environment starting
 I: set
-  BUILDDIR='/build'
-  BUILDUSERGECOS='first user,first room,first work-phone,first home-phone,first other'
-  BUILDUSERNAME='pbuilder1'
-  BUILD_ARCH='i386'
-  DEBIAN_FRONTEND='noninteractive'
-  DEB_BUILD_OPTIONS='buildinfo=+all reproducible=+all parallel=8'
-  DISTRIBUTION='bookworm'
-  HOME='/root'
-  HOST_ARCH='i386'
+  BASH=/bin/sh
+  BASHOPTS=checkwinsize:cmdhist:complete_fullquote:extquote:force_fignore:globasciiranges:globskipdots:hostcomplete:interactive_comments:patsub_replacement:progcomp:promptvars:sourcepath
+  BASH_ALIASES=()
+  BASH_ARGC=()
+  BASH_ARGV=()
+  BASH_CMDS=()
+  BASH_LINENO=([0]="12" [1]="0")
+  BASH_LOADABLES_PATH=/usr/local/lib/bash:/usr/lib/bash:/opt/local/lib/bash:/usr/pkg/lib/bash:/opt/pkg/lib/bash:.
+  BASH_SOURCE=([0]="/tmp/hooks/D02_print_environment" [1]="/tmp/hooks/D02_print_environment")
+  BASH_VERSINFO=([0]="5" [1]="2" [2]="15" [3]="1" [4]="release" [5]="i686-pc-linux-gnu")
+  BASH_VERSION='5.2.15(1)-release'
+  BUILDDIR=/build
+  BUILDUSERGECOS='second user,second room,second work-phone,second home-phone,second other'
+  BUILDUSERNAME=pbuilder2
+  BUILD_ARCH=i386
+  DEBIAN_FRONTEND=noninteractive
+  DEB_BUILD_OPTIONS='buildinfo=+all reproducible=+all parallel=15'
+  DIRSTACK=()
+  DISTRIBUTION=bookworm
+  EUID=0
+  FUNCNAME=([0]="Echo" [1]="main")
+  GROUPS=()
+  HOME=/root
+  HOSTNAME=i-capture-the-hostname
+  HOSTTYPE=i686
+  HOST_ARCH=i386
   IFS=' 	
   '
-  INVOCATION_ID='95de6d84b30446f7ae85f79fc54cb5cb'
-  LANG='C'
-  LANGUAGE='en_US:en'
-  LC_ALL='C'
-  LD_LIBRARY_PATH='/usr/lib/libeatmydata'
-  LD_PRELOAD='libeatmydata.so'
-  MAIL='/var/mail/root'
-  OPTIND='1'
-  PATH='/usr/sbin:/usr/bin:/sbin:/bin:/usr/games'
-  PBCURRENTCOMMANDLINEOPERATION='build'
-  PBUILDER_OPERATION='build'
-  PBUILDER_PKGDATADIR='/usr/share/pbuilder'
-  PBUILDER_PKGLIBDIR='/usr/lib/pbuilder'
-  PBUILDER_SYSCONFDIR='/etc'
-  PPID='4030'
-  PS1='# '
-  PS2='> '
+  INVOCATION_ID=006b3e0cfa094b328fa0e510045cfd9d
+  LANG=C
+  LANGUAGE=de_CH:de
+  LC_ALL=C
+  LD_LIBRARY_PATH=/usr/lib/libeatmydata
+  LD_PRELOAD=libeatmydata.so
+  MACHTYPE=i686-pc-linux-gnu
+  MAIL=/var/mail/root
+  OPTERR=1
+  OPTIND=1
+  OSTYPE=linux-gnu
+  PATH=/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/i/capture/the/path
+  PBCURRENTCOMMANDLINEOPERATION=build
+  PBUILDER_OPERATION=build
+  PBUILDER_PKGDATADIR=/usr/share/pbuilder
+  PBUILDER_PKGLIBDIR=/usr/lib/pbuilder
+  PBUILDER_SYSCONFDIR=/etc
+  PIPESTATUS=([0]="0")
+  POSIXLY_CORRECT=y
+  PPID=115288
   PS4='+ '
-  PWD='/'
-  SHELL='/bin/bash'
-  SHLVL='2'
-  SUDO_COMMAND='/usr/bin/timeout -k 18.1h 18h /usr/bin/ionice -c 3 /usr/bin/nice /usr/sbin/pbuilder --build --configfile /srv/reproducible-results/rbuild-debian/r-b-build.N1kDLV2P/pbuilderrc_cLfo --distribution bookworm --hookdir /etc/pbuilder/first-build-hooks --debbuildopts -b --basetgz /var/cache/pbuilder/bookworm-reproducible-base.tgz --buildresult /srv/reproducible-results/rbuild-debian/r-b-build.N1kDLV2P/b1 --logfile b1/build.log sdformat_12.3.0+ds-2.dsc'
-  SUDO_GID='112'
-  SUDO_UID='107'
-  SUDO_USER='jenkins'
-  TERM='unknown'
-  TZ='/usr/share/zoneinfo/Etc/GMT+12'
-  USER='root'
-  _='/usr/bin/systemd-run'
-  http_proxy='http://78.137.99.97:3128'
+  PWD=/
+  SHELL=/bin/bash
+  SHELLOPTS=braceexpand:errexit:hashall:interactive-comments:posix
+  SHLVL=3
+  SUDO_COMMAND='/usr/bin/timeout -k 24.1h 24h /usr/bin/ionice -c 3 /usr/bin/nice -n 11 /usr/bin/unshare --uts -- /usr/sbin/pbuilder --build --configfile /srv/reproducible-results/rbuild-debian/r-b-build.N1kDLV2P/pbuilderrc_6dA8 --distribution bookworm --hookdir /etc/pbuilder/rebuild-hooks --debbuildopts -b --basetgz /var/cache/pbuilder/bookworm-reproducible-base.tgz --buildresult /srv/reproducible-results/rbuild-debian/r-b-build.N1kDLV2P/b2 --logfile b2/build.log --extrapackages usrmerge sdformat_12.3.0+ds-2.dsc'
+  SUDO_GID=112
+  SUDO_UID=107
+  SUDO_USER=jenkins
+  TERM=unknown
+  TZ=/usr/share/zoneinfo/Etc/GMT-14
+  UID=0
+  USER=root
+  _='I: set'
+  http_proxy=http://85.184.249.68:3128
 I: uname -a
-  Linux ionos12-i386 5.10.0-21-686-pae #1 SMP Debian 5.10.162-1 (2023-01-21) i686 GNU/Linux
+  Linux i-capture-the-hostname 5.10.0-21-amd64 #1 SMP Debian 5.10.162-1 (2023-01-21) x86_64 GNU/Linux
 I: ls -l /bin
   total 6036
-  -rwxr-xr-x 1 root root 1408088 Feb 12 08:21 bash
-  -rwxr-xr-x 3 root root   38404 Sep 18  2022 bunzip2
-  -rwxr-xr-x 3 root root   38404 Sep 18  2022 bzcat
-  lrwxrwxrwx 1 root root       6 Sep 18  2022 bzcmp -> bzdiff
-  -rwxr-xr-x 1 root root    2225 Sep 18  2022 bzdiff
-  lrwxrwxrwx 1 root root       6 Sep 18  2022 bzegrep -> bzgrep
-  -rwxr-xr-x 1 root root    4893 Nov 27  2021 bzexe
-  lrwxrwxrwx 1 root root       6 Sep 18  2022 bzfgrep -> bzgrep
-  -rwxr-xr-x 1 root root    3775 Sep 18  2022 bzgrep
-  -rwxr-xr-x 3 root root   38404 Sep 18  2022 bzip2
-  -rwxr-xr-x 1 root root   17892 Sep 18  2022 bzip2recover
-  lrwxrwxrwx 1 root root       6 Sep 18  2022 bzless -> bzmore
-  -rwxr-xr-x 1 root root    1297 Sep 18  2022 bzmore
-  -rwxr-xr-x 1 root root   42920 Sep 20  2022 cat
-  -rwxr-xr-x 1 root root   79816 Sep 20  2022 chgrp
-  -rwxr-xr-x 1 root root   67496 Sep 20  2022 chmod
-  -rwxr-xr-x 1 root root   79816 Sep 20  2022 chown
-  -rwxr-xr-x 1 root root  162024 Sep 20  2022 cp
-  -rwxr-xr-x 1 root root  136916 Jan  5 01:20 dash
-  -rwxr-xr-x 1 root root  137160 Sep 20  2022 date
-  -rwxr-xr-x 1 root root  100364 Sep 20  2022 dd
-  -rwxr-xr-x 1 root root  108940 Sep 20  2022 df
-  -rwxr-xr-x 1 root root  162152 Sep 20  2022 dir
-  -rwxr-xr-x 1 root root   87760 Mar 22 22:20 dmesg
-  lrwxrwxrwx 1 root root       8 Dec 19 01:33 dnsdomainname -> hostname
-  lrwxrwxrwx 1 root root       8 Dec 19 01:33 domainname -> hostname
-  -rwxr-xr-x 1 root root   38760 Sep 20  2022 echo
-  -rwxr-xr-x 1 root root      41 Jan 24 02:43 egrep
-  -rwxr-xr-x 1 root root   34664 Sep 20  2022 false
-  -rwxr-xr-x 1 root root      41 Jan 24 02:43 fgrep
-  -rwxr-xr-x 1 root root   84272 Mar 22 22:20 findmnt
-  -rwsr-xr-x 1 root root   30240 Mar 22 20:38 fusermount
-  -rwxr-xr-x 1 root root  218680 Jan 24 02:43 grep
-  -rwxr-xr-x 2 root root    2346 Apr  9  2022 gunzip
-  -rwxr-xr-x 1 root root    6447 Apr  9  2022 gzexe
-  -rwxr-xr-x 1 root root  100952 Apr  9  2022 gzip
-  -rwxr-xr-x 1 root root   21916 Dec 19 01:33 hostname
-  -rwxr-xr-x 1 root root   75756 Sep 20  2022 ln
-  -rwxr-xr-x 1 root root   55600 Mar 22 23:43 login
-  -rwxr-xr-x 1 root root  162152 Sep 20  2022 ls
-  -rwxr-xr-x 1 root root  214568 Mar 22 22:20 lsblk
-  -rwxr-xr-x 1 root root   96328 Sep 20  2022 mkdir
-  -rwxr-xr-x 1 root root   84008 Sep 20  2022 mknod
-  -rwxr-xr-x 1 root root   38792 Sep 20  2022 mktemp
-  -rwxr-xr-x 1 root root   63016 Mar 22 22:20 more
-  -rwsr-xr-x 1 root root   58912 Mar 22 22:20 mount
-  -rwxr-xr-x 1 root root   13856 Mar 22 22:20 mountpoint
-  -rwxr-xr-x 1 root root  157932 Sep 20  2022 mv
-  lrwxrwxrwx 1 root root       8 Dec 19 01:33 nisdomainname -> hostname
-  lrwxrwxrwx 1 root root      14 Apr  2 18:25 pidof -> /sbin/killall5
-  -rwxr-xr-x 1 root root   38792 Sep 20  2022 pwd
-  lrwxrwxrwx 1 root root       4 Feb 12 08:21 rbash -> bash
-  -rwxr-xr-x 1 root root   51080 Sep 20  2022 readlink
-  -rwxr-xr-x 1 root root   75720 Sep 20  2022 rm
-  -rwxr-xr-x 1 root root   51080 Sep 20  2022 rmdir
-  -rwxr-xr-x 1 root root   22308 Nov  2 04:31 run-parts
-  -rwxr-xr-x 1 root root  133224 Jan  5 07:55 sed
-  lrwxrwxrwx 1 root root       4 Jan  5 01:20 sh -> dash
-  -rwxr-xr-x 1 root root   38760 Sep 20  2022 sleep
-  -rwxr-xr-x 1 root root   87976 Sep 20  2022 stty
-  -rwsr-xr-x 1 root root   83492 Mar 22 22:20 su
-  -rwxr-xr-x 1 root root   38792 Sep 20  2022 sync
-  -rwxr-xr-x 1 root root  598456 Apr  6 02:25 tar
-  -rwxr-xr-x 1 root root   13860 Nov  2 04:31 tempfile
-  -rwxr-xr-x 1 root root  120776 Sep 20  2022 touch
-  -rwxr-xr-x 1 root root   34664 Sep 20  2022 true
-  -rwxr-xr-x 1 root root   17892 Mar 22 20:38 ulockmgr_server
-  -rwsr-xr-x 1 root root   30236 Mar 22 22:20 umount
-  -rwxr-xr-x 1 root root   38760 Sep 20  2022 uname
-  -rwxr-xr-x 2 root root    2346 Apr  9  2022 uncompress
-  -rwxr-xr-x 1 root root  162152 Sep 20  2022 vdir
-  -rwxr-xr-x 1 root root   71216 Mar 22 22:20 wdctl
-  lrwxrwxrwx 1 root root       8 Dec 19 01:33 ypdomainname -> hostname
-  -rwxr-xr-x 1 root root    1984 Apr  9  2022 zcat
-  -rwxr-xr-x 1 root root    1678 Apr  9  2022 zcmp
-  -rwxr-xr-x 1 root root    6460 Apr  9  2022 zdiff
-  -rwxr-xr-x 1 root root      29 Apr  9  2022 zegrep
-  -rwxr-xr-x 1 root root      29 Apr  9  2022 zfgrep
-  -rwxr-xr-x 1 root root    2081 Apr  9  2022 zforce
-  -rwxr-xr-x 1 root root    8103 Apr  9  2022 zgrep
-  -rwxr-xr-x 1 root root    2206 Apr  9  2022 zless
-  -rwxr-xr-x 1 root root    1842 Apr  9  2022 zmore
-  -rwxr-xr-x 1 root root    4577 Apr  9  2022 znew
-I: user script /srv/workspace/pbuilder/4030/tmp/hooks/D02_print_environment finished
+  -rwxr-xr-x 1 root root 1408088 Feb 13  2023 bash
+  -rwxr-xr-x 3 root root   38404 Sep 19  2022 bunzip2
+  -rwxr-xr-x 3 root root   38404 Sep 19  2022 bzcat
+  lrwxrwxrwx 1 root root       6 Sep 19  2022 bzcmp -> bzdiff
+  -rwxr-xr-x 1 root root    2225 Sep 19  2022 bzdiff
+  lrwxrwxrwx 1 root root       6 Sep 19  2022 bzegrep -> bzgrep
+  -rwxr-xr-x 1 root root    4893 Nov 28  2021 bzexe
+  lrwxrwxrwx 1 root root       6 Sep 19  2022 bzfgrep -> bzgrep
+  -rwxr-xr-x 1 root root    3775 Sep 19  2022 bzgrep
+  -rwxr-xr-x 3 root root   38404 Sep 19  2022 bzip2
+  -rwxr-xr-x 1 root root   17892 Sep 19  2022 bzip2recover
+  lrwxrwxrwx 1 root root       6 Sep 19  2022 bzless -> bzmore
+  -rwxr-xr-x 1 root root    1297 Sep 19  2022 bzmore
+  -rwxr-xr-x 1 root root   42920 Sep 21  2022 cat
+  -rwxr-xr-x 1 root root   79816 Sep 21  2022 chgrp
+  -rwxr-xr-x 1 root root   67496 Sep 21  2022 chmod
+  -rwxr-xr-x 1 root root   79816 Sep 21  2022 chown
+  -rwxr-xr-x 1 root root  162024 Sep 21  2022 cp
+  -rwxr-xr-x 1 root root  136916 Jan  6  2023 dash
+  -rwxr-xr-x 1 root root  137160 Sep 21  2022 date
+  -rwxr-xr-x 1 root root  100364 Sep 21  2022 dd
+  -rwxr-xr-x 1 root root  108940 Sep 21  2022 df
+  -rwxr-xr-x 1 root root  162152 Sep 21  2022 dir
+  -rwxr-xr-x 1 root root   87760 Mar 24  2023 dmesg
+  lrwxrwxrwx 1 root root       8 Dec 20  2022 dnsdomainname -> hostname
+  lrwxrwxrwx 1 root root       8 Dec 20  2022 domainname -> hostname
+  -rwxr-xr-x 1 root root   38760 Sep 21  2022 echo
+  -rwxr-xr-x 1 root root      41 Jan 25  2023 egrep
+  -rwxr-xr-x 1 root root   34664 Sep 21  2022 false
+  -rwxr-xr-x 1 root root      41 Jan 25  2023 fgrep
+  -rwxr-xr-x 1 root root   84272 Mar 24  2023 findmnt
+  -rwsr-xr-x 1 root root   30240 Mar 23  2023 fusermount
+  -rwxr-xr-x 1 root root  218680 Jan 25  2023 grep
+  -rwxr-xr-x 2 root root    2346 Apr 10  2022 gunzip
+  -rwxr-xr-x 1 root root    6447 Apr 10  2022 gzexe
+  -rwxr-xr-x 1 root root  100952 Apr 10  2022 gzip
+  -rwxr-xr-x 1 root root   21916 Dec 20  2022 hostname
+  -rwxr-xr-x 1 root root   75756 Sep 21  2022 ln
+  -rwxr-xr-x 1 root root   55600 Mar 24  2023 login
+  -rwxr-xr-x 1 root root  162152 Sep 21  2022 ls
+  -rwxr-xr-x 1 root root  214568 Mar 24  2023 lsblk
+  -rwxr-xr-x 1 root root   96328 Sep 21  2022 mkdir
+  -rwxr-xr-x 1 root root   84008 Sep 21  2022 mknod
+  -rwxr-xr-x 1 root root   38792 Sep 21  2022 mktemp
+  -rwxr-xr-x 1 root root   63016 Mar 24  2023 more
+  -rwsr-xr-x 1 root root   58912 Mar 24  2023 mount
+  -rwxr-xr-x 1 root root   13856 Mar 24  2023 mountpoint
+  -rwxr-xr-x 1 root root  157932 Sep 21  2022 mv
+  lrwxrwxrwx 1 root root       8 Dec 20  2022 nisdomainname -> hostname
+  lrwxrwxrwx 1 root root      14 Apr  3  2023 pidof -> /sbin/killall5
+  -rwxr-xr-x 1 root root   38792 Sep 21  2022 pwd
+  lrwxrwxrwx 1 root root       4 Feb 13  2023 rbash -> bash
+  -rwxr-xr-x 1 root root   51080 Sep 21  2022 readlink
+  -rwxr-xr-x 1 root root   75720 Sep 21  2022 rm
+  -rwxr-xr-x 1 root root   51080 Sep 21  2022 rmdir
+  -rwxr-xr-x 1 root root   22308 Nov  3  2022 run-parts
+  -rwxr-xr-x 1 root root  133224 Jan  6  2023 sed
+  lrwxrwxrwx 1 root root       9 May 19 18:19 sh -> /bin/bash
+  -rwxr-xr-x 1 root root   38760 Sep 21  2022 sleep
+  -rwxr-xr-x 1 root root   87976 Sep 21  2022 stty
+  -rwsr-xr-x 1 root root   83492 Mar 24  2023 su
+  -rwxr-xr-x 1 root root   38792 Sep 21  2022 sync
+  -rwxr-xr-x 1 root root  598456 Apr  7  2023 tar
+  -rwxr-xr-x 1 root root   13860 Nov  3  2022 tempfile
+  -rwxr-xr-x 1 root root  120776 Sep 21  2022 touch
+  -rwxr-xr-x 1 root root   34664 Sep 21  2022 true
+  -rwxr-xr-x 1 root root   17892 Mar 23  2023 ulockmgr_server
+  -rwsr-xr-x 1 root root   30236 Mar 24  2023 umount
+  -rwxr-xr-x 1 root root   38760 Sep 21  2022 uname
+  -rwxr-xr-x 2 root root    2346 Apr 10  2022 uncompress
+  -rwxr-xr-x 1 root root  162152 Sep 21  2022 vdir
+  -rwxr-xr-x 1 root root   71216 Mar 24  2023 wdctl
+  lrwxrwxrwx 1 root root       8 Dec 20  2022 ypdomainname -> hostname
+  -rwxr-xr-x 1 root root    1984 Apr 10  2022 zcat
+  -rwxr-xr-x 1 root root    1678 Apr 10  2022 zcmp
+  -rwxr-xr-x 1 root root    6460 Apr 10  2022 zdiff
+  -rwxr-xr-x 1 root root      29 Apr 10  2022 zegrep
+  -rwxr-xr-x 1 root root      29 Apr 10  2022 zfgrep
+  -rwxr-xr-x 1 root root    2081 Apr 10  2022 zforce
+  -rwxr-xr-x 1 root root    8103 Apr 10  2022 zgrep
+  -rwxr-xr-x 1 root root    2206 Apr 10  2022 zless
+  -rwxr-xr-x 1 root root    1842 Apr 10  2022 zmore
+  -rwxr-xr-x 1 root root    4577 Apr 10  2022 znew
+I: user script /srv/workspace/pbuilder/115288/tmp/hooks/D02_print_environment finished
  -> Attempting to satisfy build-dependencies
  -> Creating pbuilder-satisfydepends-dummy package
 Package: pbuilder-satisfydepends-dummy
@@ -430,7 +462,7 @@
 Get: 194 http://deb.debian.org/debian bookworm/main i386 texlive-pictures all 2022.20230122-3 [15.8 MB]
 Get: 195 http://deb.debian.org/debian bookworm/main i386 texlive-latex-extra all 2022.20230122-3 [19.2 MB]
 Get: 196 http://deb.debian.org/debian bookworm/main i386 texlive-plain-generic all 2022.20230122-3 [28.9 MB]
-Fetched 249 MB in 5s (46.0 MB/s)
+Fetched 249 MB in 3s (89.2 MB/s)
 debconf: delaying package configuration, since apt-utils is not installed
 Selecting previously unselected package libpython3.11-minimal:i386.
 (Reading database ... (Reading database ... 5%(Reading database ... 10%(Reading database ... 15%(Reading database ... 20%(Reading database ... 25%(Reading database ... 30%(Reading database ... 35%(Reading database ... 40%(Reading database ... 45%(Reading database ... 50%(Reading database ... 55%(Reading database ... 60%(Reading database ... 65%(Reading database ... 70%(Reading database ... 75%(Reading database ... 80%(Reading database ... 85%(Reading database ... 90%(Reading database ... 95%(Reading database ... 100%(Reading database ... 19604 files and directories currently installed.)
@@ -1258,8 +1290,19 @@
 Writing extended state information...
 Building tag database...
  -> Finished parsing the build-deps
+Reading package lists...
+Building dependency tree...
+Reading state information...
+usrmerge is already the newest version (35).
+0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.
 I: Building the package
-I: Running cd /build/sdformat-12.3.0+ds/ && env PATH="/usr/sbin:/usr/bin:/sbin:/bin:/usr/games" HOME="/nonexistent/first-build" dpkg-buildpackage -us -uc -b && env PATH="/usr/sbin:/usr/bin:/sbin:/bin:/usr/games" HOME="/nonexistent/first-build" dpkg-genchanges -S  > ../sdformat_12.3.0+ds-2_source.changes
+I: user script /srv/workspace/pbuilder/115288/tmp/hooks/A99_set_merged_usr starting
+Re-configuring usrmerge...
+removed '/etc/unsupported-skip-usrmerge-conversion'
+The system has been successfully converted.
+I: user script /srv/workspace/pbuilder/115288/tmp/hooks/A99_set_merged_usr finished
+hostname: Name or service not known
+I: Running cd /build/sdformat-12.3.0+ds/ && env PATH="/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/i/capture/the/path" HOME="/nonexistent/second-build" dpkg-buildpackage -us -uc -b && env PATH="/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/i/capture/the/path" HOME="/nonexistent/second-build" dpkg-genchanges -S  > ../sdformat_12.3.0+ds-2_source.changes
 dpkg-buildpackage: info: source package sdformat
 dpkg-buildpackage: info: source version 12.3.0+ds-2
 dpkg-buildpackage: info: source distribution unstable
@@ -1405,7 +1448,7 @@
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    dh_auto_build
-	cd obj-i686-linux-gnu && make -j8 "INSTALL=install --strip-program=true" VERBOSE=1
+	cd obj-i686-linux-gnu && make -j15 "INSTALL=install --strip-program=true" VERBOSE=1
 make[1]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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@@ -1414,863 +1457,863 @@
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+make  -f sdf/1.6/CMakeFiles/schema1_6.dir/build.make sdf/1.6/CMakeFiles/schema1_6.dir/depend
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+make  -f sdf/1.7/CMakeFiles/schema1_7.dir/build.make sdf/1.7/CMakeFiles/schema1_7.dir/depend
+make  -f sdf/1.8/CMakeFiles/schema1_8.dir/build.make sdf/1.8/CMakeFiles/schema1_8.dir/depend
+make  -f sdf/1.9/CMakeFiles/schema1_9.dir/build.make sdf/1.9/CMakeFiles/schema1_9.dir/depend
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+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/CMakeFiles/sdformat12.dir/DependInfo.cmake --color=
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+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/sdf/1.7 /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7/CMakeFiles/schema1_7.dir/DependInfo.cmake --color=
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+make  -f test/CMakeFiles/gtest.dir/build.make test/CMakeFiles/gtest.dir/build
+make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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+make  -f sdf/1.8/CMakeFiles/schema1_8.dir/build.make sdf/1.8/CMakeFiles/schema1_8.dir/build
+make  -f sdf/1.9/CMakeFiles/schema1_9.dir/build.make sdf/1.9/CMakeFiles/schema1_9.dir/build
+make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
+make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
+make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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-[  0%] Running xml schema compiler on actor.sdf
-make  -f sdf/1.8/CMakeFiles/schema1_8.dir/build.make sdf/1.8/CMakeFiles/schema1_8.dir/build
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-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/actor.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -I/usr/include/ignition/math6 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/CMakeFiles/gtest.dir/usr/src/gtest/src/gtest-all.cc.o -MF CMakeFiles/gtest.dir/usr/src/gtest/src/gtest-all.cc.o.d -o CMakeFiles/gtest.dir/usr/src/gtest/src/gtest-all.cc.o -c /usr/src/gtest/src/gtest-all.cc
 [  0%] Running xml schema compiler on actor.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/actor.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
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+[  0%] Building CXX object test/CMakeFiles/gtest.dir/usr/src/gtest/src/gtest-all.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/actor.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
 [  0%] Running xml schema compiler on actor.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/actor.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/air_pressure.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[  0%] Running xml schema compiler on actor.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/actor.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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-[  0%] Building CXX object src/CMakeFiles/sdformat12.dir/Actor.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Actor.cc.o -MF CMakeFiles/sdformat12.dir/Actor.cc.o.d -o CMakeFiles/sdformat12.dir/Actor.cc.o -c /build/sdformat-12.3.0+ds/src/Actor.cc
-make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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-[  0%] Running xml schema compiler on actor.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/actor.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -I/usr/include/ignition/math6 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/CMakeFiles/gtest.dir/usr/src/gtest/src/gtest-all.cc.o -MF CMakeFiles/gtest.dir/usr/src/gtest/src/gtest-all.cc.o.d -o CMakeFiles/gtest.dir/usr/src/gtest/src/gtest-all.cc.o -c /usr/src/gtest/src/gtest-all.cc
+[  0%] Running xml schema compiler on actor.sdf
 [  0%] Running xml schema compiler on air_pressure.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/air_pressure.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
 [  0%] Running xml schema compiler on altimeter.sdf
+[  0%] Running xml schema compiler on actor.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/actor.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[  0%] Running xml schema compiler on audio_source.sdf
 [  0%] Running xml schema compiler on altimeter.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/air_pressure.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[  0%] Running xml schema compiler on actor.sdf
+[  0%] Running xml schema compiler on altimeter.sdf
+[  0%] Running xml schema compiler on audio_sink.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/actor.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+[  0%] Building CXX object src/CMakeFiles/sdformat12.dir/Actor.cc.o
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/altimeter.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/altimeter.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/actor.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/altimeter.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[  0%] Running xml schema compiler on atmosphere.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/atmosphere.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[  0%] Running xml schema compiler on air_pressure.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/air_pressure.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[  0%] Running xml schema compiler on air_pressure.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/air_pressure.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[  0%] Running xml schema compiler on audio_source.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Actor.cc.o -MF CMakeFiles/sdformat12.dir/Actor.cc.o.d -o CMakeFiles/sdformat12.dir/Actor.cc.o -c /build/sdformat-12.3.0+ds/src/Actor.cc
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/audio_source.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[  0%] Running xml schema compiler on altimeter.sdf
-[  0%] Running xml schema compiler on altimeter.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/audio_sink.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+[  1%] Running xml schema compiler on atmosphere.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/atmosphere.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[  2%] Running xml schema compiler on battery.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/battery.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+[  2%] Running xml schema compiler on box_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/box_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+[  2%] Running xml schema compiler on air_pressure.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/air_pressure.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
+[  2%] Running xml schema compiler on altimeter.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/altimeter.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/altimeter.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[  0%] Running xml schema compiler on altimeter.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/altimeter.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[  0%] Running xml schema compiler on audio_source.sdf
+[  2%] Running xml schema compiler on audio_source.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/audio_source.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[  2%] Running xml schema compiler on atmosphere.sdf
+[  2%] Running xml schema compiler on camera.sdf
+[  2%] Running xml schema compiler on audio_source.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/atmosphere.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/camera.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/audio_source.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[  1%] Running xml schema compiler on audio_sink.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/audio_sink.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[  1%] Running xml schema compiler on atmosphere.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/atmosphere.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[  1%] Running xml schema compiler on audio_sink.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/audio_sink.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+[  2%] Running xml schema compiler on audio_sink.sdf
+[  2%] Running xml schema compiler on collision.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/audio_sink.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/collision.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+[  2%] Running xml schema compiler on contact.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/contact.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+[  2%] Running xml schema compiler on air_pressure.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/air_pressure.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[  2%] Running xml schema compiler on cylinder_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/cylinder_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+[  2%] Running xml schema compiler on battery.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/battery.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[  2%] Running xml schema compiler on box_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/box_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[  2%] Running xml schema compiler on frame.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/frame.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
 [  2%] Running xml schema compiler on atmosphere.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/atmosphere.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[  3%] Running xml schema compiler on atmosphere.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/atmosphere.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[  3%] Running xml schema compiler on battery.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/atmosphere.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
+[  2%] Running xml schema compiler on altimeter.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/altimeter.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[  2%] Running xml schema compiler on audio_source.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/audio_source.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
+[  2%] Running xml schema compiler on camera.sdf
+[  3%] Running xml schema compiler on forcetorque.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/camera.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/forcetorque.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+[  4%] Running xml schema compiler on audio_sink.sdf
+[  4%] Running xml schema compiler on battery.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/audio_sink.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
+[  4%] Running xml schema compiler on geometry.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/battery.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[  3%] Running xml schema compiler on box_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/geometry.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+[  4%] Running xml schema compiler on gps.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/gps.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+[  5%] Running xml schema compiler on gripper.sdf
+[  5%] Running xml schema compiler on collision.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/gripper.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/collision.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[  5%] Running xml schema compiler on contact.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/contact.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[  5%] Running xml schema compiler on gui.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/gui.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+[  6%] Running xml schema compiler on audio_sink.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/audio_sink.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
+[  7%] Running xml schema compiler on atmosphere.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/atmosphere.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[  7%] Running xml schema compiler on battery.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/battery.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
+[  8%] Running xml schema compiler on heightmap_shape.sdf
+[  8%] Running xml schema compiler on box_shape.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/box_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[  3%] Running xml schema compiler on audio_source.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/audio_source.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[  3%] Running xml schema compiler on camera.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/heightmap_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+[  8%] Running xml schema compiler on camera.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/camera.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[  3%] Running xml schema compiler on audio_source.sdf
+[  8%] Running xml schema compiler on image_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/image_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+[  8%] Running xml schema compiler on cylinder_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/cylinder_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[  8%] Running xml schema compiler on imu.sdf
+[  8%] Running xml schema compiler on inertial.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/imu.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/inertial.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+[  8%] Running xml schema compiler on frame.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/frame.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[  8%] Running xml schema compiler on forcetorque.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/forcetorque.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[  8%] Running xml schema compiler on joint.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/joint.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+[  8%] Running xml schema compiler on box_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/box_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
+[  8%] Running xml schema compiler on audio_source.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/audio_source.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[  4%] Running xml schema compiler on battery.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/battery.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[  4%] Running xml schema compiler on audio_source.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/audio_source.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[  5%] Running xml schema compiler on collision.sdf
+[  8%] Running xml schema compiler on camera.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/camera.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
+[  9%] Running xml schema compiler on collision.sdf
+[ 10%] Running xml schema compiler on light.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/collision.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[  5%] Running xml schema compiler on audio_sink.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/audio_sink.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[  5%] Running xml schema compiler on contact.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/light.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+[ 10%] Running xml schema compiler on link.sdf
+[ 10%] Running xml schema compiler on light_state.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/link.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/light_state.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+[ 10%] Running xml schema compiler on contact.sdf
+[ 11%] Running xml schema compiler on geometry.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/contact.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[  5%] Running xml schema compiler on box_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/box_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[  5%] Running xml schema compiler on audio_sink.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/geometry.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[ 11%] Running xml schema compiler on gps.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/gps.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[ 11%] Running xml schema compiler on link_state.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/link_state.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+[ 11%] Running xml schema compiler on gripper.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/gripper.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[ 11%] Running xml schema compiler on logical_camera.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/logical_camera.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+[ 11%] Running xml schema compiler on capsule_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/capsule_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
+[ 11%] Running xml schema compiler on audio_sink.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/audio_sink.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[  6%] Running xml schema compiler on audio_sink.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/audio_sink.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[  6%] Running xml schema compiler on cylinder_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/cylinder_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[  6%] Running xml schema compiler on battery.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/battery.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[  6%] Running xml schema compiler on frame.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/frame.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[  6%] Running xml schema compiler on battery.sdf
+[ 11%] Running xml schema compiler on battery.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/battery.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[  6%] Running xml schema compiler on camera.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/camera.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[  6%] Running xml schema compiler on box_shape.sdf
+[ 11%] Running xml schema compiler on box_shape.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/box_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[  6%] Running xml schema compiler on battery.sdf
-[  6%] Running xml schema compiler on forcetorque.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/battery.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/forcetorque.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[  6%] Running xml schema compiler on box_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/box_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[  6%] Running xml schema compiler on geometry.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/geometry.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[  6%] Running xml schema compiler on camera.sdf
+[ 11%] Running xml schema compiler on magnetometer.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/magnetometer.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+[ 12%] Running xml schema compiler on material.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/material.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+[ 12%] Running xml schema compiler on cylinder_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/cylinder_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
+[ 12%] Running xml schema compiler on frame.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/frame.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
+[ 12%] Running xml schema compiler on gui.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/gui.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[ 12%] Running xml schema compiler on heightmap_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/heightmap_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[ 12%] Running xml schema compiler on mesh_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/mesh_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+[ 12%] Running xml schema compiler on image_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/image_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[ 12%] Running xml schema compiler on model.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/model.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+[ 13%] Running xml schema compiler on collision.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/collision.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
+[ 13%] Running xml schema compiler on camera.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/camera.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[  6%] Running xml schema compiler on camera.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/camera.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[  7%] Running xml schema compiler on capsule_shape.sdf
+[ 14%] Running xml schema compiler on capsule_shape.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/capsule_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[  7%] Running xml schema compiler on collision.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/collision.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[  7%] Running xml schema compiler on box_shape.sdf
-[  8%] Running xml schema compiler on gps.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/box_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/gps.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[  8%] Running xml schema compiler on gripper.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/gripper.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[  8%] Running xml schema compiler on collision.sdf
+[ 14%] Running xml schema compiler on collision.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/collision.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[  9%] Running xml schema compiler on collision.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/collision.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[  9%] Running xml schema compiler on contact.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/contact.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[  9%] Running xml schema compiler on contact.sdf
+[ 14%] Running xml schema compiler on contact.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/contact.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[  9%] Running xml schema compiler on camera.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/camera.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[  9%] Running xml schema compiler on gui.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/gui.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[  9%] Running xml schema compiler on heightmap_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/heightmap_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
+[ 14%] Running xml schema compiler on model_state.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/model_state.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+[ 14%] Running xml schema compiler on forcetorque.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/forcetorque.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
+[ 14%] Running xml schema compiler on geometry.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/geometry.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
+[ 14%] Running xml schema compiler on noise.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/noise.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+[ 15%] Running xml schema compiler on imu.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/imu.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[ 15%] Running xml schema compiler on inertial.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/inertial.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[ 15%] Running xml schema compiler on joint.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/joint.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[ 15%] Running xml schema compiler on cylinder_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/cylinder_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[ 15%] Running xml schema compiler on contact.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/contact.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
+[ 15%] Running xml schema compiler on ellipsoid_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/ellipsoid_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[ 16%] Running xml schema compiler on frame.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/frame.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[ 16%] Running xml schema compiler on forcetorque.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/forcetorque.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[ 16%] Running xml schema compiler on geometry.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/geometry.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[ 16%] Running xml schema compiler on gps.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/gps.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
 In file included from /usr/src/gtest/src/gtest-all.cc:49:
 /usr/src/gtest/src/gtest.cc: In member function 'void testing::internal::edit_distance::{anonymous}::Hunk::PushLine(char, const char*)':
 /usr/src/gtest/src/gtest.cc:1374:12: warning: switch missing default case [-Wswitch-default]
  1374 |     switch (edit) {
       |            ^
-[  9%] Running xml schema compiler on cylinder_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/cylinder_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[  9%] Running xml schema compiler on cylinder_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/cylinder_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[  9%] Running xml schema compiler on contact.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/contact.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[  9%] Running xml schema compiler on image_shape.sdf
+[ 16%] Running xml schema compiler on gripper.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/gripper.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[ 16%] Running xml schema compiler on physics.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/physics.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+[ 17%] Running xml schema compiler on plane_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/plane_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+[ 18%] Running xml schema compiler on gps.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/gps.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
+[ 18%] Running xml schema compiler on gripper.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/gripper.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
+[ 18%] Running xml schema compiler on lidar.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/lidar.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[ 18%] Running xml schema compiler on light.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/light.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[ 18%] Running xml schema compiler on light_state.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/light_state.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[ 18%] Running xml schema compiler on cylinder_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/cylinder_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
+[ 19%] Running xml schema compiler on link.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/link.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[ 19%] Running xml schema compiler on gui.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/gui.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[ 19%] Running xml schema compiler on heightmap_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/heightmap_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[ 20%] Running xml schema compiler on image_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/image_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[ 20%] Running xml schema compiler on imu.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/imu.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[ 20%] Running xml schema compiler on plugin.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/plugin.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+[ 20%] Running xml schema compiler on heightmap_shape.sdf
+[ 20%] Running xml schema compiler on gui.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/gui.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/heightmap_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
+[ 20%] Running xml schema compiler on polyline_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/polyline_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+[ 20%] Running xml schema compiler on link_state.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/link_state.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[ 20%] Running xml schema compiler on logical_camera.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/logical_camera.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[ 20%] Running xml schema compiler on magnetometer.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/magnetometer.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[ 20%] Running xml schema compiler on ellipsoid_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/ellipsoid_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
+[ 20%] Running xml schema compiler on material.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/material.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[ 20%] Running xml schema compiler on inertial.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/inertial.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[ 20%] Running xml schema compiler on joint.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/joint.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[ 20%] Running xml schema compiler on image_shape.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/image_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[  9%] Running xml schema compiler on ellipsoid_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/ellipsoid_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[  9%] Running xml schema compiler on imu.sdf
+[ 20%] Running xml schema compiler on lidar.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/lidar.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[ 20%] Running xml schema compiler on population.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/population.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+[ 20%] Running xml schema compiler on light.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/light.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[ 20%] Running xml schema compiler on imu.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/imu.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[  9%] Running xml schema compiler on frame.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/frame.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[  9%] Running xml schema compiler on cylinder_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/cylinder_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[  9%] Running xml schema compiler on capsule_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/capsule_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 10%] Running xml schema compiler on inertial.sdf
+[ 20%] Running xml schema compiler on pose.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/pose.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+[ 21%] Running xml schema compiler on model.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/model.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[ 21%] Running xml schema compiler on mesh_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/mesh_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[ 21%] Running xml schema compiler on model_state.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/model_state.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[ 22%] Running xml schema compiler on light_state.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/light_state.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[ 22%] Running xml schema compiler on frame.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/frame.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
+[ 22%] Running xml schema compiler on noise.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/noise.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[ 23%] Running xml schema compiler on inertial.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/inertial.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[ 11%] Running xml schema compiler on frame.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/frame.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[ 11%] Running xml schema compiler on joint.sdf
+[ 23%] Running xml schema compiler on link.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/link.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[ 23%] Running xml schema compiler on link_state.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/link_state.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[ 23%] Running xml schema compiler on logical_camera.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/logical_camera.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[ 23%] Running xml schema compiler on joint.sdf
+[ 23%] Running xml schema compiler on projector.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/joint.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[ 11%] Running xml schema compiler on frame.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/frame.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[ 12%] Running xml schema compiler on forcetorque.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/forcetorque.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[ 13%] Running xml schema compiler on collision.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/collision.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 13%] Running xml schema compiler on lidar.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/projector.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+[ 24%] Running xml schema compiler on ray.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/ray.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+[ 24%] Running xml schema compiler on particle_emitter.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/particle_emitter.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[ 24%] Running xml schema compiler on physics.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/physics.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[ 24%] Running xml schema compiler on forcetorque.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/forcetorque.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
+[ 24%] Running xml schema compiler on magnetometer.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/magnetometer.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[ 24%] Running xml schema compiler on plane_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/plane_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[ 25%] Running xml schema compiler on plugin.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/plugin.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[ 25%] Running xml schema compiler on lidar.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/lidar.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[ 13%] Running xml schema compiler on forcetorque.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/forcetorque.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[ 13%] Running xml schema compiler on forcetorque.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/forcetorque.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[ 13%] Running xml schema compiler on geometry.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/geometry.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[ 13%] Running xml schema compiler on light.sdf
+[ 25%] Running xml schema compiler on material.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/material.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[ 26%] Running xml schema compiler on mesh_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/mesh_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[ 26%] Running xml schema compiler on model.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/model.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[ 26%] Running xml schema compiler on rfidtag.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/rfidtag.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+[ 26%] Running xml schema compiler on rfid.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/rfid.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+[ 26%] Running xml schema compiler on light.sdf
+[ 26%] Running xml schema compiler on polyline_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/polyline_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/light.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[ 13%] Running xml schema compiler on contact.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/contact.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 13%] Running xml schema compiler on light_state.sdf
+[ 26%] Running xml schema compiler on population.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/population.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[ 26%] Running xml schema compiler on model_state.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/model_state.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[ 26%] Running xml schema compiler on pose.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/pose.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[ 27%] Running xml schema compiler on geometry.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/geometry.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
+[ 27%] Running xml schema compiler on projector.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/projector.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[ 27%] Running xml schema compiler on light_state.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/light_state.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[ 13%] Running xml schema compiler on geometry.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/geometry.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[ 13%] Running xml schema compiler on gps.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/gps.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[ 14%] Running xml schema compiler on geometry.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/geometry.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[ 14%] Running xml schema compiler on cylinder_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/cylinder_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 14%] Running xml schema compiler on link.sdf
+[ 27%] Running xml schema compiler on noise.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/noise.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[ 27%] Running xml schema compiler on particle_emitter.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/particle_emitter.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[ 28%] Running xml schema compiler on physics.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/physics.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[ 28%] Running xml schema compiler on road.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/road.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+[ 28%] Running xml schema compiler on ray.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/ray.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[ 28%] Running xml schema compiler on root.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/root.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+[ 28%] Running xml schema compiler on rfidtag.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/rfidtag.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[ 29%] Running xml schema compiler on rfid.sdf
+[ 29%] Running xml schema compiler on link.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/rfid.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/link.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[ 15%] Running xml schema compiler on link_state.sdf
+[ 29%] Running xml schema compiler on plane_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/plane_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[ 29%] Running xml schema compiler on gps.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/gps.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
+[ 29%] Running xml schema compiler on road.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/road.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[ 30%] Running xml schema compiler on link_state.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/link_state.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[ 15%] Running xml schema compiler on gps.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/gps.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[ 15%] Running xml schema compiler on gps.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/gps.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[ 15%] Running xml schema compiler on gripper.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/gripper.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[ 15%] Running xml schema compiler on ellipsoid_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/ellipsoid_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 15%] Running xml schema compiler on logical_camera.sdf
+[ 30%] Running xml schema compiler on plugin.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/plugin.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[ 30%] Running xml schema compiler on scene.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/scene.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+[ 30%] Running xml schema compiler on polyline_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/polyline_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[ 30%] Running xml schema compiler on root.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/root.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[ 30%] Running xml schema compiler on population.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/population.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[ 30%] Running xml schema compiler on scene.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/scene.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[ 31%] Running xml schema compiler on sensor.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/sensor.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+[ 31%] Running xml schema compiler on sensor.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/sensor.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[ 31%] Running xml schema compiler on pose.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/pose.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[ 31%] Running xml schema compiler on gripper.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/gripper.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
+[ 31%] Running xml schema compiler on logical_camera.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/logical_camera.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[ 15%] Running xml schema compiler on gripper.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/gripper.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[ 15%] Running xml schema compiler on gripper.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/gripper.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[ 15%] Running xml schema compiler on frame.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/frame.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 15%] Running xml schema compiler on gui.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/gui.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[ 15%] Running xml schema compiler on magnetometer.sdf
+[ 31%] Running xml schema compiler on spherical_coordinates.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/spherical_coordinates.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[ 31%] Running xml schema compiler on magnetometer.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/magnetometer.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[ 15%] Running xml schema compiler on material.sdf
+[ 32%] Running xml schema compiler on projector.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/projector.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[ 32%] Running xml schema compiler on spherical_coordinates.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/spherical_coordinates.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+[ 32%] Running xml schema compiler on sphere_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/sphere_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[ 32%] Running xml schema compiler on ray.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/ray.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[ 32%] Running xml schema compiler on rfidtag.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/rfidtag.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[ 32%] Running xml schema compiler on sphere_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/sphere_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+[ 32%] Running xml schema compiler on gui.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/gui.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
+[ 33%] Running xml schema compiler on sonar.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/sonar.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[ 33%] Running xml schema compiler on rfid.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/rfid.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[ 33%] Running xml schema compiler on material.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/material.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[ 15%] Running xml schema compiler on gui.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/gui.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[ 15%] Running xml schema compiler on forcetorque.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/forcetorque.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 15%] Running xml schema compiler on gui.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/gui.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[ 15%] Running xml schema compiler on mesh_shape.sdf
+[ 33%] Running xml schema compiler on state.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/state.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[ 33%] Running xml schema compiler on mesh_shape.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/mesh_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[ 15%] Running xml schema compiler on heightmap_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/heightmap_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[ 16%] Running xml schema compiler on heightmap_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/heightmap_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[ 17%] Running xml schema compiler on geometry.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/geometry.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 17%] Running xml schema compiler on heightmap_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/heightmap_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[ 17%] Running xml schema compiler on model.sdf
+[ 33%] Running xml schema compiler on surface.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/surface.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[ 33%] Running xml schema compiler on road.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/road.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[ 33%] Running xml schema compiler on sonar.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/sonar.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+[ 33%] Running xml schema compiler on transceiver.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/transceiver.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[ 33%] Running xml schema compiler on root.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/root.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[ 34%] Running xml schema compiler on visual.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/visual.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[ 35%] Running xml schema compiler on scene.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/scene.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[ 35%] Running xml schema compiler on state.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/state.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+[ 35%] Running xml schema compiler on sensor.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/sensor.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[ 35%] Running xml schema compiler on heightmap_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/heightmap_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
+[ 35%] Running xml schema compiler on world.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/world.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
+[ 35%] Running xml schema compiler on spherical_coordinates.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/spherical_coordinates.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[ 35%] Running xml schema compiler on model.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/model.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[ 18%] Running xml schema compiler on model_state.sdf
+[ 36%] Running xml schema compiler on model_state.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/model_state.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[ 18%] Running xml schema compiler on image_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/image_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[ 18%] Running xml schema compiler on gps.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/gps.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 19%] Running xml schema compiler on image_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/image_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[ 19%] Running xml schema compiler on image_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/image_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[ 19%] Running xml schema compiler on imu.sdf
-[ 19%] Running xml schema compiler on noise.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/imu.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/noise.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[ 19%] Running xml schema compiler on imu.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/imu.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[ 19%] Running xml schema compiler on gripper.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/gripper.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 19%] Running xml schema compiler on inertial.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/inertial.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[ 20%] Running xml schema compiler on imu.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/imu.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[ 20%] Running xml schema compiler on inertial.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/inertial.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[ 20%] Running xml schema compiler on gui.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/gui.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 20%] Running xml schema compiler on particle_emitter.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/particle_emitter.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[ 20%] Running xml schema compiler on joint.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/joint.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[ 20%] Running xml schema compiler on inertial.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/inertial.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[ 21%] Running xml schema compiler on light.sdf
-[ 21%] Running xml schema compiler on joint.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/joint.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/light.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[ 21%] Running xml schema compiler on heightmap_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/heightmap_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 21%] Running xml schema compiler on physics.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/physics.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[ 21%] Running xml schema compiler on joint.sdf
-[ 21%] Running xml schema compiler on light_state.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/joint.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/light_state.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[ 21%] Running xml schema compiler on link.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/link.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[ 21%] Running xml schema compiler on image_shape.sdf
+[ 36%] Running xml schema compiler on image_shape.sdf
+[ 36%] Running xml schema compiler on surface.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/surface.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/image_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 21%] Running xml schema compiler on plane_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/plane_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[ 21%] Running xml schema compiler on lidar.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/lidar.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[ 22%] Running xml schema compiler on imu.sdf
+[ 36%] Building CXX object src/CMakeFiles/sdformat12.dir/AirPressure.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/AirPressure.cc.o -MF CMakeFiles/sdformat12.dir/AirPressure.cc.o.d -o CMakeFiles/sdformat12.dir/AirPressure.cc.o -c /build/sdformat-12.3.0+ds/src/AirPressure.cc
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 37%] Running xml schema compiler on transceiver.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/transceiver.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+[ 37%] Running xml schema compiler on sonar.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/sonar.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[ 38%] Running xml schema compiler on sphere_shape.sdf
+[ 38%] Running xml schema compiler on imu.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/sphere_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/imu.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 22%] Running xml schema compiler on lidar.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/lidar.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[ 22%] Running xml schema compiler on inertial.sdf
+[ 39%] Building CXX object src/CMakeFiles/sdformat12.dir/Altimeter.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Altimeter.cc.o -MF CMakeFiles/sdformat12.dir/Altimeter.cc.o.d -o CMakeFiles/sdformat12.dir/Altimeter.cc.o -c /build/sdformat-12.3.0+ds/src/Altimeter.cc
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 39%] Running xml schema compiler on noise.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/noise.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
+[ 39%] Running xml schema compiler on inertial.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/inertial.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 22%] Running xml schema compiler on plugin.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/plugin.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[ 22%] Running xml schema compiler on link_state.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/link_state.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[ 22%] Running xml schema compiler on light.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/light.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[ 22%] Running xml schema compiler on light.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/light.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[ 22%] Running xml schema compiler on joint.sdf
+[ 39%] Running xml schema compiler on state.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/state.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[ 39%] Running xml schema compiler on particle_emitter.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/particle_emitter.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
+[ 39%] Running xml schema compiler on joint.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/joint.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 23%] Running xml schema compiler on polyline_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/polyline_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[ 23%] Running xml schema compiler on lidar.sdf
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
+[ 39%] Built target schema1_6
+[ 39%] Running xml schema compiler on visual.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/visual.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+[ 39%] Building CXX object src/CMakeFiles/sdformat12.dir/Atmosphere.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Atmosphere.cc.o -MF CMakeFiles/sdformat12.dir/Atmosphere.cc.o.d -o CMakeFiles/sdformat12.dir/Atmosphere.cc.o -c /build/sdformat-12.3.0+ds/src/Atmosphere.cc
+[ 39%] Running xml schema compiler on lidar.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/lidar.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 23%] Running xml schema compiler on logical_camera.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/logical_camera.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[ 23%] Running xml schema compiler on light_state.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/light_state.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[ 24%] Running xml schema compiler on light_state.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/light_state.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[ 24%] Running xml schema compiler on population.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/population.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[ 24%] Running xml schema compiler on magnetometer.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/magnetometer.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[ 24%] Running xml schema compiler on light.sdf
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 40%] Running xml schema compiler on transceiver.sdf
+[ 40%] Running xml schema compiler on surface.sdf
+[ 40%] Running xml schema compiler on world.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/transceiver.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/world.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/surface.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[ 40%] Running xml schema compiler on physics.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/physics.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
+[ 40%] Running xml schema compiler on light.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/light.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 24%] Running xml schema compiler on light_state.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/light_state.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 24%] Running xml schema compiler on link.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/link.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[ 25%] Running xml schema compiler on link.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/link.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[ 26%] Running xml schema compiler on link.sdf
+[ 40%] Running xml schema compiler on visual.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/visual.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[ 40%] Running xml schema compiler on plane_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/plane_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
+[ 40%] Running xml schema compiler on plugin.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/plugin.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
+[ 41%] Running xml schema compiler on link.sdf
+[ 41%] Running xml schema compiler on light_state.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/link.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 26%] Running xml schema compiler on link_state.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/light_state.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
+[ 41%] Running xml schema compiler on link_state.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/link_state.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 27%] Running xml schema compiler on material.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/material.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[ 27%] Running xml schema compiler on pose.sdf
+[ 41%] Running xml schema compiler on world.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/world.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[ 41%] Building CXX object src/CMakeFiles/sdformat12.dir/Box.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Box.cc.o -MF CMakeFiles/sdformat12.dir/Box.cc.o.d -o CMakeFiles/sdformat12.dir/Box.cc.o -c /build/sdformat-12.3.0+ds/src/Box.cc
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 41%] Built target schema1_5
+[ 42%] Running xml schema compiler on polyline_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/polyline_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
+[ 42%] Running xml schema compiler on population.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/population.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
+[ 42%] Running xml schema compiler on pose.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/pose.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[ 27%] Running xml schema compiler on link_state.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/link_state.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[ 27%] Running xml schema compiler on link_state.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/link_state.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[ 27%] Running xml schema compiler on mesh_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/mesh_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[ 27%] Running xml schema compiler on projector.sdf
-[ 27%] Running xml schema compiler on logical_camera.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/projector.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
+[ 42%] Building CXX object src/CMakeFiles/sdformat12.dir/Camera.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Camera.cc.o -MF CMakeFiles/sdformat12.dir/Camera.cc.o.d -o CMakeFiles/sdformat12.dir/Camera.cc.o -c /build/sdformat-12.3.0+ds/src/Camera.cc
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 42%] Running xml schema compiler on logical_camera.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/logical_camera.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 27%] Running xml schema compiler on logical_camera.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/logical_camera.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[ 27%] Running xml schema compiler on model.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/model.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[ 27%] Running xml schema compiler on ray.sdf
-[ 27%] Running xml schema compiler on magnetometer.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/ray.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
+[ 42%] Running xml schema compiler on projector.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/projector.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
+[ 42%] Running xml schema compiler on magnetometer.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/magnetometer.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 27%] Running xml schema compiler on logical_camera.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/logical_camera.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[ 27%] Running xml schema compiler on magnetometer.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/magnetometer.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[ 28%] Running xml schema compiler on rfidtag.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/rfidtag.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[ 28%] Running xml schema compiler on magnetometer.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/magnetometer.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[ 28%] Running xml schema compiler on rfid.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/rfid.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[ 28%] Running xml schema compiler on material.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/material.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[ 28%] Running xml schema compiler on model_state.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/model_state.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[ 28%] Running xml schema compiler on material.sdf
+[ 42%] Running xml schema compiler on material.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/material.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 28%] Running xml schema compiler on road.sdf
-[ 28%] Running xml schema compiler on material.sdf
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
+[ 42%] Running xml schema compiler on ray.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/ray.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
+[ 42%] Built target schema1_9
+[ 42%] Building CXX object src/CMakeFiles/sdformat12.dir/Capsule.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Capsule.cc.o -MF CMakeFiles/sdformat12.dir/Capsule.cc.o.d -o CMakeFiles/sdformat12.dir/Capsule.cc.o -c /build/sdformat-12.3.0+ds/src/Capsule.cc
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 42%] Running xml schema compiler on rfid.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/rfid.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
+[ 43%] Running xml schema compiler on rfidtag.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/rfidtag.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
+[ 43%] Running xml schema compiler on road.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/road.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/material.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[ 28%] Running xml schema compiler on root.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/root.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[ 28%] Running xml schema compiler on noise.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/noise.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[ 28%] Running xml schema compiler on mesh_shape.sdf
+[ 43%] Running xml schema compiler on mesh_shape.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/mesh_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 29%] Running xml schema compiler on mesh_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/mesh_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[ 29%] Running xml schema compiler on physics.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/physics.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[ 29%] Running xml schema compiler on scene.sdf
+[ 43%] Running xml schema compiler on scene.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/scene.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[ 29%] Running xml schema compiler on mesh_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/mesh_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[ 30%] Running xml schema compiler on model.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/model.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 30%] Running xml schema compiler on model.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/model.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[ 30%] Running xml schema compiler on sensor.sdf
+[ 43%] Running xml schema compiler on root.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/root.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
+[ 43%] Running xml schema compiler on sensor.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/sensor.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[ 31%] Running xml schema compiler on plane_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/plane_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[ 31%] Running xml schema compiler on spherical_coordinates.sdf
+[ 43%] Running xml schema compiler on spherical_coordinates.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/spherical_coordinates.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[ 32%] Running xml schema compiler on model.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/model.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[ 32%] Running xml schema compiler on model_state.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/model_state.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[ 32%] Running xml schema compiler on plugin.sdf
-[ 32%] Running xml schema compiler on noise.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/plugin.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/noise.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[ 33%] Running xml schema compiler on sphere_shape.sdf
-[ 33%] Running xml schema compiler on model_state.sdf
+[ 44%] Running xml schema compiler on sphere_shape.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/sphere_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/model_state.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 33%] Running xml schema compiler on sonar.sdf
+[ 44%] Running xml schema compiler on sonar.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/sonar.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[ 33%] Running xml schema compiler on polyline_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/polyline_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[ 33%] Running xml schema compiler on particle_emitter.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/particle_emitter.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[ 33%] Running xml schema compiler on model_state.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/model_state.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[ 33%] Running xml schema compiler on population.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/population.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[ 33%] Running xml schema compiler on noise.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/noise.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 33%] Running xml schema compiler on state.sdf
+[ 44%] Running xml schema compiler on state.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/state.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[ 34%] Running xml schema compiler on physics.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/physics.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[ 34%] Running xml schema compiler on pose.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/pose.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[ 34%] Running xml schema compiler on surface.sdf
+[ 44%] Running xml schema compiler on surface.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/surface.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[ 34%] Running xml schema compiler on particle_emitter.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/particle_emitter.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 34%] Running xml schema compiler on projector.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/projector.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[ 34%] Running xml schema compiler on noise.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/noise.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[ 34%] Running xml schema compiler on transceiver.sdf
+[ 45%] Running xml schema compiler on model.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/model.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
+[ 45%] Running xml schema compiler on model_state.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/model_state.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
+[ 45%] Running xml schema compiler on transceiver.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/transceiver.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[ 34%] Running xml schema compiler on plane_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/plane_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[ 35%] Running xml schema compiler on ray.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/ray.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[ 35%] Running xml schema compiler on physics.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/physics.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 36%] Running xml schema compiler on visual.sdf
+[ 45%] Building CXX object src/CMakeFiles/sdformat12.dir/Collision.cc.o
+[ 46%] Running xml schema compiler on visual.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Collision.cc.o -MF CMakeFiles/sdformat12.dir/Collision.cc.o.d -o CMakeFiles/sdformat12.dir/Collision.cc.o -c /build/sdformat-12.3.0+ds/src/Collision.cc
+[ 46%] Running xml schema compiler on world.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/visual.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[ 36%] Running xml schema compiler on particle_emitter.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/particle_emitter.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[ 36%] Running xml schema compiler on rfidtag.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/rfidtag.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[ 36%] Running xml schema compiler on plugin.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/plugin.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[ 36%] Running xml schema compiler on world.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.7 -i /build/sdformat-12.3.0+ds/sdf/1.7/world.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.7
-[ 36%] Running xml schema compiler on polyline_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/polyline_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[ 36%] Running xml schema compiler on plane_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/plane_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 36%] Running xml schema compiler on population.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/population.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[ 36%] Running xml schema compiler on rfid.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/rfid.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[ 36%] Running xml schema compiler on physics.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/physics.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[ 36%] Running xml schema compiler on pose.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/pose.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 47%] Building CXX object src/CMakeFiles/sdformat12.dir/Console.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Console.cc.o -MF CMakeFiles/sdformat12.dir/Console.cc.o.d -o CMakeFiles/sdformat12.dir/Console.cc.o -c /build/sdformat-12.3.0+ds/src/Console.cc
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 47%] Building CXX object src/CMakeFiles/sdformat12.dir/Converter.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Converter.cc.o -MF CMakeFiles/sdformat12.dir/Converter.cc.o.d -o CMakeFiles/sdformat12.dir/Converter.cc.o -c /build/sdformat-12.3.0+ds/src/Converter.cc
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 47%] Running xml schema compiler on noise.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/noise.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
+[ 47%] Building CXX object src/CMakeFiles/sdformat12.dir/Cylinder.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Cylinder.cc.o -MF CMakeFiles/sdformat12.dir/Cylinder.cc.o.d -o CMakeFiles/sdformat12.dir/Cylinder.cc.o -c /build/sdformat-12.3.0+ds/src/Cylinder.cc
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 47%] Building CXX object src/CMakeFiles/sdformat12.dir/Element.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Element.cc.o -MF CMakeFiles/sdformat12.dir/Element.cc.o.d -o CMakeFiles/sdformat12.dir/Element.cc.o -c /build/sdformat-12.3.0+ds/src/Element.cc
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 36%] Built target schema1_7
-[ 37%] Running xml schema compiler on projector.sdf
-[ 37%] Running xml schema compiler on road.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/projector.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/road.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[ 37%] Running xml schema compiler on root.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/root.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[ 37%] Running xml schema compiler on plane_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/plane_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[ 37%] Running xml schema compiler on ray.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/ray.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[ 38%] Running xml schema compiler on plugin.sdf
+[ 47%] Built target schema1_7
+[ 47%] Building CXX object src/CMakeFiles/sdformat12.dir/Ellipsoid.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Ellipsoid.cc.o -MF CMakeFiles/sdformat12.dir/Ellipsoid.cc.o.d -o CMakeFiles/sdformat12.dir/Ellipsoid.cc.o -c /build/sdformat-12.3.0+ds/src/Ellipsoid.cc
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 47%] Running xml schema compiler on particle_emitter.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/particle_emitter.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
+[ 47%] Running xml schema compiler on physics.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/physics.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
+[ 47%] Running xml schema compiler on plane_shape.sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/plane_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
+[ 48%] Running xml schema compiler on plugin.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/plugin.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 38%] Running xml schema compiler on scene.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/scene.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[ 39%] Running xml schema compiler on sensor.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/sensor.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[ 39%] Running xml schema compiler on rfidtag.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/rfidtag.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[ 40%] Running xml schema compiler on plugin.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/plugin.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[ 40%] Running xml schema compiler on polyline_shape.sdf
+[ 48%] Building CXX object src/CMakeFiles/sdformat12.dir/EmbeddedSdf.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/EmbeddedSdf.cc.o -MF CMakeFiles/sdformat12.dir/EmbeddedSdf.cc.o.d -o CMakeFiles/sdformat12.dir/EmbeddedSdf.cc.o -c /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/EmbeddedSdf.cc
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 48%] Running xml schema compiler on polyline_shape.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/polyline_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 40%] Running xml schema compiler on rfid.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/rfid.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[ 40%] Running xml schema compiler on spherical_coordinates.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/spherical_coordinates.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[ 40%] Running xml schema compiler on road.sdf
-[ 40%] Running xml schema compiler on population.sdf
+[ 48%] Running xml schema compiler on population.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/population.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/road.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[ 40%] Running xml schema compiler on polyline_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/polyline_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[ 40%] Running xml schema compiler on pose.sdf
+[ 48%] Running xml schema compiler on pose.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/pose.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 40%] Running xml schema compiler on root.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/root.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[ 40%] Running xml schema compiler on sphere_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/sphere_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[ 41%] Running xml schema compiler on scene.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/scene.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[ 41%] Running xml schema compiler on projector.sdf
+[ 48%] Running xml schema compiler on projector.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/projector.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 42%] Running xml schema compiler on ray.sdf
+[ 49%] Running xml schema compiler on ray.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/ray.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 42%] Running xml schema compiler on population.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/population.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[ 42%] Running xml schema compiler on sensor.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/sensor.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[ 42%] Running xml schema compiler on rfidtag.sdf
+[ 49%] Running xml schema compiler on rfidtag.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/rfidtag.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 42%] Running xml schema compiler on sonar.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/sonar.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[ 42%] Running xml schema compiler on spherical_coordinates.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/spherical_coordinates.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[ 42%] Running xml schema compiler on pose.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/pose.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[ 42%] Running xml schema compiler on state.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/state.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[ 42%] Running xml schema compiler on sphere_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/sphere_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[ 42%] Running xml schema compiler on rfid.sdf
+[ 49%] Running xml schema compiler on rfid.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/rfid.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 42%] Running xml schema compiler on sonar.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/sonar.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[ 42%] Running xml schema compiler on road.sdf
+[ 49%] Running xml schema compiler on road.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/road.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 42%] Running xml schema compiler on projector.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/projector.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[ 42%] Running xml schema compiler on surface.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/surface.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[ 42%] Running xml schema compiler on root.sdf
+[ 49%] Running xml schema compiler on root.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/root.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 42%] Running xml schema compiler on state.sdf
-[ 42%] Running xml schema compiler on scene.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/state.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
+[ 49%] Running xml schema compiler on scene.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/scene.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 42%] Running xml schema compiler on ray.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/ray.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[ 43%] Running xml schema compiler on surface.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/surface.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[ 44%] Running xml schema compiler on transceiver.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/transceiver.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[ 45%] Running xml schema compiler on sensor.sdf
+[ 50%] Running xml schema compiler on sensor.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/sensor.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 45%] Running xml schema compiler on transceiver.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/transceiver.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[ 45%] Running xml schema compiler on visual.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/visual.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[ 45%] Running xml schema compiler on rfidtag.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/rfidtag.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[ 45%] Running xml schema compiler on visual.sdf
-[ 45%] Running xml schema compiler on world.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/visual.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.9 -i /build/sdformat-12.3.0+ds/sdf/1.9/world.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.9
-[ 45%] Running xml schema compiler on world.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.5 -i /build/sdformat-12.3.0+ds/sdf/1.5/world.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.5
-[ 46%] Running xml schema compiler on rfid.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/rfid.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[ 46%] Running xml schema compiler on spherical_coordinates.sdf
+[ 50%] Running xml schema compiler on spherical_coordinates.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/spherical_coordinates.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 46%] Running xml schema compiler on road.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/road.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 46%] Built target schema1_9
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 46%] Running xml schema compiler on root.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/root.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[ 46%] Built target schema1_5
-[ 46%] Running xml schema compiler on sphere_shape.sdf
+[ 50%] Running xml schema compiler on sphere_shape.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/sphere_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 46%] Running xml schema compiler on sonar.sdf
+[ 50%] Running xml schema compiler on sonar.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/sonar.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 46%] Running xml schema compiler on scene.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/scene.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[ 46%] Running xml schema compiler on state.sdf
+[ 50%] Running xml schema compiler on state.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/state.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 46%] Running xml schema compiler on sensor.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/sensor.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[ 46%] Running xml schema compiler on surface.sdf
+[ 50%] Running xml schema compiler on surface.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/surface.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 47%] Running xml schema compiler on transceiver.sdf
+[ 51%] Running xml schema compiler on transceiver.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/transceiver.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 47%] Running xml schema compiler on spherical_coordinates.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/spherical_coordinates.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[ 47%] Running xml schema compiler on visual.sdf
+[ 51%] Running xml schema compiler on visual.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/visual.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 47%] Running xml schema compiler on sphere_shape.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/sphere_shape.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[ 48%] Running xml schema compiler on sonar.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/sonar.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[ 48%] Running xml schema compiler on world.sdf
+[ 52%] Building CXX object src/CMakeFiles/sdformat12.dir/Error.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Error.cc.o -MF CMakeFiles/sdformat12.dir/Error.cc.o.d -o CMakeFiles/sdformat12.dir/Error.cc.o -c /build/sdformat-12.3.0+ds/src/Error.cc
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 52%] Running xml schema compiler on world.sdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.8 -i /build/sdformat-12.3.0+ds/sdf/1.8/world.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.8
-[ 48%] Running xml schema compiler on state.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/state.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[ 48%] Running xml schema compiler on surface.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/surface.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[ 48%] Running xml schema compiler on transceiver.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/transceiver.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[ 49%] Running xml schema compiler on visual.sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/visual.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[ 49%] Running xml schema compiler on world.sdf
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6 && /usr/bin/ruby /build/sdformat-12.3.0+ds/tools/xmlschema.rb -s /build/sdformat-12.3.0+ds/sdf/1.6 -i /build/sdformat-12.3.0+ds/sdf/1.6/world.sdf -o /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/sdf/1.6
-[ 49%] Built target schema1_8
-[ 49%] Building CXX object src/CMakeFiles/sdformat12.dir/AirPressure.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/AirPressure.cc.o -MF CMakeFiles/sdformat12.dir/AirPressure.cc.o.d -o CMakeFiles/sdformat12.dir/AirPressure.cc.o -c /build/sdformat-12.3.0+ds/src/AirPressure.cc
+[ 52%] Built target schema1_8
+[ 52%] Building CXX object src/CMakeFiles/sdformat12.dir/Exception.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Exception.cc.o -MF CMakeFiles/sdformat12.dir/Exception.cc.o.d -o CMakeFiles/sdformat12.dir/Exception.cc.o -c /build/sdformat-12.3.0+ds/src/Exception.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 50%] Building CXX object src/CMakeFiles/sdformat12.dir/Altimeter.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Altimeter.cc.o -MF CMakeFiles/sdformat12.dir/Altimeter.cc.o.d -o CMakeFiles/sdformat12.dir/Altimeter.cc.o -c /build/sdformat-12.3.0+ds/src/Altimeter.cc
+[ 52%] Building CXX object src/CMakeFiles/sdformat12.dir/Frame.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Frame.cc.o -MF CMakeFiles/sdformat12.dir/Frame.cc.o.d -o CMakeFiles/sdformat12.dir/Frame.cc.o -c /build/sdformat-12.3.0+ds/src/Frame.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 50%] Building CXX object src/CMakeFiles/sdformat12.dir/Atmosphere.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Atmosphere.cc.o -MF CMakeFiles/sdformat12.dir/Atmosphere.cc.o.d -o CMakeFiles/sdformat12.dir/Atmosphere.cc.o -c /build/sdformat-12.3.0+ds/src/Atmosphere.cc
-[ 50%] Building CXX object src/CMakeFiles/sdformat12.dir/Box.cc.o
+[ 52%] Building CXX object src/CMakeFiles/sdformat12.dir/FrameSemantics.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/FrameSemantics.cc.o -MF CMakeFiles/sdformat12.dir/FrameSemantics.cc.o.d -o CMakeFiles/sdformat12.dir/FrameSemantics.cc.o -c /build/sdformat-12.3.0+ds/src/FrameSemantics.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Box.cc.o -MF CMakeFiles/sdformat12.dir/Box.cc.o.d -o CMakeFiles/sdformat12.dir/Box.cc.o -c /build/sdformat-12.3.0+ds/src/Box.cc
-[ 50%] Building CXX object src/CMakeFiles/sdformat12.dir/Camera.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Camera.cc.o -MF CMakeFiles/sdformat12.dir/Camera.cc.o.d -o CMakeFiles/sdformat12.dir/Camera.cc.o -c /build/sdformat-12.3.0+ds/src/Camera.cc
+[ 52%] Building CXX object src/CMakeFiles/sdformat12.dir/Filesystem.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Filesystem.cc.o -MF CMakeFiles/sdformat12.dir/Filesystem.cc.o.d -o CMakeFiles/sdformat12.dir/Filesystem.cc.o -c /build/sdformat-12.3.0+ds/src/Filesystem.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 53%] Building CXX object src/CMakeFiles/sdformat12.dir/ForceTorque.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/ForceTorque.cc.o -MF CMakeFiles/sdformat12.dir/ForceTorque.cc.o.d -o CMakeFiles/sdformat12.dir/ForceTorque.cc.o -c /build/sdformat-12.3.0+ds/src/ForceTorque.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 50%] Built target schema1_6
-[ 50%] Building CXX object src/CMakeFiles/sdformat12.dir/Capsule.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Capsule.cc.o -MF CMakeFiles/sdformat12.dir/Capsule.cc.o.d -o CMakeFiles/sdformat12.dir/Capsule.cc.o -c /build/sdformat-12.3.0+ds/src/Capsule.cc
+[ 53%] Building CXX object src/CMakeFiles/sdformat12.dir/Geometry.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Geometry.cc.o -MF CMakeFiles/sdformat12.dir/Geometry.cc.o.d -o CMakeFiles/sdformat12.dir/Geometry.cc.o -c /build/sdformat-12.3.0+ds/src/Geometry.cc
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 53%] Building CXX object src/CMakeFiles/sdformat12.dir/Gui.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Gui.cc.o -MF CMakeFiles/sdformat12.dir/Gui.cc.o.d -o CMakeFiles/sdformat12.dir/Gui.cc.o -c /build/sdformat-12.3.0+ds/src/Gui.cc
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 53%] Building CXX object src/CMakeFiles/sdformat12.dir/Heightmap.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Heightmap.cc.o -MF CMakeFiles/sdformat12.dir/Heightmap.cc.o.d -o CMakeFiles/sdformat12.dir/Heightmap.cc.o -c /build/sdformat-12.3.0+ds/src/Heightmap.cc
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 53%] Building CXX object src/CMakeFiles/sdformat12.dir/ign.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/ign.cc.o -MF CMakeFiles/sdformat12.dir/ign.cc.o.d -o CMakeFiles/sdformat12.dir/ign.cc.o -c /build/sdformat-12.3.0+ds/src/ign.cc
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 53%] Building CXX object src/CMakeFiles/sdformat12.dir/InterfaceElements.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/InterfaceElements.cc.o -MF CMakeFiles/sdformat12.dir/InterfaceElements.cc.o.d -o CMakeFiles/sdformat12.dir/InterfaceElements.cc.o -c /build/sdformat-12.3.0+ds/src/InterfaceElements.cc
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 54%] Building CXX object src/CMakeFiles/sdformat12.dir/InterfaceFrame.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/InterfaceFrame.cc.o -MF CMakeFiles/sdformat12.dir/InterfaceFrame.cc.o.d -o CMakeFiles/sdformat12.dir/InterfaceFrame.cc.o -c /build/sdformat-12.3.0+ds/src/InterfaceFrame.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 50%] Building CXX object src/CMakeFiles/sdformat12.dir/Collision.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Collision.cc.o -MF CMakeFiles/sdformat12.dir/Collision.cc.o.d -o CMakeFiles/sdformat12.dir/Collision.cc.o -c /build/sdformat-12.3.0+ds/src/Collision.cc
+[ 54%] Building CXX object src/CMakeFiles/sdformat12.dir/InterfaceJoint.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/InterfaceJoint.cc.o -MF CMakeFiles/sdformat12.dir/InterfaceJoint.cc.o.d -o CMakeFiles/sdformat12.dir/InterfaceJoint.cc.o -c /build/sdformat-12.3.0+ds/src/InterfaceJoint.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 51%] Building CXX object src/CMakeFiles/sdformat12.dir/Console.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Console.cc.o -MF CMakeFiles/sdformat12.dir/Console.cc.o.d -o CMakeFiles/sdformat12.dir/Console.cc.o -c /build/sdformat-12.3.0+ds/src/Console.cc
+[ 54%] Building CXX object src/CMakeFiles/sdformat12.dir/InterfaceLink.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/InterfaceLink.cc.o -MF CMakeFiles/sdformat12.dir/InterfaceLink.cc.o.d -o CMakeFiles/sdformat12.dir/InterfaceLink.cc.o -c /build/sdformat-12.3.0+ds/src/InterfaceLink.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 51%] Building CXX object src/CMakeFiles/sdformat12.dir/Converter.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Converter.cc.o -MF CMakeFiles/sdformat12.dir/Converter.cc.o.d -o CMakeFiles/sdformat12.dir/Converter.cc.o -c /build/sdformat-12.3.0+ds/src/Converter.cc
+[ 54%] Building CXX object src/CMakeFiles/sdformat12.dir/InterfaceModel.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/InterfaceModel.cc.o -MF CMakeFiles/sdformat12.dir/InterfaceModel.cc.o.d -o CMakeFiles/sdformat12.dir/InterfaceModel.cc.o -c /build/sdformat-12.3.0+ds/src/InterfaceModel.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 51%] Building CXX object src/CMakeFiles/sdformat12.dir/Cylinder.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Cylinder.cc.o -MF CMakeFiles/sdformat12.dir/Cylinder.cc.o.d -o CMakeFiles/sdformat12.dir/Cylinder.cc.o -c /build/sdformat-12.3.0+ds/src/Cylinder.cc
+[ 54%] Building CXX object src/CMakeFiles/sdformat12.dir/InterfaceModelPoseGraph.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/InterfaceModelPoseGraph.cc.o -MF CMakeFiles/sdformat12.dir/InterfaceModelPoseGraph.cc.o.d -o CMakeFiles/sdformat12.dir/InterfaceModelPoseGraph.cc.o -c /build/sdformat-12.3.0+ds/src/InterfaceModelPoseGraph.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 51%] Building CXX object src/CMakeFiles/sdformat12.dir/Element.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Element.cc.o -MF CMakeFiles/sdformat12.dir/Element.cc.o.d -o CMakeFiles/sdformat12.dir/Element.cc.o -c /build/sdformat-12.3.0+ds/src/Element.cc
+[ 54%] Building CXX object src/CMakeFiles/sdformat12.dir/Imu.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Imu.cc.o -MF CMakeFiles/sdformat12.dir/Imu.cc.o.d -o CMakeFiles/sdformat12.dir/Imu.cc.o -c /build/sdformat-12.3.0+ds/src/Imu.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 51%] Linking CXX static library libgtest.a
+[ 54%] Linking CXX static library libgtest.a
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-[ 51%] Built target gtest
+[ 54%] Built target gtest
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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-[ 52%] Building CXX object test/CMakeFiles/gtest_main.dir/usr/src/gtest/src/gtest_main.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -I/usr/include/ignition/math6 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/CMakeFiles/gtest_main.dir/usr/src/gtest/src/gtest_main.cc.o -MF CMakeFiles/gtest_main.dir/usr/src/gtest/src/gtest_main.cc.o.d -o CMakeFiles/gtest_main.dir/usr/src/gtest/src/gtest_main.cc.o -c /usr/src/gtest/src/gtest_main.cc
+[ 55%] Building CXX object test/CMakeFiles/gtest_main.dir/usr/src/gtest/src/gtest_main.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -I/usr/include/ignition/math6 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/CMakeFiles/gtest_main.dir/usr/src/gtest/src/gtest_main.cc.o -MF CMakeFiles/gtest_main.dir/usr/src/gtest/src/gtest_main.cc.o.d -o CMakeFiles/gtest_main.dir/usr/src/gtest/src/gtest_main.cc.o -c /usr/src/gtest/src/gtest_main.cc
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-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Ellipsoid.cc.o -MF CMakeFiles/sdformat12.dir/Ellipsoid.cc.o.d -o CMakeFiles/sdformat12.dir/Ellipsoid.cc.o -c /build/sdformat-12.3.0+ds/src/Ellipsoid.cc
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-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/EmbeddedSdf.cc.o -MF CMakeFiles/sdformat12.dir/EmbeddedSdf.cc.o.d -o CMakeFiles/sdformat12.dir/EmbeddedSdf.cc.o -c /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/EmbeddedSdf.cc
+[ 56%] Building CXX object src/CMakeFiles/sdformat12.dir/Joint.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Joint.cc.o -MF CMakeFiles/sdformat12.dir/Joint.cc.o.d -o CMakeFiles/sdformat12.dir/Joint.cc.o -c /build/sdformat-12.3.0+ds/src/Joint.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 52%] Linking CXX static library libgtest_main.a
+[ 56%] Linking CXX static library libgtest_main.a
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-[ 53%] Building CXX object src/CMakeFiles/sdformat12.dir/Error.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Error.cc.o -MF CMakeFiles/sdformat12.dir/Error.cc.o.d -o CMakeFiles/sdformat12.dir/Error.cc.o -c /build/sdformat-12.3.0+ds/src/Error.cc
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-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Gui.cc.o -MF CMakeFiles/sdformat12.dir/Gui.cc.o.d -o CMakeFiles/sdformat12.dir/Gui.cc.o -c /build/sdformat-12.3.0+ds/src/Gui.cc
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-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Heightmap.cc.o -MF CMakeFiles/sdformat12.dir/Heightmap.cc.o.d -o CMakeFiles/sdformat12.dir/Heightmap.cc.o -c /build/sdformat-12.3.0+ds/src/Heightmap.cc
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-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/ign.cc.o -MF CMakeFiles/sdformat12.dir/ign.cc.o.d -o CMakeFiles/sdformat12.dir/ign.cc.o -c /build/sdformat-12.3.0+ds/src/ign.cc
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-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/InterfaceElements.cc.o -MF CMakeFiles/sdformat12.dir/InterfaceElements.cc.o.d -o CMakeFiles/sdformat12.dir/InterfaceElements.cc.o -c /build/sdformat-12.3.0+ds/src/InterfaceElements.cc
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-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/InterfaceFrame.cc.o -MF CMakeFiles/sdformat12.dir/InterfaceFrame.cc.o.d -o CMakeFiles/sdformat12.dir/InterfaceFrame.cc.o -c /build/sdformat-12.3.0+ds/src/InterfaceFrame.cc
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-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/InterfaceJoint.cc.o -MF CMakeFiles/sdformat12.dir/InterfaceJoint.cc.o.d -o CMakeFiles/sdformat12.dir/InterfaceJoint.cc.o -c /build/sdformat-12.3.0+ds/src/InterfaceJoint.cc
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-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/InterfaceLink.cc.o -MF CMakeFiles/sdformat12.dir/InterfaceLink.cc.o.d -o CMakeFiles/sdformat12.dir/InterfaceLink.cc.o -c /build/sdformat-12.3.0+ds/src/InterfaceLink.cc
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-[ 55%] Building CXX object src/CMakeFiles/sdformat12.dir/InterfaceModel.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/InterfaceModel.cc.o -MF CMakeFiles/sdformat12.dir/InterfaceModel.cc.o.d -o CMakeFiles/sdformat12.dir/InterfaceModel.cc.o -c /build/sdformat-12.3.0+ds/src/InterfaceModel.cc
-cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 55%] Building CXX object src/CMakeFiles/sdformat12.dir/InterfaceModelPoseGraph.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/InterfaceModelPoseGraph.cc.o -MF CMakeFiles/sdformat12.dir/InterfaceModelPoseGraph.cc.o.d -o CMakeFiles/sdformat12.dir/InterfaceModelPoseGraph.cc.o -c /build/sdformat-12.3.0+ds/src/InterfaceModelPoseGraph.cc
-cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 55%] Building CXX object src/CMakeFiles/sdformat12.dir/Imu.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Imu.cc.o -MF CMakeFiles/sdformat12.dir/Imu.cc.o.d -o CMakeFiles/sdformat12.dir/Imu.cc.o -c /build/sdformat-12.3.0+ds/src/Imu.cc
-cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 56%] Building CXX object src/CMakeFiles/sdformat12.dir/Joint.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Joint.cc.o -MF CMakeFiles/sdformat12.dir/Joint.cc.o.d -o CMakeFiles/sdformat12.dir/Joint.cc.o -c /build/sdformat-12.3.0+ds/src/Joint.cc
-cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 56%] Built target gtest_main
 [ 56%] Building CXX object src/CMakeFiles/sdformat12.dir/JointAxis.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/JointAxis.cc.o -MF CMakeFiles/sdformat12.dir/JointAxis.cc.o.d -o CMakeFiles/sdformat12.dir/JointAxis.cc.o -c /build/sdformat-12.3.0+ds/src/JointAxis.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/JointAxis.cc.o -MF CMakeFiles/sdformat12.dir/JointAxis.cc.o.d -o CMakeFiles/sdformat12.dir/JointAxis.cc.o -c /build/sdformat-12.3.0+ds/src/JointAxis.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 [ 56%] Building CXX object src/CMakeFiles/sdformat12.dir/Lidar.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Lidar.cc.o -MF CMakeFiles/sdformat12.dir/Lidar.cc.o.d -o CMakeFiles/sdformat12.dir/Lidar.cc.o -c /build/sdformat-12.3.0+ds/src/Lidar.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Lidar.cc.o -MF CMakeFiles/sdformat12.dir/Lidar.cc.o.d -o CMakeFiles/sdformat12.dir/Lidar.cc.o -c /build/sdformat-12.3.0+ds/src/Lidar.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 [ 56%] Building CXX object src/CMakeFiles/sdformat12.dir/Light.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Light.cc.o -MF CMakeFiles/sdformat12.dir/Light.cc.o.d -o CMakeFiles/sdformat12.dir/Light.cc.o -c /build/sdformat-12.3.0+ds/src/Light.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Light.cc.o -MF CMakeFiles/sdformat12.dir/Light.cc.o.d -o CMakeFiles/sdformat12.dir/Light.cc.o -c /build/sdformat-12.3.0+ds/src/Light.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 [ 56%] Building CXX object src/CMakeFiles/sdformat12.dir/Link.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Link.cc.o -MF CMakeFiles/sdformat12.dir/Link.cc.o.d -o CMakeFiles/sdformat12.dir/Link.cc.o -c /build/sdformat-12.3.0+ds/src/Link.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Link.cc.o -MF CMakeFiles/sdformat12.dir/Link.cc.o.d -o CMakeFiles/sdformat12.dir/Link.cc.o -c /build/sdformat-12.3.0+ds/src/Link.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 [ 56%] Building CXX object src/CMakeFiles/sdformat12.dir/Magnetometer.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Magnetometer.cc.o -MF CMakeFiles/sdformat12.dir/Magnetometer.cc.o.d -o CMakeFiles/sdformat12.dir/Magnetometer.cc.o -c /build/sdformat-12.3.0+ds/src/Magnetometer.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Magnetometer.cc.o -MF CMakeFiles/sdformat12.dir/Magnetometer.cc.o.d -o CMakeFiles/sdformat12.dir/Magnetometer.cc.o -c /build/sdformat-12.3.0+ds/src/Magnetometer.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 [ 57%] Building CXX object src/CMakeFiles/sdformat12.dir/Material.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Material.cc.o -MF CMakeFiles/sdformat12.dir/Material.cc.o.d -o CMakeFiles/sdformat12.dir/Material.cc.o -c /build/sdformat-12.3.0+ds/src/Material.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Material.cc.o -MF CMakeFiles/sdformat12.dir/Material.cc.o.d -o CMakeFiles/sdformat12.dir/Material.cc.o -c /build/sdformat-12.3.0+ds/src/Material.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 [ 57%] Building CXX object src/CMakeFiles/sdformat12.dir/Mesh.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Mesh.cc.o -MF CMakeFiles/sdformat12.dir/Mesh.cc.o.d -o CMakeFiles/sdformat12.dir/Mesh.cc.o -c /build/sdformat-12.3.0+ds/src/Mesh.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Mesh.cc.o -MF CMakeFiles/sdformat12.dir/Mesh.cc.o.d -o CMakeFiles/sdformat12.dir/Mesh.cc.o -c /build/sdformat-12.3.0+ds/src/Mesh.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 [ 57%] Building CXX object src/CMakeFiles/sdformat12.dir/Model.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Model.cc.o -MF CMakeFiles/sdformat12.dir/Model.cc.o.d -o CMakeFiles/sdformat12.dir/Model.cc.o -c /build/sdformat-12.3.0+ds/src/Model.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Model.cc.o -MF CMakeFiles/sdformat12.dir/Model.cc.o.d -o CMakeFiles/sdformat12.dir/Model.cc.o -c /build/sdformat-12.3.0+ds/src/Model.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 [ 57%] Building CXX object src/CMakeFiles/sdformat12.dir/NavSat.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/NavSat.cc.o -MF CMakeFiles/sdformat12.dir/NavSat.cc.o.d -o CMakeFiles/sdformat12.dir/NavSat.cc.o -c /build/sdformat-12.3.0+ds/src/NavSat.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/NavSat.cc.o -MF CMakeFiles/sdformat12.dir/NavSat.cc.o.d -o CMakeFiles/sdformat12.dir/NavSat.cc.o -c /build/sdformat-12.3.0+ds/src/NavSat.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 [ 57%] Building CXX object src/CMakeFiles/sdformat12.dir/Noise.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Noise.cc.o -MF CMakeFiles/sdformat12.dir/Noise.cc.o.d -o CMakeFiles/sdformat12.dir/Noise.cc.o -c /build/sdformat-12.3.0+ds/src/Noise.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Noise.cc.o -MF CMakeFiles/sdformat12.dir/Noise.cc.o.d -o CMakeFiles/sdformat12.dir/Noise.cc.o -c /build/sdformat-12.3.0+ds/src/Noise.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 [ 57%] Building CXX object src/CMakeFiles/sdformat12.dir/parser.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/parser.cc.o -MF CMakeFiles/sdformat12.dir/parser.cc.o.d -o CMakeFiles/sdformat12.dir/parser.cc.o -c /build/sdformat-12.3.0+ds/src/parser.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/parser.cc.o -MF CMakeFiles/sdformat12.dir/parser.cc.o.d -o CMakeFiles/sdformat12.dir/parser.cc.o -c /build/sdformat-12.3.0+ds/src/parser.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 [ 58%] Building CXX object src/CMakeFiles/sdformat12.dir/parser_urdf.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/parser_urdf.cc.o -MF CMakeFiles/sdformat12.dir/parser_urdf.cc.o.d -o CMakeFiles/sdformat12.dir/parser_urdf.cc.o -c /build/sdformat-12.3.0+ds/src/parser_urdf.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/parser_urdf.cc.o -MF CMakeFiles/sdformat12.dir/parser_urdf.cc.o.d -o CMakeFiles/sdformat12.dir/parser_urdf.cc.o -c /build/sdformat-12.3.0+ds/src/parser_urdf.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 [ 58%] Building CXX object src/CMakeFiles/sdformat12.dir/ParserConfig.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/ParserConfig.cc.o -MF CMakeFiles/sdformat12.dir/ParserConfig.cc.o.d -o CMakeFiles/sdformat12.dir/ParserConfig.cc.o -c /build/sdformat-12.3.0+ds/src/ParserConfig.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/ParserConfig.cc.o -MF CMakeFiles/sdformat12.dir/ParserConfig.cc.o.d -o CMakeFiles/sdformat12.dir/ParserConfig.cc.o -c /build/sdformat-12.3.0+ds/src/ParserConfig.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 [ 58%] Building CXX object src/CMakeFiles/sdformat12.dir/Param.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Param.cc.o -MF CMakeFiles/sdformat12.dir/Param.cc.o.d -o CMakeFiles/sdformat12.dir/Param.cc.o -c /build/sdformat-12.3.0+ds/src/Param.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Param.cc.o -MF CMakeFiles/sdformat12.dir/Param.cc.o.d -o CMakeFiles/sdformat12.dir/Param.cc.o -c /build/sdformat-12.3.0+ds/src/Param.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 [ 58%] Building CXX object src/CMakeFiles/sdformat12.dir/ParamPassing.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/ParamPassing.cc.o -MF CMakeFiles/sdformat12.dir/ParamPassing.cc.o.d -o CMakeFiles/sdformat12.dir/ParamPassing.cc.o -c /build/sdformat-12.3.0+ds/src/ParamPassing.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/ParamPassing.cc.o -MF CMakeFiles/sdformat12.dir/ParamPassing.cc.o.d -o CMakeFiles/sdformat12.dir/ParamPassing.cc.o -c /build/sdformat-12.3.0+ds/src/ParamPassing.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 [ 58%] Building CXX object src/CMakeFiles/sdformat12.dir/ParticleEmitter.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/ParticleEmitter.cc.o -MF CMakeFiles/sdformat12.dir/ParticleEmitter.cc.o.d -o CMakeFiles/sdformat12.dir/ParticleEmitter.cc.o -c /build/sdformat-12.3.0+ds/src/ParticleEmitter.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/ParticleEmitter.cc.o -MF CMakeFiles/sdformat12.dir/ParticleEmitter.cc.o.d -o CMakeFiles/sdformat12.dir/ParticleEmitter.cc.o -c /build/sdformat-12.3.0+ds/src/ParticleEmitter.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 [ 58%] Building CXX object src/CMakeFiles/sdformat12.dir/Pbr.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Pbr.cc.o -MF CMakeFiles/sdformat12.dir/Pbr.cc.o.d -o CMakeFiles/sdformat12.dir/Pbr.cc.o -c /build/sdformat-12.3.0+ds/src/Pbr.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Pbr.cc.o -MF CMakeFiles/sdformat12.dir/Pbr.cc.o.d -o CMakeFiles/sdformat12.dir/Pbr.cc.o -c /build/sdformat-12.3.0+ds/src/Pbr.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 [ 59%] Building CXX object src/CMakeFiles/sdformat12.dir/Physics.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Physics.cc.o -MF CMakeFiles/sdformat12.dir/Physics.cc.o.d -o CMakeFiles/sdformat12.dir/Physics.cc.o -c /build/sdformat-12.3.0+ds/src/Physics.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Physics.cc.o -MF CMakeFiles/sdformat12.dir/Physics.cc.o.d -o CMakeFiles/sdformat12.dir/Physics.cc.o -c /build/sdformat-12.3.0+ds/src/Physics.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 [ 59%] Building CXX object src/CMakeFiles/sdformat12.dir/Plane.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Plane.cc.o -MF CMakeFiles/sdformat12.dir/Plane.cc.o.d -o CMakeFiles/sdformat12.dir/Plane.cc.o -c /build/sdformat-12.3.0+ds/src/Plane.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Plane.cc.o -MF CMakeFiles/sdformat12.dir/Plane.cc.o.d -o CMakeFiles/sdformat12.dir/Plane.cc.o -c /build/sdformat-12.3.0+ds/src/Plane.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 [ 59%] Building CXX object src/CMakeFiles/sdformat12.dir/PrintConfig.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/PrintConfig.cc.o -MF CMakeFiles/sdformat12.dir/PrintConfig.cc.o.d -o CMakeFiles/sdformat12.dir/PrintConfig.cc.o -c /build/sdformat-12.3.0+ds/src/PrintConfig.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/PrintConfig.cc.o -MF CMakeFiles/sdformat12.dir/PrintConfig.cc.o.d -o CMakeFiles/sdformat12.dir/PrintConfig.cc.o -c /build/sdformat-12.3.0+ds/src/PrintConfig.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 [ 59%] Building CXX object src/CMakeFiles/sdformat12.dir/Root.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Root.cc.o -MF CMakeFiles/sdformat12.dir/Root.cc.o.d -o CMakeFiles/sdformat12.dir/Root.cc.o -c /build/sdformat-12.3.0+ds/src/Root.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Root.cc.o -MF CMakeFiles/sdformat12.dir/Root.cc.o.d -o CMakeFiles/sdformat12.dir/Root.cc.o -c /build/sdformat-12.3.0+ds/src/Root.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 [ 59%] Building CXX object src/CMakeFiles/sdformat12.dir/Scene.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Scene.cc.o -MF CMakeFiles/sdformat12.dir/Scene.cc.o.d -o CMakeFiles/sdformat12.dir/Scene.cc.o -c /build/sdformat-12.3.0+ds/src/Scene.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Scene.cc.o -MF CMakeFiles/sdformat12.dir/Scene.cc.o.d -o CMakeFiles/sdformat12.dir/Scene.cc.o -c /build/sdformat-12.3.0+ds/src/Scene.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 [ 59%] Building CXX object src/CMakeFiles/sdformat12.dir/SDF.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/SDF.cc.o -MF CMakeFiles/sdformat12.dir/SDF.cc.o.d -o CMakeFiles/sdformat12.dir/SDF.cc.o -c /build/sdformat-12.3.0+ds/src/SDF.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/SDF.cc.o -MF CMakeFiles/sdformat12.dir/SDF.cc.o.d -o CMakeFiles/sdformat12.dir/SDF.cc.o -c /build/sdformat-12.3.0+ds/src/SDF.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 [ 60%] Building CXX object src/CMakeFiles/sdformat12.dir/SDFExtension.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/SDFExtension.cc.o -MF CMakeFiles/sdformat12.dir/SDFExtension.cc.o.d -o CMakeFiles/sdformat12.dir/SDFExtension.cc.o -c /build/sdformat-12.3.0+ds/src/SDFExtension.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/SDFExtension.cc.o -MF CMakeFiles/sdformat12.dir/SDFExtension.cc.o.d -o CMakeFiles/sdformat12.dir/SDFExtension.cc.o -c /build/sdformat-12.3.0+ds/src/SDFExtension.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 [ 60%] Building CXX object src/CMakeFiles/sdformat12.dir/SemanticPose.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/SemanticPose.cc.o -MF CMakeFiles/sdformat12.dir/SemanticPose.cc.o.d -o CMakeFiles/sdformat12.dir/SemanticPose.cc.o -c /build/sdformat-12.3.0+ds/src/SemanticPose.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/SemanticPose.cc.o -MF CMakeFiles/sdformat12.dir/SemanticPose.cc.o.d -o CMakeFiles/sdformat12.dir/SemanticPose.cc.o -c /build/sdformat-12.3.0+ds/src/SemanticPose.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 [ 60%] Building CXX object src/CMakeFiles/sdformat12.dir/Sensor.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Sensor.cc.o -MF CMakeFiles/sdformat12.dir/Sensor.cc.o.d -o CMakeFiles/sdformat12.dir/Sensor.cc.o -c /build/sdformat-12.3.0+ds/src/Sensor.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Sensor.cc.o -MF CMakeFiles/sdformat12.dir/Sensor.cc.o.d -o CMakeFiles/sdformat12.dir/Sensor.cc.o -c /build/sdformat-12.3.0+ds/src/Sensor.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 [ 60%] Building CXX object src/CMakeFiles/sdformat12.dir/Sky.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Sky.cc.o -MF CMakeFiles/sdformat12.dir/Sky.cc.o.d -o CMakeFiles/sdformat12.dir/Sky.cc.o -c /build/sdformat-12.3.0+ds/src/Sky.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Sky.cc.o -MF CMakeFiles/sdformat12.dir/Sky.cc.o.d -o CMakeFiles/sdformat12.dir/Sky.cc.o -c /build/sdformat-12.3.0+ds/src/Sky.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 [ 60%] Building CXX object src/CMakeFiles/sdformat12.dir/Sphere.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Sphere.cc.o -MF CMakeFiles/sdformat12.dir/Sphere.cc.o.d -o CMakeFiles/sdformat12.dir/Sphere.cc.o -c /build/sdformat-12.3.0+ds/src/Sphere.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Sphere.cc.o -MF CMakeFiles/sdformat12.dir/Sphere.cc.o.d -o CMakeFiles/sdformat12.dir/Sphere.cc.o -c /build/sdformat-12.3.0+ds/src/Sphere.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 [ 60%] Building CXX object src/CMakeFiles/sdformat12.dir/Surface.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Surface.cc.o -MF CMakeFiles/sdformat12.dir/Surface.cc.o.d -o CMakeFiles/sdformat12.dir/Surface.cc.o -c /build/sdformat-12.3.0+ds/src/Surface.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Surface.cc.o -MF CMakeFiles/sdformat12.dir/Surface.cc.o.d -o CMakeFiles/sdformat12.dir/Surface.cc.o -c /build/sdformat-12.3.0+ds/src/Surface.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 [ 61%] Building CXX object src/CMakeFiles/sdformat12.dir/Types.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Types.cc.o -MF CMakeFiles/sdformat12.dir/Types.cc.o.d -o CMakeFiles/sdformat12.dir/Types.cc.o -c /build/sdformat-12.3.0+ds/src/Types.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Types.cc.o -MF CMakeFiles/sdformat12.dir/Types.cc.o.d -o CMakeFiles/sdformat12.dir/Types.cc.o -c /build/sdformat-12.3.0+ds/src/Types.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 [ 61%] Building CXX object src/CMakeFiles/sdformat12.dir/Utils.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Utils.cc.o -MF CMakeFiles/sdformat12.dir/Utils.cc.o.d -o CMakeFiles/sdformat12.dir/Utils.cc.o -c /build/sdformat-12.3.0+ds/src/Utils.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Utils.cc.o -MF CMakeFiles/sdformat12.dir/Utils.cc.o.d -o CMakeFiles/sdformat12.dir/Utils.cc.o -c /build/sdformat-12.3.0+ds/src/Utils.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 [ 61%] Building CXX object src/CMakeFiles/sdformat12.dir/Visual.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Visual.cc.o -MF CMakeFiles/sdformat12.dir/Visual.cc.o.d -o CMakeFiles/sdformat12.dir/Visual.cc.o -c /build/sdformat-12.3.0+ds/src/Visual.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/Visual.cc.o -MF CMakeFiles/sdformat12.dir/Visual.cc.o.d -o CMakeFiles/sdformat12.dir/Visual.cc.o -c /build/sdformat-12.3.0+ds/src/Visual.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 [ 61%] Building CXX object src/CMakeFiles/sdformat12.dir/World.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/World.cc.o -MF CMakeFiles/sdformat12.dir/World.cc.o.d -o CMakeFiles/sdformat12.dir/World.cc.o -c /build/sdformat-12.3.0+ds/src/World.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/World.cc.o -MF CMakeFiles/sdformat12.dir/World.cc.o.d -o CMakeFiles/sdformat12.dir/World.cc.o -c /build/sdformat-12.3.0+ds/src/World.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 [ 61%] Building CXX object src/CMakeFiles/sdformat12.dir/XmlUtils.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/XmlUtils.cc.o -MF CMakeFiles/sdformat12.dir/XmlUtils.cc.o.d -o CMakeFiles/sdformat12.dir/XmlUtils.cc.o -c /build/sdformat-12.3.0+ds/src/XmlUtils.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DBUILDING_SDFORMAT_SHARED -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -fPIC   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/sdformat12.dir/XmlUtils.cc.o -MF CMakeFiles/sdformat12.dir/XmlUtils.cc.o.d -o CMakeFiles/sdformat12.dir/XmlUtils.cc.o -c /build/sdformat-12.3.0+ds/src/XmlUtils.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 [ 62%] Linking CXX shared library libsdformat12.so
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/sdformat12.dir/link.txt --verbose=1
@@ -2280,462 +2323,424 @@
 [ 62%] Built target sdformat12
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-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_actor_dom.dir/DependInfo.cmake --color=
-make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_audio.dir/DependInfo.cmake --color=
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+make  -f test/integration/CMakeFiles/INTEGRATION_converter.dir/build.make test/integration/CMakeFiles/INTEGRATION_converter.dir/depend
+make  -f test/integration/CMakeFiles/INTEGRATION_default_elements.dir/build.make test/integration/CMakeFiles/INTEGRATION_default_elements.dir/depend
+make  -f test/integration/CMakeFiles/INTEGRATION_deprecated_specs.dir/build.make test/integration/CMakeFiles/INTEGRATION_deprecated_specs.dir/depend
+make  -f test/integration/CMakeFiles/INTEGRATION_disable_fixed_joint_reduction.dir/build.make test/integration/CMakeFiles/INTEGRATION_disable_fixed_joint_reduction.dir/depend
+make  -f test/integration/CMakeFiles/INTEGRATION_element_tracing.dir/build.make test/integration/CMakeFiles/INTEGRATION_element_tracing.dir/depend
+make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_audio.dir/DependInfo.cmake --color=
+make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_actor_dom.dir/DependInfo.cmake --color=
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_category_bitmask.dir/DependInfo.cmake --color=
-make  -f test/integration/CMakeFiles/INTEGRATION_collision_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_collision_dom.dir/depend
+make  -f test/integration/CMakeFiles/INTEGRATION_fixed_joint_reduction.dir/build.make test/integration/CMakeFiles/INTEGRATION_fixed_joint_reduction.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_cfm_damping_implicit_spring_damper.dir/DependInfo.cmake --color=
+make  -f test/integration/CMakeFiles/INTEGRATION_force_torque_sensor.dir/build.make test/integration/CMakeFiles/INTEGRATION_force_torque_sensor.dir/depend
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-make  -f test/integration/CMakeFiles/INTEGRATION_converter.dir/build.make test/integration/CMakeFiles/INTEGRATION_converter.dir/depend
-make  -f test/integration/CMakeFiles/INTEGRATION_default_elements.dir/build.make test/integration/CMakeFiles/INTEGRATION_default_elements.dir/depend
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-make  -f test/integration/CMakeFiles/INTEGRATION_actor_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_actor_dom.dir/build
+make  -f test/integration/CMakeFiles/INTEGRATION_frame.dir/build.make test/integration/CMakeFiles/INTEGRATION_frame.dir/depend
+make  -f test/integration/CMakeFiles/INTEGRATION_geometry_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_geometry_dom.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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+make  -f test/integration/CMakeFiles/INTEGRATION_include.dir/build.make test/integration/CMakeFiles/INTEGRATION_include.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-make  -f test/integration/CMakeFiles/INTEGRATION_audio.dir/build.make test/integration/CMakeFiles/INTEGRATION_audio.dir/build
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_default_elements.dir/DependInfo.cmake --color=
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-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_deprecated_specs.dir/DependInfo.cmake --color=
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-[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_actor_dom.dir/actor_dom.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_actor_dom.dir/actor_dom.cc.o -MF CMakeFiles/INTEGRATION_actor_dom.dir/actor_dom.cc.o.d -o CMakeFiles/INTEGRATION_actor_dom.dir/actor_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/actor_dom.cc
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+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_disable_fixed_joint_reduction.dir/DependInfo.cmake --color=
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-[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_audio.dir/audio.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_element_tracing.dir/DependInfo.cmake --color=
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-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_category_bitmask.dir/category_bitmask.cc.o -MF CMakeFiles/INTEGRATION_category_bitmask.dir/category_bitmask.cc.o.d -o CMakeFiles/INTEGRATION_category_bitmask.dir/category_bitmask.cc.o -c /build/sdformat-12.3.0+ds/test/integration/category_bitmask.cc
-make  -f test/integration/CMakeFiles/INTEGRATION_converter.dir/build.make test/integration/CMakeFiles/INTEGRATION_converter.dir/build
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_audio.dir/audio.cc.o -MF CMakeFiles/INTEGRATION_audio.dir/audio.cc.o.d -o CMakeFiles/INTEGRATION_audio.dir/audio.cc.o -c /build/sdformat-12.3.0+ds/test/integration/audio.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_fixed_joint_reduction.dir/DependInfo.cmake --color=
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-make  -f test/integration/CMakeFiles/INTEGRATION_deprecated_specs.dir/build.make test/integration/CMakeFiles/INTEGRATION_deprecated_specs.dir/depend
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_collision_dom.dir/collision_dom.cc.o -MF CMakeFiles/INTEGRATION_collision_dom.dir/collision_dom.cc.o.d -o CMakeFiles/INTEGRATION_collision_dom.dir/collision_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/collision_dom.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_force_torque_sensor.dir/DependInfo.cmake --color=
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-[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_cfm_damping_implicit_spring_damper.dir/cfm_damping_implicit_spring_damper.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_cfm_damping_implicit_spring_damper.dir/cfm_damping_implicit_spring_damper.cc.o -MF CMakeFiles/INTEGRATION_cfm_damping_implicit_spring_damper.dir/cfm_damping_implicit_spring_damper.cc.o.d -o CMakeFiles/INTEGRATION_cfm_damping_implicit_spring_damper.dir/cfm_damping_implicit_spring_damper.cc.o -c /build/sdformat-12.3.0+ds/test/integration/cfm_damping_implicit_spring_damper.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_frame.dir/DependInfo.cmake --color=
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-[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_default_elements.dir/default_elements.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_default_elements.dir/default_elements.cc.o -MF CMakeFiles/INTEGRATION_default_elements.dir/default_elements.cc.o.d -o CMakeFiles/INTEGRATION_default_elements.dir/default_elements.cc.o -c /build/sdformat-12.3.0+ds/test/integration/default_elements.cc
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-make  -f test/integration/CMakeFiles/INTEGRATION_deprecated_specs.dir/build.make test/integration/CMakeFiles/INTEGRATION_deprecated_specs.dir/build
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_geometry_dom.dir/DependInfo.cmake --color=
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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-[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_converter.dir/converter.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_converter.dir/converter.cc.o -MF CMakeFiles/INTEGRATION_converter.dir/converter.cc.o.d -o CMakeFiles/INTEGRATION_converter.dir/converter.cc.o -c /build/sdformat-12.3.0+ds/test/integration/converter.cc
-cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_deprecated_specs.dir/deprecated_specs.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_deprecated_specs.dir/deprecated_specs.cc.o -MF CMakeFiles/INTEGRATION_deprecated_specs.dir/deprecated_specs.cc.o.d -o CMakeFiles/INTEGRATION_deprecated_specs.dir/deprecated_specs.cc.o -c /build/sdformat-12.3.0+ds/test/integration/deprecated_specs.cc
-cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
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-[ 62%] Linking CXX executable INTEGRATION_audio
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_audio.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_audio.dir/audio.cc.o -o INTEGRATION_audio   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_include.dir/DependInfo.cmake --color=
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-[ 62%] Built target INTEGRATION_audio
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-make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_disable_fixed_joint_reduction.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
+make  -f test/integration/CMakeFiles/INTEGRATION_deprecated_specs.dir/build.make test/integration/CMakeFiles/INTEGRATION_deprecated_specs.dir/build
 make  -f test/integration/CMakeFiles/INTEGRATION_disable_fixed_joint_reduction.dir/build.make test/integration/CMakeFiles/INTEGRATION_disable_fixed_joint_reduction.dir/build
-make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_disable_fixed_joint_reduction.dir/disable_fixed_joint_reduction.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_disable_fixed_joint_reduction.dir/disable_fixed_joint_reduction.cc.o -MF CMakeFiles/INTEGRATION_disable_fixed_joint_reduction.dir/disable_fixed_joint_reduction.cc.o.d -o CMakeFiles/INTEGRATION_disable_fixed_joint_reduction.dir/disable_fixed_joint_reduction.cc.o -c /build/sdformat-12.3.0+ds/test/integration/disable_fixed_joint_reduction.cc
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-[ 62%] Linking CXX executable INTEGRATION_default_elements
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_default_elements.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_default_elements.dir/default_elements.cc.o -o INTEGRATION_default_elements   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
-[ 63%] Linking CXX executable INTEGRATION_category_bitmask
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_category_bitmask.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_category_bitmask.dir/category_bitmask.cc.o -o INTEGRATION_category_bitmask   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
-[ 63%] Linking CXX executable INTEGRATION_cfm_damping_implicit_spring_damper
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_cfm_damping_implicit_spring_damper.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_cfm_damping_implicit_spring_damper.dir/cfm_damping_implicit_spring_damper.cc.o -o INTEGRATION_cfm_damping_implicit_spring_damper   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
-[ 63%] Linking CXX executable INTEGRATION_deprecated_specs
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_deprecated_specs.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_deprecated_specs.dir/deprecated_specs.cc.o -o INTEGRATION_deprecated_specs   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
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-[ 63%] Built target INTEGRATION_category_bitmask
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-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_element_tracing.dir/DependInfo.cmake --color=
-[ 63%] Built target INTEGRATION_default_elements
-make  -f test/integration/CMakeFiles/INTEGRATION_fixed_joint_reduction.dir/build.make test/integration/CMakeFiles/INTEGRATION_fixed_joint_reduction.dir/depend
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-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_fixed_joint_reduction.dir/DependInfo.cmake --color=
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-make  -f test/integration/CMakeFiles/INTEGRATION_element_tracing.dir/build.make test/integration/CMakeFiles/INTEGRATION_element_tracing.dir/build
+make  -f test/integration/CMakeFiles/INTEGRATION_actor_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_actor_dom.dir/build
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-[ 63%] Building CXX object test/integration/CMakeFiles/INTEGRATION_element_tracing.dir/element_tracing.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_element_tracing.dir/element_tracing.cc.o -MF CMakeFiles/INTEGRATION_element_tracing.dir/element_tracing.cc.o.d -o CMakeFiles/INTEGRATION_element_tracing.dir/element_tracing.cc.o -c /build/sdformat-12.3.0+ds/test/integration/element_tracing.cc
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+make  -f test/integration/CMakeFiles/INTEGRATION_category_bitmask.dir/build.make test/integration/CMakeFiles/INTEGRATION_category_bitmask.dir/build
+make  -f test/integration/CMakeFiles/INTEGRATION_cfm_damping_implicit_spring_damper.dir/build.make test/integration/CMakeFiles/INTEGRATION_cfm_damping_implicit_spring_damper.dir/build
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
+make  -f test/integration/CMakeFiles/INTEGRATION_audio.dir/build.make test/integration/CMakeFiles/INTEGRATION_audio.dir/build
+make  -f test/integration/CMakeFiles/INTEGRATION_collision_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_collision_dom.dir/build
+make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 make  -f test/integration/CMakeFiles/INTEGRATION_fixed_joint_reduction.dir/build.make test/integration/CMakeFiles/INTEGRATION_fixed_joint_reduction.dir/build
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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-[ 63%] Built target INTEGRATION_cfm_damping_implicit_spring_damper
-make  -f test/integration/CMakeFiles/INTEGRATION_force_torque_sensor.dir/build.make test/integration/CMakeFiles/INTEGRATION_force_torque_sensor.dir/depend
+make  -f test/integration/CMakeFiles/INTEGRATION_converter.dir/build.make test/integration/CMakeFiles/INTEGRATION_converter.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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-[ 63%] Building CXX object test/integration/CMakeFiles/INTEGRATION_fixed_joint_reduction.dir/fixed_joint_reduction.cc.o
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_fixed_joint_reduction.dir/fixed_joint_reduction.cc.o -MF CMakeFiles/INTEGRATION_fixed_joint_reduction.dir/fixed_joint_reduction.cc.o.d -o CMakeFiles/INTEGRATION_fixed_joint_reduction.dir/fixed_joint_reduction.cc.o -c /build/sdformat-12.3.0+ds/test/integration/fixed_joint_reduction.cc
+make  -f test/integration/CMakeFiles/INTEGRATION_default_elements.dir/build.make test/integration/CMakeFiles/INTEGRATION_default_elements.dir/build
+make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-make  -f test/integration/CMakeFiles/INTEGRATION_force_torque_sensor.dir/build.make test/integration/CMakeFiles/INTEGRATION_force_torque_sensor.dir/build
-cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+make  -f test/integration/CMakeFiles/INTEGRATION_element_tracing.dir/build.make test/integration/CMakeFiles/INTEGRATION_element_tracing.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 63%] Built target INTEGRATION_deprecated_specs
-make  -f test/integration/CMakeFiles/INTEGRATION_frame.dir/build.make test/integration/CMakeFiles/INTEGRATION_frame.dir/depend
-[ 63%] Building CXX object test/integration/CMakeFiles/INTEGRATION_force_torque_sensor.dir/force_torque_sensor.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_force_torque_sensor.dir/force_torque_sensor.cc.o -MF CMakeFiles/INTEGRATION_force_torque_sensor.dir/force_torque_sensor.cc.o.d -o CMakeFiles/INTEGRATION_force_torque_sensor.dir/force_torque_sensor.cc.o -c /build/sdformat-12.3.0+ds/test/integration/force_torque_sensor.cc
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_frame.dir/DependInfo.cmake --color=
-cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 63%] Building CXX object test/integration/CMakeFiles/INTEGRATION_frame.dir/frame.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_frame.dir/frame.cc.o -MF CMakeFiles/INTEGRATION_frame.dir/frame.cc.o.d -o CMakeFiles/INTEGRATION_frame.dir/frame.cc.o -c /build/sdformat-12.3.0+ds/test/integration/frame.cc
-cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 63%] Linking CXX executable INTEGRATION_actor_dom
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_actor_dom.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_actor_dom.dir/actor_dom.cc.o -o INTEGRATION_actor_dom   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 63%] Built target INTEGRATION_actor_dom
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-make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_geometry_dom.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
+make  -f test/integration/CMakeFiles/INTEGRATION_force_torque_sensor.dir/build.make test/integration/CMakeFiles/INTEGRATION_force_torque_sensor.dir/build
 make  -f test/integration/CMakeFiles/INTEGRATION_geometry_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_geometry_dom.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 63%] Building CXX object test/integration/CMakeFiles/INTEGRATION_geometry_dom.dir/geometry_dom.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_geometry_dom.dir/geometry_dom.cc.o -MF CMakeFiles/INTEGRATION_geometry_dom.dir/geometry_dom.cc.o.d -o CMakeFiles/INTEGRATION_geometry_dom.dir/geometry_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/geometry_dom.cc
-cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 64%] Linking CXX executable INTEGRATION_converter
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_converter.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_converter.dir/converter.cc.o -o INTEGRATION_converter   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
-[ 64%] Linking CXX executable INTEGRATION_collision_dom
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_collision_dom.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_collision_dom.dir/collision_dom.cc.o -o INTEGRATION_collision_dom   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 64%] Built target INTEGRATION_converter
-make  -f test/integration/CMakeFiles/INTEGRATION_include.dir/build.make test/integration/CMakeFiles/INTEGRATION_include.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_include.dir/DependInfo.cmake --color=
+make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
+make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 make  -f test/integration/CMakeFiles/INTEGRATION_include.dir/build.make test/integration/CMakeFiles/INTEGRATION_include.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 64%] Building CXX object test/integration/CMakeFiles/INTEGRATION_include.dir/include.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_include.dir/include.cc.o -MF CMakeFiles/INTEGRATION_include.dir/include.cc.o.d -o CMakeFiles/INTEGRATION_include.dir/include.cc.o -c /build/sdformat-12.3.0+ds/test/integration/include.cc
+[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_deprecated_specs.dir/deprecated_specs.cc.o
+[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_disable_fixed_joint_reduction.dir/disable_fixed_joint_reduction.cc.o
+[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_collision_dom.dir/collision_dom.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_deprecated_specs.dir/deprecated_specs.cc.o -MF CMakeFiles/INTEGRATION_deprecated_specs.dir/deprecated_specs.cc.o.d -o CMakeFiles/INTEGRATION_deprecated_specs.dir/deprecated_specs.cc.o -c /build/sdformat-12.3.0+ds/test/integration/deprecated_specs.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_disable_fixed_joint_reduction.dir/disable_fixed_joint_reduction.cc.o -MF CMakeFiles/INTEGRATION_disable_fixed_joint_reduction.dir/disable_fixed_joint_reduction.cc.o.d -o CMakeFiles/INTEGRATION_disable_fixed_joint_reduction.dir/disable_fixed_joint_reduction.cc.o -c /build/sdformat-12.3.0+ds/test/integration/disable_fixed_joint_reduction.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_collision_dom.dir/collision_dom.cc.o -MF CMakeFiles/INTEGRATION_collision_dom.dir/collision_dom.cc.o.d -o CMakeFiles/INTEGRATION_collision_dom.dir/collision_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/collision_dom.cc
+[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_actor_dom.dir/actor_dom.cc.o
+[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_cfm_damping_implicit_spring_damper.dir/cfm_damping_implicit_spring_damper.cc.o
+[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_element_tracing.dir/element_tracing.cc.o
+[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_category_bitmask.dir/category_bitmask.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_actor_dom.dir/actor_dom.cc.o -MF CMakeFiles/INTEGRATION_actor_dom.dir/actor_dom.cc.o.d -o CMakeFiles/INTEGRATION_actor_dom.dir/actor_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/actor_dom.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_cfm_damping_implicit_spring_damper.dir/cfm_damping_implicit_spring_damper.cc.o -MF CMakeFiles/INTEGRATION_cfm_damping_implicit_spring_damper.dir/cfm_damping_implicit_spring_damper.cc.o.d -o CMakeFiles/INTEGRATION_cfm_damping_implicit_spring_damper.dir/cfm_damping_implicit_spring_damper.cc.o -c /build/sdformat-12.3.0+ds/test/integration/cfm_damping_implicit_spring_damper.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_element_tracing.dir/element_tracing.cc.o -MF CMakeFiles/INTEGRATION_element_tracing.dir/element_tracing.cc.o.d -o CMakeFiles/INTEGRATION_element_tracing.dir/element_tracing.cc.o -c /build/sdformat-12.3.0+ds/test/integration/element_tracing.cc
+[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_fixed_joint_reduction.dir/fixed_joint_reduction.cc.o
+[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_audio.dir/audio.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_category_bitmask.dir/category_bitmask.cc.o -MF CMakeFiles/INTEGRATION_category_bitmask.dir/category_bitmask.cc.o.d -o CMakeFiles/INTEGRATION_category_bitmask.dir/category_bitmask.cc.o -c /build/sdformat-12.3.0+ds/test/integration/category_bitmask.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_audio.dir/audio.cc.o -MF CMakeFiles/INTEGRATION_audio.dir/audio.cc.o.d -o CMakeFiles/INTEGRATION_audio.dir/audio.cc.o -c /build/sdformat-12.3.0+ds/test/integration/audio.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_fixed_joint_reduction.dir/fixed_joint_reduction.cc.o -MF CMakeFiles/INTEGRATION_fixed_joint_reduction.dir/fixed_joint_reduction.cc.o.d -o CMakeFiles/INTEGRATION_fixed_joint_reduction.dir/fixed_joint_reduction.cc.o -c /build/sdformat-12.3.0+ds/test/integration/fixed_joint_reduction.cc
+[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_default_elements.dir/default_elements.cc.o
+[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_frame.dir/frame.cc.o
+[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_converter.dir/converter.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_default_elements.dir/default_elements.cc.o -MF CMakeFiles/INTEGRATION_default_elements.dir/default_elements.cc.o.d -o CMakeFiles/INTEGRATION_default_elements.dir/default_elements.cc.o -c /build/sdformat-12.3.0+ds/test/integration/default_elements.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_frame.dir/frame.cc.o -MF CMakeFiles/INTEGRATION_frame.dir/frame.cc.o.d -o CMakeFiles/INTEGRATION_frame.dir/frame.cc.o -c /build/sdformat-12.3.0+ds/test/integration/frame.cc
+[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_force_torque_sensor.dir/force_torque_sensor.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_converter.dir/converter.cc.o -MF CMakeFiles/INTEGRATION_converter.dir/converter.cc.o.d -o CMakeFiles/INTEGRATION_converter.dir/converter.cc.o -c /build/sdformat-12.3.0+ds/test/integration/converter.cc
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_force_torque_sensor.dir/force_torque_sensor.cc.o -MF CMakeFiles/INTEGRATION_force_torque_sensor.dir/force_torque_sensor.cc.o.d -o CMakeFiles/INTEGRATION_force_torque_sensor.dir/force_torque_sensor.cc.o -c /build/sdformat-12.3.0+ds/test/integration/force_torque_sensor.cc
+[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_geometry_dom.dir/geometry_dom.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_geometry_dom.dir/geometry_dom.cc.o -MF CMakeFiles/INTEGRATION_geometry_dom.dir/geometry_dom.cc.o.d -o CMakeFiles/INTEGRATION_geometry_dom.dir/geometry_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/geometry_dom.cc
+[ 62%] Building CXX object test/integration/CMakeFiles/INTEGRATION_include.dir/include.cc.o
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_include.dir/include.cc.o -MF CMakeFiles/INTEGRATION_include.dir/include.cc.o.d -o CMakeFiles/INTEGRATION_include.dir/include.cc.o -c /build/sdformat-12.3.0+ds/test/integration/include.cc
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 63%] Linking CXX executable INTEGRATION_force_torque_sensor
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_force_torque_sensor.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_force_torque_sensor.dir/force_torque_sensor.cc.o -o INTEGRATION_force_torque_sensor   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 64%] Built target INTEGRATION_collision_dom
+[ 63%] Built target INTEGRATION_force_torque_sensor
 make  -f test/integration/CMakeFiles/INTEGRATION_includes.dir/build.make test/integration/CMakeFiles/INTEGRATION_includes.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_includes.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 make  -f test/integration/CMakeFiles/INTEGRATION_includes.dir/build.make test/integration/CMakeFiles/INTEGRATION_includes.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 64%] Building CXX object test/integration/CMakeFiles/INTEGRATION_includes.dir/includes.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_includes.dir/includes.cc.o -MF CMakeFiles/INTEGRATION_includes.dir/includes.cc.o.d -o CMakeFiles/INTEGRATION_includes.dir/includes.cc.o -c /build/sdformat-12.3.0+ds/test/integration/includes.cc
+[ 63%] Building CXX object test/integration/CMakeFiles/INTEGRATION_includes.dir/includes.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_includes.dir/includes.cc.o -MF CMakeFiles/INTEGRATION_includes.dir/includes.cc.o.d -o CMakeFiles/INTEGRATION_includes.dir/includes.cc.o -c /build/sdformat-12.3.0+ds/test/integration/includes.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 65%] Linking CXX executable INTEGRATION_disable_fixed_joint_reduction
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_disable_fixed_joint_reduction.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_disable_fixed_joint_reduction.dir/disable_fixed_joint_reduction.cc.o -o INTEGRATION_disable_fixed_joint_reduction   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 63%] Linking CXX executable INTEGRATION_cfm_damping_implicit_spring_damper
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_cfm_damping_implicit_spring_damper.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_cfm_damping_implicit_spring_damper.dir/cfm_damping_implicit_spring_damper.cc.o -o INTEGRATION_cfm_damping_implicit_spring_damper   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 65%] Built target INTEGRATION_disable_fixed_joint_reduction
+[ 63%] Built target INTEGRATION_cfm_damping_implicit_spring_damper
 make  -f test/integration/CMakeFiles/INTEGRATION_interface_api.dir/build.make test/integration/CMakeFiles/INTEGRATION_interface_api.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_interface_api.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 make  -f test/integration/CMakeFiles/INTEGRATION_interface_api.dir/build.make test/integration/CMakeFiles/INTEGRATION_interface_api.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 65%] Building CXX object test/integration/CMakeFiles/INTEGRATION_interface_api.dir/interface_api.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_interface_api.dir/interface_api.cc.o -MF CMakeFiles/INTEGRATION_interface_api.dir/interface_api.cc.o.d -o CMakeFiles/INTEGRATION_interface_api.dir/interface_api.cc.o -c /build/sdformat-12.3.0+ds/test/integration/interface_api.cc
+[ 63%] Building CXX object test/integration/CMakeFiles/INTEGRATION_interface_api.dir/interface_api.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_interface_api.dir/interface_api.cc.o -MF CMakeFiles/INTEGRATION_interface_api.dir/interface_api.cc.o.d -o CMakeFiles/INTEGRATION_interface_api.dir/interface_api.cc.o -c /build/sdformat-12.3.0+ds/test/integration/interface_api.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 66%] Linking CXX executable INTEGRATION_force_torque_sensor
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_force_torque_sensor.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_force_torque_sensor.dir/force_torque_sensor.cc.o -o INTEGRATION_force_torque_sensor   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 63%] Linking CXX executable INTEGRATION_audio
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_audio.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_audio.dir/audio.cc.o -o INTEGRATION_audio   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 64%] Linking CXX executable INTEGRATION_include
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_include.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_include.dir/include.cc.o -o INTEGRATION_include   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 66%] Built target INTEGRATION_force_torque_sensor
+[ 64%] Built target INTEGRATION_audio
 make  -f test/integration/CMakeFiles/INTEGRATION_joint_axis_frame.dir/build.make test/integration/CMakeFiles/INTEGRATION_joint_axis_frame.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_joint_axis_frame.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 make  -f test/integration/CMakeFiles/INTEGRATION_joint_axis_frame.dir/build.make test/integration/CMakeFiles/INTEGRATION_joint_axis_frame.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 66%] Building CXX object test/integration/CMakeFiles/INTEGRATION_joint_axis_frame.dir/joint_axis_frame.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_joint_axis_frame.dir/joint_axis_frame.cc.o -MF CMakeFiles/INTEGRATION_joint_axis_frame.dir/joint_axis_frame.cc.o.d -o CMakeFiles/INTEGRATION_joint_axis_frame.dir/joint_axis_frame.cc.o -c /build/sdformat-12.3.0+ds/test/integration/joint_axis_frame.cc
+[ 64%] Building CXX object test/integration/CMakeFiles/INTEGRATION_joint_axis_frame.dir/joint_axis_frame.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_joint_axis_frame.dir/joint_axis_frame.cc.o -MF CMakeFiles/INTEGRATION_joint_axis_frame.dir/joint_axis_frame.cc.o.d -o CMakeFiles/INTEGRATION_joint_axis_frame.dir/joint_axis_frame.cc.o -c /build/sdformat-12.3.0+ds/test/integration/joint_axis_frame.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 66%] Linking CXX executable INTEGRATION_element_tracing
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_element_tracing.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_element_tracing.dir/element_tracing.cc.o -o INTEGRATION_element_tracing   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 66%] Built target INTEGRATION_element_tracing
+[ 64%] Built target INTEGRATION_include
 make  -f test/integration/CMakeFiles/INTEGRATION_joint_axis_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_joint_axis_dom.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_joint_axis_dom.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 make  -f test/integration/CMakeFiles/INTEGRATION_joint_axis_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_joint_axis_dom.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 66%] Building CXX object test/integration/CMakeFiles/INTEGRATION_joint_axis_dom.dir/joint_axis_dom.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_joint_axis_dom.dir/joint_axis_dom.cc.o -MF CMakeFiles/INTEGRATION_joint_axis_dom.dir/joint_axis_dom.cc.o.d -o CMakeFiles/INTEGRATION_joint_axis_dom.dir/joint_axis_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/joint_axis_dom.cc
+[ 64%] Building CXX object test/integration/CMakeFiles/INTEGRATION_joint_axis_dom.dir/joint_axis_dom.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_joint_axis_dom.dir/joint_axis_dom.cc.o -MF CMakeFiles/INTEGRATION_joint_axis_dom.dir/joint_axis_dom.cc.o.d -o CMakeFiles/INTEGRATION_joint_axis_dom.dir/joint_axis_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/joint_axis_dom.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 67%] Linking CXX executable INTEGRATION_include
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_include.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_include.dir/include.cc.o -o INTEGRATION_include   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 64%] Linking CXX executable INTEGRATION_deprecated_specs
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_deprecated_specs.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_deprecated_specs.dir/deprecated_specs.cc.o -o INTEGRATION_deprecated_specs   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 67%] Built target INTEGRATION_include
+[ 64%] Built target INTEGRATION_deprecated_specs
 make  -f test/integration/CMakeFiles/INTEGRATION_joint_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_joint_dom.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_joint_dom.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 make  -f test/integration/CMakeFiles/INTEGRATION_joint_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_joint_dom.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 67%] Building CXX object test/integration/CMakeFiles/INTEGRATION_joint_dom.dir/joint_dom.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_joint_dom.dir/joint_dom.cc.o -MF CMakeFiles/INTEGRATION_joint_dom.dir/joint_dom.cc.o.d -o CMakeFiles/INTEGRATION_joint_dom.dir/joint_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/joint_dom.cc
+[ 64%] Building CXX object test/integration/CMakeFiles/INTEGRATION_joint_dom.dir/joint_dom.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_joint_dom.dir/joint_dom.cc.o -MF CMakeFiles/INTEGRATION_joint_dom.dir/joint_dom.cc.o.d -o CMakeFiles/INTEGRATION_joint_dom.dir/joint_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/joint_dom.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 67%] Linking CXX executable INTEGRATION_geometry_dom
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_geometry_dom.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_geometry_dom.dir/geometry_dom.cc.o -o INTEGRATION_geometry_dom   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 65%] Linking CXX executable INTEGRATION_disable_fixed_joint_reduction
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_disable_fixed_joint_reduction.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_disable_fixed_joint_reduction.dir/disable_fixed_joint_reduction.cc.o -o INTEGRATION_disable_fixed_joint_reduction   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 67%] Built target INTEGRATION_geometry_dom
+[ 65%] Built target INTEGRATION_disable_fixed_joint_reduction
 make  -f test/integration/CMakeFiles/INTEGRATION_light_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_light_dom.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_light_dom.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 67%] Building CXX object test/integration/CMakeFiles/INTEGRATION_light_dom.dir/light_dom.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_light_dom.dir/light_dom.cc.o -MF CMakeFiles/INTEGRATION_light_dom.dir/light_dom.cc.o.d -o CMakeFiles/INTEGRATION_light_dom.dir/light_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/light_dom.cc
+[ 65%] Building CXX object test/integration/CMakeFiles/INTEGRATION_light_dom.dir/light_dom.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_light_dom.dir/light_dom.cc.o -MF CMakeFiles/INTEGRATION_light_dom.dir/light_dom.cc.o.d -o CMakeFiles/INTEGRATION_light_dom.dir/light_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/light_dom.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 67%] Linking CXX executable INTEGRATION_fixed_joint_reduction
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_fixed_joint_reduction.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_fixed_joint_reduction.dir/fixed_joint_reduction.cc.o -o INTEGRATION_fixed_joint_reduction   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 65%] Linking CXX executable INTEGRATION_default_elements
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_default_elements.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_default_elements.dir/default_elements.cc.o -o INTEGRATION_default_elements   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 65%] Linking CXX executable INTEGRATION_geometry_dom
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_geometry_dom.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_geometry_dom.dir/geometry_dom.cc.o -o INTEGRATION_geometry_dom   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 66%] Linking CXX executable INTEGRATION_category_bitmask
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 67%] Built target INTEGRATION_fixed_joint_reduction
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_category_bitmask.dir/link.txt --verbose=1
+[ 66%] Built target INTEGRATION_default_elements
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_category_bitmask.dir/category_bitmask.cc.o -o INTEGRATION_category_bitmask   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make  -f test/integration/CMakeFiles/INTEGRATION_link_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_link_dom.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_link_dom.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 make  -f test/integration/CMakeFiles/INTEGRATION_link_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_link_dom.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 67%] Building CXX object test/integration/CMakeFiles/INTEGRATION_link_dom.dir/link_dom.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_link_dom.dir/link_dom.cc.o -MF CMakeFiles/INTEGRATION_link_dom.dir/link_dom.cc.o.d -o CMakeFiles/INTEGRATION_link_dom.dir/link_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/link_dom.cc
+[ 66%] Building CXX object test/integration/CMakeFiles/INTEGRATION_link_dom.dir/link_dom.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_link_dom.dir/link_dom.cc.o -MF CMakeFiles/INTEGRATION_link_dom.dir/link_dom.cc.o.d -o CMakeFiles/INTEGRATION_link_dom.dir/link_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/link_dom.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 67%] Linking CXX executable INTEGRATION_joint_axis_frame
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_joint_axis_frame.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_joint_axis_frame.dir/joint_axis_frame.cc.o -o INTEGRATION_joint_axis_frame   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 67%] Built target INTEGRATION_joint_axis_frame
+[ 66%] Built target INTEGRATION_geometry_dom
 make  -f test/integration/CMakeFiles/INTEGRATION_link_light.dir/build.make test/integration/CMakeFiles/INTEGRATION_link_light.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_link_light.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 make  -f test/integration/CMakeFiles/INTEGRATION_link_light.dir/build.make test/integration/CMakeFiles/INTEGRATION_link_light.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 67%] Building CXX object test/integration/CMakeFiles/INTEGRATION_link_light.dir/link_light.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_link_light.dir/link_light.cc.o -MF CMakeFiles/INTEGRATION_link_light.dir/link_light.cc.o.d -o CMakeFiles/INTEGRATION_link_light.dir/link_light.cc.o -c /build/sdformat-12.3.0+ds/test/integration/link_light.cc
+[ 66%] Building CXX object test/integration/CMakeFiles/INTEGRATION_link_light.dir/link_light.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_link_light.dir/link_light.cc.o -MF CMakeFiles/INTEGRATION_link_light.dir/link_light.cc.o.d -o CMakeFiles/INTEGRATION_link_light.dir/link_light.cc.o -c /build/sdformat-12.3.0+ds/test/integration/link_light.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 67%] Linking CXX executable INTEGRATION_includes
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_includes.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_includes.dir/includes.cc.o -o INTEGRATION_includes   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
-[ 68%] Linking CXX executable INTEGRATION_joint_axis_dom
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_joint_axis_dom.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_joint_axis_dom.dir/joint_axis_dom.cc.o -o INTEGRATION_joint_axis_dom   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 68%] Built target INTEGRATION_joint_axis_dom
+[ 66%] Built target INTEGRATION_category_bitmask
 make  -f test/integration/CMakeFiles/INTEGRATION_locale_fix.dir/build.make test/integration/CMakeFiles/INTEGRATION_locale_fix.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_locale_fix.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 make  -f test/integration/CMakeFiles/INTEGRATION_locale_fix.dir/build.make test/integration/CMakeFiles/INTEGRATION_locale_fix.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 68%] Building CXX object test/integration/CMakeFiles/INTEGRATION_locale_fix.dir/locale_fix.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_locale_fix.dir/locale_fix.cc.o -MF CMakeFiles/INTEGRATION_locale_fix.dir/locale_fix.cc.o.d -o CMakeFiles/INTEGRATION_locale_fix.dir/locale_fix.cc.o -c /build/sdformat-12.3.0+ds/test/integration/locale_fix.cc
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
+[ 66%] Building CXX object test/integration/CMakeFiles/INTEGRATION_locale_fix.dir/locale_fix.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_locale_fix.dir/locale_fix.cc.o -MF CMakeFiles/INTEGRATION_locale_fix.dir/locale_fix.cc.o.d -o CMakeFiles/INTEGRATION_locale_fix.dir/locale_fix.cc.o -c /build/sdformat-12.3.0+ds/test/integration/locale_fix.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 68%] Built target INTEGRATION_includes
+[ 66%] Linking CXX executable INTEGRATION_element_tracing
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_element_tracing.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_element_tracing.dir/element_tracing.cc.o -o INTEGRATION_element_tracing   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
+[ 66%] Built target INTEGRATION_element_tracing
 make  -f test/integration/CMakeFiles/INTEGRATION_locale_fix_cxx.dir/build.make test/integration/CMakeFiles/INTEGRATION_locale_fix_cxx.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 make  -f test/integration/CMakeFiles/INTEGRATION_locale_fix_cxx.dir/build.make test/integration/CMakeFiles/INTEGRATION_locale_fix_cxx.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 68%] Building CXX object test/integration/CMakeFiles/INTEGRATION_locale_fix_cxx.dir/locale_fix_cxx.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_locale_fix_cxx.dir/locale_fix_cxx.cc.o -MF CMakeFiles/INTEGRATION_locale_fix_cxx.dir/locale_fix_cxx.cc.o.d -o CMakeFiles/INTEGRATION_locale_fix_cxx.dir/locale_fix_cxx.cc.o -c /build/sdformat-12.3.0+ds/test/integration/locale_fix_cxx.cc
+[ 66%] Building CXX object test/integration/CMakeFiles/INTEGRATION_locale_fix_cxx.dir/locale_fix_cxx.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_locale_fix_cxx.dir/locale_fix_cxx.cc.o -MF CMakeFiles/INTEGRATION_locale_fix_cxx.dir/locale_fix_cxx.cc.o.d -o CMakeFiles/INTEGRATION_locale_fix_cxx.dir/locale_fix_cxx.cc.o -c /build/sdformat-12.3.0+ds/test/integration/locale_fix_cxx.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 68%] Linking CXX executable INTEGRATION_interface_api
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_interface_api.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_interface_api.dir/interface_api.cc.o -o INTEGRATION_interface_api   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 66%] Linking CXX executable INTEGRATION_actor_dom
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_actor_dom.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_actor_dom.dir/actor_dom.cc.o -o INTEGRATION_actor_dom   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 67%] Linking CXX executable INTEGRATION_converter
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_converter.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_converter.dir/converter.cc.o -o INTEGRATION_converter   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 68%] Built target INTEGRATION_interface_api
+[ 67%] Built target INTEGRATION_actor_dom
 make  -f test/integration/CMakeFiles/INTEGRATION_material_pbr.dir/build.make test/integration/CMakeFiles/INTEGRATION_material_pbr.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_material_pbr.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 make  -f test/integration/CMakeFiles/INTEGRATION_material_pbr.dir/build.make test/integration/CMakeFiles/INTEGRATION_material_pbr.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 69%] Building CXX object test/integration/CMakeFiles/INTEGRATION_material_pbr.dir/material_pbr.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_material_pbr.dir/material_pbr.cc.o -MF CMakeFiles/INTEGRATION_material_pbr.dir/material_pbr.cc.o.d -o CMakeFiles/INTEGRATION_material_pbr.dir/material_pbr.cc.o -c /build/sdformat-12.3.0+ds/test/integration/material_pbr.cc
+[ 68%] Building CXX object test/integration/CMakeFiles/INTEGRATION_material_pbr.dir/material_pbr.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_material_pbr.dir/material_pbr.cc.o -MF CMakeFiles/INTEGRATION_material_pbr.dir/material_pbr.cc.o.d -o CMakeFiles/INTEGRATION_material_pbr.dir/material_pbr.cc.o -c /build/sdformat-12.3.0+ds/test/integration/material_pbr.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 70%] Linking CXX executable INTEGRATION_light_dom
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_light_dom.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_light_dom.dir/light_dom.cc.o -o INTEGRATION_light_dom   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 70%] Built target INTEGRATION_light_dom
+[ 68%] Built target INTEGRATION_converter
 make  -f test/integration/CMakeFiles/INTEGRATION_material.dir/build.make test/integration/CMakeFiles/INTEGRATION_material.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_material.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 make  -f test/integration/CMakeFiles/INTEGRATION_material.dir/build.make test/integration/CMakeFiles/INTEGRATION_material.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 70%] Building CXX object test/integration/CMakeFiles/INTEGRATION_material.dir/material.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_material.dir/material.cc.o -MF CMakeFiles/INTEGRATION_material.dir/material.cc.o.d -o CMakeFiles/INTEGRATION_material.dir/material.cc.o -c /build/sdformat-12.3.0+ds/test/integration/material.cc
+[ 68%] Building CXX object test/integration/CMakeFiles/INTEGRATION_material.dir/material.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_material.dir/material.cc.o -MF CMakeFiles/INTEGRATION_material.dir/material.cc.o.d -o CMakeFiles/INTEGRATION_material.dir/material.cc.o -c /build/sdformat-12.3.0+ds/test/integration/material.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 70%] Linking CXX executable INTEGRATION_frame
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_frame.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_frame.dir/frame.cc.o -o INTEGRATION_frame   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 68%] Linking CXX executable INTEGRATION_collision_dom
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_collision_dom.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_collision_dom.dir/collision_dom.cc.o -o INTEGRATION_collision_dom   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 70%] Built target INTEGRATION_frame
+[ 68%] Built target INTEGRATION_collision_dom
 make  -f test/integration/CMakeFiles/INTEGRATION_model_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_model_dom.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_model_dom.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 make  -f test/integration/CMakeFiles/INTEGRATION_model_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_model_dom.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 70%] Building CXX object test/integration/CMakeFiles/INTEGRATION_model_dom.dir/model_dom.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_model_dom.dir/model_dom.cc.o -MF CMakeFiles/INTEGRATION_model_dom.dir/model_dom.cc.o.d -o CMakeFiles/INTEGRATION_model_dom.dir/model_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/model_dom.cc
+[ 68%] Building CXX object test/integration/CMakeFiles/INTEGRATION_model_dom.dir/model_dom.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_model_dom.dir/model_dom.cc.o -MF CMakeFiles/INTEGRATION_model_dom.dir/model_dom.cc.o.d -o CMakeFiles/INTEGRATION_model_dom.dir/model_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/model_dom.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 70%] Linking CXX executable INTEGRATION_link_light
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_link_light.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_link_light.dir/link_light.cc.o -o INTEGRATION_link_light   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 68%] Linking CXX executable INTEGRATION_joint_axis_frame
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_joint_axis_frame.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_joint_axis_frame.dir/joint_axis_frame.cc.o -o INTEGRATION_joint_axis_frame   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 70%] Built target INTEGRATION_link_light
+[ 68%] Built target INTEGRATION_joint_axis_frame
 make  -f test/integration/CMakeFiles/INTEGRATION_model_versions.dir/build.make test/integration/CMakeFiles/INTEGRATION_model_versions.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_model_versions.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 make  -f test/integration/CMakeFiles/INTEGRATION_model_versions.dir/build.make test/integration/CMakeFiles/INTEGRATION_model_versions.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 70%] Building CXX object test/integration/CMakeFiles/INTEGRATION_model_versions.dir/model_versions.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_model_versions.dir/model_versions.cc.o -MF CMakeFiles/INTEGRATION_model_versions.dir/model_versions.cc.o.d -o CMakeFiles/INTEGRATION_model_versions.dir/model_versions.cc.o -c /build/sdformat-12.3.0+ds/test/integration/model_versions.cc
+[ 68%] Building CXX object test/integration/CMakeFiles/INTEGRATION_model_versions.dir/model_versions.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_model_versions.dir/model_versions.cc.o -MF CMakeFiles/INTEGRATION_model_versions.dir/model_versions.cc.o.d -o CMakeFiles/INTEGRATION_model_versions.dir/model_versions.cc.o -c /build/sdformat-12.3.0+ds/test/integration/model_versions.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 71%] Linking CXX executable INTEGRATION_locale_fix
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_locale_fix.dir/link.txt --verbose=1
-[ 71%] Linking CXX executable INTEGRATION_locale_fix_cxx
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_locale_fix_cxx.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_locale_fix.dir/locale_fix.cc.o -o INTEGRATION_locale_fix   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_locale_fix_cxx.dir/locale_fix_cxx.cc.o -o INTEGRATION_locale_fix_cxx   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 68%] Linking CXX executable INTEGRATION_fixed_joint_reduction
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_fixed_joint_reduction.dir/link.txt --verbose=1
+[ 68%] Linking CXX executable INTEGRATION_link_light
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_link_light.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_fixed_joint_reduction.dir/fixed_joint_reduction.cc.o -o INTEGRATION_fixed_joint_reduction   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_link_light.dir/link_light.cc.o -o INTEGRATION_link_light   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 71%] Built target INTEGRATION_locale_fix_cxx
+[ 68%] Built target INTEGRATION_link_light
 make  -f test/integration/CMakeFiles/INTEGRATION_nested_model.dir/build.make test/integration/CMakeFiles/INTEGRATION_nested_model.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 make  -f test/integration/CMakeFiles/INTEGRATION_nested_model.dir/build.make test/integration/CMakeFiles/INTEGRATION_nested_model.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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-[ 72%] Building CXX object test/integration/CMakeFiles/INTEGRATION_nested_model.dir/nested_model.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_nested_model.dir/nested_model.cc.o -MF CMakeFiles/INTEGRATION_nested_model.dir/nested_model.cc.o.d -o CMakeFiles/INTEGRATION_nested_model.dir/nested_model.cc.o -c /build/sdformat-12.3.0+ds/test/integration/nested_model.cc
-[ 72%] Built target INTEGRATION_locale_fix
-cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 68%] Built target INTEGRATION_fixed_joint_reduction
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+[ 69%] Building CXX object test/integration/CMakeFiles/INTEGRATION_nested_model.dir/nested_model.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_nested_model.dir/nested_model.cc.o -MF CMakeFiles/INTEGRATION_nested_model.dir/nested_model.cc.o.d -o CMakeFiles/INTEGRATION_nested_model.dir/nested_model.cc.o -c /build/sdformat-12.3.0+ds/test/integration/nested_model.cc
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-[ 72%] Building CXX object test/integration/CMakeFiles/INTEGRATION_nested_multiple_elements_error.dir/nested_multiple_elements_error.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_nested_multiple_elements_error.dir/nested_multiple_elements_error.cc.o -MF CMakeFiles/INTEGRATION_nested_multiple_elements_error.dir/nested_multiple_elements_error.cc.o.d -o CMakeFiles/INTEGRATION_nested_multiple_elements_error.dir/nested_multiple_elements_error.cc.o -c /build/sdformat-12.3.0+ds/test/integration/nested_multiple_elements_error.cc
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-[ 72%] Linking CXX executable INTEGRATION_joint_dom
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_joint_dom.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_joint_dom.dir/joint_dom.cc.o -o INTEGRATION_joint_dom   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 69%] Building CXX object test/integration/CMakeFiles/INTEGRATION_nested_multiple_elements_error.dir/nested_multiple_elements_error.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_nested_multiple_elements_error.dir/nested_multiple_elements_error.cc.o -MF CMakeFiles/INTEGRATION_nested_multiple_elements_error.dir/nested_multiple_elements_error.cc.o.d -o CMakeFiles/INTEGRATION_nested_multiple_elements_error.dir/nested_multiple_elements_error.cc.o -c /build/sdformat-12.3.0+ds/test/integration/nested_multiple_elements_error.cc
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 69%] Linking CXX executable INTEGRATION_locale_fix_cxx
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_locale_fix_cxx.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_locale_fix_cxx.dir/locale_fix_cxx.cc.o -o INTEGRATION_locale_fix_cxx   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 72%] Built target INTEGRATION_joint_dom
+[ 69%] Built target INTEGRATION_locale_fix_cxx
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 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 72%] Building CXX object test/integration/CMakeFiles/INTEGRATION_param_passing.dir/param_passing.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_param_passing.dir/param_passing.cc.o -MF CMakeFiles/INTEGRATION_param_passing.dir/param_passing.cc.o.d -o CMakeFiles/INTEGRATION_param_passing.dir/param_passing.cc.o -c /build/sdformat-12.3.0+ds/test/integration/param_passing.cc
+[ 69%] Building CXX object test/integration/CMakeFiles/INTEGRATION_param_passing.dir/param_passing.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_param_passing.dir/param_passing.cc.o -MF CMakeFiles/INTEGRATION_param_passing.dir/param_passing.cc.o.d -o CMakeFiles/INTEGRATION_param_passing.dir/param_passing.cc.o -c /build/sdformat-12.3.0+ds/test/integration/param_passing.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 72%] Linking CXX executable INTEGRATION_material
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_material.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_material.dir/material.cc.o -o INTEGRATION_material   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 70%] Linking CXX executable INTEGRATION_locale_fix
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_locale_fix.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_locale_fix.dir/locale_fix.cc.o -o INTEGRATION_locale_fix   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 72%] Built target INTEGRATION_material
+[ 70%] Built target INTEGRATION_locale_fix
 make  -f test/integration/CMakeFiles/INTEGRATION_parser_error_detection.dir/build.make test/integration/CMakeFiles/INTEGRATION_parser_error_detection.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 72%] Building CXX object test/integration/CMakeFiles/INTEGRATION_parser_error_detection.dir/parser_error_detection.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_parser_error_detection.dir/parser_error_detection.cc.o -MF CMakeFiles/INTEGRATION_parser_error_detection.dir/parser_error_detection.cc.o.d -o CMakeFiles/INTEGRATION_parser_error_detection.dir/parser_error_detection.cc.o -c /build/sdformat-12.3.0+ds/test/integration/parser_error_detection.cc
+[ 70%] Building CXX object test/integration/CMakeFiles/INTEGRATION_parser_error_detection.dir/parser_error_detection.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_parser_error_detection.dir/parser_error_detection.cc.o -MF CMakeFiles/INTEGRATION_parser_error_detection.dir/parser_error_detection.cc.o.d -o CMakeFiles/INTEGRATION_parser_error_detection.dir/parser_error_detection.cc.o -c /build/sdformat-12.3.0+ds/test/integration/parser_error_detection.cc
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-[ 72%] Linking CXX executable INTEGRATION_model_versions
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_model_versions.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_model_versions.dir/model_versions.cc.o -o INTEGRATION_model_versions   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 71%] Linking CXX executable INTEGRATION_light_dom
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_light_dom.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_light_dom.dir/light_dom.cc.o -o INTEGRATION_light_dom   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 72%] Built target INTEGRATION_model_versions
+[ 71%] Built target INTEGRATION_light_dom
 make  -f test/integration/CMakeFiles/INTEGRATION_parser_config.dir/build.make test/integration/CMakeFiles/INTEGRATION_parser_config.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 73%] Building CXX object test/integration/CMakeFiles/INTEGRATION_parser_config.dir/parser_config.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_parser_config.dir/parser_config.cc.o -MF CMakeFiles/INTEGRATION_parser_config.dir/parser_config.cc.o.d -o CMakeFiles/INTEGRATION_parser_config.dir/parser_config.cc.o -c /build/sdformat-12.3.0+ds/test/integration/parser_config.cc
+[ 72%] Building CXX object test/integration/CMakeFiles/INTEGRATION_parser_config.dir/parser_config.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_parser_config.dir/parser_config.cc.o -MF CMakeFiles/INTEGRATION_parser_config.dir/parser_config.cc.o.d -o CMakeFiles/INTEGRATION_parser_config.dir/parser_config.cc.o -c /build/sdformat-12.3.0+ds/test/integration/parser_config.cc
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-[ 73%] Linking CXX executable INTEGRATION_nested_multiple_elements_error
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_nested_multiple_elements_error.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_nested_multiple_elements_error.dir/nested_multiple_elements_error.cc.o -o INTEGRATION_nested_multiple_elements_error   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 72%] Linking CXX executable INTEGRATION_material
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_material.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_material.dir/material.cc.o -o INTEGRATION_material   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 73%] Built target INTEGRATION_nested_multiple_elements_error
+[ 72%] Built target INTEGRATION_material
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-[ 73%] Building CXX object test/integration/CMakeFiles/INTEGRATION_particle_emitter_dom.dir/particle_emitter_dom.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_particle_emitter_dom.dir/particle_emitter_dom.cc.o -MF CMakeFiles/INTEGRATION_particle_emitter_dom.dir/particle_emitter_dom.cc.o.d -o CMakeFiles/INTEGRATION_particle_emitter_dom.dir/particle_emitter_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/particle_emitter_dom.cc
+[ 72%] Building CXX object test/integration/CMakeFiles/INTEGRATION_particle_emitter_dom.dir/particle_emitter_dom.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_particle_emitter_dom.dir/particle_emitter_dom.cc.o -MF CMakeFiles/INTEGRATION_particle_emitter_dom.dir/particle_emitter_dom.cc.o.d -o CMakeFiles/INTEGRATION_particle_emitter_dom.dir/particle_emitter_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/particle_emitter_dom.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 73%] Linking CXX executable INTEGRATION_param_passing
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_param_passing.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_param_passing.dir/param_passing.cc.o -o INTEGRATION_param_passing   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
-[ 73%] Linking CXX executable INTEGRATION_model_dom
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_model_dom.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_model_dom.dir/model_dom.cc.o -o INTEGRATION_model_dom   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 73%] Linking CXX executable INTEGRATION_joint_axis_dom
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_joint_axis_dom.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_joint_axis_dom.dir/joint_axis_dom.cc.o -o INTEGRATION_joint_axis_dom   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 73%] Built target INTEGRATION_param_passing
+[ 73%] Built target INTEGRATION_joint_axis_dom
 make  -f test/integration/CMakeFiles/INTEGRATION_plugin_attribute.dir/build.make test/integration/CMakeFiles/INTEGRATION_plugin_attribute.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_plugin_attribute.dir/DependInfo.cmake --color=
@@ -2743,10 +2748,13 @@
 make  -f test/integration/CMakeFiles/INTEGRATION_plugin_attribute.dir/build.make test/integration/CMakeFiles/INTEGRATION_plugin_attribute.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 [ 74%] Building CXX object test/integration/CMakeFiles/INTEGRATION_plugin_attribute.dir/plugin_attribute.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_plugin_attribute.dir/plugin_attribute.cc.o -MF CMakeFiles/INTEGRATION_plugin_attribute.dir/plugin_attribute.cc.o.d -o CMakeFiles/INTEGRATION_plugin_attribute.dir/plugin_attribute.cc.o -c /build/sdformat-12.3.0+ds/test/integration/plugin_attribute.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_plugin_attribute.dir/plugin_attribute.cc.o -MF CMakeFiles/INTEGRATION_plugin_attribute.dir/plugin_attribute.cc.o.d -o CMakeFiles/INTEGRATION_plugin_attribute.dir/plugin_attribute.cc.o -c /build/sdformat-12.3.0+ds/test/integration/plugin_attribute.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 74%] Linking CXX executable INTEGRATION_interface_api
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_interface_api.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_interface_api.dir/interface_api.cc.o -o INTEGRATION_interface_api   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 74%] Built target INTEGRATION_model_dom
+[ 74%] Built target INTEGRATION_interface_api
 make  -f test/integration/CMakeFiles/INTEGRATION_plugin_bool.dir/build.make test/integration/CMakeFiles/INTEGRATION_plugin_bool.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_plugin_bool.dir/DependInfo.cmake --color=
@@ -2754,13 +2762,13 @@
 make  -f test/integration/CMakeFiles/INTEGRATION_plugin_bool.dir/build.make test/integration/CMakeFiles/INTEGRATION_plugin_bool.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 [ 74%] Building CXX object test/integration/CMakeFiles/INTEGRATION_plugin_bool.dir/plugin_bool.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_plugin_bool.dir/plugin_bool.cc.o -MF CMakeFiles/INTEGRATION_plugin_bool.dir/plugin_bool.cc.o.d -o CMakeFiles/INTEGRATION_plugin_bool.dir/plugin_bool.cc.o -c /build/sdformat-12.3.0+ds/test/integration/plugin_bool.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_plugin_bool.dir/plugin_bool.cc.o -MF CMakeFiles/INTEGRATION_plugin_bool.dir/plugin_bool.cc.o.d -o CMakeFiles/INTEGRATION_plugin_bool.dir/plugin_bool.cc.o -c /build/sdformat-12.3.0+ds/test/integration/plugin_bool.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 74%] Linking CXX executable INTEGRATION_parser_error_detection
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_parser_error_detection.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_parser_error_detection.dir/parser_error_detection.cc.o -o INTEGRATION_parser_error_detection   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 74%] Linking CXX executable INTEGRATION_model_versions
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_model_versions.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_model_versions.dir/model_versions.cc.o -o INTEGRATION_model_versions   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 74%] Built target INTEGRATION_parser_error_detection
+[ 74%] Built target INTEGRATION_model_versions
 make  -f test/integration/CMakeFiles/INTEGRATION_plugin_include.dir/build.make test/integration/CMakeFiles/INTEGRATION_plugin_include.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_plugin_include.dir/DependInfo.cmake --color=
@@ -2768,13 +2776,13 @@
 make  -f test/integration/CMakeFiles/INTEGRATION_plugin_include.dir/build.make test/integration/CMakeFiles/INTEGRATION_plugin_include.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 [ 74%] Building CXX object test/integration/CMakeFiles/INTEGRATION_plugin_include.dir/plugin_include.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_plugin_include.dir/plugin_include.cc.o -MF CMakeFiles/INTEGRATION_plugin_include.dir/plugin_include.cc.o.d -o CMakeFiles/INTEGRATION_plugin_include.dir/plugin_include.cc.o -c /build/sdformat-12.3.0+ds/test/integration/plugin_include.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_plugin_include.dir/plugin_include.cc.o -MF CMakeFiles/INTEGRATION_plugin_include.dir/plugin_include.cc.o.d -o CMakeFiles/INTEGRATION_plugin_include.dir/plugin_include.cc.o -c /build/sdformat-12.3.0+ds/test/integration/plugin_include.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 74%] Linking CXX executable INTEGRATION_material_pbr
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_material_pbr.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_material_pbr.dir/material_pbr.cc.o -o INTEGRATION_material_pbr   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 74%] Linking CXX executable INTEGRATION_frame
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_frame.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_frame.dir/frame.cc.o -o INTEGRATION_frame   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 74%] Built target INTEGRATION_material_pbr
+[ 74%] Built target INTEGRATION_frame
 make  -f test/integration/CMakeFiles/INTEGRATION_pose_1_9_sdf.dir/build.make test/integration/CMakeFiles/INTEGRATION_pose_1_9_sdf.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_pose_1_9_sdf.dir/DependInfo.cmake --color=
@@ -2782,13 +2790,13 @@
 make  -f test/integration/CMakeFiles/INTEGRATION_pose_1_9_sdf.dir/build.make test/integration/CMakeFiles/INTEGRATION_pose_1_9_sdf.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 [ 75%] Building CXX object test/integration/CMakeFiles/INTEGRATION_pose_1_9_sdf.dir/pose_1_9_sdf.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_pose_1_9_sdf.dir/pose_1_9_sdf.cc.o -MF CMakeFiles/INTEGRATION_pose_1_9_sdf.dir/pose_1_9_sdf.cc.o.d -o CMakeFiles/INTEGRATION_pose_1_9_sdf.dir/pose_1_9_sdf.cc.o -c /build/sdformat-12.3.0+ds/test/integration/pose_1_9_sdf.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_pose_1_9_sdf.dir/pose_1_9_sdf.cc.o -MF CMakeFiles/INTEGRATION_pose_1_9_sdf.dir/pose_1_9_sdf.cc.o.d -o CMakeFiles/INTEGRATION_pose_1_9_sdf.dir/pose_1_9_sdf.cc.o -c /build/sdformat-12.3.0+ds/test/integration/pose_1_9_sdf.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 75%] Linking CXX executable INTEGRATION_parser_config
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_parser_config.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_parser_config.dir/parser_config.cc.o -o INTEGRATION_parser_config   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 75%] Linking CXX executable INTEGRATION_includes
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_includes.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_includes.dir/includes.cc.o -o INTEGRATION_includes   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 75%] Built target INTEGRATION_parser_config
+[ 75%] Built target INTEGRATION_includes
 make  -f test/integration/CMakeFiles/INTEGRATION_provide_feedback.dir/build.make test/integration/CMakeFiles/INTEGRATION_provide_feedback.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_provide_feedback.dir/DependInfo.cmake --color=
@@ -2796,69 +2804,69 @@
 make  -f test/integration/CMakeFiles/INTEGRATION_provide_feedback.dir/build.make test/integration/CMakeFiles/INTEGRATION_provide_feedback.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 [ 75%] Building CXX object test/integration/CMakeFiles/INTEGRATION_provide_feedback.dir/provide_feedback.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_provide_feedback.dir/provide_feedback.cc.o -MF CMakeFiles/INTEGRATION_provide_feedback.dir/provide_feedback.cc.o.d -o CMakeFiles/INTEGRATION_provide_feedback.dir/provide_feedback.cc.o -c /build/sdformat-12.3.0+ds/test/integration/provide_feedback.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_provide_feedback.dir/provide_feedback.cc.o -MF CMakeFiles/INTEGRATION_provide_feedback.dir/provide_feedback.cc.o.d -o CMakeFiles/INTEGRATION_provide_feedback.dir/provide_feedback.cc.o -c /build/sdformat-12.3.0+ds/test/integration/provide_feedback.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 75%] Linking CXX executable INTEGRATION_link_dom
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_link_dom.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_link_dom.dir/link_dom.cc.o -o INTEGRATION_link_dom   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 75%] Linking CXX executable INTEGRATION_param_passing
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_param_passing.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_param_passing.dir/param_passing.cc.o -o INTEGRATION_param_passing   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 75%] Linking CXX executable INTEGRATION_parser_error_detection
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_parser_error_detection.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_parser_error_detection.dir/parser_error_detection.cc.o -o INTEGRATION_parser_error_detection   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 75%] Linking CXX executable INTEGRATION_nested_multiple_elements_error
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_nested_multiple_elements_error.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_nested_multiple_elements_error.dir/nested_multiple_elements_error.cc.o -o INTEGRATION_nested_multiple_elements_error   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 75%] Built target INTEGRATION_link_dom
+[ 75%] Built target INTEGRATION_parser_error_detection
 make  -f test/integration/CMakeFiles/INTEGRATION_root_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_root_dom.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_root_dom.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 make  -f test/integration/CMakeFiles/INTEGRATION_root_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_root_dom.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 75%] Building CXX object test/integration/CMakeFiles/INTEGRATION_root_dom.dir/root_dom.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_root_dom.dir/root_dom.cc.o -MF CMakeFiles/INTEGRATION_root_dom.dir/root_dom.cc.o.d -o CMakeFiles/INTEGRATION_root_dom.dir/root_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/root_dom.cc
-cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 75%] Linking CXX executable INTEGRATION_particle_emitter_dom
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_particle_emitter_dom.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_particle_emitter_dom.dir/particle_emitter_dom.cc.o -o INTEGRATION_particle_emitter_dom   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 75%] Built target INTEGRATION_particle_emitter_dom
+[ 75%] Built target INTEGRATION_param_passing
+[ 75%] Linking CXX executable INTEGRATION_parser_config
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_parser_config.dir/link.txt --verbose=1
 make  -f test/integration/CMakeFiles/INTEGRATION_scene_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_scene_dom.dir/depend
+[ 75%] Building CXX object test/integration/CMakeFiles/INTEGRATION_root_dom.dir/root_dom.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_root_dom.dir/root_dom.cc.o -MF CMakeFiles/INTEGRATION_root_dom.dir/root_dom.cc.o.d -o CMakeFiles/INTEGRATION_root_dom.dir/root_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/root_dom.cc
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_parser_config.dir/parser_config.cc.o -o INTEGRATION_parser_config   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 make  -f test/integration/CMakeFiles/INTEGRATION_scene_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_scene_dom.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 [ 76%] Building CXX object test/integration/CMakeFiles/INTEGRATION_scene_dom.dir/scene_dom.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_scene_dom.dir/scene_dom.cc.o -MF CMakeFiles/INTEGRATION_scene_dom.dir/scene_dom.cc.o.d -o CMakeFiles/INTEGRATION_scene_dom.dir/scene_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/scene_dom.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_scene_dom.dir/scene_dom.cc.o -MF CMakeFiles/INTEGRATION_scene_dom.dir/scene_dom.cc.o.d -o CMakeFiles/INTEGRATION_scene_dom.dir/scene_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/scene_dom.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 76%] Linking CXX executable INTEGRATION_plugin_bool
-[ 76%] Linking CXX executable INTEGRATION_plugin_attribute
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_plugin_bool.dir/link.txt --verbose=1
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_plugin_attribute.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_plugin_bool.dir/plugin_bool.cc.o -o INTEGRATION_plugin_bool   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_plugin_attribute.dir/plugin_attribute.cc.o -o INTEGRATION_plugin_attribute   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 76%] Built target INTEGRATION_plugin_bool
+[ 76%] Built target INTEGRATION_nested_multiple_elements_error
 make  -f test/integration/CMakeFiles/INTEGRATION_sdf_basic.dir/build.make test/integration/CMakeFiles/INTEGRATION_sdf_basic.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 76%] Built target INTEGRATION_plugin_attribute
-make  -f test/integration/CMakeFiles/INTEGRATION_sdf_custom.dir/build.make test/integration/CMakeFiles/INTEGRATION_sdf_custom.dir/depend
 [ 76%] Building CXX object test/integration/CMakeFiles/INTEGRATION_sdf_basic.dir/sdf_basic.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_sdf_basic.dir/sdf_basic.cc.o -MF CMakeFiles/INTEGRATION_sdf_basic.dir/sdf_basic.cc.o.d -o CMakeFiles/INTEGRATION_sdf_basic.dir/sdf_basic.cc.o -c /build/sdformat-12.3.0+ds/test/integration/sdf_basic.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_sdf_basic.dir/sdf_basic.cc.o -MF CMakeFiles/INTEGRATION_sdf_basic.dir/sdf_basic.cc.o.d -o CMakeFiles/INTEGRATION_sdf_basic.dir/sdf_basic.cc.o -c /build/sdformat-12.3.0+ds/test/integration/sdf_basic.cc
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
+[ 76%] Built target INTEGRATION_parser_config
+make  -f test/integration/CMakeFiles/INTEGRATION_sdf_custom.dir/build.make test/integration/CMakeFiles/INTEGRATION_sdf_custom.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_sdf_custom.dir/DependInfo.cmake --color=
-cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 make  -f test/integration/CMakeFiles/INTEGRATION_sdf_custom.dir/build.make test/integration/CMakeFiles/INTEGRATION_sdf_custom.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 [ 76%] Building CXX object test/integration/CMakeFiles/INTEGRATION_sdf_custom.dir/sdf_custom.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_sdf_custom.dir/sdf_custom.cc.o -MF CMakeFiles/INTEGRATION_sdf_custom.dir/sdf_custom.cc.o.d -o CMakeFiles/INTEGRATION_sdf_custom.dir/sdf_custom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/sdf_custom.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_sdf_custom.dir/sdf_custom.cc.o -MF CMakeFiles/INTEGRATION_sdf_custom.dir/sdf_custom.cc.o.d -o CMakeFiles/INTEGRATION_sdf_custom.dir/sdf_custom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/sdf_custom.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 76%] Linking CXX executable INTEGRATION_plugin_include
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_plugin_include.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_plugin_include.dir/plugin_include.cc.o -o INTEGRATION_plugin_include   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 76%] Linking CXX executable INTEGRATION_particle_emitter_dom
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_particle_emitter_dom.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_particle_emitter_dom.dir/particle_emitter_dom.cc.o -o INTEGRATION_particle_emitter_dom   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 76%] Built target INTEGRATION_plugin_include
+[ 76%] Built target INTEGRATION_particle_emitter_dom
 make  -f test/integration/CMakeFiles/INTEGRATION_sdf_dom_conversion.dir/build.make test/integration/CMakeFiles/INTEGRATION_sdf_dom_conversion.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_sdf_dom_conversion.dir/DependInfo.cmake --color=
@@ -2866,13 +2874,13 @@
 make  -f test/integration/CMakeFiles/INTEGRATION_sdf_dom_conversion.dir/build.make test/integration/CMakeFiles/INTEGRATION_sdf_dom_conversion.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 [ 77%] Building CXX object test/integration/CMakeFiles/INTEGRATION_sdf_dom_conversion.dir/sdf_dom_conversion.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_sdf_dom_conversion.dir/sdf_dom_conversion.cc.o -MF CMakeFiles/INTEGRATION_sdf_dom_conversion.dir/sdf_dom_conversion.cc.o.d -o CMakeFiles/INTEGRATION_sdf_dom_conversion.dir/sdf_dom_conversion.cc.o -c /build/sdformat-12.3.0+ds/test/integration/sdf_dom_conversion.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_sdf_dom_conversion.dir/sdf_dom_conversion.cc.o -MF CMakeFiles/INTEGRATION_sdf_dom_conversion.dir/sdf_dom_conversion.cc.o.d -o CMakeFiles/INTEGRATION_sdf_dom_conversion.dir/sdf_dom_conversion.cc.o -c /build/sdformat-12.3.0+ds/test/integration/sdf_dom_conversion.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 77%] Linking CXX executable INTEGRATION_nested_model
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_nested_model.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_nested_model.dir/nested_model.cc.o -o INTEGRATION_nested_model   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 77%] Linking CXX executable INTEGRATION_plugin_attribute
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_plugin_attribute.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_plugin_attribute.dir/plugin_attribute.cc.o -o INTEGRATION_plugin_attribute   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 77%] Built target INTEGRATION_nested_model
+[ 77%] Built target INTEGRATION_plugin_attribute
 make  -f test/integration/CMakeFiles/INTEGRATION_surface_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_surface_dom.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_surface_dom.dir/DependInfo.cmake --color=
@@ -2880,13 +2888,13 @@
 make  -f test/integration/CMakeFiles/INTEGRATION_surface_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_surface_dom.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 [ 77%] Building CXX object test/integration/CMakeFiles/INTEGRATION_surface_dom.dir/surface_dom.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_surface_dom.dir/surface_dom.cc.o -MF CMakeFiles/INTEGRATION_surface_dom.dir/surface_dom.cc.o.d -o CMakeFiles/INTEGRATION_surface_dom.dir/surface_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/surface_dom.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_surface_dom.dir/surface_dom.cc.o -MF CMakeFiles/INTEGRATION_surface_dom.dir/surface_dom.cc.o.d -o CMakeFiles/INTEGRATION_surface_dom.dir/surface_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/surface_dom.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 77%] Linking CXX executable INTEGRATION_provide_feedback
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_provide_feedback.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_provide_feedback.dir/provide_feedback.cc.o -o INTEGRATION_provide_feedback   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 77%] Linking CXX executable INTEGRATION_material_pbr
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_material_pbr.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_material_pbr.dir/material_pbr.cc.o -o INTEGRATION_material_pbr   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 77%] Built target INTEGRATION_provide_feedback
+[ 77%] Built target INTEGRATION_material_pbr
 make  -f test/integration/CMakeFiles/INTEGRATION_unknown.dir/build.make test/integration/CMakeFiles/INTEGRATION_unknown.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_unknown.dir/DependInfo.cmake --color=
@@ -2894,13 +2902,13 @@
 make  -f test/integration/CMakeFiles/INTEGRATION_unknown.dir/build.make test/integration/CMakeFiles/INTEGRATION_unknown.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 [ 77%] Building CXX object test/integration/CMakeFiles/INTEGRATION_unknown.dir/unknown.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_unknown.dir/unknown.cc.o -MF CMakeFiles/INTEGRATION_unknown.dir/unknown.cc.o.d -o CMakeFiles/INTEGRATION_unknown.dir/unknown.cc.o -c /build/sdformat-12.3.0+ds/test/integration/unknown.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_unknown.dir/unknown.cc.o -MF CMakeFiles/INTEGRATION_unknown.dir/unknown.cc.o.d -o CMakeFiles/INTEGRATION_unknown.dir/unknown.cc.o -c /build/sdformat-12.3.0+ds/test/integration/unknown.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 77%] Linking CXX executable INTEGRATION_root_dom
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_root_dom.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_root_dom.dir/root_dom.cc.o -o INTEGRATION_root_dom   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 77%] Linking CXX executable INTEGRATION_plugin_bool
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_plugin_bool.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_plugin_bool.dir/plugin_bool.cc.o -o INTEGRATION_plugin_bool   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 77%] Built target INTEGRATION_root_dom
+[ 77%] Built target INTEGRATION_plugin_bool
 make  -f test/integration/CMakeFiles/INTEGRATION_urdf_gazebo_extensions.dir/build.make test/integration/CMakeFiles/INTEGRATION_urdf_gazebo_extensions.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_urdf_gazebo_extensions.dir/DependInfo.cmake --color=
@@ -2908,13 +2916,13 @@
 make  -f test/integration/CMakeFiles/INTEGRATION_urdf_gazebo_extensions.dir/build.make test/integration/CMakeFiles/INTEGRATION_urdf_gazebo_extensions.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 [ 78%] Building CXX object test/integration/CMakeFiles/INTEGRATION_urdf_gazebo_extensions.dir/urdf_gazebo_extensions.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_urdf_gazebo_extensions.dir/urdf_gazebo_extensions.cc.o -MF CMakeFiles/INTEGRATION_urdf_gazebo_extensions.dir/urdf_gazebo_extensions.cc.o.d -o CMakeFiles/INTEGRATION_urdf_gazebo_extensions.dir/urdf_gazebo_extensions.cc.o -c /build/sdformat-12.3.0+ds/test/integration/urdf_gazebo_extensions.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_urdf_gazebo_extensions.dir/urdf_gazebo_extensions.cc.o -MF CMakeFiles/INTEGRATION_urdf_gazebo_extensions.dir/urdf_gazebo_extensions.cc.o.d -o CMakeFiles/INTEGRATION_urdf_gazebo_extensions.dir/urdf_gazebo_extensions.cc.o -c /build/sdformat-12.3.0+ds/test/integration/urdf_gazebo_extensions.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 78%] Linking CXX executable INTEGRATION_scene_dom
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_scene_dom.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_scene_dom.dir/scene_dom.cc.o -o INTEGRATION_scene_dom   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 78%] Linking CXX executable INTEGRATION_joint_dom
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_joint_dom.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_joint_dom.dir/joint_dom.cc.o -o INTEGRATION_joint_dom   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 78%] Built target INTEGRATION_scene_dom
+[ 78%] Built target INTEGRATION_joint_dom
 make  -f test/integration/CMakeFiles/INTEGRATION_urdf_joint_parameters.dir/build.make test/integration/CMakeFiles/INTEGRATION_urdf_joint_parameters.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_urdf_joint_parameters.dir/DependInfo.cmake --color=
@@ -2922,13 +2930,13 @@
 make  -f test/integration/CMakeFiles/INTEGRATION_urdf_joint_parameters.dir/build.make test/integration/CMakeFiles/INTEGRATION_urdf_joint_parameters.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 [ 78%] Building CXX object test/integration/CMakeFiles/INTEGRATION_urdf_joint_parameters.dir/urdf_joint_parameters.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_urdf_joint_parameters.dir/urdf_joint_parameters.cc.o -MF CMakeFiles/INTEGRATION_urdf_joint_parameters.dir/urdf_joint_parameters.cc.o.d -o CMakeFiles/INTEGRATION_urdf_joint_parameters.dir/urdf_joint_parameters.cc.o -c /build/sdformat-12.3.0+ds/test/integration/urdf_joint_parameters.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_urdf_joint_parameters.dir/urdf_joint_parameters.cc.o -MF CMakeFiles/INTEGRATION_urdf_joint_parameters.dir/urdf_joint_parameters.cc.o.d -o CMakeFiles/INTEGRATION_urdf_joint_parameters.dir/urdf_joint_parameters.cc.o -c /build/sdformat-12.3.0+ds/test/integration/urdf_joint_parameters.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 78%] Linking CXX executable INTEGRATION_sdf_basic
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_sdf_basic.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_sdf_basic.dir/sdf_basic.cc.o -o INTEGRATION_sdf_basic   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 78%] Linking CXX executable INTEGRATION_model_dom
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_model_dom.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_model_dom.dir/model_dom.cc.o -o INTEGRATION_model_dom   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 78%] Built target INTEGRATION_sdf_basic
+[ 78%] Built target INTEGRATION_model_dom
 make  -f test/integration/CMakeFiles/INTEGRATION_visual_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_visual_dom.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_visual_dom.dir/DependInfo.cmake --color=
@@ -2936,13 +2944,13 @@
 make  -f test/integration/CMakeFiles/INTEGRATION_visual_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_visual_dom.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 [ 78%] Building CXX object test/integration/CMakeFiles/INTEGRATION_visual_dom.dir/visual_dom.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_visual_dom.dir/visual_dom.cc.o -MF CMakeFiles/INTEGRATION_visual_dom.dir/visual_dom.cc.o.d -o CMakeFiles/INTEGRATION_visual_dom.dir/visual_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/visual_dom.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_visual_dom.dir/visual_dom.cc.o -MF CMakeFiles/INTEGRATION_visual_dom.dir/visual_dom.cc.o.d -o CMakeFiles/INTEGRATION_visual_dom.dir/visual_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/visual_dom.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 78%] Linking CXX executable INTEGRATION_sdf_custom
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_sdf_custom.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_sdf_custom.dir/sdf_custom.cc.o -o INTEGRATION_sdf_custom   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 78%] Linking CXX executable INTEGRATION_sdf_basic
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_sdf_basic.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_sdf_basic.dir/sdf_basic.cc.o -o INTEGRATION_sdf_basic   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 78%] Built target INTEGRATION_sdf_custom
+[ 78%] Built target INTEGRATION_sdf_basic
 make  -f test/integration/CMakeFiles/INTEGRATION_whitespace.dir/build.make test/integration/CMakeFiles/INTEGRATION_whitespace.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_whitespace.dir/DependInfo.cmake --color=
@@ -2950,13 +2958,16 @@
 make  -f test/integration/CMakeFiles/INTEGRATION_whitespace.dir/build.make test/integration/CMakeFiles/INTEGRATION_whitespace.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 [ 78%] Building CXX object test/integration/CMakeFiles/INTEGRATION_whitespace.dir/whitespace.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_whitespace.dir/whitespace.cc.o -MF CMakeFiles/INTEGRATION_whitespace.dir/whitespace.cc.o.d -o CMakeFiles/INTEGRATION_whitespace.dir/whitespace.cc.o -c /build/sdformat-12.3.0+ds/test/integration/whitespace.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_whitespace.dir/whitespace.cc.o -MF CMakeFiles/INTEGRATION_whitespace.dir/whitespace.cc.o.d -o CMakeFiles/INTEGRATION_whitespace.dir/whitespace.cc.o -c /build/sdformat-12.3.0+ds/test/integration/whitespace.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 78%] Linking CXX executable INTEGRATION_surface_dom
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_surface_dom.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_surface_dom.dir/surface_dom.cc.o -o INTEGRATION_surface_dom   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 78%] Linking CXX executable INTEGRATION_plugin_include
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_plugin_include.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_plugin_include.dir/plugin_include.cc.o -o INTEGRATION_plugin_include   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 78%] Linking CXX executable INTEGRATION_provide_feedback
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_provide_feedback.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_provide_feedback.dir/provide_feedback.cc.o -o INTEGRATION_provide_feedback   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 78%] Built target INTEGRATION_surface_dom
+[ 78%] Built target INTEGRATION_plugin_include
 make  -f test/integration/CMakeFiles/INTEGRATION_world_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_world_dom.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/CMakeFiles/INTEGRATION_world_dom.dir/DependInfo.cmake --color=
@@ -2964,16 +2975,10 @@
 make  -f test/integration/CMakeFiles/INTEGRATION_world_dom.dir/build.make test/integration/CMakeFiles/INTEGRATION_world_dom.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 [ 78%] Building CXX object test/integration/CMakeFiles/INTEGRATION_world_dom.dir/world_dom.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/integration/CMakeFiles/INTEGRATION_world_dom.dir/world_dom.cc.o -MF CMakeFiles/INTEGRATION_world_dom.dir/world_dom.cc.o.d -o CMakeFiles/INTEGRATION_world_dom.dir/world_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/world_dom.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/integration/CMakeFiles/INTEGRATION_world_dom.dir/world_dom.cc.o -MF CMakeFiles/INTEGRATION_world_dom.dir/world_dom.cc.o.d -o CMakeFiles/INTEGRATION_world_dom.dir/world_dom.cc.o -c /build/sdformat-12.3.0+ds/test/integration/world_dom.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 78%] Linking CXX executable INTEGRATION_unknown
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_unknown.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_unknown.dir/unknown.cc.o -o INTEGRATION_unknown   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
-[ 78%] Linking CXX executable INTEGRATION_pose_1_9_sdf
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_pose_1_9_sdf.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_pose_1_9_sdf.dir/pose_1_9_sdf.cc.o -o INTEGRATION_pose_1_9_sdf   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 78%] Built target INTEGRATION_unknown
+[ 78%] Built target INTEGRATION_provide_feedback
 make  -f test/performance/CMakeFiles/PERFORMANCE_parser_urdf.dir/build.make test/performance/CMakeFiles/PERFORMANCE_parser_urdf.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/test/performance /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/performance /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/performance/CMakeFiles/PERFORMANCE_parser_urdf.dir/DependInfo.cmake --color=
@@ -2981,10 +2986,13 @@
 make  -f test/performance/CMakeFiles/PERFORMANCE_parser_urdf.dir/build.make test/performance/CMakeFiles/PERFORMANCE_parser_urdf.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 [ 78%] Building CXX object test/performance/CMakeFiles/PERFORMANCE_parser_urdf.dir/parser_urdf.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/performance && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT test/performance/CMakeFiles/PERFORMANCE_parser_urdf.dir/parser_urdf.cc.o -MF CMakeFiles/PERFORMANCE_parser_urdf.dir/parser_urdf.cc.o.d -o CMakeFiles/PERFORMANCE_parser_urdf.dir/parser_urdf.cc.o -c /build/sdformat-12.3.0+ds/test/performance/parser_urdf.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/performance && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/test -I/usr/src/gtest -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT test/performance/CMakeFiles/PERFORMANCE_parser_urdf.dir/parser_urdf.cc.o -MF CMakeFiles/PERFORMANCE_parser_urdf.dir/parser_urdf.cc.o.d -o CMakeFiles/PERFORMANCE_parser_urdf.dir/parser_urdf.cc.o -c /build/sdformat-12.3.0+ds/test/performance/parser_urdf.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 78%] Linking CXX executable INTEGRATION_root_dom
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_root_dom.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_root_dom.dir/root_dom.cc.o -o INTEGRATION_root_dom   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 78%] Built target INTEGRATION_pose_1_9_sdf
+[ 78%] Built target INTEGRATION_root_dom
 make  -f src/CMakeFiles/UNIT_Actor_TEST.dir/build.make src/CMakeFiles/UNIT_Actor_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/CMakeFiles/UNIT_Actor_TEST.dir/DependInfo.cmake --color=
@@ -2992,27 +3000,27 @@
 make  -f src/CMakeFiles/UNIT_Actor_TEST.dir/build.make src/CMakeFiles/UNIT_Actor_TEST.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 [ 78%] Building CXX object src/CMakeFiles/UNIT_Actor_TEST.dir/Actor_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_Actor_TEST.dir/Actor_TEST.cc.o -MF CMakeFiles/UNIT_Actor_TEST.dir/Actor_TEST.cc.o.d -o CMakeFiles/UNIT_Actor_TEST.dir/Actor_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Actor_TEST.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Actor_TEST.dir/Actor_TEST.cc.o -MF CMakeFiles/UNIT_Actor_TEST.dir/Actor_TEST.cc.o.d -o CMakeFiles/UNIT_Actor_TEST.dir/Actor_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Actor_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 78%] Linking CXX executable INTEGRATION_urdf_gazebo_extensions
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_urdf_gazebo_extensions.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_urdf_gazebo_extensions.dir/urdf_gazebo_extensions.cc.o -o INTEGRATION_urdf_gazebo_extensions   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 78%] Linking CXX executable INTEGRATION_scene_dom
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_scene_dom.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_scene_dom.dir/scene_dom.cc.o -o INTEGRATION_scene_dom   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 78%] Built target INTEGRATION_urdf_gazebo_extensions
+[ 78%] Built target INTEGRATION_scene_dom
 make  -f src/CMakeFiles/UNIT_AirPressure_TEST.dir/build.make src/CMakeFiles/UNIT_AirPressure_TEST.dir/depend
-[ 78%] Linking CXX executable INTEGRATION_urdf_joint_parameters
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_urdf_joint_parameters.dir/link.txt --verbose=1
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/CMakeFiles/UNIT_AirPressure_TEST.dir/DependInfo.cmake --color=
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_urdf_joint_parameters.dir/urdf_joint_parameters.cc.o -o INTEGRATION_urdf_joint_parameters   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 make  -f src/CMakeFiles/UNIT_AirPressure_TEST.dir/build.make src/CMakeFiles/UNIT_AirPressure_TEST.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 [ 78%] Building CXX object src/CMakeFiles/UNIT_AirPressure_TEST.dir/AirPressure_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_AirPressure_TEST.dir/AirPressure_TEST.cc.o -MF CMakeFiles/UNIT_AirPressure_TEST.dir/AirPressure_TEST.cc.o.d -o CMakeFiles/UNIT_AirPressure_TEST.dir/AirPressure_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/AirPressure_TEST.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_AirPressure_TEST.dir/AirPressure_TEST.cc.o -MF CMakeFiles/UNIT_AirPressure_TEST.dir/AirPressure_TEST.cc.o.d -o CMakeFiles/UNIT_AirPressure_TEST.dir/AirPressure_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/AirPressure_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 78%] Linking CXX executable INTEGRATION_sdf_custom
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_sdf_custom.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_sdf_custom.dir/sdf_custom.cc.o -o INTEGRATION_sdf_custom   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 78%] Built target INTEGRATION_urdf_joint_parameters
+[ 78%] Built target INTEGRATION_sdf_custom
 make  -f src/CMakeFiles/UNIT_Altimeter_TEST.dir/build.make src/CMakeFiles/UNIT_Altimeter_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/CMakeFiles/UNIT_Altimeter_TEST.dir/DependInfo.cmake --color=
@@ -3020,13 +3028,13 @@
 make  -f src/CMakeFiles/UNIT_Altimeter_TEST.dir/build.make src/CMakeFiles/UNIT_Altimeter_TEST.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 [ 78%] Building CXX object src/CMakeFiles/UNIT_Altimeter_TEST.dir/Altimeter_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_Altimeter_TEST.dir/Altimeter_TEST.cc.o -MF CMakeFiles/UNIT_Altimeter_TEST.dir/Altimeter_TEST.cc.o.d -o CMakeFiles/UNIT_Altimeter_TEST.dir/Altimeter_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Altimeter_TEST.cc
-[ 78%] Linking CXX executable INTEGRATION_whitespace
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_whitespace.dir/link.txt --verbose=1
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Altimeter_TEST.dir/Altimeter_TEST.cc.o -MF CMakeFiles/UNIT_Altimeter_TEST.dir/Altimeter_TEST.cc.o.d -o CMakeFiles/UNIT_Altimeter_TEST.dir/Altimeter_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Altimeter_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_whitespace.dir/whitespace.cc.o -o INTEGRATION_whitespace   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 78%] Linking CXX executable INTEGRATION_surface_dom
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_surface_dom.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_surface_dom.dir/surface_dom.cc.o -o INTEGRATION_surface_dom   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 78%] Built target INTEGRATION_whitespace
+[ 78%] Built target INTEGRATION_surface_dom
 make  -f src/CMakeFiles/UNIT_Atmosphere_TEST.dir/build.make src/CMakeFiles/UNIT_Atmosphere_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/CMakeFiles/UNIT_Atmosphere_TEST.dir/DependInfo.cmake --color=
@@ -3034,13 +3042,13 @@
 make  -f src/CMakeFiles/UNIT_Atmosphere_TEST.dir/build.make src/CMakeFiles/UNIT_Atmosphere_TEST.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 [ 78%] Building CXX object src/CMakeFiles/UNIT_Atmosphere_TEST.dir/Atmosphere_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_Atmosphere_TEST.dir/Atmosphere_TEST.cc.o -MF CMakeFiles/UNIT_Atmosphere_TEST.dir/Atmosphere_TEST.cc.o.d -o CMakeFiles/UNIT_Atmosphere_TEST.dir/Atmosphere_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Atmosphere_TEST.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Atmosphere_TEST.dir/Atmosphere_TEST.cc.o -MF CMakeFiles/UNIT_Atmosphere_TEST.dir/Atmosphere_TEST.cc.o.d -o CMakeFiles/UNIT_Atmosphere_TEST.dir/Atmosphere_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Atmosphere_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 78%] Linking CXX executable INTEGRATION_sdf_dom_conversion
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_sdf_dom_conversion.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_sdf_dom_conversion.dir/sdf_dom_conversion.cc.o -o INTEGRATION_sdf_dom_conversion   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 78%] Linking CXX executable INTEGRATION_unknown
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_unknown.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_unknown.dir/unknown.cc.o -o INTEGRATION_unknown   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 78%] Built target INTEGRATION_sdf_dom_conversion
+[ 78%] Built target INTEGRATION_unknown
 make  -f src/CMakeFiles/UNIT_Box_TEST.dir/build.make src/CMakeFiles/UNIT_Box_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/CMakeFiles/UNIT_Box_TEST.dir/DependInfo.cmake --color=
@@ -3048,13 +3056,16 @@
 make  -f src/CMakeFiles/UNIT_Box_TEST.dir/build.make src/CMakeFiles/UNIT_Box_TEST.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 [ 78%] Building CXX object src/CMakeFiles/UNIT_Box_TEST.dir/Box_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_Box_TEST.dir/Box_TEST.cc.o -MF CMakeFiles/UNIT_Box_TEST.dir/Box_TEST.cc.o.d -o CMakeFiles/UNIT_Box_TEST.dir/Box_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Box_TEST.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Box_TEST.dir/Box_TEST.cc.o -MF CMakeFiles/UNIT_Box_TEST.dir/Box_TEST.cc.o.d -o CMakeFiles/UNIT_Box_TEST.dir/Box_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Box_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 78%] Linking CXX executable INTEGRATION_link_dom
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_link_dom.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_link_dom.dir/link_dom.cc.o -o INTEGRATION_link_dom   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 [ 79%] Linking CXX executable PERFORMANCE_parser_urdf
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/performance && /usr/bin/cmake -E cmake_link_script CMakeFiles/PERFORMANCE_parser_urdf.dir/link.txt --verbose=1
 /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/PERFORMANCE_parser_urdf.dir/parser_urdf.cc.o -o PERFORMANCE_parser_urdf   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 79%] Built target PERFORMANCE_parser_urdf
+[ 79%] Built target INTEGRATION_link_dom
 make  -f src/CMakeFiles/UNIT_Camera_TEST.dir/build.make src/CMakeFiles/UNIT_Camera_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/CMakeFiles/UNIT_Camera_TEST.dir/DependInfo.cmake --color=
@@ -3062,13 +3073,10 @@
 make  -f src/CMakeFiles/UNIT_Camera_TEST.dir/build.make src/CMakeFiles/UNIT_Camera_TEST.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 [ 79%] Building CXX object src/CMakeFiles/UNIT_Camera_TEST.dir/Camera_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_Camera_TEST.dir/Camera_TEST.cc.o -MF CMakeFiles/UNIT_Camera_TEST.dir/Camera_TEST.cc.o.d -o CMakeFiles/UNIT_Camera_TEST.dir/Camera_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Camera_TEST.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Camera_TEST.dir/Camera_TEST.cc.o -MF CMakeFiles/UNIT_Camera_TEST.dir/Camera_TEST.cc.o.d -o CMakeFiles/UNIT_Camera_TEST.dir/Camera_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Camera_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 79%] Linking CXX executable INTEGRATION_world_dom
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_world_dom.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_world_dom.dir/world_dom.cc.o -o INTEGRATION_world_dom   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 79%] Built target INTEGRATION_world_dom
+[ 79%] Built target PERFORMANCE_parser_urdf
 make  -f src/CMakeFiles/UNIT_Capsule_TEST.dir/build.make src/CMakeFiles/UNIT_Capsule_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/CMakeFiles/UNIT_Capsule_TEST.dir/DependInfo.cmake --color=
@@ -3076,265 +3084,268 @@
 make  -f src/CMakeFiles/UNIT_Capsule_TEST.dir/build.make src/CMakeFiles/UNIT_Capsule_TEST.dir/build
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 [ 79%] Building CXX object src/CMakeFiles/UNIT_Capsule_TEST.dir/Capsule_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_Capsule_TEST.dir/Capsule_TEST.cc.o -MF CMakeFiles/UNIT_Capsule_TEST.dir/Capsule_TEST.cc.o.d -o CMakeFiles/UNIT_Capsule_TEST.dir/Capsule_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Capsule_TEST.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Capsule_TEST.dir/Capsule_TEST.cc.o -MF CMakeFiles/UNIT_Capsule_TEST.dir/Capsule_TEST.cc.o.d -o CMakeFiles/UNIT_Capsule_TEST.dir/Capsule_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Capsule_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 80%] Linking CXX executable INTEGRATION_visual_dom
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_visual_dom.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_visual_dom.dir/visual_dom.cc.o -o INTEGRATION_visual_dom   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 79%] Linking CXX executable INTEGRATION_urdf_joint_parameters
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_urdf_joint_parameters.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_urdf_joint_parameters.dir/urdf_joint_parameters.cc.o -o INTEGRATION_urdf_joint_parameters   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 80%] Built target INTEGRATION_visual_dom
+[ 79%] Built target INTEGRATION_urdf_joint_parameters
 make  -f src/CMakeFiles/UNIT_Collision_TEST.dir/build.make src/CMakeFiles/UNIT_Collision_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_Collision_TEST.dir/Collision_TEST.cc.o -MF CMakeFiles/UNIT_Collision_TEST.dir/Collision_TEST.cc.o.d -o CMakeFiles/UNIT_Collision_TEST.dir/Collision_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Collision_TEST.cc
+[ 79%] Building CXX object src/CMakeFiles/UNIT_Collision_TEST.dir/Collision_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Collision_TEST.dir/Collision_TEST.cc.o -MF CMakeFiles/UNIT_Collision_TEST.dir/Collision_TEST.cc.o.d -o CMakeFiles/UNIT_Collision_TEST.dir/Collision_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Collision_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 80%] Linking CXX executable UNIT_Actor_TEST
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Actor_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Actor_TEST.dir/Actor_TEST.cc.o -o UNIT_Actor_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
-[ 81%] Linking CXX executable UNIT_Altimeter_TEST
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Altimeter_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Altimeter_TEST.dir/Altimeter_TEST.cc.o -o UNIT_Altimeter_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 79%] Linking CXX executable INTEGRATION_whitespace
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_whitespace.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_whitespace.dir/whitespace.cc.o -o INTEGRATION_whitespace   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 81%] Linking CXX executable UNIT_Atmosphere_TEST
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Atmosphere_TEST.dir/link.txt --verbose=1
-[ 81%] Built target UNIT_Actor_TEST
+[ 79%] Built target INTEGRATION_whitespace
 make  -f src/CMakeFiles/UNIT_Console_TEST.dir/build.make src/CMakeFiles/UNIT_Console_TEST.dir/depend
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Atmosphere_TEST.dir/Atmosphere_TEST.cc.o -o UNIT_Atmosphere_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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-[ 81%] Building CXX object src/CMakeFiles/UNIT_Console_TEST.dir/Console_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_Console_TEST.dir/Console_TEST.cc.o -MF CMakeFiles/UNIT_Console_TEST.dir/Console_TEST.cc.o.d -o CMakeFiles/UNIT_Console_TEST.dir/Console_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Console_TEST.cc
+[ 79%] Building CXX object src/CMakeFiles/UNIT_Console_TEST.dir/Console_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Console_TEST.dir/Console_TEST.cc.o -MF CMakeFiles/UNIT_Console_TEST.dir/Console_TEST.cc.o.d -o CMakeFiles/UNIT_Console_TEST.dir/Console_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Console_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 81%] Linking CXX executable UNIT_AirPressure_TEST
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_AirPressure_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_AirPressure_TEST.dir/AirPressure_TEST.cc.o -o UNIT_AirPressure_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 79%] Linking CXX executable INTEGRATION_urdf_gazebo_extensions
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_urdf_gazebo_extensions.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_urdf_gazebo_extensions.dir/urdf_gazebo_extensions.cc.o -o INTEGRATION_urdf_gazebo_extensions   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 81%] Built target UNIT_Atmosphere_TEST
+[ 79%] Built target INTEGRATION_urdf_gazebo_extensions
 make  -f src/CMakeFiles/UNIT_Cylinder_TEST.dir/build.make src/CMakeFiles/UNIT_Cylinder_TEST.dir/depend
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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-make  -f src/CMakeFiles/UNIT_Element_TEST.dir/build.make src/CMakeFiles/UNIT_Element_TEST.dir/depend
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
+[ 79%] Building CXX object src/CMakeFiles/UNIT_Cylinder_TEST.dir/Cylinder_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Cylinder_TEST.dir/Cylinder_TEST.cc.o -MF CMakeFiles/UNIT_Cylinder_TEST.dir/Cylinder_TEST.cc.o.d -o CMakeFiles/UNIT_Cylinder_TEST.dir/Cylinder_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Cylinder_TEST.cc
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 79%] Linking CXX executable INTEGRATION_nested_model
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_nested_model.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_nested_model.dir/nested_model.cc.o -o INTEGRATION_nested_model   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
+[ 79%] Built target INTEGRATION_nested_model
+make  -f src/CMakeFiles/UNIT_Element_TEST.dir/build.make src/CMakeFiles/UNIT_Element_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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-[ 81%] Building CXX object src/CMakeFiles/UNIT_Cylinder_TEST.dir/Cylinder_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_Cylinder_TEST.dir/Cylinder_TEST.cc.o -MF CMakeFiles/UNIT_Cylinder_TEST.dir/Cylinder_TEST.cc.o.d -o CMakeFiles/UNIT_Cylinder_TEST.dir/Cylinder_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Cylinder_TEST.cc
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
+[ 79%] Building CXX object src/CMakeFiles/UNIT_Element_TEST.dir/Element_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Element_TEST.dir/Element_TEST.cc.o -MF CMakeFiles/UNIT_Element_TEST.dir/Element_TEST.cc.o.d -o CMakeFiles/UNIT_Element_TEST.dir/Element_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Element_TEST.cc
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-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_Element_TEST.dir/Element_TEST.cc.o -MF CMakeFiles/UNIT_Element_TEST.dir/Element_TEST.cc.o.d -o CMakeFiles/UNIT_Element_TEST.dir/Element_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Element_TEST.cc
-cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 79%] Linking CXX executable UNIT_Actor_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Actor_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Actor_TEST.dir/Actor_TEST.cc.o -o UNIT_Actor_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 81%] Built target UNIT_AirPressure_TEST
+[ 79%] Built target UNIT_Actor_TEST
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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-[ 81%] Building CXX object src/CMakeFiles/UNIT_Ellipsoid_TEST.dir/Ellipsoid_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_Ellipsoid_TEST.dir/Ellipsoid_TEST.cc.o -MF CMakeFiles/UNIT_Ellipsoid_TEST.dir/Ellipsoid_TEST.cc.o.d -o CMakeFiles/UNIT_Ellipsoid_TEST.dir/Ellipsoid_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Ellipsoid_TEST.cc
+[ 79%] Building CXX object src/CMakeFiles/UNIT_Ellipsoid_TEST.dir/Ellipsoid_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Ellipsoid_TEST.dir/Ellipsoid_TEST.cc.o -MF CMakeFiles/UNIT_Ellipsoid_TEST.dir/Ellipsoid_TEST.cc.o.d -o CMakeFiles/UNIT_Ellipsoid_TEST.dir/Ellipsoid_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Ellipsoid_TEST.cc
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-[ 81%] Linking CXX executable UNIT_Box_TEST
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Box_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Box_TEST.dir/Box_TEST.cc.o -o UNIT_Box_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
-[ 82%] Linking CXX executable UNIT_Console_TEST
+[ 80%] Linking CXX executable UNIT_Console_TEST
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 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 82%] Built target UNIT_Box_TEST
+[ 80%] Built target UNIT_Console_TEST
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-[ 82%] Building CXX object src/CMakeFiles/UNIT_Error_TEST.dir/Error_TEST.cc.o
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+[ 80%] Building CXX object src/CMakeFiles/UNIT_Error_TEST.dir/Error_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Error_TEST.dir/Error_TEST.cc.o -MF CMakeFiles/UNIT_Error_TEST.dir/Error_TEST.cc.o.d -o CMakeFiles/UNIT_Error_TEST.dir/Error_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Error_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 80%] Linking CXX executable INTEGRATION_pose_1_9_sdf
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_pose_1_9_sdf.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_pose_1_9_sdf.dir/pose_1_9_sdf.cc.o -o INTEGRATION_pose_1_9_sdf   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 82%] Built target UNIT_Console_TEST
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-[ 82%] Building CXX object src/CMakeFiles/UNIT_Exception_TEST.dir/Exception_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_Exception_TEST.dir/Exception_TEST.cc.o -MF CMakeFiles/UNIT_Exception_TEST.dir/Exception_TEST.cc.o.d -o CMakeFiles/UNIT_Exception_TEST.dir/Exception_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Exception_TEST.cc
+[ 80%] Building CXX object src/CMakeFiles/UNIT_Exception_TEST.dir/Exception_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Exception_TEST.dir/Exception_TEST.cc.o -MF CMakeFiles/UNIT_Exception_TEST.dir/Exception_TEST.cc.o.d -o CMakeFiles/UNIT_Exception_TEST.dir/Exception_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Exception_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 83%] Linking CXX executable UNIT_Exception_TEST
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Exception_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Exception_TEST.dir/Exception_TEST.cc.o -o UNIT_Exception_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 80%] Linking CXX executable UNIT_AirPressure_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_AirPressure_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_AirPressure_TEST.dir/AirPressure_TEST.cc.o -o UNIT_AirPressure_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 83%] Built target UNIT_Exception_TEST
+[ 80%] Built target UNIT_AirPressure_TEST
 make  -f src/CMakeFiles/UNIT_Frame_TEST.dir/build.make src/CMakeFiles/UNIT_Frame_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/CMakeFiles/UNIT_Frame_TEST.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 83%] Building CXX object src/CMakeFiles/UNIT_Frame_TEST.dir/Frame_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_Frame_TEST.dir/Frame_TEST.cc.o -MF CMakeFiles/UNIT_Frame_TEST.dir/Frame_TEST.cc.o.d -o CMakeFiles/UNIT_Frame_TEST.dir/Frame_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Frame_TEST.cc
+[ 80%] Building CXX object src/CMakeFiles/UNIT_Frame_TEST.dir/Frame_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Frame_TEST.dir/Frame_TEST.cc.o -MF CMakeFiles/UNIT_Frame_TEST.dir/Frame_TEST.cc.o.d -o CMakeFiles/UNIT_Frame_TEST.dir/Frame_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Frame_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 83%] Linking CXX executable UNIT_Error_TEST
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Error_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Error_TEST.dir/Error_TEST.cc.o -o UNIT_Error_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
-[ 83%] Linking CXX executable UNIT_Capsule_TEST
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Capsule_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Capsule_TEST.dir/Capsule_TEST.cc.o -o UNIT_Capsule_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 81%] Linking CXX executable UNIT_Altimeter_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Altimeter_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Altimeter_TEST.dir/Altimeter_TEST.cc.o -o UNIT_Altimeter_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 83%] Built target UNIT_Error_TEST
+[ 81%] Built target UNIT_Altimeter_TEST
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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-[ 83%] Building CXX object src/CMakeFiles/UNIT_Filesystem_TEST.dir/Filesystem_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_Filesystem_TEST.dir/Filesystem_TEST.cc.o -MF CMakeFiles/UNIT_Filesystem_TEST.dir/Filesystem_TEST.cc.o.d -o CMakeFiles/UNIT_Filesystem_TEST.dir/Filesystem_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Filesystem_TEST.cc
+[ 81%] Building CXX object src/CMakeFiles/UNIT_Filesystem_TEST.dir/Filesystem_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Filesystem_TEST.dir/Filesystem_TEST.cc.o -MF CMakeFiles/UNIT_Filesystem_TEST.dir/Filesystem_TEST.cc.o.d -o CMakeFiles/UNIT_Filesystem_TEST.dir/Filesystem_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Filesystem_TEST.cc
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+[ 81%] Linking CXX executable UNIT_Atmosphere_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Atmosphere_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Atmosphere_TEST.dir/Atmosphere_TEST.cc.o -o UNIT_Atmosphere_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 82%] Linking CXX executable UNIT_Exception_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Exception_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Exception_TEST.dir/Exception_TEST.cc.o -o UNIT_Exception_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 83%] Built target UNIT_Capsule_TEST
+[ 82%] Built target UNIT_Atmosphere_TEST
 make  -f src/CMakeFiles/UNIT_ForceTorque_TEST.dir/build.make src/CMakeFiles/UNIT_ForceTorque_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/CMakeFiles/UNIT_ForceTorque_TEST.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
+[ 82%] Built target UNIT_Exception_TEST
+make  -f src/CMakeFiles/UNIT_Geometry_TEST.dir/build.make src/CMakeFiles/UNIT_Geometry_TEST.dir/depend
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 make  -f src/CMakeFiles/UNIT_ForceTorque_TEST.dir/build.make src/CMakeFiles/UNIT_ForceTorque_TEST.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 83%] Building CXX object src/CMakeFiles/UNIT_ForceTorque_TEST.dir/ForceTorque_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_ForceTorque_TEST.dir/ForceTorque_TEST.cc.o -MF CMakeFiles/UNIT_ForceTorque_TEST.dir/ForceTorque_TEST.cc.o.d -o CMakeFiles/UNIT_ForceTorque_TEST.dir/ForceTorque_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/ForceTorque_TEST.cc
-cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 83%] Linking CXX executable UNIT_Collision_TEST
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Collision_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Collision_TEST.dir/Collision_TEST.cc.o -o UNIT_Collision_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
-[ 84%] Linking CXX executable UNIT_Camera_TEST
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Camera_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Camera_TEST.dir/Camera_TEST.cc.o -o UNIT_Camera_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 84%] Built target UNIT_Collision_TEST
-make  -f src/CMakeFiles/UNIT_Geometry_TEST.dir/build.make src/CMakeFiles/UNIT_Geometry_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/CMakeFiles/UNIT_Geometry_TEST.dir/DependInfo.cmake --color=
+[ 82%] Building CXX object src/CMakeFiles/UNIT_ForceTorque_TEST.dir/ForceTorque_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_ForceTorque_TEST.dir/ForceTorque_TEST.cc.o -MF CMakeFiles/UNIT_ForceTorque_TEST.dir/ForceTorque_TEST.cc.o.d -o CMakeFiles/UNIT_ForceTorque_TEST.dir/ForceTorque_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/ForceTorque_TEST.cc
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 make  -f src/CMakeFiles/UNIT_Geometry_TEST.dir/build.make src/CMakeFiles/UNIT_Geometry_TEST.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 84%] Building CXX object src/CMakeFiles/UNIT_Geometry_TEST.dir/Geometry_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_Geometry_TEST.dir/Geometry_TEST.cc.o -MF CMakeFiles/UNIT_Geometry_TEST.dir/Geometry_TEST.cc.o.d -o CMakeFiles/UNIT_Geometry_TEST.dir/Geometry_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Geometry_TEST.cc
+[ 82%] Building CXX object src/CMakeFiles/UNIT_Geometry_TEST.dir/Geometry_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Geometry_TEST.dir/Geometry_TEST.cc.o -MF CMakeFiles/UNIT_Geometry_TEST.dir/Geometry_TEST.cc.o.d -o CMakeFiles/UNIT_Geometry_TEST.dir/Geometry_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Geometry_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 82%] Linking CXX executable UNIT_Error_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Error_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Error_TEST.dir/Error_TEST.cc.o -o UNIT_Error_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 84%] Built target UNIT_Camera_TEST
+[ 82%] Built target UNIT_Error_TEST
 make  -f src/CMakeFiles/UNIT_Gui_TEST.dir/build.make src/CMakeFiles/UNIT_Gui_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/CMakeFiles/UNIT_Gui_TEST.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 make  -f src/CMakeFiles/UNIT_Gui_TEST.dir/build.make src/CMakeFiles/UNIT_Gui_TEST.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 85%] Building CXX object src/CMakeFiles/UNIT_Gui_TEST.dir/Gui_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_Gui_TEST.dir/Gui_TEST.cc.o -MF CMakeFiles/UNIT_Gui_TEST.dir/Gui_TEST.cc.o.d -o CMakeFiles/UNIT_Gui_TEST.dir/Gui_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Gui_TEST.cc
+[ 83%] Building CXX object src/CMakeFiles/UNIT_Gui_TEST.dir/Gui_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Gui_TEST.dir/Gui_TEST.cc.o -MF CMakeFiles/UNIT_Gui_TEST.dir/Gui_TEST.cc.o.d -o CMakeFiles/UNIT_Gui_TEST.dir/Gui_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Gui_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 85%] Linking CXX executable UNIT_Ellipsoid_TEST
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Ellipsoid_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Ellipsoid_TEST.dir/Ellipsoid_TEST.cc.o -o UNIT_Ellipsoid_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
-[ 85%] Linking CXX executable UNIT_Cylinder_TEST
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Cylinder_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Cylinder_TEST.dir/Cylinder_TEST.cc.o -o UNIT_Cylinder_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 83%] Linking CXX executable UNIT_Box_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Box_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Box_TEST.dir/Box_TEST.cc.o -o UNIT_Box_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 85%] Built target UNIT_Ellipsoid_TEST
+[ 83%] Built target UNIT_Box_TEST
 make  -f src/CMakeFiles/UNIT_Heightmap_TEST.dir/build.make src/CMakeFiles/UNIT_Heightmap_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/CMakeFiles/UNIT_Heightmap_TEST.dir/DependInfo.cmake --color=
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 85%] Building CXX object src/CMakeFiles/UNIT_Heightmap_TEST.dir/Heightmap_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_Heightmap_TEST.dir/Heightmap_TEST.cc.o -MF CMakeFiles/UNIT_Heightmap_TEST.dir/Heightmap_TEST.cc.o.d -o CMakeFiles/UNIT_Heightmap_TEST.dir/Heightmap_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Heightmap_TEST.cc
+[ 83%] Building CXX object src/CMakeFiles/UNIT_Heightmap_TEST.dir/Heightmap_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Heightmap_TEST.dir/Heightmap_TEST.cc.o -MF CMakeFiles/UNIT_Heightmap_TEST.dir/Heightmap_TEST.cc.o.d -o CMakeFiles/UNIT_Heightmap_TEST.dir/Heightmap_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Heightmap_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 83%] Linking CXX executable INTEGRATION_world_dom
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_world_dom.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_world_dom.dir/world_dom.cc.o -o INTEGRATION_world_dom   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 85%] Built target UNIT_Cylinder_TEST
+[ 83%] Built target INTEGRATION_world_dom
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 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_Imu_TEST.dir/Imu_TEST.cc.o -MF CMakeFiles/UNIT_Imu_TEST.dir/Imu_TEST.cc.o.d -o CMakeFiles/UNIT_Imu_TEST.dir/Imu_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Imu_TEST.cc
+[ 83%] Building CXX object src/CMakeFiles/UNIT_Imu_TEST.dir/Imu_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Imu_TEST.dir/Imu_TEST.cc.o -MF CMakeFiles/UNIT_Imu_TEST.dir/Imu_TEST.cc.o.d -o CMakeFiles/UNIT_Imu_TEST.dir/Imu_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Imu_TEST.cc
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-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Filesystem_TEST.dir/Filesystem_TEST.cc.o -o UNIT_Filesystem_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 83%] Linking CXX executable INTEGRATION_sdf_dom_conversion
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_sdf_dom_conversion.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_sdf_dom_conversion.dir/sdf_dom_conversion.cc.o -o INTEGRATION_sdf_dom_conversion   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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+[ 83%] Built target INTEGRATION_sdf_dom_conversion
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+[ 84%] Building CXX object src/CMakeFiles/UNIT_InterfaceElements_TEST.dir/InterfaceElements_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_InterfaceElements_TEST.dir/InterfaceElements_TEST.cc.o -MF CMakeFiles/UNIT_InterfaceElements_TEST.dir/InterfaceElements_TEST.cc.o.d -o CMakeFiles/UNIT_InterfaceElements_TEST.dir/InterfaceElements_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/InterfaceElements_TEST.cc
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-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Frame_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Frame_TEST.dir/Frame_TEST.cc.o -o UNIT_Frame_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 84%] Linking CXX executable UNIT_Capsule_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Capsule_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Capsule_TEST.dir/Capsule_TEST.cc.o -o UNIT_Capsule_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 86%] Built target UNIT_Frame_TEST
+[ 84%] Built target UNIT_Capsule_TEST
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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-[ 86%] Building CXX object src/CMakeFiles/UNIT_Joint_TEST.dir/Joint_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_Joint_TEST.dir/Joint_TEST.cc.o -MF CMakeFiles/UNIT_Joint_TEST.dir/Joint_TEST.cc.o.d -o CMakeFiles/UNIT_Joint_TEST.dir/Joint_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Joint_TEST.cc
+[ 84%] Building CXX object src/CMakeFiles/UNIT_Joint_TEST.dir/Joint_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Joint_TEST.dir/Joint_TEST.cc.o -MF CMakeFiles/UNIT_Joint_TEST.dir/Joint_TEST.cc.o.d -o CMakeFiles/UNIT_Joint_TEST.dir/Joint_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Joint_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 86%] Linking CXX executable UNIT_Gui_TEST
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Gui_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Gui_TEST.dir/Gui_TEST.cc.o -o UNIT_Gui_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 85%] Linking CXX executable INTEGRATION_visual_dom
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration && /usr/bin/cmake -E cmake_link_script CMakeFiles/INTEGRATION_visual_dom.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/INTEGRATION_visual_dom.dir/visual_dom.cc.o -o INTEGRATION_visual_dom   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic ../../src/libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 85%] Linking CXX executable UNIT_Filesystem_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Filesystem_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Filesystem_TEST.dir/Filesystem_TEST.cc.o -o UNIT_Filesystem_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 86%] Built target UNIT_Gui_TEST
+[ 85%] Built target INTEGRATION_visual_dom
 make  -f src/CMakeFiles/UNIT_JointAxis_TEST.dir/build.make src/CMakeFiles/UNIT_JointAxis_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/CMakeFiles/UNIT_JointAxis_TEST.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 make  -f src/CMakeFiles/UNIT_JointAxis_TEST.dir/build.make src/CMakeFiles/UNIT_JointAxis_TEST.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 86%] Building CXX object src/CMakeFiles/UNIT_JointAxis_TEST.dir/JointAxis_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_JointAxis_TEST.dir/JointAxis_TEST.cc.o -MF CMakeFiles/UNIT_JointAxis_TEST.dir/JointAxis_TEST.cc.o.d -o CMakeFiles/UNIT_JointAxis_TEST.dir/JointAxis_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/JointAxis_TEST.cc
+[ 85%] Building CXX object src/CMakeFiles/UNIT_JointAxis_TEST.dir/JointAxis_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_JointAxis_TEST.dir/JointAxis_TEST.cc.o -MF CMakeFiles/UNIT_JointAxis_TEST.dir/JointAxis_TEST.cc.o.d -o CMakeFiles/UNIT_JointAxis_TEST.dir/JointAxis_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/JointAxis_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 86%] Linking CXX executable UNIT_ForceTorque_TEST
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_ForceTorque_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_ForceTorque_TEST.dir/ForceTorque_TEST.cc.o -o UNIT_ForceTorque_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 86%] Built target UNIT_ForceTorque_TEST
+[ 85%] Built target UNIT_Filesystem_TEST
 make  -f src/CMakeFiles/UNIT_Lidar_TEST.dir/build.make src/CMakeFiles/UNIT_Lidar_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/CMakeFiles/UNIT_Lidar_TEST.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 make  -f src/CMakeFiles/UNIT_Lidar_TEST.dir/build.make src/CMakeFiles/UNIT_Lidar_TEST.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 87%] Building CXX object src/CMakeFiles/UNIT_Lidar_TEST.dir/Lidar_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_Lidar_TEST.dir/Lidar_TEST.cc.o -MF CMakeFiles/UNIT_Lidar_TEST.dir/Lidar_TEST.cc.o.d -o CMakeFiles/UNIT_Lidar_TEST.dir/Lidar_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Lidar_TEST.cc
+[ 86%] Building CXX object src/CMakeFiles/UNIT_Lidar_TEST.dir/Lidar_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Lidar_TEST.dir/Lidar_TEST.cc.o -MF CMakeFiles/UNIT_Lidar_TEST.dir/Lidar_TEST.cc.o.d -o CMakeFiles/UNIT_Lidar_TEST.dir/Lidar_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Lidar_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 87%] Linking CXX executable UNIT_Geometry_TEST
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Geometry_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Geometry_TEST.dir/Geometry_TEST.cc.o -o UNIT_Geometry_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 86%] Linking CXX executable UNIT_Collision_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Collision_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Collision_TEST.dir/Collision_TEST.cc.o -o UNIT_Collision_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 87%] Linking CXX executable UNIT_Camera_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Camera_TEST.dir/link.txt --verbose=1
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 87%] Built target UNIT_Geometry_TEST
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Camera_TEST.dir/Camera_TEST.cc.o -o UNIT_Camera_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 87%] Built target UNIT_Collision_TEST
 make  -f src/CMakeFiles/UNIT_Light_TEST.dir/build.make src/CMakeFiles/UNIT_Light_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/CMakeFiles/UNIT_Light_TEST.dir/DependInfo.cmake --color=
@@ -3342,13 +3353,13 @@
 make  -f src/CMakeFiles/UNIT_Light_TEST.dir/build.make src/CMakeFiles/UNIT_Light_TEST.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 [ 87%] Building CXX object src/CMakeFiles/UNIT_Light_TEST.dir/Light_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_Light_TEST.dir/Light_TEST.cc.o -MF CMakeFiles/UNIT_Light_TEST.dir/Light_TEST.cc.o.d -o CMakeFiles/UNIT_Light_TEST.dir/Light_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Light_TEST.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Light_TEST.dir/Light_TEST.cc.o -MF CMakeFiles/UNIT_Light_TEST.dir/Light_TEST.cc.o.d -o CMakeFiles/UNIT_Light_TEST.dir/Light_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Light_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 87%] Linking CXX executable UNIT_Imu_TEST
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Imu_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Imu_TEST.dir/Imu_TEST.cc.o -o UNIT_Imu_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 87%] Linking CXX executable UNIT_Cylinder_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Cylinder_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Cylinder_TEST.dir/Cylinder_TEST.cc.o -o UNIT_Cylinder_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 87%] Built target UNIT_Imu_TEST
+[ 87%] Built target UNIT_Camera_TEST
 make  -f src/CMakeFiles/UNIT_Link_TEST.dir/build.make src/CMakeFiles/UNIT_Link_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/CMakeFiles/UNIT_Link_TEST.dir/DependInfo.cmake --color=
@@ -3356,181 +3367,184 @@
 make  -f src/CMakeFiles/UNIT_Link_TEST.dir/build.make src/CMakeFiles/UNIT_Link_TEST.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 [ 87%] Building CXX object src/CMakeFiles/UNIT_Link_TEST.dir/Link_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_Link_TEST.dir/Link_TEST.cc.o -MF CMakeFiles/UNIT_Link_TEST.dir/Link_TEST.cc.o.d -o CMakeFiles/UNIT_Link_TEST.dir/Link_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Link_TEST.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Link_TEST.dir/Link_TEST.cc.o -MF CMakeFiles/UNIT_Link_TEST.dir/Link_TEST.cc.o.d -o CMakeFiles/UNIT_Link_TEST.dir/Link_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Link_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 87%] Linking CXX executable UNIT_InterfaceElements_TEST
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_InterfaceElements_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_InterfaceElements_TEST.dir/InterfaceElements_TEST.cc.o -o UNIT_InterfaceElements_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
-[ 88%] Linking CXX executable UNIT_Element_TEST
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Element_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Element_TEST.dir/Element_TEST.cc.o -o UNIT_Element_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 88%] Built target UNIT_InterfaceElements_TEST
+[ 87%] Built target UNIT_Cylinder_TEST
 make  -f src/CMakeFiles/UNIT_Magnetometer_TEST.dir/build.make src/CMakeFiles/UNIT_Magnetometer_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/CMakeFiles/UNIT_Magnetometer_TEST.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 make  -f src/CMakeFiles/UNIT_Magnetometer_TEST.dir/build.make src/CMakeFiles/UNIT_Magnetometer_TEST.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 89%] Building CXX object src/CMakeFiles/UNIT_Magnetometer_TEST.dir/Magnetometer_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_Magnetometer_TEST.dir/Magnetometer_TEST.cc.o -MF CMakeFiles/UNIT_Magnetometer_TEST.dir/Magnetometer_TEST.cc.o.d -o CMakeFiles/UNIT_Magnetometer_TEST.dir/Magnetometer_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Magnetometer_TEST.cc
+[ 88%] Building CXX object src/CMakeFiles/UNIT_Magnetometer_TEST.dir/Magnetometer_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Magnetometer_TEST.dir/Magnetometer_TEST.cc.o -MF CMakeFiles/UNIT_Magnetometer_TEST.dir/Magnetometer_TEST.cc.o.d -o CMakeFiles/UNIT_Magnetometer_TEST.dir/Magnetometer_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Magnetometer_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 88%] Linking CXX executable UNIT_Ellipsoid_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Ellipsoid_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Ellipsoid_TEST.dir/Ellipsoid_TEST.cc.o -o UNIT_Ellipsoid_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 89%] Built target UNIT_Element_TEST
+[ 88%] Built target UNIT_Ellipsoid_TEST
 make  -f src/CMakeFiles/UNIT_Material_TEST.dir/build.make src/CMakeFiles/UNIT_Material_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 make  -f src/CMakeFiles/UNIT_Material_TEST.dir/build.make src/CMakeFiles/UNIT_Material_TEST.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 89%] Building CXX object src/CMakeFiles/UNIT_Material_TEST.dir/Material_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_Material_TEST.dir/Material_TEST.cc.o -MF CMakeFiles/UNIT_Material_TEST.dir/Material_TEST.cc.o.d -o CMakeFiles/UNIT_Material_TEST.dir/Material_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Material_TEST.cc
+[ 88%] Building CXX object src/CMakeFiles/UNIT_Material_TEST.dir/Material_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Material_TEST.dir/Material_TEST.cc.o -MF CMakeFiles/UNIT_Material_TEST.dir/Material_TEST.cc.o.d -o CMakeFiles/UNIT_Material_TEST.dir/Material_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Material_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 89%] Linking CXX executable UNIT_Heightmap_TEST
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Heightmap_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Heightmap_TEST.dir/Heightmap_TEST.cc.o -o UNIT_Heightmap_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 88%] Linking CXX executable UNIT_Frame_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Frame_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Frame_TEST.dir/Frame_TEST.cc.o -o UNIT_Frame_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 89%] Built target UNIT_Heightmap_TEST
+[ 88%] Built target UNIT_Frame_TEST
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/CMakeFiles/UNIT_Mesh_TEST.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 89%] Building CXX object src/CMakeFiles/UNIT_Mesh_TEST.dir/Mesh_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_Mesh_TEST.dir/Mesh_TEST.cc.o -MF CMakeFiles/UNIT_Mesh_TEST.dir/Mesh_TEST.cc.o.d -o CMakeFiles/UNIT_Mesh_TEST.dir/Mesh_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Mesh_TEST.cc
+[ 88%] Building CXX object src/CMakeFiles/UNIT_Mesh_TEST.dir/Mesh_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Mesh_TEST.dir/Mesh_TEST.cc.o -MF CMakeFiles/UNIT_Mesh_TEST.dir/Mesh_TEST.cc.o.d -o CMakeFiles/UNIT_Mesh_TEST.dir/Mesh_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Mesh_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 89%] Linking CXX executable UNIT_Joint_TEST
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Joint_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Joint_TEST.dir/Joint_TEST.cc.o -o UNIT_Joint_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 88%] Linking CXX executable UNIT_ForceTorque_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_ForceTorque_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_ForceTorque_TEST.dir/ForceTorque_TEST.cc.o -o UNIT_ForceTorque_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 89%] Built target UNIT_Joint_TEST
+[ 88%] Built target UNIT_ForceTorque_TEST
 make  -f src/CMakeFiles/UNIT_Model_TEST.dir/build.make src/CMakeFiles/UNIT_Model_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/CMakeFiles/UNIT_Model_TEST.dir/DependInfo.cmake --color=
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-[ 90%] Building CXX object src/CMakeFiles/UNIT_Model_TEST.dir/Model_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_Model_TEST.dir/Model_TEST.cc.o -MF CMakeFiles/UNIT_Model_TEST.dir/Model_TEST.cc.o.d -o CMakeFiles/UNIT_Model_TEST.dir/Model_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Model_TEST.cc
+[ 89%] Building CXX object src/CMakeFiles/UNIT_Model_TEST.dir/Model_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Model_TEST.dir/Model_TEST.cc.o -MF CMakeFiles/UNIT_Model_TEST.dir/Model_TEST.cc.o.d -o CMakeFiles/UNIT_Model_TEST.dir/Model_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Model_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 90%] Linking CXX executable UNIT_JointAxis_TEST
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_JointAxis_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_JointAxis_TEST.dir/JointAxis_TEST.cc.o -o UNIT_JointAxis_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 89%] Linking CXX executable UNIT_Geometry_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Geometry_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Geometry_TEST.dir/Geometry_TEST.cc.o -o UNIT_Geometry_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 90%] Built target UNIT_JointAxis_TEST
+[ 89%] Built target UNIT_Geometry_TEST
 make  -f src/CMakeFiles/UNIT_NavSat_TEST.dir/build.make src/CMakeFiles/UNIT_NavSat_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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-[ 90%] Building CXX object src/CMakeFiles/UNIT_NavSat_TEST.dir/NavSat_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_NavSat_TEST.dir/NavSat_TEST.cc.o -MF CMakeFiles/UNIT_NavSat_TEST.dir/NavSat_TEST.cc.o.d -o CMakeFiles/UNIT_NavSat_TEST.dir/NavSat_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/NavSat_TEST.cc
+[ 89%] Building CXX object src/CMakeFiles/UNIT_NavSat_TEST.dir/NavSat_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_NavSat_TEST.dir/NavSat_TEST.cc.o -MF CMakeFiles/UNIT_NavSat_TEST.dir/NavSat_TEST.cc.o.d -o CMakeFiles/UNIT_NavSat_TEST.dir/NavSat_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/NavSat_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 90%] Linking CXX executable UNIT_Lidar_TEST
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Lidar_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Lidar_TEST.dir/Lidar_TEST.cc.o -o UNIT_Lidar_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 89%] Linking CXX executable UNIT_Gui_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Gui_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Gui_TEST.dir/Gui_TEST.cc.o -o UNIT_Gui_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 90%] Built target UNIT_Lidar_TEST
+[ 89%] Built target UNIT_Gui_TEST
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 90%] Building CXX object src/CMakeFiles/UNIT_Noise_TEST.dir/Noise_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_Noise_TEST.dir/Noise_TEST.cc.o -MF CMakeFiles/UNIT_Noise_TEST.dir/Noise_TEST.cc.o.d -o CMakeFiles/UNIT_Noise_TEST.dir/Noise_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Noise_TEST.cc
+[ 89%] Building CXX object src/CMakeFiles/UNIT_Noise_TEST.dir/Noise_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Noise_TEST.dir/Noise_TEST.cc.o -MF CMakeFiles/UNIT_Noise_TEST.dir/Noise_TEST.cc.o.d -o CMakeFiles/UNIT_Noise_TEST.dir/Noise_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Noise_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
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-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Magnetometer_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Magnetometer_TEST.dir/Magnetometer_TEST.cc.o -o UNIT_Magnetometer_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 89%] Linking CXX executable UNIT_Lidar_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Lidar_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Lidar_TEST.dir/Lidar_TEST.cc.o -o UNIT_Lidar_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 90%] Built target UNIT_Magnetometer_TEST
+[ 89%] Built target UNIT_Lidar_TEST
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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-[ 90%] Building CXX object src/CMakeFiles/UNIT_Param_TEST.dir/Param_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_Param_TEST.dir/Param_TEST.cc.o -MF CMakeFiles/UNIT_Param_TEST.dir/Param_TEST.cc.o.d -o CMakeFiles/UNIT_Param_TEST.dir/Param_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Param_TEST.cc
+[ 89%] Building CXX object src/CMakeFiles/UNIT_Param_TEST.dir/Param_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Param_TEST.dir/Param_TEST.cc.o -MF CMakeFiles/UNIT_Param_TEST.dir/Param_TEST.cc.o.d -o CMakeFiles/UNIT_Param_TEST.dir/Param_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Param_TEST.cc
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-[ 90%] Linking CXX executable UNIT_Material_TEST
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Material_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Material_TEST.dir/Material_TEST.cc.o -o UNIT_Material_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 89%] Linking CXX executable UNIT_InterfaceElements_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_InterfaceElements_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_InterfaceElements_TEST.dir/InterfaceElements_TEST.cc.o -o UNIT_InterfaceElements_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 90%] Built target UNIT_Material_TEST
+[ 89%] Built target UNIT_InterfaceElements_TEST
 make  -f src/CMakeFiles/UNIT_parser_TEST.dir/build.make src/CMakeFiles/UNIT_parser_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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+[ 89%] Building CXX object src/CMakeFiles/UNIT_parser_TEST.dir/parser_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_parser_TEST.dir/parser_TEST.cc.o -MF CMakeFiles/UNIT_parser_TEST.dir/parser_TEST.cc.o.d -o CMakeFiles/UNIT_parser_TEST.dir/parser_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/parser_TEST.cc
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-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Light_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Light_TEST.dir/Light_TEST.cc.o -o UNIT_Light_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 89%] Linking CXX executable UNIT_Imu_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Imu_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Imu_TEST.dir/Imu_TEST.cc.o -o UNIT_Imu_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 90%] Built target UNIT_Light_TEST
+[ 89%] Built target UNIT_Imu_TEST
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_ParserConfig_TEST.dir/ParserConfig_TEST.cc.o -MF CMakeFiles/UNIT_ParserConfig_TEST.dir/ParserConfig_TEST.cc.o.d -o CMakeFiles/UNIT_ParserConfig_TEST.dir/ParserConfig_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/ParserConfig_TEST.cc
+[ 89%] Building CXX object src/CMakeFiles/UNIT_ParserConfig_TEST.dir/ParserConfig_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_ParserConfig_TEST.dir/ParserConfig_TEST.cc.o -MF CMakeFiles/UNIT_ParserConfig_TEST.dir/ParserConfig_TEST.cc.o.d -o CMakeFiles/UNIT_ParserConfig_TEST.dir/ParserConfig_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/ParserConfig_TEST.cc
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-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Link_TEST.dir/Link_TEST.cc.o -o UNIT_Link_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
-[ 90%] Linking CXX executable UNIT_Mesh_TEST
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Mesh_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Mesh_TEST.dir/Mesh_TEST.cc.o -o UNIT_Mesh_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 89%] Linking CXX executable UNIT_JointAxis_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_JointAxis_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_JointAxis_TEST.dir/JointAxis_TEST.cc.o -o UNIT_JointAxis_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 90%] Built target UNIT_Link_TEST
+[ 89%] Built target UNIT_JointAxis_TEST
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 90%] Built target UNIT_Mesh_TEST
+[ 90%] Building CXX object src/CMakeFiles/UNIT_ParticleEmitter_TEST.dir/ParticleEmitter_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_ParticleEmitter_TEST.dir/ParticleEmitter_TEST.cc.o -MF CMakeFiles/UNIT_ParticleEmitter_TEST.dir/ParticleEmitter_TEST.cc.o.d -o CMakeFiles/UNIT_ParticleEmitter_TEST.dir/ParticleEmitter_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/ParticleEmitter_TEST.cc
+cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 90%] Linking CXX executable UNIT_Heightmap_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Heightmap_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Heightmap_TEST.dir/Heightmap_TEST.cc.o -o UNIT_Heightmap_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
+[ 90%] Built target UNIT_Heightmap_TEST
 make  -f src/CMakeFiles/UNIT_Pbr_TEST.dir/build.make src/CMakeFiles/UNIT_Pbr_TEST.dir/depend
-[ 91%] Building CXX object src/CMakeFiles/UNIT_ParticleEmitter_TEST.dir/ParticleEmitter_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_ParticleEmitter_TEST.dir/ParticleEmitter_TEST.cc.o -MF CMakeFiles/UNIT_ParticleEmitter_TEST.dir/ParticleEmitter_TEST.cc.o.d -o CMakeFiles/UNIT_ParticleEmitter_TEST.dir/ParticleEmitter_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/ParticleEmitter_TEST.cc
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 91%] Building CXX object src/CMakeFiles/UNIT_Pbr_TEST.dir/Pbr_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_Pbr_TEST.dir/Pbr_TEST.cc.o -MF CMakeFiles/UNIT_Pbr_TEST.dir/Pbr_TEST.cc.o.d -o CMakeFiles/UNIT_Pbr_TEST.dir/Pbr_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Pbr_TEST.cc
+[ 90%] Building CXX object src/CMakeFiles/UNIT_Pbr_TEST.dir/Pbr_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Pbr_TEST.dir/Pbr_TEST.cc.o -MF CMakeFiles/UNIT_Pbr_TEST.dir/Pbr_TEST.cc.o.d -o CMakeFiles/UNIT_Pbr_TEST.dir/Pbr_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Pbr_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 91%] Linking CXX executable UNIT_NavSat_TEST
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_NavSat_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_NavSat_TEST.dir/NavSat_TEST.cc.o -o UNIT_NavSat_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 90%] Linking CXX executable UNIT_Material_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Material_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Material_TEST.dir/Material_TEST.cc.o -o UNIT_Material_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 91%] Built target UNIT_NavSat_TEST
+[ 90%] Built target UNIT_Material_TEST
 make  -f src/CMakeFiles/UNIT_Physics_TEST.dir/build.make src/CMakeFiles/UNIT_Physics_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 make  -f src/CMakeFiles/UNIT_Physics_TEST.dir/build.make src/CMakeFiles/UNIT_Physics_TEST.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 91%] Building CXX object src/CMakeFiles/UNIT_Physics_TEST.dir/Physics_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_Physics_TEST.dir/Physics_TEST.cc.o -MF CMakeFiles/UNIT_Physics_TEST.dir/Physics_TEST.cc.o.d -o CMakeFiles/UNIT_Physics_TEST.dir/Physics_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Physics_TEST.cc
+[ 90%] Building CXX object src/CMakeFiles/UNIT_Physics_TEST.dir/Physics_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Physics_TEST.dir/Physics_TEST.cc.o -MF CMakeFiles/UNIT_Physics_TEST.dir/Physics_TEST.cc.o.d -o CMakeFiles/UNIT_Physics_TEST.dir/Physics_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Physics_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 91%] Linking CXX executable UNIT_Model_TEST
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Model_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Model_TEST.dir/Model_TEST.cc.o -o UNIT_Model_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 90%] Linking CXX executable UNIT_Magnetometer_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Magnetometer_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Magnetometer_TEST.dir/Magnetometer_TEST.cc.o -o UNIT_Magnetometer_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 90%] Linking CXX executable UNIT_Light_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Light_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Light_TEST.dir/Light_TEST.cc.o -o UNIT_Light_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 91%] Linking CXX executable UNIT_Element_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Element_TEST.dir/link.txt --verbose=1
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 91%] Built target UNIT_Model_TEST
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Element_TEST.dir/Element_TEST.cc.o -o UNIT_Element_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 91%] Built target UNIT_Magnetometer_TEST
 make  -f src/CMakeFiles/UNIT_Plane_TEST.dir/build.make src/CMakeFiles/UNIT_Plane_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/CMakeFiles/UNIT_Plane_TEST.dir/DependInfo.cmake --color=
@@ -3538,13 +3552,10 @@
 make  -f src/CMakeFiles/UNIT_Plane_TEST.dir/build.make src/CMakeFiles/UNIT_Plane_TEST.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 [ 92%] Building CXX object src/CMakeFiles/UNIT_Plane_TEST.dir/Plane_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_Plane_TEST.dir/Plane_TEST.cc.o -MF CMakeFiles/UNIT_Plane_TEST.dir/Plane_TEST.cc.o.d -o CMakeFiles/UNIT_Plane_TEST.dir/Plane_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Plane_TEST.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Plane_TEST.dir/Plane_TEST.cc.o -MF CMakeFiles/UNIT_Plane_TEST.dir/Plane_TEST.cc.o.d -o CMakeFiles/UNIT_Plane_TEST.dir/Plane_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Plane_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 92%] Linking CXX executable UNIT_Noise_TEST
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Noise_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Noise_TEST.dir/Noise_TEST.cc.o -o UNIT_Noise_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 92%] Built target UNIT_Noise_TEST
+[ 92%] Built target UNIT_Light_TEST
 make  -f src/CMakeFiles/UNIT_Root_TEST.dir/build.make src/CMakeFiles/UNIT_Root_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/CMakeFiles/UNIT_Root_TEST.dir/DependInfo.cmake --color=
@@ -3552,13 +3563,10 @@
 make  -f src/CMakeFiles/UNIT_Root_TEST.dir/build.make src/CMakeFiles/UNIT_Root_TEST.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 [ 92%] Building CXX object src/CMakeFiles/UNIT_Root_TEST.dir/Root_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_Root_TEST.dir/Root_TEST.cc.o -MF CMakeFiles/UNIT_Root_TEST.dir/Root_TEST.cc.o.d -o CMakeFiles/UNIT_Root_TEST.dir/Root_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Root_TEST.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Root_TEST.dir/Root_TEST.cc.o -MF CMakeFiles/UNIT_Root_TEST.dir/Root_TEST.cc.o.d -o CMakeFiles/UNIT_Root_TEST.dir/Root_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Root_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 92%] Linking CXX executable UNIT_ParserConfig_TEST
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_ParserConfig_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_ParserConfig_TEST.dir/ParserConfig_TEST.cc.o -o UNIT_ParserConfig_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 92%] Built target UNIT_ParserConfig_TEST
+[ 92%] Built target UNIT_Element_TEST
 make  -f src/CMakeFiles/UNIT_Scene_TEST.dir/build.make src/CMakeFiles/UNIT_Scene_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/CMakeFiles/UNIT_Scene_TEST.dir/DependInfo.cmake --color=
@@ -3566,13 +3574,13 @@
 make  -f src/CMakeFiles/UNIT_Scene_TEST.dir/build.make src/CMakeFiles/UNIT_Scene_TEST.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 [ 93%] Building CXX object src/CMakeFiles/UNIT_Scene_TEST.dir/Scene_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_Scene_TEST.dir/Scene_TEST.cc.o -MF CMakeFiles/UNIT_Scene_TEST.dir/Scene_TEST.cc.o.d -o CMakeFiles/UNIT_Scene_TEST.dir/Scene_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Scene_TEST.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Scene_TEST.dir/Scene_TEST.cc.o -MF CMakeFiles/UNIT_Scene_TEST.dir/Scene_TEST.cc.o.d -o CMakeFiles/UNIT_Scene_TEST.dir/Scene_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Scene_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 93%] Linking CXX executable UNIT_ParticleEmitter_TEST
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_ParticleEmitter_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_ParticleEmitter_TEST.dir/ParticleEmitter_TEST.cc.o -o UNIT_ParticleEmitter_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 93%] Linking CXX executable UNIT_Joint_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Joint_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Joint_TEST.dir/Joint_TEST.cc.o -o UNIT_Joint_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 93%] Built target UNIT_ParticleEmitter_TEST
+[ 93%] Built target UNIT_Joint_TEST
 make  -f src/CMakeFiles/UNIT_SemanticPose_TEST.dir/build.make src/CMakeFiles/UNIT_SemanticPose_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/CMakeFiles/UNIT_SemanticPose_TEST.dir/DependInfo.cmake --color=
@@ -3580,13 +3588,13 @@
 make  -f src/CMakeFiles/UNIT_SemanticPose_TEST.dir/build.make src/CMakeFiles/UNIT_SemanticPose_TEST.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 [ 93%] Building CXX object src/CMakeFiles/UNIT_SemanticPose_TEST.dir/SemanticPose_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_SemanticPose_TEST.dir/SemanticPose_TEST.cc.o -MF CMakeFiles/UNIT_SemanticPose_TEST.dir/SemanticPose_TEST.cc.o.d -o CMakeFiles/UNIT_SemanticPose_TEST.dir/SemanticPose_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/SemanticPose_TEST.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_SemanticPose_TEST.dir/SemanticPose_TEST.cc.o -MF CMakeFiles/UNIT_SemanticPose_TEST.dir/SemanticPose_TEST.cc.o.d -o CMakeFiles/UNIT_SemanticPose_TEST.dir/SemanticPose_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/SemanticPose_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 93%] Linking CXX executable UNIT_Physics_TEST
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Physics_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Physics_TEST.dir/Physics_TEST.cc.o -o UNIT_Physics_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 93%] Linking CXX executable UNIT_Link_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Link_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Link_TEST.dir/Link_TEST.cc.o -o UNIT_Link_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 93%] Built target UNIT_Physics_TEST
+[ 93%] Built target UNIT_Link_TEST
 make  -f src/CMakeFiles/UNIT_SDF_TEST.dir/build.make src/CMakeFiles/UNIT_SDF_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/CMakeFiles/UNIT_SDF_TEST.dir/DependInfo.cmake --color=
@@ -3594,215 +3602,250 @@
 make  -f src/CMakeFiles/UNIT_SDF_TEST.dir/build.make src/CMakeFiles/UNIT_SDF_TEST.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 [ 93%] Building CXX object src/CMakeFiles/UNIT_SDF_TEST.dir/SDF_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_SDF_TEST.dir/SDF_TEST.cc.o -MF CMakeFiles/UNIT_SDF_TEST.dir/SDF_TEST.cc.o.d -o CMakeFiles/UNIT_SDF_TEST.dir/SDF_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/SDF_TEST.cc
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_SDF_TEST.dir/SDF_TEST.cc.o -MF CMakeFiles/UNIT_SDF_TEST.dir/SDF_TEST.cc.o.d -o CMakeFiles/UNIT_SDF_TEST.dir/SDF_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/SDF_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 94%] Linking CXX executable UNIT_parser_TEST
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_parser_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_parser_TEST.dir/parser_TEST.cc.o -o UNIT_parser_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 93%] Linking CXX executable UNIT_Mesh_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Mesh_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Mesh_TEST.dir/Mesh_TEST.cc.o -o UNIT_Mesh_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 94%] Built target UNIT_parser_TEST
+[ 93%] Built target UNIT_Mesh_TEST
 make  -f src/CMakeFiles/UNIT_Sensor_TEST.dir/build.make src/CMakeFiles/UNIT_Sensor_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/CMakeFiles/UNIT_Sensor_TEST.dir/DependInfo.cmake --color=
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 94%] Building CXX object src/CMakeFiles/UNIT_Sensor_TEST.dir/Sensor_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_Sensor_TEST.dir/Sensor_TEST.cc.o -MF CMakeFiles/UNIT_Sensor_TEST.dir/Sensor_TEST.cc.o.d -o CMakeFiles/UNIT_Sensor_TEST.dir/Sensor_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Sensor_TEST.cc
+[ 93%] Building CXX object src/CMakeFiles/UNIT_Sensor_TEST.dir/Sensor_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Sensor_TEST.dir/Sensor_TEST.cc.o -MF CMakeFiles/UNIT_Sensor_TEST.dir/Sensor_TEST.cc.o.d -o CMakeFiles/UNIT_Sensor_TEST.dir/Sensor_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Sensor_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 94%] Linking CXX executable UNIT_Pbr_TEST
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Pbr_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Pbr_TEST.dir/Pbr_TEST.cc.o -o UNIT_Pbr_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
-[ 94%] Linking CXX executable UNIT_Plane_TEST
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Plane_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Plane_TEST.dir/Plane_TEST.cc.o -o UNIT_Plane_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 93%] Linking CXX executable UNIT_NavSat_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_NavSat_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_NavSat_TEST.dir/NavSat_TEST.cc.o -o UNIT_NavSat_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 94%] Built target UNIT_Pbr_TEST
+[ 93%] Built target UNIT_NavSat_TEST
 make  -f src/CMakeFiles/UNIT_Sky_TEST.dir/build.make src/CMakeFiles/UNIT_Sky_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 94%] Building CXX object src/CMakeFiles/UNIT_Sky_TEST.dir/Sky_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_Sky_TEST.dir/Sky_TEST.cc.o -MF CMakeFiles/UNIT_Sky_TEST.dir/Sky_TEST.cc.o.d -o CMakeFiles/UNIT_Sky_TEST.dir/Sky_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Sky_TEST.cc
+[ 93%] Building CXX object src/CMakeFiles/UNIT_Sky_TEST.dir/Sky_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Sky_TEST.dir/Sky_TEST.cc.o -MF CMakeFiles/UNIT_Sky_TEST.dir/Sky_TEST.cc.o.d -o CMakeFiles/UNIT_Sky_TEST.dir/Sky_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Sky_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 93%] Linking CXX executable UNIT_ParticleEmitter_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_ParticleEmitter_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_ParticleEmitter_TEST.dir/ParticleEmitter_TEST.cc.o -o UNIT_ParticleEmitter_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 94%] Built target UNIT_Plane_TEST
+[ 93%] Built target UNIT_ParticleEmitter_TEST
 make  -f src/CMakeFiles/UNIT_Sphere_TEST.dir/build.make src/CMakeFiles/UNIT_Sphere_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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-[ 94%] Building CXX object src/CMakeFiles/UNIT_Sphere_TEST.dir/Sphere_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_Sphere_TEST.dir/Sphere_TEST.cc.o -MF CMakeFiles/UNIT_Sphere_TEST.dir/Sphere_TEST.cc.o.d -o CMakeFiles/UNIT_Sphere_TEST.dir/Sphere_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Sphere_TEST.cc
+[ 93%] Building CXX object src/CMakeFiles/UNIT_Sphere_TEST.dir/Sphere_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Sphere_TEST.dir/Sphere_TEST.cc.o -MF CMakeFiles/UNIT_Sphere_TEST.dir/Sphere_TEST.cc.o.d -o CMakeFiles/UNIT_Sphere_TEST.dir/Sphere_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Sphere_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 94%] Linking CXX executable UNIT_Root_TEST
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Root_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Root_TEST.dir/Root_TEST.cc.o -o UNIT_Root_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 93%] Linking CXX executable UNIT_Model_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Model_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Model_TEST.dir/Model_TEST.cc.o -o UNIT_Model_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 94%] Built target UNIT_Root_TEST
+[ 93%] Built target UNIT_Model_TEST
 make  -f src/CMakeFiles/UNIT_Surface_TEST.dir/build.make src/CMakeFiles/UNIT_Surface_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/CMakeFiles/UNIT_Surface_TEST.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 94%] Building CXX object src/CMakeFiles/UNIT_Surface_TEST.dir/Surface_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_Surface_TEST.dir/Surface_TEST.cc.o -MF CMakeFiles/UNIT_Surface_TEST.dir/Surface_TEST.cc.o.d -o CMakeFiles/UNIT_Surface_TEST.dir/Surface_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Surface_TEST.cc
+[ 93%] Building CXX object src/CMakeFiles/UNIT_Surface_TEST.dir/Surface_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Surface_TEST.dir/Surface_TEST.cc.o -MF CMakeFiles/UNIT_Surface_TEST.dir/Surface_TEST.cc.o.d -o CMakeFiles/UNIT_Surface_TEST.dir/Surface_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Surface_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
-[ 94%] Linking CXX executable UNIT_SemanticPose_TEST
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_SemanticPose_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_SemanticPose_TEST.dir/SemanticPose_TEST.cc.o -o UNIT_SemanticPose_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
-[ 94%] Linking CXX executable UNIT_Param_TEST
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Param_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Param_TEST.dir/Param_TEST.cc.o -o UNIT_Param_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
+[ 93%] Linking CXX executable UNIT_Physics_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Physics_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Physics_TEST.dir/Physics_TEST.cc.o -o UNIT_Physics_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 94%] Built target UNIT_Param_TEST
+[ 93%] Built target UNIT_Physics_TEST
 make  -f src/CMakeFiles/UNIT_Types_TEST.dir/build.make src/CMakeFiles/UNIT_Types_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /build/sdformat-12.3.0+ds /build/sdformat-12.3.0+ds/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/CMakeFiles/UNIT_Types_TEST.dir/DependInfo.cmake --color=
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 make  -f src/CMakeFiles/UNIT_Types_TEST.dir/build.make src/CMakeFiles/UNIT_Types_TEST.dir/build
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 94%] Built target UNIT_SemanticPose_TEST
-make  -f src/CMakeFiles/UNIT_Visual_TEST.dir/build.make src/CMakeFiles/UNIT_Visual_TEST.dir/depend
-[ 94%] Building CXX object src/CMakeFiles/UNIT_Types_TEST.dir/Types_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_Types_TEST.dir/Types_TEST.cc.o -MF CMakeFiles/UNIT_Types_TEST.dir/Types_TEST.cc.o.d -o CMakeFiles/UNIT_Types_TEST.dir/Types_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Types_TEST.cc
+[ 93%] Building CXX object src/CMakeFiles/UNIT_Types_TEST.dir/Types_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Types_TEST.dir/Types_TEST.cc.o -MF CMakeFiles/UNIT_Types_TEST.dir/Types_TEST.cc.o.d -o CMakeFiles/UNIT_Types_TEST.dir/Types_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Types_TEST.cc
 cc1plus: warning: /build/sdformat-12.3.0+ds/test/gtest/include: No such file or directory [-Wmissing-include-dirs]
+[ 93%] Linking CXX executable UNIT_Noise_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Noise_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Noise_TEST.dir/Noise_TEST.cc.o -o UNIT_Noise_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 93%] Linking CXX executable UNIT_ParserConfig_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_ParserConfig_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_ParserConfig_TEST.dir/ParserConfig_TEST.cc.o -o UNIT_ParserConfig_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
+[ 93%] Built target UNIT_Noise_TEST
+make  -f src/CMakeFiles/UNIT_Visual_TEST.dir/build.make src/CMakeFiles/UNIT_Visual_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 94%] Building CXX object src/CMakeFiles/UNIT_Visual_TEST.dir/Visual_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_Visual_TEST.dir/Visual_TEST.cc.o -MF CMakeFiles/UNIT_Visual_TEST.dir/Visual_TEST.cc.o.d -o CMakeFiles/UNIT_Visual_TEST.dir/Visual_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Visual_TEST.cc
+[ 93%] Building CXX object src/CMakeFiles/UNIT_Visual_TEST.dir/Visual_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Visual_TEST.dir/Visual_TEST.cc.o -MF CMakeFiles/UNIT_Visual_TEST.dir/Visual_TEST.cc.o.d -o CMakeFiles/UNIT_Visual_TEST.dir/Visual_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Visual_TEST.cc
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-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Scene_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Scene_TEST.dir/Scene_TEST.cc.o -o UNIT_Scene_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 94%] Built target UNIT_Scene_TEST
+[ 93%] Built target UNIT_ParserConfig_TEST
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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-[ 94%] Building CXX object src/CMakeFiles/UNIT_World_TEST.dir/World_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_World_TEST.dir/World_TEST.cc.o -MF CMakeFiles/UNIT_World_TEST.dir/World_TEST.cc.o.d -o CMakeFiles/UNIT_World_TEST.dir/World_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/World_TEST.cc
+[ 93%] Building CXX object src/CMakeFiles/UNIT_World_TEST.dir/World_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_World_TEST.dir/World_TEST.cc.o -MF CMakeFiles/UNIT_World_TEST.dir/World_TEST.cc.o.d -o CMakeFiles/UNIT_World_TEST.dir/World_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/World_TEST.cc
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-[ 94%] Linking CXX executable UNIT_Types_TEST
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Types_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Types_TEST.dir/Types_TEST.cc.o -o UNIT_Types_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 93%] Linking CXX executable UNIT_Plane_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Plane_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Plane_TEST.dir/Plane_TEST.cc.o -o UNIT_Plane_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 94%] Built target UNIT_Types_TEST
+[ 93%] Built target UNIT_Plane_TEST
 make  -f src/CMakeFiles/UNIT_Utils_TEST.dir/build.make src/CMakeFiles/UNIT_Utils_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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-[ 94%] Building CXX object src/CMakeFiles/UNIT_Utils_TEST.dir/Utils_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_Utils_TEST.dir/Utils_TEST.cc.o -MF CMakeFiles/UNIT_Utils_TEST.dir/Utils_TEST.cc.o.d -o CMakeFiles/UNIT_Utils_TEST.dir/Utils_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Utils_TEST.cc
+[ 93%] Building CXX object src/CMakeFiles/UNIT_Utils_TEST.dir/Utils_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Utils_TEST.dir/Utils_TEST.cc.o -MF CMakeFiles/UNIT_Utils_TEST.dir/Utils_TEST.cc.o.d -o CMakeFiles/UNIT_Utils_TEST.dir/Utils_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Utils_TEST.cc
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-[ 94%] Linking CXX executable UNIT_Sphere_TEST
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Sphere_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Sphere_TEST.dir/Sphere_TEST.cc.o -o UNIT_Sphere_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 93%] Linking CXX executable UNIT_Sky_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Sky_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Sky_TEST.dir/Sky_TEST.cc.o -o UNIT_Sky_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 93%] Linking CXX executable UNIT_SemanticPose_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_SemanticPose_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_SemanticPose_TEST.dir/SemanticPose_TEST.cc.o -o UNIT_SemanticPose_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 94%] Built target UNIT_Sphere_TEST
+[ 93%] Built target UNIT_Sky_TEST
 make  -f src/CMakeFiles/UNIT_XmlUtils_TEST.dir/build.make src/CMakeFiles/UNIT_XmlUtils_TEST.dir/depend
 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 94%] Building CXX object src/CMakeFiles/UNIT_XmlUtils_TEST.dir/XmlUtils_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -MD -MT src/CMakeFiles/UNIT_XmlUtils_TEST.dir/XmlUtils_TEST.cc.o -MF CMakeFiles/UNIT_XmlUtils_TEST.dir/XmlUtils_TEST.cc.o.d -o CMakeFiles/UNIT_XmlUtils_TEST.dir/XmlUtils_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/XmlUtils_TEST.cc
+[ 93%] Building CXX object src/CMakeFiles/UNIT_XmlUtils_TEST.dir/XmlUtils_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_XmlUtils_TEST.dir/XmlUtils_TEST.cc.o -MF CMakeFiles/UNIT_XmlUtils_TEST.dir/XmlUtils_TEST.cc.o.d -o CMakeFiles/UNIT_XmlUtils_TEST.dir/XmlUtils_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/XmlUtils_TEST.cc
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-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Surface_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Surface_TEST.dir/Surface_TEST.cc.o -o UNIT_Surface_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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+[ 93%] Built target UNIT_SemanticPose_TEST
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-[ 95%] Building CXX object src/CMakeFiles/UNIT_FrameSemantics_TEST.dir/FrameSemantics_TEST.cc.o
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+[ 93%] Building CXX object src/CMakeFiles/UNIT_FrameSemantics_TEST.dir/FrameSemantics_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++  -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_FrameSemantics_TEST.dir/FrameSemantics_TEST.cc.o -MF CMakeFiles/UNIT_FrameSemantics_TEST.dir/FrameSemantics_TEST.cc.o.d -o CMakeFiles/UNIT_FrameSemantics_TEST.dir/FrameSemantics_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/FrameSemantics_TEST.cc
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-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Sky_TEST.dir/Sky_TEST.cc.o -o UNIT_Sky_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 93%] Linking CXX executable UNIT_Types_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Types_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Types_TEST.dir/Types_TEST.cc.o -o UNIT_Types_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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+[ 93%] Building CXX object src/CMakeFiles/UNIT_Converter_TEST.dir/Converter_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -MD -MT src/CMakeFiles/UNIT_Converter_TEST.dir/Converter_TEST.cc.o -MF CMakeFiles/UNIT_Converter_TEST.dir/Converter_TEST.cc.o.d -o CMakeFiles/UNIT_Converter_TEST.dir/Converter_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/Converter_TEST.cc
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-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_SDF_TEST.dir/SDF_TEST.cc.o -o UNIT_SDF_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 93%] Linking CXX executable UNIT_Scene_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Scene_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Scene_TEST.dir/Scene_TEST.cc.o -o UNIT_Scene_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 95%] Built target UNIT_SDF_TEST
+[ 93%] Built target UNIT_Scene_TEST
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-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/UNIT_parser_urdf_TEST.dir/parser_urdf_TEST.cc.o -MF CMakeFiles/UNIT_parser_urdf_TEST.dir/parser_urdf_TEST.cc.o.d -o CMakeFiles/UNIT_parser_urdf_TEST.dir/parser_urdf_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/parser_urdf_TEST.cc
+[ 93%] Building CXX object src/CMakeFiles/UNIT_parser_urdf_TEST.dir/parser_urdf_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/UNIT_parser_urdf_TEST.dir/parser_urdf_TEST.cc.o -MF CMakeFiles/UNIT_parser_urdf_TEST.dir/parser_urdf_TEST.cc.o.d -o CMakeFiles/UNIT_parser_urdf_TEST.dir/parser_urdf_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/parser_urdf_TEST.cc
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-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Visual_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Visual_TEST.dir/Visual_TEST.cc.o -o UNIT_Visual_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 93%] Linking CXX executable UNIT_Root_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Root_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Root_TEST.dir/Root_TEST.cc.o -o UNIT_Root_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 96%] Built target UNIT_Visual_TEST
+[ 93%] Built target UNIT_Root_TEST
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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 make[3]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 97%] Building CXX object src/CMakeFiles/UNIT_ParamPassing_TEST.dir/ParamPassing_TEST.cc.o
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/UNIT_ParamPassing_TEST.dir/ParamPassing_TEST.cc.o -MF CMakeFiles/UNIT_ParamPassing_TEST.dir/ParamPassing_TEST.cc.o.d -o CMakeFiles/UNIT_ParamPassing_TEST.dir/ParamPassing_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/ParamPassing_TEST.cc
+[ 94%] Building CXX object src/CMakeFiles/UNIT_ParamPassing_TEST.dir/ParamPassing_TEST.cc.o
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/c++ -DTINYXML2_IMPORT -I/build/sdformat-12.3.0+ds/test/gtest/include -I/build/sdformat-12.3.0+ds/include -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu -I/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/include -I/build/sdformat-12.3.0+ds/src -I/build/sdformat-12.3.0+ds/test -isystem /usr/include/ignition/math6 -isystem /usr/include/ignition/utils1 -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat   -fPIC -I/usr/lib/i386-linux-gnu/pkgconfig/../../../include -MD -MT src/CMakeFiles/UNIT_ParamPassing_TEST.dir/ParamPassing_TEST.cc.o -MF CMakeFiles/UNIT_ParamPassing_TEST.dir/ParamPassing_TEST.cc.o.d -o CMakeFiles/UNIT_ParamPassing_TEST.dir/ParamPassing_TEST.cc.o -c /build/sdformat-12.3.0+ds/src/ParamPassing_TEST.cc
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-[ 98%] Linking CXX executable UNIT_Sensor_TEST
+[ 95%] Linking CXX executable UNIT_parser_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_parser_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_parser_TEST.dir/parser_TEST.cc.o -o UNIT_parser_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 95%] Linking CXX executable UNIT_Pbr_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Pbr_TEST.dir/link.txt --verbose=1
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+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
+[ 95%] Built target UNIT_parser_TEST
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
+[ 95%] Built target UNIT_Pbr_TEST
+[ 95%] Linking CXX executable UNIT_Param_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Param_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Param_TEST.dir/Param_TEST.cc.o -o UNIT_Param_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 95%] Linking CXX executable UNIT_Sphere_TEST
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+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Sphere_TEST.dir/Sphere_TEST.cc.o -o UNIT_Sphere_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
+[ 95%] Built target UNIT_Param_TEST
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
+[ 95%] Built target UNIT_Sphere_TEST
+[ 96%] Linking CXX executable UNIT_Surface_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Surface_TEST.dir/link.txt --verbose=1
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+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
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+[ 96%] Linking CXX executable UNIT_XmlUtils_TEST
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+[ 96%] Linking CXX executable UNIT_ParamPassing_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_ParamPassing_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now -L/usr/lib/i386-linux-gnu/pkgconfig/../../../lib/i386-linux-gnu -lurdfdom_sensor -lurdfdom_model_state -lurdfdom_model -lurdfdom_world -L/usr/lib/i386-linux-gnu -lconsole_bridge CMakeFiles/UNIT_ParamPassing_TEST.dir/ParamPassing_TEST.cc.o -o UNIT_ParamPassing_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread -lurdfdom_sensor -lurdfdom_model_state -lurdfdom_model -lurdfdom_world -lconsole_bridge /usr/lib/i386-linux-gnu/libtinyxml2.so.9.0.0 /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
+[ 96%] Built target UNIT_XmlUtils_TEST
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
+[ 96%] Built target UNIT_ParamPassing_TEST
+[ 97%] Linking CXX executable UNIT_Sensor_TEST
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Sensor_TEST.dir/link.txt --verbose=1
 /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Sensor_TEST.dir/Sensor_TEST.cc.o -o UNIT_Sensor_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 98%] Built target UNIT_Sensor_TEST
-[ 98%] Linking CXX executable UNIT_Utils_TEST
+[ 97%] Built target UNIT_Sensor_TEST
+[ 97%] Linking CXX executable UNIT_Utils_TEST
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Utils_TEST.dir/link.txt --verbose=1
 /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Utils_TEST.dir/Utils_TEST.cc.o -o UNIT_Utils_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 97%] Linking CXX executable UNIT_SDF_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_SDF_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_SDF_TEST.dir/SDF_TEST.cc.o -o UNIT_SDF_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
+[ 97%] Built target UNIT_Utils_TEST
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 98%] Built target UNIT_Utils_TEST
-[ 98%] Linking CXX executable UNIT_World_TEST
+[ 97%] Built target UNIT_SDF_TEST
+[ 97%] Linking CXX executable UNIT_World_TEST
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_World_TEST.dir/link.txt --verbose=1
 /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_World_TEST.dir/World_TEST.cc.o -o UNIT_World_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
-[ 98%] Linking CXX executable UNIT_XmlUtils_TEST
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_XmlUtils_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_XmlUtils_TEST.dir/XmlUtils_TEST.cc.o -o UNIT_XmlUtils_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libtinyxml2.so.9.0.0 /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
-make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 98%] Built target UNIT_World_TEST
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 98%] Built target UNIT_XmlUtils_TEST
-[ 98%] Linking CXX executable UNIT_ParamPassing_TEST
-cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_ParamPassing_TEST.dir/link.txt --verbose=1
-/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now -L/usr/lib/i386-linux-gnu/pkgconfig/../../../lib/i386-linux-gnu -lurdfdom_sensor -lurdfdom_model_state -lurdfdom_model -lurdfdom_world -L/usr/lib/i386-linux-gnu -lconsole_bridge CMakeFiles/UNIT_ParamPassing_TEST.dir/ParamPassing_TEST.cc.o -o UNIT_ParamPassing_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread -lurdfdom_sensor -lurdfdom_model_state -lurdfdom_model -lurdfdom_world -lconsole_bridge /usr/lib/i386-linux-gnu/libtinyxml2.so.9.0.0 /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
+[ 97%] Built target UNIT_World_TEST
+[ 98%] Linking CXX executable UNIT_Visual_TEST
+cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_Visual_TEST.dir/link.txt --verbose=1
+/usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now CMakeFiles/UNIT_Visual_TEST.dir/Visual_TEST.cc.o -o UNIT_Visual_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
 make[3]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
-[ 98%] Built target UNIT_ParamPassing_TEST
+[ 98%] Built target UNIT_Visual_TEST
 [ 98%] Linking CXX executable UNIT_parser_urdf_TEST
 cd /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src && /usr/bin/cmake -E cmake_link_script CMakeFiles/UNIT_parser_urdf_TEST.dir/link.txt --verbose=1
 /usr/bin/c++ -g -O2 -ffile-prefix-map=/build/sdformat-12.3.0+ds=. -fstack-protector-strong -Wformat -Werror=format-security -D_LARGEFILE_SOURCE -D_FILE_OFFSET_BITS=64 -Wdate-time -D_FORTIFY_SOURCE=2 -Waddress -Warray-bounds -Wcomment -Wformat -Wnonnull -Wparentheses -Wreorder -Wreturn-type -Wsequence-point -Wsign-compare -Wstrict-aliasing -Wstrict-overflow=1 -Wswitch -Wtrigraphs -Wuninitialized -Wunused-function -Wunused-label -Wunused-value -Wunused-variable -Wvolatile-register-var -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -Wno-pragmas -Wc++17-compat -Wl,-z,relro -Wl,-z,now -L/usr/lib/i386-linux-gnu/pkgconfig/../../../lib/i386-linux-gnu -lurdfdom_sensor -lurdfdom_model_state -lurdfdom_model -lurdfdom_world -L/usr/lib/i386-linux-gnu -lconsole_bridge CMakeFiles/UNIT_parser_urdf_TEST.dir/parser_urdf_TEST.cc.o -o UNIT_parser_urdf_TEST   -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src  -L/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test  -Wl,-Bstatic -lgtest -lgtest_main -Wl,-Bdynamic libsdformat12.so.12.3.0 -lpthread -lurdfdom_sensor -lurdfdom_model_state -lurdfdom_model -lurdfdom_world -lconsole_bridge /usr/lib/i386-linux-gnu/libtinyxml2.so.9.0.0 /usr/lib/i386-linux-gnu/libignition-math6.so.6.10.0 
@@ -3824,7 +3867,7 @@
    debian/rules execute_after_dh_auto_build-indep
 make[1]: Entering directory '/build/sdformat-12.3.0+ds'
 dh_auto_build -- doc  # Generate documentation
-	cd obj-i686-linux-gnu && make -j8 "INSTALL=install --strip-program=true" doc VERBOSE=1
+	cd obj-i686-linux-gnu && make -j15 "INSTALL=install --strip-program=true" doc VERBOSE=1
 make[2]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 /usr/bin/cmake -S/build/sdformat-12.3.0+ds -B/build/sdformat-12.3.0+ds/obj-i686-linux-gnu --check-build-system CMakeFiles/Makefile.cmake 0
 make  -f CMakeFiles/Makefile2 doc
@@ -4280,7 +4323,7 @@
 writing tag file...
 Running plantuml with JAVA...
 Running dot...
-Generating dot graphs using 11 parallel threads...
+Generating dot graphs using 19 parallel threads...
 Running dot for graph 1/321
 Running dot for graph 2/321
 Running dot for graph 3/321
@@ -20095,7 +20138,7 @@
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 1/urw/helvetic/uhvr8a.pfb></usr/share/texlive/texmf-dist/fonts/type1/urw/helvet
 ic/uhvro8a.pfb>
-Output written on refman.pdf (716 pages, 2370413 bytes).
+Output written on refman.pdf (716 pages, 2370407 bytes).
 Transcript written on refman.log.
 makeindex refman.idx
 This is makeindex, version 2.16 [TeX Live 2022] (kpathsea + Thai support).
@@ -25793,7 +25836,7 @@
 /fonts/type1/urw/helvetic/uhvbo8a.pfb></usr/share/texlive/texmf-dist/fonts/type
 1/urw/helvetic/uhvr8a.pfb></usr/share/texlive/texmf-dist/fonts/type1/urw/helvet
 ic/uhvro8a.pfb>
-Output written on refman.pdf (802 pages, 2470522 bytes).
+Output written on refman.pdf (802 pages, 2470524 bytes).
 Transcript written on refman.log.
 latex_count=8 ; \
 while egrep -s 'Rerun (LaTeX|to get cross-references right|to get bibliographical references right)' refman.log && [ $latex_count -gt 0 ] ;\
@@ -29137,7 +29180,7 @@
 /fonts/type1/urw/helvetic/uhvbo8a.pfb></usr/share/texlive/texmf-dist/fonts/type
 1/urw/helvetic/uhvr8a.pfb></usr/share/texlive/texmf-dist/fonts/type1/urw/helvet
 ic/uhvro8a.pfb>
-Output written on refman.pdf (802 pages, 2467818 bytes).
+Output written on refman.pdf (802 pages, 2467815 bytes).
 Transcript written on refman.log.
 makeindex refman.idx
 This is makeindex, version 2.16 [TeX Live 2022] (kpathsea + Thai support).
@@ -32480,7 +32523,7 @@
 /fonts/type1/urw/helvetic/uhvbo8a.pfb></usr/share/texlive/texmf-dist/fonts/type
 1/urw/helvetic/uhvr8a.pfb></usr/share/texlive/texmf-dist/fonts/type1/urw/helvet
 ic/uhvro8a.pfb>
-Output written on refman.pdf (802 pages, 2467818 bytes).
+Output written on refman.pdf (802 pages, 2467815 bytes).
 Transcript written on refman.log.
 make[6]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/doxygen/latex'
 mv /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/doxygen/latex/refman.pdf /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/doxygen/latex/sdf-12.3.0.pdf
@@ -32494,10 +32537,10 @@
    debian/rules override_dh_auto_test-arch
 make[1]: Entering directory '/build/sdformat-12.3.0+ds'
 LD_LIBRARY_PATH=/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src LC_ALL=C dh_auto_test
-	cd obj-i686-linux-gnu && make -j8 test ARGS\+=--verbose ARGS\+=-j8
+	cd obj-i686-linux-gnu && make -j15 test ARGS\+=--verbose ARGS\+=-j15
 make[2]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 Running tests...
-/usr/bin/ctest --force-new-ctest-process --verbose -j8
+/usr/bin/ctest --force-new-ctest-process --verbose -j15
 UpdateCTestConfiguration  from :/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/DartConfiguration.tcl
 UpdateCTestConfiguration  from :/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/DartConfiguration.tcl
 Test project /build/sdformat-12.3.0+ds/obj-i686-linux-gnu
@@ -32563,13 +32606,6 @@
 8: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_cfm_damping_implicit_spring_damper.xml"
 8: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 8: Test timeout computed to be: 10000000
-4: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_audio.xml
-4: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_audio.xml
-2: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_actor_dom.xml
-2: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_actor_dom.xml
-6: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_category_bitmask.xml
-6: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_category_bitmask.xml
-  1/221 Test   #4: check_INTEGRATION_audio ................................   Passed    0.06 sec
 test 9
         Start   9: INTEGRATION_collision_dom
 
@@ -32578,14 +32614,12 @@
 9: Environment variables: 
 9:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 9: Test timeout computed to be: 240
-  2/221 Test   #2: check_INTEGRATION_actor_dom ............................   Passed    0.08 sec
 test 10
         Start  10: check_INTEGRATION_collision_dom
 
 10: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_collision_dom.xml"
 10: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 10: Test timeout computed to be: 10000000
-  3/221 Test   #6: check_INTEGRATION_category_bitmask .....................   Passed    0.08 sec
 test 11
         Start  11: INTEGRATION_converter
 
@@ -32594,18 +32628,12 @@
 11: Environment variables: 
 11:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 11: Test timeout computed to be: 240
-8: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_cfm_damping_implicit_spring_damper.xml
-8: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_cfm_damping_implicit_spring_damper.xml
-  4/221 Test   #8: check_INTEGRATION_cfm_damping_implicit_spring_damper ...   Passed    0.06 sec
 test 12
         Start  12: check_INTEGRATION_converter
 
 12: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_converter.xml"
 12: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 12: Test timeout computed to be: 10000000
-10: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_collision_dom.xml
-10: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_collision_dom.xml
-  5/221 Test  #10: check_INTEGRATION_collision_dom ........................   Passed    0.06 sec
 test 13
         Start  13: INTEGRATION_default_elements
 
@@ -32614,18 +32642,12 @@
 13: Environment variables: 
 13:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 13: Test timeout computed to be: 240
-12: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_converter.xml
-12: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_converter.xml
-  6/221 Test  #12: check_INTEGRATION_converter ............................   Passed    0.06 sec
 test 14
         Start  14: check_INTEGRATION_default_elements
 
 14: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_default_elements.xml"
 14: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 14: Test timeout computed to be: 10000000
-14: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_default_elements.xml
-14: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_default_elements.xml
-  7/221 Test  #14: check_INTEGRATION_default_elements .....................   Passed    0.06 sec
 test 15
         Start  15: INTEGRATION_deprecated_specs
 
@@ -32634,63 +32656,28 @@
 15: Environment variables: 
 15:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 15: Test timeout computed to be: 240
-7: Running main() from /usr/src/gtest/src/gtest_main.cc
-7: [==========] Running 2 tests from 1 test suite.
-7: [----------] Global test environment set-up.
-7: [----------] 2 tests from SDFParser
-7: [ RUN      ] SDFParser.CFMDampingSDFTest
-3: Running main() from /usr/src/gtest/src/gtest_main.cc
-3: [==========] Running 1 test from 1 test suite.
-3: [----------] Global test environment set-up.
-3: [----------] 1 test from SDFParser
-3: [ RUN      ] SDFParser.AudioSDF_FullParameters_noThrow
-5: Running main() from /usr/src/gtest/src/gtest_main.cc
-5: [==========] Running 2 tests from 1 test suite.
-5: [----------] Global test environment set-up.
-5: [----------] 2 tests from CategoryBitmask
-5: [ RUN      ] CategoryBitmask.WasSpecified
-1: Running main() from /usr/src/gtest/src/gtest_main.cc
-1: [==========] Running 2 tests from 1 test suite.
-1: [----------] Global test environment set-up.
-1: [----------] 2 tests from DOMActor
-1: [ RUN      ] DOMActor.LoadActors
-11: Running main() from /usr/src/gtest/src/gtest_main.cc
-11: [==========] Running 5 tests from 1 test suite.
-11: [----------] Global test environment set-up.
-11: [----------] 5 tests from ConverterIntegration
-11: [ RUN      ] ConverterIntegration.ParserFileConverter
-9: Running main() from /usr/src/gtest/src/gtest_main.cc
-9: [==========] Running 4 tests from 1 test suite.
-9: [----------] Global test environment set-up.
-9: [----------] 4 tests from DOMCollision
-9: [ RUN      ] DOMCollision.NotACollision
-9: [       OK ] DOMCollision.NotACollision (0 ms)
-9: [ RUN      ] DOMCollision.NoName
-9:   <collision/>
-9: [1;31mError [Element.cc:979][0m Missing element description for [geometry]
-9: [       OK ] DOMCollision.NoName (0 ms)
-9: [ RUN      ] DOMCollision.DoublePendulum
-3: [       OK ] SDFParser.AudioSDF_FullParameters_noThrow (211 ms)
-3: [----------] 1 test from SDFParser (211 ms total)
-3: 
-3: [----------] Global test environment tear-down
-3: [==========] 1 test from 1 test suite ran. (211 ms total)
-3: [  PASSED  ] 1 test.
-  8/221 Test   #3: INTEGRATION_audio ......................................   Passed    0.47 sec
+10: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_collision_dom.xml
+10: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_collision_dom.xml
+8: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_cfm_damping_implicit_spring_damper.xml
+8: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_cfm_damping_implicit_spring_damper.xml
+6: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_category_bitmask.xml
+6: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_category_bitmask.xml
+2: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_actor_dom.xml
+2: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_actor_dom.xml
+12: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_converter.xml
+12: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_converter.xml
+4: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_audio.xml
+4: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_audio.xml
+14: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_default_elements.xml
+14: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_default_elements.xml
+  1/221 Test   #2: check_INTEGRATION_actor_dom ............................   Passed    0.04 sec
 test 16
         Start  16: check_INTEGRATION_deprecated_specs
 
 16: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_deprecated_specs.xml"
 16: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 16: Test timeout computed to be: 10000000
-13: Running main() from /usr/src/gtest/src/gtest_main.cc
-13: [==========] Running 3 tests from 1 test suite.
-13: [----------] Global test environment set-up.
-13: [----------] 3 tests from ExplicitlySetInFile
-13: [ RUN      ] ExplicitlySetInFile.EmptyRoadSphCoords
-16: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_deprecated_specs.xml
-16: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_deprecated_specs.xml
-  9/221 Test  #16: check_INTEGRATION_deprecated_specs .....................   Passed    0.06 sec
+  2/221 Test   #4: check_INTEGRATION_audio ................................   Passed    0.04 sec
 test 17
         Start  17: INTEGRATION_disable_fixed_joint_reduction
 
@@ -32699,90 +32686,14 @@
 17: Environment variables: 
 17:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 17: Test timeout computed to be: 240
-7: [       OK ] SDFParser.CFMDampingSDFTest (295 ms)
-7: [ RUN      ] SDFParser.CFMDampingURDFTest
-15: Running main() from /usr/src/gtest/src/gtest_main.cc
-15: [==========] Running 4 tests from 2 test suites.
-15: [----------] Global test environment set-up.
-15: [----------] 2 tests from DeprecatedSpecs
-15: [ RUN      ] DeprecatedSpecs.Spec1_0
-15: [1;31mError [parser.cc:437][0m Could not find the 'element' element in the xml file
-15: [       OK ] DeprecatedSpecs.Spec1_0 (6 ms)
-15: [ RUN      ] DeprecatedSpecs.Spec1_2
-15: [1;31mError [parser.cc:437][0m Could not find the 'element' element in the xml file
-15: [       OK ] DeprecatedSpecs.Spec1_2 (0 ms)
-15: [----------] 2 tests from DeprecatedSpecs (6 ms total)
-15: 
-15: [----------] 2 tests from DeprecatedElements
-15: [ RUN      ] DeprecatedElements.CanEmitErrors
-5: [       OK ] CategoryBitmask.WasSpecified (311 ms)
-5: [ RUN      ] CategoryBitmask.WasNotSpecified
-9: [       OK ] DOMCollision.DoublePendulum (297 ms)
-9: [ RUN      ] DOMCollision.LoadModelFramesRelativeToJoint
-7: Error:   Inertial element must have inertia element
-7:          at line 306 in ./urdf_parser/src/link.cpp
-7: Error:   Could not parse inertial element for Link [link0]
-7:          at line 435 in ./urdf_parser/src/link.cpp
-7: Error:   Inertial element must have inertia element
-7:          at line 306 in ./urdf_parser/src/link.cpp
-7: Error:   Could not parse inertial element for Link [link1]
-7:          at line 435 in ./urdf_parser/src/link.cpp
-7: Error:   Inertial element must have inertia element
-7:          at line 306 in ./urdf_parser/src/link.cpp
-7: Error:   Could not parse inertial element for Link [link2]
-7:          at line 435 in ./urdf_parser/src/link.cpp
-7: Error:   Inertial element must have inertia element
-7:          at line 306 in ./urdf_parser/src/link.cpp
-7: Error:   Could not parse inertial element for Link [link3]
-7:          at line 435 in ./urdf_parser/src/link.cpp
-7: Error:   Inertial element must have inertia element
-7:          at line 306 in ./urdf_parser/src/link.cpp
-7: Error:   Could not parse inertial element for Link [link0]
-7:          at line 435 in ./urdf_parser/src/link.cpp
-7: Error:   Inertial element must have inertia element
-7:          at line 306 in ./urdf_parser/src/link.cpp
-7: Error:   Could not parse inertial element for Link [link1]
-7:          at line 435 in ./urdf_parser/src/link.cpp
-7: Error:   Inertial element must have inertia element
-7:          at line 306 in ./urdf_parser/src/link.cpp
-7: Error:   Could not parse inertial element for Link [link2]
-7:          at line 435 in ./urdf_parser/src/link.cpp
-7: Error:   Inertial element must have inertia element
-7:          at line 306 in ./urdf_parser/src/link.cpp
-7: Error:   Could not parse inertial element for Link [link3]
-7:          at line 435 in ./urdf_parser/src/link.cpp
-7: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-17: Running main() from /usr/src/gtest/src/gtest_main.cc
-17: [==========] Running 1 test from 1 test suite.
-17: [----------] Global test environment set-up.
-17: [----------] 1 test from SDFParser
-17: [ RUN      ] SDFParser.DisableFixedJointReductionTest
-15: [       OK ] DeprecatedElements.CanEmitErrors (209 ms)
-15: [ RUN      ] DeprecatedElements.CanEmitWarningWithErrorEnforcmentPolicy
-1: [       OK ] DOMActor.LoadActors (521 ms)
-1: [ RUN      ] DOMActor.CopySdfLoadedProperties
-11: [       OK ] ConverterIntegration.ParserFileConverter (437 ms)
-11: [ RUN      ] ConverterIntegration.convertFileToNotLatestVersion
-7: [       OK ] SDFParser.CFMDampingURDFTest (278 ms)
-7: [----------] 2 tests from SDFParser (574 ms total)
-7: 
-7: [----------] Global test environment tear-down
-7: [==========] 2 tests from 1 test suite ran. (574 ms total)
-7: [  PASSED  ] 2 tests.
-5: [       OK ] CategoryBitmask.WasNotSpecified (274 ms)
-5: [----------] 2 tests from CategoryBitmask (586 ms total)
-5: 
-5: [----------] Global test environment tear-down
- 10/221 Test   #7: INTEGRATION_cfm_damping_implicit_spring_damper .........   Passed    0.83 sec
+  3/221 Test   #6: check_INTEGRATION_category_bitmask .....................   Passed    0.04 sec
 test 18
         Start  18: check_INTEGRATION_disable_fixed_joint_reduction
 
 18: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_disable_fixed_joint_reduction.xml"
 18: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 18: Test timeout computed to be: 10000000
-5: [==========] 2 tests from 1 test suite ran. (586 ms total)
-5: [  PASSED  ] 2 tests.
- 11/221 Test   #5: INTEGRATION_category_bitmask ...........................   Passed    0.86 sec
+  4/221 Test   #8: check_INTEGRATION_cfm_damping_implicit_spring_damper ...   Passed    0.03 sec
 test 19
         Start  19: INTEGRATION_element_tracing
 
@@ -32791,20 +32702,14 @@
 19: Environment variables: 
 19:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 19: Test timeout computed to be: 240
-18: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_disable_fixed_joint_reduction.xml
-18: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_disable_fixed_joint_reduction.xml
- 12/221 Test  #18: check_INTEGRATION_disable_fixed_joint_reduction ........   Passed    0.04 sec
+  5/221 Test  #10: check_INTEGRATION_collision_dom ........................   Passed    0.03 sec
 test 20
         Start  20: check_INTEGRATION_element_tracing
 
 20: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_element_tracing.xml"
 20: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 20: Test timeout computed to be: 10000000
-13: [       OK ] ExplicitlySetInFile.EmptyRoadSphCoords (444 ms)
-13: [ RUN      ] ExplicitlySetInFile.EmptyAxis
-20: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_element_tracing.xml
-20: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_element_tracing.xml
- 13/221 Test  #20: check_INTEGRATION_element_tracing ......................   Passed    0.08 sec
+  6/221 Test  #12: check_INTEGRATION_converter ............................   Passed    0.03 sec
 test 21
         Start  21: INTEGRATION_fixed_joint_reduction
 
@@ -32813,22 +32718,16 @@
 21: Environment variables: 
 21:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 21: Test timeout computed to be: 240
-15: [       OK ] DeprecatedElements.CanEmitWarningWithErrorEnforcmentPolicy (208 ms)
-15: [----------] 2 tests from DeprecatedElements (418 ms total)
-15: 
-15: [----------] Global test environment tear-down
-15: [==========] 4 tests from 2 test suites ran. (424 ms total)
-15: [  PASSED  ] 4 tests.
- 14/221 Test  #15: INTEGRATION_deprecated_specs ...........................   Passed    0.78 sec
+  7/221 Test  #14: check_INTEGRATION_default_elements .....................   Passed    0.03 sec
 test 22
         Start  22: check_INTEGRATION_fixed_joint_reduction
 
 22: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_fixed_joint_reduction.xml"
 22: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 22: Test timeout computed to be: 10000000
-22: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_fixed_joint_reduction.xml
-22: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_fixed_joint_reduction.xml
- 15/221 Test  #22: check_INTEGRATION_fixed_joint_reduction ................   Passed    0.03 sec
+16: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_deprecated_specs.xml
+16: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_deprecated_specs.xml
+  8/221 Test  #16: check_INTEGRATION_deprecated_specs .....................   Passed    0.02 sec
 test 23
         Start  23: INTEGRATION_force_torque_sensor
 
@@ -32837,27 +32736,18 @@
 23: Environment variables: 
 23:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 23: Test timeout computed to be: 240
-9: [       OK ] DOMCollision.LoadModelFramesRelativeToJoint (343 ms)
-9: [----------] 4 tests from DOMCollision (641 ms total)
-9: 
-9: [----------] Global test environment tear-down
-9: [==========] 4 tests from 1 test suite ran. (641 ms total)
-9: [  PASSED  ] 4 tests.
- 16/221 Test   #9: INTEGRATION_collision_dom ..............................   Passed    0.98 sec
+18: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_disable_fixed_joint_reduction.xml
+18: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_disable_fixed_joint_reduction.xml
+  9/221 Test  #18: check_INTEGRATION_disable_fixed_joint_reduction ........   Passed    0.02 sec
 test 24
         Start  24: check_INTEGRATION_force_torque_sensor
 
 24: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_force_torque_sensor.xml"
 24: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 24: Test timeout computed to be: 10000000
-19: Running main() from /usr/src/gtest/src/gtest_main.cc
-19: [==========] Running 2 tests from 1 test suite.
-19: [----------] Global test environment set-up.
-19: [----------] 2 tests from ElementTracing
-19: [ RUN      ] ElementTracing.NestedModels
-24: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_force_torque_sensor.xml
-24: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_force_torque_sensor.xml
- 17/221 Test  #24: check_INTEGRATION_force_torque_sensor ..................   Passed    0.07 sec
+20: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_element_tracing.xml
+20: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_element_tracing.xml
+ 10/221 Test  #20: check_INTEGRATION_element_tracing ......................   Passed    0.02 sec
 test 25
         Start  25: INTEGRATION_frame
 
@@ -32866,41 +32756,18 @@
 25: Environment variables: 
 25:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 25: Test timeout computed to be: 240
-11: [       OK ] ConverterIntegration.convertFileToNotLatestVersion (395 ms)
-11: [ RUN      ] ConverterIntegration.ParserStringConverter
-21: Running main() from /usr/src/gtest/src/gtest_main.cc
-21: [==========] Running 7 tests from 1 test suite.
-21: [----------] Global test environment set-up.
-21: [----------] 7 tests from SDFParser
-21: [ RUN      ] SDFParser.FixedJointReductionEquivalenceTest
-23: Running main() from /usr/src/gtest/src/gtest_main.cc
-23: [==========] Running 1 test from 1 test suite.
-23: [----------] Global test environment set-up.
-23: [----------] 1 test from SDFParser
-23: [ RUN      ] SDFParser.ForceTorqueSensorTest
-1: [       OK ] DOMActor.CopySdfLoadedProperties (499 ms)
-1: [----------] 2 tests from DOMActor (1020 ms total)
-1: 
-1: [----------] Global test environment tear-down
-1: [==========] 2 tests from 1 test suite ran. (1024 ms total)
-1: [  PASSED  ] 2 tests.
- 18/221 Test   #1: INTEGRATION_actor_dom ..................................   Passed    1.32 sec
+22: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_fixed_joint_reduction.xml
+22: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_fixed_joint_reduction.xml
+ 11/221 Test  #22: check_INTEGRATION_fixed_joint_reduction ................   Passed    0.02 sec
 test 26
         Start  26: check_INTEGRATION_frame
 
 26: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_frame.xml"
 26: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 26: Test timeout computed to be: 10000000
-25: Running main() from /usr/src/gtest/src/gtest_main.cc
-25: [==========] Running 19 tests from 2 test suites.
-25: [----------] Global test environment set-up.
-25: [----------] 7 tests from Frame
-25: [ RUN      ] Frame.ModelFrame
-13: [       OK ] ExplicitlySetInFile.EmptyAxis (397 ms)
-13: [ RUN      ] ExplicitlySetInFile.ToString
-26: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_frame.xml
-26: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_frame.xml
- 19/221 Test  #26: check_INTEGRATION_frame ................................   Passed    0.05 sec
+24: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_force_torque_sensor.xml
+24: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_force_torque_sensor.xml
+ 12/221 Test  #24: check_INTEGRATION_force_torque_sensor ..................   Passed    0.02 sec
 test 27
         Start  27: INTEGRATION_geometry_dom
 
@@ -32909,30 +32776,33 @@
 27: Environment variables: 
 27:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 27: Test timeout computed to be: 240
-19: [       OK ] ElementTracing.NestedModels (361 ms)
-19: [ RUN      ] ElementTracing.includes
-11: [       OK ] ConverterIntegration.ParserStringConverter (281 ms)
-11: [ RUN      ] ConverterIntegration.ParserStringConverterFrom14
-23: [       OK ] SDFParser.ForceTorqueSensorTest (244 ms)
-23: [----------] 1 test from SDFParser (244 ms total)
-23: 
-23: [----------] Global test environment tear-down
-23: [==========] 1 test from 1 test suite ran. (244 ms total)
-23: [  PASSED  ] 1 test.
- 20/221 Test  #23: INTEGRATION_force_torque_sensor ........................   Passed    0.51 sec
+7: Running main() from /usr/src/gtest/src/gtest_main.cc
+7: [==========] Running 2 tests from 1 test suite.
+7: [----------] Global test environment set-up.
+7: [----------] 2 tests from SDFParser
+7: [ RUN      ] SDFParser.CFMDampingSDFTest
+1: Running main() from /usr/src/gtest/src/gtest_main.cc
+1: [==========] Running 2 tests from 1 test suite.
+1: [----------] Global test environment set-up.
+1: [----------] 2 tests from DOMActor
+1: [ RUN      ] DOMActor.LoadActors
+26: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_frame.xml
+26: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_frame.xml
+ 13/221 Test  #26: check_INTEGRATION_frame ................................   Passed    0.02 sec
 test 28
         Start  28: check_INTEGRATION_geometry_dom
 
 28: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_geometry_dom.xml"
 28: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 28: Test timeout computed to be: 10000000
-17: [       OK ] SDFParser.DisableFixedJointReductionTest (774 ms)
-17: [----------] 1 test from SDFParser (774 ms total)
-17: 
-17: [----------] Global test environment tear-down
-17: [==========] 1 test from 1 test suite ran. (774 ms total)
-17: [  PASSED  ] 1 test.
- 21/221 Test  #17: INTEGRATION_disable_fixed_joint_reduction ..............   Passed    1.04 sec
+3: Running main() from /usr/src/gtest/src/gtest_main.cc
+3: [==========] Running 1 test from 1 test suite.
+3: [----------] Global test environment set-up.
+3: [----------] 1 test from SDFParser
+3: [ RUN      ] SDFParser.AudioSDF_FullParameters_noThrow
+28: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_geometry_dom.xml
+28: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_geometry_dom.xml
+ 14/221 Test  #28: check_INTEGRATION_geometry_dom .........................   Passed    0.02 sec
 test 29
         Start  29: INTEGRATION_include
 
@@ -32941,25 +32811,104 @@
 29: Environment variables: 
 29:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 29: Test timeout computed to be: 240
-28: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_geometry_dom.xml
-28: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_geometry_dom.xml
-25: [       OK ] Frame.ModelFrame (262 ms)
-25: [ RUN      ] Frame.FrameDefaultPose
- 22/221 Test  #28: check_INTEGRATION_geometry_dom .........................   Passed    0.06 sec
+13: Running main() from /usr/src/gtest/src/gtest_main.cc
+13: [==========] Running 3 tests from 1 test suite.
+13: [----------] Global test environment set-up.
+13: [----------] 3 tests from ExplicitlySetInFile
+13: [ RUN      ] ExplicitlySetInFile.EmptyRoadSphCoords
+5: Running main() from /usr/src/gtest/src/gtest_main.cc
+5: [==========] Running 2 tests from 1 test suite.
+5: [----------] Global test environment set-up.
+5: [----------] 2 tests from CategoryBitmask
+5: [ RUN      ] CategoryBitmask.WasSpecified
+11: Running main() from /usr/src/gtest/src/gtest_main.cc
+11: [==========] Running 5 tests from 1 test suite.
+11: [----------] Global test environment set-up.
+11: [----------] 5 tests from ConverterIntegration
+11: [ RUN      ] ConverterIntegration.ParserFileConverter
+9: Running main() from /usr/src/gtest/src/gtest_main.cc
+9: [==========] Running 4 tests from 1 test suite.
+9: [----------] Global test environment set-up.
+9: [----------] 4 tests from DOMCollision
+9: [ RUN      ] DOMCollision.NotACollision
+9: [       OK ] DOMCollision.NotACollision (0 ms)
+9: [ RUN      ] DOMCollision.NoName
+9:   <collision/>
+9: [1;31mError [Element.cc:979][0m Missing element description for [geometry]
+9: [       OK ] DOMCollision.NoName (0 ms)
+9: [ RUN      ] DOMCollision.DoublePendulum
+15: Running main() from /usr/src/gtest/src/gtest_main.cc
+15: [==========] Running 4 tests from 2 test suites.
+15: [----------] Global test environment set-up.
+15: [----------] 2 tests from DeprecatedSpecs
+15: [ RUN      ] DeprecatedSpecs.Spec1_0
+15: [1;31mError [parser.cc:437][0m Could not find the 'element' element in the xml file
+15: [       OK ] DeprecatedSpecs.Spec1_0 (3 ms)
+15: [ RUN      ] DeprecatedSpecs.Spec1_2
+15: [1;31mError [parser.cc:437][0m Could not find the 'element' element in the xml file
+15: [       OK ] DeprecatedSpecs.Spec1_2 (0 ms)
+15: [----------] 2 tests from DeprecatedSpecs (4 ms total)
+15: 
+15: [----------] 2 tests from DeprecatedElements
+15: [ RUN      ] DeprecatedElements.CanEmitErrors
+17: Running main() from /usr/src/gtest/src/gtest_main.cc
+17: [==========] Running 1 test from 1 test suite.
+17: [----------] Global test environment set-up.
+17: [----------] 1 test from SDFParser
+17: [ RUN      ] SDFParser.DisableFixedJointReductionTest
+19: Running main() from /usr/src/gtest/src/gtest_main.cc
+19: [==========] Running 2 tests from 1 test suite.
+19: [----------] Global test environment set-up.
+19: [----------] 2 tests from ElementTracing
+19: [ RUN      ] ElementTracing.NestedModels
+7: [       OK ] SDFParser.CFMDampingSDFTest (88 ms)
+7: [ RUN      ] SDFParser.CFMDampingURDFTest
+23: Running main() from /usr/src/gtest/src/gtest_main.cc
+23: [==========] Running 1 test from 1 test suite.
+23: [----------] Global test environment set-up.
+23: [----------] 1 test from SDFParser
+23: [ RUN      ] SDFParser.ForceTorqueSensorTest
+21: Running main() from /usr/src/gtest/src/gtest_main.cc
+21: [==========] Running 7 tests from 1 test suite.
+21: [----------] Global test environment set-up.
+21: [----------] 7 tests from SDFParser
+21: [ RUN      ] SDFParser.FixedJointReductionEquivalenceTest
+1: [       OK ] DOMActor.LoadActors (110 ms)
+1: [ RUN      ] DOMActor.CopySdfLoadedProperties
+25: Running main() from /usr/src/gtest/src/gtest_main.cc
+25: [==========] Running 19 tests from 2 test suites.
+25: [----------] Global test environment set-up.
+25: [----------] 7 tests from Frame
+25: [ RUN      ] Frame.ModelFrame
+27: Running main() from /usr/src/gtest/src/gtest_main.cc
+27: [==========] Running 1 test from 1 test suite.
+27: [----------] Global test environment set-up.
+27: [----------] 1 test from DOMGeometry
+27: [ RUN      ] DOMGeometry.Shapes
+3: [       OK ] SDFParser.AudioSDF_FullParameters_noThrow (125 ms)
+3: [----------] 1 test from SDFParser (126 ms total)
+3: 
+3: [----------] Global test environment tear-down
+3: [==========] 1 test from 1 test suite ran. (126 ms total)
+3: [  PASSED  ] 1 test.
+ 15/221 Test   #3: INTEGRATION_audio ......................................   Passed    0.22 sec
 test 30
         Start  30: check_INTEGRATION_include
 
 30: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_include.xml"
 30: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 30: Test timeout computed to be: 10000000
-27: Running main() from /usr/src/gtest/src/gtest_main.cc
-27: [==========] Running 1 test from 1 test suite.
-27: [----------] Global test environment set-up.
-27: [----------] 1 test from DOMGeometry
-27: [ RUN      ] DOMGeometry.Shapes
-30: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_include.xml
-30: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_include.xml
- 23/221 Test  #30: check_INTEGRATION_include ..............................   Passed    0.06 sec
+29: [==========] Running 1 test from 1 test suite.
+29: [----------] Global test environment set-up.
+29: [----------] 1 test from Include
+29: [ RUN      ] Include.IncludeDescription
+29: [       OK ] Include.IncludeDescription (2 ms)
+29: [----------] 1 test from Include (2 ms total)
+29: 
+29: [----------] Global test environment tear-down
+29: [==========] 1 test from 1 test suite ran. (2 ms total)
+29: [  PASSED  ] 1 test.
+ 16/221 Test  #29: INTEGRATION_include ....................................   Passed    0.12 sec
 test 31
         Start  31: INTEGRATION_includes
 
@@ -32968,35 +32917,50 @@
 31: Environment variables: 
 31:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 31: Test timeout computed to be: 240
-11: [       OK ] ConverterIntegration.ParserStringConverterFrom14 (234 ms)
-11: [ RUN      ] ConverterIntegration.UnflattenConversion
-21: [1;32mMsg [fixed_joint_reduction.cc:582][0m name [link0] m[1000] p[0 0 -0.5 0 -0 0] ixx[1] iyy[1] izz[1] ixy[0] ixz[0] iyz[0]
-21: [1;32mMsg [fixed_joint_reduction.cc:582][0m name [link1] m[100] p[0 -1.5 0 -2.14159 0.141593 0.858407] ixx[2] iyy[3] izz[4] ixy[0] ixz[0] iyz[0]
-21: [1;32mMsg [fixed_joint_reduction.cc:582][0m name [link2] m[200] p[0.2 0.4 1 -1.14159 -0.141593 1.5708] ixx[5] iyy[6] izz[7] ixy[0] ixz[0] iyz[0]
-21: [1;32mMsg [fixed_joint_reduction.cc:582][0m name [link3] m[400] p[0.1 0.2 0.3 -1.14159 0.141593 0.858407] ixx[8] iyy[9] izz[10] ixy[0] ixz[0] iyz[0]
-21: [1;32mMsg [fixed_joint_reduction.cc:582][0m name [link1a] m[700] p[1.6 -2.72857 -0.342857 -2.14159 0.141593 0.858407] ixx[576.477] iyy[527.681] izz[420.127] ixy[-65.6808] ixz[134.562] iyz[264.781]
-13: [       OK ] ExplicitlySetInFile.ToString (418 ms)
-13: [----------] 3 tests from ExplicitlySetInFile (1261 ms total)
-13: 
-13: [----------] Global test environment tear-down
-21: [       OK ] SDFParser.FixedJointReductionEquivalenceTest (505 ms)
-21: [ RUN      ] SDFParser.FixedJointReductionVisualTest
-27: [       OK ] DOMGeometry.Shapes (155 ms)
-27: [----------] 1 test from DOMGeometry (155 ms total)
-27: 
-27: [----------] Global test environment tear-down
-13: [==========] 3 tests from 1 test suite ran. (1261 ms total)
-13: [  PASSED  ] 3 tests.
-27: [==========] 1 test from 1 test suite ran. (155 ms total)
-27: [  PASSED  ] 1 test.
- 24/221 Test  #27: INTEGRATION_geometry_dom ...............................   Passed    0.41 sec
+30: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_include.xml
+7: Error:   Inertial element must have inertia element
+7:          at line 306 in ./urdf_parser/src/link.cpp
+7: Error:   Could not parse inertial element for Link [link0]
+7:          at line 435 in ./urdf_parser/src/link.cpp
+7: Error:   Inertial element must have inertia element
+7:          at line 306 in ./urdf_parser/src/link.cpp
+7: Error:   Could not parse inertial element for Link [link1]
+7:          at line 435 in ./urdf_parser/src/link.cpp
+7: Error:   Inertial element must have inertia element
+7:          at line 306 in ./urdf_parser/src/link.cpp
+7: Error:   Could not parse inertial element for Link [link2]
+7:          at line 435 in ./urdf_parser/src/link.cpp
+7: Error:   Inertial element must have inertia element
+7:          at line 306 in ./urdf_parser/src/link.cpp
+7: Error:   Could not parse inertial element for Link [link3]
+7:          at line 435 in ./urdf_parser/src/link.cpp
+7: Error:   Inertial element must have inertia element
+7:          at line 306 in ./urdf_parser/src/link.cpp
+7: Error:   Could not parse inertial element for Link [link0]
+7:          at line 435 in ./urdf_parser/src/link.cpp
+7: Error:   Inertial element must have inertia element
+7:          at line 306 in ./urdf_parser/src/link.cpp
+7: Error:   Could not parse inertial element for Link [link1]
+7:          at line 435 in ./urdf_parser/src/link.cpp
+7: Error:   Inertial element must have inertia element
+7:          at line 306 in ./urdf_parser/src/link.cpp
+7: Error:   Could not parse inertial element for Link [link2]
+7:          at line 435 in ./urdf_parser/src/link.cpp
+7: Error:   Inertial element must have inertia element
+7:          at line 306 in ./urdf_parser/src/link.cpp
+7: Error:   Could not parse inertial element for Link [link3]
+7:          at line 435 in ./urdf_parser/src/link.cpp
+7: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+ 17/221 Test  #30: check_INTEGRATION_include ..............................   Passed    0.02 sec
 test 32
         Start  32: check_INTEGRATION_includes
 
 32: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_includes.xml"
 32: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 32: Test timeout computed to be: 10000000
- 25/221 Test  #13: INTEGRATION_default_elements ...........................   Passed    1.66 sec
+32: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_includes.xml
+32: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_includes.xml
+ 18/221 Test  #32: check_INTEGRATION_includes .............................   Passed    0.02 sec
 test 33
         Start  33: INTEGRATION_interface_api
 
@@ -33005,26 +32969,28 @@
 33: Environment variables: 
 33:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 33: Test timeout computed to be: 240
-29: [==========] Running 1 test from 1 test suite.
-29: [----------] Global test environment set-up.
-29: [----------] 1 test from Include
-29: [ RUN      ] Include.IncludeDescription
-29: [       OK ] Include.IncludeDescription (8 ms)
-29: [----------] 1 test from Include (8 ms total)
-29: 
-29: [----------] Global test environment tear-down
-29: [==========] 1 test from 1 test suite ran. (8 ms total)
-29: [  PASSED  ] 1 test.
- 26/221 Test  #29: INTEGRATION_include ....................................   Passed    0.24 sec
+7: [       OK ] SDFParser.CFMDampingURDFTest (90 ms)
+7: [----------] 2 tests from SDFParser (178 ms total)
+7: 
+7: [----------] Global test environment tear-down
+7: [==========] 2 tests from 1 test suite ran. (178 ms total)
+7: [  PASSED  ] 2 tests.
+ 19/221 Test   #7: INTEGRATION_cfm_damping_implicit_spring_damper .........   Passed    0.26 sec
 test 34
         Start  34: check_INTEGRATION_interface_api
 
 34: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_interface_api.xml"
 34: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 34: Test timeout computed to be: 10000000
-32: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_includes.xml
-32: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_includes.xml
- 27/221 Test  #32: check_INTEGRATION_includes .............................   Passed    0.05 sec
+11: [       OK ] ConverterIntegration.ParserFileConverter (129 ms)
+11: [ RUN      ] ConverterIntegration.convertFileToNotLatestVersion
+15: [       OK ] DeprecatedElements.CanEmitErrors (116 ms)
+15: [ RUN      ] DeprecatedElements.CanEmitWarningWithErrorEnforcmentPolicy
+13: [       OK ] ExplicitlySetInFile.EmptyRoadSphCoords (149 ms)
+13: [ RUN      ] ExplicitlySetInFile.EmptyAxis
+34: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_interface_api.xml
+34: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_interface_api.xml
+ 20/221 Test  #34: check_INTEGRATION_interface_api ........................   Passed    0.02 sec
 test 35
         Start  35: INTEGRATION_joint_axis_frame
 
@@ -33033,25 +32999,31 @@
 35: Environment variables: 
 35:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 35: Test timeout computed to be: 240
-34: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_interface_api.xml
-34: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_interface_api.xml
- 28/221 Test  #34: check_INTEGRATION_interface_api ........................   Passed    0.06 sec
+5: [       OK ] CategoryBitmask.WasSpecified (159 ms)
+5: [ RUN      ] CategoryBitmask.WasNotSpecified
+31: Running main() from /usr/src/gtest/src/gtest_main.cc
+31: [==========] Running 8 tests from 1 test suite.
+31: [----------] Global test environment set-up.
+31: [----------] 8 tests from IncludesTest
+31: [ RUN      ] IncludesTest.Includes
+9: [       OK ] DOMCollision.DoublePendulum (157 ms)
+9: [ RUN      ] DOMCollision.LoadModelFramesRelativeToJoint
+1: [       OK ] DOMActor.CopySdfLoadedProperties (110 ms)
+1: [----------] 2 tests from DOMActor (220 ms total)
+1: 
+1: [----------] Global test environment tear-down
+1: [==========] 2 tests from 1 test suite ran. (220 ms total)
+1: [  PASSED  ] 2 tests.
+ 21/221 Test   #1: INTEGRATION_actor_dom ..................................   Passed    0.31 sec
 test 36
         Start  36: check_INTEGRATION_joint_axis_frame
 
 36: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_joint_axis_frame.xml"
 36: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 36: Test timeout computed to be: 10000000
-25: [       OK ] Frame.FrameDefaultPose (313 ms)
-25: [ RUN      ] Frame.NoFrame
-31: Running main() from /usr/src/gtest/src/gtest_main.cc
-31: [==========] Running 8 tests from 1 test suite.
-31: [----------] Global test environment set-up.
-31: [----------] 8 tests from IncludesTest
-31: [ RUN      ] IncludesTest.Includes
 36: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_joint_axis_frame.xml
 36: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_joint_axis_frame.xml
- 29/221 Test  #36: check_INTEGRATION_joint_axis_frame .....................   Passed    0.06 sec
+ 22/221 Test  #36: check_INTEGRATION_joint_axis_frame .....................   Passed    0.01 sec
 test 37
         Start  37: INTEGRATION_joint_axis_dom
 
@@ -33060,25 +33032,13 @@
 37: Environment variables: 
 37:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 37: Test timeout computed to be: 240
-35: Running main() from /usr/src/gtest/src/gtest_main.cc
-35: [==========] Running 4 tests from 1 test suite.
-35: [----------] Global test environment set-up.
-35: [----------] 4 tests from JointAxisFrame
-35: [ RUN      ] JointAxisFrame.Version_1_4_missing
-33: Running main() from /usr/src/gtest/src/gtest_main.cc
-33: [==========] Running 8 tests from 1 test suite.
-33: [----------] Global test environment set-up.
-33: [----------] 8 tests from InterfaceAPI
-33: [ RUN      ] InterfaceAPI.NestedIncludeData
-25: [       OK ] Frame.NoFrame (225 ms)
-25: [ RUN      ] Frame.StateFrame
-11: [       OK ] ConverterIntegration.UnflattenConversion (410 ms)
-11: [----------] 5 tests from ConverterIntegration (1759 ms total)
-11: 
-11: [----------] Global test environment tear-down
-11: [==========] 5 tests from 1 test suite ran. (1759 ms total)
-11: [  PASSED  ] 5 tests.
- 30/221 Test  #11: INTEGRATION_converter ..................................   Passed    2.06 sec
+23: [       OK ] SDFParser.ForceTorqueSensorTest (146 ms)
+23: [----------] 1 test from SDFParser (146 ms total)
+23: 
+23: [----------] Global test environment tear-down
+23: [==========] 1 test from 1 test suite ran. (146 ms total)
+23: [  PASSED  ] 1 test.
+ 23/221 Test  #23: INTEGRATION_force_torque_sensor ........................   Passed    0.27 sec
 test 38
         Start  38: check_INTEGRATION_joint_axis_dom
 
@@ -33087,7 +33047,7 @@
 38: Test timeout computed to be: 10000000
 38: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_joint_axis_dom.xml
 38: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_joint_axis_dom.xml
- 31/221 Test  #38: check_INTEGRATION_joint_axis_dom .......................   Passed    0.05 sec
+ 24/221 Test  #38: check_INTEGRATION_joint_axis_dom .......................   Passed    0.02 sec
 test 39
         Start  39: INTEGRATION_joint_dom
 
@@ -33101,93 +33061,37 @@
 21: [1;32mMsg [fixed_joint_reduction.cc:582][0m name [link2] m[200] p[0.2 0.4 1 -1.14159 -0.141593 1.5708] ixx[5] iyy[6] izz[7] ixy[0] ixz[0] iyz[0]
 21: [1;32mMsg [fixed_joint_reduction.cc:582][0m name [link3] m[400] p[0.1 0.2 0.3 -1.14159 0.141593 0.858407] ixx[8] iyy[9] izz[10] ixy[0] ixz[0] iyz[0]
 21: [1;32mMsg [fixed_joint_reduction.cc:582][0m name [link1a] m[700] p[1.6 -2.72857 -0.342857 -2.14159 0.141593 0.858407] ixx[576.477] iyy[527.681] izz[420.127] ixy[-65.6808] ixz[134.562] iyz[264.781]
-21: [       OK ] SDFParser.FixedJointReductionVisualTest (469 ms)
-21: [ RUN      ] SDFParser.FixedJointReductionCollisionTest
-37: Running main() from /usr/src/gtest/src/gtest_main.cc
-37: [==========] Running 4 tests from 1 test suite.
-37: [----------] Global test environment set-up.
-37: [----------] 4 tests from DOMJointAxis
-37: [ RUN      ] DOMJointAxis.Complete
-35: <axis>
-35:   <xyz expressed_in='__model__'>1 0 0</xyz>
-35:   <limit>
-35:     <lower>-1e16</lower>
-35:     <upper>1e16</upper>
-35:   </limit>
-35: </axis>
-35: [       OK ] JointAxisFrame.Version_1_4_missing (214 ms)
-35: [ RUN      ] JointAxisFrame.Version_1_4_no_convert
-25: [       OK ] Frame.StateFrame (233 ms)
-25: [ RUN      ] Frame.IncludeRelativeTo
-33: [       OK ] InterfaceAPI.NestedIncludeData (308 ms)
-33: [ RUN      ] InterfaceAPI.CustomParserPrecedence
-39: Running main() from /usr/src/gtest/src/gtest_main.cc
-39: [==========] Running 16 tests from 1 test suite.
-39: [----------] Global test environment set-up.
-39: [----------] 16 tests from DOMJoint
-39: [ RUN      ] DOMJoint.NotAJoint
-39: [       OK ] DOMJoint.NotAJoint (0 ms)
-39: [ RUN      ] DOMJoint.NoName
-39: [       OK ] DOMJoint.NoName (0 ms)
-39: [ RUN      ] DOMJoint.DoublePendulum
-35: <axis>
-35:   <xyz>1 0 0</xyz>
-35:   <limit>
-35:     <lower>-1e16</lower>
-35:     <upper>1e16</upper>
-35:   </limit>
-35: </axis>
-35: [       OK ] JointAxisFrame.Version_1_4_no_convert (296 ms)
-35: [ RUN      ] JointAxisFrame.Version_1_4_to_1_5
-33: [       OK ] InterfaceAPI.CustomParserPrecedence (254 ms)
-33: [ RUN      ] InterfaceAPI.TomlParserWorldInclude
-21: [1;32mMsg [fixed_joint_reduction.cc:582][0m name [link0] m[1000] p[0 0 -0.5 0 -0 0] ixx[1] iyy[1] izz[1] ixy[0] ixz[0] iyz[0]
-21: [1;32mMsg [fixed_joint_reduction.cc:582][0m name [link1] m[100] p[0 -1.5 0 -2.14159 0.141593 0.858407] ixx[2] iyy[3] izz[4] ixy[0] ixz[0] iyz[0]
-21: [1;32mMsg [fixed_joint_reduction.cc:582][0m name [link2] m[200] p[0.2 0.4 1 -1.14159 -0.141593 1.5708] ixx[5] iyy[6] izz[7] ixy[0] ixz[0] iyz[0]
-21: [1;32mMsg [fixed_joint_reduction.cc:582][0m name [link3] m[400] p[0.1 0.2 0.3 -1.14159 0.141593 0.858407] ixx[8] iyy[9] izz[10] ixy[0] ixz[0] iyz[0]
-21: [1;32mMsg [fixed_joint_reduction.cc:582][0m name [link1a] m[700] p[1.6 -2.72857 -0.342857 -2.14159 0.141593 0.858407] ixx[576.477] iyy[527.681] izz[420.127] ixy[-65.6808] ixz[134.562] iyz[264.781]
-21: [       OK ] SDFParser.FixedJointReductionCollisionTest (514 ms)
-21: [ RUN      ] SDFParser.FixedJointReductionCollisionVisualExtensionTest
-33: [       OK ] InterfaceAPI.TomlParserWorldInclude (151 ms)
-33: [ RUN      ] InterfaceAPI.TomlParserModelInclude
-37: [       OK ] DOMJointAxis.Complete (587 ms)
-37: [ RUN      ] DOMJointAxis.XyzExpressedIn
-25: [       OK ] Frame.IncludeRelativeTo (505 ms)
-25: [ RUN      ] Frame.IncludeRelativeToEmptyPose
-39: [       OK ] DOMJoint.DoublePendulum (411 ms)
-39: [ RUN      ] DOMJoint.Complete
-33: [       OK ] InterfaceAPI.TomlParserModelInclude (126 ms)
-33: [ RUN      ] InterfaceAPI.FrameSemantics
-35: <axis>
-35:   <xyz>1 0 0</xyz>
-35:   <use_parent_model_frame>true</use_parent_model_frame>
-35:   <limit>
-35:     <lower>-1e16</lower>
-35:     <upper>1e16</upper>
-35:   </limit>
-35: </axis>
-35: [       OK ] JointAxisFrame.Version_1_4_to_1_5 (406 ms)
-35: [ RUN      ] JointAxisFrame.Version_1_5_missing
-19: [       OK ] ElementTracing.includes (1629 ms)
-19: [----------] 2 tests from ElementTracing (1991 ms total)
-19: 
-19: [----------] Global test environment tear-down
-19: [==========] 2 tests from 1 test suite ran. (1991 ms total)
-19: [  PASSED  ] 2 tests.
-33: [       OK ] InterfaceAPI.FrameSemantics (203 ms)
-33: [ RUN      ] InterfaceAPI.Reposturing
- 32/221 Test  #19: INTEGRATION_element_tracing ............................   Passed    2.24 sec
+25: [       OK ] Frame.ModelFrame (162 ms)
+25: [ RUN      ] Frame.FrameDefaultPose
+21: [       OK ] SDFParser.FixedJointReductionEquivalenceTest (180 ms)
+21: [ RUN      ] SDFParser.FixedJointReductionVisualTest
+27: [       OK ] DOMGeometry.Shapes (162 ms)
+27: [----------] 1 test from DOMGeometry (162 ms total)
+27: 
+27: [----------] Global test environment tear-down
+27: [==========] 1 test from 1 test suite ran. (162 ms total)
+27: [  PASSED  ] 1 test.
+ 25/221 Test  #27: INTEGRATION_geometry_dom ...............................   Passed    0.29 sec
 test 40
         Start  40: check_INTEGRATION_joint_dom
 
 40: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_joint_dom.xml"
 40: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 40: Test timeout computed to be: 10000000
-37: [       OK ] DOMJointAxis.XyzExpressedIn (285 ms)
-37: [ RUN      ] DOMJointAxis.InfiniteLimits
-40: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_joint_dom.xml
-40: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_joint_dom.xml
- 33/221 Test  #40: check_INTEGRATION_joint_dom ............................   Passed    0.05 sec
+33: Running main() from /usr/src/gtest/src/gtest_main.cc
+33: [==========] Running 8 tests from 1 test suite.
+33: [----------] Global test environment set-up.
+33: [----------] 8 tests from InterfaceAPI
+33: [ RUN      ] InterfaceAPI.NestedIncludeData
+15: [       OK ] DeprecatedElements.CanEmitWarningWithErrorEnforcmentPolicy (110 ms)
+15: [----------] 2 tests from DeprecatedElements (226 ms total)
+15: 
+15: [----------] Global test environment tear-down
+15: [==========] 4 tests from 2 test suites ran. (230 ms total)
+15: [  PASSED  ] 4 tests.
+19: [       OK ] ElementTracing.NestedModels (217 ms)
+19: [ RUN      ] ElementTracing.includes
+ 26/221 Test  #15: INTEGRATION_deprecated_specs ...........................   Passed    0.36 sec
 test 41
         Start  41: INTEGRATION_light_dom
 
@@ -33196,30 +33100,22 @@
 41: Environment variables: 
 41:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 41: Test timeout computed to be: 240
-31: [       OK ] IncludesTest.Includes (1299 ms)
-31: [ RUN      ] IncludesTest.Includes_15
-39: [       OK ] DOMJoint.Complete (338 ms)
-39: [ RUN      ] DOMJoint.LoadJointParentWorld
-25: [       OK ] Frame.IncludeRelativeToEmptyPose (381 ms)
-25: [ RUN      ] Frame.IncludeFrameWithSubmodel
-37: [       OK ] DOMJointAxis.InfiniteLimits (160 ms)
-37: [ RUN      ] DOMJointAxis.XyzNormalization
-35: [       OK ] JointAxisFrame.Version_1_5_missing (361 ms)
-35: [----------] 4 tests from JointAxisFrame (1287 ms total)
-35: 
-35: [----------] Global test environment tear-down
-35: [==========] 4 tests from 1 test suite ran. (1287 ms total)
-35: [  PASSED  ] 4 tests.
- 34/221 Test  #35: INTEGRATION_joint_axis_frame ...........................   Passed    1.52 sec
+11: [       OK ] ConverterIntegration.convertFileToNotLatestVersion (120 ms)
+11: [ RUN      ] ConverterIntegration.ParserStringConverter
+40: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_joint_dom.xml
+40: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_joint_dom.xml
+ 27/221 Test  #40: check_INTEGRATION_joint_dom ............................   Passed    0.02 sec
 test 42
         Start  42: check_INTEGRATION_light_dom
 
 42: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_light_dom.xml"
 42: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 42: Test timeout computed to be: 10000000
+13: [       OK ] ExplicitlySetInFile.EmptyAxis (129 ms)
+13: [ RUN      ] ExplicitlySetInFile.ToString
 42: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_light_dom.xml
 42: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_light_dom.xml
- 35/221 Test  #42: check_INTEGRATION_light_dom ............................   Passed    0.05 sec
+ 28/221 Test  #42: check_INTEGRATION_light_dom ............................   Passed    0.02 sec
 test 43
         Start  43: INTEGRATION_link_dom
 
@@ -33228,49 +33124,36 @@
 43: Environment variables: 
 43:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 43: Test timeout computed to be: 240
-37: [       OK ] DOMJointAxis.XyzNormalization (154 ms)
-37: [----------] 4 tests from DOMJointAxis (1188 ms total)
-37: 
-37: [----------] Global test environment tear-down
-37: [==========] 4 tests from 1 test suite ran. (1189 ms total)
-37: [  PASSED  ] 4 tests.
-41: Running main() from /usr/src/gtest/src/gtest_main.cc
-41: [==========] Running 1 test from 1 test suite.
-41: [----------] Global test environment set-up.
-41: [----------] 1 test from DOMWorld
-41: [ RUN      ] DOMWorld.LoadLights
- 36/221 Test  #37: INTEGRATION_joint_axis_dom .............................   Passed    1.52 sec
+35: Running main() from /usr/src/gtest/src/gtest_main.cc
+35: [==========] Running 4 tests from 1 test suite.
+35: [----------] Global test environment set-up.
+35: [----------] 4 tests from JointAxisFrame
+35: [ RUN      ] JointAxisFrame.Version_1_4_missing
+5: [       OK ] CategoryBitmask.WasNotSpecified (147 ms)
+5: [----------] 2 tests from CategoryBitmask (307 ms total)
+5: 
+5: [----------] Global test environment tear-down
+9: [       OK ] DOMCollision.LoadModelFramesRelativeToJoint (138 ms)
+9: [----------] 4 tests from DOMCollision (296 ms total)
+9: 
+9: [----------] Global test environment tear-down
+9: [==========] 4 tests from 1 test suite ran. (296 ms total)
+9: [  PASSED  ] 4 tests.
+5: [==========] 2 tests from 1 test suite ran. (308 ms total)
+5: [  PASSED  ] 2 tests.
+37: Running main() from /usr/src/gtest/src/gtest_main.cc
+37: [==========] Running 4 tests from 1 test suite.
+37: [----------] Global test environment set-up.
+37: [----------] 4 tests from DOMJointAxis
+37: [ RUN      ] DOMJointAxis.Complete
+ 29/221 Test   #5: INTEGRATION_category_bitmask ...........................   Passed    0.44 sec
 test 44
         Start  44: check_INTEGRATION_link_dom
 
 44: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_link_dom.xml"
 44: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 44: Test timeout computed to be: 10000000
-33: [       OK ] InterfaceAPI.Reposturing (356 ms)
-33: [ RUN      ] InterfaceAPI.PlacementFrame
-21: [1;32mMsg [fixed_joint_reduction.cc:154][0m col: base_link_collision
-21: [1;32mMsg [fixed_joint_reduction.cc:154][0m col: base_link_fixed_joint_lump__child_link_1_collision_1
-21: [1;32mMsg [fixed_joint_reduction.cc:154][0m col: base_link_fixed_joint_lump__child_link_2_collision_2
-21: [1;32mMsg [fixed_joint_reduction.cc:154][0m col: base_link_fixed_joint_lump__child_link_1a_collision_3
-21: [1;32mMsg [fixed_joint_reduction.cc:172][0m vis: base_link_visual
-21: [1;32mMsg [fixed_joint_reduction.cc:172][0m vis: base_link_fixed_joint_lump__child_link_1_visual_1
-21: [1;32mMsg [fixed_joint_reduction.cc:172][0m vis: base_link_fixed_joint_lump__child_link_2_visual_2
-21: [1;32mMsg [fixed_joint_reduction.cc:172][0m vis: base_link_fixed_joint_lump__child_link_1a_visual_3
-21: [1;32mMsg [fixed_joint_reduction.cc:206][0m col: base_link_collision
-21: [1;32mMsg [fixed_joint_reduction.cc:206][0m col: base_link_fixed_joint_lump__child_link_1_collision_1
-21: [1;32mMsg [fixed_joint_reduction.cc:206][0m col: base_link_fixed_joint_lump__child_link_2_collision_2
-21: [1;32mMsg [fixed_joint_reduction.cc:206][0m col: base_link_fixed_joint_lump__child_link_1a_collision_3
-21: [1;32mMsg [fixed_joint_reduction.cc:224][0m vis: base_link_visual
-21: [1;32mMsg [fixed_joint_reduction.cc:224][0m vis: base_link_fixed_joint_lump__child_link_1_visual_1
-21: [1;32mMsg [fixed_joint_reduction.cc:224][0m vis: base_link_fixed_joint_lump__child_link_2_visual_2
-21: [1;32mMsg [fixed_joint_reduction.cc:224][0m vis: base_link_fixed_joint_lump__child_link_1a_visual_3
-21: [1;32mMsg [fixed_joint_reduction.cc:243][0m urdf mu1: 0.7
-21: [1;32mMsg [fixed_joint_reduction.cc:251][0m urdf mu2: 0.71
-44: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_link_dom.xml
-44: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_link_dom.xml
-21: [       OK ] SDFParser.FixedJointReductionCollisionVisualExtensionTest (756 ms)
-21: [ RUN      ] SDFParser.FixedJointReductionCollisionVisualExtensionEmptyRootTest
- 37/221 Test  #44: check_INTEGRATION_link_dom .............................   Passed    0.06 sec
+ 30/221 Test   #9: INTEGRATION_collision_dom ..............................   Passed    0.43 sec
 test 45
         Start  45: INTEGRATION_link_light
 
@@ -33279,50 +33162,9 @@
 45: Environment variables: 
 45:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 45: Test timeout computed to be: 240
-25: [       OK ] Frame.IncludeFrameWithSubmodel (339 ms)
-25: [----------] 7 tests from Frame (2261 ms total)
-25: 
-25: [----------] 12 tests from DOMFrame
-25: [ RUN      ] DOMFrame.LoadModelFramesAttachedTo
-39: [       OK ] DOMJoint.LoadJointParentWorld (390 ms)
-39: [ RUN      ] DOMJoint.LoadInvalidJointChildWorld
-31: [       OK ] IncludesTest.Includes_15 (414 ms)
-31: [ RUN      ] IncludesTest.Includes_15_convert
-43: Running main() from /usr/src/gtest/src/gtest_main.cc
-43: [==========] Running 11 tests from 1 test suite.
-43: [----------] Global test environment set-up.
-43: [----------] 11 tests from DOMLink
-43: [ RUN      ] DOMLink.NotALink
-43: [       OK ] DOMLink.NotALink (0 ms)
-43: [ RUN      ] DOMLink.NoName
-43: [       OK ] DOMLink.NoName (0 ms)
-43: [ RUN      ] DOMLink.LoadVisualCollision
-25: [       OK ] DOMFrame.LoadModelFramesAttachedTo (189 ms)
-25: [ RUN      ] DOMFrame.LoadModelFramesInvalidAttachedTo
-45: Running main() from /usr/src/gtest/src/gtest_main.cc
-45: [==========] Running 1 test from 1 test suite.
-45: [----------] Global test environment set-up.
-45: [----------] 1 test from Frame
-45: [ RUN      ] Frame.LinkLight
-39: Error Code 19: Msg: Joint with name[joint] specified invalid child link [world].
-39: Error Code 19: Msg: Child frame with name[world] specified by joint with name[joint] not found in model with name[joint_child_world].
-39: Error Code 24: Msg: FrameAttachedToGraph error, Non-LINK vertex with name [joint_child_world::joint] is disconnected; it should have 1 outgoing edge in MODEL attached_to graph.
-39: Error Code 24: Msg: Graph has __model__ scope but sink vertex named [joint_child_world::joint] does not have FrameType LINK or STATIC_MODEL when starting from vertex with name [joint_child_world::joint].
-39: Error Code 25: Msg: relative_to name[world] specified by joint with name[joint] does not match a nested model, link, joint, or frame name in model with name[joint_child_world].
-39: Error Code 27: Msg: PoseRelativeToGraph error, Vertex with name [joint_child_world::joint] is disconnected; it should have 1 incoming edge in MODEL relative_to graph.
-39: Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [4].
-39: Error Code 19: Msg: invalid child name[world] specified by joint with name[joint] in model with name[joint_child_world].
-39: Error Code 19: Msg: child frame with name[world] specified by joint with name[joint] not found in model with name[joint_child_world].
-39: Error Code 22: Msg: FrameAttachedToGraph unable to find unique frame with name [world] in graph.
-41: [       OK ] DOMWorld.LoadLights (415 ms)
-41: [----------] 1 test from DOMWorld (415 ms total)
-41: 
-41: [----------] Global test environment tear-down
-41: [==========] 1 test from 1 test suite ran. (415 ms total)
-41: [  PASSED  ] 1 test.
-39: [       OK ] DOMJoint.LoadInvalidJointChildWorld (244 ms)
-39: [ RUN      ] DOMJoint.LoadJointParentFrame
- 38/221 Test  #41: INTEGRATION_light_dom ..................................   Passed    0.71 sec
+44: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_link_dom.xml
+44: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_link_dom.xml
+ 31/221 Test  #44: check_INTEGRATION_link_dom .............................   Passed    0.02 sec
 test 46
         Start  46: check_INTEGRATION_link_light
 
@@ -33331,7 +33173,16 @@
 46: Test timeout computed to be: 10000000
 46: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_link_light.xml
 46: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_link_light.xml
- 39/221 Test  #46: check_INTEGRATION_link_light ...........................   Passed    0.03 sec
+39: Running main() from /usr/src/gtest/src/gtest_main.cc
+39: [==========] Running 16 tests from 1 test suite.
+39: [----------] Global test environment set-up.
+39: [----------] 16 tests from DOMJoint
+39: [ RUN      ] DOMJoint.NotAJoint
+39: [       OK ] DOMJoint.NotAJoint (0 ms)
+39: [ RUN      ] DOMJoint.NoName
+39: [       OK ] DOMJoint.NoName (0 ms)
+39: [ RUN      ] DOMJoint.DoublePendulum
+ 32/221 Test  #46: check_INTEGRATION_link_light ...........................   Passed    0.02 sec
 test 47
         Start  47: INTEGRATION_locale_fix
 
@@ -33340,24 +33191,55 @@
 47: Environment variables: 
 47:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 47: Test timeout computed to be: 240
-31: [       OK ] IncludesTest.Includes_15_convert (320 ms)
-31: [ RUN      ] IncludesTest.IncludeModelMissingConfig
-45: [       OK ] Frame.LinkLight (173 ms)
-45: [----------] 1 test from Frame (173 ms total)
-45: 
-45: [----------] Global test environment tear-down
-45: [==========] 1 test from 1 test suite ran. (173 ms total)
-45: [  PASSED  ] 1 test.
- 40/221 Test  #45: INTEGRATION_link_light .................................   Passed    0.47 sec
+25: [       OK ] Frame.FrameDefaultPose (125 ms)
+25: [ RUN      ] Frame.NoFrame
+11: [       OK ] ConverterIntegration.ParserStringConverter (115 ms)
+11: [ RUN      ] ConverterIntegration.ParserStringConverterFrom14
+41: Running main() from /usr/src/gtest/src/gtest_main.cc
+41: [==========] Running 1 test from 1 test suite.
+41: [----------] Global test environment set-up.
+41: [----------] 1 test from DOMWorld
+41: [ RUN      ] DOMWorld.LoadLights
+17: [       OK ] SDFParser.DisableFixedJointReductionTest (356 ms)
+17: [----------] 1 test from SDFParser (356 ms total)
+17: 
+17: [----------] Global test environment tear-down
+21: [1;32mMsg [fixed_joint_reduction.cc:582][0m name [link0] m[1000] p[0 0 -0.5 0 -0 0] ixx[1] iyy[1] izz[1] ixy[0] ixz[0] iyz[0]
+21: [1;32mMsg [fixed_joint_reduction.cc:582][0m name [link1] m[100] p[0 -1.5 0 -2.14159 0.141593 0.858407] ixx[2] iyy[3] izz[4] ixy[0] ixz[0] iyz[0]
+21: [1;32mMsg [fixed_joint_reduction.cc:582][0m name [link2] m[200] p[0.2 0.4 1 -1.14159 -0.141593 1.5708] ixx[5] iyy[6] izz[7] ixy[0] ixz[0] iyz[0]
+21: [1;32mMsg [fixed_joint_reduction.cc:582][0m name [link3] m[400] p[0.1 0.2 0.3 -1.14159 0.141593 0.858407] ixx[8] iyy[9] izz[10] ixy[0] ixz[0] iyz[0]
+21: [1;32mMsg [fixed_joint_reduction.cc:582][0m name [link1a] m[700] p[1.6 -2.72857 -0.342857 -2.14159 0.141593 0.858407] ixx[576.477] iyy[527.681] izz[420.127] ixy[-65.6808] ixz[134.562] iyz[264.781]
+21: [       OK ] SDFParser.FixedJointReductionVisualTest (164 ms)
+21: [ RUN      ] SDFParser.FixedJointReductionCollisionTest
+17: [==========] 1 test from 1 test suite ran. (356 ms total)
+17: [  PASSED  ] 1 test.
+ 33/221 Test  #17: INTEGRATION_disable_fixed_joint_reduction ..............   Passed    0.49 sec
 test 48
         Start  48: check_INTEGRATION_locale_fix
 
 48: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_locale_fix.xml"
 48: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 48: Test timeout computed to be: 10000000
+33: [       OK ] InterfaceAPI.NestedIncludeData (152 ms)
+33: [ RUN      ] InterfaceAPI.CustomParserPrecedence
+43: Running main() from /usr/src/gtest/src/gtest_main.cc
+43: [==========] Running 11 tests from 1 test suite.
+43: [----------] Global test environment set-up.
+43: [----------] 11 tests from DOMLink
+43: [ RUN      ] DOMLink.NotALink
+43: [       OK ] DOMLink.NotALink (0 ms)
+43: [ RUN      ] DOMLink.NoName
+43: [       OK ] DOMLink.NoName (0 ms)
+43: [ RUN      ] DOMLink.LoadVisualCollision
+13: [       OK ] ExplicitlySetInFile.ToString (140 ms)
+13: [----------] 3 tests from ExplicitlySetInFile (419 ms total)
+13: 
+13: [----------] Global test environment tear-down
+13: [==========] 3 tests from 1 test suite ran. (419 ms total)
+13: [  PASSED  ] 3 tests.
 48: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_locale_fix.xml
 48: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_locale_fix.xml
- 41/221 Test  #48: check_INTEGRATION_locale_fix ...........................   Passed    0.02 sec
+ 34/221 Test  #13: INTEGRATION_default_elements ...........................   Passed    0.53 sec
 test 49
         Start  49: INTEGRATION_locale_fix_cxx
 
@@ -33366,53 +33248,30 @@
 49: Environment variables: 
 49:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 49: Test timeout computed to be: 240
-47: Running main() from /usr/src/gtest/src/gtest_main.cc
-47: [==========] Running 1 test from 1 test suite.
-47: [----------] Global test environment set-up.
-47: [----------] 1 test from CheckFixForLocal
-47: [ RUN      ] CheckFixForLocal.MakeTestToFail
-25: Error Code 22: Msg: attached_to name[A] specified by frame with name[F3] does not match a nested model, link, joint, or frame name in model with name[model_frame_invalid_attached_to].
-25: Error Code 23: Msg: attached_to name[F4] is identical to frame name[F4], causing a graph cycle in model with name[model_frame_invalid_attached_to].
-25: Error Code 24: Msg: FrameAttachedToGraph error, Non-LINK vertex with name [model_frame_invalid_attached_to::F3] is disconnected; it should have 1 outgoing edge in MODEL attached_to graph.
-25: Error Code 24: Msg: Graph has __model__ scope but sink vertex named [model_frame_invalid_attached_to::F3] does not have FrameType LINK or STATIC_MODEL when starting from vertex with name [model_frame_invalid_attached_to::F3].
-25: Error Code 23: Msg: FrameAttachedToGraph cycle detected, already visited vertex [model_frame_invalid_attached_to::F4].
-25: Error Code 22: Msg: attached_to name[A] specified by frame with name[F3] does not match a nested model, link, joint, or frame name in model with name[model_frame_invalid_attached_to].
-25: Error Code 26: Msg: relative_to name[F4] is identical to frame name[F4], causing a graph cycle in model with name[model_frame_invalid_attached_to].
-25: Error Code 27: Msg: PoseRelativeToGraph error, Vertex with name [model_frame_invalid_attached_to::F3] is disconnected; it should have 1 incoming edge in MODEL relative_to graph.
-25: Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [6].
-25: Error Code 26: Msg: PoseRelativeToGraph cycle detected, already visited vertex [model_frame_invalid_attached_to::F4].
-21: [1;32mMsg [fixed_joint_reduction.cc:408][0m col: base_link_fixed_joint_lump__child_link_1_collision
-21: [1;32mMsg [fixed_joint_reduction.cc:420][0m vis: base_link_fixed_joint_lump__child_link_1_visual
-21: [1;32mMsg [fixed_joint_reduction.cc:439][0m col: base_link_fixed_joint_lump__child_link_1_collision
-21: [1;32mMsg [fixed_joint_reduction.cc:451][0m vis: base_link_fixed_joint_lump__child_link_1_visual
-21: [1;32mMsg [fixed_joint_reduction.cc:470][0m urdf mu1: 0.7
-21: [1;32mMsg [fixed_joint_reduction.cc:478][0m urdf mu2: 0.71
-39: [       OK ] DOMJoint.LoadJointParentFrame (229 ms)
-39: [ RUN      ] DOMJoint.LoadJointChildFrame
-21: [       OK ] SDFParser.FixedJointReductionCollisionVisualExtensionEmptyRootTest (592 ms)
-21: [ RUN      ] SDFParser.FixedJointReductionSimple
-43: [       OK ] DOMLink.LoadVisualCollision (328 ms)
-43: [ RUN      ] DOMLink.InertialDoublePendulum
-49: Running main() from /usr/src/gtest/src/gtest_main.cc
-49: [==========] Running 1 test from 1 test suite.
-49: [----------] Global test environment set-up.
-49: [----------] 1 test from CheckFixForLocal
-49: [ RUN      ] CheckFixForLocal.CheckFixForCxxLocal
-49: [       OK ] CheckFixForLocal.CheckFixForCxxLocal (0 ms)
-49: [----------] 1 test from CheckFixForLocal (0 ms total)
-49: 
-49: [----------] Global test environment tear-down
-49: [==========] 1 test from 1 test suite ran. (0 ms total)
-49: [  PASSED  ] 1 test.
- 42/221 Test  #49: INTEGRATION_locale_fix_cxx .............................   Passed    0.11 sec
+45: Running main() from /usr/src/gtest/src/gtest_main.cc
+45: [==========] Running 1 test from 1 test suite.
+45: [----------] Global test environment set-up.
+45: [----------] 1 test from Frame
+45: [ RUN      ] Frame.LinkLight
+ 35/221 Test  #48: check_INTEGRATION_locale_fix ...........................   Passed    0.02 sec
 test 50
         Start  50: check_INTEGRATION_locale_fix_cxx
 
 50: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_locale_fix_cxx.xml"
 50: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 50: Test timeout computed to be: 10000000
+35: <axis>
+35:   <xyz expressed_in='__model__'>1 0 0</xyz>
+35:   <limit>
+35:     <lower>-1e16</lower>
+35:     <upper>1e16</upper>
+35:   </limit>
+35: </axis>
+35: [       OK ] JointAxisFrame.Version_1_4_missing (136 ms)
+35: [ RUN      ] JointAxisFrame.Version_1_4_no_convert
 50: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_locale_fix_cxx.xml
- 43/221 Test  #50: check_INTEGRATION_locale_fix_cxx .......................   Passed    0.02 sec
+50: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_locale_fix_cxx.xml
+ 36/221 Test  #50: check_INTEGRATION_locale_fix_cxx .......................   Passed    0.02 sec
 test 51
         Start  51: INTEGRATION_material_pbr
 
@@ -33421,55 +33280,51 @@
 51: Environment variables: 
 51:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 51: Test timeout computed to be: 240
-31: [1;31mError [parser.cc:1190][0m Could not find model.config or manifest.xml in [/build/sdformat-12.3.0+ds/test/integration/model/box_missing_config]
-31: Error Code 13: [/sdf/include[0]/uri:<data-string>:L1]: Msg: Unable to resolve uri[box_missing_config] to model path [/build/sdformat-12.3.0+ds/test/integration/model/box_missing_config] since it does not contain a model.config file.
-31: [       OK ] IncludesTest.IncludeModelMissingConfig (204 ms)
-31: [ RUN      ] IncludesTest.IncludeUrdf
-43: [       OK ] DOMLink.InertialDoublePendulum (157 ms)
-43: [ RUN      ] DOMLink.InertialComplete
-39: [       OK ] DOMJoint.LoadJointChildFrame (218 ms)
-39: [ RUN      ] DOMJoint.LoadJointPoseRelativeTo
-33: [       OK ] InterfaceAPI.PlacementFrame (881 ms)
-33: [ RUN      ] InterfaceAPI.NameCollision
-51: Running main() from /usr/src/gtest/src/gtest_main.cc
-51: [==========] Running 2 tests from 1 test suite.
-51: [----------] Global test environment set-up.
-51: [----------] 2 tests from Material
-51: [ RUN      ] Material.PbrDOM
-25: [       OK ] DOMFrame.LoadModelFramesInvalidAttachedTo (620 ms)
-25: [ RUN      ] DOMFrame.LoadModelFramesAttachedToJoint
-43: [       OK ] DOMLink.InertialComplete (141 ms)
-43: [ RUN      ] DOMLink.InertialInvalid
-21: [1;32mMsg [fixed_joint_reduction.cc:718][0m name [link1] m[300] p[0 0 0 0 -0 0] ixx[7] iyy[9] izz[11] ixy[0] ixz[0] iyz[0]
-21: [1;32mMsg [fixed_joint_reduction.cc:718][0m name [link1a] m[300] p[0 0 0 0 -0 0] ixx[7] iyy[9] izz[11] ixy[0] ixz[0] iyz[0]
-21: [1;32mMsg [fixed_joint_reduction.cc:718][0m name [link1b] m[300] p[0 0 0 0 -0 0] ixx[7] iyy[9] izz[11] ixy[0] ixz[0] iyz[5.21501e-17]
-21: [1;32mMsg [fixed_joint_reduction.cc:718][0m name [link1c] m[300] p[0.2 0 0 0 -0 0] ixx[7] iyy[15] izz[17] ixy[0] ixz[0] iyz[0]
-21: [1;32mMsg [fixed_joint_reduction.cc:718][0m name [link1d] m[300] p[0.2 0 0 0 -0 0] ixx[7] iyy[15] izz[17] ixy[0] ixz[0] iyz[0]
-21: [1;32mMsg [fixed_joint_reduction.cc:718][0m name [link1e] m[300] p[0.2 -0 0 0 -0 0] ixx[7] iyy[15] izz[17] ixy[2.93795e-11] ixz[0] iyz[0]
-21: [       OK ] SDFParser.FixedJointReductionSimple (332 ms)
-21: [ RUN      ] SDFParser.FixedJointReductionPluginFrameExtensionTest
-31: [       OK ] IncludesTest.IncludeUrdf (327 ms)
-31: [ RUN      ] IncludesTest.MergeInclude
-51: [       OK ] Material.PbrDOM (202 ms)
-51: [ RUN      ] Material.MaterialPBR
-39: [       OK ] DOMJoint.LoadJointPoseRelativeTo (259 ms)
-39: [ RUN      ] DOMJoint.LoadInvalidJointPoseRelativeTo
-21: [       OK ] SDFParser.FixedJointReductionPluginFrameExtensionTest (209 ms)
-21: [----------] 7 tests from SDFParser (3381 ms total)
-21: 
-21: [----------] Global test environment tear-down
-21: [==========] 7 tests from 1 test suite ran. (3381 ms total)
-21: [  PASSED  ] 7 tests.
- 44/221 Test  #21: INTEGRATION_fixed_joint_reduction ......................   Passed    3.68 sec
+37: [       OK ] DOMJointAxis.Complete (130 ms)
+37: [ RUN      ] DOMJointAxis.XyzExpressedIn
+25: [       OK ] Frame.NoFrame (91 ms)
+25: [ RUN      ] Frame.StateFrame
+47: Running main() from /usr/src/gtest/src/gtest_main.cc
+47: [==========] Running 1 test from 1 test suite.
+47: [----------] Global test environment set-up.
+47: [----------] 1 test from CheckFixForLocal
+47: [ RUN      ] CheckFixForLocal.MakeTestToFail
+39: [       OK ] DOMJoint.DoublePendulum (159 ms)
+39: [ RUN      ] DOMJoint.Complete
+11: [       OK ] ConverterIntegration.ParserStringConverterFrom14 (141 ms)
+11: [ RUN      ] ConverterIntegration.UnflattenConversion
+37: [       OK ] DOMJointAxis.XyzExpressedIn (80 ms)
+37: [ RUN      ] DOMJointAxis.InfiniteLimits
+45: [       OK ] Frame.LinkLight (113 ms)
+45: [----------] 1 test from Frame (113 ms total)
+45: 
+45: [----------] Global test environment tear-down
+45: [==========] 1 test from 1 test suite ran. (113 ms total)
+45: [  PASSED  ] 1 test.
+ 37/221 Test  #45: INTEGRATION_link_light .................................   Passed    0.23 sec
 test 52
         Start  52: check_INTEGRATION_material_pbr
 
 52: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_material_pbr.xml"
 52: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 52: Test timeout computed to be: 10000000
-52: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_material_pbr.xml
-52: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_material_pbr.xml
- 45/221 Test  #52: check_INTEGRATION_material_pbr .........................   Passed    0.03 sec
+21: [1;32mMsg [fixed_joint_reduction.cc:582][0m name [link0] m[1000] p[0 0 -0.5 0 -0 0] ixx[1] iyy[1] izz[1] ixy[0] ixz[0] iyz[0]
+21: [1;32mMsg [fixed_joint_reduction.cc:582][0m name [link1] m[100] p[0 -1.5 0 -2.14159 0.141593 0.858407] ixx[2] iyy[3] izz[4] ixy[0] ixz[0] iyz[0]
+21: [1;32mMsg [fixed_joint_reduction.cc:582][0m name [link2] m[200] p[0.2 0.4 1 -1.14159 -0.141593 1.5708] ixx[5] iyy[6] izz[7] ixy[0] ixz[0] iyz[0]
+21: [1;32mMsg [fixed_joint_reduction.cc:582][0m name [link3] m[400] p[0.1 0.2 0.3 -1.14159 0.141593 0.858407] ixx[8] iyy[9] izz[10] ixy[0] ixz[0] iyz[0]
+21: [1;32mMsg [fixed_joint_reduction.cc:582][0m name [link1a] m[700] p[1.6 -2.72857 -0.342857 -2.14159 0.141593 0.858407] ixx[576.477] iyy[527.681] izz[420.127] ixy[-65.6808] ixz[134.562] iyz[264.781]
+49: Running main() from /usr/src/gtest/src/gtest_main.cc
+49: [==========] Running 1 test from 1 test suite.
+49: [----------] Global test environment set-up.
+49: [----------] 1 test from CheckFixForLocal
+49: [ RUN      ] CheckFixForLocal.CheckFixForCxxLocal
+49: [       OK ] CheckFixForLocal.CheckFixForCxxLocal (0 ms)
+49: [----------] 1 test from CheckFixForLocal (0 ms total)
+49: 
+49: [----------] Global test environment tear-down
+49: [==========] 1 test from 1 test suite ran. (0 ms total)
+49: [  PASSED  ] 1 test.
+ 38/221 Test  #49: INTEGRATION_locale_fix_cxx .............................   Passed    0.13 sec
 test 53
         Start  53: INTEGRATION_material
 
@@ -33478,36 +33333,42 @@
 53: Environment variables: 
 53:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 53: Test timeout computed to be: 240
-25: [       OK ] DOMFrame.LoadModelFramesAttachedToJoint (288 ms)
-25: [ RUN      ] DOMFrame.LoadModelFramesAttachedToNestedModel
-43: A link named link has invalid inertia.
-43: [       OK ] DOMLink.InertialInvalid (326 ms)
-43: [ RUN      ] DOMLink.Sensors
-51: [       OK ] Material.MaterialPBR (247 ms)
-51: [----------] 2 tests from Material (449 ms total)
-51: 
-51: [----------] Global test environment tear-down
-51: [==========] 2 tests from 1 test suite ran. (450 ms total)
-51: [  PASSED  ] 2 tests.
- 46/221 Test  #51: INTEGRATION_material_pbr ...............................   Passed    0.68 sec
+21: [       OK ] SDFParser.FixedJointReductionCollisionTest (156 ms)
+21: [ RUN      ] SDFParser.FixedJointReductionCollisionVisualExtensionTest
+33: [       OK ] InterfaceAPI.CustomParserPrecedence (146 ms)
+33: [ RUN      ] InterfaceAPI.TomlParserWorldInclude
+35: <axis>
+35:   <xyz>1 0 0</xyz>
+35:   <limit>
+35:     <lower>-1e16</lower>
+35:     <upper>1e16</upper>
+35:   </limit>
+35: </axis>
+35: [       OK ] JointAxisFrame.Version_1_4_no_convert (129 ms)
+35: [ RUN      ] JointAxisFrame.Version_1_4_to_1_5
+25: [       OK ] Frame.StateFrame (107 ms)
+25: [ RUN      ] Frame.IncludeRelativeTo
+52: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_material_pbr.xml
+52: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_material_pbr.xml
+ 39/221 Test  #52: check_INTEGRATION_material_pbr .........................   Passed    0.02 sec
 test 54
         Start  54: check_INTEGRATION_material
 
 54: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_material.xml"
 54: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 54: Test timeout computed to be: 10000000
-33: [       OK ] InterfaceAPI.NameCollision (499 ms)
-33: [----------] 8 tests from InterfaceAPI (2783 ms total)
-33: 
-33: [----------] Global test environment tear-down
-33: [==========] 8 tests from 1 test suite ran. (2783 ms total)
-33: [  PASSED  ] 8 tests.
-53: Running main() from /usr/src/gtest/src/gtest_main.cc
-53: [==========] Running 3 tests from 1 test suite.
-53: [----------] Global test environment set-up.
-53: [----------] 3 tests from Material
-53: [ RUN      ] Material.InvalidColors
- 47/221 Test  #33: INTEGRATION_interface_api ..............................   Passed    3.05 sec
+51: Running main() from /usr/src/gtest/src/gtest_main.cc
+51: [==========] Running 2 tests from 1 test suite.
+51: [----------] Global test environment set-up.
+51: [----------] 2 tests from Material
+51: [ RUN      ] Material.PbrDOM
+54: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_material.xml
+54: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_material.xml
+41: [       OK ] DOMWorld.LoadLights (192 ms)
+41: [----------] 1 test from DOMWorld (192 ms total)
+41: 
+41: [----------] Global test environment tear-down
+ 40/221 Test  #54: check_INTEGRATION_material .............................   Passed    0.02 sec
 test 55
         Start  55: INTEGRATION_model_dom
 
@@ -33516,23 +33377,20 @@
 55: Environment variables: 
 55:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 55: Test timeout computed to be: 240
-54: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_material.xml
-54: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_material.xml
- 48/221 Test  #54: check_INTEGRATION_material .............................   Passed    0.05 sec
+43: [       OK ] DOMLink.LoadVisualCollision (165 ms)
+43: [ RUN      ] DOMLink.InertialDoublePendulum
+41: [==========] 1 test from 1 test suite ran. (192 ms total)
+41: [  PASSED  ] 1 test.
+ 41/221 Test  #41: INTEGRATION_light_dom ..................................   Passed    0.32 sec
 test 56
         Start  56: check_INTEGRATION_model_dom
 
 56: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_model_dom.xml"
 56: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 56: Test timeout computed to be: 10000000
-39: Error Code 26: Msg: relative_to name[Jcycle] is identical to joint name[Jcycle], causing a graph cycle in model with name[model_invalid_joint_relative_to].
-39: Error Code 25: Msg: relative_to name[A] specified by joint with name[J] does not match a nested model, link, joint, or frame name in model with name[model_invalid_joint_relative_to].
-39: Error Code 27: Msg: PoseRelativeToGraph error, Vertex with name [model_invalid_joint_relative_to::J] is disconnected; it should have 1 incoming edge in MODEL relative_to graph.
-39: Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [6].
-39: Error Code 26: Msg: PoseRelativeToGraph cycle detected, already visited vertex [model_invalid_joint_relative_to::Jcycle].
 56: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_model_dom.xml
 56: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_model_dom.xml
- 49/221 Test  #56: check_INTEGRATION_model_dom ............................   Passed    0.03 sec
+ 42/221 Test  #56: check_INTEGRATION_model_dom ............................   Passed    0.02 sec
 test 57
         Start  57: INTEGRATION_model_versions
 
@@ -33541,22 +33399,25 @@
 57: Environment variables: 
 57:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 57: Test timeout computed to be: 240
-39: [       OK ] DOMJoint.LoadInvalidJointPoseRelativeTo (329 ms)
-39: [ RUN      ] DOMJoint.LoadInvalidChild
-25: [       OK ] DOMFrame.LoadModelFramesAttachedToNestedModel (233 ms)
-25: [ RUN      ] DOMFrame.LoadWorldFramesAttachedTo
-39: Error Code 19: Msg: Child frame with name[invalid] specified by joint with name[joint] not found in model with name[joint_invalid_child].
-39: Error Code 24: Msg: FrameAttachedToGraph error, Non-LINK vertex with name [joint_invalid_child::joint] is disconnected; it should have 1 outgoing edge in MODEL attached_to graph.
-39: Error Code 24: Msg: Graph has __model__ scope but sink vertex named [joint_invalid_child::joint] does not have FrameType LINK or STATIC_MODEL when starting from vertex with name [joint_invalid_child::joint].
-39: Error Code 25: Msg: relative_to name[invalid] specified by joint with name[joint] does not match a nested model, link, joint, or frame name in model with name[joint_invalid_child].
-39: Error Code 27: Msg: PoseRelativeToGraph error, Vertex with name [joint_invalid_child::joint] is disconnected; it should have 1 incoming edge in MODEL relative_to graph.
-39: Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [4].
-39: Error Code 19: Msg: child frame with name[invalid] specified by joint with name[joint] not found in model with name[joint_invalid_child].
-39: Error Code 22: Msg: FrameAttachedToGraph unable to find unique frame with name [invalid] in graph.
-43: [       OK ] DOMLink.Sensors (359 ms)
-43: [ RUN      ] DOMLink.LoadLinkPoseRelativeTo
-39: [       OK ] DOMJoint.LoadInvalidChild (188 ms)
-39: [ RUN      ] DOMJoint.LoadLinkJointSameName17Invalid
+37: [       OK ] DOMJointAxis.InfiniteLimits (94 ms)
+37: [ RUN      ] DOMJointAxis.XyzNormalization
+31: [       OK ] IncludesTest.Includes (459 ms)
+31: [ RUN      ] IncludesTest.Includes_15
+53: Running main() from /usr/src/gtest/src/gtest_main.cc
+53: [==========] Running 3 tests from 1 test suite.
+53: [----------] Global test environment set-up.
+53: [----------] 3 tests from Material
+53: [ RUN      ] Material.InvalidColors
+35: <axis>
+35:   <xyz>1 0 0</xyz>
+35:   <use_parent_model_frame>true</use_parent_model_frame>
+35:   <limit>
+35:     <lower>-1e16</lower>
+35:     <upper>1e16</upper>
+35:   </limit>
+35: </axis>
+35: [       OK ] JointAxisFrame.Version_1_4_to_1_5 (130 ms)
+35: [ RUN      ] JointAxisFrame.Version_1_5_missing
 55: Running main() from /usr/src/gtest/src/gtest_main.cc
 55: [==========] Running 14 tests from 3 test suites.
 55: [----------] Global test environment set-up.
@@ -33566,19 +33427,36 @@
 55: [ RUN      ] DOMModel.NoName
 55: [       OK ] DOMModel.NoName (0 ms)
 55: [ RUN      ] DOMModel.NoLinks
-53: [1;31mError [Param.cc:467][0m The value <ambient>1.5 0 0 1</ambient> is invalid.
-53: Error:   Could not find the 'robot' element in the xml file
-53:          at line 109 in ./urdf_parser/src/model.cpp
-53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]/material/ambient:/build/sdformat-12.3.0+ds/test/sdf/material_invalid.sdf:L7]: Msg: Error reading element <ambient>
-53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]/material:/build/sdformat-12.3.0+ds/test/sdf/material_invalid.sdf:L6]: Msg: Error reading element <material>
-53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]:/build/sdformat-12.3.0+ds/test/sdf/material_invalid.sdf:L5]: Msg: Error reading element <visual>
-53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]:/build/sdformat-12.3.0+ds/test/sdf/material_invalid.sdf:L4]: Msg: Error reading element <link>
-53: Error Code 9: [/sdf/model[@name="model"]:/build/sdformat-12.3.0+ds/test/sdf/material_invalid.sdf:L3]: Msg: Error reading element <model>
-53: Error Code 9: Msg: Error reading element <sdf>
-53: Error Code 1: Msg: Unable to read file:/build/sdformat-12.3.0+ds/test/sdf/material_invalid.sdf
-53: 
-25: [       OK ] DOMFrame.LoadWorldFramesAttachedTo (266 ms)
-25: [ RUN      ] DOMFrame.LoadWorldFramesInvalidAttachedTo
+39: [       OK ] DOMJoint.Complete (178 ms)
+39: [ RUN      ] DOMJoint.LoadJointParentWorld
+19: [       OK ] ElementTracing.includes (441 ms)
+19: [----------] 2 tests from ElementTracing (658 ms total)
+19: 
+19: [----------] Global test environment tear-down
+51: [       OK ] Material.PbrDOM (132 ms)
+51: [ RUN      ] Material.MaterialPBR
+33: [       OK ] InterfaceAPI.TomlParserWorldInclude (147 ms)
+33: [ RUN      ] InterfaceAPI.TomlParserModelInclude
+19: [==========] 2 tests from 1 test suite ran. (658 ms total)
+19: [  PASSED  ] 2 tests.
+ 43/221 Test  #19: INTEGRATION_element_tracing ............................   Passed    0.79 sec
+test 58
+        Start  58: check_INTEGRATION_model_versions
+
+58: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_model_versions.xml"
+58: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
+58: Test timeout computed to be: 10000000
+58: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_model_versions.xml
+58: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_model_versions.xml
+ 44/221 Test  #58: check_INTEGRATION_model_versions .......................   Passed    0.01 sec
+test 59
+        Start  59: INTEGRATION_nested_model
+
+59: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/INTEGRATION_nested_model "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_nested_model.xml"
+59: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
+59: Environment variables: 
+59:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+59: Test timeout computed to be: 240
 57: [==========] Running 5 tests from 1 test suite.
 57: [----------] Global test environment set-up.
 57: [----------] 5 tests from ModelVersionsTest
@@ -33590,227 +33468,34 @@
 57: [       OK ] ModelVersionsTest.NonExistent_ModelFilePath (0 ms)
 57: [ RUN      ] ModelVersionsTest.MalFormed_ModelFilePath
 57: [1;31mError [parser.cc:1155][0m Failure to detect an sdf tag in the model config file for model: cococan
-57: [       OK ] ModelVersionsTest.MalFormed_ModelFilePath (7 ms)
+57: [       OK ] ModelVersionsTest.MalFormed_ModelFilePath (1 ms)
 57: [ RUN      ] ModelVersionsTest.NoVersionTag_ModelFilePath
 57: [1;33mWarning [parser.cc:1164][0m Can not find the XML attribute 'version' in sdf XML tag for model: cococan. Please specify the SDF protocol supported in the model configuration file. The first sdf tag in the config file will be used 
-57: [       OK ] ModelVersionsTest.NoVersionTag_ModelFilePath (3 ms)
+57: [       OK ] ModelVersionsTest.NoVersionTag_ModelFilePath (0 ms)
 57: [ RUN      ] ModelVersionsTest.Correct_ModelFilePath
 57: [1;33mWarning [parser.cc:1143][0m Ignoring version 100.0 for model cococan because is newer than this sdf parser (version 1.9)
-57: [       OK ] ModelVersionsTest.Correct_ModelFilePath (4 ms)
-57: [----------] 5 tests from ModelVersionsTest (15 ms total)
+57: [       OK ] ModelVersionsTest.Correct_ModelFilePath (0 ms)
+57: [----------] 5 tests from ModelVersionsTest (2 ms total)
 57: 
 57: [----------] Global test environment tear-down
-57: [==========] 5 tests from 1 test suite ran. (16 ms total)
+57: [==========] 5 tests from 1 test suite ran. (2 ms total)
 57: [  PASSED  ] 5 tests.
- 50/221 Test  #57: INTEGRATION_model_versions .............................   Passed    0.33 sec
-test 58
-        Start  58: check_INTEGRATION_model_versions
-
-58: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_model_versions.xml"
-58: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
-58: Test timeout computed to be: 10000000
-31: [       OK ] IncludesTest.MergeInclude (761 ms)
-31: [ RUN      ] IncludesTest.MergeIncludePlacementFrame
-58: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_model_versions.xml
- 51/221 Test  #58: check_INTEGRATION_model_versions .......................   Passed    0.05 sec
-test 59
-        Start  59: INTEGRATION_nested_model
-
-59: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/INTEGRATION_nested_model "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_nested_model.xml"
-59: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
-59: Environment variables: 
-59:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-59: Test timeout computed to be: 240
-55: [       OK ] DOMModel.NoLinks (195 ms)
-55: [ RUN      ] DOMModel.LoadModelWithDuplicateChildNames
-43: [       OK ] DOMLink.LoadLinkPoseRelativeTo (245 ms)
-43: [ RUN      ] DOMLink.LoadInvalidLinkPoseRelativeTo
-53: [1;31mError [Param.cc:467][0m The value <specular>0 0.1</specular> is invalid.
-53: Error:   Could not find the 'robot' element in the xml file
-53:          at line 109 in ./urdf_parser/src/model.cpp
-53: [1;31mError [parser_urdf.cc:3226][0m Unable to call parseURDF on robot model
-53: [1;31mError [parser.cc:820][0m parse as old deprecated model file failed.
-53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]/material/specular:<data-string>:L8]: Msg: Error reading element <specular>
-53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]/material:<data-string>:L7]: Msg: Error reading element <material>
-53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]:<data-string>:L6]: Msg: Error reading element <visual>
-53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]:<data-string>:L5]: Msg: Error reading element <link>
-53: Error Code 9: [/sdf/model[@name="model"]:<data-string>:L4]: Msg: Error reading element <model>
-53: Error Code 9: Msg: Error reading element <sdf>
-53: Error Code 28: Msg: Unable to read SDF string: 
-53:     <?xml version="1.0" ?>
-53:     <sdf version="1.8">
-53:       <model name="model">
-53:         <link name="link">
-53:           <visual name="material">
-53:             <material>
-53:               <specular>0 0.1</specular>
-53:             </material>
-53:           </visual>
-53:         </link>
-53:       </model>
-53:     </sdf>
-53: 
-59: Running main() from /usr/src/gtest/src/gtest_main.cc
-59: [==========] Running 17 tests from 3 test suites.
-59: [----------] Global test environment set-up.
-59: [----------] 10 tests from NestedModel
-59: [ RUN      ] NestedModel.NestedModel
-39: [1;33mWarning [Model.cc:174][0m Non-unique name[attachment] detected 2 times in XML children of model with name[link_joint_same_name].
-39: [1;31mError [Model.cc:286][0m Joint with name [attachment] in model with name [link_joint_same_name] has a name collision. Please rename this joint.
-39: Error Code 2: Msg: Joint with non-unique name [attachment] detected in model with name [link_joint_same_name].
-39: Error Code 24: Msg: FrameAttachedToGraph error, LINK vertex with name [link_joint_same_name::attachment] should have no outgoing edges in MODEL attached_to graph.
-39: Error Code 23: Msg: FrameAttachedToGraph cycle detected, already visited vertex [link_joint_same_name::attachment].
-39: Error Code 2: Msg: Joint with non-unique name [attachment] detected in model with name [link_joint_same_name].
-39: Error Code 26: Msg: relative_to name[attachment] is identical to joint name[attachment], causing a graph cycle in model with name[link_joint_same_name].
-39: Error Code 27: Msg: PoseRelativeToGraph error, too many incoming edges at a vertex with name [link_joint_same_name::attachment].
-39: Error Code 27: Msg: PoseRelativeToGraph error: multiple incoming edges to current vertex [link_joint_same_name::attachment].
-39: Error Code 19: Msg: joint with name[attachment] in model with name[link_joint_same_name] must not specify its own name as the child frame.
-39: Error Code 23: Msg: FrameAttachedToGraph cycle detected, already visited vertex [link_joint_same_name::attachment].
-25: Error Code 22: Msg: attached_to name[A] specified by frame with name[F] does not match a model or frame name in world with name[world_frame_invalid_attached_to].
-25: Error Code 23: Msg: attached_to name[self_cycle] is identical to frame name[self_cycle], causing a graph cycle in world with name[world_frame_invalid_attached_to].
-25: Error Code 24: Msg: FrameAttachedToGraph error, Non-LINK vertex with name [F] has 0 outgoing edges; it should only have 1 outgoing edge in WORLD attached_to graph.
-25: Error Code 24: Msg: Graph has world scope but sink vertex named [F] does not have FrameType WORLD, LINK or STATIC_MODEL when starting from vertex with name [F].
-25: Error Code 23: Msg: FrameAttachedToGraph cycle detected, already visited vertex [self_cycle].
-25: Error Code 22: Msg: attached_to name[A] specified by frame with name[F] does not match a model or frame name in world with name[world_frame_invalid_attached_to].
-25: Error Code 26: Msg: relative_to name[self_cycle] is identical to frame name[self_cycle], causing a graph cycle in world with name[world_frame_invalid_attached_to].
-25: Error Code 27: Msg: PoseRelativeToGraph error, MODEL / FRAME vertex with name [F] is disconnected; it should have 1 incoming edge in WORLD relative_to graph.
-25: Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [2].
-25: Error Code 26: Msg: PoseRelativeToGraph cycle detected, already visited vertex [self_cycle].
-25: Error Code 9: Msg: Failed to load a world.
-39: [       OK ] DOMJoint.LoadLinkJointSameName17Invalid (454 ms)
-39: [ RUN      ] DOMJoint.LoadLinkJointSameName16Valid
-43: Error Code 25: Msg: relative_to name[A] specified by link with name[L] does not match a nested model, link, joint, or frame name in model with name[model_invalid_link_relative_to].
-43: Error Code 26: Msg: relative_to name[self_cycle] is identical to link name[self_cycle], causing a graph cycle in model with name[model_invalid_link_relative_to].
-43: Error Code 27: Msg: PoseRelativeToGraph error, Vertex with name [model_invalid_link_relative_to::L] is disconnected; it should have 1 incoming edge in MODEL relative_to graph.
-43: Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [3].
-43: Error Code 26: Msg: PoseRelativeToGraph cycle detected, already visited vertex [model_invalid_link_relative_to::self_cycle].
-43: [       OK ] DOMLink.LoadInvalidLinkPoseRelativeTo (233 ms)
-43: [ RUN      ] DOMLink.ValidInertialPoseRelTo
-53: [1;31mError [Param.cc:467][0m The value <emissive>0.1 0.2 -1</emissive> is invalid.
-53: Error:   Could not find the 'robot' element in the xml file
-53:          at line 109 in ./urdf_parser/src/model.cpp
-53: [1;31mError [parser_urdf.cc:3226][0m Unable to call parseURDF on robot model
-53: [1;31mError [parser.cc:820][0m parse as old deprecated model file failed.
-53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]/material/emissive:<data-string>:L8]: Msg: Error reading element <emissive>
-53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]/material:<data-string>:L7]: Msg: Error reading element <material>
-53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]:<data-string>:L6]: Msg: Error reading element <visual>
-53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]:<data-string>:L5]: Msg: Error reading element <link>
-53: Error Code 9: [/sdf/model[@name="model"]:<data-string>:L4]: Msg: Error reading element <model>
-53: Error Code 9: Msg: Error reading element <sdf>
-53: Error Code 28: Msg: Unable to read SDF string: 
-53:     <?xml version="1.0" ?>
-53:     <sdf version="1.8">
-53:     <model name="model">
-53:       <link name="link">
-53:         <visual name="material">
-53:           <material>
-53:             <emissive>0.1 0.2    -1</emissive>
-53:           </material>
-53:         </visual>
-53:       </link>
-53:     </model>
-53:     </sdf>
-53: 
-25: [       OK ] DOMFrame.LoadWorldFramesInvalidAttachedTo (571 ms)
-25: [ RUN      ] DOMFrame.LoadModelFramesRelativeTo
-55: [       OK ] DOMModel.LoadModelWithDuplicateChildNames (480 ms)
-55: [----------] 4 tests from DOMModel (675 ms total)
-55: 
-55: [----------] 9 tests from DOMRoot
-55: [ RUN      ] DOMRoot.LoadLinkCheck
-59: [       OK ] NestedModel.NestedModel (292 ms)
-59: [ RUN      ] NestedModel.State
-53: [1;31mError [Param.cc:467][0m The value <diffuse>0.1 0.2 0.3 0.4 0.5</diffuse> is invalid.
-53: Error:   Could not find the 'robot' element in the xml file
-53:          at line 109 in ./urdf_parser/src/model.cpp
-53: [1;31mError [parser_urdf.cc:3226][0m Unable to call parseURDF on robot model
-53: [1;31mError [parser.cc:820][0m parse as old deprecated model file failed.
-53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]/material/diffuse:<data-string>:L8]: Msg: Error reading element <diffuse>
-53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]/material:<data-string>:L7]: Msg: Error reading element <material>
-53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]:<data-string>:L6]: Msg: Error reading element <visual>
-53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]:<data-string>:L5]: Msg: Error reading element <link>
-53: Error Code 9: [/sdf/model[@name="model"]:<data-string>:L4]: Msg: Error reading element <model>
-53: Error Code 9: Msg: Error reading element <sdf>
-53: Error Code 28: Msg: Unable to read SDF string: 
-53:     <?xml version="1.0" ?>
-53:     <sdf version="1.8">
-53:     <model name="model">
-53:       <link name="link">
-53:         <visual name="material">
-53:           <material>
-53:             <diffuse>0.1 0.2 0.3 0.4 0.5</diffuse>
-53:           </material>
-53:         </visual>
-53:       </link>
-53:     </model>
-53:     </sdf>
-53: 
-39: [1;33mWarning [Model.cc:174][0m Non-unique name[attachment] detected 2 times in XML children of model with name[link_joint_same_name].
-39: [1;33mWarning [Model.cc:278][0m Joint with name [attachment] in model with name [link_joint_same_name] has a name collision, changing joint name to [attachment_joint].
-43: [1;33mWarning [Utils.cc:129][0m [/sdf/model[@name="A"]/link[@name="B"]/inertial/pose[@relative_to=""]:<data-string>:L1]: XML Attribute[relative_to] in element[pose] not defined in SDF.
-39: [       OK ] DOMJoint.LoadLinkJointSameName16Valid (365 ms)
-39: [ RUN      ] DOMJoint.LoadURDFJointPoseRelativeTo
-43: [       OK ] DOMLink.ValidInertialPoseRelTo (354 ms)
-43: [ RUN      ] DOMLink.InvalidInertialPoseRelTo
-31: [       OK ] IncludesTest.MergeIncludePlacementFrame (681 ms)
-31: [ RUN      ] IncludesTest.InvalidMergeInclude
-25: [       OK ] DOMFrame.LoadModelFramesRelativeTo (242 ms)
-25: [ RUN      ] DOMFrame.LoadModelFramesInvalidRelativeTo
-55: [       OK ] DOMRoot.LoadLinkCheck (376 ms)
-55: [ RUN      ] DOMRoot.LoadDoublePendulum
-53: [1;31mError [Param.cc:434][0m Invalid argument. Unable to set value [test] for key [ambient].
-53: [1;31mError [Param.cc:467][0m The value <ambient>0.1 0.2 test</ambient> is invalid.
-53: Error:   Could not find the 'robot' element in the xml file
-53:          at line 109 in ./urdf_parser/src/model.cpp
-53: [1;31mError [parser_urdf.cc:3226][0m Unable to call parseURDF on robot model
-53: [1;31mError [parser.cc:820][0m parse as old deprecated model file failed.
-53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]/material/ambient:<data-string>:L8]: Msg: Error reading element <ambient>
-53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]/material:<data-string>:L7]: Msg: Error reading element <material>
-53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]:<data-string>:L6]: Msg: Error reading element <visual>
-53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]:<data-string>:L5]: Msg: Error reading element <link>
-53: Error Code 9: [/sdf/model[@name="model"]:<data-string>:L4]: Msg: Error reading element <model>
-53: Error Code 9: Msg: Error reading element <sdf>
-53: Error Code 28: Msg: Unable to read SDF string: 
-53:     <?xml version="1.0" ?>
-53:     <sdf version="1.8">
-53:     <model name="model">
-53:       <link name="link">
-53:         <visual name="material">
-53:           <material>
-53:             <ambient>0.1 0.2 test</ambient>
-53:           </material>
-53:         </visual>
-53:       </link>
-53:     </model>
-53:     </sdf>
-53: 
-53: [       OK ] Material.InvalidColors (1352 ms)
-53: [ RUN      ] Material.ValidColors
-59: [       OK ] NestedModel.State (414 ms)
-59: [ RUN      ] NestedModel.NestedInclude
-47: [       OK ] CheckFixForLocal.MakeTestToFail (2206 ms)
-47: [----------] 1 test from CheckFixForLocal (2206 ms total)
-47: 
-47: [----------] Global test environment tear-down
-47: [==========] 1 test from 1 test suite ran. (2206 ms total)
-47: [  PASSED  ] 1 test.
- 52/221 Test  #47: INTEGRATION_locale_fix .................................   Passed    2.36 sec
+ 45/221 Test  #57: INTEGRATION_model_versions .............................   Passed    0.13 sec
 test 60
         Start  60: check_INTEGRATION_nested_model
 
 60: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_nested_model.xml"
 60: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 60: Test timeout computed to be: 10000000
-43: [1;33mWarning [Utils.cc:129][0m [/sdf/model[@name="A"]/link[@name="B"]/inertial/pose[@relative_to="C"]:<data-string>:L1]: XML Attribute[relative_to] in element[pose] not defined in SDF.
-43: [       OK ] DOMLink.InvalidInertialPoseRelTo (359 ms)
-43: [----------] 11 tests from DOMLink (2508 ms total)
-43: 
-43: [----------] Global test environment tear-down
-43: [==========] 11 tests from 1 test suite ran. (2508 ms total)
-43: [  PASSED  ] 11 tests.
-39: [       OK ] DOMJoint.LoadURDFJointPoseRelativeTo (380 ms)
-39: [ RUN      ] DOMJoint.LoadJointNestedParentChild
- 53/221 Test  #43: INTEGRATION_link_dom ...................................   Passed    2.89 sec
+43: [       OK ] DOMLink.InertialDoublePendulum (153 ms)
+43: [ RUN      ] DOMLink.InertialComplete
+11: [       OK ] ConverterIntegration.UnflattenConversion (231 ms)
+11: [----------] 5 tests from ConverterIntegration (738 ms total)
+11: 
+11: [----------] Global test environment tear-down
+60: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_nested_model.xml
+60: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_nested_model.xml
+ 46/221 Test  #60: check_INTEGRATION_nested_model .........................   Passed    0.02 sec
 test 61
         Start  61: INTEGRATION_nested_multiple_elements_error
 
@@ -33819,28 +33504,28 @@
 61: Environment variables: 
 61:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 61: Test timeout computed to be: 240
-60: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_nested_model.xml
-60: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_nested_model.xml
- 54/221 Test  #60: check_INTEGRATION_nested_model .........................   Passed    0.05 sec
+11: [==========] 5 tests from 1 test suite ran. (738 ms total)
+11: [  PASSED  ] 5 tests.
+25: [       OK ] Frame.IncludeRelativeTo (200 ms)
+25: [ RUN      ] Frame.IncludeRelativeToEmptyPose
+ 47/221 Test  #11: INTEGRATION_converter ..................................   Passed    0.87 sec
 test 62
         Start  62: check_INTEGRATION_nested_multiple_elements_error
 
 62: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_nested_multiple_elements_error.xml"
 62: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 62: Test timeout computed to be: 10000000
-25: Error Code 25: Msg: relative_to name[A] specified by frame with name[F] does not match a nested model, link, joint, or frame name in model with name[model_invalid_frame_relative_to].
-25: Error Code 26: Msg: relative_to name[cycle] is identical to frame name[cycle], causing a graph cycle in model with name[model_invalid_frame_relative_to].
-25: Error Code 27: Msg: PoseRelativeToGraph error, Vertex with name [model_invalid_frame_relative_to::F] is disconnected; it should have 1 incoming edge in MODEL relative_to graph.
-25: Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [4].
-25: Error Code 26: Msg: PoseRelativeToGraph cycle detected, already visited vertex [model_invalid_frame_relative_to::cycle].
-25: [       OK ] DOMFrame.LoadModelFramesInvalidRelativeTo (322 ms)
-25: [ RUN      ] DOMFrame.LoadModelFramesRelativeToJoint
-53: 
-53: [       OK ] Material.ValidColors (158 ms)
-53: [ RUN      ] Material.URDFValidColors
-62: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_nested_multiple_elements_error.xml
-62: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_nested_multiple_elements_error.xml
- 55/221 Test  #62: check_INTEGRATION_nested_multiple_elements_error .......   Passed    0.06 sec
+47: [       OK ] CheckFixForLocal.MakeTestToFail (292 ms)
+47: [----------] 1 test from CheckFixForLocal (292 ms total)
+47: 
+47: [----------] Global test environment tear-down
+47: [==========] 1 test from 1 test suite ran. (292 ms total)
+47: [  PASSED  ] 1 test.
+37: [       OK ] DOMJointAxis.XyzNormalization (153 ms)
+37: [----------] 4 tests from DOMJointAxis (458 ms total)
+37: 
+37: [----------] Global test environment tear-down
+ 48/221 Test  #47: INTEGRATION_locale_fix .................................   Passed    0.42 sec
 test 63
         Start  63: INTEGRATION_param_passing
 
@@ -33849,30 +33534,18 @@
 63: Environment variables: 
 63:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 63: Test timeout computed to be: 240
-55: [       OK ] DOMRoot.LoadDoublePendulum (265 ms)
-55: [ RUN      ] DOMRoot.NestedModel
-53: 
-53: [       OK ] Material.URDFValidColors (129 ms)
-53: [----------] 3 tests from Material (1640 ms total)
-53: 
-53: [----------] Global test environment tear-down
-53: [==========] 3 tests from 1 test suite ran. (1640 ms total)
-53: [  PASSED  ] 3 tests.
- 56/221 Test  #53: INTEGRATION_material ...................................   Passed    1.81 sec
+62: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_nested_multiple_elements_error.xml
+62: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_nested_multiple_elements_error.xml
+37: [==========] 4 tests from 1 test suite ran. (458 ms total)
+37: [  PASSED  ] 4 tests.
+ 49/221 Test  #62: check_INTEGRATION_nested_multiple_elements_error .......   Passed    0.02 sec
 test 64
         Start  64: check_INTEGRATION_param_passing
 
 64: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_param_passing.xml"
 64: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 64: Test timeout computed to be: 10000000
-61: Running main() from /usr/src/gtest/src/gtest_main.cc
-61: [==========] Running 5 tests from 1 test suite.
-61: [----------] Global test environment set-up.
-61: [----------] 5 tests from IncludesTest
-61: [ RUN      ] IncludesTest.NestedMultipleModelsError
-64: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_param_passing.xml
-64: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_param_passing.xml
- 57/221 Test  #64: check_INTEGRATION_param_passing ........................   Passed    0.05 sec
+ 50/221 Test  #37: INTEGRATION_joint_axis_dom .............................   Passed    0.58 sec
 test 65
         Start  65: INTEGRATION_parser_error_detection
 
@@ -33881,40 +33554,23 @@
 65: Environment variables: 
 65:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 65: Test timeout computed to be: 240
-63: Running main() from /usr/src/gtest/src/gtest_main.cc
-63: [==========] Running 2 tests from 1 test suite.
-63: [----------] Global test environment set-up.
-63: [----------] 2 tests from ParamPassingTest
-63: [ RUN      ] ParamPassingTest.ExperimentalParamsTag
-39: [       OK ] DOMJoint.LoadJointNestedParentChild (379 ms)
-39: [ RUN      ] DOMJoint.Sensors
-25: [       OK ] DOMFrame.LoadModelFramesRelativeToJoint (373 ms)
-25: [ RUN      ] DOMFrame.LoadWorldFramesRelativeTo
-55: [       OK ] DOMRoot.NestedModel (368 ms)
-55: [ RUN      ] DOMRoot.MultiNestedModel
-65: Running main() from /usr/src/gtest/src/gtest_main.cc
-65: [==========] Running 1 test from 1 test suite.
-65: [----------] Global test environment set-up.
-65: [----------] 1 test from ParserErrorDetection
-65: [ RUN      ] ParserErrorDetection.BadXML
-61: [       OK ] IncludesTest.NestedMultipleModelsError (486 ms)
-61: [ RUN      ] IncludesTest.NestedMultipleActorsError
-39: [       OK ] DOMJoint.Sensors (360 ms)
-39: [----------] 16 tests from DOMJoint (4552 ms total)
-39: 
-39: [----------] Global test environment tear-down
-39: [==========] 16 tests from 1 test suite ran. (4552 ms total)
-39: [  PASSED  ] 16 tests.
- 58/221 Test  #39: INTEGRATION_joint_dom ..................................   Passed    4.85 sec
+39: [       OK ] DOMJoint.LoadJointParentWorld (98 ms)
+39: [ RUN      ] DOMJoint.LoadInvalidJointChildWorld
+64: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_param_passing.xml
+64: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_param_passing.xml
+ 51/221 Test  #64: check_INTEGRATION_param_passing ........................   Passed    0.02 sec
 test 66
         Start  66: check_INTEGRATION_parser_error_detection
 
 66: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_parser_error_detection.xml"
 66: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 66: Test timeout computed to be: 10000000
+55: [       OK ] DOMModel.NoLinks (114 ms)
+55: [ RUN      ] DOMModel.LoadModelWithDuplicateChildNames
 66: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_parser_error_detection.xml
 66: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_parser_error_detection.xml
- 59/221 Test  #66: check_INTEGRATION_parser_error_detection ...............   Passed    0.06 sec
+53: [1;31mError [Param.cc:467][0m The value <ambient>1.5 0 0 1</ambient> is invalid.
+ 52/221 Test  #66: check_INTEGRATION_parser_error_detection ...............   Passed    0.02 sec
 test 67
         Start  67: INTEGRATION_parser_config
 
@@ -33923,27 +33579,58 @@
 67: Environment variables: 
 67:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 67: Test timeout computed to be: 240
-55: [       OK ] DOMRoot.MultiNestedModel (342 ms)
-55: [ RUN      ] DOMRoot.LoadCanonicalLink
-65: [1;31mError [parser.cc:798][0m Error parsing XML from string: Error=XML_ERROR_MISMATCHED_ELEMENT ErrorID=14 (0xe) Line number=1: XMLElement name=geometry
-65: [       OK ] ParserErrorDetection.BadXML (339 ms)
-65: [----------] 1 test from ParserErrorDetection (339 ms total)
-65: 
-65: [----------] Global test environment tear-down
-65: [==========] 1 test from 1 test suite ran. (339 ms total)
-65: [  PASSED  ] 1 test.
- 60/221 Test  #65: INTEGRATION_parser_error_detection .....................   Passed    0.62 sec
+21: [1;32mMsg [fixed_joint_reduction.cc:154][0m col: base_link_collision
+21: [1;32mMsg [fixed_joint_reduction.cc:154][0m col: base_link_fixed_joint_lump__child_link_1_collision_1
+21: [1;32mMsg [fixed_joint_reduction.cc:154][0m col: base_link_fixed_joint_lump__child_link_2_collision_2
+21: [1;32mMsg [fixed_joint_reduction.cc:154][0m col: base_link_fixed_joint_lump__child_link_1a_collision_3
+21: [1;32mMsg [fixed_joint_reduction.cc:172][0m vis: base_link_visual
+21: [1;32mMsg [fixed_joint_reduction.cc:172][0m vis: base_link_fixed_joint_lump__child_link_1_visual_1
+21: [1;32mMsg [fixed_joint_reduction.cc:172][0m vis: base_link_fixed_joint_lump__child_link_2_visual_2
+21: [1;32mMsg [fixed_joint_reduction.cc:172][0m vis: base_link_fixed_joint_lump__child_link_1a_visual_3
+21: [1;32mMsg [fixed_joint_reduction.cc:206][0m col: base_link_collision
+21: [1;32mMsg [fixed_joint_reduction.cc:206][0m col: base_link_fixed_joint_lump__child_link_1_collision_1
+21: [1;32mMsg [fixed_joint_reduction.cc:206][0m col: base_link_fixed_joint_lump__child_link_2_collision_2
+21: [1;32mMsg [fixed_joint_reduction.cc:206][0m col: base_link_fixed_joint_lump__child_link_1a_collision_3
+21: [1;32mMsg [fixed_joint_reduction.cc:224][0m vis: base_link_visual
+21: [1;32mMsg [fixed_joint_reduction.cc:224][0m vis: base_link_fixed_joint_lump__child_link_1_visual_1
+21: [1;32mMsg [fixed_joint_reduction.cc:224][0m vis: base_link_fixed_joint_lump__child_link_2_visual_2
+21: [1;32mMsg [fixed_joint_reduction.cc:224][0m vis: base_link_fixed_joint_lump__child_link_1a_visual_3
+21: [1;32mMsg [fixed_joint_reduction.cc:243][0m urdf mu1: 0.7
+21: [1;32mMsg [fixed_joint_reduction.cc:251][0m urdf mu2: 0.71
+53: Error:   Could not find the 'robot' element in the xml file
+53:          at line 109 in ./urdf_parser/src/model.cpp
+35: [       OK ] JointAxisFrame.Version_1_5_missing (128 ms)
+35: [----------] 4 tests from JointAxisFrame (524 ms total)
+35: 
+35: [----------] Global test environment tear-down
+35: [==========] 4 tests from 1 test suite ran. (524 ms total)
+35: [  PASSED  ] 4 tests.
+53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]/material/ambient:/build/sdformat-12.3.0+ds/test/sdf/material_invalid.sdf:L7]: Msg: Error reading element <ambient>
+53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]/material:/build/sdformat-12.3.0+ds/test/sdf/material_invalid.sdf:L6]: Msg: Error reading element <material>
+53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]:/build/sdformat-12.3.0+ds/test/sdf/material_invalid.sdf:L5]: Msg: Error reading element <visual>
+53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]:/build/sdformat-12.3.0+ds/test/sdf/material_invalid.sdf:L4]: Msg: Error reading element <link>
+53: Error Code 9: [/sdf/model[@name="model"]:/build/sdformat-12.3.0+ds/test/sdf/material_invalid.sdf:L3]: Msg: Error reading element <model>
+53: Error Code 9: Msg: Error reading element <sdf>
+53: Error Code 1: Msg: Unable to read file:/build/sdformat-12.3.0+ds/test/sdf/material_invalid.sdf
+53: 
+ 53/221 Test  #35: INTEGRATION_joint_axis_frame ...........................   Passed    0.66 sec
 test 68
         Start  68: check_INTEGRATION_parser_config
 
 68: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_parser_config.xml"
 68: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 68: Test timeout computed to be: 10000000
-59: [       OK ] NestedModel.NestedInclude (972 ms)
-59: [ RUN      ] NestedModel.NestedModelWithFrames
-68: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_parser_config.xml
-68: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_parser_config.xml
- 61/221 Test  #68: check_INTEGRATION_parser_config ........................   Passed    0.02 sec
+33: [       OK ] InterfaceAPI.TomlParserModelInclude (120 ms)
+33: [ RUN      ] InterfaceAPI.FrameSemantics
+51: [       OK ] Material.MaterialPBR (125 ms)
+51: [----------] 2 tests from Material (258 ms total)
+51: 
+51: [----------] Global test environment tear-down
+21: [       OK ] SDFParser.FixedJointReductionCollisionVisualExtensionTest (270 ms)
+21: [ RUN      ] SDFParser.FixedJointReductionCollisionVisualExtensionEmptyRootTest
+51: [==========] 2 tests from 1 test suite ran. (258 ms total)
+51: [  PASSED  ] 2 tests.
+ 54/221 Test  #51: INTEGRATION_material_pbr ...............................   Passed    0.38 sec
 test 69
         Start  69: INTEGRATION_particle_emitter_dom
 
@@ -33952,57 +33639,25 @@
 69: Environment variables: 
 69:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 69: Test timeout computed to be: 240
-25: [       OK ] DOMFrame.LoadWorldFramesRelativeTo (485 ms)
-25: [ RUN      ] DOMFrame.LoadWorldFramesInvalidRelativeTo
-69: Running main() from /usr/src/gtest/src/gtest_main.cc
-69: [==========] Running 1 test from 1 test suite.
-69: [----------] Global test environment set-up.
-69: [----------] 1 test from DOMWorld
-69: [ RUN      ] DOMWorld.LoadParticleEmitter
-67: Running main() from /usr/src/gtest/src/gtest_main.cc
-67: [==========] Running 3 tests from 1 test suite.
-67: [----------] Global test environment set-up.
-67: [----------] 3 tests from ParserConfig
-67: [ RUN      ] ParserConfig.GlobalConfig
-67: [       OK ] ParserConfig.GlobalConfig (0 ms)
-67: [ RUN      ] ParserConfig.NonGlobalConfig
-67: [       OK ] ParserConfig.NonGlobalConfig (0 ms)
-67: [ RUN      ] ParserConfig.ParseWithNonGlobalConfig
-63: [1;31mError [Param.cc:925][0m Empty string used when setting a required parameter. Key[element_id]
-63: [1;31mError [Param.cc:925][0m Empty string used when setting a required parameter. Key[element_id]
-61: [       OK ] IncludesTest.NestedMultipleActorsError (402 ms)
-61: [ RUN      ] IncludesTest.NestedMultipleLightsError
-31: [1;33mWarning [Utils.cc:129][0m [[@merge="true"]:<data-string>:L4]: XML Attribute[merge] in element[include] not defined in SDF.
-69: [       OK ] DOMWorld.LoadParticleEmitter (214 ms)
-69: [----------] 1 test from DOMWorld (214 ms total)
-69: 
-69: [----------] Global test environment tear-down
-69: [==========] 1 test from 1 test suite ran. (214 ms total)
-69: [  PASSED  ] 1 test.
- 62/221 Test  #69: INTEGRATION_particle_emitter_dom .......................   Passed    0.36 sec
+68: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_parser_config.xml
+68: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_parser_config.xml
+ 55/221 Test  #68: check_INTEGRATION_parser_config ........................   Passed    0.02 sec
 test 70
         Start  70: check_INTEGRATION_particle_emitter_dom
 
 70: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_particle_emitter_dom.xml"
 70: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 70: Test timeout computed to be: 10000000
-25: Error Code 25: Msg: relative_to name[A] specified by model with name[M] does not match a model or frame name in world with name[world_frame_invalid_relative_to].
-25: Error Code 26: Msg: relative_to name[cycle] is identical to model name[cycle], causing a graph cycle in world with name[world_frame_invalid_relative_to].
-25: Error Code 25: Msg: relative_to name[A] specified by frame with name[F] does not match a model or frame name in world with name[world_frame_invalid_relative_to].
-25: Error Code 26: Msg: relative_to name[self_cycle] is identical to frame name[self_cycle], causing a graph cycle in world with name[world_frame_invalid_relative_to].
-25: Error Code 27: Msg: PoseRelativeToGraph error, MODEL / FRAME vertex with name [M] is disconnected; it should have 1 incoming edge in WORLD relative_to graph.
-25: Error Code 27: Msg: PoseRelativeToGraph error, MODEL / FRAME vertex with name [F] is disconnected; it should have 1 incoming edge in WORLD relative_to graph.
-25: Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [8].
-25: Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [2].
-25: Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [4].
-25: Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [3].
-25: Error Code 26: Msg: PoseRelativeToGraph cycle detected, already visited vertex [cycle].
-25: Error Code 26: Msg: PoseRelativeToGraph cycle detected, already visited vertex [cycle].
-25: Error Code 26: Msg: PoseRelativeToGraph cycle detected, already visited vertex [cycle].
-25: Error Code 26: Msg: PoseRelativeToGraph cycle detected, already visited vertex [self_cycle].
-25: Error Code 9: Msg: Failed to load a world.
+43: [       OK ] DOMLink.InertialComplete (109 ms)
+43: [ RUN      ] DOMLink.InertialInvalid
+59: Running main() from /usr/src/gtest/src/gtest_main.cc
+59: [==========] Running 17 tests from 3 test suites.
+59: [----------] Global test environment set-up.
+59: [----------] 10 tests from NestedModel
+59: [ RUN      ] NestedModel.NestedModel
 70: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_particle_emitter_dom.xml
- 63/221 Test  #70: check_INTEGRATION_particle_emitter_dom .................   Passed    0.02 sec
+70: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_particle_emitter_dom.xml
+ 56/221 Test  #70: check_INTEGRATION_particle_emitter_dom .................   Passed    0.02 sec
 test 71
         Start  71: INTEGRATION_plugin_attribute
 
@@ -34011,43 +33666,119 @@
 71: Environment variables: 
 71:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 71: Test timeout computed to be: 240
-25: [       OK ] DOMFrame.LoadWorldFramesInvalidRelativeTo (386 ms)
-25: [ RUN      ] DOMFrame.WorldIncludeModel
-55: [       OK ] DOMRoot.LoadCanonicalLink (470 ms)
-55: [ RUN      ] DOMRoot.LoadNestedCanonicalLink
+39: Error Code 19: Msg: Joint with name[joint] specified invalid child link [world].
+39: Error Code 19: Msg: Child frame with name[world] specified by joint with name[joint] not found in model with name[joint_child_world].
+39: Error Code 24: Msg: FrameAttachedToGraph error, Non-LINK vertex with name [joint_child_world::joint] is disconnected; it should have 1 outgoing edge in MODEL attached_to graph.
+39: Error Code 24: Msg: Graph has __model__ scope but sink vertex named [joint_child_world::joint] does not have FrameType LINK or STATIC_MODEL when starting from vertex with name [joint_child_world::joint].
+39: Error Code 25: Msg: relative_to name[world] specified by joint with name[joint] does not match a nested model, link, joint, or frame name in model with name[joint_child_world].
+39: Error Code 27: Msg: PoseRelativeToGraph error, Vertex with name [joint_child_world::joint] is disconnected; it should have 1 incoming edge in MODEL relative_to graph.
+39: Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [4].
+39: Error Code 19: Msg: invalid child name[world] specified by joint with name[joint] in model with name[joint_child_world].
+39: Error Code 19: Msg: child frame with name[world] specified by joint with name[joint] not found in model with name[joint_child_world].
+39: Error Code 22: Msg: FrameAttachedToGraph unable to find unique frame with name [world] in graph.
+61: Running main() from /usr/src/gtest/src/gtest_main.cc
+61: [==========] Running 5 tests from 1 test suite.
+61: [----------] Global test environment set-up.
+61: [----------] 5 tests from IncludesTest
+61: [ RUN      ] IncludesTest.NestedMultipleModelsError
+39: [       OK ] DOMJoint.LoadInvalidJointChildWorld (99 ms)
+39: [ RUN      ] DOMJoint.LoadJointParentFrame
+63: Running main() from /usr/src/gtest/src/gtest_main.cc
+63: [==========] Running 2 tests from 1 test suite.
+63: [----------] Global test environment set-up.
+63: [----------] 2 tests from ParamPassingTest
+63: [ RUN      ] ParamPassingTest.ExperimentalParamsTag
+25: [       OK ] Frame.IncludeRelativeToEmptyPose (146 ms)
+25: [ RUN      ] Frame.IncludeFrameWithSubmodel
+33: [       OK ] InterfaceAPI.FrameSemantics (80 ms)
+33: [ RUN      ] InterfaceAPI.Reposturing
+65: Running main() from /usr/src/gtest/src/gtest_main.cc
+65: [==========] Running 1 test from 1 test suite.
+65: [----------] Global test environment set-up.
+65: [----------] 1 test from ParserErrorDetection
+65: [ RUN      ] ParserErrorDetection.BadXML
+31: [       OK ] IncludesTest.Includes_15 (280 ms)
+31: [ RUN      ] IncludesTest.Includes_15_convert
+53: [1;31mError [Param.cc:467][0m The value <specular>0 0.1</specular> is invalid.
+53: Error:   Could not find the 'robot' element in the xml file
+53:          at line 109 in ./urdf_parser/src/model.cpp
+53: [1;31mError [parser_urdf.cc:3226][0m Unable to call parseURDF on robot model
+53: [1;31mError [parser.cc:820][0m parse as old deprecated model file failed.
+53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]/material/specular:<data-string>:L8]: Msg: Error reading element <specular>
+53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]/material:<data-string>:L7]: Msg: Error reading element <material>
+53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]:<data-string>:L6]: Msg: Error reading element <visual>
+53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]:<data-string>:L5]: Msg: Error reading element <link>
+53: Error Code 9: [/sdf/model[@name="model"]:<data-string>:L4]: Msg: Error reading element <model>
+53: Error Code 9: Msg: Error reading element <sdf>
+53: Error Code 28: Msg: Unable to read SDF string: 
+53:     <?xml version="1.0" ?>
+53:     <sdf version="1.8">
+53:       <model name="model">
+53:         <link name="link">
+53:           <visual name="material">
+53:             <material>
+53:               <specular>0 0.1</specular>
+53:             </material>
+53:           </visual>
+53:         </link>
+53:       </model>
+53:     </sdf>
+53: 
+67: Running main() from /usr/src/gtest/src/gtest_main.cc
+67: [==========] Running 3 tests from 1 test suite.
+67: [----------] Global test environment set-up.
+67: [----------] 3 tests from ParserConfig
+67: [ RUN      ] ParserConfig.GlobalConfig
+67: [       OK ] ParserConfig.GlobalConfig (0 ms)
+67: [ RUN      ] ParserConfig.NonGlobalConfig
+67: [       OK ] ParserConfig.NonGlobalConfig (0 ms)
+67: [ RUN      ] ParserConfig.ParseWithNonGlobalConfig
+69: Running main() from /usr/src/gtest/src/gtest_main.cc
+69: [==========] Running 1 test from 1 test suite.
+69: [----------] Global test environment set-up.
+69: [----------] 1 test from DOMWorld
+69: [ RUN      ] DOMWorld.LoadParticleEmitter
+43: A link named link has invalid inertia.
+43: [       OK ] DOMLink.InertialInvalid (122 ms)
+43: [ RUN      ] DOMLink.Sensors
 71: Running main() from /usr/src/gtest/src/gtest_main.cc
 71: [==========] Running 1 test from 1 test suite.
 71: [----------] Global test environment set-up.
 71: [----------] 1 test from PluginAttribute
 71: [ RUN      ] PluginAttribute.ParseAttributes
-59: [       OK ] NestedModel.NestedModelWithFrames (505 ms)
-59: [ RUN      ] NestedModel.NestedModelWithFramesDirectComparison
-61: [       OK ] IncludesTest.NestedMultipleLightsError (346 ms)
-61: [ RUN      ] IncludesTest.NestedMultipleElementsError
-67: [1;31mError [SDF.cc:160][0m Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
-67: [1;31mError [SDF.cc:160][0m Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
-67: [1;31mError [SDF.cc:160][0m Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
-67: [1;31mError [SDF.cc:160][0m Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
-67: [1;31mError [SDF.cc:160][0m Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
-67: [1;31mError [SDF.cc:160][0m Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
-67: [1;31mError [SDF.cc:160][0m Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
-63: [1;33mWarning [ParamPassing.cc:326][0m The original element [plugin] contains the attribute 'name' but none was provided in the element modifier. The assumed element to be modified is: <plugin name='top_plugin'>
-63: [1;33mWarning [Utils.cc:129][0m [[@test="hello"]:/build/sdformat-12.3.0+ds/test/integration/include_custom_model.sdf:L107]: XML Attribute[test] in element[collision] not defined in SDF.
-71: [       OK ] PluginAttribute.ParseAttributes (253 ms)
-71: [----------] 1 test from PluginAttribute (254 ms total)
-71: 
-71: [----------] Global test environment tear-down
-71: [==========] 1 test from 1 test suite ran. (254 ms total)
-71: [  PASSED  ] 1 test.
- 64/221 Test  #71: INTEGRATION_plugin_attribute ...........................   Passed    0.37 sec
+33: [       OK ] InterfaceAPI.Reposturing (85 ms)
+33: [ RUN      ] InterfaceAPI.PlacementFrame
+39: [       OK ] DOMJoint.LoadJointParentFrame (125 ms)
+39: [ RUN      ] DOMJoint.LoadJointChildFrame
+65: [1;31mError [parser.cc:798][0m Error parsing XML from string: Error=XML_ERROR_MISMATCHED_ELEMENT ErrorID=14 (0xe) Line number=1: XMLElement name=geometry
+65: [       OK ] ParserErrorDetection.BadXML (115 ms)
+65: [----------] 1 test from ParserErrorDetection (115 ms total)
+65: 
+65: [----------] Global test environment tear-down
+65: [==========] 1 test from 1 test suite ran. (115 ms total)
+65: [  PASSED  ] 1 test.
+59: [       OK ] NestedModel.NestedModel (180 ms)
+59: [ RUN      ] NestedModel.State
+ 57/221 Test  #65: INTEGRATION_parser_error_detection .....................   Passed    0.25 sec
 test 72
         Start  72: check_INTEGRATION_plugin_attribute
 
 72: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_plugin_attribute.xml"
 72: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 72: Test timeout computed to be: 10000000
+55: [       OK ] DOMModel.LoadModelWithDuplicateChildNames (226 ms)
+55: [----------] 4 tests from DOMModel (341 ms total)
+55: 
+55: [----------] 9 tests from DOMRoot
+55: [ RUN      ] DOMRoot.LoadLinkCheck
+25: [       OK ] Frame.IncludeFrameWithSubmodel (133 ms)
+25: [----------] 7 tests from Frame (967 ms total)
+25: 
+25: [----------] 12 tests from DOMFrame
+25: [ RUN      ] DOMFrame.LoadModelFramesAttachedTo
 72: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_plugin_attribute.xml
- 65/221 Test  #72: check_INTEGRATION_plugin_attribute .....................   Passed    0.02 sec
+72: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_plugin_attribute.xml
+ 58/221 Test  #72: check_INTEGRATION_plugin_attribute .....................   Passed    0.02 sec
 test 73
         Start  73: INTEGRATION_plugin_bool
 
@@ -34056,46 +33787,66 @@
 73: Environment variables: 
 73:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 73: Test timeout computed to be: 240
-61: [       OK ] IncludesTest.NestedMultipleElementsError (333 ms)
-61: [ RUN      ] IncludesTest.NestedMultipleElementsErrorWorld
-55: [       OK ] DOMRoot.LoadNestedCanonicalLink (491 ms)
-55: [ RUN      ] DOMRoot.LoadNestedExplicitCanonicalLink
-73: Running main() from /usr/src/gtest/src/gtest_main.cc
-73: [==========] Running 1 test from 1 test suite.
-73: [----------] Global test environment set-up.
-73: [----------] 1 test from PluginBool
-73: [ RUN      ] PluginBool.ParseBoolValue
-59: [       OK ] NestedModel.NestedModelWithFramesDirectComparison (470 ms)
-59: [ RUN      ] NestedModel.PartiallyFlattened
-25: [       OK ] DOMFrame.WorldIncludeModel (591 ms)
-25: [----------] 12 tests from DOMFrame (4581 ms total)
-25: 
-25: [----------] Global test environment tear-down
-25: [==========] 19 tests from 2 test suites ran. (6843 ms total)
-25: [  PASSED  ] 19 tests.
-31: Error:   Could not find the 'robot' element in the xml file
-31:          at line 109 in ./urdf_parser/src/model.cpp
+53: [1;31mError [Param.cc:467][0m The value <emissive>0.1 0.2 -1</emissive> is invalid.
+53: Error:   Could not find the 'robot' element in the xml file
+53:          at line 109 in ./urdf_parser/src/model.cpp
+53: [1;31mError [parser_urdf.cc:3226][0m Unable to call parseURDF on robot model
+53: [1;31mError [parser.cc:820][0m parse as old deprecated model file failed.
+53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]/material/emissive:<data-string>:L8]: Msg: Error reading element <emissive>
+53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]/material:<data-string>:L7]: Msg: Error reading element <material>
+53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]:<data-string>:L6]: Msg: Error reading element <visual>
+53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]:<data-string>:L5]: Msg: Error reading element <link>
+53: Error Code 9: [/sdf/model[@name="model"]:<data-string>:L4]: Msg: Error reading element <model>
+53: Error Code 9: Msg: Error reading element <sdf>
+53: Error Code 28: Msg: Unable to read SDF string: 
+53:     <?xml version="1.0" ?>
+53:     <sdf version="1.8">
+53:     <model name="model">
+53:       <link name="link">
+53:         <visual name="material">
+53:           <material>
+53:             <emissive>0.1 0.2    -1</emissive>
+53:           </material>
+53:         </visual>
+53:       </link>
+53:     </model>
+53:     </sdf>
+53: 
+21: [1;32mMsg [fixed_joint_reduction.cc:408][0m col: base_link_fixed_joint_lump__child_link_1_collision
+21: [1;32mMsg [fixed_joint_reduction.cc:420][0m vis: base_link_fixed_joint_lump__child_link_1_visual
+21: [1;32mMsg [fixed_joint_reduction.cc:439][0m col: base_link_fixed_joint_lump__child_link_1_collision
+21: [1;32mMsg [fixed_joint_reduction.cc:451][0m vis: base_link_fixed_joint_lump__child_link_1_visual
+21: [1;32mMsg [fixed_joint_reduction.cc:470][0m urdf mu1: 0.7
+21: [1;32mMsg [fixed_joint_reduction.cc:478][0m urdf mu2: 0.71
 67: [1;31mError [SDF.cc:160][0m Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
 67: [1;31mError [SDF.cc:160][0m Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
 67: [1;31mError [SDF.cc:160][0m Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
 67: [1;31mError [SDF.cc:160][0m Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
 67: [1;31mError [SDF.cc:160][0m Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
-31: [       OK ] IncludesTest.InvalidMergeInclude (2295 ms)
-31: [----------] 8 tests from IncludesTest (6304 ms total)
-31: 
-31: [----------] Global test environment tear-down
-31: [==========] 8 tests from 1 test suite ran. (6305 ms total)
-31: [  PASSED  ] 8 tests.
 67: [1;31mError [SDF.cc:160][0m Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
 67: [1;31mError [SDF.cc:160][0m Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
- 66/221 Test  #25: INTEGRATION_frame ......................................   Passed    7.12 sec
+21: [       OK ] SDFParser.FixedJointReductionCollisionVisualExtensionEmptyRootTest (262 ms)
+21: [ RUN      ] SDFParser.FixedJointReductionSimple
+71: [       OK ] PluginAttribute.ParseAttributes (131 ms)
+71: [----------] 1 test from PluginAttribute (131 ms total)
+71: 
+71: [----------] Global test environment tear-down
+71: [==========] 1 test from 1 test suite ran. (131 ms total)
+71: [  PASSED  ] 1 test.
+ 59/221 Test  #71: INTEGRATION_plugin_attribute ...........................   Passed    0.26 sec
 test 74
         Start  74: check_INTEGRATION_plugin_bool
 
 74: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_plugin_bool.xml"
 74: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 74: Test timeout computed to be: 10000000
- 67/221 Test  #31: INTEGRATION_includes ...................................   Passed    6.60 sec
+55: [       OK ] DOMRoot.LoadLinkCheck (96 ms)
+55: [ RUN      ] DOMRoot.LoadDoublePendulum
+74: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_plugin_bool.xml
+74: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_plugin_bool.xml
+39: [       OK ] DOMJoint.LoadJointChildFrame (129 ms)
+39: [ RUN      ] DOMJoint.LoadJointPoseRelativeTo
+ 60/221 Test  #74: check_INTEGRATION_plugin_bool ..........................   Passed    0.02 sec
 test 75
         Start  75: INTEGRATION_plugin_include
 
@@ -34104,22 +33855,56 @@
 75: Environment variables: 
 75:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 75: Test timeout computed to be: 240
-73: [       OK ] PluginBool.ParseBoolValue (131 ms)
-73: [----------] 1 test from PluginBool (131 ms total)
-73: 
-73: [----------] Global test environment tear-down
-74: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_plugin_bool.xml
-73: [==========] 1 test from 1 test suite ran. (131 ms total)
-73: [  PASSED  ] 1 test.
- 68/221 Test  #73: INTEGRATION_plugin_bool ................................   Passed    0.31 sec
+69: [       OK ] DOMWorld.LoadParticleEmitter (193 ms)
+69: [----------] 1 test from DOMWorld (193 ms total)
+69: 
+69: [----------] Global test environment tear-down
+69: [==========] 1 test from 1 test suite ran. (193 ms total)
+69: [  PASSED  ] 1 test.
+ 61/221 Test  #69: INTEGRATION_particle_emitter_dom .......................   Passed    0.33 sec
 test 76
         Start  76: check_INTEGRATION_plugin_include
 
 76: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_plugin_include.xml"
 76: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 76: Test timeout computed to be: 10000000
-63: [1;31mError [Param.cc:925][0m Empty string used when setting a required parameter. Key[name]
- 69/221 Test  #74: check_INTEGRATION_plugin_bool ..........................   Passed    0.06 sec
+43: [       OK ] DOMLink.Sensors (192 ms)
+43: [ RUN      ] DOMLink.LoadLinkPoseRelativeTo
+25: [       OK ] DOMFrame.LoadModelFramesAttachedTo (121 ms)
+25: [ RUN      ] DOMFrame.LoadModelFramesInvalidAttachedTo
+53: [1;31mError [Param.cc:467][0m The value <diffuse>0.1 0.2 0.3 0.4 0.5</diffuse> is invalid.
+53: Error:   Could not find the 'robot' element in the xml file
+53:          at line 109 in ./urdf_parser/src/model.cpp
+53: [1;31mError [parser_urdf.cc:3226][0m Unable to call parseURDF on robot model
+53: [1;31mError [parser.cc:820][0m parse as old deprecated model file failed.
+53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]/material/diffuse:<data-string>:L8]: Msg: Error reading element <diffuse>
+53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]/material:<data-string>:L7]: Msg: Error reading element <material>
+53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]:<data-string>:L6]: Msg: Error reading element <visual>
+53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]:<data-string>:L5]: Msg: Error reading element <link>
+53: Error Code 9: [/sdf/model[@name="model"]:<data-string>:L4]: Msg: Error reading element <model>
+53: Error Code 9: Msg: Error reading element <sdf>
+53: Error Code 28: Msg: Unable to read SDF string: 
+53:     <?xml version="1.0" ?>
+53:     <sdf version="1.8">
+53:     <model name="model">
+53:       <link name="link">
+53:         <visual name="material">
+53:           <material>
+53:             <diffuse>0.1 0.2 0.3 0.4 0.5</diffuse>
+53:           </material>
+53:         </visual>
+53:       </link>
+53:     </model>
+53:     </sdf>
+53: 
+73: Running main() from /usr/src/gtest/src/gtest_main.cc
+73: [==========] Running 1 test from 1 test suite.
+73: [----------] Global test environment set-up.
+73: [----------] 1 test from PluginBool
+73: [ RUN      ] PluginBool.ParseBoolValue
+76: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_plugin_include.xml
+76: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_plugin_include.xml
+ 62/221 Test  #76: check_INTEGRATION_plugin_include .......................   Passed    0.02 sec
 test 77
         Start  77: INTEGRATION_pose_1_9_sdf
 
@@ -34128,18 +33913,106 @@
 77: Environment variables: 
 77:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 77: Test timeout computed to be: 240
-76: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_plugin_include.xml
-76: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_plugin_include.xml
- 70/221 Test  #76: check_INTEGRATION_plugin_include .......................   Passed    0.02 sec
+31: [       OK ] IncludesTest.Includes_15_convert (281 ms)
+31: [ RUN      ] IncludesTest.IncludeModelMissingConfig
+59: [       OK ] NestedModel.State (164 ms)
+59: [ RUN      ] NestedModel.NestedInclude
+67: [1;31mError [SDF.cc:160][0m Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
+67: [1;31mError [SDF.cc:160][0m Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
+67: [1;31mError [SDF.cc:160][0m Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
+67: [1;31mError [SDF.cc:160][0m Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
+67: [1;31mError [SDF.cc:160][0m Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
+67: [1;31mError [SDF.cc:160][0m Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
+67: [1;31mError [SDF.cc:160][0m Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
+61: [       OK ] IncludesTest.NestedMultipleModelsError (342 ms)
+61: [ RUN      ] IncludesTest.NestedMultipleActorsError
+33: [       OK ] InterfaceAPI.PlacementFrame (247 ms)
+33: [ RUN      ] InterfaceAPI.NameCollision
+53: [1;31mError [Param.cc:434][0m Invalid argument. Unable to set value [test] for key [ambient].
+53: [1;31mError [Param.cc:467][0m The value <ambient>0.1 0.2 test</ambient> is invalid.
+53: Error:   Could not find the 'robot' element in the xml file
+53:          at line 109 in ./urdf_parser/src/model.cpp
+53: [1;31mError [parser_urdf.cc:3226][0m Unable to call parseURDF on robot model
+53: [1;31mError [parser.cc:820][0m parse as old deprecated model file failed.
+53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]/material/ambient:<data-string>:L8]: Msg: Error reading element <ambient>
+53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]/material:<data-string>:L7]: Msg: Error reading element <material>
+53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]/visual[@name="material"]:<data-string>:L6]: Msg: Error reading element <visual>
+53: Error Code 9: [/sdf/model[@name="model"]/link[@name="link"]:<data-string>:L5]: Msg: Error reading element <link>
+53: Error Code 9: [/sdf/model[@name="model"]:<data-string>:L4]: Msg: Error reading element <model>
+53: Error Code 9: Msg: Error reading element <sdf>
+53: Error Code 28: Msg: Unable to read SDF string: 
+53:     <?xml version="1.0" ?>
+53:     <sdf version="1.8">
+53:     <model name="model">
+53:       <link name="link">
+53:         <visual name="material">
+53:           <material>
+53:             <ambient>0.1 0.2 test</ambient>
+53:           </material>
+53:         </visual>
+53:       </link>
+53:     </model>
+53:     </sdf>
+53: 
+21: [1;32mMsg [fixed_joint_reduction.cc:718][0m name [link1] m[300] p[0 0 0 0 -0 0] ixx[7] iyy[9] izz[11] ixy[0] ixz[0] iyz[0]
+21: [1;32mMsg [fixed_joint_reduction.cc:718][0m name [link1a] m[300] p[0 0 0 0 -0 0] ixx[7] iyy[9] izz[11] ixy[0] ixz[0] iyz[0]
+21: [1;32mMsg [fixed_joint_reduction.cc:718][0m name [link1b] m[300] p[0 0 0 0 -0 0] ixx[7] iyy[9] izz[11] ixy[0] ixz[0] iyz[5.21501e-17]
+21: [1;32mMsg [fixed_joint_reduction.cc:718][0m name [link1c] m[300] p[0.2 0 0 0 -0 0] ixx[7] iyy[15] izz[17] ixy[0] ixz[0] iyz[0]
+21: [1;32mMsg [fixed_joint_reduction.cc:718][0m name [link1d] m[300] p[0.2 0 0 0 -0 0] ixx[7] iyy[15] izz[17] ixy[0] ixz[0] iyz[0]
+21: [1;32mMsg [fixed_joint_reduction.cc:718][0m name [link1e] m[300] p[0.2 -0 0 0 -0 0] ixx[7] iyy[15] izz[17] ixy[2.93795e-11] ixz[0] iyz[0]
+53: [       OK ] Material.InvalidColors (563 ms)
+53: [ RUN      ] Material.ValidColors
+21: [       OK ] SDFParser.FixedJointReductionSimple (167 ms)
+21: [ RUN      ] SDFParser.FixedJointReductionPluginFrameExtensionTest
+31: [1;31mError [parser.cc:1190][0m Could not find model.config or manifest.xml in [/build/sdformat-12.3.0+ds/test/integration/model/box_missing_config]
+31: Error Code 13: [/sdf/include[0]/uri:<data-string>:L1]: Msg: Unable to resolve uri[box_missing_config] to model path [/build/sdformat-12.3.0+ds/test/integration/model/box_missing_config] since it does not contain a model.config file.
+31: [       OK ] IncludesTest.IncludeModelMissingConfig (77 ms)
+31: [ RUN      ] IncludesTest.IncludeUrdf
+55: [       OK ] DOMRoot.LoadDoublePendulum (141 ms)
+55: [ RUN      ] DOMRoot.NestedModel
+25: Error Code 22: Msg: attached_to name[A] specified by frame with name[F3] does not match a nested model, link, joint, or frame name in model with name[model_frame_invalid_attached_to].
+25: Error Code 23: Msg: attached_to name[F4] is identical to frame name[F4], causing a graph cycle in model with name[model_frame_invalid_attached_to].
+25: Error Code 24: Msg: FrameAttachedToGraph error, Non-LINK vertex with name [model_frame_invalid_attached_to::F3] is disconnected; it should have 1 outgoing edge in MODEL attached_to graph.
+25: Error Code 24: Msg: Graph has __model__ scope but sink vertex named [model_frame_invalid_attached_to::F3] does not have FrameType LINK or STATIC_MODEL when starting from vertex with name [model_frame_invalid_attached_to::F3].
+25: Error Code 23: Msg: FrameAttachedToGraph cycle detected, already visited vertex [model_frame_invalid_attached_to::F4].
+25: Error Code 22: Msg: attached_to name[A] specified by frame with name[F3] does not match a nested model, link, joint, or frame name in model with name[model_frame_invalid_attached_to].
+25: Error Code 26: Msg: relative_to name[F4] is identical to frame name[F4], causing a graph cycle in model with name[model_frame_invalid_attached_to].
+25: Error Code 27: Msg: PoseRelativeToGraph error, Vertex with name [model_frame_invalid_attached_to::F3] is disconnected; it should have 1 incoming edge in MODEL relative_to graph.
+25: Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [6].
+25: Error Code 26: Msg: PoseRelativeToGraph cycle detected, already visited vertex [model_frame_invalid_attached_to::F4].
+75: Running main() from /usr/src/gtest/src/gtest_main.cc
+75: [==========] Running 2 tests from 1 test suite.
+75: [----------] Global test environment set-up.
+75: [----------] 2 tests from PluginInclude
+75: [ RUN      ] PluginInclude.PluginChildElements
+39: [       OK ] DOMJoint.LoadJointPoseRelativeTo (139 ms)
+39: [ RUN      ] DOMJoint.LoadInvalidJointPoseRelativeTo
+43: [       OK ] DOMLink.LoadLinkPoseRelativeTo (136 ms)
+43: [ RUN      ] DOMLink.LoadInvalidLinkPoseRelativeTo
+73: [       OK ] PluginBool.ParseBoolValue (123 ms)
+73: [----------] 1 test from PluginBool (124 ms total)
+73: 
+73: [----------] Global test environment tear-down
+73: [==========] 1 test from 1 test suite ran. (124 ms total)
+73: [  PASSED  ] 1 test.
+ 63/221 Test  #73: INTEGRATION_plugin_bool ................................   Passed    0.25 sec
 test 78
         Start  78: check_INTEGRATION_pose_1_9_sdf
 
 78: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_pose_1_9_sdf.xml"
 78: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 78: Test timeout computed to be: 10000000
+77: Running main() from /usr/src/gtest/src/gtest_main.cc
+77: [==========] Running 26 tests from 1 test suite.
+77: [----------] Global test environment set-up.
+77: [----------] 26 tests from Pose1_9
+77: [ RUN      ] Pose1_9.PoseExpressionFormats
+53: 
 78: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_pose_1_9_sdf.xml
 78: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_pose_1_9_sdf.xml
- 71/221 Test  #78: check_INTEGRATION_pose_1_9_sdf .........................   Passed    0.02 sec
+53: [       OK ] Material.ValidColors (72 ms)
+53: [ RUN      ] Material.URDFValidColors
+ 64/221 Test  #78: check_INTEGRATION_pose_1_9_sdf .........................   Passed    0.02 sec
 test 79
         Start  79: INTEGRATION_provide_feedback
 
@@ -34148,214 +34021,29 @@
 79: Environment variables: 
 79:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 79: Test timeout computed to be: 240
-55: [       OK ] DOMRoot.LoadNestedExplicitCanonicalLink (245 ms)
-55: [ RUN      ] DOMRoot.ModelPlacementFrameAttribute
-79: [==========] Running 1 test from 1 test suite.
-79: [----------] Global test environment set-up.
-79: [----------] 1 test from SDFParser
-79: [ RUN      ] SDFParser.ProvideFeedbackTest
-63: [1;31mError [parser.cc:163][0m Unable to load file[]: Error=XML_ERROR_FILE_NOT_FOUND ErrorID=3 (0x3) Line number=0: filename=
-63: [1;33mWarning [ParamPassing.cc:326][0m The original element [collision] contains the attribute 'name' but none was provided in the element modifier. The assumed element to be modified is: <collision name='top_collision'>
-63: [1;31mError [Param.cc:399][0m Unknown error. Unable to set value [0.5 0.5 ] for key[size]
-63: [1;33mWarning [ParamPassing.cc:612][0m No modifications for element <geometry/>
-63:  provided, skipping modification for:
-63: <collision name="top_collision">
-63:     <!-- element missing -->
-63:     <geometry>
-63:         <sphere>
-63:             <radius>0.5</radius>
-63:         </sphere>
-63:     </geometry>
-63:     <!-- element has invalid value -->
-63:     <geometry>
-63:         <box>
-63:             <size>0.5 0.5</size>
-63:         </box>
-63:     </geometry>
-63:     <!-- no modifications listed, warning is printed (not error) -->
-63:     <geometry/>
-63: </collision>
-63: 
-63: [1;31mError [Param.cc:925][0m Empty string used when setting a required parameter. Key[name]
-75: Running main() from /usr/src/gtest/src/gtest_main.cc
-75: [==========] Running 2 tests from 1 test suite.
-75: [----------] Global test environment set-up.
-75: [----------] 2 tests from PluginInclude
-75: [ RUN      ] PluginInclude.PluginChildElements
-63: Element identifier requires an element_id attribute, but the element_id is not set. Skipping element alteration:
-63: <foo/>
-63: 
-63: Could not find element <visual element_id='chassis::camera_visual'>. Skipping element modification:
-63: <visual element_id="chassis::camera_visual" action="modify">
-63:     <pose>-1.06 0 0 0 0 3.14</pose>
-63:     <geometry>
-63:         <box>
-63:             <size>0.1 0.1 0.1</size>
-63:         </box>
-63:     </geometry>
-63: </visual>
-63: 
-63: Could not add element <visual element_id='chassis'> because element already exists in included model. Skipping element addition:
-63: <visual element_id="chassis" name="visual" action="add">
-63:     <geometry>
-63:         <box>
-63:             <size>0.1 0.1 0.1</size>
-63:         </box>
-63:     </geometry>
-63: </visual>
-63: 
-63: Could not find element <visual element_id='chassis::test'>. Skipping element modification:
-63: <visual element_id="chassis::test" name="visual" action="add">
-63:     <geometry>
-63:         <box>
-63:             <size>0.1 0.1 0.1</size>
-63:         </box>
-63:     </geometry>
-63: </visual>
-63: 
-63: Missing name after double colons in element identifier. Skipping element alteration:
-63: <link element_id="chassis::test::" name="foo" action="add"/>
-63: 
-63: Missing an action attribute. Skipping child element modification with parent <visual element_id='top::camera_visual'>:
-63: <transparency>0.2</transparency>
-63: 
-63: Required attribute[name] in element[plugin] is not specified in SDF.
-63: Unable to convert XML to SDF. Skipping child element alteration with parent <visual element_id='top::camera_visual'>:
-63: <plugin/>
-63: 
-63: Element [test] is not a defined SDF element or is an invalid child specification. Skipping child element modification with parent <visual element_id='top::camera_visual'>:
-63: <test action="add"/>
-63: 
-63: Element [test] is not a defined SDF element. Skipping element alteration
-63: : <test element_id="chassis" name="new_elem" action="add"/>
-63: 
-63: Element to be added is missing a 'name' attribute. Skipping element addition:
-63: <plugin element_id="chassis" action="add"/>
-63: 
-63: The 'name' attribute can not be empty. Skipping element addition:
-63: <plugin element_id="chassis" name="" action="add"/>
-63: 
-63: Required attribute[filename] in element[plugin] is not specified in SDF.
-63: Unable to convert XML to SDF. Skipping element addition:
-63: <plugin name="some_plugin"/>
-63: 
-63: Action [test] is not a valid action. Skipping element alteration:
-63: <link element_id="top" action="test"/>
-63: 
-63: Action [test] is not a valid action. Skipping child element modification with parent <collision element_id='left_wheel::collision'>:
-63: <geometry action="test"/>
-63: 
-63: Could not find element. Skipping child element removal with parent <collision element_id='left_wheel::collision'>:
-63: <laser_retro action="remove"/>
-63: 
-63: Could not find element. Skipping child element removal from <collision element_id='left_wheel::collision'> with parent <geometry>:
-63: <box/>
-63: 
-63: Could not find element. Skipping child element removal with parent <link element_id='top'>:
-63: <collision name="collision" action="remove"/>
-63: 
-63: Could not find element. Skipping child element replacement with parent <link element_id='top'>:
-63: <collision name="collision"/>
-63: 
-63: Replacement element is missing a 'name' attribute. Skipping element replacement <link element_id='top'>:
-63: <collision/>
-63: 
-63: Attribute [test] is invalid. Skipping attribute modification in:
-63: <collision name="top_collision" action="modify" test="foo"/>
-63: 
-63: Could not find element. Skipping child element modification with parent <link element_id='top'>:
-63: <geometry action="modify">
-63:     <box>
-63:         <size>1 1 1</size>
-63:     </box>
-63: </geometry>
-63: 
-63: Required attribute[type] in element[sensor] is not specified in SDF.
-63: Unable to convert XML to SDF. Skipping element replacement:
-63: <sensor name="camera"/>
-63: 
-63: Attribute [test] is invalid. Skipping attribute modification in:
-63: <link element_id="top" action="modify" test="foo">
-63:     <!-- element missing -->
-63:     <inertial/>
-63:     <collision name="top_collision">
-63:         <!-- element missing -->
-63:         <geometry>
-63:             <sphere>
-63:                 <radius>0.5</radius>
-63:             </sphere>
-63:         </geometry>
-63:         <!-- element has invalid value -->
-63:         <geometry>
-63:             <box>
-63:                 <size>0.5 0.5</size>
-63:             </box>
-63:         </geometry>
-63:         <!-- no modifications listed, warning is printed (not error) -->
-63:         <geometry/>
-63:     </collision>
-63: </link>
-63: 
-63: Could not find element [inertial]. Skipping modification for:
-63: <link element_id="top" action="modify" test="foo">
-63:     <!-- element missing -->
-63:     <inertial/>
-63:     <collision name="top_collision">
-63:         <!-- element missing -->
-63:         <geometry>
-63:             <sphere>
-63:                 <radius>0.5</radius>
-63:             </sphere>
-63:         </geometry>
-63:         <!-- element has invalid value -->
-63:         <geometry>
-63:             <box>
-63:                 <size>0.5 0.5</size>
-63:             </box>
-63:         </geometry>
-63:         <!-- no modifications listed, warning is printed (not error) -->
-63:         <geometry/>
-63:     </collision>
-63: </link>
-63: 
-63: Could not find element [sphere]. Skipping modification for:
-63: <geometry>
-63:     <sphere>
-63:         <radius>0.5</radius>
-63:     </sphere>
-63: </geometry>
-63: 
-63: Value [0.5 0.5] for element [size] is invalid. Skipping modification for:
-63: <box>
-63:     <size>0.5 0.5</size>
-63: </box>
-63: 
-77: Running main() from /usr/src/gtest/src/gtest_main.cc
-77: [==========] Running 26 tests from 1 test suite.
-77: [----------] Global test environment set-up.
-77: [----------] 26 tests from Pose1_9
-77: [ RUN      ] Pose1_9.PoseExpressionFormats
-59: [       OK ] NestedModel.PartiallyFlattened (405 ms)
-59: [ RUN      ] NestedModel.TwoLevelNestedModelWithFramesDirectComparison
-63: [       OK ] ParamPassingTest.ExperimentalParamsTag (1992 ms)
-63: [ RUN      ] ParamPassingTest.NestedInclude
-79: [       OK ] SDFParser.ProvideFeedbackTest (159 ms)
-79: [----------] 1 test from SDFParser (159 ms total)
-79: 
-79: [----------] Global test environment tear-down
-79: [==========] 1 test from 1 test suite ran. (159 ms total)
-79: [  PASSED  ] 1 test.
- 72/221 Test  #79: INTEGRATION_provide_feedback ...........................   Passed    0.28 sec
+31: [       OK ] IncludesTest.IncludeUrdf (99 ms)
+31: [ RUN      ] IncludesTest.MergeInclude
+53: 
+21: [       OK ] SDFParser.FixedJointReductionPluginFrameExtensionTest (131 ms)
+21: [----------] 7 tests from SDFParser (1334 ms total)
+21: 
+21: [----------] Global test environment tear-down
+21: [==========] 7 tests from 1 test suite ran. (1334 ms total)
+21: [  PASSED  ] 7 tests.
+53: [       OK ] Material.URDFValidColors (70 ms)
+53: [----------] 3 tests from Material (706 ms total)
+53: 
+53: [----------] Global test environment tear-down
+53: [==========] 3 tests from 1 test suite ran. (706 ms total)
+53: [  PASSED  ] 3 tests.
+ 65/221 Test  #53: INTEGRATION_material ...................................   Passed    0.84 sec
 test 80
         Start  80: check_INTEGRATION_provide_feedback
 
 80: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_provide_feedback.xml"
 80: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 80: Test timeout computed to be: 10000000
-80: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_provide_feedback.xml
-55: [       OK ] DOMRoot.ModelPlacementFrameAttribute (285 ms)
-55: [ RUN      ] DOMRoot.LoadInvalidNestedModelWithoutLinks
- 73/221 Test  #80: check_INTEGRATION_provide_feedback .....................   Passed    0.02 sec
+ 66/221 Test  #21: INTEGRATION_fixed_joint_reduction ......................   Passed    1.47 sec
 test 81
         Start  81: INTEGRATION_root_dom
 
@@ -34364,27 +34052,34 @@
 81: Environment variables: 
 81:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 81: Test timeout computed to be: 240
-61: [       OK ] IncludesTest.NestedMultipleElementsErrorWorld (635 ms)
-61: [----------] 5 tests from IncludesTest (2204 ms total)
-61: 
-61: [----------] Global test environment tear-down
-61: [==========] 5 tests from 1 test suite ran. (2204 ms total)
-61: [  PASSED  ] 5 tests.
-81: Running main() from /usr/src/gtest/src/gtest_main.cc
-81: [==========] Running 5 tests from 1 test suite.
-81: [----------] Global test environment set-up.
-81: [----------] 5 tests from DOMRoot
-81: [ RUN      ] DOMRoot.InvalidSDF
- 74/221 Test  #61: INTEGRATION_nested_multiple_elements_error .............   Passed    2.46 sec
+39: Error Code 26: Msg: relative_to name[Jcycle] is identical to joint name[Jcycle], causing a graph cycle in model with name[model_invalid_joint_relative_to].
+39: Error Code 25: Msg: relative_to name[A] specified by joint with name[J] does not match a nested model, link, joint, or frame name in model with name[model_invalid_joint_relative_to].
+39: Error Code 27: Msg: PoseRelativeToGraph error, Vertex with name [model_invalid_joint_relative_to::J] is disconnected; it should have 1 incoming edge in MODEL relative_to graph.
+39: Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [6].
+39: Error Code 26: Msg: PoseRelativeToGraph cycle detected, already visited vertex [model_invalid_joint_relative_to::Jcycle].
+25: [       OK ] DOMFrame.LoadModelFramesInvalidAttachedTo (241 ms)
+25: [ RUN      ] DOMFrame.LoadModelFramesAttachedToJoint
+39: [       OK ] DOMJoint.LoadInvalidJointPoseRelativeTo (121 ms)
+39: [ RUN      ] DOMJoint.LoadInvalidChild
+80: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_provide_feedback.xml
+80: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_provide_feedback.xml
+ 67/221 Test  #80: check_INTEGRATION_provide_feedback .....................   Passed    0.02 sec
 test 82
         Start  82: check_INTEGRATION_root_dom
 
 82: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_root_dom.xml"
 82: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 82: Test timeout computed to be: 10000000
+43: Error Code 25: Msg: relative_to name[A] specified by link with name[L] does not match a nested model, link, joint, or frame name in model with name[model_invalid_link_relative_to].
+43: Error Code 26: Msg: relative_to name[self_cycle] is identical to link name[self_cycle], causing a graph cycle in model with name[model_invalid_link_relative_to].
+43: Error Code 27: Msg: PoseRelativeToGraph error, Vertex with name [model_invalid_link_relative_to::L] is disconnected; it should have 1 incoming edge in MODEL relative_to graph.
+43: Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [3].
+43: Error Code 26: Msg: PoseRelativeToGraph cycle detected, already visited vertex [model_invalid_link_relative_to::self_cycle].
+43: [       OK ] DOMLink.LoadInvalidLinkPoseRelativeTo (129 ms)
+43: [ RUN      ] DOMLink.ValidInertialPoseRelTo
 82: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_root_dom.xml
 82: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_root_dom.xml
- 75/221 Test  #82: check_INTEGRATION_root_dom .............................   Passed    0.05 sec
+ 68/221 Test  #82: check_INTEGRATION_root_dom .............................   Passed    0.02 sec
 test 83
         Start  83: INTEGRATION_scene_dom
 
@@ -34393,40 +34088,91 @@
 83: Environment variables: 
 83:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 83: Test timeout computed to be: 240
-55: Error Code 16: Msg: A model must have at least one link.
-55: Error Code 16: Msg: A model must have at least one link.
-55: Error Code 24: Msg: FrameAttachedToGraph error, Non-LINK vertex with name [nested_without_links_invalid::nested_without_links1::nested_without_links2::__model__] is disconnected; it should have 1 outgoing edge in MODEL attached_to graph.
-55: Error Code 24: Msg: Graph has __model__ scope but sink vertex named [nested_without_links_invalid::nested_without_links1::nested_without_links2::__model__] does not have FrameType LINK or STATIC_MODEL when starting from vertex with name [nested_without_links_invalid::nested_without_links1].
-55: Error Code 24: Msg: Graph has __model__ scope but sink vertex named [nested_without_links_invalid::nested_without_links1::nested_without_links2::__model__] does not have FrameType LINK or STATIC_MODEL when starting from vertex with name [nested_without_links_invalid::nested_without_links1::__model__].
-55: Error Code 24: Msg: Graph has __model__ scope but sink vertex named [nested_without_links_invalid::nested_without_links1::nested_without_links2::__model__] does not have FrameType LINK or STATIC_MODEL when starting from vertex with name [nested_without_links_invalid::nested_without_links1::nested_without_links2].
-55: Error Code 24: Msg: Graph has __model__ scope but sink vertex named [nested_without_links_invalid::nested_without_links1::nested_without_links2::__model__] does not have FrameType LINK or STATIC_MODEL when starting from vertex with name [nested_without_links_invalid::nested_without_links1::nested_without_links2::__model__].
-55: [       OK ] DOMRoot.LoadInvalidNestedModelWithoutLinks (206 ms)
-55: [----------] 9 tests from DOMRoot (3051 ms total)
-55: 
-55: [----------] 1 test from DOMLink
-55: [ RUN      ] DOMLink.NestedModelPoseRelativeTo
+61: [       OK ] IncludesTest.NestedMultipleActorsError (202 ms)
+61: [ RUN      ] IncludesTest.NestedMultipleLightsError
+55: [       OK ] DOMRoot.NestedModel (182 ms)
+55: [ RUN      ] DOMRoot.MultiNestedModel
+63: [1;31mError [Param.cc:925][0m Empty string used when setting a required parameter. Key[element_id]
+63: [1;31mError [Param.cc:925][0m Empty string used when setting a required parameter. Key[element_id]
+39: Error Code 19: Msg: Child frame with name[invalid] specified by joint with name[joint] not found in model with name[joint_invalid_child].
+39: Error Code 24: Msg: FrameAttachedToGraph error, Non-LINK vertex with name [joint_invalid_child::joint] is disconnected; it should have 1 outgoing edge in MODEL attached_to graph.
+39: Error Code 24: Msg: Graph has __model__ scope but sink vertex named [joint_invalid_child::joint] does not have FrameType LINK or STATIC_MODEL when starting from vertex with name [joint_invalid_child::joint].
+39: Error Code 25: Msg: relative_to name[invalid] specified by joint with name[joint] does not match a nested model, link, joint, or frame name in model with name[joint_invalid_child].
+39: Error Code 27: Msg: PoseRelativeToGraph error, Vertex with name [joint_invalid_child::joint] is disconnected; it should have 1 incoming edge in MODEL relative_to graph.
+39: Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [4].
+39: Error Code 19: Msg: child frame with name[invalid] specified by joint with name[joint] not found in model with name[joint_invalid_child].
+39: Error Code 22: Msg: FrameAttachedToGraph unable to find unique frame with name [invalid] in graph.
+39: [       OK ] DOMJoint.LoadInvalidChild (70 ms)
+39: [ RUN      ] DOMJoint.LoadLinkJointSameName17Invalid
+81: Running main() from /usr/src/gtest/src/gtest_main.cc
+81: [==========] Running 5 tests from 1 test suite.
+81: [----------] Global test environment set-up.
+81: [----------] 5 tests from DOMRoot
+81: [ RUN      ] DOMRoot.InvalidSDF
+25: [       OK ] DOMFrame.LoadModelFramesAttachedToJoint (138 ms)
+25: [ RUN      ] DOMFrame.LoadModelFramesAttachedToNestedModel
+43: [1;33mWarning [Utils.cc:129][0m [/sdf/model[@name="A"]/link[@name="B"]/inertial/pose[@relative_to=""]:<data-string>:L1]: XML Attribute[relative_to] in element[pose] not defined in SDF.
+43: [       OK ] DOMLink.ValidInertialPoseRelTo (131 ms)
+43: [ RUN      ] DOMLink.InvalidInertialPoseRelTo
+83: Running main() from /usr/src/gtest/src/gtest_main.cc
+83: [==========] Running 1 test from 1 test suite.
+83: [----------] Global test environment set-up.
+83: [----------] 1 test from DOMScene
+83: [ RUN      ] DOMScene.LoadScene
+75: [       OK ] PluginInclude.PluginChildElements (294 ms)
+75: [ RUN      ] PluginInclude.PluginMissingFilename
+61: [       OK ] IncludesTest.NestedMultipleLightsError (179 ms)
+61: [ RUN      ] IncludesTest.NestedMultipleElementsError
+39: [1;33mWarning [Model.cc:174][0m Non-unique name[attachment] detected 2 times in XML children of model with name[link_joint_same_name].
+39: [1;31mError [Model.cc:286][0m Joint with name [attachment] in model with name [link_joint_same_name] has a name collision. Please rename this joint.
+39: Error Code 2: Msg: Joint with non-unique name [attachment] detected in model with name [link_joint_same_name].
+39: Error Code 24: Msg: FrameAttachedToGraph error, LINK vertex with name [link_joint_same_name::attachment] should have no outgoing edges in MODEL attached_to graph.
+39: Error Code 23: Msg: FrameAttachedToGraph cycle detected, already visited vertex [link_joint_same_name::attachment].
+39: Error Code 2: Msg: Joint with non-unique name [attachment] detected in model with name [link_joint_same_name].
+39: Error Code 26: Msg: relative_to name[attachment] is identical to joint name[attachment], causing a graph cycle in model with name[link_joint_same_name].
+39: Error Code 27: Msg: PoseRelativeToGraph error, too many incoming edges at a vertex with name [link_joint_same_name::attachment].
+39: Error Code 27: Msg: PoseRelativeToGraph error: multiple incoming edges to current vertex [link_joint_same_name::attachment].
+39: Error Code 19: Msg: joint with name[attachment] in model with name[link_joint_same_name] must not specify its own name as the child frame.
+39: Error Code 23: Msg: FrameAttachedToGraph cycle detected, already visited vertex [link_joint_same_name::attachment].
+39: [       OK ] DOMJoint.LoadLinkJointSameName17Invalid (149 ms)
+39: [ RUN      ] DOMJoint.LoadLinkJointSameName16Valid
 81: Error:   Could not find the 'robot' element in the xml file
 81:          at line 109 in ./urdf_parser/src/model.cpp
-81: [       OK ] DOMRoot.InvalidSDF (205 ms)
+81: [       OK ] DOMRoot.InvalidSDF (127 ms)
 81: [ RUN      ] DOMRoot.NoVersion
-75: [       OK ] PluginInclude.PluginChildElements (482 ms)
-75: [ RUN      ] PluginInclude.PluginMissingFilename
-55: [       OK ] DOMLink.NestedModelPoseRelativeTo (214 ms)
-55: [----------] 1 test from DOMLink (214 ms total)
-55: 
-55: [----------] Global test environment tear-down
-55: [==========] 14 tests from 3 test suites ran. (3942 ms total)
-55: [  PASSED  ] 14 tests.
- 76/221 Test  #55: INTEGRATION_model_dom ..................................   Passed    4.21 sec
+55: [       OK ] DOMRoot.MultiNestedModel (193 ms)
+55: [ RUN      ] DOMRoot.LoadCanonicalLink
+79: [==========] Running 1 test from 1 test suite.
+79: [----------] Global test environment set-up.
+79: [----------] 1 test from SDFParser
+79: [ RUN      ] SDFParser.ProvideFeedbackTest
+63: [1;33mWarning [ParamPassing.cc:326][0m The original element [plugin] contains the attribute 'name' but none was provided in the element modifier. The assumed element to be modified is: <plugin name='top_plugin'>
+63: [1;33mWarning [Utils.cc:129][0m [[@test="hello"]:/build/sdformat-12.3.0+ds/test/integration/include_custom_model.sdf:L107]: XML Attribute[test] in element[collision] not defined in SDF.
+43: [1;33mWarning [Utils.cc:129][0m [/sdf/model[@name="A"]/link[@name="B"]/inertial/pose[@relative_to="C"]:<data-string>:L1]: XML Attribute[relative_to] in element[pose] not defined in SDF.
+43: [       OK ] DOMLink.InvalidInertialPoseRelTo (123 ms)
+43: [----------] 11 tests from DOMLink (1265 ms total)
+43: 
+43: [----------] Global test environment tear-down
+43: [==========] 11 tests from 1 test suite ran. (1265 ms total)
+43: [  PASSED  ] 11 tests.
+ 69/221 Test  #43: INTEGRATION_link_dom ...................................   Passed    1.40 sec
 test 84
         Start  84: check_INTEGRATION_scene_dom
 
 84: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_scene_dom.xml"
 84: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 84: Test timeout computed to be: 10000000
+25: [       OK ] DOMFrame.LoadModelFramesAttachedToNestedModel (151 ms)
+25: [ RUN      ] DOMFrame.LoadWorldFramesAttachedTo
+39: [1;33mWarning [Model.cc:174][0m Non-unique name[attachment] detected 2 times in XML children of model with name[link_joint_same_name].
+39: [1;33mWarning [Model.cc:278][0m Joint with name [attachment] in model with name [link_joint_same_name] has a name collision, changing joint name to [attachment_joint].
+77: [       OK ] Pose1_9.PoseExpressionFormats (393 ms)
+77: [ RUN      ] Pose1_9.PoseStringOutput
+39: [       OK ] DOMJoint.LoadLinkJointSameName16Valid (76 ms)
+39: [ RUN      ] DOMJoint.LoadURDFJointPoseRelativeTo
 84: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_scene_dom.xml
 84: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_scene_dom.xml
- 77/221 Test  #84: check_INTEGRATION_scene_dom ............................   Passed    0.02 sec
+ 70/221 Test  #84: check_INTEGRATION_scene_dom ............................   Passed    0.02 sec
 test 85
         Start  85: INTEGRATION_sdf_basic
 
@@ -34435,44 +34181,21 @@
 85: Environment variables: 
 85:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 85: Test timeout computed to be: 240
-59: [       OK ] NestedModel.TwoLevelNestedModelWithFramesDirectComparison (525 ms)
-59: [ RUN      ] NestedModel.NestedModelWithSiblingFrames
-81: Error:   Could not find the 'robot' element in the xml file
-81:          at line 109 in ./urdf_parser/src/model.cpp
-81: [       OK ] DOMRoot.NoVersion (207 ms)
-81: [ RUN      ] DOMRoot.Load
-85: [==========] Running 1 test from 1 test suite.
-85: [----------] Global test environment set-up.
-85: [----------] 1 test from BasicTest
-85: [ RUN      ] BasicTest.RootWrapper
-85: [       OK ] BasicTest.RootWrapper (0 ms)
-85: [----------] 1 test from BasicTest (0 ms total)
-85: 
-85: [----------] Global test environment tear-down
-85: [==========] 1 test from 1 test suite ran. (0 ms total)
-85: [  PASSED  ] 1 test.
- 78/221 Test  #85: INTEGRATION_sdf_basic ..................................   Passed    0.11 sec
+83: [       OK ] DOMScene.LoadScene (152 ms)
+83: [----------] 1 test from DOMScene (152 ms total)
+83: 
+83: [----------] Global test environment tear-down
+59: [       OK ] NestedModel.NestedInclude (532 ms)
+59: [ RUN      ] NestedModel.NestedModelWithFrames
+83: [==========] 1 test from 1 test suite ran. (152 ms total)
+83: [  PASSED  ] 1 test.
+ 71/221 Test  #83: INTEGRATION_scene_dom ..................................   Passed    0.30 sec
 test 86
         Start  86: check_INTEGRATION_sdf_basic
 
 86: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_sdf_basic.xml"
 86: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 86: Test timeout computed to be: 10000000
-83: Running main() from /usr/src/gtest/src/gtest_main.cc
-83: [==========] Running 1 test from 1 test suite.
-83: [----------] Global test environment set-up.
-83: [----------] 1 test from DOMScene
-83: [ RUN      ] DOMScene.LoadScene
-86: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_sdf_basic.xml
- 79/221 Test  #86: check_INTEGRATION_sdf_basic ............................   Passed    0.02 sec
-test 87
-        Start  87: INTEGRATION_sdf_custom
-
-87: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/INTEGRATION_sdf_custom "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_sdf_custom.xml"
-87: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
-87: Environment variables: 
-87:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-87: Test timeout computed to be: 240
 75: Error:   Could not find the 'robot' element in the xml file
 75:          at line 109 in ./urdf_parser/src/model.cpp
 75: [1;31mError [parser_urdf.cc:3226][0m Unable to call parseURDF on robot model
@@ -34480,22 +34203,39 @@
 75: Error Code 4: [/sdf/include[0]/plugin[0]:<data-string>:L1]: Msg: Required attribute[filename] in element[plugin] is not specified in SDF.
 75: Error Code 9: [/sdf/include[0]/plugin[0]:<data-string>:L1]: Msg: Error reading plugin element
 75: Error Code 9: Msg: Error reading element <sdf>
-75: [       OK ] PluginInclude.PluginMissingFilename (325 ms)
-75: [----------] 2 tests from PluginInclude (807 ms total)
+75: [       OK ] PluginInclude.PluginMissingFilename (162 ms)
+75: [----------] 2 tests from PluginInclude (456 ms total)
 75: 
 75: [----------] Global test environment tear-down
-75: [==========] 2 tests from 1 test suite ran. (807 ms total)
+75: [==========] 2 tests from 1 test suite ran. (456 ms total)
 75: [  PASSED  ] 2 tests.
- 80/221 Test  #75: INTEGRATION_plugin_include .............................   Passed    1.06 sec
+86: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_sdf_basic.xml
+86: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_sdf_basic.xml
+ 72/221 Test  #75: INTEGRATION_plugin_include .............................   Passed    0.60 sec
+test 87
+        Start  87: INTEGRATION_sdf_custom
+
+87: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/INTEGRATION_sdf_custom "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_sdf_custom.xml"
+87: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
+87: Environment variables: 
+87:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+87: Test timeout computed to be: 240
+ 73/221 Test  #86: check_INTEGRATION_sdf_basic ............................   Passed    0.02 sec
 test 88
         Start  88: check_INTEGRATION_sdf_custom
 
 88: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_sdf_custom.xml"
 88: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 88: Test timeout computed to be: 10000000
-88: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_sdf_custom.xml
-88: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_sdf_custom.xml
- 81/221 Test  #88: check_INTEGRATION_sdf_custom ...........................   Passed    0.03 sec
+81: Error:   Could not find the 'robot' element in the xml file
+81:          at line 109 in ./urdf_parser/src/model.cpp
+33: [       OK ] InterfaceAPI.NameCollision (512 ms)
+33: [----------] 8 tests from InterfaceAPI (1493 ms total)
+33: 
+33: [----------] Global test environment tear-down
+33: [==========] 8 tests from 1 test suite ran. (1493 ms total)
+33: [  PASSED  ] 8 tests.
+ 74/221 Test  #33: INTEGRATION_interface_api ..............................   Passed    1.62 sec
 test 89
         Start  89: INTEGRATION_sdf_dom_conversion
 
@@ -34504,38 +34244,24 @@
 89: Environment variables: 
 89:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 89: Test timeout computed to be: 240
-87: Running main() from /usr/src/gtest/src/gtest_main.cc
-87: [==========] Running 1 test from 1 test suite.
-87: [----------] Global test environment set-up.
-87: [----------] 1 test from SDFParser
-87: [ RUN      ] SDFParser.CustomElements
-77: [       OK ] Pose1_9.PoseExpressionFormats (811 ms)
-77: [ RUN      ] Pose1_9.PoseStringOutput
-81: [       OK ] DOMRoot.Load (297 ms)
-81: [ RUN      ] DOMRoot.LoadMultipleModels
-89: Running main() from /usr/src/gtest/src/gtest_main.cc
-89: [==========] Running 3 tests from 1 test suite.
-89: [----------] Global test environment set-up.
-89: [----------] 3 tests from SDFDomConversion
-89: [ RUN      ] SDFDomConversion.Sensors
-87: [       OK ] SDFParser.CustomElements (179 ms)
-87: [----------] 1 test from SDFParser (179 ms total)
-87: 
-87: [----------] Global test environment tear-down
-87: [==========] 1 test from 1 test suite ran. (179 ms total)
-87: [  PASSED  ] 1 test.
- 82/221 Test  #87: INTEGRATION_sdf_custom .................................   Passed    0.32 sec
+81: [       OK ] DOMRoot.NoVersion (111 ms)
+81: [ RUN      ] DOMRoot.Load
+88: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_sdf_custom.xml
+88: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_sdf_custom.xml
+ 75/221 Test  #88: check_INTEGRATION_sdf_custom ...........................   Passed    0.02 sec
 test 90
         Start  90: check_INTEGRATION_sdf_dom_conversion
 
 90: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_sdf_dom_conversion.xml"
 90: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 90: Test timeout computed to be: 10000000
-59: [       OK ] NestedModel.NestedModelWithSiblingFrames (441 ms)
-59: [ RUN      ] NestedModel.NestedFrameOnlyModel
+55: [       OK ] DOMRoot.LoadCanonicalLink (125 ms)
+55: [ RUN      ] DOMRoot.LoadNestedCanonicalLink
+31: [       OK ] IncludesTest.MergeInclude (403 ms)
+31: [ RUN      ] IncludesTest.MergeIncludePlacementFrame
 90: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_sdf_dom_conversion.xml
 90: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_sdf_dom_conversion.xml
- 83/221 Test  #90: check_INTEGRATION_sdf_dom_conversion ...................   Passed    0.02 sec
+ 76/221 Test  #90: check_INTEGRATION_sdf_dom_conversion ...................   Passed    0.02 sec
 test 91
         Start  91: INTEGRATION_surface_dom
 
@@ -34544,31 +34270,38 @@
 91: Environment variables: 
 91:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 91: Test timeout computed to be: 240
-77: [       OK ] Pose1_9.PoseStringOutput (229 ms)
+61: [       OK ] IncludesTest.NestedMultipleElementsError (182 ms)
+61: [ RUN      ] IncludesTest.NestedMultipleElementsErrorWorld
+77: [       OK ] Pose1_9.PoseStringOutput (135 ms)
 77: [ RUN      ] Pose1_9.BadModelPoses
-91: Running main() from /usr/src/gtest/src/gtest_main.cc
-91: [==========] Running 1 test from 1 test suite.
-91: [----------] Global test environment set-up.
-91: [----------] 1 test from DOMSurface
-91: [ RUN      ] DOMSurface.Shapes
-81: [       OK ] DOMRoot.LoadMultipleModels (262 ms)
-81: [ RUN      ] DOMRoot.LoadDuplicateModels
-83: [       OK ] DOMScene.LoadScene (533 ms)
-83: [----------] 1 test from DOMScene (533 ms total)
-83: 
-83: [----------] Global test environment tear-down
-83: [==========] 1 test from 1 test suite ran. (533 ms total)
-83: [  PASSED  ] 1 test.
- 84/221 Test  #83: INTEGRATION_scene_dom ..................................   Passed    0.94 sec
+39: [       OK ] DOMJoint.LoadURDFJointPoseRelativeTo (132 ms)
+39: [ RUN      ] DOMJoint.LoadJointNestedParentChild
+85: [==========] Running 1 test from 1 test suite.
+85: [----------] Global test environment set-up.
+85: [----------] 1 test from BasicTest
+85: [ RUN      ] BasicTest.RootWrapper
+85: [       OK ] BasicTest.RootWrapper (0 ms)
+85: [----------] 1 test from BasicTest (0 ms total)
+85: 
+85: [----------] Global test environment tear-down
+85: [==========] 1 test from 1 test suite ran. (0 ms total)
+85: [  PASSED  ] 1 test.
+ 77/221 Test  #85: INTEGRATION_sdf_basic ..................................   Passed    0.13 sec
 test 92
         Start  92: check_INTEGRATION_surface_dom
 
 92: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_surface_dom.xml"
 92: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 92: Test timeout computed to be: 10000000
-92: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_surface_dom.xml
-92: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_surface_dom.xml
- 85/221 Test  #92: check_INTEGRATION_surface_dom ..........................   Passed    0.05 sec
+25: [       OK ] DOMFrame.LoadWorldFramesAttachedTo (147 ms)
+25: [ RUN      ] DOMFrame.LoadWorldFramesInvalidAttachedTo
+79: [       OK ] SDFParser.ProvideFeedbackTest (188 ms)
+79: [----------] 1 test from SDFParser (188 ms total)
+79: 
+79: [----------] Global test environment tear-down
+79: [==========] 1 test from 1 test suite ran. (188 ms total)
+79: [  PASSED  ] 1 test.
+ 78/221 Test  #79: INTEGRATION_provide_feedback ...........................   Passed    0.52 sec
 test 93
         Start  93: INTEGRATION_unknown
 
@@ -34577,24 +34310,18 @@
 93: Environment variables: 
 93:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 93: Test timeout computed to be: 240
-91: [       OK ] DOMSurface.Shapes (185 ms)
-91: [----------] 1 test from DOMSurface (185 ms total)
-91: 
-91: [----------] Global test environment tear-down
-91: [==========] 1 test from 1 test suite ran. (185 ms total)
-91: [  PASSED  ] 1 test.
- 86/221 Test  #91: INTEGRATION_surface_dom ................................   Passed    0.31 sec
+92: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_surface_dom.xml
+92: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_surface_dom.xml
+ 79/221 Test  #92: check_INTEGRATION_surface_dom ..........................   Passed    0.02 sec
 test 94
         Start  94: check_INTEGRATION_unknown
 
 94: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_unknown.xml"
 94: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 94: Test timeout computed to be: 10000000
-77: Error:   Could not find the 'robot' element in the xml file
-77:          at line 109 in ./urdf_parser/src/model.cpp
 94: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_unknown.xml
 94: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_unknown.xml
- 87/221 Test  #94: check_INTEGRATION_unknown ..............................   Passed    0.05 sec
+ 80/221 Test  #94: check_INTEGRATION_unknown ..............................   Passed    0.01 sec
 test 95
         Start  95: INTEGRATION_urdf_gazebo_extensions
 
@@ -34603,24 +34330,72 @@
 95: Environment variables: 
 95:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 95: Test timeout computed to be: 240
-81: [       OK ] DOMRoot.LoadDuplicateModels (212 ms)
-81: [----------] 5 tests from DOMRoot (1186 ms total)
-81: 
-81: [----------] Global test environment tear-down
-81: [==========] 5 tests from 1 test suite ran. (1186 ms total)
-81: [  PASSED  ] 5 tests.
- 88/221 Test  #81: INTEGRATION_root_dom ...................................   Passed    1.31 sec
+87: Running main() from /usr/src/gtest/src/gtest_main.cc
+87: [==========] Running 1 test from 1 test suite.
+87: [----------] Global test environment set-up.
+87: [----------] 1 test from SDFParser
+87: [ RUN      ] SDFParser.CustomElements
+89: Running main() from /usr/src/gtest/src/gtest_main.cc
+89: [==========] Running 3 tests from 1 test suite.
+89: [----------] Global test environment set-up.
+89: [----------] 3 tests from SDFDomConversion
+89: [ RUN      ] SDFDomConversion.Sensors
+81: [       OK ] DOMRoot.Load (153 ms)
+81: [ RUN      ] DOMRoot.LoadMultipleModels
+91: Running main() from /usr/src/gtest/src/gtest_main.cc
+91: [==========] Running 1 test from 1 test suite.
+91: [----------] Global test environment set-up.
+91: [----------] 1 test from DOMSurface
+91: [ RUN      ] DOMSurface.Shapes
+77: Error:   Could not find the 'robot' element in the xml file
+77:          at line 109 in ./urdf_parser/src/model.cpp
+39: [       OK ] DOMJoint.LoadJointNestedParentChild (116 ms)
+39: [ RUN      ] DOMJoint.Sensors
+25: Error Code 22: Msg: attached_to name[A] specified by frame with name[F] does not match a model or frame name in world with name[world_frame_invalid_attached_to].
+25: Error Code 23: Msg: attached_to name[self_cycle] is identical to frame name[self_cycle], causing a graph cycle in world with name[world_frame_invalid_attached_to].
+25: Error Code 24: Msg: FrameAttachedToGraph error, Non-LINK vertex with name [F] has 0 outgoing edges; it should only have 1 outgoing edge in WORLD attached_to graph.
+25: Error Code 24: Msg: Graph has world scope but sink vertex named [F] does not have FrameType WORLD, LINK or STATIC_MODEL when starting from vertex with name [F].
+25: Error Code 23: Msg: FrameAttachedToGraph cycle detected, already visited vertex [self_cycle].
+25: Error Code 22: Msg: attached_to name[A] specified by frame with name[F] does not match a model or frame name in world with name[world_frame_invalid_attached_to].
+25: Error Code 26: Msg: relative_to name[self_cycle] is identical to frame name[self_cycle], causing a graph cycle in world with name[world_frame_invalid_attached_to].
+25: Error Code 27: Msg: PoseRelativeToGraph error, MODEL / FRAME vertex with name [F] is disconnected; it should have 1 incoming edge in WORLD relative_to graph.
+25: Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [2].
+25: Error Code 26: Msg: PoseRelativeToGraph cycle detected, already visited vertex [self_cycle].
+25: Error Code 9: Msg: Failed to load a world.
+93: Running main() from /usr/src/gtest/src/gtest_main.cc
+93: [==========] Running 4 tests from 2 test suites.
+93: [----------] Global test environment set-up.
+93: [----------] 1 test from Unknown
+93: [ RUN      ] Unknown.CopyUnknownElement
+95: Running main() from /usr/src/gtest/src/gtest_main.cc
+95: [==========] Running 1 test from 1 test suite.
+95: [----------] Global test environment set-up.
+95: [----------] 1 test from SDFParser
+95: [ RUN      ] SDFParser.UrdfGazeboExtensionURDFTest
+59: [       OK ] NestedModel.NestedModelWithFrames (274 ms)
+59: [ RUN      ] NestedModel.NestedModelWithFramesDirectComparison
+61: [       OK ] IncludesTest.NestedMultipleElementsErrorWorld (216 ms)
+61: [----------] 5 tests from IncludesTest (1124 ms total)
+61: 
+61: [----------] Global test environment tear-down
+61: [==========] 5 tests from 1 test suite ran. (1124 ms total)
+61: [  PASSED  ] 5 tests.
+ 81/221 Test  #61: INTEGRATION_nested_multiple_elements_error .............   Passed    1.27 sec
 test 96
         Start  96: check_INTEGRATION_urdf_gazebo_extensions
 
 96: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_urdf_gazebo_extensions.xml"
 96: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 96: Test timeout computed to be: 10000000
-59: [       OK ] NestedModel.NestedFrameOnlyModel (415 ms)
-59: [ RUN      ] NestedModel.IncludeElements
-96: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_urdf_gazebo_extensions.xml
-96: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_urdf_gazebo_extensions.xml
- 89/221 Test  #96: check_INTEGRATION_urdf_gazebo_extensions ...............   Passed    0.03 sec
+55: [       OK ] DOMRoot.LoadNestedCanonicalLink (251 ms)
+55: [ RUN      ] DOMRoot.LoadNestedExplicitCanonicalLink
+39: [       OK ] DOMJoint.Sensors (76 ms)
+39: [----------] 16 tests from DOMJoint (1674 ms total)
+39: 
+39: [----------] Global test environment tear-down
+39: [==========] 16 tests from 1 test suite ran. (1674 ms total)
+39: [  PASSED  ] 16 tests.
+ 82/221 Test  #39: INTEGRATION_joint_dom ..................................   Passed    1.81 sec
 test 97
         Start  97: INTEGRATION_urdf_joint_parameters
 
@@ -34629,56 +34404,22 @@
 97: Environment variables: 
 97:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 97: Test timeout computed to be: 240
-89: [       OK ] SDFDomConversion.Sensors (543 ms)
-89: [ RUN      ] SDFDomConversion.Lights
-77: Error:   Could not find the 'robot' element in the xml file
-77:          at line 109 in ./urdf_parser/src/model.cpp
-95: Running main() from /usr/src/gtest/src/gtest_main.cc
-95: [==========] Running 1 test from 1 test suite.
-95: [----------] Global test environment set-up.
-95: [----------] 1 test from SDFParser
-95: [ RUN      ] SDFParser.UrdfGazeboExtensionURDFTest
-97: Running main() from /usr/src/gtest/src/gtest_main.cc
-97: [==========] Running 1 test from 1 test suite.
-97: [----------] Global test environment set-up.
-97: [----------] 1 test from SDFParser
-97: [ RUN      ] SDFParser.JointAxisParameters
-93: Running main() from /usr/src/gtest/src/gtest_main.cc
-93: [==========] Running 4 tests from 2 test suites.
-93: [----------] Global test environment set-up.
-93: [----------] 1 test from Unknown
-93: [ RUN      ] Unknown.CopyUnknownElement
-89: [       OK ] SDFDomConversion.Lights (281 ms)
-89: [ RUN      ] SDFDomConversion.Joints
-95: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-77: Error:   Could not find the 'robot' element in the xml file
-77:          at line 109 in ./urdf_parser/src/model.cpp
-97: [       OK ] SDFParser.JointAxisParameters (296 ms)
-97: [----------] 1 test from SDFParser (296 ms total)
-97: 
-97: [----------] Global test environment tear-down
-97: [==========] 1 test from 1 test suite ran. (296 ms total)
-97: [  PASSED  ] 1 test.
-67: [1;31mError [SDF.cc:160][0m Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
- 90/221 Test  #97: INTEGRATION_urdf_joint_parameters ......................   Passed    0.51 sec
+96: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_urdf_gazebo_extensions.xml
+96: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_urdf_gazebo_extensions.xml
+ 83/221 Test  #96: check_INTEGRATION_urdf_gazebo_extensions ...............   Passed    0.02 sec
 test 98
         Start  98: check_INTEGRATION_urdf_joint_parameters
 
 98: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_urdf_joint_parameters.xml"
 98: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 98: Test timeout computed to be: 10000000
-95: [       OK ] SDFParser.UrdfGazeboExtensionURDFTest (383 ms)
-95: [----------] 1 test from SDFParser (383 ms total)
-95: 
-95: [----------] Global test environment tear-down
-95: [==========] 1 test from 1 test suite ran. (383 ms total)
-95: [  PASSED  ] 1 test.
-59: [       OK ] NestedModel.IncludeElements (571 ms)
-59: [----------] 10 tests from NestedModel (5015 ms total)
-59: 
-59: [----------] 3 tests from PlacementFrame
-59: [ RUN      ] PlacementFrame.WorldInclude
- 91/221 Test  #95: INTEGRATION_urdf_gazebo_extensions .....................   Passed    0.60 sec
+87: [       OK ] SDFParser.CustomElements (169 ms)
+87: [----------] 1 test from SDFParser (169 ms total)
+87: 
+87: [----------] Global test environment tear-down
+87: [==========] 1 test from 1 test suite ran. (169 ms total)
+87: [  PASSED  ] 1 test.
+ 84/221 Test  #87: INTEGRATION_sdf_custom .................................   Passed    0.30 sec
 test 99
         Start  99: INTEGRATION_visual_dom
 
@@ -34687,26 +34428,27 @@
 99: Environment variables: 
 99:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 99: Test timeout computed to be: 240
-93: [       OK ] Unknown.CopyUnknownElement (298 ms)
-93: [----------] 1 test from Unknown (298 ms total)
-93: 
-93: [----------] 3 tests from UnrecognizedElements
-93: [ RUN      ] UnrecognizedElements.UnrecognizedElementsWithWarningsPolicies
+81: [       OK ] DOMRoot.LoadMultipleModels (140 ms)
+81: [ RUN      ] DOMRoot.LoadDuplicateModels
+67: [1;31mError [SDF.cc:160][0m Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
 98: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_urdf_joint_parameters.xml
- 92/221 Test  #98: check_INTEGRATION_urdf_joint_parameters ................   Passed    0.06 sec
+98: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_urdf_joint_parameters.xml
+ 85/221 Test  #98: check_INTEGRATION_urdf_joint_parameters ................   Passed    0.02 sec
 test 100
         Start 100: check_INTEGRATION_visual_dom
 
 100: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_visual_dom.xml"
 100: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 100: Test timeout computed to be: 10000000
-89: [       OK ] SDFDomConversion.Joints (239 ms)
-89: [----------] 3 tests from SDFDomConversion (1064 ms total)
-89: 
-89: [----------] Global test environment tear-down
-89: [==========] 3 tests from 1 test suite ran. (1064 ms total)
-89: [  PASSED  ] 3 tests.
- 93/221 Test  #89: INTEGRATION_sdf_dom_conversion .........................   Passed    1.24 sec
+91: [       OK ] DOMSurface.Shapes (145 ms)
+91: [----------] 1 test from DOMSurface (145 ms total)
+91: 
+91: [----------] Global test environment tear-down
+77: Error:   Could not find the 'robot' element in the xml file
+77:          at line 109 in ./urdf_parser/src/model.cpp
+91: [==========] 1 test from 1 test suite ran. (145 ms total)
+91: [  PASSED  ] 1 test.
+ 86/221 Test  #91: INTEGRATION_surface_dom ................................   Passed    0.28 sec
 test 101
         Start 101: INTEGRATION_whitespace
 
@@ -34717,67 +34459,23 @@
 101: Test timeout computed to be: 240
 100: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_visual_dom.xml
 100: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_visual_dom.xml
- 94/221 Test #100: check_INTEGRATION_visual_dom ...........................   Passed    0.05 sec
+ 87/221 Test #100: check_INTEGRATION_visual_dom ...........................   Passed    0.02 sec
 test 102
         Start 102: check_INTEGRATION_whitespace
 
 102: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_whitespace.xml"
 102: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 102: Test timeout computed to be: 10000000
-77: Error:   Could not find the 'robot' element in the xml file
-77:          at line 109 in ./urdf_parser/src/model.cpp
-77: [       OK ] Pose1_9.BadModelPoses (1020 ms)
-77: [ RUN      ] Pose1_9.PoseSet8ValuesFail
-77: [       OK ] Pose1_9.PoseSet8ValuesFail (0 ms)
-77: [ RUN      ] Pose1_9.PoseElementSetAndGet
-77: [       OK ] Pose1_9.PoseElementSetAndGet (0 ms)
-77: [ RUN      ] Pose1_9.PoseElementSetAndParamGet
-77: [       OK ] Pose1_9.PoseElementSetAndParamGet (0 ms)
-77: [ RUN      ] Pose1_9.PoseParamSetAndGet
-77: [       OK ] Pose1_9.PoseParamSetAndGet (0 ms)
-77: [ RUN      ] Pose1_9.PoseParamSetFromStringAndGet
-77: [       OK ] Pose1_9.PoseParamSetFromStringAndGet (0 ms)
-77: [ RUN      ] Pose1_9.PoseParamSetAndElemGet
-77: [       OK ] Pose1_9.PoseParamSetAndElemGet (0 ms)
-77: [ RUN      ] Pose1_9.PoseParamSetAndParentElemGet
-77: [       OK ] Pose1_9.PoseParamSetAndParentElemGet (0 ms)
-77: [ RUN      ] Pose1_9.ChangingParentPoseElementAfterSet
-77: [       OK ] Pose1_9.ChangingParentPoseElementAfterSet (0 ms)
-77: [ RUN      ] Pose1_9.ChangingParentPoseElementAfterParamSetFromString
-77: [1;31mError [Param.cc:598][0m The value for //pose[@rotation_format='quat_xyzw'] must have 7 values, but 6 were found instead in '1, 2, 3, 0.4, 0.5, 0.6'.
-77: [1;31mError [Param.cc:1015][0m Failed to set value '1, 2, 3, 0.4, 0.5, 0.6' to key [pose] for new parent element of name 'pose', reverting to previous value '1, 2, 3, 0.4, 0.5, 0.6'.
-77: [       OK ] Pose1_9.ChangingParentPoseElementAfterParamSetFromString (0 ms)
-77: [ RUN      ] Pose1_9.ChangingAttributeOfParentElement
-77: [1;31mError [Param.cc:534][0m The attribute //pose[@degrees='true'] does not apply when parsing quaternions, //pose[@rotation_format='quat_xyzw'].
-77: [1;31mError [Param.cc:1015][0m Failed to set value '1, 2, 3, 0.4, 0.5, 0.6' to key [pose] for new parent element of name 'pose', reverting to previous value '1, 2, 3, 0.4, 0.5, 0.6'.
-77: [1;31mError [Param.cc:524][0m Undefined attribute //pose[@rotation_format='invalid_format'], only 'euler_rpy' and 'quat_xyzw' is supported.
-77: [1;31mError [Param.cc:1015][0m Failed to set value '1, 2, 3, 0.4, 0.5, 0.6' to key [pose] for new parent element of name 'pose', reverting to previous value '1, 2, 3, 0.4, 0.5, 0.6'.
-77: [       OK ] Pose1_9.ChangingAttributeOfParentElement (0 ms)
-77: [ RUN      ] Pose1_9.QuatXYZWSetDegreesTrueFail
-77: [1;31mError [Param.cc:534][0m The attribute //pose[@degrees='true'] does not apply when parsing quaternions, //pose[@rotation_format='quat_xyzw'].
-77: [1;31mError [Param.cc:1015][0m Failed to set value '1 2 3 0.7071068 0 0 0.7071068' to key [pose] for new parent element of name 'pose', reverting to previous value '1 2 3 0.7071068 0 0 0.7071068'.
-77: [       OK ] Pose1_9.QuatXYZWSetDegreesTrueFail (0 ms)
-77: [ RUN      ] Pose1_9.ToStringWithoutAttrib
-77: [       OK ] Pose1_9.ToStringWithoutAttrib (0 ms)
-77: [ RUN      ] Pose1_9.ToStringWithDegreesFalse
-77: [       OK ] Pose1_9.ToStringWithDegreesFalse (0 ms)
-77: [ RUN      ] Pose1_9.ToStringWithDegreesTrue
-77: [       OK ] Pose1_9.ToStringWithDegreesTrue (0 ms)
-77: [ RUN      ] Pose1_9.ToStringWithEulerRPY
-77: [       OK ] Pose1_9.ToStringWithEulerRPY (0 ms)
-77: [ RUN      ] Pose1_9.ToStringWithEulerRPYDegreesTrue
-77: [       OK ] Pose1_9.ToStringWithEulerRPYDegreesTrue (0 ms)
-77: [ RUN      ] Pose1_9.ToStringWithQuatXYZ
-77: [       OK ] Pose1_9.ToStringWithQuatXYZ (0 ms)
-77: [ RUN      ] Pose1_9.ToStringWithQuatXYZWDegreesFalse
-77: [       OK ] Pose1_9.ToStringWithQuatXYZWDegreesFalse (0 ms)
-77: [ RUN      ] Pose1_9.ToStringAfterChangingDegreeAttribute
-77: [       OK ] Pose1_9.ToStringAfterChangingDegreeAttribute (0 ms)
-77: [ RUN      ] Pose1_9.IncludePoseInModelString
+63: [1;31mError [Param.cc:925][0m Empty string used when setting a required parameter. Key[name]
+95: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
 102: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_whitespace.xml
 102: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_whitespace.xml
-67: [1;31mError [SDF.cc:160][0m Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
- 95/221 Test #102: check_INTEGRATION_whitespace ...........................   Passed    0.05 sec
+97: Running main() from /usr/src/gtest/src/gtest_main.cc
+97: [==========] Running 1 test from 1 test suite.
+97: [----------] Global test environment set-up.
+97: [----------] 1 test from SDFParser
+97: [ RUN      ] SDFParser.JointAxisParameters
+ 88/221 Test #102: check_INTEGRATION_whitespace ...........................   Passed    0.02 sec
 test 103
         Start 103: INTEGRATION_world_dom
 
@@ -34786,6 +34484,16 @@
 103: Environment variables: 
 103:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 103: Test timeout computed to be: 240
+25: [       OK ] DOMFrame.LoadWorldFramesInvalidAttachedTo (275 ms)
+25: [ RUN      ] DOMFrame.LoadModelFramesRelativeTo
+93: [       OK ] Unknown.CopyUnknownElement (147 ms)
+93: [----------] 1 test from Unknown (147 ms total)
+93: 
+93: [----------] 3 tests from UnrecognizedElements
+93: [ RUN      ] UnrecognizedElements.UnrecognizedElementsWithWarningsPolicies
+67: [1;31mError [SDF.cc:160][0m Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
+55: [       OK ] DOMRoot.LoadNestedExplicitCanonicalLink (148 ms)
+55: [ RUN      ] DOMRoot.ModelPlacementFrameAttribute
 99: Running main() from /usr/src/gtest/src/gtest_main.cc
 99: [==========] Running 10 tests from 1 test suite.
 99: [----------] Global test environment set-up.
@@ -34797,56 +34505,217 @@
 99: [1;31mError [Element.cc:979][0m Missing element description for [geometry]
 99: [       OK ] DOMVisual.NoName (0 ms)
 99: [ RUN      ] DOMVisual.DoublePendulum
-101: Running main() from /usr/src/gtest/src/gtest_main.cc
-101: [==========] Running 1 test from 1 test suite.
-101: [----------] Global test environment set-up.
-101: [----------] 1 test from WhitespaceTest
-101: [ RUN      ] WhitespaceTest.Whitespace
-103: Running main() from /usr/src/gtest/src/gtest_main.cc
-103: [==========] Running 8 tests from 1 test suite.
-103: [----------] Global test environment set-up.
-103: [----------] 8 tests from DOMWorld
-103: [ RUN      ] DOMWorld.NoName
-99: [       OK ] DOMVisual.DoublePendulum (239 ms)
-99: [ RUN      ] DOMVisual.Material
-93: [1;33mWarning [Utils.cc:129][0m [/sdf/model[@name="joint_incorrect_tags"][@some_attribute="staheousth"]:/build/sdformat-12.3.0+ds/test/sdf/unrecognized_elements.sdf:L3]: XML Attribute[some_attribute] in element[model] not defined in SDF.
-63: [       OK ] ParamPassingTest.NestedInclude (2358 ms)
-63: [----------] 2 tests from ParamPassingTest (4351 ms total)
-63: 
-63: [----------] Global test environment tear-down
-63: [==========] 2 tests from 1 test suite ran. (4351 ms total)
-63: [  PASSED  ] 2 tests.
- 96/221 Test  #63: INTEGRATION_param_passing ..............................   Passed    4.63 sec
+89: [       OK ] SDFDomConversion.Sensors (298 ms)
+89: [ RUN      ] SDFDomConversion.Lights
+77: Error:   Could not find the 'robot' element in the xml file
+77:          at line 109 in ./urdf_parser/src/model.cpp
+81: [       OK ] DOMRoot.LoadDuplicateModels (130 ms)
+81: [----------] 5 tests from DOMRoot (663 ms total)
+81: 
+81: [----------] Global test environment tear-down
+81: [==========] 5 tests from 1 test suite ran. (663 ms total)
+81: [  PASSED  ] 5 tests.
+95: [       OK ] SDFParser.UrdfGazeboExtensionURDFTest (200 ms)
+95: [----------] 1 test from SDFParser (201 ms total)
+95: 
+95: [----------] Global test environment tear-down
+63: [1;31mError [parser.cc:163][0m Unable to load file[]: Error=XML_ERROR_FILE_NOT_FOUND ErrorID=3 (0x3) Line number=0: filename=
+95: [==========] 1 test from 1 test suite ran. (201 ms total)
+95: [  PASSED  ] 1 test.
+ 89/221 Test  #81: INTEGRATION_root_dom ...................................   Passed    0.79 sec
 test 104
         Start 104: check_INTEGRATION_world_dom
 
 104: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_world_dom.xml"
 104: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 104: Test timeout computed to be: 10000000
-104: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_world_dom.xml
-104: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_world_dom.xml
- 97/221 Test #104: check_INTEGRATION_world_dom ............................   Passed    0.05 sec
+ 90/221 Test  #95: INTEGRATION_urdf_gazebo_extensions .....................   Passed    0.32 sec
 test 105
         Start 105: INTEGRATION_versioned_symbols
 
-105: Test command: /bin/bash "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/all_symbols_have_version.bash" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/libsdformat12.so"
+105: Test command: /usr/bin/bash "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration/all_symbols_have_version.bash" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/libsdformat12.so"
 105: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/integration
 105: Test timeout computed to be: 10000000
-99: [       OK ] DOMVisual.Material (228 ms)
-99: [ RUN      ] DOMVisual.MaterialScriptNoUri
-103: Error:   Could not find the 'robot' element in the xml file
-103:          at line 109 in ./urdf_parser/src/model.cpp
-103: [       OK ] DOMWorld.NoName (294 ms)
-103: [ RUN      ] DOMWorld.Duplicate
-67: [       OK ] ParserConfig.ParseWithNonGlobalConfig (3805 ms)
-67: [----------] 3 tests from ParserConfig (3806 ms total)
-67: 
-67: [----------] Global test environment tear-down
-67: [==========] 3 tests from 1 test suite ran. (3806 ms total)
-67: [  PASSED  ] 3 tests.
-77: [       OK ] Pose1_9.IncludePoseInModelString (538 ms)
-77: [ RUN      ] Pose1_9.IncludeEulerRPYPoseInModelString
- 98/221 Test  #67: INTEGRATION_parser_config ..............................   Passed    4.07 sec
+63: [1;33mWarning [ParamPassing.cc:326][0m The original element [collision] contains the attribute 'name' but none was provided in the element modifier. The assumed element to be modified is: <collision name='top_collision'>
+31: [       OK ] IncludesTest.MergeIncludePlacementFrame (419 ms)
+31: [ RUN      ] IncludesTest.InvalidMergeInclude
+101: Running main() from /usr/src/gtest/src/gtest_main.cc
+101: [==========] Running 1 test from 1 test suite.
+101: [----------] Global test environment set-up.
+101: [----------] 1 test from WhitespaceTest
+101: [ RUN      ] WhitespaceTest.Whitespace
+63: [1;31mError [Param.cc:399][0m Unknown error. Unable to set value [0.5 0.5 ] for key[size]
+63: [1;33mWarning [ParamPassing.cc:612][0m No modifications for element <geometry/>
+63:  provided, skipping modification for:
+63: <collision name="top_collision">
+63:     <!-- element missing -->
+63:     <geometry>
+63:         <sphere>
+63:             <radius>0.5</radius>
+63:         </sphere>
+63:     </geometry>
+63:     <!-- element has invalid value -->
+63:     <geometry>
+63:         <box>
+63:             <size>0.5 0.5</size>
+63:         </box>
+63:     </geometry>
+63:     <!-- no modifications listed, warning is printed (not error) -->
+63:     <geometry/>
+63: </collision>
+63: 
+63: [1;31mError [Param.cc:925][0m Empty string used when setting a required parameter. Key[name]
+104: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_world_dom.xml
+104: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/INTEGRATION_world_dom.xml
+63: Element identifier requires an element_id attribute, but the element_id is not set. Skipping element alteration:
+63: <foo/>
+63: 
+63: Could not find element <visual element_id='chassis::camera_visual'>. Skipping element modification:
+63: <visual element_id="chassis::camera_visual" action="modify">
+63:     <pose>-1.06 0 0 0 0 3.14</pose>
+63:     <geometry>
+63:         <box>
+63:             <size>0.1 0.1 0.1</size>
+63:         </box>
+63:     </geometry>
+63: </visual>
+63: 
+63: Could not add element <visual element_id='chassis'> because element already exists in included model. Skipping element addition:
+63: <visual element_id="chassis" name="visual" action="add">
+63:     <geometry>
+63:         <box>
+63:             <size>0.1 0.1 0.1</size>
+63:         </box>
+63:     </geometry>
+63: </visual>
+63: 
+63: Could not find element <visual element_id='chassis::test'>. Skipping element modification:
+63: <visual element_id="chassis::test" name="visual" action="add">
+63:     <geometry>
+63:         <box>
+63:             <size>0.1 0.1 0.1</size>
+63:         </box>
+63:     </geometry>
+63: </visual>
+63: 
+63: Missing name after double colons in element identifier. Skipping element alteration:
+63: <link element_id="chassis::test::" name="foo" action="add"/>
+63: 
+63: Missing an action attribute. Skipping child element modification with parent <visual element_id='top::camera_visual'>:
+63: <transparency>0.2</transparency>
+63: 
+63: Required attribute[name] in element[plugin] is not specified in SDF.
+63: Unable to convert XML to SDF. Skipping child element alteration with parent <visual element_id='top::camera_visual'>:
+63: <plugin/>
+63: 
+63: Element [test] is not a defined SDF element or is an invalid child specification. Skipping child element modification with parent <visual element_id='top::camera_visual'>:
+63: <test action="add"/>
+63: 
+63: Element [test] is not a defined SDF element. Skipping element alteration
+63: : <test element_id="chassis" name="new_elem" action="add"/>
+63: 
+63: Element to be added is missing a 'name' attribute. Skipping element addition:
+63: <plugin element_id="chassis" action="add"/>
+63: 
+63: The 'name' attribute can not be empty. Skipping element addition:
+63: <plugin element_id="chassis" name="" action="add"/>
+63: 
+63: Required attribute[filename] in element[plugin] is not specified in SDF.
+63: Unable to convert XML to SDF. Skipping element addition:
+63: <plugin name="some_plugin"/>
+63: 
+63: Action [test] is not a valid action. Skipping element alteration:
+63: <link element_id="top" action="test"/>
+63: 
+63: Action [test] is not a valid action. Skipping child element modification with parent <collision element_id='left_wheel::collision'>:
+63: <geometry action="test"/>
+63: 
+63: Could not find element. Skipping child element removal with parent <collision element_id='left_wheel::collision'>:
+63: <laser_retro action="remove"/>
+63: 
+63: Could not find element. Skipping child element removal from <collision element_id='left_wheel::collision'> with parent <geometry>:
+63: <box/>
+63: 
+63: Could not find element. Skipping child element removal with parent <link element_id='top'>:
+63: <collision name="collision" action="remove"/>
+63: 
+63: Could not find element. Skipping child element replacement with parent <link element_id='top'>:
+63: <collision name="collision"/>
+63: 
+63: Replacement element is missing a 'name' attribute. Skipping element replacement <link element_id='top'>:
+63: <collision/>
+63: 
+63: Attribute [test] is invalid. Skipping attribute modification in:
+63: <collision name="top_collision" action="modify" test="foo"/>
+63: 
+63: Could not find element. Skipping child element modification with parent <link element_id='top'>:
+63: <geometry action="modify">
+63:     <box>
+63:         <size>1 1 1</size>
+63:     </box>
+63: </geometry>
+63: 
+63: Required attribute[type] in element[sensor] is not specified in SDF.
+63: Unable to convert XML to SDF. Skipping element replacement:
+63: <sensor name="camera"/>
+63: 
+63: Attribute [test] is invalid. Skipping attribute modification in:
+63: <link element_id="top" action="modify" test="foo">
+63:     <!-- element missing -->
+63:     <inertial/>
+63:     <collision name="top_collision">
+63:         <!-- element missing -->
+63:         <geometry>
+63:             <sphere>
+63:                 <radius>0.5</radius>
+63:             </sphere>
+63:         </geometry>
+63:         <!-- element has invalid value -->
+63:         <geometry>
+63:             <box>
+63:                 <size>0.5 0.5</size>
+63:             </box>
+63:         </geometry>
+63:         <!-- no modifications listed, warning is printed (not error) -->
+63:         <geometry/>
+63:     </collision>
+63: </link>
+63: 
+63: Could not find element [inertial]. Skipping modification for:
+63: <link element_id="top" action="modify" test="foo">
+63:     <!-- element missing -->
+63:     <inertial/>
+63:     <collision name="top_collision">
+63:         <!-- element missing -->
+63:         <geometry>
+63:             <sphere>
+63:                 <radius>0.5</radius>
+63:             </sphere>
+63:         </geometry>
+63:         <!-- element has invalid value -->
+63:         <geometry>
+63:             <box>
+63:                 <size>0.5 0.5</size>
+63:             </box>
+63:         </geometry>
+63:         <!-- no modifications listed, warning is printed (not error) -->
+63:         <geometry/>
+63:     </collision>
+63: </link>
+63: 
+63: Could not find element [sphere]. Skipping modification for:
+63: <geometry>
+63:     <sphere>
+63:         <radius>0.5</radius>
+63:     </sphere>
+63: </geometry>
+63: 
+63: Value [0.5 0.5] for element [size] is invalid. Skipping modification for:
+63: <box>
+63:     <size>0.5 0.5</size>
+63: </box>
+63: 
+ 91/221 Test #104: check_INTEGRATION_world_dom ............................   Passed    0.02 sec
 test 106
         Start 106: PERFORMANCE_parser_urdf
 
@@ -34855,33 +34724,25 @@
 106: Environment variables: 
 106:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 106: Test timeout computed to be: 240
-93: [1;33mWarning [Utils.cc:129][0m [/sdf/model[@name="joint_incorrect_tags"][@some_attribute="staheousth"]:/build/sdformat-12.3.0+ds/test/sdf/unrecognized_elements.sdf:L3]: XML Attribute[some_attribute] in element[model] not defined in SDF.
-93: [1;33mWarning [Utils.cc:129][0m [/sdf/model[@name="joint_incorrect_tags"]/link[@name="link"]/not_a_link_element:/build/sdformat-12.3.0+ds/test/sdf/unrecognized_elements.sdf:L6]: XML Element[not_a_link_element], child of element[link], not defined in SDF. Copying[not_a_link_element] as children of [link].
-93: [1;33mWarning [Utils.cc:129][0m [/sdf/model[@name="joint_incorrect_tags"]/not_a_model_element:/build/sdformat-12.3.0+ds/test/sdf/unrecognized_elements.sdf:L8]: XML Element[not_a_model_element], child of element[model], not defined in SDF. Copying[not_a_model_element] as children of [model].
-93: [1;33mWarning [Utils.cc:129][0m [/sdf/not_an_sdf_element:/build/sdformat-12.3.0+ds/test/sdf/unrecognized_elements.sdf:L10]: XML Element[not_an_sdf_element], child of element[sdf], not defined in SDF. Copying[not_an_sdf_element] as children of [sdf].
-99: A <script> element is missing a child <uri> element, or the <uri> element is empty.
-99: A <script> element is missing a child <name> element, or the <name> element is empty.
-99: The value[invalid] for a <shader><type> element is not supported
-101: [       OK ] WhitespaceTest.Whitespace (592 ms)
-101: [----------] 1 test from WhitespaceTest (592 ms total)
-101: 
-101: [----------] Global test environment tear-down
-99: [       OK ] DOMVisual.MaterialScriptNoUri (221 ms)
-99: [ RUN      ] DOMVisual.MaterialScriptNormalMapMissing
-93: [1;33mWarning [Utils.cc:129][0m [/sdf/model[@name="joint_incorrect_tags"][@some_attribute="staheousth"]:/build/sdformat-12.3.0+ds/test/sdf/unrecognized_elements.sdf:L3]: XML Attribute[some_attribute] in element[model] not defined in SDF.
-101: [==========] 1 test from 1 test suite ran. (592 ms total)
-101: [  PASSED  ] 1 test.
-93: [       OK ] UnrecognizedElements.UnrecognizedElementsWithWarningsPolicies (841 ms)
-93: [ RUN      ] UnrecognizedElements.UnrecognizedElementsWithNamespaces
- 99/221 Test #101: INTEGRATION_whitespace .................................   Passed    0.80 sec
+103: Running main() from /usr/src/gtest/src/gtest_main.cc
+103: [==========] Running 8 tests from 1 test suite.
+103: [----------] Global test environment set-up.
+103: [----------] 8 tests from DOMWorld
+103: [ RUN      ] DOMWorld.NoName
+105: No unversioned symbols found (num versioned symbols:3189)
+ 92/221 Test #105: INTEGRATION_versioned_symbols ..........................   Passed    0.04 sec
 test 107
         Start 107: check_PERFORMANCE_parser_urdf
 
 107: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/PERFORMANCE_parser_urdf.xml"
 107: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test/performance
 107: Test timeout computed to be: 10000000
-105: No unversioned symbols found (num versioned symbols:3189)
-100/221 Test #105: INTEGRATION_versioned_symbols ..........................   Passed    0.34 sec
+93: [1;33mWarning [Utils.cc:129][0m [/sdf/model[@name="joint_incorrect_tags"][@some_attribute="staheousth"]:/build/sdformat-12.3.0+ds/test/sdf/unrecognized_elements.sdf:L3]: XML Attribute[some_attribute] in element[model] not defined in SDF.
+107: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/PERFORMANCE_parser_urdf.xml
+107: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/PERFORMANCE_parser_urdf.xml
+25: [       OK ] DOMFrame.LoadModelFramesRelativeTo (129 ms)
+25: [ RUN      ] DOMFrame.LoadModelFramesInvalidRelativeTo
+ 93/221 Test #107: check_PERFORMANCE_parser_urdf ..........................   Passed    0.02 sec
 test 108
         Start 108: UNIT_Actor_TEST
 
@@ -34890,26 +34751,28 @@
 108: Environment variables: 
 108:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 108: Test timeout computed to be: 240
-103: [       OK ] DOMWorld.Duplicate (243 ms)
-103: [ RUN      ] DOMWorld.LoadIncorrectElement
-107: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/PERFORMANCE_parser_urdf.xml
-107: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/PERFORMANCE_parser_urdf.xml
-101/221 Test #107: check_PERFORMANCE_parser_urdf ..........................   Passed    0.06 sec
+97: [       OK ] SDFParser.JointAxisParameters (163 ms)
+97: [----------] 1 test from SDFParser (163 ms total)
+97: 
+97: [----------] Global test environment tear-down
+97: [==========] 1 test from 1 test suite ran. (163 ms total)
+97: [  PASSED  ] 1 test.
+59: [       OK ] NestedModel.NestedModelWithFramesDirectComparison (267 ms)
+59: [ RUN      ] NestedModel.PartiallyFlattened
+ 94/221 Test  #97: INTEGRATION_urdf_joint_parameters ......................   Passed    0.24 sec
 test 109
         Start 109: check_UNIT_Actor_TEST
 
 109: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Actor_TEST.xml"
 109: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
 109: Test timeout computed to be: 10000000
-106: Running main() from /usr/src/gtest/src/gtest_main.cc
-106: [==========] Running 1 test from 1 test suite.
-106: [----------] Global test environment set-up.
-106: [----------] 1 test from URDFParser
-106: [ RUN      ] URDFParser.AtlasURDF_5runs_performance
+63: [       OK ] ParamPassingTest.ExperimentalParamsTag (1377 ms)
+63: [ RUN      ] ParamPassingTest.NestedInclude
+89: [       OK ] SDFDomConversion.Lights (107 ms)
+89: [ RUN      ] SDFDomConversion.Joints
 109: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Actor_TEST.xml
 109: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Actor_TEST.xml
-93: [1;33mWarning [Utils.cc:129][0m [/sdf/model[@name="namespaced_tags"][@some_attribute="some value"]:/build/sdformat-12.3.0+ds/test/sdf/unrecognized_elements_with_namespace.sdf:L5]: XML Attribute[some_attribute] in element[model] not defined in SDF.
-102/221 Test #109: check_UNIT_Actor_TEST ..................................   Passed    0.05 sec
+ 95/221 Test #109: check_UNIT_Actor_TEST ..................................   Passed    0.02 sec
 test 110
         Start 110: UNIT_AirPressure_TEST
 
@@ -34918,82 +34781,89 @@
 110: Environment variables: 
 110:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 110: Test timeout computed to be: 240
-93: [       OK ] UnrecognizedElements.UnrecognizedElementsWithNamespaces (127 ms)
-93: [ RUN      ] UnrecognizedElements.OldElementsInNewSchemas
-99: A normal map shader type has been specified, but a normal_map has not.
-99: [       OK ] DOMVisual.MaterialScriptNormalMapMissing (216 ms)
-99: [ RUN      ] DOMVisual.Transparency
-103: [       OK ] DOMWorld.LoadIncorrectElement (273 ms)
-103: [ RUN      ] DOMWorld.Load
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-77: [       OK ] Pose1_9.IncludeEulerRPYPoseInModelString (555 ms)
-77: [ RUN      ] Pose1_9.IncludeQuatXYZWPoseIn
-110: Running main() from /usr/src/gtest/src/gtest_main.cc
-110: [==========] Running 4 tests from 1 test suite.
-110: [----------] Global test environment set-up.
-110: [----------] 4 tests from DOMAirPressure
-110: [ RUN      ] DOMAirPressure.Construction
-110: [       OK ] DOMAirPressure.Construction (0 ms)
-110: [ RUN      ] DOMAirPressure.Set
-110: [       OK ] DOMAirPressure.Set (0 ms)
-110: [ RUN      ] DOMAirPressure.Load
-110: [       OK ] DOMAirPressure.Load (0 ms)
-110: [ RUN      ] DOMAirPressure.ToElement
-110: [       OK ] DOMAirPressure.ToElement (13 ms)
-110: [----------] 4 tests from DOMAirPressure (13 ms total)
-110: 
-110: [----------] Global test environment tear-down
-110: [==========] 4 tests from 1 test suite ran. (13 ms total)
-110: [  PASSED  ] 4 tests.
-93: [       OK ] UnrecognizedElements.OldElementsInNewSchemas (257 ms)
-93: [----------] 3 tests from UnrecognizedElements (1226 ms total)
-93: 
-93: [----------] Global test environment tear-down
-103/221 Test #110: UNIT_AirPressure_TEST ..................................   Passed    0.26 sec
+77: Error:   Could not find the 'robot' element in the xml file
+77:          at line 109 in ./urdf_parser/src/model.cpp
+77: [       OK ] Pose1_9.BadModelPoses (464 ms)
+77: [ RUN      ] Pose1_9.PoseSet8ValuesFail
+77: [       OK ] Pose1_9.PoseSet8ValuesFail (0 ms)
+77: [ RUN      ] Pose1_9.PoseElementSetAndGet
+77: [       OK ] Pose1_9.PoseElementSetAndGet (0 ms)
+77: [ RUN      ] Pose1_9.PoseElementSetAndParamGet
+77: [       OK ] Pose1_9.PoseElementSetAndParamGet (0 ms)
+77: [ RUN      ] Pose1_9.PoseParamSetAndGet
+77: [       OK ] Pose1_9.PoseParamSetAndGet (0 ms)
+77: [ RUN      ] Pose1_9.PoseParamSetFromStringAndGet
+77: [       OK ] Pose1_9.PoseParamSetFromStringAndGet (0 ms)
+77: [ RUN      ] Pose1_9.PoseParamSetAndElemGet
+77: [       OK ] Pose1_9.PoseParamSetAndElemGet (0 ms)
+77: [ RUN      ] Pose1_9.PoseParamSetAndParentElemGet
+77: [       OK ] Pose1_9.PoseParamSetAndParentElemGet (0 ms)
+77: [ RUN      ] Pose1_9.ChangingParentPoseElementAfterSet
+77: [       OK ] Pose1_9.ChangingParentPoseElementAfterSet (0 ms)
+77: [ RUN      ] Pose1_9.ChangingParentPoseElementAfterParamSetFromString
+77: [1;31mError [Param.cc:598][0m The value for //pose[@rotation_format='quat_xyzw'] must have 7 values, but 6 were found instead in '1, 2, 3, 0.4, 0.5, 0.6'.
+77: [1;31mError [Param.cc:1015][0m Failed to set value '1, 2, 3, 0.4, 0.5, 0.6' to key [pose] for new parent element of name 'pose', reverting to previous value '1, 2, 3, 0.4, 0.5, 0.6'.
+77: [       OK ] Pose1_9.ChangingParentPoseElementAfterParamSetFromString (0 ms)
+77: [ RUN      ] Pose1_9.ChangingAttributeOfParentElement
+77: [1;31mError [Param.cc:534][0m The attribute //pose[@degrees='true'] does not apply when parsing quaternions, //pose[@rotation_format='quat_xyzw'].
+77: [1;31mError [Param.cc:1015][0m Failed to set value '1, 2, 3, 0.4, 0.5, 0.6' to key [pose] for new parent element of name 'pose', reverting to previous value '1, 2, 3, 0.4, 0.5, 0.6'.
+77: [1;31mError [Param.cc:524][0m Undefined attribute //pose[@rotation_format='invalid_format'], only 'euler_rpy' and 'quat_xyzw' is supported.
+77: [1;31mError [Param.cc:1015][0m Failed to set value '1, 2, 3, 0.4, 0.5, 0.6' to key [pose] for new parent element of name 'pose', reverting to previous value '1, 2, 3, 0.4, 0.5, 0.6'.
+77: [       OK ] Pose1_9.ChangingAttributeOfParentElement (0 ms)
+77: [ RUN      ] Pose1_9.QuatXYZWSetDegreesTrueFail
+77: [1;31mError [Param.cc:534][0m The attribute //pose[@degrees='true'] does not apply when parsing quaternions, //pose[@rotation_format='quat_xyzw'].
+77: [1;31mError [Param.cc:1015][0m Failed to set value '1 2 3 0.7071068 0 0 0.7071068' to key [pose] for new parent element of name 'pose', reverting to previous value '1 2 3 0.7071068 0 0 0.7071068'.
+77: [       OK ] Pose1_9.QuatXYZWSetDegreesTrueFail (0 ms)
+77: [ RUN      ] Pose1_9.ToStringWithoutAttrib
+77: [       OK ] Pose1_9.ToStringWithoutAttrib (0 ms)
+77: [ RUN      ] Pose1_9.ToStringWithDegreesFalse
+77: [       OK ] Pose1_9.ToStringWithDegreesFalse (0 ms)
+77: [ RUN      ] Pose1_9.ToStringWithDegreesTrue
+55: [       OK ] DOMRoot.ModelPlacementFrameAttribute (130 ms)
+55: [ RUN      ] DOMRoot.LoadInvalidNestedModelWithoutLinks
+77: [       OK ] Pose1_9.ToStringWithDegreesTrue (0 ms)
+77: [ RUN      ] Pose1_9.ToStringWithEulerRPY
+77: [       OK ] Pose1_9.ToStringWithEulerRPY (0 ms)
+77: [ RUN      ] Pose1_9.ToStringWithEulerRPYDegreesTrue
+77: [       OK ] Pose1_9.ToStringWithEulerRPYDegreesTrue (0 ms)
+77: [ RUN      ] Pose1_9.ToStringWithQuatXYZ
+77: [       OK ] Pose1_9.ToStringWithQuatXYZ (0 ms)
+77: [ RUN      ] Pose1_9.ToStringWithQuatXYZWDegreesFalse
+77: [       OK ] Pose1_9.ToStringWithQuatXYZWDegreesFalse (0 ms)
+77: [ RUN      ] Pose1_9.ToStringAfterChangingDegreeAttribute
+77: [       OK ] Pose1_9.ToStringAfterChangingDegreeAttribute (0 ms)
+77: [ RUN      ] Pose1_9.IncludePoseInModelString
+106: Running main() from /usr/src/gtest/src/gtest_main.cc
+106: [==========] Running 1 test from 1 test suite.
+106: [----------] Global test environment set-up.
+106: [----------] 1 test from URDFParser
+106: [ RUN      ] URDFParser.AtlasURDF_5runs_performance
+99: [       OK ] DOMVisual.DoublePendulum (158 ms)
+99: [ RUN      ] DOMVisual.Material
+93: [1;33mWarning [Utils.cc:129][0m [/sdf/model[@name="joint_incorrect_tags"][@some_attribute="staheousth"]:/build/sdformat-12.3.0+ds/test/sdf/unrecognized_elements.sdf:L3]: XML Attribute[some_attribute] in element[model] not defined in SDF.
+93: [1;33mWarning [Utils.cc:129][0m [/sdf/model[@name="joint_incorrect_tags"]/link[@name="link"]/not_a_link_element:/build/sdformat-12.3.0+ds/test/sdf/unrecognized_elements.sdf:L6]: XML Element[not_a_link_element], child of element[link], not defined in SDF. Copying[not_a_link_element] as children of [link].
+93: [1;33mWarning [Utils.cc:129][0m [/sdf/model[@name="joint_incorrect_tags"]/not_a_model_element:/build/sdformat-12.3.0+ds/test/sdf/unrecognized_elements.sdf:L8]: XML Element[not_a_model_element], child of element[model], not defined in SDF. Copying[not_a_model_element] as children of [model].
+93: [1;33mWarning [Utils.cc:129][0m [/sdf/not_an_sdf_element:/build/sdformat-12.3.0+ds/test/sdf/unrecognized_elements.sdf:L10]: XML Element[not_an_sdf_element], child of element[sdf], not defined in SDF. Copying[not_an_sdf_element] as children of [sdf].
+25: Error Code 25: Msg: relative_to name[A] specified by frame with name[F] does not match a nested model, link, joint, or frame name in model with name[model_invalid_frame_relative_to].
+25: Error Code 26: Msg: relative_to name[cycle] is identical to frame name[cycle], causing a graph cycle in model with name[model_invalid_frame_relative_to].
+25: Error Code 27: Msg: PoseRelativeToGraph error, Vertex with name [model_invalid_frame_relative_to::F] is disconnected; it should have 1 incoming edge in MODEL relative_to graph.
+25: Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [4].
+25: Error Code 26: Msg: PoseRelativeToGraph cycle detected, already visited vertex [model_invalid_frame_relative_to::cycle].
+67: [       OK ] ParserConfig.ParseWithNonGlobalConfig (1423 ms)
+67: [----------] 3 tests from ParserConfig (1424 ms total)
+67: 
+67: [----------] Global test environment tear-down
+67: [==========] 3 tests from 1 test suite ran. (1424 ms total)
+67: [  PASSED  ] 3 tests.
+25: [       OK ] DOMFrame.LoadModelFramesInvalidRelativeTo (122 ms)
+25: [ RUN      ] DOMFrame.LoadModelFramesRelativeToJoint
+ 96/221 Test  #67: INTEGRATION_parser_config ..............................   Passed    1.56 sec
 test 111
         Start 111: check_UNIT_AirPressure_TEST
 
 111: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_AirPressure_TEST.xml"
 111: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
 111: Test timeout computed to be: 10000000
-93: [==========] 4 tests from 2 test suites ran. (1524 ms total)
-93: [  PASSED  ] 4 tests.
-104/221 Test  #93: INTEGRATION_unknown ....................................   Passed    1.97 sec
-test 112
-        Start 112: UNIT_Altimeter_TEST
-
-112: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_Altimeter_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Altimeter_TEST.xml"
-112: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-112: Environment variables: 
-112:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-112: Test timeout computed to be: 240
 108: Running main() from /usr/src/gtest/src/gtest_main.cc
 108: [==========] Running 25 tests from 4 test suites.
 108: [----------] Global test environment set-up.
@@ -35062,15 +34932,45 @@
 108: [----------] Global test environment tear-down
 108: [==========] 25 tests from 4 test suites ran. (0 ms total)
 108: [  PASSED  ] 25 tests.
-111: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_AirPressure_TEST.xml
-105/221 Test #108: UNIT_Actor_TEST ........................................   Passed    0.39 sec
+110: Running main() from /usr/src/gtest/src/gtest_main.cc
+110: [==========] Running 4 tests from 1 test suite.
+110: [----------] Global test environment set-up.
+110: [----------] 4 tests from DOMAirPressure
+110: [ RUN      ] DOMAirPressure.Construction
+110: [       OK ] DOMAirPressure.Construction (0 ms)
+110: [ RUN      ] DOMAirPressure.Set
+110: [       OK ] DOMAirPressure.Set (0 ms)
+110: [ RUN      ] DOMAirPressure.Load
+110: [       OK ] DOMAirPressure.Load (0 ms)
+110: [ RUN      ] DOMAirPressure.ToElement
+ 97/221 Test #108: UNIT_Actor_TEST ........................................   Passed    0.13 sec
+test 112
+        Start 112: UNIT_Altimeter_TEST
+
+112: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_Altimeter_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Altimeter_TEST.xml"
+112: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+112: Environment variables: 
+112:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+112: Test timeout computed to be: 240
+103: Error:   Could not find the 'robot' element in the xml file
+103:          at line 109 in ./urdf_parser/src/model.cpp
+110: [       OK ] DOMAirPressure.ToElement (2 ms)
+110: [----------] 4 tests from DOMAirPressure (2 ms total)
+110: 
+110: [----------] Global test environment tear-down
+110: [==========] 4 tests from 1 test suite ran. (3 ms total)
+110: [  PASSED  ] 4 tests.
+ 98/221 Test #110: UNIT_AirPressure_TEST ..................................   Passed    0.09 sec
 test 113
         Start 113: check_UNIT_Altimeter_TEST
 
 113: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Altimeter_TEST.xml"
 113: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
 113: Test timeout computed to be: 10000000
-106/221 Test #111: check_UNIT_AirPressure_TEST ............................   Passed    0.04 sec
+103: [       OK ] DOMWorld.NoName (163 ms)
+103: [ RUN      ] DOMWorld.Duplicate
+111: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_AirPressure_TEST.xml
+ 99/221 Test #111: check_UNIT_AirPressure_TEST ............................   Passed    0.01 sec
 test 114
         Start 114: UNIT_Atmosphere_TEST
 
@@ -35081,18 +34981,20 @@
 114: Test timeout computed to be: 240
 113: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Altimeter_TEST.xml
 113: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Altimeter_TEST.xml
-107/221 Test #113: check_UNIT_Altimeter_TEST ..............................   Passed    0.03 sec
+89: [       OK ] SDFDomConversion.Joints (115 ms)
+89: [----------] 3 tests from SDFDomConversion (521 ms total)
+89: 
+89: [----------] Global test environment tear-down
+89: [==========] 3 tests from 1 test suite ran. (521 ms total)
+89: [  PASSED  ] 3 tests.
+100/221 Test #113: check_UNIT_Altimeter_TEST ..............................   Passed    0.02 sec
 test 115
         Start 115: check_UNIT_Atmosphere_TEST
 
 115: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Atmosphere_TEST.xml"
 115: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
 115: Test timeout computed to be: 10000000
-99: [       OK ] DOMVisual.Transparency (265 ms)
-99: [ RUN      ] DOMVisual.LaserRetro
-115: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Atmosphere_TEST.xml
-115: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Atmosphere_TEST.xml
-108/221 Test #115: check_UNIT_Atmosphere_TEST .............................   Passed    0.05 sec
+101/221 Test  #89: INTEGRATION_sdf_dom_conversion .........................   Passed    0.65 sec
 test 116
         Start 116: UNIT_Box_TEST
 
@@ -35101,8 +35003,56 @@
 116: Environment variables: 
 116:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 116: Test timeout computed to be: 240
-103: [       OK ] DOMWorld.Load (244 ms)
-103: [ RUN      ] DOMWorld.LoadModelFrameSameName
+115: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Atmosphere_TEST.xml
+115: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Atmosphere_TEST.xml
+102/221 Test #115: check_UNIT_Atmosphere_TEST .............................   Passed    0.02 sec
+test 117
+        Start 117: check_UNIT_Box_TEST
+
+117: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Box_TEST.xml"
+117: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+117: Test timeout computed to be: 10000000
+117: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Box_TEST.xml
+117: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Box_TEST.xml
+103/221 Test #117: check_UNIT_Box_TEST ....................................   Passed    0.02 sec
+test 118
+        Start 118: UNIT_Camera_TEST
+
+118: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_Camera_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Camera_TEST.xml"
+118: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+118: Environment variables: 
+118:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+118: Test timeout computed to be: 240
+99: [       OK ] DOMVisual.Material (126 ms)
+99: [ RUN      ] DOMVisual.MaterialScriptNoUri
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
 114: Running main() from /usr/src/gtest/src/gtest_main.cc
 114: [==========] Running 7 tests from 1 test suite.
 114: [----------] Global test environment set-up.
@@ -35126,52 +35076,7 @@
 114: [----------] Global test environment tear-down
 114: [==========] 7 tests from 1 test suite ran. (0 ms total)
 114: [  PASSED  ] 7 tests.
-109/221 Test #114: UNIT_Atmosphere_TEST ...................................   Passed    0.20 sec
-test 117
-        Start 117: check_UNIT_Box_TEST
-
-117: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Box_TEST.xml"
-117: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-117: Test timeout computed to be: 10000000
-117: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Box_TEST.xml
-117: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Box_TEST.xml
-110/221 Test #117: check_UNIT_Box_TEST ....................................   Passed    0.02 sec
-test 118
-        Start 118: UNIT_Camera_TEST
-
-118: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_Camera_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Camera_TEST.xml"
-118: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-118: Environment variables: 
-118:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-118: Test timeout computed to be: 240
-99: [       OK ] DOMVisual.LaserRetro (230 ms)
-99: [ RUN      ] DOMVisual.LoadModelFramesRelativeToJoint
-116: Running main() from /usr/src/gtest/src/gtest_main.cc
-116: [==========] Running 8 tests from 1 test suite.
-116: [----------] Global test environment set-up.
-116: [----------] 8 tests from DOMBox
-116: [ RUN      ] DOMBox.Construction
-116: [       OK ] DOMBox.Construction (0 ms)
-116: [ RUN      ] DOMBox.MoveConstructor
-116: [       OK ] DOMBox.MoveConstructor (0 ms)
-116: [ RUN      ] DOMBox.CopyConstructor
-116: [       OK ] DOMBox.CopyConstructor (0 ms)
-116: [ RUN      ] DOMBox.CopyAssigmentOperator
-116: [       OK ] DOMBox.CopyAssigmentOperator (0 ms)
-116: [ RUN      ] DOMBox.MoveAssignmentConstructor
-116: [       OK ] DOMBox.MoveAssignmentConstructor (0 ms)
-116: [ RUN      ] DOMBox.CopyAssignmentAfterMove
-116: [       OK ] DOMBox.CopyAssignmentAfterMove (0 ms)
-116: [ RUN      ] DOMBox.Load
-116: [       OK ] DOMBox.Load (0 ms)
-116: [ RUN      ] DOMBox.Shape
-116: [       OK ] DOMBox.Shape (0 ms)
-116: [----------] 8 tests from DOMBox (0 ms total)
-116: 
-116: [----------] Global test environment tear-down
-116: [==========] 8 tests from 1 test suite ran. (0 ms total)
-116: [  PASSED  ] 8 tests.
-111/221 Test #116: UNIT_Box_TEST ..........................................   Passed    0.23 sec
+104/221 Test #114: UNIT_Atmosphere_TEST ...................................   Passed    0.08 sec
 test 119
         Start 119: check_UNIT_Camera_TEST
 
@@ -35189,22 +35094,13 @@
 112: [ RUN      ] DOMAltimeter.Load
 112: [       OK ] DOMAltimeter.Load (0 ms)
 112: [ RUN      ] DOMAltimeter.ToElement
-112: [       OK ] DOMAltimeter.ToElement (6 ms)
-112: [----------] 4 tests from DOMAltimeter (6 ms total)
+112: [       OK ] DOMAltimeter.ToElement (2 ms)
+112: [----------] 4 tests from DOMAltimeter (2 ms total)
 112: 
 112: [----------] Global test environment tear-down
-118: Running main() from /usr/src/gtest/src/gtest_main.cc
-118: [==========] Running 2 tests from 1 test suite.
-118: [----------] Global test environment set-up.
-118: [----------] 2 tests from DOMCamera
-118: [ RUN      ] DOMCamera.Construction
-118: [       OK ] DOMCamera.Construction (0 ms)
-118: [ RUN      ] DOMCamera.ToElement
-112: [==========] 4 tests from 1 test suite ran. (6 ms total)
+112: [==========] 4 tests from 1 test suite ran. (2 ms total)
 112: [  PASSED  ] 4 tests.
-119: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Camera_TEST.xml
-119: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Camera_TEST.xml
-112/221 Test #112: UNIT_Altimeter_TEST ....................................   Passed    0.36 sec
+105/221 Test #112: UNIT_Altimeter_TEST ....................................   Passed    0.09 sec
 test 120
         Start 120: UNIT_Capsule_TEST
 
@@ -35213,20 +35109,35 @@
 120: Environment variables: 
 120:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 120: Test timeout computed to be: 240
-118: [       OK ] DOMCamera.ToElement (5 ms)
-118: [----------] 2 tests from DOMCamera (5 ms total)
-118: 
-118: [----------] Global test environment tear-down
-118: [==========] 2 tests from 1 test suite ran. (6 ms total)
-118: [  PASSED  ] 2 tests.
-113/221 Test #118: UNIT_Camera_TEST .......................................   Passed    0.12 sec
+93: [1;33mWarning [Utils.cc:129][0m [/sdf/model[@name="joint_incorrect_tags"][@some_attribute="staheousth"]:/build/sdformat-12.3.0+ds/test/sdf/unrecognized_elements.sdf:L3]: XML Attribute[some_attribute] in element[model] not defined in SDF.
+119: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Camera_TEST.xml
+119: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Camera_TEST.xml
+55: Error Code 16: Msg: A model must have at least one link.
+55: Error Code 16: Msg: A model must have at least one link.
+55: Error Code 24: Msg: FrameAttachedToGraph error, Non-LINK vertex with name [nested_without_links_invalid::nested_without_links1::nested_without_links2::__model__] is disconnected; it should have 1 outgoing edge in MODEL attached_to graph.
+55: Error Code 24: Msg: Graph has __model__ scope but sink vertex named [nested_without_links_invalid::nested_without_links1::nested_without_links2::__model__] does not have FrameType LINK or STATIC_MODEL when starting from vertex with name [nested_without_links_invalid::nested_without_links1].
+55: Error Code 24: Msg: Graph has __model__ scope but sink vertex named [nested_without_links_invalid::nested_without_links1::nested_without_links2::__model__] does not have FrameType LINK or STATIC_MODEL when starting from vertex with name [nested_without_links_invalid::nested_without_links1::__model__].
+55: Error Code 24: Msg: Graph has __model__ scope but sink vertex named [nested_without_links_invalid::nested_without_links1::nested_without_links2::__model__] does not have FrameType LINK or STATIC_MODEL when starting from vertex with name [nested_without_links_invalid::nested_without_links1::nested_without_links2].
+55: Error Code 24: Msg: Graph has __model__ scope but sink vertex named [nested_without_links_invalid::nested_without_links1::nested_without_links2::__model__] does not have FrameType LINK or STATIC_MODEL when starting from vertex with name [nested_without_links_invalid::nested_without_links1::nested_without_links2::__model__].
+93: [       OK ] UnrecognizedElements.UnrecognizedElementsWithWarningsPolicies (365 ms)
+93: [ RUN      ] UnrecognizedElements.UnrecognizedElementsWithNamespaces
+106/221 Test #119: check_UNIT_Camera_TEST .................................   Passed    0.02 sec
 test 121
         Start 121: check_UNIT_Capsule_TEST
 
 121: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Capsule_TEST.xml"
 121: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
 121: Test timeout computed to be: 10000000
-114/221 Test #119: check_UNIT_Camera_TEST .................................   Passed    0.04 sec
+55: [       OK ] DOMRoot.LoadInvalidNestedModelWithoutLinks (192 ms)
+55: [----------] 9 tests from DOMRoot (1461 ms total)
+55: 
+55: [----------] 1 test from DOMLink
+55: [ RUN      ] DOMLink.NestedModelPoseRelativeTo
+121: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Capsule_TEST.xml
+121: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Capsule_TEST.xml
+59: [       OK ] NestedModel.PartiallyFlattened (238 ms)
+59: [ RUN      ] NestedModel.TwoLevelNestedModelWithFramesDirectComparison
+107/221 Test #121: check_UNIT_Capsule_TEST ................................   Passed    0.02 sec
 test 122
         Start 122: UNIT_Collision_TEST
 
@@ -35235,9 +35146,22 @@
 122: Environment variables: 
 122:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 122: Test timeout computed to be: 240
-121: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Capsule_TEST.xml
-121: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Capsule_TEST.xml
-115/221 Test #121: check_UNIT_Capsule_TEST ................................   Passed    0.04 sec
+25: [       OK ] DOMFrame.LoadModelFramesRelativeToJoint (138 ms)
+25: [ RUN      ] DOMFrame.LoadWorldFramesRelativeTo
+118: Running main() from /usr/src/gtest/src/gtest_main.cc
+118: [==========] Running 2 tests from 1 test suite.
+118: [----------] Global test environment set-up.
+118: [----------] 2 tests from DOMCamera
+118: [ RUN      ] DOMCamera.Construction
+118: [       OK ] DOMCamera.Construction (0 ms)
+118: [ RUN      ] DOMCamera.ToElement
+118: [       OK ] DOMCamera.ToElement (3 ms)
+118: [----------] 2 tests from DOMCamera (3 ms total)
+118: 
+118: [----------] Global test environment tear-down
+118: [==========] 2 tests from 1 test suite ran. (3 ms total)
+118: [  PASSED  ] 2 tests.
+108/221 Test #118: UNIT_Camera_TEST .......................................   Passed    0.08 sec
 test 123
         Start 123: check_UNIT_Collision_TEST
 
@@ -35246,12 +35170,30 @@
 123: Test timeout computed to be: 10000000
 123: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Collision_TEST.xml
 123: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Collision_TEST.xml
-103: [1;33mWarning [World.cc:206][0m Non-unique name[ground] detected 2 times in XML children of world with name[world_model_frame_same_name].
-103: [1;33mWarning [World.cc:217][0m Non-unique name[ground] detected 2 times in XML children of world with name[world_model_frame_same_name].
-103: [1;33mWarning [World.cc:288][0m Frame with name [ground] in world with name [world_model_frame_same_name] has a name collision, changing frame name to [ground_frame].
-77: [       OK ] Pose1_9.IncludeQuatXYZWPoseIn (492 ms)
-77: [ RUN      ] Pose1_9.IncludePoseInWorld
-116/221 Test #123: check_UNIT_Collision_TEST ..............................   Passed    0.06 sec
+116: Running main() from /usr/src/gtest/src/gtest_main.cc
+116: [==========] Running 8 tests from 1 test suite.
+116: [----------] Global test environment set-up.
+116: [----------] 8 tests from DOMBox
+116: [ RUN      ] DOMBox.Construction
+116: [       OK ] DOMBox.Construction (0 ms)
+116: [ RUN      ] DOMBox.MoveConstructor
+116: [       OK ] DOMBox.MoveConstructor (0 ms)
+116: [ RUN      ] DOMBox.CopyConstructor
+116: [       OK ] DOMBox.CopyConstructor (0 ms)
+116: [ RUN      ] DOMBox.CopyAssigmentOperator
+116: [       OK ] DOMBox.CopyAssigmentOperator (0 ms)
+116: [ RUN      ] DOMBox.MoveAssignmentConstructor
+116: [       OK ] DOMBox.MoveAssignmentConstructor (0 ms)
+116: [ RUN      ] DOMBox.CopyAssignmentAfterMove
+116: [       OK ] DOMBox.CopyAssignmentAfterMove (0 ms)
+116: [ RUN      ] DOMBox.Load
+116: [       OK ] DOMBox.Load (0 ms)
+116: [ RUN      ] DOMBox.Shape
+116: [       OK ] DOMBox.Shape (0 ms)
+116: [----------] 8 tests from DOMBox (0 ms total)
+116: 
+116: [----------] Global test environment tear-down
+109/221 Test #123: check_UNIT_Collision_TEST ..............................   Passed    0.01 sec
 test 124
         Start 124: UNIT_Console_TEST
 
@@ -35260,8 +35202,17 @@
 124: Environment variables: 
 124:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 124: Test timeout computed to be: 240
-103: [       OK ] DOMWorld.LoadModelFrameSameName (321 ms)
-103: [ RUN      ] DOMWorld.NestedModels
+116: [==========] 8 tests from 1 test suite ran. (0 ms total)
+116: [  PASSED  ] 8 tests.
+110/221 Test #116: UNIT_Box_TEST ..........................................   Passed    0.13 sec
+test 125
+        Start 125: check_UNIT_Console_TEST
+
+125: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Console_TEST.xml"
+125: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+125: Test timeout computed to be: 10000000
+125: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Console_TEST.xml
+125: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Console_TEST.xml
 120: Running main() from /usr/src/gtest/src/gtest_main.cc
 120: [==========] Running 8 tests from 1 test suite.
 120: [----------] Global test environment set-up.
@@ -35287,44 +35238,7 @@
 120: [----------] Global test environment tear-down
 120: [==========] 8 tests from 1 test suite ran. (0 ms total)
 120: [  PASSED  ] 8 tests.
-117/221 Test #120: UNIT_Capsule_TEST ......................................   Passed    0.14 sec
-test 125
-        Start 125: check_UNIT_Console_TEST
-
-125: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Console_TEST.xml"
-125: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-125: Test timeout computed to be: 10000000
-125: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Console_TEST.xml
-125: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Console_TEST.xml
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-118/221 Test #125: check_UNIT_Console_TEST ................................   Passed    0.06 sec
+111/221 Test #120: UNIT_Capsule_TEST ......................................   Passed    0.07 sec
 test 126
         Start 126: UNIT_Cylinder_TEST
 
@@ -35333,6 +35247,33 @@
 126: Environment variables: 
 126:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 126: Test timeout computed to be: 240
+112/221 Test #125: check_UNIT_Console_TEST ................................   Passed    0.02 sec
+test 127
+        Start 127: check_UNIT_Cylinder_TEST
+
+127: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Cylinder_TEST.xml"
+127: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+127: Test timeout computed to be: 10000000
+127: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Cylinder_TEST.xml
+127: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Cylinder_TEST.xml
+103: [       OK ] DOMWorld.Duplicate (184 ms)
+103: [ RUN      ] DOMWorld.LoadIncorrectElement
+113/221 Test #127: check_UNIT_Cylinder_TEST ...............................   Passed    0.02 sec
+test 128
+        Start 128: UNIT_Element_TEST
+
+128: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_Element_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Element_TEST.xml"
+128: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+128: Environment variables: 
+128:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+128: Test timeout computed to be: 240
+77: [       OK ] Pose1_9.IncludePoseInModelString (269 ms)
+77: [ RUN      ] Pose1_9.IncludeEulerRPYPoseInModelString
+99: A <script> element is missing a child <uri> element, or the <uri> element is empty.
+99: A <script> element is missing a child <name> element, or the <name> element is empty.
+99: The value[invalid] for a <shader><type> element is not supported
+99: [       OK ] DOMVisual.MaterialScriptNoUri (124 ms)
+99: [ RUN      ] DOMVisual.MaterialScriptNormalMapMissing
 122: Running main() from /usr/src/gtest/src/gtest_main.cc
 122: [==========] Running 8 tests from 2 test suites.
 122: [----------] Global test environment set-up.
@@ -35361,62 +35302,19 @@
 122: [----------] Global test environment tear-down
 122: [==========] 8 tests from 2 test suites ran. (0 ms total)
 122: [  PASSED  ] 8 tests.
-119/221 Test #122: UNIT_Collision_TEST ....................................   Passed    0.20 sec
-test 127
-        Start 127: check_UNIT_Cylinder_TEST
-
-127: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Cylinder_TEST.xml"
-127: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-127: Test timeout computed to be: 10000000
-127: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Cylinder_TEST.xml
-127: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Cylinder_TEST.xml
-120/221 Test #127: check_UNIT_Cylinder_TEST ...............................   Passed    0.06 sec
-test 128
-        Start 128: UNIT_Element_TEST
-
-128: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_Element_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Element_TEST.xml"
-128: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-128: Environment variables: 
-128:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-128: Test timeout computed to be: 240
-124: [==========] Running 5 tests from 1 test suite.
-124: [----------] Global test environment set-up.
-124: [----------] 5 tests from Console
-124: [ RUN      ] Console.nohome
-124: No HOME defined in the environment. Will not log.
-124: [1;31mError [Console_TEST.cc:62][0m Error.
-124: [       OK ] Console.nohome (0 ms)
-124: [ RUN      ] Console.logdir_is_file
-124: /tmp/pt11XO/.sdformat exists but is not a directory.  Will not log.
-124: [1;31mError [Console_TEST.cc:81][0m Error.
-124: [       OK ] Console.logdir_is_file (0 ms)
-124: [ RUN      ] Console.logdir_doesnt_exist
-124: [1;31mError [Console_TEST.cc:94][0m Error.
-124: [       OK ] Console.logdir_doesnt_exist (0 ms)
-124: [ RUN      ] Console.Messages
-124: [1;31mError [Console_TEST.cc:103][0m Error.
-124: [1;33mWarning [Console_TEST.cc:104][0m Warning.
-124: [1;32mMsg [Console_TEST.cc:105][0m Message.
-124: [       OK ] Console.Messages (0 ms)
-124: [ RUN      ] Console.quiet
-124: [       OK ] Console.quiet (0 ms)
-124: [----------] 5 tests from Console (0 ms total)
-124: 
-124: [----------] Global test environment tear-down
-124: [==========] 5 tests from 1 test suite ran. (0 ms total)
-124: [  PASSED  ] 5 tests.
-121/221 Test #124: UNIT_Console_TEST ......................................   Passed    0.18 sec
+114/221 Test #122: UNIT_Collision_TEST ....................................   Passed    0.09 sec
 test 129
         Start 129: check_UNIT_Element_TEST
 
 129: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Element_TEST.xml"
 129: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
 129: Test timeout computed to be: 10000000
-99: [       OK ] DOMVisual.LoadModelFramesRelativeToJoint (348 ms)
-99: [ RUN      ] DOMVisual.VisibilityFlags
+93: [1;33mWarning [Utils.cc:129][0m [/sdf/model[@name="namespaced_tags"][@some_attribute="some value"]:/build/sdformat-12.3.0+ds/test/sdf/unrecognized_elements_with_namespace.sdf:L5]: XML Attribute[some_attribute] in element[model] not defined in SDF.
+93: [       OK ] UnrecognizedElements.UnrecognizedElementsWithNamespaces (121 ms)
+93: [ RUN      ] UnrecognizedElements.OldElementsInNewSchemas
 129: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Element_TEST.xml
 129: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Element_TEST.xml
-122/221 Test #129: check_UNIT_Element_TEST ................................   Passed    0.06 sec
+115/221 Test #129: check_UNIT_Element_TEST ................................   Passed    0.02 sec
 test 130
         Start 130: UNIT_Ellipsoid_TEST
 
@@ -35425,6 +35323,10 @@
 130: Environment variables: 
 130:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 130: Test timeout computed to be: 240
+101: [       OK ] WhitespaceTest.Whitespace (435 ms)
+101: [----------] 1 test from WhitespaceTest (435 ms total)
+101: 
+101: [----------] Global test environment tear-down
 126: Running main() from /usr/src/gtest/src/gtest_main.cc
 126: [==========] Running 8 tests from 1 test suite.
 126: [----------] Global test environment set-up.
@@ -35450,16 +35352,16 @@
 126: [----------] Global test environment tear-down
 126: [==========] 8 tests from 1 test suite ran. (0 ms total)
 126: [  PASSED  ] 8 tests.
-123/221 Test #126: UNIT_Cylinder_TEST .....................................   Passed    0.25 sec
+116/221 Test #126: UNIT_Cylinder_TEST .....................................   Passed    0.08 sec
 test 131
         Start 131: check_UNIT_Ellipsoid_TEST
 
 131: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Ellipsoid_TEST.xml"
 131: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
 131: Test timeout computed to be: 10000000
-131: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Ellipsoid_TEST.xml
-131: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Ellipsoid_TEST.xml
-124/221 Test #131: check_UNIT_Ellipsoid_TEST ..............................   Passed    0.03 sec
+101: [==========] 1 test from 1 test suite ran. (435 ms total)
+101: [  PASSED  ] 1 test.
+117/221 Test #101: INTEGRATION_whitespace .................................   Passed    0.57 sec
 test 132
         Start 132: UNIT_Error_TEST
 
@@ -35468,47 +35370,42 @@
 132: Environment variables: 
 132:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 132: Test timeout computed to be: 240
-130: Running main() from /usr/src/gtest/src/gtest_main.cc
-130: [==========] Running 8 tests from 1 test suite.
-130: [----------] Global test environment set-up.
-130: [----------] 8 tests from DOMEllipsoid
-130: [ RUN      ] DOMEllipsoid.Construction
-130: [       OK ] DOMEllipsoid.Construction (0 ms)
-130: [ RUN      ] DOMEllipsoid.MoveConstructor
-130: [       OK ] DOMEllipsoid.MoveConstructor (0 ms)
-130: [ RUN      ] DOMEllipsoid.CopyConstructor
-130: [       OK ] DOMEllipsoid.CopyConstructor (0 ms)
-130: [ RUN      ] DOMEllipsoid.CopyAssignmentOperator
-130: [       OK ] DOMEllipsoid.CopyAssignmentOperator (0 ms)
-130: [ RUN      ] DOMEllipsoid.MoveAssignmentConstructor
-130: [       OK ] DOMEllipsoid.MoveAssignmentConstructor (0 ms)
-130: [ RUN      ] DOMEllipsoid.CopyAssignmentAfterMove
-130: [       OK ] DOMEllipsoid.CopyAssignmentAfterMove (0 ms)
-130: [ RUN      ] DOMEllipsoid.Load
-130: [       OK ] DOMEllipsoid.Load (0 ms)
-130: [ RUN      ] DOMEllipsoid.Shape
-130: [       OK ] DOMEllipsoid.Shape (0 ms)
-130: [----------] 8 tests from DOMEllipsoid (0 ms total)
-130: 
-130: [----------] Global test environment tear-down
-130: [==========] 8 tests from 1 test suite ran. (0 ms total)
-130: [  PASSED  ] 8 tests.
-125/221 Test #130: UNIT_Ellipsoid_TEST ....................................   Passed    0.21 sec
+131: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Ellipsoid_TEST.xml
+131: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Ellipsoid_TEST.xml
+118/221 Test #131: check_UNIT_Ellipsoid_TEST ..............................   Passed    0.01 sec
 test 133
         Start 133: check_UNIT_Error_TEST
 
 133: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Error_TEST.xml"
 133: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
 133: Test timeout computed to be: 10000000
-133: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Error_TEST.xml
-133: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Error_TEST.xml
-99: [       OK ] DOMVisual.VisibilityFlags (306 ms)
-99: [----------] 10 tests from DOMVisual (2057 ms total)
-99: 
-99: [----------] Global test environment tear-down
-99: [==========] 10 tests from 1 test suite ran. (2057 ms total)
-99: [  PASSED  ] 10 tests.
-126/221 Test #133: check_UNIT_Error_TEST ..................................   Passed    0.05 sec
+124: [==========] Running 5 tests from 1 test suite.
+124: [----------] Global test environment set-up.
+124: [----------] 5 tests from Console
+124: [ RUN      ] Console.nohome
+124: No HOME defined in the environment. Will not log.
+124: [1;31mError [Console_TEST.cc:62][0m Error.
+124: [       OK ] Console.nohome (0 ms)
+124: [ RUN      ] Console.logdir_is_file
+124: /tmp/8wGPtP/.sdformat exists but is not a directory.  Will not log.
+124: [1;31mError [Console_TEST.cc:81][0m Error.
+124: [       OK ] Console.logdir_is_file (0 ms)
+124: [ RUN      ] Console.logdir_doesnt_exist
+124: [1;31mError [Console_TEST.cc:94][0m Error.
+124: [       OK ] Console.logdir_doesnt_exist (0 ms)
+124: [ RUN      ] Console.Messages
+124: [1;31mError [Console_TEST.cc:103][0m Error.
+124: [1;33mWarning [Console_TEST.cc:104][0m Warning.
+124: [1;32mMsg [Console_TEST.cc:105][0m Message.
+124: [       OK ] Console.Messages (0 ms)
+124: [ RUN      ] Console.quiet
+124: [       OK ] Console.quiet (0 ms)
+124: [----------] 5 tests from Console (0 ms total)
+124: 
+124: [----------] Global test environment tear-down
+124: [==========] 5 tests from 1 test suite ran. (0 ms total)
+124: [  PASSED  ] 5 tests.
+119/221 Test #124: UNIT_Console_TEST ......................................   Passed    0.12 sec
 test 134
         Start 134: UNIT_Exception_TEST
 
@@ -35517,18 +35414,18 @@
 134: Environment variables: 
 134:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 134: Test timeout computed to be: 240
-127/221 Test  #99: INTEGRATION_visual_dom .................................   Passed    2.21 sec
+133: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Error_TEST.xml
+133: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Error_TEST.xml
+120/221 Test #133: check_UNIT_Error_TEST ..................................   Passed    0.01 sec
 test 135
         Start 135: check_UNIT_Exception_TEST
 
 135: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Exception_TEST.xml"
 135: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
 135: Test timeout computed to be: 10000000
-59: [       OK ] PlacementFrame.WorldInclude (2256 ms)
-59: [ RUN      ] PlacementFrame.ModelInclude
 135: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Exception_TEST.xml
 135: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Exception_TEST.xml
-128/221 Test #135: check_UNIT_Exception_TEST ..............................   Passed    0.07 sec
+121/221 Test #135: check_UNIT_Exception_TEST ..............................   Passed    0.01 sec
 test 136
         Start 136: UNIT_Frame_TEST
 
@@ -35537,32 +35434,6 @@
 136: Environment variables: 
 136:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 136: Test timeout computed to be: 240
-132: Running main() from /usr/src/gtest/src/gtest_main.cc
-132: [==========] Running 5 tests from 1 test suite.
-132: [----------] Global test environment set-up.
-132: [----------] 5 tests from Error
-132: [ RUN      ] Error.DefaultConstruction
-132: [       OK ] Error.DefaultConstruction (0 ms)
-132: [ RUN      ] Error.ValueConstructionWithoutFile
-132: [       OK ] Error.ValueConstructionWithoutFile (0 ms)
-132: [ RUN      ] Error.ValueConstructionWithFile
-132: [       OK ] Error.ValueConstructionWithFile (0 ms)
-132: [ RUN      ] Error.ValueConstructionWithLineNumber
-132: [       OK ] Error.ValueConstructionWithLineNumber (0 ms)
-132: [ RUN      ] Error.ValueConstructionWithXmlPath
-132: [       OK ] Error.ValueConstructionWithXmlPath (0 ms)
-132: [----------] 5 tests from Error (0 ms total)
-132: 
-132: [----------] Global test environment tear-down
-132: [==========] 5 tests from 1 test suite ran. (0 ms total)
-132: [  PASSED  ] 5 tests.
-129/221 Test #132: UNIT_Error_TEST ........................................   Passed    0.26 sec
-test 137
-        Start 137: check_UNIT_Frame_TEST
-
-137: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Frame_TEST.xml"
-137: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-137: Test timeout computed to be: 10000000
 128: [==========] Running 37 tests from 1 test suite.
 128: [----------] Global test environment set-up.
 128: [----------] 37 tests from Element
@@ -35641,14 +35512,24 @@
 128: [       OK ] Element.CountNamedElements (0 ms)
 128: [ RUN      ] Element.FindElement
 128: [       OK ] Element.FindElement (0 ms)
-128: [----------] 37 tests from Element (5 ms total)
+128: [----------] 37 tests from Element (1 ms total)
 128: 
 128: [----------] Global test environment tear-down
-128: [==========] 37 tests from 1 test suite ran. (5 ms total)
+128: [==========] 37 tests from 1 test suite ran. (1 ms total)
 128: [  PASSED  ] 37 tests.
-103: [       OK ] DOMWorld.NestedModels (650 ms)
-103: [ RUN      ] DOMWorld.NestedFrames
-130/221 Test #128: UNIT_Element_TEST ......................................   Passed    0.49 sec
+122/221 Test #128: UNIT_Element_TEST ......................................   Passed    0.11 sec
+test 137
+        Start 137: check_UNIT_Frame_TEST
+
+137: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Frame_TEST.xml"
+137: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+137: Test timeout computed to be: 10000000
+25: [       OK ] DOMFrame.LoadWorldFramesRelativeTo (179 ms)
+25: [ RUN      ] DOMFrame.LoadWorldFramesInvalidRelativeTo
+137: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Frame_TEST.xml
+137: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Frame_TEST.xml
+99: A normal map shader type has been specified, but a normal_map has not.
+123/221 Test #137: check_UNIT_Frame_TEST ..................................   Passed    0.02 sec
 test 138
         Start 138: UNIT_Filesystem_TEST
 
@@ -35657,29 +35538,24 @@
 138: Environment variables: 
 138:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 138: Test timeout computed to be: 240
-137: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Frame_TEST.xml
-137: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Frame_TEST.xml
-131/221 Test #137: check_UNIT_Frame_TEST ..................................   Passed    0.07 sec
+55: [       OK ] DOMLink.NestedModelPoseRelativeTo (209 ms)
+55: [----------] 1 test from DOMLink (209 ms total)
+55: 
+55: [----------] Global test environment tear-down
+55: [==========] 14 tests from 3 test suites ran. (2012 ms total)
+55: [  PASSED  ] 14 tests.
+99: [       OK ] DOMVisual.MaterialScriptNormalMapMissing (123 ms)
+99: [ RUN      ] DOMVisual.Transparency
+124/221 Test  #55: INTEGRATION_model_dom ..................................   Passed    2.13 sec
 test 139
         Start 139: check_UNIT_Filesystem_TEST
 
 139: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Filesystem_TEST.xml"
 139: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
 139: Test timeout computed to be: 10000000
-134: [==========] Running 1 test from 1 test suite.
-134: [----------] Global test environment set-up.
-134: [----------] 1 test from Exception
-134: [ RUN      ] Exception.Throwing
-134: [1;31mException [Exception_TEST.cc:25][0m throw message
-134: [1;31mException [Exception_TEST.cc:26][0m throw message
-134: [1;31mException [Exception_TEST.cc:31][0m testmsg
-134: [       OK ] Exception.Throwing (0 ms)
-134: [----------] 1 test from Exception (0 ms total)
-134: 
-134: [----------] Global test environment tear-down
-134: [==========] 1 test from 1 test suite ran. (0 ms total)
-134: [  PASSED  ] 1 test.
-132/221 Test #134: UNIT_Exception_TEST ....................................   Passed    0.24 sec
+139: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Filesystem_TEST.xml
+139: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Filesystem_TEST.xml
+125/221 Test #139: check_UNIT_Filesystem_TEST .............................   Passed    0.02 sec
 test 140
         Start 140: UNIT_ForceTorque_TEST
 
@@ -35688,24 +35564,50 @@
 140: Environment variables: 
 140:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 140: Test timeout computed to be: 240
-139: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Filesystem_TEST.xml
-139: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Filesystem_TEST.xml
-133/221 Test #139: check_UNIT_Filesystem_TEST .............................   Passed    0.06 sec
+130: Running main() from /usr/src/gtest/src/gtest_main.cc
+130: [==========] Running 8 tests from 1 test suite.
+130: [----------] Global test environment set-up.
+130: [----------] 8 tests from DOMEllipsoid
+130: [ RUN      ] DOMEllipsoid.Construction
+130: [       OK ] DOMEllipsoid.Construction (0 ms)
+130: [ RUN      ] DOMEllipsoid.MoveConstructor
+130: [       OK ] DOMEllipsoid.MoveConstructor (0 ms)
+130: [ RUN      ] DOMEllipsoid.CopyConstructor
+130: [       OK ] DOMEllipsoid.CopyConstructor (0 ms)
+130: [ RUN      ] DOMEllipsoid.CopyAssignmentOperator
+130: [       OK ] DOMEllipsoid.CopyAssignmentOperator (0 ms)
+130: [ RUN      ] DOMEllipsoid.MoveAssignmentConstructor
+130: [       OK ] DOMEllipsoid.MoveAssignmentConstructor (0 ms)
+130: [ RUN      ] DOMEllipsoid.CopyAssignmentAfterMove
+130: [       OK ] DOMEllipsoid.CopyAssignmentAfterMove (0 ms)
+130: [ RUN      ] DOMEllipsoid.Load
+130: [       OK ] DOMEllipsoid.Load (0 ms)
+130: [ RUN      ] DOMEllipsoid.Shape
+130: [       OK ] DOMEllipsoid.Shape (0 ms)
+130: [----------] 8 tests from DOMEllipsoid (0 ms total)
+130: 
+130: [----------] Global test environment tear-down
+130: [==========] 8 tests from 1 test suite ran. (0 ms total)
+130: [  PASSED  ] 8 tests.
+126/221 Test #130: UNIT_Ellipsoid_TEST ....................................   Passed    0.11 sec
 test 141
         Start 141: check_UNIT_ForceTorque_TEST
 
 141: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_ForceTorque_TEST.xml"
 141: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
 141: Test timeout computed to be: 10000000
-77: [       OK ] Pose1_9.IncludePoseInWorld (804 ms)
-77: [----------] 26 tests from Pose1_9 (4455 ms total)
-77: 
-77: [----------] Global test environment tear-down
-77: [==========] 26 tests from 1 test suite ran. (4455 ms total)
-77: [  PASSED  ] 26 tests.
-141: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_ForceTorque_TEST.xml
-141: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_ForceTorque_TEST.xml
-134/221 Test #141: check_UNIT_ForceTorque_TEST ............................   Passed    0.06 sec
+136: Running main() from /usr/src/gtest/src/gtest_main.cc
+136: [==========] Running 1 test from 1 test suite.
+136: [----------] Global test environment set-up.
+136: [----------] 1 test from DOMframe
+136: [ RUN      ] DOMframe.Construction
+136: [       OK ] DOMframe.Construction (0 ms)
+136: [----------] 1 test from DOMframe (0 ms total)
+136: 
+136: [----------] Global test environment tear-down
+136: [==========] 1 test from 1 test suite ran. (0 ms total)
+136: [  PASSED  ] 1 test.
+127/221 Test #136: UNIT_Frame_TEST ........................................   Passed    0.07 sec
 test 142
         Start 142: UNIT_Geometry_TEST
 
@@ -35714,49 +35616,37 @@
 142: Environment variables: 
 142:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 142: Test timeout computed to be: 240
-135/221 Test  #77: INTEGRATION_pose_1_9_sdf ...............................   Passed    4.78 sec
+77: [       OK ] Pose1_9.IncludeEulerRPYPoseInModelString (169 ms)
+77: [ RUN      ] Pose1_9.IncludeQuatXYZWPoseIn
+141: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_ForceTorque_TEST.xml
+141: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_ForceTorque_TEST.xml
+128/221 Test #141: check_UNIT_ForceTorque_TEST ............................   Passed    0.02 sec
 test 143
         Start 143: check_UNIT_Geometry_TEST
 
 143: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Geometry_TEST.xml"
 143: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
 143: Test timeout computed to be: 10000000
-138: [==========] Running 7 tests from 1 test suite.
-138: [----------] Global test environment set-up.
-138: [----------] 7 tests from Filesystem
-138: [ RUN      ] Filesystem.exists
-138: [       OK ] Filesystem.exists (0 ms)
-138: [ RUN      ] Filesystem.symlink_exists
-138: [       OK ] Filesystem.symlink_exists (0 ms)
-138: [ RUN      ] Filesystem.current_path
-138: [       OK ] Filesystem.current_path (0 ms)
-138: [ RUN      ] Filesystem.append
-138: [       OK ] Filesystem.append (0 ms)
-138: [ RUN      ] Filesystem.current_path_error
-138: [       OK ] Filesystem.current_path_error (0 ms)
-138: [ RUN      ] Filesystem.basename
-138: [       OK ] Filesystem.basename (0 ms)
-138: [ RUN      ] Filesystem.directory_iterator
-138: [       OK ] Filesystem.directory_iterator (0 ms)
-138: [----------] 7 tests from Filesystem (0 ms total)
-138: 
-138: [----------] Global test environment tear-down
-138: [==========] 7 tests from 1 test suite ran. (0 ms total)
-138: [  PASSED  ] 7 tests.
-136: Running main() from /usr/src/gtest/src/gtest_main.cc
-136: [==========] Running 1 test from 1 test suite.
-136: [----------] Global test environment set-up.
-136: [----------] 1 test from DOMframe
-136: [ RUN      ] DOMframe.Construction
-136: [       OK ] DOMframe.Construction (0 ms)
-136: [----------] 1 test from DOMframe (0 ms total)
-136: 
-136: [----------] Global test environment tear-down
-136: [==========] 1 test from 1 test suite ran. (0 ms total)
-136: [  PASSED  ] 1 test.
-143: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Geometry_TEST.xml
-143: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Geometry_TEST.xml
-136/221 Test #136: UNIT_Frame_TEST ........................................   Passed    0.31 sec
+132: Running main() from /usr/src/gtest/src/gtest_main.cc
+132: [==========] Running 5 tests from 1 test suite.
+132: [----------] Global test environment set-up.
+132: [----------] 5 tests from Error
+132: [ RUN      ] Error.DefaultConstruction
+132: [       OK ] Error.DefaultConstruction (0 ms)
+132: [ RUN      ] Error.ValueConstructionWithoutFile
+132: [       OK ] Error.ValueConstructionWithoutFile (0 ms)
+132: [ RUN      ] Error.ValueConstructionWithFile
+132: [       OK ] Error.ValueConstructionWithFile (0 ms)
+132: [ RUN      ] Error.ValueConstructionWithLineNumber
+132: [       OK ] Error.ValueConstructionWithLineNumber (0 ms)
+132: [ RUN      ] Error.ValueConstructionWithXmlPath
+132: [       OK ] Error.ValueConstructionWithXmlPath (0 ms)
+132: [----------] 5 tests from Error (0 ms total)
+132: 
+132: [----------] Global test environment tear-down
+132: [==========] 5 tests from 1 test suite ran. (0 ms total)
+132: [  PASSED  ] 5 tests.
+129/221 Test #132: UNIT_Error_TEST ........................................   Passed    0.12 sec
 test 144
         Start 144: UNIT_Gui_TEST
 
@@ -35765,14 +35655,31 @@
 144: Environment variables: 
 144:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 144: Test timeout computed to be: 240
-137/221 Test #138: UNIT_Filesystem_TEST ...................................   Passed    0.26 sec
+103: [       OK ] DOMWorld.LoadIncorrectElement (189 ms)
+103: [ RUN      ] DOMWorld.Load
+134: [==========] Running 1 test from 1 test suite.
+134: [----------] Global test environment set-up.
+134: [----------] 1 test from Exception
+134: [ RUN      ] Exception.Throwing
+134: [1;31mException [Exception_TEST.cc:25][0m throw message
+143: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Geometry_TEST.xml
+143: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Geometry_TEST.xml
+134: [1;31mException [Exception_TEST.cc:26][0m throw message
+134: [1;31mException [Exception_TEST.cc:31][0m testmsg
+134: [       OK ] Exception.Throwing (0 ms)
+134: [----------] 1 test from Exception (0 ms total)
+134: 
+134: [----------] Global test environment tear-down
+134: [==========] 1 test from 1 test suite ran. (0 ms total)
+134: [  PASSED  ] 1 test.
+130/221 Test #134: UNIT_Exception_TEST ....................................   Passed    0.12 sec
 test 145
         Start 145: check_UNIT_Gui_TEST
 
 145: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Gui_TEST.xml"
 145: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
 145: Test timeout computed to be: 10000000
-138/221 Test #143: check_UNIT_Geometry_TEST ...............................   Passed    0.10 sec
+131/221 Test #143: check_UNIT_Geometry_TEST ...............................   Passed    0.02 sec
 test 146
         Start 146: UNIT_Heightmap_TEST
 
@@ -35781,31 +35688,20 @@
 146: Environment variables: 
 146:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 146: Test timeout computed to be: 240
-140: Running main() from /usr/src/gtest/src/gtest_main.cc
-140: [==========] Running 3 tests from 1 test suite.
-140: [----------] Global test environment set-up.
-140: [----------] 3 tests from DOMForceTorque
-140: [ RUN      ] DOMForceTorque.Construction
-140: [       OK ] DOMForceTorque.Construction (0 ms)
-140: [ RUN      ] DOMForceTorque.Load
-140: [       OK ] DOMForceTorque.Load (0 ms)
-140: [ RUN      ] DOMForceTorque.ToElement
-140: [       OK ] DOMForceTorque.ToElement (15 ms)
-140: [----------] 3 tests from DOMForceTorque (15 ms total)
-140: 
-140: [----------] Global test environment tear-down
-140: [==========] 3 tests from 1 test suite ran. (15 ms total)
-140: [  PASSED  ] 3 tests.
 145: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Gui_TEST.xml
 145: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Gui_TEST.xml
-139/221 Test #140: UNIT_ForceTorque_TEST ..................................   Passed    0.24 sec
+132/221 Test #145: check_UNIT_Gui_TEST ....................................   Passed    0.02 sec
 test 147
         Start 147: check_UNIT_Heightmap_TEST
 
 147: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Heightmap_TEST.xml"
 147: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
 147: Test timeout computed to be: 10000000
-140/221 Test #145: check_UNIT_Gui_TEST ....................................   Passed    0.07 sec
+147: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Heightmap_TEST.xml
+147: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Heightmap_TEST.xml
+99: [       OK ] DOMVisual.Transparency (93 ms)
+99: [ RUN      ] DOMVisual.LaserRetro
+133/221 Test #147: check_UNIT_Heightmap_TEST ..............................   Passed    0.02 sec
 test 148
         Start 148: UNIT_Imu_TEST
 
@@ -35814,140 +35710,6 @@
 148: Environment variables: 
 148:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 148: Test timeout computed to be: 240
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-147: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Heightmap_TEST.xml
-147: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Heightmap_TEST.xml
-141/221 Test #147: check_UNIT_Heightmap_TEST ..............................   Passed    0.06 sec
-test 149
-        Start 149: check_UNIT_Imu_TEST
-
-149: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Imu_TEST.xml"
-149: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-149: Test timeout computed to be: 10000000
-149: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Imu_TEST.xml
-149: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Imu_TEST.xml
-142/221 Test #149: check_UNIT_Imu_TEST ....................................   Passed    0.05 sec
-test 150
-        Start 150: UNIT_InterfaceElements_TEST
-
-150: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_InterfaceElements_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_InterfaceElements_TEST.xml"
-150: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-150: Environment variables: 
-150:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-150: Test timeout computed to be: 240
-146: Running main() from /usr/src/gtest/src/gtest_main.cc
-146: [==========] Running 8 tests from 1 test suite.
-146: [----------] Global test environment set-up.
-146: [----------] 8 tests from DOMHeightmap
-146: [ RUN      ] DOMHeightmap.Construction
-146: [       OK ] DOMHeightmap.Construction (0 ms)
-146: [ RUN      ] DOMHeightmap.MoveConstructor
-146: [       OK ] DOMHeightmap.MoveConstructor (0 ms)
-146: [ RUN      ] DOMHeightmap.CopyConstructor
-146: [       OK ] DOMHeightmap.CopyConstructor (0 ms)
-146: [ RUN      ] DOMHeightmap.CopyAssignmentOperator
-146: [       OK ] DOMHeightmap.CopyAssignmentOperator (0 ms)
-146: [ RUN      ] DOMHeightmap.MoveAssignmentOperator
-146: [       OK ] DOMHeightmap.MoveAssignmentOperator (0 ms)
-146: [ RUN      ] DOMHeightmap.CopyAssignmentAfterMove
-146: [       OK ] DOMHeightmap.CopyAssignmentAfterMove (0 ms)
-146: [ RUN      ] DOMHeightmap.Set
-146: [       OK ] DOMHeightmap.Set (0 ms)
-146: [ RUN      ] DOMHeightmap.LoadErrors
-146: [       OK ] DOMHeightmap.LoadErrors (0 ms)
-146: [----------] 8 tests from DOMHeightmap (0 ms total)
-146: 
-146: [----------] Global test environment tear-down
-146: [==========] 8 tests from 1 test suite ran. (0 ms total)
-146: [  PASSED  ] 8 tests.
-143/221 Test #146: UNIT_Heightmap_TEST ....................................   Passed    0.21 sec
-test 151
-        Start 151: check_UNIT_InterfaceElements_TEST
-
-151: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_InterfaceElements_TEST.xml"
-151: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-151: Test timeout computed to be: 10000000
-151: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_InterfaceElements_TEST.xml
-151: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_InterfaceElements_TEST.xml
-144/221 Test #151: check_UNIT_InterfaceElements_TEST ......................   Passed    0.06 sec
-test 152
-        Start 152: UNIT_Joint_TEST
-
-152: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_Joint_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Joint_TEST.xml"
-152: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-152: Environment variables: 
-152:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-152: Test timeout computed to be: 240
-103: [       OK ] DOMWorld.NestedFrames (562 ms)
-103: [ RUN      ] DOMWorld.LoadWorldWithDuplicateChildNames
-148: Running main() from /usr/src/gtest/src/gtest_main.cc
-148: [==========] Running 3 tests from 1 test suite.
-148: [----------] Global test environment set-up.
-148: [----------] 3 tests from DOMImu
-148: [ RUN      ] DOMImu.Construction
-148: [       OK ] DOMImu.Construction (0 ms)
-148: [ RUN      ] DOMImu.Load
-148: [       OK ] DOMImu.Load (0 ms)
-148: [ RUN      ] DOMImu.ToElement
-144: Running main() from /usr/src/gtest/src/gtest_main.cc
-144: [==========] Running 8 tests from 1 test suite.
-144: [----------] Global test environment set-up.
-144: [----------] 8 tests from DOMGui
-144: [ RUN      ] DOMGui.Construction
-144: [       OK ] DOMGui.Construction (0 ms)
-144: [ RUN      ] DOMGui.CopyConstruction
-144: [       OK ] DOMGui.CopyConstruction (0 ms)
-144: [ RUN      ] DOMGui.MoveConstruction
-144: [       OK ] DOMGui.MoveConstruction (0 ms)
-144: [ RUN      ] DOMGui.MoveAssignment
-144: [       OK ] DOMGui.MoveAssignment (0 ms)
-144: [ RUN      ] DOMGui.CopyAssignment
-144: [       OK ] DOMGui.CopyAssignment (0 ms)
-144: [ RUN      ] DOMGui.CopyAssignmentAfterMove
-144: [       OK ] DOMGui.CopyAssignmentAfterMove (0 ms)
-144: [ RUN      ] DOMGui.Set
-144: [       OK ] DOMGui.Set (0 ms)
-144: [ RUN      ] DOMGui.Equal
-144: [       OK ] DOMGui.Equal (0 ms)
-144: [----------] 8 tests from DOMGui (0 ms total)
-144: 
-144: [----------] Global test environment tear-down
-144: [==========] 8 tests from 1 test suite ran. (0 ms total)
-144: [  PASSED  ] 8 tests.
-145/221 Test #144: UNIT_Gui_TEST ..........................................   Passed    0.36 sec
-test 153
-        Start 153: check_UNIT_Joint_TEST
-
-153: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Joint_TEST.xml"
-153: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-153: Test timeout computed to be: 10000000
 142: Running main() from /usr/src/gtest/src/gtest_main.cc
 142: [==========] Running 14 tests from 1 test suite.
 142: [----------] Global test environment set-up.
@@ -35983,15 +35745,110 @@
 142: [----------] 14 tests from DOMGeometry (0 ms total)
 142: 
 142: [----------] Global test environment tear-down
-148: [       OK ] DOMImu.ToElement (26 ms)
-148: [----------] 3 tests from DOMImu (26 ms total)
-148: 
-148: [----------] Global test environment tear-down
-148: [==========] 3 tests from 1 test suite ran. (26 ms total)
-148: [  PASSED  ] 3 tests.
+140: Running main() from /usr/src/gtest/src/gtest_main.cc
+140: [==========] Running 3 tests from 1 test suite.
+140: [----------] Global test environment set-up.
+140: [----------] 3 tests from DOMForceTorque
+140: [ RUN      ] DOMForceTorque.Construction
+140: [       OK ] DOMForceTorque.Construction (0 ms)
+140: [ RUN      ] DOMForceTorque.Load
+140: [       OK ] DOMForceTorque.Load (0 ms)
+140: [ RUN      ] DOMForceTorque.ToElement
 142: [==========] 14 tests from 1 test suite ran. (0 ms total)
 142: [  PASSED  ] 14 tests.
-146/221 Test #142: UNIT_Geometry_TEST .....................................   Passed    0.44 sec
+134/221 Test #142: UNIT_Geometry_TEST .....................................   Passed    0.07 sec
+test 149
+        Start 149: check_UNIT_Imu_TEST
+
+149: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Imu_TEST.xml"
+149: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+149: Test timeout computed to be: 10000000
+140: [       OK ] DOMForceTorque.ToElement (5 ms)
+140: [----------] 3 tests from DOMForceTorque (5 ms total)
+140: 
+140: [----------] Global test environment tear-down
+140: [==========] 3 tests from 1 test suite ran. (5 ms total)
+140: [  PASSED  ] 3 tests.
+135/221 Test #140: UNIT_ForceTorque_TEST ..................................   Passed    0.09 sec
+test 150
+        Start 150: UNIT_InterfaceElements_TEST
+
+150: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_InterfaceElements_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_InterfaceElements_TEST.xml"
+150: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+150: Environment variables: 
+150:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+150: Test timeout computed to be: 240
+149: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Imu_TEST.xml
+149: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Imu_TEST.xml
+136/221 Test #149: check_UNIT_Imu_TEST ....................................   Passed    0.01 sec
+test 151
+        Start 151: check_UNIT_InterfaceElements_TEST
+
+151: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_InterfaceElements_TEST.xml"
+151: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+151: Test timeout computed to be: 10000000
+138: [==========] Running 7 tests from 1 test suite.
+138: [----------] Global test environment set-up.
+138: [----------] 7 tests from Filesystem
+138: [ RUN      ] Filesystem.exists
+138: [       OK ] Filesystem.exists (0 ms)
+138: [ RUN      ] Filesystem.symlink_exists
+138: [       OK ] Filesystem.symlink_exists (0 ms)
+138: [ RUN      ] Filesystem.current_path
+138: [       OK ] Filesystem.current_path (0 ms)
+138: [ RUN      ] Filesystem.append
+138: [       OK ] Filesystem.append (0 ms)
+138: [ RUN      ] Filesystem.current_path_error
+138: [       OK ] Filesystem.current_path_error (0 ms)
+138: [ RUN      ] Filesystem.basename
+138: [       OK ] Filesystem.basename (0 ms)
+138: [ RUN      ] Filesystem.directory_iterator
+138: [       OK ] Filesystem.directory_iterator (0 ms)
+138: [----------] 7 tests from Filesystem (0 ms total)
+138: 
+138: [----------] Global test environment tear-down
+59: [       OK ] NestedModel.TwoLevelNestedModelWithFramesDirectComparison (319 ms)
+59: [ RUN      ] NestedModel.NestedModelWithSiblingFrames
+138: [==========] 7 tests from 1 test suite ran. (0 ms total)
+138: [  PASSED  ] 7 tests.
+137/221 Test #138: UNIT_Filesystem_TEST ...................................   Passed    0.13 sec
+test 152
+        Start 152: UNIT_Joint_TEST
+
+152: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_Joint_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Joint_TEST.xml"
+152: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+152: Environment variables: 
+152:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+152: Test timeout computed to be: 240
+25: Error Code 25: Msg: relative_to name[A] specified by model with name[M] does not match a model or frame name in world with name[world_frame_invalid_relative_to].
+25: Error Code 26: Msg: relative_to name[cycle] is identical to model name[cycle], causing a graph cycle in world with name[world_frame_invalid_relative_to].
+25: Error Code 25: Msg: relative_to name[A] specified by frame with name[F] does not match a model or frame name in world with name[world_frame_invalid_relative_to].
+25: Error Code 26: Msg: relative_to name[self_cycle] is identical to frame name[self_cycle], causing a graph cycle in world with name[world_frame_invalid_relative_to].
+25: Error Code 27: Msg: PoseRelativeToGraph error, MODEL / FRAME vertex with name [M] is disconnected; it should have 1 incoming edge in WORLD relative_to graph.
+25: Error Code 27: Msg: PoseRelativeToGraph error, MODEL / FRAME vertex with name [F] is disconnected; it should have 1 incoming edge in WORLD relative_to graph.
+25: Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [8].
+25: Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [2].
+25: Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [4].
+25: Error Code 27: Msg: PoseRelativeToGraph unable to find path to source vertex when starting from vertex with id [3].
+25: Error Code 26: Msg: PoseRelativeToGraph cycle detected, already visited vertex [cycle].
+25: Error Code 26: Msg: PoseRelativeToGraph cycle detected, already visited vertex [cycle].
+25: Error Code 26: Msg: PoseRelativeToGraph cycle detected, already visited vertex [cycle].
+25: Error Code 26: Msg: PoseRelativeToGraph cycle detected, already visited vertex [self_cycle].
+25: Error Code 9: Msg: Failed to load a world.
+151: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_InterfaceElements_TEST.xml
+151: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_InterfaceElements_TEST.xml
+138/221 Test #151: check_UNIT_InterfaceElements_TEST ......................   Passed    0.01 sec
+test 153
+        Start 153: check_UNIT_Joint_TEST
+
+153: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Joint_TEST.xml"
+153: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+153: Test timeout computed to be: 10000000
+25: [       OK ] DOMFrame.LoadWorldFramesInvalidRelativeTo (155 ms)
+25: [ RUN      ] DOMFrame.WorldIncludeModel
+153: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Joint_TEST.xml
+153: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Joint_TEST.xml
+139/221 Test #153: check_UNIT_Joint_TEST ..................................   Passed    0.01 sec
 test 154
         Start 154: UNIT_JointAxis_TEST
 
@@ -36000,27 +35857,45 @@
 154: Environment variables: 
 154:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 154: Test timeout computed to be: 240
-147/221 Test #148: UNIT_Imu_TEST ..........................................   Passed    0.29 sec
+93: [       OK ] UnrecognizedElements.OldElementsInNewSchemas (247 ms)
+93: [----------] 3 tests from UnrecognizedElements (734 ms total)
+93: 
+93: [----------] Global test environment tear-down
+93: [==========] 4 tests from 2 test suites ran. (882 ms total)
+93: [  PASSED  ] 4 tests.
+140/221 Test  #93: INTEGRATION_unknown ....................................   Passed    1.01 sec
 test 155
         Start 155: check_UNIT_JointAxis_TEST
 
 155: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_JointAxis_TEST.xml"
 155: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
 155: Test timeout computed to be: 10000000
-150: Running main() from /usr/src/gtest/src/gtest_main.cc
-150: [==========] Running 1 test from 1 test suite.
-150: [----------] Global test environment set-up.
-150: [----------] 1 test from InterfaceElements
-150: [ RUN      ] InterfaceElements.Construction
-150: [       OK ] InterfaceElements.Construction (0 ms)
-150: [----------] 1 test from InterfaceElements (0 ms total)
-150: 
-150: [----------] Global test environment tear-down
-150: [==========] 1 test from 1 test suite ran. (0 ms total)
-150: [  PASSED  ] 1 test.
-153: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Joint_TEST.xml
-153: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Joint_TEST.xml
-148/221 Test #150: UNIT_InterfaceElements_TEST ............................   Passed    0.20 sec
+155: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_JointAxis_TEST.xml
+155: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_JointAxis_TEST.xml
+144: Running main() from /usr/src/gtest/src/gtest_main.cc
+144: [==========] Running 8 tests from 1 test suite.
+144: [----------] Global test environment set-up.
+144: [----------] 8 tests from DOMGui
+144: [ RUN      ] DOMGui.Construction
+144: [       OK ] DOMGui.Construction (0 ms)
+144: [ RUN      ] DOMGui.CopyConstruction
+144: [       OK ] DOMGui.CopyConstruction (0 ms)
+144: [ RUN      ] DOMGui.MoveConstruction
+144: [       OK ] DOMGui.MoveConstruction (0 ms)
+144: [ RUN      ] DOMGui.MoveAssignment
+144: [       OK ] DOMGui.MoveAssignment (0 ms)
+144: [ RUN      ] DOMGui.CopyAssignment
+144: [       OK ] DOMGui.CopyAssignment (0 ms)
+144: [ RUN      ] DOMGui.CopyAssignmentAfterMove
+144: [       OK ] DOMGui.CopyAssignmentAfterMove (0 ms)
+144: [ RUN      ] DOMGui.Set
+144: [       OK ] DOMGui.Set (0 ms)
+144: [ RUN      ] DOMGui.Equal
+144: [       OK ] DOMGui.Equal (0 ms)
+144: [----------] 8 tests from DOMGui (0 ms total)
+144: 
+144: [----------] Global test environment tear-down
+141/221 Test #155: check_UNIT_JointAxis_TEST ..............................   Passed    0.02 sec
 test 156
         Start 156: UNIT_Lidar_TEST
 
@@ -36029,16 +35904,41 @@
 156: Environment variables: 
 156:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 156: Test timeout computed to be: 240
-149/221 Test #153: check_UNIT_Joint_TEST ..................................   Passed    0.06 sec
+144: [==========] 8 tests from 1 test suite ran. (0 ms total)
+144: [  PASSED  ] 8 tests.
+142/221 Test #144: UNIT_Gui_TEST ..........................................   Passed    0.13 sec
 test 157
         Start 157: check_UNIT_Lidar_TEST
 
 157: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Lidar_TEST.xml"
 157: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
 157: Test timeout computed to be: 10000000
-155: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_JointAxis_TEST.xml
-155: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_JointAxis_TEST.xml
-150/221 Test #155: check_UNIT_JointAxis_TEST ..............................   Passed    0.06 sec
+146: Running main() from /usr/src/gtest/src/gtest_main.cc
+146: [==========] Running 8 tests from 1 test suite.
+146: [----------] Global test environment set-up.
+146: [----------] 8 tests from DOMHeightmap
+146: [ RUN      ] DOMHeightmap.Construction
+146: [       OK ] DOMHeightmap.Construction (0 ms)
+146: [ RUN      ] DOMHeightmap.MoveConstructor
+146: [       OK ] DOMHeightmap.MoveConstructor (0 ms)
+146: [ RUN      ] DOMHeightmap.CopyConstructor
+146: [       OK ] DOMHeightmap.CopyConstructor (0 ms)
+146: [ RUN      ] DOMHeightmap.CopyAssignmentOperator
+146: [       OK ] DOMHeightmap.CopyAssignmentOperator (0 ms)
+146: [ RUN      ] DOMHeightmap.MoveAssignmentOperator
+146: [       OK ] DOMHeightmap.MoveAssignmentOperator (0 ms)
+146: [ RUN      ] DOMHeightmap.CopyAssignmentAfterMove
+146: [       OK ] DOMHeightmap.CopyAssignmentAfterMove (0 ms)
+146: [ RUN      ] DOMHeightmap.Set
+146: [       OK ] DOMHeightmap.Set (0 ms)
+146: [ RUN      ] DOMHeightmap.LoadErrors
+146: [       OK ] DOMHeightmap.LoadErrors (0 ms)
+146: [----------] 8 tests from DOMHeightmap (0 ms total)
+146: 
+146: [----------] Global test environment tear-down
+146: [==========] 8 tests from 1 test suite ran. (0 ms total)
+146: [  PASSED  ] 8 tests.
+143/221 Test #146: UNIT_Heightmap_TEST ....................................   Passed    0.13 sec
 test 158
         Start 158: UNIT_Light_TEST
 
@@ -36049,33 +35949,41 @@
 158: Test timeout computed to be: 240
 157: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Lidar_TEST.xml
 157: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Lidar_TEST.xml
-151/221 Test #157: check_UNIT_Lidar_TEST ..................................   Passed    0.06 sec
+144/221 Test #157: check_UNIT_Lidar_TEST ..................................   Passed    0.02 sec
 test 159
         Start 159: check_UNIT_Light_TEST
 
 159: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Light_TEST.xml"
 159: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
 159: Test timeout computed to be: 10000000
-152: Running main() from /usr/src/gtest/src/gtest_main.cc
-152: [==========] Running 7 tests from 1 test suite.
-152: [----------] Global test environment set-up.
-152: [----------] 7 tests from DOMJoint
-152: [ RUN      ] DOMJoint.Construction
-152: [       OK ] DOMJoint.Construction (0 ms)
-152: [ RUN      ] DOMJoint.MoveConstructor
-152: [       OK ] DOMJoint.MoveConstructor (0 ms)
-152: [ RUN      ] DOMJoint.CopyConstructor
-152: [       OK ] DOMJoint.CopyConstructor (0 ms)
-152: [ RUN      ] DOMJoint.MoveAssignment
-152: [       OK ] DOMJoint.MoveAssignment (0 ms)
-152: [ RUN      ] DOMJoint.CopyAssignment
-152: [       OK ] DOMJoint.CopyAssignment (0 ms)
-152: [ RUN      ] DOMJoint.CopyAssignmentAfterMove
-152: [       OK ] DOMJoint.CopyAssignmentAfterMove (0 ms)
-152: [ RUN      ] DOMJoint.ToElement
-159: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Light_TEST.xml
-159: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Light_TEST.xml
-152/221 Test #159: check_UNIT_Light_TEST ..................................   Passed    0.05 sec
+77: [       OK ] Pose1_9.IncludeQuatXYZWPoseIn (168 ms)
+77: [ RUN      ] Pose1_9.IncludePoseInWorld
+99: [       OK ] DOMVisual.LaserRetro (111 ms)
+99: [ RUN      ] DOMVisual.LoadModelFramesRelativeToJoint
+154: Running main() from /usr/src/gtest/src/gtest_main.cc
+154: [==========] Running 7 tests from 1 test suite.
+154: [----------] Global test environment set-up.
+154: [----------] 7 tests from DOMJointAxis
+154: [ RUN      ] DOMJointAxis.Construction
+154: [       OK ] DOMJointAxis.Construction (0 ms)
+154: [ RUN      ] DOMJointAxis.CopyConstructor
+154: [       OK ] DOMJointAxis.CopyConstructor (0 ms)
+154: [ RUN      ] DOMJointAxis.AssignmentOperator
+154: [       OK ] DOMJointAxis.AssignmentOperator (0 ms)
+154: [ RUN      ] DOMJointAxis.MoveConstructor
+154: [       OK ] DOMJointAxis.MoveConstructor (0 ms)
+154: [ RUN      ] DOMJointAxis.MoveAssignmentOperator
+154: [       OK ] DOMJointAxis.MoveAssignmentOperator (0 ms)
+154: [ RUN      ] DOMJointAxis.CopyAssignmentAfterMove
+154: [       OK ] DOMJointAxis.CopyAssignmentAfterMove (0 ms)
+154: [ RUN      ] DOMJointAxis.ZeroNormVectorReturnsError
+154: [       OK ] DOMJointAxis.ZeroNormVectorReturnsError (0 ms)
+154: [----------] 7 tests from DOMJointAxis (0 ms total)
+154: 
+154: [----------] Global test environment tear-down
+154: [==========] 7 tests from 1 test suite ran. (0 ms total)
+154: [  PASSED  ] 7 tests.
+145/221 Test #154: UNIT_JointAxis_TEST ....................................   Passed    0.07 sec
 test 160
         Start 160: UNIT_Link_TEST
 
@@ -36084,37 +35992,27 @@
 160: Environment variables: 
 160:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 160: Test timeout computed to be: 240
-152: [       OK ] DOMJoint.ToElement (91 ms)
-152: [----------] 7 tests from DOMJoint (91 ms total)
-152: 
-152: [----------] Global test environment tear-down
-152: [==========] 7 tests from 1 test suite ran. (91 ms total)
-152: [  PASSED  ] 7 tests.
-153/221 Test #152: UNIT_Joint_TEST ........................................   Passed    0.28 sec
+159: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Light_TEST.xml
+159: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Light_TEST.xml
+146/221 Test #159: check_UNIT_Light_TEST ..................................   Passed    0.02 sec
 test 161
         Start 161: check_UNIT_Link_TEST
 
 161: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Link_TEST.xml"
 161: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
 161: Test timeout computed to be: 10000000
-156: Running main() from /usr/src/gtest/src/gtest_main.cc
-156: [==========] Running 4 tests from 1 test suite.
-156: [----------] Global test environment set-up.
-156: [----------] 4 tests from DOMLidar
-156: [ RUN      ] DOMLidar.Construction
-156: [       OK ] DOMLidar.Construction (0 ms)
-156: [ RUN      ] DOMLidar.Set
-156: [       OK ] DOMLidar.Set (0 ms)
-156: [ RUN      ] DOMLidar.Load
-156: [       OK ] DOMLidar.Load (0 ms)
-156: [ RUN      ] DOMLidar.ToElement
-156: [       OK ] DOMLidar.ToElement (3 ms)
-156: [----------] 4 tests from DOMLidar (3 ms total)
-156: 
-156: [----------] Global test environment tear-down
-156: [==========] 4 tests from 1 test suite ran. (4 ms total)
-156: [  PASSED  ] 4 tests.
-154/221 Test #156: UNIT_Lidar_TEST ........................................   Passed    0.22 sec
+150: Running main() from /usr/src/gtest/src/gtest_main.cc
+150: [==========] Running 1 test from 1 test suite.
+150: [----------] Global test environment set-up.
+150: [----------] 1 test from InterfaceElements
+150: [ RUN      ] InterfaceElements.Construction
+150: [       OK ] InterfaceElements.Construction (0 ms)
+150: [----------] 1 test from InterfaceElements (0 ms total)
+150: 
+150: [----------] Global test environment tear-down
+150: [==========] 1 test from 1 test suite ran. (0 ms total)
+150: [  PASSED  ] 1 test.
+147/221 Test #150: UNIT_InterfaceElements_TEST ............................   Passed    0.11 sec
 test 162
         Start 162: UNIT_Magnetometer_TEST
 
@@ -36123,39 +36021,31 @@
 162: Environment variables: 
 162:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 162: Test timeout computed to be: 240
+148: Running main() from /usr/src/gtest/src/gtest_main.cc
+148: [==========] Running 3 tests from 1 test suite.
+148: [----------] Global test environment set-up.
+148: [----------] 3 tests from DOMImu
+148: [ RUN      ] DOMImu.Construction
+148: [       OK ] DOMImu.Construction (0 ms)
+148: [ RUN      ] DOMImu.Load
+148: [       OK ] DOMImu.Load (0 ms)
+148: [ RUN      ] DOMImu.ToElement
 161: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Link_TEST.xml
 161: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Link_TEST.xml
-155/221 Test #161: check_UNIT_Link_TEST ...................................   Passed    0.05 sec
+148: [       OK ] DOMImu.ToElement (9 ms)
+148: [----------] 3 tests from DOMImu (9 ms total)
+148: 
+148: [----------] Global test environment tear-down
+148: [==========] 3 tests from 1 test suite ran. (9 ms total)
+148: [  PASSED  ] 3 tests.
+148/221 Test #161: check_UNIT_Link_TEST ...................................   Passed    0.02 sec
 test 163
         Start 163: check_UNIT_Magnetometer_TEST
 
 163: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Magnetometer_TEST.xml"
 163: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
 163: Test timeout computed to be: 10000000
-154: Running main() from /usr/src/gtest/src/gtest_main.cc
-154: [==========] Running 7 tests from 1 test suite.
-154: [----------] Global test environment set-up.
-154: [----------] 7 tests from DOMJointAxis
-154: [ RUN      ] DOMJointAxis.Construction
-154: [       OK ] DOMJointAxis.Construction (0 ms)
-154: [ RUN      ] DOMJointAxis.CopyConstructor
-154: [       OK ] DOMJointAxis.CopyConstructor (0 ms)
-154: [ RUN      ] DOMJointAxis.AssignmentOperator
-154: [       OK ] DOMJointAxis.AssignmentOperator (0 ms)
-154: [ RUN      ] DOMJointAxis.MoveConstructor
-154: [       OK ] DOMJointAxis.MoveConstructor (0 ms)
-154: [ RUN      ] DOMJointAxis.MoveAssignmentOperator
-154: [       OK ] DOMJointAxis.MoveAssignmentOperator (0 ms)
-154: [ RUN      ] DOMJointAxis.CopyAssignmentAfterMove
-154: [       OK ] DOMJointAxis.CopyAssignmentAfterMove (0 ms)
-154: [ RUN      ] DOMJointAxis.ZeroNormVectorReturnsError
-154: [       OK ] DOMJointAxis.ZeroNormVectorReturnsError (0 ms)
-154: [----------] 7 tests from DOMJointAxis (0 ms total)
-154: 
-154: [----------] Global test environment tear-down
-154: [==========] 7 tests from 1 test suite ran. (0 ms total)
-154: [  PASSED  ] 7 tests.
-156/221 Test #154: UNIT_JointAxis_TEST ....................................   Passed    0.28 sec
+149/221 Test #148: UNIT_Imu_TEST ..........................................   Passed    0.14 sec
 test 164
         Start 164: UNIT_Material_TEST
 
@@ -36164,43 +36054,38 @@
 164: Environment variables: 
 164:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 164: Test timeout computed to be: 240
+103: [       OK ] DOMWorld.Load (192 ms)
+103: [ RUN      ] DOMWorld.LoadModelFrameSameName
+31: [1;33mWarning [Utils.cc:129][0m [[@merge="true"]:<data-string>:L4]: XML Attribute[merge] in element[include] not defined in SDF.
+152: Running main() from /usr/src/gtest/src/gtest_main.cc
+152: [==========] Running 7 tests from 1 test suite.
+152: [----------] Global test environment set-up.
+152: [----------] 7 tests from DOMJoint
+152: [ RUN      ] DOMJoint.Construction
+152: [       OK ] DOMJoint.Construction (0 ms)
+152: [ RUN      ] DOMJoint.MoveConstructor
+152: [       OK ] DOMJoint.MoveConstructor (0 ms)
+152: [ RUN      ] DOMJoint.CopyConstructor
+152: [       OK ] DOMJoint.CopyConstructor (0 ms)
+152: [ RUN      ] DOMJoint.MoveAssignment
+152: [       OK ] DOMJoint.MoveAssignment (0 ms)
+152: [ RUN      ] DOMJoint.CopyAssignment
+152: [       OK ] DOMJoint.CopyAssignment (0 ms)
+152: [ RUN      ] DOMJoint.CopyAssignmentAfterMove
+152: [       OK ] DOMJoint.CopyAssignmentAfterMove (0 ms)
+152: [ RUN      ] DOMJoint.ToElement
 163: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Magnetometer_TEST.xml
 163: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Magnetometer_TEST.xml
-158: Running main() from /usr/src/gtest/src/gtest_main.cc
-158: [==========] Running 9 tests from 1 test suite.
-158: [----------] Global test environment set-up.
-158: [----------] 9 tests from DOMLight
-158: [ RUN      ] DOMLight.DefaultConstruction
-158: [       OK ] DOMLight.DefaultConstruction (0 ms)
-158: [ RUN      ] DOMLight.CopyConstructor
-158: [       OK ] DOMLight.CopyConstructor (0 ms)
-158: [ RUN      ] DOMLight.CopyAssignmentOperator
-158: [       OK ] DOMLight.CopyAssignmentOperator (0 ms)
-158: [ RUN      ] DOMLight.MoveConstructor
-158: [       OK ] DOMLight.MoveConstructor (0 ms)
-158: [ RUN      ] DOMLight.MoveAssignment
-158: [       OK ] DOMLight.MoveAssignment (0 ms)
-158: [ RUN      ] DOMLight.CopyAssignmentAfterMove
-158: [       OK ] DOMLight.CopyAssignmentAfterMove (0 ms)
-158: [ RUN      ] DOMLight.SpotLightNegativeValues
-158: [       OK ] DOMLight.SpotLightNegativeValues (0 ms)
-158: [ RUN      ] DOMLight.AttenuationClamp
-158: [       OK ] DOMLight.AttenuationClamp (0 ms)
-158: [ RUN      ] DOMLight.ToElement
-158: [       OK ] DOMLight.ToElement (5 ms)
-158: [----------] 9 tests from DOMLight (5 ms total)
-158: 
-158: [----------] Global test environment tear-down
-158: [==========] 9 tests from 1 test suite ran. (5 ms total)
-158: [  PASSED  ] 9 tests.
-157/221 Test #158: UNIT_Light_TEST ........................................   Passed    0.26 sec
+150/221 Test #163: check_UNIT_Magnetometer_TEST ...........................   Passed    0.02 sec
 test 165
         Start 165: check_UNIT_Material_TEST
 
 165: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Material_TEST.xml"
 165: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
 165: Test timeout computed to be: 10000000
-158/221 Test #163: check_UNIT_Magnetometer_TEST ...........................   Passed    0.08 sec
+165: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Material_TEST.xml
+165: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Material_TEST.xml
+151/221 Test #165: check_UNIT_Material_TEST ...............................   Passed    0.02 sec
 test 166
         Start 166: UNIT_Mesh_TEST
 
@@ -36209,15 +36094,6 @@
 166: Environment variables: 
 166:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 166: Test timeout computed to be: 240
-165: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Material_TEST.xml
-165: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Material_TEST.xml
-159/221 Test #165: check_UNIT_Material_TEST ...............................   Passed    0.05 sec
-test 167
-        Start 167: check_UNIT_Mesh_TEST
-
-167: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Mesh_TEST.xml"
-167: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-167: Test timeout computed to be: 10000000
 160: Running main() from /usr/src/gtest/src/gtest_main.cc
 160: [==========] Running 11 tests from 1 test suite.
 160: [----------] Global test environment set-up.
@@ -36249,7 +36125,33 @@
 160: [----------] Global test environment tear-down
 160: [==========] 11 tests from 1 test suite ran. (0 ms total)
 160: [  PASSED  ] 11 tests.
-160/221 Test #160: UNIT_Link_TEST .........................................   Passed    0.25 sec
+152/221 Test #160: UNIT_Link_TEST .........................................   Passed    0.07 sec
+test 167
+        Start 167: check_UNIT_Mesh_TEST
+
+167: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Mesh_TEST.xml"
+167: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+167: Test timeout computed to be: 10000000
+167: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Mesh_TEST.xml
+167: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Mesh_TEST.xml
+152: [       OK ] DOMJoint.ToElement (43 ms)
+152: [----------] 7 tests from DOMJoint (43 ms total)
+152: 
+152: [----------] Global test environment tear-down
+156: Running main() from /usr/src/gtest/src/gtest_main.cc
+156: [==========] Running 4 tests from 1 test suite.
+156: [----------] Global test environment set-up.
+156: [----------] 4 tests from DOMLidar
+156: [ RUN      ] DOMLidar.Construction
+156: [       OK ] DOMLidar.Construction (0 ms)
+156: [ RUN      ] DOMLidar.Set
+156: [       OK ] DOMLidar.Set (0 ms)
+156: [ RUN      ] DOMLidar.Load
+156: [       OK ] DOMLidar.Load (0 ms)
+156: [ RUN      ] DOMLidar.ToElement
+152: [==========] 7 tests from 1 test suite ran. (43 ms total)
+152: [  PASSED  ] 7 tests.
+153/221 Test #167: check_UNIT_Mesh_TEST ...................................   Passed    0.01 sec
 test 168
         Start 168: UNIT_Model_TEST
 
@@ -36258,33 +36160,20 @@
 168: Environment variables: 
 168:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 168: Test timeout computed to be: 240
-162: Running main() from /usr/src/gtest/src/gtest_main.cc
-162: [==========] Running 4 tests from 1 test suite.
-162: [----------] Global test environment set-up.
-162: [----------] 4 tests from DOMMagnetometer
-162: [ RUN      ] DOMMagnetometer.Construction
-162: [       OK ] DOMMagnetometer.Construction (0 ms)
-162: [ RUN      ] DOMMagnetometer.Set
-162: [       OK ] DOMMagnetometer.Set (0 ms)
-162: [ RUN      ] DOMMagnetometer.Load
-162: [       OK ] DOMMagnetometer.Load (0 ms)
-162: [ RUN      ] DOMMagnetometer.ToElement
-162: [       OK ] DOMMagnetometer.ToElement (12 ms)
-162: [----------] 4 tests from DOMMagnetometer (12 ms total)
-162: 
-162: [----------] Global test environment tear-down
-162: [==========] 4 tests from 1 test suite ran. (12 ms total)
-162: [  PASSED  ] 4 tests.
-161/221 Test #162: UNIT_Magnetometer_TEST .................................   Passed    0.18 sec
+156: [       OK ] DOMLidar.ToElement (3 ms)
+156: [----------] 4 tests from DOMLidar (3 ms total)
+156: 
+156: [----------] Global test environment tear-down
+154/221 Test #152: UNIT_Joint_TEST ........................................   Passed    0.17 sec
 test 169
         Start 169: check_UNIT_Model_TEST
 
 169: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Model_TEST.xml"
 169: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
 169: Test timeout computed to be: 10000000
-167: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Mesh_TEST.xml
-167: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Mesh_TEST.xml
-162/221 Test #167: check_UNIT_Mesh_TEST ...................................   Passed    0.07 sec
+156: [==========] 4 tests from 1 test suite ran. (3 ms total)
+156: [  PASSED  ] 4 tests.
+155/221 Test #156: UNIT_Lidar_TEST ........................................   Passed    0.12 sec
 test 170
         Start 170: UNIT_NavSat_TEST
 
@@ -36295,16 +36184,69 @@
 170: Test timeout computed to be: 240
 169: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Model_TEST.xml
 169: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Model_TEST.xml
-163/221 Test #169: check_UNIT_Model_TEST ..................................   Passed    0.05 sec
+156/221 Test #169: check_UNIT_Model_TEST ..................................   Passed    0.02 sec
 test 171
         Start 171: check_UNIT_NavSat_TEST
 
 171: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_NavSat_TEST.xml"
 171: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
 171: Test timeout computed to be: 10000000
-171: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_NavSat_TEST.xml
-171: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_NavSat_TEST.xml
-164/221 Test #171: check_UNIT_NavSat_TEST .................................   Passed    0.03 sec
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+158: Running main() from /usr/src/gtest/src/gtest_main.cc
+158: [==========] Running 9 tests from 1 test suite.
+158: [----------] Global test environment set-up.
+158: [----------] 9 tests from DOMLight
+158: [ RUN      ] DOMLight.DefaultConstruction
+158: [       OK ] DOMLight.DefaultConstruction (0 ms)
+158: [ RUN      ] DOMLight.CopyConstructor
+158: [       OK ] DOMLight.CopyConstructor (0 ms)
+158: [ RUN      ] DOMLight.CopyAssignmentOperator
+158: [       OK ] DOMLight.CopyAssignmentOperator (0 ms)
+158: [ RUN      ] DOMLight.MoveConstructor
+158: [       OK ] DOMLight.MoveConstructor (0 ms)
+158: [ RUN      ] DOMLight.MoveAssignment
+158: [       OK ] DOMLight.MoveAssignment (0 ms)
+158: [ RUN      ] DOMLight.CopyAssignmentAfterMove
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+158: [       OK ] DOMLight.CopyAssignmentAfterMove (0 ms)
+158: [ RUN      ] DOMLight.SpotLightNegativeValues
+158: [       OK ] DOMLight.SpotLightNegativeValues (0 ms)
+158: [ RUN      ] DOMLight.AttenuationClamp
+158: [       OK ] DOMLight.AttenuationClamp (0 ms)
+158: [ RUN      ] DOMLight.ToElement
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+158: [       OK ] DOMLight.ToElement (3 ms)
+158: [----------] 9 tests from DOMLight (3 ms total)
+158: 
+158: [----------] Global test environment tear-down
+158: [==========] 9 tests from 1 test suite ran. (3 ms total)
+158: [  PASSED  ] 9 tests.
+157/221 Test #158: UNIT_Light_TEST ........................................   Passed    0.13 sec
 test 172
         Start 172: UNIT_Noise_TEST
 
@@ -36313,38 +36255,43 @@
 172: Environment variables: 
 172:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 172: Test timeout computed to be: 240
-166: Running main() from /usr/src/gtest/src/gtest_main.cc
-166: [==========] Running 8 tests from 1 test suite.
-166: [----------] Global test environment set-up.
-166: [----------] 8 tests from DOMMesh
-166: [ RUN      ] DOMMesh.Construction
-166: [       OK ] DOMMesh.Construction (0 ms)
-166: [ RUN      ] DOMMesh.MoveConstructor
-166: [       OK ] DOMMesh.MoveConstructor (0 ms)
-166: [ RUN      ] DOMMesh.CopyConstructor
-166: [       OK ] DOMMesh.CopyConstructor (0 ms)
-166: [ RUN      ] DOMMesh.CopyAssignmentOperator
-166: [       OK ] DOMMesh.CopyAssignmentOperator (0 ms)
-166: [ RUN      ] DOMMesh.MoveAssignmentOperator
-166: [       OK ] DOMMesh.MoveAssignmentOperator (0 ms)
-166: [ RUN      ] DOMMesh.CopyAssignmentAfterMove
-166: [       OK ] DOMMesh.CopyAssignmentAfterMove (0 ms)
-166: [ RUN      ] DOMMesh.Set
-166: [       OK ] DOMMesh.Set (0 ms)
-166: [ RUN      ] DOMMesh.Load
-166: [       OK ] DOMMesh.Load (0 ms)
-166: [----------] 8 tests from DOMMesh (0 ms total)
-166: 
-166: [----------] Global test environment tear-down
-166: [==========] 8 tests from 1 test suite ran. (0 ms total)
-166: [  PASSED  ] 8 tests.
-165/221 Test #166: UNIT_Mesh_TEST .........................................   Passed    0.21 sec
+171: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_NavSat_TEST.xml
+171: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_NavSat_TEST.xml
+158/221 Test #171: check_UNIT_NavSat_TEST .................................   Passed    0.02 sec
 test 173
         Start 173: check_UNIT_Noise_TEST
 
 173: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Noise_TEST.xml"
 173: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
 173: Test timeout computed to be: 10000000
+99: [       OK ] DOMVisual.LoadModelFramesRelativeToJoint (127 ms)
+99: [ RUN      ] DOMVisual.VisibilityFlags
+162: Running main() from /usr/src/gtest/src/gtest_main.cc
+162: [==========] Running 4 tests from 1 test suite.
+162: [----------] Global test environment set-up.
+162: [----------] 4 tests from DOMMagnetometer
+162: [ RUN      ] DOMMagnetometer.Construction
+162: [       OK ] DOMMagnetometer.Construction (0 ms)
+162: [ RUN      ] DOMMagnetometer.Set
+162: [       OK ] DOMMagnetometer.Set (0 ms)
+162: [ RUN      ] DOMMagnetometer.Load
+162: [       OK ] DOMMagnetometer.Load (0 ms)
+162: [ RUN      ] DOMMagnetometer.ToElement
+173: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Noise_TEST.xml
+173: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Noise_TEST.xml
+159/221 Test #173: check_UNIT_Noise_TEST ..................................   Passed    0.02 sec
+test 174
+        Start 174: UNIT_Param_TEST
+
+174: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_Param_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Param_TEST.xml"
+174: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+174: Environment variables: 
+174:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+174: Test timeout computed to be: 240
+162: [       OK ] DOMMagnetometer.ToElement (5 ms)
+162: [----------] 4 tests from DOMMagnetometer (5 ms total)
+162: 
+162: [----------] Global test environment tear-down
 164: Running main() from /usr/src/gtest/src/gtest_main.cc
 164: [==========] Running 8 tests from 2 test suites.
 164: [----------] Global test environment set-up.
@@ -36371,42 +36318,18 @@
 164: [----------] 1 test from DOMAtmosphere (0 ms total)
 164: 
 164: [----------] Global test environment tear-down
+162: [==========] 4 tests from 1 test suite ran. (5 ms total)
+162: [  PASSED  ] 4 tests.
 164: [==========] 8 tests from 2 test suites ran. (0 ms total)
 164: [  PASSED  ] 8 tests.
-166/221 Test #164: UNIT_Material_TEST .....................................   Passed    0.29 sec
-test 174
-        Start 174: UNIT_Param_TEST
-
-174: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_Param_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Param_TEST.xml"
-174: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-174: Environment variables: 
-174:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-174: Test timeout computed to be: 240
-173: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Noise_TEST.xml
-173: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Noise_TEST.xml
-167/221 Test #173: check_UNIT_Noise_TEST ..................................   Passed    0.05 sec
+160/221 Test #162: UNIT_Magnetometer_TEST .................................   Passed    0.13 sec
 test 175
         Start 175: check_UNIT_Param_TEST
 
 175: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Param_TEST.xml"
 175: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
 175: Test timeout computed to be: 10000000
-172: Running main() from /usr/src/gtest/src/gtest_main.cc
-172: [==========] Running 3 tests from 1 test suite.
-172: [----------] Global test environment set-up.
-172: [----------] 3 tests from DOMNoise
-172: [ RUN      ] DOMNoise.ConstructionAndSet
-172: [       OK ] DOMNoise.ConstructionAndSet (0 ms)
-172: [ RUN      ] DOMNoise.Load
-172: [       OK ] DOMNoise.Load (0 ms)
-172: [ RUN      ] DOMNoise.ToElement
-172: [       OK ] DOMNoise.ToElement (3 ms)
-172: [----------] 3 tests from DOMNoise (3 ms total)
-172: 
-172: [----------] Global test environment tear-down
-172: [==========] 3 tests from 1 test suite ran. (3 ms total)
-172: [  PASSED  ] 3 tests.
-168/221 Test #172: UNIT_Noise_TEST ........................................   Passed    0.13 sec
+161/221 Test #164: UNIT_Material_TEST .....................................   Passed    0.12 sec
 test 176
         Start 176: UNIT_parser_TEST
 
@@ -36417,13 +36340,84 @@
 176: Test timeout computed to be: 240
 175: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Param_TEST.xml
 175: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Param_TEST.xml
-169/221 Test #175: check_UNIT_Param_TEST ..................................   Passed    0.06 sec
+162/221 Test #175: check_UNIT_Param_TEST ..................................   Passed    0.02 sec
 test 177
         Start 177: check_UNIT_parser_TEST
 
 177: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_parser_TEST.xml"
 177: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
 177: Test timeout computed to be: 10000000
+59: [       OK ] NestedModel.NestedModelWithSiblingFrames (262 ms)
+59: [ RUN      ] NestedModel.NestedFrameOnlyModel
+170: Running main() from /usr/src/gtest/src/gtest_main.cc
+170: [==========] Running 3 tests from 1 test suite.
+170: [----------] Global test environment set-up.
+170: [----------] 3 tests from DOMNavSat
+170: [ RUN      ] DOMNavSat.Construction
+170: [       OK ] DOMNavSat.Construction (0 ms)
+170: [ RUN      ] DOMNavSat.Set
+170: [       OK ] DOMNavSat.Set (0 ms)
+170: [ RUN      ] DOMNavSat.Load
+170: [       OK ] DOMNavSat.Load (0 ms)
+170: [----------] 3 tests from DOMNavSat (0 ms total)
+170: 
+170: [----------] Global test environment tear-down
+170: [==========] 3 tests from 1 test suite ran. (0 ms total)
+170: [  PASSED  ] 3 tests.
+163/221 Test #170: UNIT_NavSat_TEST .......................................   Passed    0.09 sec
+test 178
+        Start 178: UNIT_ParserConfig_TEST
+
+178: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_ParserConfig_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_ParserConfig_TEST.xml"
+178: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+178: Environment variables: 
+178:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+178: Test timeout computed to be: 240
+177: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_parser_TEST.xml
+177: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_parser_TEST.xml
+164/221 Test #177: check_UNIT_parser_TEST .................................   Passed    0.02 sec
+test 179
+        Start 179: check_UNIT_ParserConfig_TEST
+
+179: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_ParserConfig_TEST.xml"
+179: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+179: Test timeout computed to be: 10000000
+166: Running main() from /usr/src/gtest/src/gtest_main.cc
+166: [==========] Running 8 tests from 1 test suite.
+166: [----------] Global test environment set-up.
+166: [----------] 8 tests from DOMMesh
+166: [ RUN      ] DOMMesh.Construction
+166: [       OK ] DOMMesh.Construction (0 ms)
+166: [ RUN      ] DOMMesh.MoveConstructor
+166: [       OK ] DOMMesh.MoveConstructor (0 ms)
+166: [ RUN      ] DOMMesh.CopyConstructor
+166: [       OK ] DOMMesh.CopyConstructor (0 ms)
+166: [ RUN      ] DOMMesh.CopyAssignmentOperator
+166: [       OK ] DOMMesh.CopyAssignmentOperator (0 ms)
+166: [ RUN      ] DOMMesh.MoveAssignmentOperator
+166: [       OK ] DOMMesh.MoveAssignmentOperator (0 ms)
+166: [ RUN      ] DOMMesh.CopyAssignmentAfterMove
+166: [       OK ] DOMMesh.CopyAssignmentAfterMove (0 ms)
+166: [ RUN      ] DOMMesh.Set
+166: [       OK ] DOMMesh.Set (0 ms)
+166: [ RUN      ] DOMMesh.Load
+166: [       OK ] DOMMesh.Load (0 ms)
+166: [----------] 8 tests from DOMMesh (0 ms total)
+166: 
+166: [----------] Global test environment tear-down
+166: [==========] 8 tests from 1 test suite ran. (0 ms total)
+166: [  PASSED  ] 8 tests.
+165/221 Test #166: UNIT_Mesh_TEST .........................................   Passed    0.13 sec
+test 180
+        Start 180: UNIT_ParticleEmitter_TEST
+
+180: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_ParticleEmitter_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_ParticleEmitter_TEST.xml"
+180: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+180: Environment variables: 
+180:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+180: Test timeout computed to be: 240
+179: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_ParserConfig_TEST.xml
+179: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_ParserConfig_TEST.xml
 168: Running main() from /usr/src/gtest/src/gtest_main.cc
 168: [==========] Running 9 tests from 1 test suite.
 168: [----------] Global test environment set-up.
@@ -36451,64 +36445,17 @@
 168: [----------] Global test environment tear-down
 168: [==========] 9 tests from 1 test suite ran. (0 ms total)
 168: [  PASSED  ] 9 tests.
-170/221 Test #168: UNIT_Model_TEST ........................................   Passed    0.27 sec
-test 178
-        Start 178: UNIT_ParserConfig_TEST
-
-178: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_ParserConfig_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_ParserConfig_TEST.xml"
-178: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-178: Environment variables: 
-178:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-178: Test timeout computed to be: 240
-177: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_parser_TEST.xml
-177: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_parser_TEST.xml
-171/221 Test #177: check_UNIT_parser_TEST .................................   Passed    0.06 sec
-test 179
-        Start 179: check_UNIT_ParserConfig_TEST
-
-179: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_ParserConfig_TEST.xml"
-179: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-179: Test timeout computed to be: 10000000
-103: [       OK ] DOMWorld.LoadWorldWithDuplicateChildNames (770 ms)
-103: [----------] 8 tests from DOMWorld (3361 ms total)
-103: 
-103: [----------] Global test environment tear-down
-170: Running main() from /usr/src/gtest/src/gtest_main.cc
-170: [==========] Running 3 tests from 1 test suite.
-170: [----------] Global test environment set-up.
-170: [----------] 3 tests from DOMNavSat
-170: [ RUN      ] DOMNavSat.Construction
-170: [       OK ] DOMNavSat.Construction (0 ms)
-170: [ RUN      ] DOMNavSat.Set
-170: [       OK ] DOMNavSat.Set (0 ms)
-170: [ RUN      ] DOMNavSat.Load
-170: [       OK ] DOMNavSat.Load (0 ms)
-170: [----------] 3 tests from DOMNavSat (0 ms total)
-170: 
-170: [----------] Global test environment tear-down
-170: [==========] 3 tests from 1 test suite ran. (0 ms total)
-170: [  PASSED  ] 3 tests.
-172/221 Test #170: UNIT_NavSat_TEST .......................................   Passed    0.29 sec
-test 180
-        Start 180: UNIT_ParticleEmitter_TEST
-
-180: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_ParticleEmitter_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_ParticleEmitter_TEST.xml"
-180: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-180: Environment variables: 
-180:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-180: Test timeout computed to be: 240
-103: [==========] 8 tests from 1 test suite ran. (3361 ms total)
-103: [  PASSED  ] 8 tests.
-173/221 Test #103: INTEGRATION_world_dom ..................................   Passed    3.61 sec
+166/221 Test #168: UNIT_Model_TEST ........................................   Passed    0.12 sec
 test 181
         Start 181: check_UNIT_ParticleEmitter_TEST
 
 181: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_ParticleEmitter_TEST.xml"
 181: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
 181: Test timeout computed to be: 10000000
-179: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_ParserConfig_TEST.xml
-179: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_ParserConfig_TEST.xml
-174/221 Test #179: check_UNIT_ParserConfig_TEST ...........................   Passed    0.06 sec
+103: [1;33mWarning [World.cc:206][0m Non-unique name[ground] detected 2 times in XML children of world with name[world_model_frame_same_name].
+103: [1;33mWarning [World.cc:217][0m Non-unique name[ground] detected 2 times in XML children of world with name[world_model_frame_same_name].
+103: [1;33mWarning [World.cc:288][0m Frame with name [ground] in world with name [world_model_frame_same_name] has a name collision, changing frame name to [ground_frame].
+167/221 Test #179: check_UNIT_ParserConfig_TEST ...........................   Passed    0.02 sec
 test 182
         Start 182: UNIT_Pbr_TEST
 
@@ -36517,12 +36464,104 @@
 182: Environment variables: 
 182:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
 182: Test timeout computed to be: 240
-176: [==========] Running 16 tests from 2 test suites.
-176: [----------] Global test environment set-up.
-176: [----------] 15 tests from Parser
-176: [ RUN      ] Parser.initStringTrim
-176: [       OK ] Parser.initStringTrim (0 ms)
-176: [ RUN      ] Parser.CustomUnknownElements
+103: [       OK ] DOMWorld.LoadModelFrameSameName (172 ms)
+103: [ RUN      ] DOMWorld.NestedModels
+181: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_ParticleEmitter_TEST.xml
+181: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_ParticleEmitter_TEST.xml
+63: [       OK ] ParamPassingTest.NestedInclude (848 ms)
+63: [----------] 2 tests from ParamPassingTest (2225 ms total)
+63: 
+63: [----------] Global test environment tear-down
+63: [==========] 2 tests from 1 test suite ran. (2225 ms total)
+63: [  PASSED  ] 2 tests.
+168/221 Test #181: check_UNIT_ParticleEmitter_TEST ........................   Passed    0.02 sec
+test 183
+        Start 183: check_UNIT_Pbr_TEST
+
+183: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Pbr_TEST.xml"
+183: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+183: Test timeout computed to be: 10000000
+172: Running main() from /usr/src/gtest/src/gtest_main.cc
+172: [==========] Running 3 tests from 1 test suite.
+172: [----------] Global test environment set-up.
+172: [----------] 3 tests from DOMNoise
+172: [ RUN      ] DOMNoise.ConstructionAndSet
+172: [       OK ] DOMNoise.ConstructionAndSet (0 ms)
+172: [ RUN      ] DOMNoise.Load
+172: [       OK ] DOMNoise.Load (0 ms)
+172: [ RUN      ] DOMNoise.ToElement
+25: [       OK ] DOMFrame.WorldIncludeModel (291 ms)
+25: [----------] 12 tests from DOMFrame (2093 ms total)
+25: 
+25: [----------] Global test environment tear-down
+172: [       OK ] DOMNoise.ToElement (1 ms)
+172: [----------] 3 tests from DOMNoise (2 ms total)
+172: 
+172: [----------] Global test environment tear-down
+172: [==========] 3 tests from 1 test suite ran. (2 ms total)
+172: [  PASSED  ] 3 tests.
+169/221 Test #172: UNIT_Noise_TEST ........................................   Passed    0.11 sec
+test 184
+        Start 184: UNIT_Physics_TEST
+
+184: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_Physics_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Physics_TEST.xml"
+184: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+184: Environment variables: 
+184:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+184: Test timeout computed to be: 240
+99: [       OK ] DOMVisual.VisibilityFlags (104 ms)
+99: [----------] 10 tests from DOMVisual (969 ms total)
+99: 
+99: [----------] Global test environment tear-down
+25: [==========] 19 tests from 2 test suites ran. (3061 ms total)
+25: [  PASSED  ] 19 tests.
+99: [==========] 10 tests from 1 test suite ran. (969 ms total)
+99: [  PASSED  ] 10 tests.
+170/221 Test  #99: INTEGRATION_visual_dom .................................   Passed    1.10 sec
+test 185
+        Start 185: check_UNIT_Physics_TEST
+
+185: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Physics_TEST.xml"
+185: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+185: Test timeout computed to be: 10000000
+183: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Pbr_TEST.xml
+183: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Pbr_TEST.xml
+171/221 Test  #63: INTEGRATION_param_passing ..............................   Passed    2.37 sec
+test 186
+        Start 186: UNIT_Plane_TEST
+
+186: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_Plane_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Plane_TEST.xml"
+186: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+186: Environment variables: 
+186:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+186: Test timeout computed to be: 240
+172/221 Test #183: check_UNIT_Pbr_TEST ....................................   Passed    0.02 sec
+test 187
+        Start 187: check_UNIT_Plane_TEST
+
+187: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Plane_TEST.xml"
+187: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+187: Test timeout computed to be: 10000000
+173/221 Test  #25: INTEGRATION_frame ......................................   Passed    3.21 sec
+test 188
+        Start 188: UNIT_Root_TEST
+
+188: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_Root_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Root_TEST.xml"
+188: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+188: Environment variables: 
+188:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+188: Test timeout computed to be: 240
+185: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Physics_TEST.xml
+185: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Physics_TEST.xml
+174/221 Test #185: check_UNIT_Physics_TEST ................................   Passed    0.02 sec
+test 189
+        Start 189: check_UNIT_Root_TEST
+
+189: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Root_TEST.xml"
+189: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+189: Test timeout computed to be: 10000000
+187: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Plane_TEST.xml
+187: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Plane_TEST.xml
 174: [==========] Running 35 tests from 2 test suites.
 174: [----------] Global test environment set-up.
 174: [----------] 32 tests from Param
@@ -36532,6 +36571,15 @@
 174: [ RUN      ] Param.StringTypeGet
 174: [       OK ] Param.StringTypeGet (0 ms)
 174: [ RUN      ] Param.HexInt
+175/221 Test #187: check_UNIT_Plane_TEST ..................................   Passed    0.02 sec
+test 190
+        Start 190: UNIT_Scene_TEST
+
+190: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_Scene_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Scene_TEST.xml"
+190: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+190: Environment variables: 
+190:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+190: Test timeout computed to be: 240
 174: [1;31mError [Param.cc:779][0m Out of range. Unable to set value [0xffffffffffffffffffffffffffffffffff ] for key[key].
 174: [       OK ] Param.HexInt (0 ms)
 174: [ RUN      ] Param.HexUInt
@@ -36618,7 +36666,7 @@
 174: [       OK ] Param.ChangeParentElementFail (0 ms)
 174: [ RUN      ] Param.PoseWithDefaultValue
 174: [       OK ] Param.PoseWithDefaultValue (0 ms)
-174: [----------] 32 tests from Param (4 ms total)
+174: [----------] 32 tests from Param (3 ms total)
 174: 
 174: [----------] 3 tests from SetFromString
 174: [ RUN      ] SetFromString.Decimals
@@ -36630,76 +36678,41 @@
 174: [----------] 3 tests from SetFromString (0 ms total)
 174: 
 174: [----------] Global test environment tear-down
-181: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_ParticleEmitter_TEST.xml
-181: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_ParticleEmitter_TEST.xml
-174: [==========] 35 tests from 2 test suites ran. (4 ms total)
+174: [==========] 35 tests from 2 test suites ran. (3 ms total)
 174: [  PASSED  ] 35 tests.
-175/221 Test #174: UNIT_Param_TEST ........................................   Passed    0.24 sec
-test 183
-        Start 183: check_UNIT_Pbr_TEST
-
-183: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Pbr_TEST.xml"
-183: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-183: Test timeout computed to be: 10000000
-176/221 Test #181: check_UNIT_ParticleEmitter_TEST ........................   Passed    0.07 sec
-test 184
-        Start 184: UNIT_Physics_TEST
+176/221 Test #174: UNIT_Param_TEST ........................................   Passed    0.12 sec
+test 191
+        Start 191: check_UNIT_Scene_TEST
 
-184: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_Physics_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Physics_TEST.xml"
-184: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-184: Environment variables: 
-184:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-184: Test timeout computed to be: 240
-183: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Pbr_TEST.xml
-183: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Pbr_TEST.xml
-177/221 Test #183: check_UNIT_Pbr_TEST ....................................   Passed    0.05 sec
-test 185
-        Start 185: check_UNIT_Physics_TEST
+191: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Scene_TEST.xml"
+191: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+191: Test timeout computed to be: 10000000
+189: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Root_TEST.xml
+189: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Root_TEST.xml
+177/221 Test #189: check_UNIT_Root_TEST ...................................   Passed    0.02 sec
+test 192
+        Start 192: UNIT_SemanticPose_TEST
 
-185: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Physics_TEST.xml"
-185: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-185: Test timeout computed to be: 10000000
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-185: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Physics_TEST.xml
-185: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Physics_TEST.xml
-178/221 Test #185: check_UNIT_Physics_TEST ................................   Passed    0.06 sec
-test 186
-        Start 186: UNIT_Plane_TEST
+192: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_SemanticPose_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_SemanticPose_TEST.xml"
+192: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+192: Environment variables: 
+192:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+192: Test timeout computed to be: 240
+176: [==========] Running 16 tests from 2 test suites.
+176: [----------] Global test environment set-up.
+176: [----------] 15 tests from Parser
+176: [ RUN      ] Parser.initStringTrim
+176: [       OK ] Parser.initStringTrim (0 ms)
+176: [ RUN      ] Parser.CustomUnknownElements
+191: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Scene_TEST.xml
+191: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Scene_TEST.xml
+178/221 Test #191: check_UNIT_Scene_TEST ..................................   Passed    0.02 sec
+test 193
+        Start 193: check_UNIT_SemanticPose_TEST
 
-186: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_Plane_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Plane_TEST.xml"
-186: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-186: Environment variables: 
-186:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-186: Test timeout computed to be: 240
-176: [       OK ] Parser.CustomUnknownElements (145 ms)
-176: [ RUN      ] Parser.ReusedSDFVersion
+193: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_SemanticPose_TEST.xml"
+193: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+193: Test timeout computed to be: 10000000
 184: Running main() from /usr/src/gtest/src/gtest_main.cc
 184: [==========] Running 6 tests from 1 test suite.
 184: [----------] Global test environment set-up.
@@ -36719,15 +36732,73 @@
 184: [----------] 6 tests from DOMPhysics (0 ms total)
 184: 
 184: [----------] Global test environment tear-down
+31: Error:   Could not find the 'robot' element in the xml file
+31:          at line 109 in ./urdf_parser/src/model.cpp
 184: [==========] 6 tests from 1 test suite ran. (0 ms total)
 184: [  PASSED  ] 6 tests.
-179/221 Test #184: UNIT_Physics_TEST ......................................   Passed    0.21 sec
-test 187
-        Start 187: check_UNIT_Plane_TEST
+179/221 Test #184: UNIT_Physics_TEST ......................................   Passed    0.07 sec
+test 194
+        Start 194: UNIT_SDF_TEST
 
-187: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Plane_TEST.xml"
-187: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-187: Test timeout computed to be: 10000000
+194: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_SDF_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_SDF_TEST.xml"
+194: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+194: Environment variables: 
+194:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+194: Test timeout computed to be: 240
+193: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_SemanticPose_TEST.xml
+193: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_SemanticPose_TEST.xml
+178: Running main() from /usr/src/gtest/src/gtest_main.cc
+178: [==========] Running 6 tests from 1 test suite.
+178: [----------] Global test environment set-up.
+178: [----------] 6 tests from ParserConfig
+178: [ RUN      ] ParserConfig.Construction
+178: [       OK ] ParserConfig.Construction (0 ms)
+178: [ RUN      ] ParserConfig.CopyConstructor
+178: [       OK ] ParserConfig.CopyConstructor (0 ms)
+178: [ RUN      ] ParserConfig.CopyAssignmentOperator
+178: [       OK ] ParserConfig.CopyAssignmentOperator (0 ms)
+178: [ RUN      ] ParserConfig.MoveConstructor
+178: [       OK ] ParserConfig.MoveConstructor (0 ms)
+178: [ RUN      ] ParserConfig.MoveAssignmentOperator
+178: [       OK ] ParserConfig.MoveAssignmentOperator (0 ms)
+178: [ RUN      ] ParserConfig.CopyAssignmentAfterMove
+178: [       OK ] ParserConfig.CopyAssignmentAfterMove (0 ms)
+178: [----------] 6 tests from ParserConfig (0 ms total)
+178: 
+178: [----------] Global test environment tear-down
+178: [==========] 6 tests from 1 test suite ran. (0 ms total)
+178: [  PASSED  ] 6 tests.
+180/221 Test #193: check_UNIT_SemanticPose_TEST ...........................   Passed    0.02 sec
+test 195
+        Start 195: check_UNIT_SDF_TEST
+
+195: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_SDF_TEST.xml"
+195: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+195: Test timeout computed to be: 10000000
+181/221 Test #178: UNIT_ParserConfig_TEST .................................   Passed    0.12 sec
+test 196
+        Start 196: UNIT_Sensor_TEST
+
+196: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_Sensor_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Sensor_TEST.xml"
+196: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+196: Environment variables: 
+196:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+196: Test timeout computed to be: 240
+31: [       OK ] IncludesTest.InvalidMergeInclude (1023 ms)
+31: [----------] 8 tests from IncludesTest (3044 ms total)
+31: 
+31: [----------] Global test environment tear-down
+31: [==========] 8 tests from 1 test suite ran. (3044 ms total)
+31: [  PASSED  ] 8 tests.
+195: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_SDF_TEST.xml
+195: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_SDF_TEST.xml
+182/221 Test  #31: INTEGRATION_includes ...................................   Passed    3.12 sec
+test 197
+        Start 197: check_UNIT_Sensor_TEST
+
+197: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Sensor_TEST.xml"
+197: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+197: Test timeout computed to be: 10000000
 180: Running main() from /usr/src/gtest/src/gtest_main.cc
 180: [==========] Running 1 test from 1 test suite.
 180: [----------] Global test environment set-up.
@@ -36739,17 +36810,28 @@
 180: [----------] Global test environment tear-down
 180: [==========] 1 test from 1 test suite ran. (0 ms total)
 180: [  PASSED  ] 1 test.
-180/221 Test #180: UNIT_ParticleEmitter_TEST ..............................   Passed    0.32 sec
-test 188
-        Start 188: UNIT_Root_TEST
+183/221 Test #180: UNIT_ParticleEmitter_TEST ..............................   Passed    0.12 sec
+test 198
+        Start 198: UNIT_Sky_TEST
 
-188: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_Root_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Root_TEST.xml"
-188: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-188: Environment variables: 
-188:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-188: Test timeout computed to be: 240
-187: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Plane_TEST.xml
-187: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Plane_TEST.xml
+198: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_Sky_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Sky_TEST.xml"
+198: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+198: Environment variables: 
+198:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+198: Test timeout computed to be: 240
+184/221 Test #195: check_UNIT_SDF_TEST ....................................   Passed    0.02 sec
+test 199
+        Start 199: check_UNIT_Sky_TEST
+
+199: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Sky_TEST.xml"
+199: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+199: Test timeout computed to be: 10000000
+77: [       OK ] Pose1_9.IncludePoseInWorld (324 ms)
+77: [----------] 26 tests from Pose1_9 (1928 ms total)
+77: 
+77: [----------] Global test environment tear-down
+77: [==========] 26 tests from 1 test suite ran. (1928 ms total)
+77: [  PASSED  ] 26 tests.
 182: Running main() from /usr/src/gtest/src/gtest_main.cc
 182: [==========] Running 8 tests from 1 test suite.
 182: [----------] Global test environment set-up.
@@ -36775,83 +36857,62 @@
 182: [----------] Global test environment tear-down
 182: [==========] 8 tests from 1 test suite ran. (0 ms total)
 182: [  PASSED  ] 8 tests.
-181/221 Test #182: UNIT_Pbr_TEST ..........................................   Passed    0.29 sec
-test 189
-        Start 189: check_UNIT_Root_TEST
+185/221 Test #182: UNIT_Pbr_TEST ..........................................   Passed    0.13 sec
+test 200
+        Start 200: UNIT_Sphere_TEST
 
-189: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Root_TEST.xml"
-189: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-189: Test timeout computed to be: 10000000
-182/221 Test #187: check_UNIT_Plane_TEST ..................................   Passed    0.04 sec
-test 190
-        Start 190: UNIT_Scene_TEST
+200: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_Sphere_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Sphere_TEST.xml"
+200: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+200: Environment variables: 
+200:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+200: Test timeout computed to be: 240
+197: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Sensor_TEST.xml
+197: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Sensor_TEST.xml
+199: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Sky_TEST.xml
+199: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Sky_TEST.xml
+186/221 Test #197: check_UNIT_Sensor_TEST .................................   Passed    0.02 sec
+test 201
+        Start 201: check_UNIT_Sphere_TEST
 
-190: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_Scene_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Scene_TEST.xml"
-190: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-190: Environment variables: 
-190:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-190: Test timeout computed to be: 240
-189: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Root_TEST.xml
-189: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Root_TEST.xml
-183/221 Test #189: check_UNIT_Root_TEST ...................................   Passed    0.03 sec
-test 191
-        Start 191: check_UNIT_Scene_TEST
+201: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Sphere_TEST.xml"
+201: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+201: Test timeout computed to be: 10000000
+187/221 Test #199: check_UNIT_Sky_TEST ....................................   Passed    0.02 sec
+test 202
+        Start 202: UNIT_Surface_TEST
 
-191: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Scene_TEST.xml"
-191: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-191: Test timeout computed to be: 10000000
-178: Running main() from /usr/src/gtest/src/gtest_main.cc
-178: [==========] Running 6 tests from 1 test suite.
-178: [----------] Global test environment set-up.
-178: [----------] 6 tests from ParserConfig
-178: [ RUN      ] ParserConfig.Construction
-178: [       OK ] ParserConfig.Construction (0 ms)
-178: [ RUN      ] ParserConfig.CopyConstructor
-178: [       OK ] ParserConfig.CopyConstructor (0 ms)
-178: [ RUN      ] ParserConfig.CopyAssignmentOperator
-178: [       OK ] ParserConfig.CopyAssignmentOperator (0 ms)
-178: [ RUN      ] ParserConfig.MoveConstructor
-178: [       OK ] ParserConfig.MoveConstructor (0 ms)
-178: [ RUN      ] ParserConfig.MoveAssignmentOperator
-178: [       OK ] ParserConfig.MoveAssignmentOperator (0 ms)
-178: [ RUN      ] ParserConfig.CopyAssignmentAfterMove
-178: [       OK ] ParserConfig.CopyAssignmentAfterMove (0 ms)
-178: [----------] 6 tests from ParserConfig (0 ms total)
-178: 
-178: [----------] Global test environment tear-down
-191: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Scene_TEST.xml
-191: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Scene_TEST.xml
-178: [==========] 6 tests from 1 test suite ran. (0 ms total)
-178: [  PASSED  ] 6 tests.
-184/221 Test #178: UNIT_ParserConfig_TEST .................................   Passed    0.47 sec
-test 192
-        Start 192: UNIT_SemanticPose_TEST
+202: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_Surface_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Surface_TEST.xml"
+202: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+202: Environment variables: 
+202:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+202: Test timeout computed to be: 240
+188/221 Test  #77: INTEGRATION_pose_1_9_sdf ...............................   Passed    2.07 sec
+test 203
+        Start 203: check_UNIT_Surface_TEST
 
-192: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_SemanticPose_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_SemanticPose_TEST.xml"
-192: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-192: Environment variables: 
-192:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-192: Test timeout computed to be: 240
-185/221 Test #191: check_UNIT_Scene_TEST ..................................   Passed    0.04 sec
-test 193
-        Start 193: check_UNIT_SemanticPose_TEST
+203: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Surface_TEST.xml"
+203: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+203: Test timeout computed to be: 10000000
+201: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Sphere_TEST.xml
+201: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Sphere_TEST.xml
+203: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Surface_TEST.xml
+203: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Surface_TEST.xml
+189/221 Test #201: check_UNIT_Sphere_TEST .................................   Passed    0.02 sec
+test 204
+        Start 204: UNIT_Types_TEST
 
-193: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_SemanticPose_TEST.xml"
-193: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-193: Test timeout computed to be: 10000000
-193: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_SemanticPose_TEST.xml
-193: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_SemanticPose_TEST.xml
-186/221 Test #193: check_UNIT_SemanticPose_TEST ...........................   Passed    0.06 sec
-test 194
-        Start 194: UNIT_SDF_TEST
+204: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_Types_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Types_TEST.xml"
+204: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+204: Environment variables: 
+204:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+204: Test timeout computed to be: 240
+190/221 Test #203: check_UNIT_Surface_TEST ................................   Passed    0.02 sec
+test 205
+        Start 205: check_UNIT_Types_TEST
 
-194: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_SDF_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_SDF_TEST.xml"
-194: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-194: Environment variables: 
-194:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-194: Test timeout computed to be: 240
-176: [       OK ] Parser.ReusedSDFVersion (280 ms)
-176: [ RUN      ] Parser.readFileConversions
+205: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Types_TEST.xml"
+205: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+205: Test timeout computed to be: 10000000
 186: Running main() from /usr/src/gtest/src/gtest_main.cc
 186: [==========] Running 8 tests from 1 test suite.
 186: [----------] Global test environment set-up.
@@ -36877,13 +36938,41 @@
 186: [----------] Global test environment tear-down
 186: [==========] 8 tests from 1 test suite ran. (0 ms total)
 186: [  PASSED  ] 8 tests.
-187/221 Test #186: UNIT_Plane_TEST ........................................   Passed    0.31 sec
-test 195
-        Start 195: check_UNIT_SDF_TEST
+191/221 Test #186: UNIT_Plane_TEST ........................................   Passed    0.12 sec
+test 206
+        Start 206: UNIT_Visual_TEST
 
-195: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_SDF_TEST.xml"
-195: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-195: Test timeout computed to be: 10000000
+206: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_Visual_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Visual_TEST.xml"
+206: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+206: Environment variables: 
+206:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+206: Test timeout computed to be: 240
+188: Running main() from /usr/src/gtest/src/gtest_main.cc
+188: [==========] Running 8 tests from 1 test suite.
+188: [----------] Global test environment set-up.
+188: [----------] 8 tests from DOMRoot
+188: [ RUN      ] DOMRoot.Construction
+188: [       OK ] DOMRoot.Construction (0 ms)
+188: [ RUN      ] DOMRoot.MoveConstructor
+188: [       OK ] DOMRoot.MoveConstructor (0 ms)
+188: [ RUN      ] DOMRoot.MoveAssignmentOperator
+188: [       OK ] DOMRoot.MoveAssignmentOperator (0 ms)
+188: [ RUN      ] DOMRoot.StringModelSdfParse
+194: [==========] Running 14 tests from 1 test suite.
+194: [----------] Global test environment set-up.
+194: [----------] 14 tests from SDF
+194: [ RUN      ] SDF.UpdateAttribute
+205: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Types_TEST.xml
+205: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Types_TEST.xml
+192/221 Test #205: check_UNIT_Types_TEST ..................................   Passed    0.02 sec
+test 207
+        Start 207: check_UNIT_Visual_TEST
+
+207: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Visual_TEST.xml"
+207: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+207: Test timeout computed to be: 10000000
+176: [       OK ] Parser.CustomUnknownElements (107 ms)
+176: [ RUN      ] Parser.ReusedSDFVersion
 190: Running main() from /usr/src/gtest/src/gtest_main.cc
 190: [==========] Running 7 tests from 1 test suite.
 190: [----------] Global test environment set-up.
@@ -36905,37 +36994,21 @@
 190: [----------] 7 tests from DOMScene (0 ms total)
 190: 
 190: [----------] Global test environment tear-down
+59: [       OK ] NestedModel.NestedFrameOnlyModel (205 ms)
+59: [ RUN      ] NestedModel.IncludeElements
 190: [==========] 7 tests from 1 test suite ran. (0 ms total)
 190: [  PASSED  ] 7 tests.
-188/221 Test #190: UNIT_Scene_TEST ........................................   Passed    0.19 sec
-test 196
-        Start 196: UNIT_Sensor_TEST
-
-196: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_Sensor_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Sensor_TEST.xml"
-196: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-196: Environment variables: 
-196:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-196: Test timeout computed to be: 240
-195: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_SDF_TEST.xml
-195: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_SDF_TEST.xml
-189/221 Test #195: check_UNIT_SDF_TEST ....................................   Passed    0.06 sec
-test 197
-        Start 197: check_UNIT_Sensor_TEST
+193/221 Test #190: UNIT_Scene_TEST ........................................   Passed    0.13 sec
+test 208
+        Start 208: UNIT_World_TEST
 
-197: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Sensor_TEST.xml"
-197: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-197: Test timeout computed to be: 10000000
-188: Running main() from /usr/src/gtest/src/gtest_main.cc
-188: [==========] Running 8 tests from 1 test suite.
-188: [----------] Global test environment set-up.
-188: [----------] 8 tests from DOMRoot
-188: [ RUN      ] DOMRoot.Construction
-188: [       OK ] DOMRoot.Construction (0 ms)
-188: [ RUN      ] DOMRoot.MoveConstructor
-188: [       OK ] DOMRoot.MoveConstructor (0 ms)
-188: [ RUN      ] DOMRoot.MoveAssignmentOperator
-188: [       OK ] DOMRoot.MoveAssignmentOperator (0 ms)
-188: [ RUN      ] DOMRoot.StringModelSdfParse
+208: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_World_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_World_TEST.xml"
+208: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+208: Environment variables: 
+208:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+208: Test timeout computed to be: 240
+207: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Visual_TEST.xml
+207: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Visual_TEST.xml
 192: Running main() from /usr/src/gtest/src/gtest_main.cc
 192: [==========] Running 6 tests from 1 test suite.
 192: [----------] Global test environment set-up.
@@ -36955,41 +37028,33 @@
 192: [----------] 6 tests from SemanticPose (0 ms total)
 192: 
 192: [----------] Global test environment tear-down
+194/221 Test #207: check_UNIT_Visual_TEST .................................   Passed    0.02 sec
+test 209
+        Start 209: check_UNIT_World_TEST
+
+209: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_World_TEST.xml"
+209: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+209: Test timeout computed to be: 10000000
 192: [==========] 6 tests from 1 test suite ran. (0 ms total)
 192: [  PASSED  ] 6 tests.
-190/221 Test #192: UNIT_SemanticPose_TEST .................................   Passed    0.18 sec
-test 198
-        Start 198: UNIT_Sky_TEST
-
-198: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_Sky_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Sky_TEST.xml"
-198: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-198: Environment variables: 
-198:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-198: Test timeout computed to be: 240
-197: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Sensor_TEST.xml
-197: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Sensor_TEST.xml
-191/221 Test #197: check_UNIT_Sensor_TEST .................................   Passed    0.05 sec
-test 199
-        Start 199: check_UNIT_Sky_TEST
+195/221 Test #192: UNIT_SemanticPose_TEST .................................   Passed    0.13 sec
+test 210
+        Start 210: UNIT_Utils_TEST
 
-199: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Sky_TEST.xml"
-199: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-199: Test timeout computed to be: 10000000
-199: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Sky_TEST.xml
-199: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Sky_TEST.xml
-192/221 Test #199: check_UNIT_Sky_TEST ....................................   Passed    0.06 sec
-test 200
-        Start 200: UNIT_Sphere_TEST
+210: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_Utils_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Utils_TEST.xml"
+210: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+210: Environment variables: 
+210:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+210: Test timeout computed to be: 240
+209: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_World_TEST.xml
+209: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_World_TEST.xml
+196/221 Test #209: check_UNIT_World_TEST ..................................   Passed    0.02 sec
+test 211
+        Start 211: check_UNIT_Utils_TEST
 
-200: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_Sphere_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Sphere_TEST.xml"
-200: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-200: Environment variables: 
-200:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-200: Test timeout computed to be: 240
-194: [==========] Running 14 tests from 1 test suite.
-194: [----------] Global test environment set-up.
-194: [----------] 14 tests from SDF
-194: [ RUN      ] SDF.UpdateAttribute
+211: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Utils_TEST.xml"
+211: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+211: Test timeout computed to be: 10000000
 196: Running main() from /usr/src/gtest/src/gtest_main.cc
 196: [==========] Running 11 tests from 1 test suite.
 196: [----------] Global test environment set-up.
@@ -37011,79 +37076,17 @@
 196: [ RUN      ] DOMSensor.Type
 196: [       OK ] DOMSensor.Type (0 ms)
 196: [ RUN      ] DOMSensor.EnableMetrics
-188: [       OK ] DOMRoot.StringModelSdfParse (211 ms)
-188: [ RUN      ] DOMRoot.StringLightSdfParse
-198: Running main() from /usr/src/gtest/src/gtest_main.cc
-198: [==========] Running 7 tests from 1 test suite.
-198: [----------] Global test environment set-up.
-198: [----------] 7 tests from DOMSky
-198: [ RUN      ] DOMSky.Construction
-198: [       OK ] DOMSky.Construction (0 ms)
-198: [ RUN      ] DOMSky.CopyConstruction
-198: [       OK ] DOMSky.CopyConstruction (0 ms)
-198: [ RUN      ] DOMSky.MoveConstruction
-198: [       OK ] DOMSky.MoveConstruction (0 ms)
-198: [ RUN      ] DOMSky.MoveAssignmentOperator
-198: [       OK ] DOMSky.MoveAssignmentOperator (0 ms)
-198: [ RUN      ] DOMSky.AssignmentOperator
-198: [       OK ] DOMSky.AssignmentOperator (0 ms)
-198: [ RUN      ] DOMSky.CopyAssignmentAfterMove
-198: [       OK ] DOMSky.CopyAssignmentAfterMove (0 ms)
-198: [ RUN      ] DOMSky.Set
-198: [       OK ] DOMSky.Set (0 ms)
-198: [----------] 7 tests from DOMSky (0 ms total)
-198: 
-198: [----------] Global test environment tear-down
-198: [==========] 7 tests from 1 test suite ran. (0 ms total)
-198: [  PASSED  ] 7 tests.
-193/221 Test #198: UNIT_Sky_TEST ..........................................   Passed    0.21 sec
-test 201
-        Start 201: check_UNIT_Sphere_TEST
-
-201: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Sphere_TEST.xml"
-201: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-201: Test timeout computed to be: 10000000
-201: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Sphere_TEST.xml
-201: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Sphere_TEST.xml
-194/221 Test #201: check_UNIT_Sphere_TEST .................................   Passed    0.06 sec
-test 202
-        Start 202: UNIT_Surface_TEST
-
-202: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_Surface_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Surface_TEST.xml"
-202: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-202: Environment variables: 
-202:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-202: Test timeout computed to be: 240
-196: [       OK ] DOMSensor.EnableMetrics (131 ms)
-196: [ RUN      ] DOMSensor.MutableSensors
-196: [       OK ] DOMSensor.MutableSensors (0 ms)
-196: [ RUN      ] DOMSensor.ToElement
-196: [       OK ] DOMSensor.ToElement (19 ms)
-196: [----------] 11 tests from DOMSensor (151 ms total)
-196: 
-196: [----------] Global test environment tear-down
-196: [==========] 11 tests from 1 test suite ran. (151 ms total)
-196: [  PASSED  ] 11 tests.
-195/221 Test #196: UNIT_Sensor_TEST .......................................   Passed    0.36 sec
-test 203
-        Start 203: check_UNIT_Surface_TEST
-
-203: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Surface_TEST.xml"
-203: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-203: Test timeout computed to be: 10000000
-203: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Surface_TEST.xml
-203: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Surface_TEST.xml
-196/221 Test #203: check_UNIT_Surface_TEST ................................   Passed    0.02 sec
-test 204
-        Start 204: UNIT_Types_TEST
+211: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Utils_TEST.xml
+211: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Utils_TEST.xml
+197/221 Test #211: check_UNIT_Utils_TEST ..................................   Passed    0.02 sec
+test 212
+        Start 212: UNIT_XmlUtils_TEST
 
-204: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_Types_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Types_TEST.xml"
-204: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-204: Environment variables: 
-204:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-204: Test timeout computed to be: 240
-188: [       OK ] DOMRoot.StringLightSdfParse (173 ms)
-188: [ RUN      ] DOMRoot.StringActorSdfParse
+212: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_XmlUtils_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_XmlUtils_TEST.xml"
+212: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+212: Environment variables: 
+212:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+212: Test timeout computed to be: 240
 200: Running main() from /usr/src/gtest/src/gtest_main.cc
 200: [==========] Running 8 tests from 1 test suite.
 200: [----------] Global test environment set-up.
@@ -37109,13 +37112,58 @@
 200: [----------] Global test environment tear-down
 200: [==========] 8 tests from 1 test suite ran. (0 ms total)
 200: [  PASSED  ] 8 tests.
-197/221 Test #200: UNIT_Sphere_TEST .......................................   Passed    0.34 sec
-test 205
-        Start 205: check_UNIT_Types_TEST
+198/221 Test #200: UNIT_Sphere_TEST .......................................   Passed    0.11 sec
+test 213
+        Start 213: check_UNIT_XmlUtils_TEST
 
-205: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Types_TEST.xml"
-205: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-205: Test timeout computed to be: 10000000
+213: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_XmlUtils_TEST.xml"
+213: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+213: Test timeout computed to be: 10000000
+103: [       OK ] DOMWorld.NestedModels (226 ms)
+103: [ RUN      ] DOMWorld.NestedFrames
+198: Running main() from /usr/src/gtest/src/gtest_main.cc
+198: [==========] Running 7 tests from 1 test suite.
+198: [----------] Global test environment set-up.
+198: [----------] 7 tests from DOMSky
+198: [ RUN      ] DOMSky.Construction
+198: [       OK ] DOMSky.Construction (0 ms)
+198: [ RUN      ] DOMSky.CopyConstruction
+198: [       OK ] DOMSky.CopyConstruction (0 ms)
+198: [ RUN      ] DOMSky.MoveConstruction
+198: [       OK ] DOMSky.MoveConstruction (0 ms)
+198: [ RUN      ] DOMSky.MoveAssignmentOperator
+198: [       OK ] DOMSky.MoveAssignmentOperator (0 ms)
+198: [ RUN      ] DOMSky.AssignmentOperator
+198: [       OK ] DOMSky.AssignmentOperator (0 ms)
+198: [ RUN      ] DOMSky.CopyAssignmentAfterMove
+198: [       OK ] DOMSky.CopyAssignmentAfterMove (0 ms)
+198: [ RUN      ] DOMSky.Set
+198: [       OK ] DOMSky.Set (0 ms)
+198: [----------] 7 tests from DOMSky (0 ms total)
+198: 
+198: [----------] Global test environment tear-down
+198: [==========] 7 tests from 1 test suite ran. (0 ms total)
+198: [  PASSED  ] 7 tests.
+194: [       OK ] SDF.UpdateAttribute (77 ms)
+194: [ RUN      ] SDF.UpdateElement
+199/221 Test #198: UNIT_Sky_TEST ..........................................   Passed    0.13 sec
+test 214
+        Start 214: UNIT_FrameSemantics_TEST
+
+214: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_FrameSemantics_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_FrameSemantics_TEST.xml"
+214: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+214: Environment variables: 
+214:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+214: Test timeout computed to be: 240
+213: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_XmlUtils_TEST.xml
+213: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_XmlUtils_TEST.xml
+200/221 Test #213: check_UNIT_XmlUtils_TEST ...............................   Passed    0.02 sec
+test 215
+        Start 215: check_UNIT_FrameSemantics_TEST
+
+215: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_FrameSemantics_TEST.xml"
+215: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+215: Test timeout computed to be: 10000000
 202: Running main() from /usr/src/gtest/src/gtest_main.cc
 202: [==========] Running 9 tests from 2 test suites.
 202: [----------] Global test environment set-up.
@@ -37146,39 +37194,61 @@
 202: [----------] Global test environment tear-down
 202: [==========] 9 tests from 2 test suites ran. (0 ms total)
 202: [  PASSED  ] 9 tests.
-198/221 Test #202: UNIT_Surface_TEST ......................................   Passed    0.16 sec
-test 206
-        Start 206: UNIT_Visual_TEST
+201/221 Test #202: UNIT_Surface_TEST ......................................   Passed    0.13 sec
+test 216
+        Start 216: UNIT_Converter_TEST
 
-206: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_Visual_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Visual_TEST.xml"
-206: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-206: Environment variables: 
-206:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-206: Test timeout computed to be: 240
-205: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Types_TEST.xml
-205: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Types_TEST.xml
-199/221 Test #205: check_UNIT_Types_TEST ..................................   Passed    0.05 sec
-test 207
-        Start 207: check_UNIT_Visual_TEST
+216: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_Converter_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Converter_TEST.xml"
+216: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+216: Environment variables: 
+216:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+216: Test timeout computed to be: 240
+215: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_FrameSemantics_TEST.xml
+215: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_FrameSemantics_TEST.xml
+202/221 Test #215: check_UNIT_FrameSemantics_TEST .........................   Passed    0.02 sec
+test 217
+        Start 217: check_UNIT_Converter_TEST
 
-207: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Visual_TEST.xml"
-207: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-207: Test timeout computed to be: 10000000
-194: [       OK ] SDF.UpdateAttribute (347 ms)
-194: [ RUN      ] SDF.UpdateElement
-207: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Visual_TEST.xml
-207: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Visual_TEST.xml
-200/221 Test #207: check_UNIT_Visual_TEST .................................   Passed    0.05 sec
-test 208
-        Start 208: UNIT_World_TEST
+217: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Converter_TEST.xml"
+217: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+217: Test timeout computed to be: 10000000
+204: [==========] Running 10 tests from 1 test suite.
+204: [----------] Global test environment set-up.
+204: [----------] 10 tests from Types
+204: [ RUN      ] Types.split_nothing
+204: [       OK ] Types.split_nothing (0 ms)
+204: [ RUN      ] Types.split_single
+204: [       OK ] Types.split_single (0 ms)
+204: [ RUN      ] Types.split_blank
+204: [       OK ] Types.split_blank (0 ms)
+204: [ RUN      ] Types.split_empty_splitter
+204: [       OK ] Types.split_empty_splitter (0 ms)
+204: [ RUN      ] Types.split_empty_string_and_splitter
+204: [       OK ] Types.split_empty_string_and_splitter (0 ms)
+204: [ RUN      ] Types.split_no_matches
+204: [       OK ] Types.split_no_matches (0 ms)
+204: [ RUN      ] Types.trim_nothing
+204: [       OK ] Types.trim_nothing (0 ms)
+204: [ RUN      ] Types.ErrorsOutputStream
+204: [       OK ] Types.ErrorsOutputStream (0 ms)
+204: [ RUN      ] Types.SplitName
+204: [       OK ] Types.SplitName (0 ms)
+204: [ RUN      ] Types.JoinName
+204: [       OK ] Types.JoinName (0 ms)
+204: [----------] 10 tests from Types (0 ms total)
+204: 
+204: [----------] Global test environment tear-down
+204: [==========] 10 tests from 1 test suite ran. (0 ms total)
+204: [  PASSED  ] 10 tests.
+203/221 Test #204: UNIT_Types_TEST ........................................   Passed    0.13 sec
+test 218
+        Start 218: UNIT_parser_urdf_TEST
 
-208: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_World_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_World_TEST.xml"
-208: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-208: Environment variables: 
-208:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-208: Test timeout computed to be: 240
-176: [       OK ] Parser.readFileConversions (626 ms)
-176: [ RUN      ] Parser.NameUniqueness
+218: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_parser_urdf_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_parser_urdf_TEST.xml"
+218: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+218: Environment variables: 
+218:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+218: Test timeout computed to be: 240
 206: Running main() from /usr/src/gtest/src/gtest_main.cc
 206: [==========] Running 9 tests from 1 test suite.
 206: [----------] Global test environment set-up.
@@ -37192,6 +37262,8 @@
 206: [ RUN      ] DOMVisual.MoveConstructor
 206: [       OK ] DOMVisual.MoveConstructor (0 ms)
 206: [ RUN      ] DOMVisual.MoveAssignmentOperator
+217: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Converter_TEST.xml
+217: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Converter_TEST.xml
 206: [       OK ] DOMVisual.MoveAssignmentOperator (0 ms)
 206: [ RUN      ] DOMVisual.CopyAssignmentAfterMove
 206: [       OK ] DOMVisual.CopyAssignmentAfterMove (0 ms)
@@ -37206,65 +37278,33 @@
 206: [----------] Global test environment tear-down
 206: [==========] 9 tests from 1 test suite ran. (0 ms total)
 206: [  PASSED  ] 9 tests.
-201/221 Test #206: UNIT_Visual_TEST .......................................   Passed    0.21 sec
-test 209
-        Start 209: check_UNIT_World_TEST
+188: [       OK ] DOMRoot.StringModelSdfParse (123 ms)
+188: [ RUN      ] DOMRoot.StringLightSdfParse
+204/221 Test #206: UNIT_Visual_TEST .......................................   Passed    0.13 sec
+test 219
+        Start 219: check_UNIT_parser_urdf_TEST
 
-209: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_World_TEST.xml"
-209: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-209: Test timeout computed to be: 10000000
-204: [==========] Running 10 tests from 1 test suite.
-204: [----------] Global test environment set-up.
-204: [----------] 10 tests from Types
-204: [ RUN      ] Types.split_nothing
-204: [       OK ] Types.split_nothing (0 ms)
-204: [ RUN      ] Types.split_single
-204: [       OK ] Types.split_single (0 ms)
-204: [ RUN      ] Types.split_blank
-204: [       OK ] Types.split_blank (0 ms)
-204: [ RUN      ] Types.split_empty_splitter
-204: [       OK ] Types.split_empty_splitter (0 ms)
-204: [ RUN      ] Types.split_empty_string_and_splitter
-204: [       OK ] Types.split_empty_string_and_splitter (0 ms)
-204: [ RUN      ] Types.split_no_matches
-204: [       OK ] Types.split_no_matches (0 ms)
-204: [ RUN      ] Types.trim_nothing
-204: [       OK ] Types.trim_nothing (0 ms)
-204: [ RUN      ] Types.ErrorsOutputStream
-204: [       OK ] Types.ErrorsOutputStream (0 ms)
-204: [ RUN      ] Types.SplitName
-204: [       OK ] Types.SplitName (0 ms)
-204: [ RUN      ] Types.JoinName
-204: [       OK ] Types.JoinName (0 ms)
-204: [----------] 10 tests from Types (0 ms total)
-204: 
-204: [----------] Global test environment tear-down
-204: [==========] 10 tests from 1 test suite ran. (0 ms total)
-204: [  PASSED  ] 10 tests.
-202/221 Test #204: UNIT_Types_TEST ........................................   Passed    0.32 sec
-test 210
-        Start 210: UNIT_Utils_TEST
+219: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_parser_urdf_TEST.xml"
+219: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+219: Test timeout computed to be: 10000000
+205/221 Test #217: check_UNIT_Converter_TEST ..............................   Passed    0.02 sec
+test 220
+        Start 220: UNIT_ParamPassing_TEST
 
-210: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_Utils_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Utils_TEST.xml"
-210: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-210: Environment variables: 
-210:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-210: Test timeout computed to be: 240
-188: [       OK ] DOMRoot.StringActorSdfParse (301 ms)
-188: [ RUN      ] DOMRoot.Set
-188: [       OK ] DOMRoot.Set (0 ms)
-188: [ RUN      ] DOMRoot.FrameSemanticsOnMove
-209: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_World_TEST.xml
-209: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_World_TEST.xml
-203/221 Test #209: check_UNIT_World_TEST ..................................   Passed    0.05 sec
-test 211
-        Start 211: check_UNIT_Utils_TEST
+220: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_ParamPassing_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_ParamPassing_TEST.xml"
+220: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+220: Environment variables: 
+220:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
+220: Test timeout computed to be: 240
+219: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_parser_urdf_TEST.xml
+219: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_parser_urdf_TEST.xml
+206/221 Test #219: check_UNIT_parser_urdf_TEST ............................   Passed    0.02 sec
+test 221
+        Start 221: check_UNIT_ParamPassing_TEST
 
-211: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Utils_TEST.xml"
-211: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-211: Test timeout computed to be: 10000000
-194: [       OK ] SDF.UpdateElement (230 ms)
-194: [ RUN      ] SDF.ElementRemoveFromParent
+221: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_ParamPassing_TEST.xml"
+221: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
+221: Test timeout computed to be: 10000000
 208: Running main() from /usr/src/gtest/src/gtest_main.cc
 208: [==========] Running 12 tests from 1 test suite.
 208: [----------] Global test environment set-up.
@@ -37298,107 +37338,11 @@
 208: [----------] Global test environment tear-down
 208: [==========] 12 tests from 1 test suite ran. (0 ms total)
 208: [  PASSED  ] 12 tests.
-211: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Utils_TEST.xml
-211: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Utils_TEST.xml
-204/221 Test #208: UNIT_World_TEST ........................................   Passed    0.22 sec
-test 212
-        Start 212: UNIT_XmlUtils_TEST
-
-212: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_XmlUtils_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_XmlUtils_TEST.xml"
-212: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-212: Environment variables: 
-212:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-212: Test timeout computed to be: 240
-205/221 Test #211: check_UNIT_Utils_TEST ..................................   Passed    0.05 sec
-test 213
-        Start 213: check_UNIT_XmlUtils_TEST
-
-213: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_XmlUtils_TEST.xml"
-213: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-213: Test timeout computed to be: 10000000
-176: Error: Non-unique names detected in type world in
-176: <sdf version='1.9'>
-176:   <world name='default'>
-176:     <gravity>0 0 -9.8</gravity>
-176:     <magnetic_field>5.5645e-6 22.8758e-6 -42.3884e-6</magnetic_field>
-176:     <atmosphere type='adiabatic'/>
-176:     <physics type='ode'>
-176:       <max_step_size>0.001</max_step_size>
-176:       <real_time_factor>1.0</real_time_factor>
-176:       <real_time_update_rate>1000</real_time_update_rate>
-176:     </physics>
-176:     <scene>
-176:       <ambient>0.4 0.4 0.4 1.0</ambient>
-176:       <background>.7 .7 .7 1</background>
-176:       <shadows>true</shadows>
-176:     </scene>
-176:   </world>
-176:   <world name='default'>
-176:     <gravity>0 0 -9.8</gravity>
-176:     <magnetic_field>5.5645e-6 22.8758e-6 -42.3884e-6</magnetic_field>
-176:     <atmosphere type='adiabatic'/>
-176:     <physics type='ode'>
-176:       <max_step_size>0.001</max_step_size>
-176:       <real_time_factor>1.0</real_time_factor>
-176:       <real_time_update_rate>1000</real_time_update_rate>
-176:     </physics>
-176:     <scene>
-176:       <ambient>0.4 0.4 0.4 1.0</ambient>
-176:       <background>.7 .7 .7 1</background>
-176:       <shadows>true</shadows>
-176:     </scene>
-176:   </world>
-176: </sdf>
-176: 
-213: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_XmlUtils_TEST.xml
-213: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_XmlUtils_TEST.xml
-206/221 Test #213: check_UNIT_XmlUtils_TEST ...............................   Passed    0.05 sec
-test 214
-        Start 214: UNIT_FrameSemantics_TEST
-
-214: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_FrameSemantics_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_FrameSemantics_TEST.xml"
-214: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-214: Environment variables: 
-214:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-214: Test timeout computed to be: 240
-59: [       OK ] PlacementFrame.ModelInclude (2857 ms)
-59: [ RUN      ] PlacementFrame.ModelPlacementFrameAttribute
-194: [       OK ] SDF.ElementRemoveFromParent (209 ms)
-194: [ RUN      ] SDF.ElementRemoveChild
-214: Running main() from /usr/src/gtest/src/gtest_main.cc
-214: [==========] Running 7 tests from 2 test suites.
-214: [----------] Global test environment set-up.
-214: [----------] 3 tests from FrameSemantics
-214: [ RUN      ] FrameSemantics.buildFrameAttachedToGraph_Model
-212: Running main() from /usr/src/gtest/src/gtest_main.cc
-212: [==========] Running 1 test from 1 test suite.
-212: [----------] Global test environment set-up.
-212: [----------] 1 test from XMLUtils
-212: [ RUN      ] XMLUtils.DeepClone
-212: [       OK ] XMLUtils.DeepClone (0 ms)
-212: [----------] 1 test from XMLUtils (0 ms total)
-212: 
-212: [----------] Global test environment tear-down
-212: [==========] 1 test from 1 test suite ran. (0 ms total)
-212: [  PASSED  ] 1 test.
-207/221 Test #212: UNIT_XmlUtils_TEST .....................................   Passed    0.24 sec
-test 215
-        Start 215: check_UNIT_FrameSemantics_TEST
-
-215: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_FrameSemantics_TEST.xml"
-215: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-215: Test timeout computed to be: 10000000
-215: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_FrameSemantics_TEST.xml
-215: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_FrameSemantics_TEST.xml
-208/221 Test #215: check_UNIT_FrameSemantics_TEST .........................   Passed    0.04 sec
-test 216
-        Start 216: UNIT_Converter_TEST
-
-216: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_Converter_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Converter_TEST.xml"
-216: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-216: Environment variables: 
-216:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-216: Test timeout computed to be: 240
+207/221 Test #208: UNIT_World_TEST ........................................   Passed    0.13 sec
+194: [       OK ] SDF.UpdateElement (72 ms)
+194: [ RUN      ] SDF.ElementRemoveFromParent
+221: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_ParamPassing_TEST.xml
+221: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_ParamPassing_TEST.xml
 210: Running main() from /usr/src/gtest/src/gtest_main.cc
 210: [==========] Running 7 tests from 2 test suites.
 210: [----------] Global test environment set-up.
@@ -37425,90 +37369,91 @@
 210: [----------] Global test environment tear-down
 210: [==========] 7 tests from 2 test suites ran. (0 ms total)
 210: [  PASSED  ] 7 tests.
-209/221 Test #210: UNIT_Utils_TEST ........................................   Passed    0.37 sec
-test 217
-        Start 217: check_UNIT_Converter_TEST
-
-217: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Converter_TEST.xml"
-217: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-217: Test timeout computed to be: 10000000
-217: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Converter_TEST.xml
-217: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_Converter_TEST.xml
-176: Error: Non-unique names detected in <world name='default'>
-176:   <physics name='my_physics' type='bullet'>
-176:     <max_step_size>0.1</max_step_size>
-176:     <real_time_factor>0.5</real_time_factor>
-176:     <real_time_update_rate>1000</real_time_update_rate>
-176:   </physics>
-176:   <light name='spot' type='spot'>
-176:     <cast_shadows>true</cast_shadows>
-176:     <spot>
-176:       <inner_angle>0.1</inner_angle>
-176:       <outer_angle>0.5</outer_angle>
-176:       <falloff>2.2</falloff>
-176:     </spot>
-176:     <direction>0 0 -1</direction>
-176:   </light>
-176:   <model name='spot'>
-176:     <link name='L'/>
-176:   </model>
-176:   <gravity>0 0 -9.8</gravity>
-176:   <magnetic_field>5.5645e-6 22.8758e-6 -42.3884e-6</magnetic_field>
-176:   <atmosphere type='adiabatic'/>
-176:   <scene>
-176:     <ambient>0.4 0.4 0.4 1.0</ambient>
-176:     <background>.7 .7 .7 1</background>
-176:     <shadows>true</shadows>
-176:   </scene>
-176: </world>
-176: 
-210/221 Test #217: check_UNIT_Converter_TEST ..............................   Passed    0.06 sec
-test 218
-        Start 218: UNIT_parser_urdf_TEST
-
-218: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_parser_urdf_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_parser_urdf_TEST.xml"
-218: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-218: Environment variables: 
-218:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-218: Test timeout computed to be: 240
-214: FrameAttachedToGraph unable to find unique frame with name [invalid] in graph.
-214: [       OK ] FrameSemantics.buildFrameAttachedToGraph_Model (136 ms)
-214: [ RUN      ] FrameSemantics.buildFrameAttachedToGraph_World
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
-194: [       OK ] SDF.ElementRemoveChild (225 ms)
-194: [ RUN      ] SDF.EmptyValues
-194: [       OK ] SDF.EmptyValues (0 ms)
-194: [ RUN      ] SDF.GetAny
-214: FrameAttachedToGraph unable to find unique frame with name [invalid] in graph.
-214: [       OK ] FrameSemantics.buildFrameAttachedToGraph_World (175 ms)
-214: [ RUN      ] FrameSemantics.buildPoseRelativeToGraph
+208/221 Test #210: UNIT_Utils_TEST ........................................   Passed    0.12 sec
+209/221 Test #221: check_UNIT_ParamPassing_TEST ...........................   Passed    0.02 sec
+196: [       OK ] DOMSensor.EnableMetrics (105 ms)
+196: [ RUN      ] DOMSensor.MutableSensors
+196: [       OK ] DOMSensor.MutableSensors (0 ms)
+196: [ RUN      ] DOMSensor.ToElement
+196: [       OK ] DOMSensor.ToElement (9 ms)
+196: [----------] 11 tests from DOMSensor (116 ms total)
+196: 
+196: [----------] Global test environment tear-down
+196: [==========] 11 tests from 1 test suite ran. (116 ms total)
+196: [  PASSED  ] 11 tests.
+210/221 Test #196: UNIT_Sensor_TEST .......................................   Passed    0.24 sec
+218: [==========] Running 19 tests from 1 test suite.
+218: [----------] Global test environment set-up.
+218: [----------] 19 tests from URDFParser
+218: [ RUN      ] URDFParser.InitModelDoc_EmptyDoc_NoThrow
+218: Error:   Error document empty.
+218:          at line 100 in ./urdf_parser/src/model.cpp
+218: [1;31mError [parser_urdf.cc:3226][0m Unable to call parseURDF on robot model
+218: [       OK ] URDFParser.InitModelDoc_EmptyDoc_NoThrow (0 ms)
+218: [ RUN      ] URDFParser.InitModelDoc_BasicModel_NoThrow
+218: [       OK ] URDFParser.InitModelDoc_BasicModel_NoThrow (0 ms)
+218: [ RUN      ] URDFParser.ParseResults_BasicModel_ParseEqualToModel
+218: [       OK ] URDFParser.ParseResults_BasicModel_ParseEqualToModel (0 ms)
+218: [ RUN      ] URDFParser.ParseRobotOriginXYZBlank
+218: [       OK ] URDFParser.ParseRobotOriginXYZBlank (0 ms)
+218: [ RUN      ] URDFParser.ParseRobotOriginRPYBlank
+218: [       OK ] URDFParser.ParseRobotOriginRPYBlank (0 ms)
+218: [ RUN      ] URDFParser.ParseRobotMaterialBlank
+218: [       OK ] URDFParser.ParseRobotMaterialBlank (0 ms)
+218: [ RUN      ] URDFParser.ParseRobotMaterialName
+218: [       OK ] URDFParser.ParseRobotMaterialName (0 ms)
+218: [ RUN      ] URDFParser.ParseRobotOriginInvalidXYZ
+218: [1;31mError [parser_urdf.cc:288][0m xml key [0 foo 0][1] value [foo] is not a valid double from a 3-tuple
+218: [       OK ] URDFParser.ParseRobotOriginInvalidXYZ (0 ms)
+218: [ RUN      ] URDFParser.ParseGazeboLinkFactors
+218: [       OK ] URDFParser.ParseGazeboLinkFactors (1 ms)
+218: [ RUN      ] URDFParser.ParseGazeboInvalidDampingFactor
+218: Error:   Inertial element must have inertia element
+218:          at line 306 in ./urdf_parser/src/link.cpp
+218: Error:   Could not parse inertial element for Link [link]
+218:          at line 435 in ./urdf_parser/src/link.cpp
+218: [       OK ] URDFParser.ParseGazeboInvalidDampingFactor (0 ms)
+218: [ RUN      ] URDFParser.ParseGazeboJointElements
+218: Error:   Could not parse collision element for Link [chest_link]
+218:          at line 475 in ./urdf_parser/src/link.cpp
+218: Error:   Could not parse collision element for Link [neck_tilt]
+218:          at line 475 in ./urdf_parser/src/link.cpp
+218: Error:   Could not parse collision element for Link [chest_link]
+218:          at line 475 in ./urdf_parser/src/link.cpp
+218: Error:   Could not parse collision element for Link [neck_tilt]
+218:          at line 475 in ./urdf_parser/src/link.cpp
+218: Error:   Could not parse collision element for Link [chest_link]
+218:          at line 475 in ./urdf_parser/src/link.cpp
+218: Error:   Could not parse collision element for Link [neck_tilt]
+218:          at line 475 in ./urdf_parser/src/link.cpp
+218: [       OK ] URDFParser.ParseGazeboJointElements (0 ms)
+218: [ RUN      ] URDFParser.CheckFixedJointOptions_NoOption
+212: Running main() from /usr/src/gtest/src/gtest_main.cc
+212: [==========] Running 1 test from 1 test suite.
+212: [----------] Global test environment set-up.
+212: [----------] 1 test from XMLUtils
+212: [ RUN      ] XMLUtils.DeepClone
+212: [       OK ] XMLUtils.DeepClone (0 ms)
+212: [----------] 1 test from XMLUtils (0 ms total)
+212: 
+212: [----------] Global test environment tear-down
+212: [==========] 1 test from 1 test suite ran. (0 ms total)
+212: [  PASSED  ] 1 test.
+211/221 Test #212: UNIT_XmlUtils_TEST .....................................   Passed    0.13 sec
+176: [       OK ] Parser.ReusedSDFVersion (183 ms)
+176: [ RUN      ] Parser.readFileConversions
+220: Running main() from ./googletest/src/gtest_main.cc
+220: [==========] Running 1 test from 1 test suite.
+220: [----------] Global test environment set-up.
+220: [----------] 1 test from ParamPassing
+220: [ RUN      ] ParamPassing.GetElement
+214: Running main() from /usr/src/gtest/src/gtest_main.cc
+214: [==========] Running 7 tests from 2 test suites.
+214: [----------] Global test environment set-up.
+214: [----------] 3 tests from FrameSemantics
+214: [ RUN      ] FrameSemantics.buildFrameAttachedToGraph_Model
+194: [       OK ] SDF.ElementRemoveFromParent (75 ms)
+194: [ RUN      ] SDF.ElementRemoveChild
 216: [==========] Running 47 tests from 1 test suite.
 216: [----------] Global test environment set-up.
 216: [----------] 47 tests from Converter
@@ -37618,108 +37563,97 @@
 216: Convert XML doc is NULL
 216: In function       : Convert
 216: Assert expression : _convertDoc != NULL
-176: Error: Non-unique names detected in type link in
-176: <model name='duplicate_links'>
-176:   <link name='link'>
-176:     <pose>1 1 1 0 0 0</pose>
-176:   </link>
-176:   <link name='link'>
-176:     <pose>2 2 2 0 0 0</pose>
-176:   </link>
-176: </model>
-176: 
 216: [1;31mException [Converter.cc:80][0m SDF ASSERTION                     
 216: SDF XML doc is NULL
 216: In function       : Convert
 216: Assert expression : _doc != nullptr
-216: [       OK ] Converter.NullDoc (8 ms)
+216: [       OK ] Converter.NullDoc (0 ms)
 216: [ RUN      ] Converter.NoVersion
 216: [1;31mError [Converter.cc:93][0m   Unable to determine original SDF version
 216: [       OK ] Converter.NoVersion (0 ms)
 216: [ RUN      ] Converter.SameVersion
 216: [       OK ] Converter.SameVersion (0 ms)
 216: [ RUN      ] Converter.NewerVersion
-216: [       OK ] Converter.NewerVersion (3 ms)
+216: [       OK ] Converter.NewerVersion (2 ms)
 216: [ RUN      ] Converter.MuchNewerVersion
+188: [       OK ] DOMRoot.StringLightSdfParse (110 ms)
+188: [ RUN      ] DOMRoot.StringActorSdfParse
 216: [       OK ] Converter.MuchNewerVersion (0 ms)
 216: [ RUN      ] Converter.IMU_15_to_16
-216: [       OK ] Converter.IMU_15_to_16 (4 ms)
+216: [       OK ] Converter.IMU_15_to_16 (0 ms)
 216: [ RUN      ] Converter.World_15_to_16
 216: [       OK ] Converter.World_15_to_16 (0 ms)
 216: [ RUN      ] Converter.Pose_16_to_17
-216: [       OK ] Converter.Pose_16_to_17 (7 ms)
+216: [       OK ] Converter.Pose_16_to_17 (0 ms)
 216: [ RUN      ] Converter.World_17_to_18
-216: [       OK ] Converter.World_17_to_18 (2 ms)
-216: [----------] 47 tests from Converter (30 ms total)
+216: [       OK ] Converter.World_17_to_18 (0 ms)
+216: [----------] 47 tests from Converter (8 ms total)
 216: 
 216: [----------] Global test environment tear-down
-216: [==========] 47 tests from 1 test suite ran. (30 ms total)
+216: [==========] 47 tests from 1 test suite ran. (8 ms total)
 216: [  PASSED  ] 47 tests.
-211/221 Test #216: UNIT_Converter_TEST ....................................   Passed    0.31 sec
-test 219
-        Start 219: check_UNIT_parser_urdf_TEST
-
-219: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_parser_urdf_TEST.xml"
-219: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-219: Test timeout computed to be: 10000000
-218: [==========] Running 19 tests from 1 test suite.
-218: [----------] Global test environment set-up.
-218: [----------] 19 tests from URDFParser
-218: [ RUN      ] URDFParser.InitModelDoc_EmptyDoc_NoThrow
-218: Error:   Error document empty.
-218:          at line 100 in ./urdf_parser/src/model.cpp
-218: [1;31mError [parser_urdf.cc:3226][0m Unable to call parseURDF on robot model
-218: [       OK ] URDFParser.InitModelDoc_EmptyDoc_NoThrow (0 ms)
-218: [ RUN      ] URDFParser.InitModelDoc_BasicModel_NoThrow
-218: [       OK ] URDFParser.InitModelDoc_BasicModel_NoThrow (0 ms)
-218: [ RUN      ] URDFParser.ParseResults_BasicModel_ParseEqualToModel
-218: [       OK ] URDFParser.ParseResults_BasicModel_ParseEqualToModel (0 ms)
-218: [ RUN      ] URDFParser.ParseRobotOriginXYZBlank
-218: [       OK ] URDFParser.ParseRobotOriginXYZBlank (0 ms)
-218: [ RUN      ] URDFParser.ParseRobotOriginRPYBlank
-218: [       OK ] URDFParser.ParseRobotOriginRPYBlank (0 ms)
-218: [ RUN      ] URDFParser.ParseRobotMaterialBlank
-218: [       OK ] URDFParser.ParseRobotMaterialBlank (0 ms)
-218: [ RUN      ] URDFParser.ParseRobotMaterialName
-218: [       OK ] URDFParser.ParseRobotMaterialName (0 ms)
-218: [ RUN      ] URDFParser.ParseRobotOriginInvalidXYZ
-218: [1;31mError [parser_urdf.cc:288][0m xml key [0 foo 0][1] value [foo] is not a valid double from a 3-tuple
-218: [       OK ] URDFParser.ParseRobotOriginInvalidXYZ (12 ms)
-218: [ RUN      ] URDFParser.ParseGazeboLinkFactors
-218: [       OK ] URDFParser.ParseGazeboLinkFactors (3 ms)
-218: [ RUN      ] URDFParser.ParseGazeboInvalidDampingFactor
-218: Error:   Inertial element must have inertia element
-218:          at line 306 in ./urdf_parser/src/link.cpp
-218: Error:   Could not parse inertial element for Link [link]
-218:          at line 435 in ./urdf_parser/src/link.cpp
-218: [       OK ] URDFParser.ParseGazeboInvalidDampingFactor (0 ms)
-218: [ RUN      ] URDFParser.ParseGazeboJointElements
-218: Error:   Could not parse collision element for Link [chest_link]
-218:          at line 475 in ./urdf_parser/src/link.cpp
-218: Error:   Could not parse collision element for Link [neck_tilt]
-218:          at line 475 in ./urdf_parser/src/link.cpp
-218: Error:   Could not parse collision element for Link [chest_link]
-218:          at line 475 in ./urdf_parser/src/link.cpp
-218: Error:   Could not parse collision element for Link [neck_tilt]
-218:          at line 475 in ./urdf_parser/src/link.cpp
-218: Error:   Could not parse collision element for Link [chest_link]
-218:          at line 475 in ./urdf_parser/src/link.cpp
-218: Error:   Could not parse collision element for Link [neck_tilt]
-218:          at line 475 in ./urdf_parser/src/link.cpp
-218: [       OK ] URDFParser.ParseGazeboJointElements (2 ms)
-218: [ RUN      ] URDFParser.CheckFixedJointOptions_NoOption
-219: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_parser_urdf_TEST.xml
-219: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_parser_urdf_TEST.xml
-212/221 Test #219: check_UNIT_parser_urdf_TEST ............................   Passed    0.06 sec
-test 220
-        Start 220: UNIT_ParamPassing_TEST
-
-220: Test command: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src/UNIT_ParamPassing_TEST "--gtest_output=xml:/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_ParamPassing_TEST.xml"
-220: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-220: Environment variables: 
-220:  SDF_PATH=/build/sdformat-12.3.0+ds/sdf/1.9:/build/sdformat-12.3.0+ds/sdf/1.8:/build/sdformat-12.3.0+ds/sdf/1.7:/build/sdformat-12.3.0+ds/sdf/1.6:/build/sdformat-12.3.0+ds/sdf/1.5:/build/sdformat-12.3.0+ds/sdf/1.4:/build/sdformat-12.3.0+ds/sdf/1.3:/build/sdformat-12.3.0+ds/sdf/1.2:/build/sdformat-12.3.0+ds/sdf/1.0:
-220: Test timeout computed to be: 240
-194: [       OK ] SDF.GetAny (278 ms)
+212/221 Test #216: UNIT_Converter_TEST ....................................   Passed    0.14 sec
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+218: [       OK ] URDFParser.CheckFixedJointOptions_NoOption (73 ms)
+218: [ RUN      ] URDFParser.CheckFixedJointOptions_disableJointLumping
+103: [       OK ] DOMWorld.NestedFrames (192 ms)
+103: [ RUN      ] DOMWorld.LoadWorldWithDuplicateChildNames
+59: [       OK ] NestedModel.IncludeElements (265 ms)
+59: [----------] 10 tests from NestedModel (2712 ms total)
+59: 
+59: [----------] 3 tests from PlacementFrame
+59: [ RUN      ] PlacementFrame.WorldInclude
+214: FrameAttachedToGraph unable to find unique frame with name [invalid] in graph.
+220: [       OK ] ParamPassing.GetElement (90 ms)
+220: [----------] 1 test from ParamPassing (90 ms total)
+220: 
+220: [----------] Global test environment tear-down
+214: [       OK ] FrameSemantics.buildFrameAttachedToGraph_Model (88 ms)
+214: [ RUN      ] FrameSemantics.buildFrameAttachedToGraph_World
+220: [==========] 1 test from 1 test suite ran. (90 ms total)
+220: [  PASSED  ] 1 test.
+213/221 Test #220: UNIT_ParamPassing_TEST .................................   Passed    0.17 sec
+194: [       OK ] SDF.ElementRemoveChild (76 ms)
+194: [ RUN      ] SDF.EmptyValues
+194: [       OK ] SDF.EmptyValues (0 ms)
+194: [ RUN      ] SDF.GetAny
+188: [       OK ] DOMRoot.StringActorSdfParse (70 ms)
+188: [ RUN      ] DOMRoot.Set
+188: [       OK ] DOMRoot.Set (0 ms)
+188: [ RUN      ] DOMRoot.FrameSemanticsOnMove
+218: [       OK ] URDFParser.CheckFixedJointOptions_disableJointLumping (71 ms)
+218: [ RUN      ] URDFParser.CheckFixedJointOptions_preserveFixedJoint
+214: FrameAttachedToGraph unable to find unique frame with name [invalid] in graph.
+214: [       OK ] FrameSemantics.buildFrameAttachedToGraph_World (85 ms)
+214: [ RUN      ] FrameSemantics.buildPoseRelativeToGraph
+194: [       OK ] SDF.GetAny (85 ms)
 194: [ RUN      ] SDF.Version
 194: [       OK ] SDF.Version (0 ms)
 194: [ RUN      ] SDF.FilePath
@@ -37727,27 +37661,168 @@
 194: [ RUN      ] SDF.OriginalVersion
 194: [       OK ] SDF.OriginalVersion (0 ms)
 194: [ RUN      ] SDF.PrintDoc
-194: [       OK ] SDF.PrintDoc (5 ms)
+194: [       OK ] SDF.PrintDoc (2 ms)
 194: [ RUN      ] SDF.PrintDescription
 194: [       OK ] SDF.PrintDescription (0 ms)
 194: [ RUN      ] SDF.PrintValues
 194: [       OK ] SDF.PrintValues (0 ms)
 194: [ RUN      ] SDF.ToStringAndParse
+176: [       OK ] Parser.readFileConversions (197 ms)
+176: [ RUN      ] Parser.NameUniqueness
+218: [       OK ] URDFParser.CheckFixedJointOptions_preserveFixedJoint (71 ms)
+218: [ RUN      ] URDFParser.CheckFixedJointOptions_preserveFixedJoint_and_disableJointLumping
 214: PoseRelativeToGraph unable to find unique frame with name [invalid] in graph.
 214: PoseRelativeToGraph unable to find unique frame with name [invalid] in graph.
-214: [       OK ] FrameSemantics.buildPoseRelativeToGraph (186 ms)
-214: [----------] 3 tests from FrameSemantics (498 ms total)
+214: [       OK ] FrameSemantics.buildPoseRelativeToGraph (78 ms)
+214: [----------] 3 tests from FrameSemantics (252 ms total)
 214: 
 214: [----------] 4 tests from NestedFrameSemantics
 214: [ RUN      ] NestedFrameSemantics.buildFrameAttachedToGraph_Model
+218: [       OK ] URDFParser.CheckFixedJointOptions_preserveFixedJoint_and_disableJointLumping (70 ms)
+218: [ RUN      ] URDFParser.CheckFixedJointOptions_NoOption_Repeated
+103: [       OK ] DOMWorld.LoadWorldWithDuplicateChildNames (218 ms)
+103: [----------] 8 tests from DOMWorld (1540 ms total)
+103: 
+103: [----------] Global test environment tear-down
+176: Error: Non-unique names detected in type world in
+176: <sdf version='1.9'>
+176:   <world name='default'>
+176:     <gravity>0 0 -9.8</gravity>
+176:     <magnetic_field>5.5645e-6 22.8758e-6 -42.3884e-6</magnetic_field>
+176:     <atmosphere type='adiabatic'/>
+176:     <physics type='ode'>
+176:       <max_step_size>0.001</max_step_size>
+176:       <real_time_factor>1.0</real_time_factor>
+176:       <real_time_update_rate>1000</real_time_update_rate>
+176:     </physics>
+176:     <scene>
+176:       <ambient>0.4 0.4 0.4 1.0</ambient>
+176:       <background>.7 .7 .7 1</background>
+176:       <shadows>true</shadows>
+176:     </scene>
+176:   </world>
+176:   <world name='default'>
+176:     <gravity>0 0 -9.8</gravity>
+176:     <magnetic_field>5.5645e-6 22.8758e-6 -42.3884e-6</magnetic_field>
+176:     <atmosphere type='adiabatic'/>
+176:     <physics type='ode'>
+176:       <max_step_size>0.001</max_step_size>
+176:       <real_time_factor>1.0</real_time_factor>
+176:       <real_time_update_rate>1000</real_time_update_rate>
+176:     </physics>
+176:     <scene>
+176:       <ambient>0.4 0.4 0.4 1.0</ambient>
+176:       <background>.7 .7 .7 1</background>
+176:       <shadows>true</shadows>
+176:     </scene>
+176:   </world>
+176: </sdf>
+176: 
+103: [==========] 8 tests from 1 test suite ran. (1540 ms total)
+103: [  PASSED  ] 8 tests.
+214/221 Test #103: INTEGRATION_world_dom ..................................   Passed    1.66 sec
+194: [       OK ] SDF.ToStringAndParse (118 ms)
+194: [ RUN      ] SDF.WriteURIPath
+194: [1;31mError [SDF.cc:160][0m Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
+194: [       OK ] SDF.WriteURIPath (4 ms)
+194: [----------] 14 tests from SDF (512 ms total)
+194: 
+194: [----------] Global test environment tear-down
+194: [==========] 14 tests from 1 test suite ran. (512 ms total)
+194: [  PASSED  ] 14 tests.
+215/221 Test #194: UNIT_SDF_TEST ..........................................   Passed    0.59 sec
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+218: [       OK ] URDFParser.CheckFixedJointOptions_NoOption_Repeated (68 ms)
+218: [ RUN      ] URDFParser.CheckJointTransform
+218: [       OK ] URDFParser.CheckJointTransform (0 ms)
+218: [ RUN      ] URDFParser.OutputPrecision
+218: [       OK ] URDFParser.OutputPrecision (0 ms)
+218: [ RUN      ] URDFParser.ParseWhitespace
+218: [       OK ] URDFParser.ParseWhitespace (0 ms)
+218: [----------] 19 tests from URDFParser (359 ms total)
+218: 
+218: [----------] Global test environment tear-down
+218: [==========] 19 tests from 1 test suite ran. (359 ms total)
+218: [  PASSED  ] 19 tests.
+216/221 Test #218: UNIT_parser_urdf_TEST ..................................   Passed    0.43 sec
 214: FrameAttachedToGraph unable to find unique frame with name [invalid] in graph.
-214: [       OK ] NestedFrameSemantics.buildFrameAttachedToGraph_Model (189 ms)
+214: [       OK ] NestedFrameSemantics.buildFrameAttachedToGraph_Model (100 ms)
 214: [ RUN      ] NestedFrameSemantics.buildFrameAttachedToGraph_World
-220: Running main() from ./googletest/src/gtest_main.cc
-220: [==========] Running 1 test from 1 test suite.
-220: [----------] Global test environment set-up.
-220: [----------] 1 test from ParamPassing
-220: [ RUN      ] ParamPassing.GetElement
+176: Error: Non-unique names detected in <world name='default'>
+176:   <physics name='my_physics' type='bullet'>
+176:     <max_step_size>0.1</max_step_size>
+176:     <real_time_factor>0.5</real_time_factor>
+176:     <real_time_update_rate>1000</real_time_update_rate>
+176:   </physics>
+176:   <light name='spot' type='spot'>
+176:     <cast_shadows>true</cast_shadows>
+176:     <spot>
+176:       <inner_angle>0.1</inner_angle>
+176:       <outer_angle>0.5</outer_angle>
+176:       <falloff>2.2</falloff>
+176:     </spot>
+176:     <direction>0 0 -1</direction>
+176:   </light>
+176:   <model name='spot'>
+176:     <link name='L'/>
+176:   </model>
+176:   <gravity>0 0 -9.8</gravity>
+176:   <magnetic_field>5.5645e-6 22.8758e-6 -42.3884e-6</magnetic_field>
+176:   <atmosphere type='adiabatic'/>
+176:   <scene>
+176:     <ambient>0.4 0.4 0.4 1.0</ambient>
+176:     <background>.7 .7 .7 1</background>
+176:     <shadows>true</shadows>
+176:   </scene>
+176: </world>
+176: 
+176: Error: Non-unique names detected in type link in
+176: <model name='duplicate_links'>
+176:   <link name='link'>
+176:     <pose>1 1 1 0 0 0</pose>
+176:   </link>
+176:   <link name='link'>
+176:     <pose>2 2 2 0 0 0</pose>
+176:   </link>
+176: </model>
+176: 
+214: FrameAttachedToGraph unable to find unique frame with name [invalid] in graph.
+214: [       OK ] NestedFrameSemantics.buildFrameAttachedToGraph_World (99 ms)
+214: [ RUN      ] NestedFrameSemantics.ModelWithoutLinksWithNestedStaticModel
+188: [       OK ] DOMRoot.FrameSemanticsOnMove (389 ms)
+188: [----------] 8 tests from DOMRoot (695 ms total)
+188: 
+188: [----------] Global test environment tear-down
+188: [==========] 8 tests from 1 test suite ran. (695 ms total)
+188: [  PASSED  ] 8 tests.
+217/221 Test #188: UNIT_Root_TEST .........................................   Passed    0.83 sec
 176: Error: Non-unique names detected in type joint in
 176: <model name='duplicate_joints'>
 176:   <link name='link1'/>
@@ -37763,44 +37838,8 @@
 176:   </joint>
 176: </model>
 176: 
-218: [       OK ] URDFParser.CheckFixedJointOptions_NoOption (392 ms)
-218: [ RUN      ] URDFParser.CheckFixedJointOptions_disableJointLumping
-194: [       OK ] SDF.ToStringAndParse (377 ms)
-194: [ RUN      ] SDF.WriteURIPath
-194: [1;31mError [SDF.cc:160][0m Tried to use callback in sdf::findFile(), but the callback is empty.  Did you call sdf::setFindCallback()?
-194: [       OK ] SDF.WriteURIPath (11 ms)
-194: [----------] 14 tests from SDF (1688 ms total)
-194: 
-194: [----------] Global test environment tear-down
-194: [==========] 14 tests from 1 test suite ran. (1689 ms total)
-194: [  PASSED  ] 14 tests.
-213/221 Test #194: UNIT_SDF_TEST ..........................................   Passed    1.95 sec
-test 221
-        Start 221: check_UNIT_ParamPassing_TEST
-
-221: Test command: /usr/bin/python3 "/build/sdformat-12.3.0+ds/tools/check_test_ran.py" "/build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_ParamPassing_TEST.xml"
-221: Working Directory: /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/src
-221: Test timeout computed to be: 10000000
-106: [       OK ] URDFParser.AtlasURDF_5runs_performance (5212 ms)
-106: [----------] 1 test from URDFParser (5213 ms total)
-106: 
-106: [----------] Global test environment tear-down
-106: [==========] 1 test from 1 test suite ran. (5213 ms total)
-106: [  PASSED  ] 1 test.
-221: Checking for test results in /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_ParamPassing_TEST.xml
-221: Cannot find results, writing failure results to /build/sdformat-12.3.0+ds/obj-i686-linux-gnu/test_results/UNIT_ParamPassing_TEST.xml
-214/221 Test #221: check_UNIT_ParamPassing_TEST ...........................   Passed    0.03 sec
-215/221 Test #106: PERFORMANCE_parser_urdf ................................   Passed    5.51 sec
-214: FrameAttachedToGraph unable to find unique frame with name [invalid] in graph.
-220: [       OK ] ParamPassing.GetElement (247 ms)
-220: [----------] 1 test from ParamPassing (248 ms total)
-220: 
-220: [----------] Global test environment tear-down
-214: [       OK ] NestedFrameSemantics.buildFrameAttachedToGraph_World (257 ms)
-214: [ RUN      ] NestedFrameSemantics.ModelWithoutLinksWithNestedStaticModel
-220: [==========] 1 test from 1 test suite ran. (248 ms total)
-220: [  PASSED  ] 1 test.
-216/221 Test #220: UNIT_ParamPassing_TEST .................................   Passed    0.54 sec
+214: [       OK ] NestedFrameSemantics.ModelWithoutLinksWithNestedStaticModel (93 ms)
+214: [ RUN      ] NestedFrameSemantics.InvalidAttachedToScope
 176: Error: Non-unique names detected in <model name='link_joint_same_name'>
 176:   <link name='base'>
 176:     <pose>1 0 0 0 0 0</pose>
@@ -37815,8 +37854,45 @@
 176:   </joint>
 176: </model>
 176: 
-214: [       OK ] NestedFrameSemantics.ModelWithoutLinksWithNestedStaticModel (179 ms)
-214: [ RUN      ] NestedFrameSemantics.InvalidAttachedToScope
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+106: [1;33mWarning [parser_urdf.cc:1480][0m Note that cfmDamping is being deprecated by implicitSpringDamper, please replace instances of cfmDamping with implicitSpringDamper in your model.
+214: Error: attached_to name[M2::M1::L1] specified by frame with name[F] does not match a model or frame name in world with name[world_frame_invalid_attached_to_scope].
+214: Error in validateFrameAttachedToGraph: FrameAttachedToGraph error, Non-LINK vertex with name [F] has 0 outgoing edges; it should only have 1 outgoing edge in WORLD attached_to graph.
+214: Error in validateFrameAttachedToGraph: Graph has world scope but sink vertex named [F] does not have FrameType WORLD, LINK or STATIC_MODEL when starting from vertex with name [F].
+214: Error: attached_to name[M2::M1::L1] specified by frame with name[F] does not match a model or frame name in world with name[world_frame_invalid_attached_to_scope].
+214: [       OK ] NestedFrameSemantics.InvalidAttachedToScope (99 ms)
+214: [----------] 4 tests from NestedFrameSemantics (392 ms total)
+214: 
+214: [----------] Global test environment tear-down
+214: [==========] 7 tests from 2 test suites ran. (645 ms total)
+214: [  PASSED  ] 7 tests.
+218/221 Test #214: UNIT_FrameSemantics_TEST ...............................   Passed    0.78 sec
 176: Error: Non-unique names detected in type collision in
 176: <link name='link'>
 176:   <collision name='collision'>
@@ -37827,26 +37903,6 @@
 176:   </collision>
 176: </link>
 176: 
-218: [       OK ] URDFParser.CheckFixedJointOptions_disableJointLumping (434 ms)
-218: [ RUN      ] URDFParser.CheckFixedJointOptions_preserveFixedJoint
-188: [       OK ] DOMRoot.FrameSemanticsOnMove (1532 ms)
-188: [----------] 8 tests from DOMRoot (2219 ms total)
-188: 
-188: [----------] Global test environment tear-down
-188: [==========] 8 tests from 1 test suite ran. (2219 ms total)
-188: [  PASSED  ] 8 tests.
-217/221 Test #188: UNIT_Root_TEST .........................................   Passed    2.48 sec
-214: Error: attached_to name[M2::M1::L1] specified by frame with name[F] does not match a model or frame name in world with name[world_frame_invalid_attached_to_scope].
-214: Error in validateFrameAttachedToGraph: FrameAttachedToGraph error, Non-LINK vertex with name [F] has 0 outgoing edges; it should only have 1 outgoing edge in WORLD attached_to graph.
-214: Error in validateFrameAttachedToGraph: Graph has world scope but sink vertex named [F] does not have FrameType WORLD, LINK or STATIC_MODEL when starting from vertex with name [F].
-214: Error: attached_to name[M2::M1::L1] specified by frame with name[F] does not match a model or frame name in world with name[world_frame_invalid_attached_to_scope].
-214: [       OK ] NestedFrameSemantics.InvalidAttachedToScope (201 ms)
-214: [----------] 4 tests from NestedFrameSemantics (828 ms total)
-214: 
-214: [----------] Global test environment tear-down
-214: [==========] 7 tests from 2 test suites ran. (1326 ms total)
-214: [  PASSED  ] 7 tests.
-218/221 Test #214: UNIT_FrameSemantics_TEST ...............................   Passed    1.50 sec
 176: Error: Non-unique names detected in <link name='link'>
 176:   <visual name='visual'>
 176:     <geometry/>
@@ -37856,45 +37912,28 @@
 176:   </visual>
 176: </link>
 176: 
-218: [       OK ] URDFParser.CheckFixedJointOptions_preserveFixedJoint (207 ms)
-218: [ RUN      ] URDFParser.CheckFixedJointOptions_preserveFixedJoint_and_disableJointLumping
-218: [       OK ] URDFParser.CheckFixedJointOptions_preserveFixedJoint_and_disableJointLumping (186 ms)
-218: [ RUN      ] URDFParser.CheckFixedJointOptions_NoOption_Repeated
-218: [       OK ] URDFParser.CheckFixedJointOptions_NoOption_Repeated (182 ms)
-218: [ RUN      ] URDFParser.CheckJointTransform
-218: [       OK ] URDFParser.CheckJointTransform (0 ms)
-218: [ RUN      ] URDFParser.OutputPrecision
-218: [       OK ] URDFParser.OutputPrecision (11 ms)
-218: [ RUN      ] URDFParser.ParseWhitespace
-218: [       OK ] URDFParser.ParseWhitespace (0 ms)
-218: [----------] 19 tests from URDFParser (1438 ms total)
-218: 
-218: [----------] Global test environment tear-down
-218: [==========] 19 tests from 1 test suite ran. (1439 ms total)
-218: [  PASSED  ] 19 tests.
-219/221 Test #218: UNIT_parser_urdf_TEST ..................................   Passed    1.69 sec
-176: [       OK ] Parser.NameUniqueness (2301 ms)
+59: [       OK ] PlacementFrame.WorldInclude (664 ms)
+59: [ RUN      ] PlacementFrame.ModelInclude
+106: [       OK ] URDFParser.AtlasURDF_5runs_performance (1954 ms)
+106: [----------] 1 test from URDFParser (1954 ms total)
+106: 
+106: [----------] Global test environment tear-down
+106: [==========] 1 test from 1 test suite ran. (1954 ms total)
+106: [  PASSED  ] 1 test.
+219/221 Test #106: PERFORMANCE_parser_urdf ................................   Passed    2.08 sec
+176: [       OK ] Parser.NameUniqueness (672 ms)
 176: [ RUN      ] Parser.SyntaxErrorInValues
-59: [       OK ] PlacementFrame.ModelPlacementFrameAttribute (2193 ms)
-59: [----------] 3 tests from PlacementFrame (7307 ms total)
-59: 
-59: [----------] 4 tests from NestedReference
-59: [ RUN      ] NestedReference.PoseRelativeTo
-176: [       OK ] Parser.SyntaxErrorInValues (615 ms)
+176: [       OK ] Parser.SyntaxErrorInValues (235 ms)
 176: [ RUN      ] Parser.MissingRequiredAttributesErrors
-59: [       OK ] NestedReference.PoseRelativeTo (571 ms)
-59: [ RUN      ] NestedReference.PoseRelativeToInWorld
-176: [       OK ] Parser.MissingRequiredAttributesErrors (191 ms)
+176: [       OK ] Parser.MissingRequiredAttributesErrors (80 ms)
 176: [ RUN      ] Parser.IncludesErrors
-59: [       OK ] NestedReference.PoseRelativeToInWorld (266 ms)
-59: [ RUN      ] NestedReference.PlacementFrameAttribute
-59: [       OK ] NestedReference.PlacementFrameAttribute (232 ms)
-59: [ RUN      ] NestedReference.PlacementFrameElement
-176: [       OK ] Parser.IncludesErrors (930 ms)
+59: [       OK ] PlacementFrame.ModelInclude (603 ms)
+59: [ RUN      ] PlacementFrame.ModelPlacementFrameAttribute
+176: [       OK ] Parser.IncludesErrors (389 ms)
 176: [ RUN      ] Parser.PlacementFrameMissingPose
 176: Error:   Could not find the 'robot' element in the xml file
 176:          at line 109 in ./urdf_parser/src/model.cpp
-176: [       OK ] Parser.PlacementFrameMissingPose (367 ms)
+176: [       OK ] Parser.PlacementFrameMissingPose (136 ms)
 176: [ RUN      ] Parser.DoubleColonNameAttrError
 176: Error: Detected delimiter '::' in element name in
 176: <link name='A::B'/>
@@ -37903,60 +37942,71 @@
 176:          at line 109 in ./urdf_parser/src/model.cpp
 176: [1;31mError [parser_urdf.cc:3226][0m Unable to call parseURDF on robot model
 176: [1;31mError [parser.cc:820][0m parse as old deprecated model file failed.
-59: [       OK ] NestedReference.PlacementFrameElement (1169 ms)
-59: [----------] 4 tests from NestedReference (2240 ms total)
-59: 
-59: [----------] Global test environment tear-down
-59: [==========] 17 tests from 3 test suites ran. (14563 ms total)
-59: [  PASSED  ] 17 tests.
-176: [       OK ] Parser.DoubleColonNameAttrError (340 ms)
+176: [       OK ] Parser.DoubleColonNameAttrError (133 ms)
 176: [ RUN      ] Parser.ReadSingleLineStringError
-220/221 Test  #59: INTEGRATION_nested_model ...............................   Passed   14.80 sec
 176: Error:   Could not find the 'robot' element in the xml file
 176:          at line 109 in ./urdf_parser/src/model.cpp
 176: [1;31mError [parser_urdf.cc:3226][0m Unable to call parseURDF on robot model
 176: [1;31mError [parser.cc:820][0m parse as old deprecated model file failed.
 176: Error Code 4: [/sdf/model[@name="test"]/link:<data-string>:L1]: Msg: Required attribute[name] in element[link] is not specified in SDF.
-176: [       OK ] Parser.ReadSingleLineStringError (184 ms)
+176: [       OK ] Parser.ReadSingleLineStringError (68 ms)
 176: [ RUN      ] Parser.ReadMultiLineStringError
+59: [       OK ] PlacementFrame.ModelPlacementFrameAttribute (604 ms)
+59: [----------] 3 tests from PlacementFrame (1872 ms total)
+59: 
+59: [----------] 4 tests from NestedReference
+59: [ RUN      ] NestedReference.PoseRelativeTo
 176: Error:   Could not find the 'robot' element in the xml file
 176:          at line 109 in ./urdf_parser/src/model.cpp
 176: [1;31mError [parser_urdf.cc:3226][0m Unable to call parseURDF on robot model
 176: [1;31mError [parser.cc:820][0m parse as old deprecated model file failed.
 176: Error Code 4: [/sdf/model[@name="test"]/link:<data-string>:L10]: Msg: Required attribute[name] in element[link] is not specified in SDF.
-176: [       OK ] Parser.ReadMultiLineStringError (182 ms)
+176: [       OK ] Parser.ReadMultiLineStringError (69 ms)
 176: [ RUN      ] Parser.ElementFilePath
-176: [       OK ] Parser.ElementFilePath (300 ms)
+176: [       OK ] Parser.ElementFilePath (108 ms)
 176: [ RUN      ] Parser.MissingRequiredElement
+59: [       OK ] NestedReference.PoseRelativeTo (212 ms)
+59: [ RUN      ] NestedReference.PoseRelativeToInWorld
 176: Error:   Could not find the 'robot' element in the xml file
 176:          at line 109 in ./urdf_parser/src/model.cpp
 176: [1;31mError [parser_urdf.cc:3226][0m Unable to call parseURDF on robot model
 176: [1;31mError [parser.cc:820][0m parse as old deprecated model file failed.
 176: Error Code 8: [/sdf/world[@name="default"]/model[@name="test_model"]/joint[@name="joint"]/child:<data-string>:L7]: Msg: XML Missing required element[child], child of element[joint]
-176: [       OK ] Parser.MissingRequiredElement (220 ms)
+176: [       OK ] Parser.MissingRequiredElement (83 ms)
 176: [ RUN      ] Parser.ElementRemovedAfterDeprecation
-176: [       OK ] Parser.ElementRemovedAfterDeprecation (181 ms)
-176: [----------] 15 tests from Parser (6870 ms total)
+176: [       OK ] Parser.ElementRemovedAfterDeprecation (69 ms)
+176: [----------] 15 tests from Parser (2538 ms total)
 176: 
 176: [----------] 1 test from ValueConstraintsFixture
 176: [ RUN      ] ValueConstraintsFixture.ElementMinMaxValues
-176: [       OK ] ValueConstraintsFixture.ElementMinMaxValues (405 ms)
-176: [----------] 1 test from ValueConstraintsFixture (405 ms total)
+59: [       OK ] NestedReference.PoseRelativeToInWorld (99 ms)
+59: [ RUN      ] NestedReference.PlacementFrameAttribute
+59: [       OK ] NestedReference.PlacementFrameAttribute (86 ms)
+59: [ RUN      ] NestedReference.PlacementFrameElement
+176: [       OK ] ValueConstraintsFixture.ElementMinMaxValues (148 ms)
+176: [----------] 1 test from ValueConstraintsFixture (148 ms total)
 176: 
 176: [----------] Global test environment tear-down
-176: [==========] 16 tests from 2 test suites ran. (7275 ms total)
+176: [==========] 16 tests from 2 test suites ran. (2687 ms total)
 176: [  PASSED  ] 16 tests.
-221/221 Test #176: UNIT_parser_TEST .......................................   Passed    7.43 sec
+220/221 Test #176: UNIT_parser_TEST .......................................   Passed    2.82 sec
+59: [       OK ] NestedReference.PlacementFrameElement (464 ms)
+59: [----------] 4 tests from NestedReference (863 ms total)
+59: 
+59: [----------] Global test environment tear-down
+59: [==========] 17 tests from 3 test suites ran. (5448 ms total)
+59: [  PASSED  ] 17 tests.
+221/221 Test  #59: INTEGRATION_nested_model ...............................   Passed    5.57 sec
 
 100% tests passed, 0 tests failed out of 221
 
-Total Test time (real) =  21.60 sec
+Total Test time (real) =   6.45 sec
 make[2]: Leaving directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 make[1]: Leaving directory '/build/sdformat-12.3.0+ds'
    create-stamp debian/debhelper-build-stamp
    dh_prep
    dh_auto_install
-	cd obj-i686-linux-gnu && make -j8 install DESTDIR=/build/sdformat-12.3.0\+ds/debian/tmp AM_UPDATE_INFO_DIR=no "INSTALL=install --strip-program=true"
+	cd obj-i686-linux-gnu && make -j15 install DESTDIR=/build/sdformat-12.3.0\+ds/debian/tmp AM_UPDATE_INFO_DIR=no "INSTALL=install --strip-program=true"
 make[1]: Entering directory '/build/sdformat-12.3.0+ds/obj-i686-linux-gnu'
 /usr/bin/cmake -S/build/sdformat-12.3.0+ds -B/build/sdformat-12.3.0+ds/obj-i686-linux-gnu --check-build-system CMakeFiles/Makefile.cmake 0
 make  -f CMakeFiles/Makefile2 preinstall
@@ -38771,12 +38821,12 @@
    dh_gencontrol
    dh_md5sums
    dh_builddeb
+dpkg-deb: building package 'libsdformat6-dev' in '../libsdformat6-dev_12.3.0+ds-2_all.deb'.
+dpkg-deb: building package 'sdformat-sdf' in '../sdformat-sdf_12.3.0+ds-2_all.deb'.
 dpkg-deb: building package 'libsdformat-dev' in '../libsdformat-dev_12.3.0+ds-2_i386.deb'.
-dpkg-deb: building package 'libsdformat12-12-dbgsym' in '../libsdformat12-12-dbgsym_12.3.0+ds-2_i386.deb'.
 dpkg-deb: building package 'libsdformat12-12' in '../libsdformat12-12_12.3.0+ds-2_i386.deb'.
-dpkg-deb: building package 'libsdformat6-dev' in '../libsdformat6-dev_12.3.0+ds-2_all.deb'.
+dpkg-deb: building package 'libsdformat12-12-dbgsym' in '../libsdformat12-12-dbgsym_12.3.0+ds-2_i386.deb'.
 dpkg-deb: building package 'sdformat-doc' in '../sdformat-doc_12.3.0+ds-2_all.deb'.
-dpkg-deb: building package 'sdformat-sdf' in '../sdformat-sdf_12.3.0+ds-2_all.deb'.
  dpkg-genbuildinfo --build=binary -O../sdformat_12.3.0+ds-2_i386.buildinfo
  dpkg-genchanges --build=binary -O../sdformat_12.3.0+ds-2_i386.changes
 dpkg-genchanges: info: binary-only upload (no source code included)
@@ -38784,12 +38834,14 @@
 dpkg-buildpackage: info: binary-only upload (no source included)
 dpkg-genchanges: info: not including original source code in upload
 I: copying local configuration
+I: user script /srv/workspace/pbuilder/115288/tmp/hooks/B01_cleanup starting
+I: user script /srv/workspace/pbuilder/115288/tmp/hooks/B01_cleanup finished
 I: unmounting dev/ptmx filesystem
 I: unmounting dev/pts filesystem
 I: unmounting dev/shm filesystem
 I: unmounting proc filesystem
 I: unmounting sys filesystem
 I: cleaning the build env 
-I: removing directory /srv/workspace/pbuilder/4030 and its subdirectories
-I: Current time: Sun Apr 16 09:56:37 -12 2023
-I: pbuilder-time-stamp: 1681682197
+I: removing directory /srv/workspace/pbuilder/115288 and its subdirectories
+I: Current time: Sun May 19 18:26:46 +14 2024
+I: pbuilder-time-stamp: 1716092806