Merge branch 'gz-sensors7' into scpeters/merge_7_main

CMakeLists.txt

@@ -38,11 +38,9 @@ message(STATUS "\n\n-- ====== Finding Dependencies ======")
 
 #--------------------------------------
 # Find Protobuf
-set(REQ_PROTOBUF_VER 3)
 gz_find_package(GzProtobuf
-                 VERSION ${REQ_PROTOBUF_VER}
-                 REQUIRED
-                 PRETTY Protobuf)
+                REQUIRED
+                PRETTY Protobuf)
 
 #--------------------------------------
 # Find gz-math

include/gz/sensors/DepthCameraSensor.hh

@@ -105,12 +105,12 @@ namespace gz
                     const std::string &/*_format*/);
 
       /// \brief Point cloud data callback used to get the data from the sensor
-      /// \param[in] _data pointer to the data from the sensor
+      /// \param[in] _scan pointer to the data from the sensor
       /// \param[in] _width width of the point cloud image
       /// \param[in] _height height of the point cloud image
       /// \param[in] _channel bytes used for the point cloud data
       /// \param[in] _format string with the format
-      public: void OnNewRgbPointCloud(const float *_data,
+      public: void OnNewRgbPointCloud(const float *_scan,
                     unsigned int _width, unsigned int _height,
                     unsigned int /*_channels*/,
                     const std::string &/*_format*/);

src/CameraSensor.cc

@@ -671,7 +671,7 @@ bool CameraSensor::Update(const std::chrono::steady_clock::duration &_now)
       }
       catch(...)
       {
-        ignerr << "Exception thrown in an image callback.\n";
+        gzerr << "Exception thrown in an image callback.\n";
       }
     }
 

src/DepthCameraSensor.cc

@@ -304,7 +304,7 @@ bool DepthCameraSensor::Load(const sdf::Sensor &_sdf)
   // the xyz and rgb fields to be aligned to memory boundaries. This is need
   // by ROS1: https://github.com/ros/common_msgs/pull/77. Ideally, memory
   // alignment should be configured.
-  msgs::InitPointCloudPacked(this->dataPtr->pointMsg, this->Name(), true,
+  msgs::InitPointCloudPacked(this->dataPtr->pointMsg, this->FrameId(), true,
       {{"xyz", msgs::PointCloudPacked::Field::FLOAT32},
        {"rgb", msgs::PointCloudPacked::Field::FLOAT32}});
 

src/GpuLidarSensor.cc

@@ -239,7 +239,7 @@ bool GpuLidarSensor::CreateLidar()
 }
 
 /////////////////////////////////////////////////
-void GpuLidarSensor::OnNewLidarFrame(const float *_data,
+void GpuLidarSensor::OnNewLidarFrame(const float *_scan,
     unsigned int _width, unsigned int _height, unsigned int _channels,
     const std::string &_format)
 {
@@ -251,11 +251,11 @@ void GpuLidarSensor::OnNewLidarFrame(const float *_data,
   if (!this->laserBuffer)
     this->laserBuffer = new float[samples];
 
-  memcpy(this->laserBuffer, _data, lidarBufferSize);
+  memcpy(this->laserBuffer, _scan, lidarBufferSize);
 
   if (this->dataPtr->lidarEvent.ConnectionCount() > 0)
   {
-    this->dataPtr->lidarEvent(_data, _width, _height, _channels, _format);
+    this->dataPtr->lidarEvent(_scan, _width, _height, _channels, _format);
   }
 }
 

src/NavSatSensor.cc

@@ -15,6 +15,8 @@
  *
 */
 
+#include <unordered_map>
+
 #ifdef _WIN32
 #pragma warning(push)
 #pragma warning(disable: 4005)

src/SegmentationCameraSensor.cc

@@ -406,12 +406,12 @@ rendering::SegmentationCameraPtr SegmentationCameraSensor::SegmentationCamera()
 
 /////////////////////////////////////////////////
 void SegmentationCameraSensor::OnNewSegmentationFrame(const uint8_t * _data,
-  unsigned int _width, unsigned int _height, unsigned int _channles,
+  unsigned int _width, unsigned int _height, unsigned int _channels,
   const std::string &/*_format*/)
 {
   std::lock_guard<std::mutex> lock(this->dataPtr->mutex);
 
-  unsigned int bufferSize = _width * _height * _channles;
+  unsigned int bufferSize = _width * _height * _channels;
 
   if (!this->dataPtr->segmentationColoredBuffer)
     this->dataPtr->segmentationColoredBuffer = new uint8_t[bufferSize];

src/Sensor.cc

@@ -345,8 +345,8 @@ void SensorPrivate::PublishMetrics(const std::chrono::duration<double> &_now)
   }
 
   // Computes simulation update rate and real update rate.
-  double simUpdateRate;
-  double realUpdateRate;
+  double simUpdateRate = 0;
+  double realUpdateRate = 0;
   const auto clockNow = std::chrono::steady_clock::now();
   // If lastUpdateTime == 0 means it wasn't initialized yet.
   if (this->lastUpdateTime.count() > 0)