Update sensors to use message generation pipeline

Signed-off-by: Michael Carroll <[email protected]>
gazebosim · May 30, 2023 · 2ec1ae4 · 2ec1ae4
1 parent 4075656
commit 2ec1ae4
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Showing 20 changed files with 95 additions and 21 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -87,6 +87,17 @@ endif()
 gz_find_package(gz-msgs10 REQUIRED)
 set(GZ_MSGS_VER ${gz-msgs10_VERSION_MAJOR})
 
+# Get the gz-msgs installed messages and generate a library from them
+gz_msgs_get_installed_messages(
+  MESSAGES_PATH_VARIABLE MSGS_PATH
+  MESSAGES_PROTOS_VARIABLE MSGS_PROTOS)
+
+gz_msgs_generate_messages(
+  TARGET gz_msgs_gen
+  PROTO_PACKAGE "gz.msgs"
+  MSGS_PATH ${MSGS_PATH}
+  MSGS_PROTOS ${MSGS_PROTOS})
+
 #--------------------------------------
 # Find SDFormat
 gz_find_package(sdformat13 REQUIRED)

diff --git a/src/BoundingBoxCameraSensor.cc b/src/BoundingBoxCameraSensor.cc
@@ -19,7 +19,9 @@
 
 #include <gz/msgs/image.pb.h>
 #include <gz/msgs/annotated_axis_aligned_2d_box.pb.h>
+#include <gz/msgs/annotated_axis_aligned_2d_box_v.pb.h>
 #include <gz/msgs/annotated_oriented_3d_box.pb.h>
+#include <gz/msgs/annotated_oriented_3d_box_v.pb.h>
 
 #include <gz/common/Console.hh>
 #include <gz/common/Image.hh>
@@ -494,9 +496,9 @@ bool BoundingBoxCameraSensor::Update(
 
       auto axisAlignedBox = annotatedBox->mutable_box();
       msgs::Set(axisAlignedBox->mutable_min_corner(),
-          {minCorner.X(), minCorner.Y()});
+          gz::math::Vector2d{minCorner.X(), minCorner.Y()});
       msgs::Set(axisAlignedBox->mutable_max_corner(),
-          {maxCorner.X(), maxCorner.Y()});
+          gz::math::Vector2d{maxCorner.X(), maxCorner.Y()});
     }
     // time stamp
     auto stampBoxes = boxes2DMsg.mutable_header()->mutable_stamp();

diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -48,14 +48,16 @@ target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
     sdformat${SDF_VER}::sdformat${SDF_VER}
   PRIVATE
     gz-common${GZ_COMMON_VER}::profiler
-    gz-msgs${GZ_MSGS_VER}::gz-msgs${GZ_MSGS_VER}
+    gz_msgs_gen
 )
 target_compile_definitions(${PROJECT_LIBRARY_TARGET_NAME} PUBLIC DepthPoints_EXPORTS)
 
 gz_add_component(rendering SOURCES ${rendering_sources} GET_TARGET_NAME rendering_target)
 target_link_libraries(${rendering_target}
   PUBLIC
     gz-rendering${GZ_RENDERING_VER}::gz-rendering${GZ_RENDERING_VER}
+  PRIVATE
+    gz_msgs_gen
 )
 
 set(camera_sources CameraSensor.cc)
@@ -71,7 +73,7 @@ target_link_libraries(${camera_target}
   PUBLIC
     ${rendering_target}
   PRIVATE
-    gz-msgs${GZ_MSGS_VER}::gz-msgs${GZ_MSGS_VER}
+    gz_msgs_gen
     gz-transport${GZ_TRANSPORT_VER}::gz-transport${GZ_TRANSPORT_VER}
 )
 
@@ -85,7 +87,7 @@ target_compile_definitions(${depth_camera_target} PUBLIC DepthCameraSensor_EXPOR
 target_link_libraries(${depth_camera_target}
   PRIVATE
     ${camera_target}
-    gz-msgs${GZ_MSGS_VER}::gz-msgs${GZ_MSGS_VER}
+    gz_msgs_gen
     gz-transport${GZ_TRANSPORT_VER}::gz-transport${GZ_TRANSPORT_VER}
 )
 
@@ -102,7 +104,7 @@ target_link_libraries(${dvl_target}
   PRIVATE
     gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER}
     gz-math${GZ_MATH_VER}::gz-math${GZ_MATH_VER}
-    gz-msgs${GZ_MSGS_VER}::gz-msgs${GZ_MSGS_VER}
+    gz_msgs_gen
     gz-transport${GZ_TRANSPORT_VER}::gz-transport${GZ_TRANSPORT_VER})
 
 set(lidar_sources Lidar.cc)
@@ -116,7 +118,7 @@ target_link_libraries(${lidar_target}
   PUBLIC
     ${rendering_target}
   PRIVATE
-    gz-msgs${GZ_MSGS_VER}::gz-msgs${GZ_MSGS_VER}
+    gz_msgs_gen
     gz-transport${GZ_TRANSPORT_VER}::gz-transport${GZ_TRANSPORT_VER}
 )
 
@@ -129,7 +131,7 @@ gz_add_component(gpu_lidar
 target_compile_definitions(${gpu_lidar_target} PUBLIC GpuLidarSensor_EXPORTS)
 target_link_libraries(${gpu_lidar_target}
   PRIVATE
-    gz-msgs${GZ_MSGS_VER}::gz-msgs${GZ_MSGS_VER}
+    gz_msgs_gen
     gz-transport${GZ_TRANSPORT_VER}::gz-transport${GZ_TRANSPORT_VER}
     ${lidar_target}
 )
@@ -139,30 +141,58 @@ gz_add_component(logical_camera SOURCES ${logical_camera_sources} GET_TARGET_NAM
 target_compile_definitions(${logical_camera_target} PUBLIC LogicalCameraSensor_EXPORTS)
 target_link_libraries(${logical_camera_target}
   PRIVATE
-    gz-msgs${GZ_MSGS_VER}::gz-msgs${GZ_MSGS_VER}
+    gz_msgs_gen
     gz-transport${GZ_TRANSPORT_VER}::gz-transport${GZ_TRANSPORT_VER}
 )
 
 set(magnetometer_sources MagnetometerSensor.cc)
 gz_add_component(magnetometer SOURCES ${magnetometer_sources} GET_TARGET_NAME magnetometer_target)
+target_link_libraries(${magnetometer_target}
+  PRIVATE
+    gz_msgs_gen
+)
 
 set(imu_sources ImuSensor.cc)
 gz_add_component(imu SOURCES ${imu_sources} GET_TARGET_NAME imu_target)
+target_link_libraries(${imu_target}
+  PRIVATE
+    gz_msgs_gen
+)
 
 set(altimeter_sources AltimeterSensor.cc)
 gz_add_component(altimeter SOURCES ${altimeter_sources} GET_TARGET_NAME altimeter_target)
+target_link_libraries(${altimeter_target}
+  PRIVATE
+    gz_msgs_gen
+)
 
 set(air_pressure_sources AirPressureSensor.cc)
 gz_add_component(air_pressure SOURCES ${air_pressure_sources} GET_TARGET_NAME air_pressure_target)
+target_link_libraries(${air_pressure_target}
+  PRIVATE
+    gz_msgs_gen
+)
 
 set(air_speed_sources AirSpeedSensor.cc)
 gz_add_component(air_speed SOURCES ${air_speed_sources} GET_TARGET_NAME air_speed_target)
+target_link_libraries(${air_speed_target}
+  PRIVATE
+    gz_msgs_gen
+)
 
 set(force_torque_sources ForceTorqueSensor.cc)
 gz_add_component(force_torque SOURCES ${force_torque_sources} GET_TARGET_NAME force_torque_target)
+target_link_libraries(${force_torque_target}
+  PRIVATE
+    gz_msgs_gen
+)
 
 set(navsat_sources NavSatSensor.cc)
 gz_add_component(navsat SOURCES ${navsat_sources} GET_TARGET_NAME navsat_target)
+target_link_libraries(${navsat_target}
+  PRIVATE
+    gz_msgs_gen
+)
 
 set(rgbd_camera_sources RgbdCameraSensor.cc)
 gz_add_component(rgbd_camera
@@ -174,7 +204,7 @@ target_compile_definitions(${rgbd_camera_target} PUBLIC RgbdCameraSensor_EXPORTS
 target_link_libraries(${rgbd_camera_target}
   PRIVATE
     ${camera_target}
-    gz-msgs${GZ_MSGS_VER}::gz-msgs${GZ_MSGS_VER}
+    gz_msgs_gen
     gz-transport${GZ_TRANSPORT_VER}::gz-transport${GZ_TRANSPORT_VER}
 )
 
@@ -187,7 +217,7 @@ gz_add_component(thermal_camera
 target_link_libraries(${thermal_camera_target}
   PRIVATE
     ${camera_target}
-    gz-msgs${GZ_MSGS_VER}::gz-msgs${GZ_MSGS_VER}
+    gz_msgs_gen
     gz-transport${GZ_TRANSPORT_VER}::gz-transport${GZ_TRANSPORT_VER}
 )
 
@@ -196,7 +226,7 @@ gz_add_component(boundingbox_camera SOURCES ${boundingbox_camera_sources} GET_TA
 target_link_libraries(${boundingbox_camera_target}
   PRIVATE
     ${camera_target}
-    gz-msgs${GZ_MSGS_VER}::gz-msgs${GZ_MSGS_VER}
+    gz_msgs_gen
     gz-transport${GZ_TRANSPORT_VER}::gz-transport${GZ_TRANSPORT_VER}
 )
 
@@ -206,7 +236,7 @@ target_compile_definitions(${segmentation_camera_target} PUBLIC SegmentationCame
 target_link_libraries(${segmentation_camera_target}
   PRIVATE
     ${camera_target}
-    gz-msgs${GZ_MSGS_VER}::gz-msgs${GZ_MSGS_VER}
+    gz_msgs_gen
     gz-transport${GZ_TRANSPORT_VER}::gz-transport${GZ_TRANSPORT_VER}
 )
 
@@ -215,14 +245,14 @@ gz_add_component(wide_angle_camera SOURCES ${wide_angle_camera_sources} GET_TARG
 target_link_libraries(${wide_angle_camera_target}
   PRIVATE
     ${camera_target}
-    gz-msgs${GZ_MSGS_VER}::gz-msgs${GZ_MSGS_VER}
+    gz_msgs_gen
     gz-transport${GZ_TRANSPORT_VER}::gz-transport${GZ_TRANSPORT_VER}
 )
 
 # Build the unit tests.
-gz_build_tests(TYPE UNIT SOURCES ${gtest_sources} LIB_DEPS ${rendering_target})
+gz_build_tests(TYPE UNIT SOURCES ${gtest_sources} LIB_DEPS ${rendering_target} gz_msgs_gen)
 
 # Build the unit tests that depend on components.
-gz_build_tests(TYPE UNIT SOURCES Lidar_TEST.cc LIB_DEPS ${lidar_target})
-gz_build_tests(TYPE UNIT SOURCES Camera_TEST.cc LIB_DEPS ${camera_target})
-gz_build_tests(TYPE UNIT SOURCES ImuSensor_TEST.cc LIB_DEPS ${imu_target})
+gz_build_tests(TYPE UNIT SOURCES Lidar_TEST.cc LIB_DEPS ${lidar_target} gz_msgs_gen)
+gz_build_tests(TYPE UNIT SOURCES Camera_TEST.cc LIB_DEPS ${camera_target} gz_msgs_gen)
+gz_build_tests(TYPE UNIT SOURCES ImuSensor_TEST.cc LIB_DEPS ${imu_target} gz_msgs_gen)
diff --git a/src/DepthCameraSensor.cc b/src/DepthCameraSensor.cc
@@ -28,7 +28,8 @@
 #include <gz/math/Angle.hh>
 #include <gz/math/Helpers.hh>
 
-#include <gz/msgs/Utility.hh>
+#include <gz/msgs/convert/StdTypes.hh>
+#include <gz/msgs/PointCloudPackedUtils.hh>
 #include <gz/transport/Node.hh>
 
 #include "gz/sensors/DepthCameraSensor.hh"

diff --git a/src/GpuLidarSensor.cc b/src/GpuLidarSensor.cc
@@ -26,7 +26,8 @@
 
 #include <gz/common/Console.hh>
 #include <gz/common/Profiler.hh>
-#include <gz/msgs/Utility.hh>
+#include <gz/msgs/convert/StdTypes.hh>
+#include <gz/msgs/PointCloudPackedUtils.hh>
 #include <gz/transport/Node.hh>
 
 #include "gz/sensors/GpuLidarSensor.hh"

diff --git a/src/RgbdCameraSensor.cc b/src/RgbdCameraSensor.cc
@@ -25,7 +25,8 @@
 #include <gz/rendering/Camera.hh>
 #include <gz/rendering/DepthCamera.hh>
 
-#include <gz/msgs/Utility.hh>
+#include <gz/msgs/PointCloudPackedUtils.hh>
+#include <gz/msgs/convert/StdTypes.hh>
 #include <gz/transport/Node.hh>
 
 #include <sdf/Sensor.hh>

diff --git a/test/integration/CMakeLists.txt b/test/integration/CMakeLists.txt
@@ -52,6 +52,7 @@ if (DRI_TESTS)
       ${PROJECT_LIBRARY_TARGET_NAME}-thermal_camera
       ${PROJECT_LIBRARY_TARGET_NAME}-wide_angle_camera
       ${PROJECT_LIBRARY_TARGET_NAME}-dvl
+      gz_msgs_gen
   )
 endif()
 
@@ -67,4 +68,5 @@ gz_build_tests(TYPE INTEGRATION
     ${PROJECT_LIBRARY_TARGET_NAME}-logical_camera
     ${PROJECT_LIBRARY_TARGET_NAME}-magnetometer
     ${PROJECT_LIBRARY_TARGET_NAME}-navsat
+    gz_msgs_gen
 )
diff --git a/test/integration/air_pressure.cc b/test/integration/air_pressure.cc
@@ -20,6 +20,9 @@
 #include <sdf/sdf.hh>
 
 #include <gz/math/Helpers.hh>
+
+#include <gz/msgs/fluid_pressure.pb.h>
+
 #include <gz/sensors/AirPressureSensor.hh>
 #include <gz/sensors/SensorFactory.hh>
 

diff --git a/test/integration/air_speed.cc b/test/integration/air_speed.cc
@@ -20,6 +20,9 @@
 #include <sdf/sdf.hh>
 
 #include <gz/math/Helpers.hh>
+
+#include <gz/msgs/air_speed_sensor.pb.h>
+
 #include <gz/sensors/AirSpeedSensor.hh>
 #include <gz/sensors/SensorFactory.hh>
 

diff --git a/test/integration/altimeter.cc b/test/integration/altimeter.cc
@@ -20,6 +20,9 @@
 #include <sdf/sdf.hh>
 
 #include <gz/math/Helpers.hh>
+
+#include <gz/msgs/altimeter.pb.h>
+
 #include <gz/sensors/AltimeterSensor.hh>
 #include <gz/sensors/SensorFactory.hh>
 

diff --git a/test/integration/boundingbox_camera.cc b/test/integration/boundingbox_camera.cc
@@ -18,7 +18,9 @@
 #include <gtest/gtest.h>
 
 #include <gz/msgs/annotated_axis_aligned_2d_box.pb.h>
+#include <gz/msgs/annotated_axis_aligned_2d_box_v.pb.h>
 #include <gz/msgs/annotated_oriented_3d_box.pb.h>
+#include <gz/msgs/annotated_oriented_3d_box_v.pb.h>
 
 #include <gz/common/Filesystem.hh>
 #include <gz/sensors/Manager.hh>

diff --git a/test/integration/camera.cc b/test/integration/camera.cc
@@ -18,6 +18,7 @@
 #include <cstring>
 #include <gtest/gtest.h>
 
+#include <gz/msgs/camera_info.pb.h>
 #include <gz/msgs/image.pb.h>
 
 #include <gz/common/Console.hh>

diff --git a/test/integration/dvl.cc b/test/integration/dvl.cc
@@ -23,6 +23,8 @@
 #include <gz/math/Quaternion.hh>
 #include <gz/math/Vector3.hh>
 
+#include <gz/msgs/dvl_velocity_tracking.pb.h>
+
 #include <gz/rendering/Material.hh>
 #include <gz/rendering/RenderEngine.hh>
 #include <gz/rendering/RenderingIface.hh>

diff --git a/test/integration/force_torque.cc b/test/integration/force_torque.cc
@@ -21,6 +21,8 @@
 
 #include <gz/math/Helpers.hh>
 
+#include <gz/msgs/wrench.pb.h>
+
 #include <gz/sensors/ForceTorqueSensor.hh>
 #include <gz/sensors/SensorFactory.hh>
 

diff --git a/test/integration/imu.cc b/test/integration/imu.cc
@@ -19,6 +19,8 @@
 
 #include <sdf/sdf.hh>
 
+#include <gz/msgs/imu.pb.h>
+
 #include <gz/sensors/ImuSensor.hh>
 #include <gz/sensors/SensorFactory.hh>
 

diff --git a/test/integration/magnetometer.cc b/test/integration/magnetometer.cc
@@ -22,6 +22,8 @@
 #include <gz/sensors/MagnetometerSensor.hh>
 #include <gz/sensors/SensorFactory.hh>
 
+#include <gz/msgs/magnetometer.pb.h>
+
 #include "test_config.hh"  // NOLINT(build/include)
 #include "TransportTestTools.hh"
 

diff --git a/test/integration/navsat.cc b/test/integration/navsat.cc
@@ -20,6 +20,9 @@
 #include <sdf/sdf.hh>
 
 #include <gz/math/Helpers.hh>
+
+#include <gz/msgs/navsat.pb.h>
+
 #include <gz/sensors/NavSatSensor.hh>
 #include <gz/sensors/SensorFactory.hh>
 

diff --git a/test/integration/rgbd_camera.cc b/test/integration/rgbd_camera.cc
@@ -20,6 +20,7 @@
 
 #include <gz/msgs/camera_info.pb.h>
 #include <gz/msgs/image.pb.h>
+#include <gz/msgs/PointCloudPackedUtils.hh>
 
 #include <gz/common/Filesystem.hh>
 #include <gz/common/Event.hh>

diff --git a/test/integration/segmentation_camera.cc b/test/integration/segmentation_camera.cc
@@ -18,6 +18,7 @@
 #include <gtest/gtest.h>
 
 #include <gz/msgs/image.pb.h>
+#include <gz/msgs/camera_info.pb.h>
 
 #include <gz/common/Filesystem.hh>
 #include <gz/sensors/Manager.hh>

diff --git a/test/integration/wide_angle_camera.cc b/test/integration/wide_angle_camera.cc
@@ -18,6 +18,7 @@
 #include <cstring>
 #include <gtest/gtest.h>
 
+#include <gz/msgs/camera_info.pb.h>
 #include <gz/msgs/image.pb.h>
 
 #include <gz/common/Console.hh>