Merge remote-tracking branch 'origin/main' into remove_deprecations

Signed-off-by: Addisu Z. Taddese <[email protected]>

.github/workflows/ci.yml

@@ -3,25 +3,17 @@ name: Ubuntu CI
 on: [push, pull_request]
 
 jobs:
-  focal-ci:
+  jammy-ci:
     runs-on: ubuntu-latest
-    name: Ubuntu Focal CI
+    name: Ubuntu Jammy CI
     steps:
       - name: Checkout
         uses: actions/checkout@v3
       - name: Compile and test
         id: ci
-        uses: gazebo-tooling/action-gz-ci@focal
+        uses: gazebo-tooling/action-gz-ci@jammy
         with:
           codecov-enabled: true
           cppcheck-enabled: true
           cpplint-enabled: true
-  jammy-ci:
-    runs-on: ubuntu-latest
-    name: Ubuntu Jammy CI
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v3
-      - name: Compile and test
-        id: ci
-        uses: gazebo-tooling/action-gz-ci@jammy
+          doxygen-enabled: true

CMakeLists.txt

@@ -112,7 +112,8 @@ configure_file(${CMAKE_SOURCE_DIR}/tutorials.md.in ${CMAKE_BINARY_DIR}/tutorials
 
 gz_create_docs(
   API_MAINPAGE_MD "${CMAKE_BINARY_DIR}/api.md"
-  TUTORIALS_MAINPAGE_MD "${CMAKE_BINARY_DIR}/tutorials.md")
+  TUTORIALS_MAINPAGE_MD "${CMAKE_BINARY_DIR}/tutorials.md"
+  IMAGE_PATH_DIRS "${CMAKE_SOURCE_DIR}/tutorials/files")
 
 if(TARGET doc)
   file(COPY ${CMAKE_SOURCE_DIR}/tutorials/files/ DESTINATION ${CMAKE_BINARY_DIR}/doxygen/html/files/)

include/gz/sensors/AirPressureSensor.hh

@@ -73,7 +73,7 @@ namespace gz
         const std::chrono::steady_clock::duration &_now) override;
 
       /// \brief Set the reference altitude.
-      /// \param[in] _ref Verical reference position in meters
+      /// \param[in] _reference Verical reference position in meters
       public: void SetReferenceAltitude(double _reference);
 
       /// \brief Get the vertical reference altitude.

include/gz/sensors/AltimeterSensor.hh

@@ -73,7 +73,7 @@ namespace gz
         const std::chrono::steady_clock::duration &_now) override;
 
       /// \brief Set the vertical reference position of the altimeter
-      /// \param[in] _ref Verical reference position in meters
+      /// \param[in] _reference Verical reference position in meters
       public: void SetVerticalReference(double _reference);
 
       /// \brief Get the vertical reference position of the altimeter

include/gz/sensors/DepthCameraSensor.hh

@@ -101,19 +101,19 @@ namespace gz
       /// \param[in] _format string with the format
       public: void OnNewDepthFrame(const float *_scan,
                     unsigned int _width, unsigned int _height,
-                    unsigned int /*_channels*/,
-                    const std::string &/*_format*/);
+                    unsigned int _channel,
+                    const std::string &_format);
 
       /// \brief Point cloud data callback used to get 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] _channels bytes used for the point cloud data
       /// \param[in] _format string with the format
       public: void OnNewRgbPointCloud(const float *_scan,
                     unsigned int _width, unsigned int _height,
-                    unsigned int /*_channels*/,
-                    const std::string &/*_format*/);
+                    unsigned int _channels,
+                    const std::string &_format);
 
       /// \brief Set a callback to be called when image frame data is
       /// generated.

include/gz/sensors/ForceTorqueSensor.hh

@@ -100,7 +100,7 @@ namespace gz
 
       /// \brief Set the rotation of the joint parent relative to the sensor
       /// frame.
-      /// \param[in] _rotParentInSensorRotation of parent in sensor frame.
+      /// \param[in] _rotParentInSensor Rotation of parent in sensor frame.
       public: void SetRotationParentInSensor(
                   const math::Quaterniond &_rotParentInSensor);
 

include/gz/sensors/ImuSensor.hh

@@ -39,7 +39,7 @@ namespace gz
     /// \brief Reference frames enum
     enum class GZ_SENSORS_VISIBLE WorldFrameEnumType
     {
-      /// \brief NONE : To be used only when <localization>
+      /// \brief NONE : To be used only when `<localization>`
       /// reference orientation tag is empty.
       NONE = 0,
 
@@ -125,7 +125,7 @@ namespace gz
       /// \brief Set the orientation reference, i.e. initial imu
       /// orientation. Imu orientation data generated will be relative to this
       /// reference frame.
-      /// \param[in] _orientation Reference orientation
+      /// \param[in] _orient Reference orientation
       public: void SetOrientationReference(
           const math::Quaterniond &_orient);
 

include/gz/sensors/Lidar.hh

@@ -86,7 +86,7 @@ namespace gz
       public: virtual bool Init() override;
 
       /// \brief Initialize values in the sensor
-      /// \return True on success
+      /// \param[in] _parent Name of parent
       public: void SetParent(const std::string &_parent) override;
 
       /// \brief Create Lidar sensor
@@ -173,22 +173,22 @@ namespace gz
       ///         it's possible that the Ray will update in the middle of
       ///         your access loop. This means some data will come from one
       ///         scan, and some from another scan. You can solve this
-      ///         problem by using SetActive(false) <your accessor loop>
+      ///         problem by using SetActive(false) `<your accessor loop>`
       ///         SetActive(true).
       /// \param[in] _index Index of specific ray
       /// \return Returns RangeMax for no detection.
       public: double Range(const int _index) const;
 
       /// \brief Get all the ranges
-      /// \param[out] _range A vector that will contain all the range data
+      /// \param[out] _ranges A vector that will contain all the range data
       public: void Ranges(std::vector<double> &_ranges) const;
 
       /// \brief Get detected retro (intensity) value for a ray.
       ///         Warning: If you are accessing all the ray data in a loop
       ///         it's possible that the Ray will update in the middle of
       ///         your access loop. This means some data will come from one
       ///         scan, and some from another scan. You can solve this
-      ///         problem by using SetActive(false) <your accessor loop>
+      ///         problem by using SetActive(false) `<your accessor loop>`
       ///         SetActive(true).
       /// \param[in] _index Index of specific ray
       /// \return Intensity value of ray
@@ -199,7 +199,7 @@ namespace gz
       ///         it's possible that the Ray will update in the middle of
       ///         your access loop. This means some data will come from one
       ///         scan, and some from another scan. You can solve this
-      ///         problem by using SetActive(false) <your accessor loop>
+      ///         problem by using SetActive(false) `<your accessor loop>`
       ///         SetActive(true).
       /// \param[in] _index Index of specific ray
       /// \return Fiducial value of ray
@@ -256,7 +256,7 @@ namespace gz
       public: bool initialized = false;
 
       /// \brief Set a callback to be called when data is generated.
-      /// \param[in] _callback This callback will be called every time the
+      /// \param[in] _subscriber This callback will be called every time the
       /// sensor generates data. The Update function will be blocked while the
       /// callbacks are executed.
       /// \remark Do not block inside of the callback.

include/gz/sensors/Manager.hh

@@ -47,7 +47,7 @@ namespace gz
     ///   The primary interface through which to load a sensor is LoadSensor().
     ///   This takes an sdf element pointer that should be configured with
     ///   everything the sensor will need. Custom sensors configuration must
-    ///   be in the <plugin> tag of the sdf::Element. The manager will
+    ///   be in the `<plugin>` tag of the sdf::Element. The manager will
     ///   dynamically load the sensor library and update it.
     /// \remarks This class is not thread safe.
     class GZ_SENSORS_VISIBLE Manager
@@ -104,7 +104,7 @@ namespace gz
                   gz::sensors::SensorId _id);
 
       /// \brief Remove a sensor by ID
-      /// \param[in] _sensorId ID of the sensor to remove
+      /// \param[in] _id ID of the sensor to remove
       /// \return True if the sensor exists and removed.
       public: bool Remove(const gz::sensors::SensorId _id);
 

include/gz/sensors/Sensor.hh

@@ -53,9 +53,9 @@ namespace gz
 
     /// \brief a base sensor class
     ///
-    ///   This class is a base for all sensor classes. It parses some common
-    ///   SDF elements in the <sensor> tag and is responsible for making sure
-    ///   sensors update at the right time.
+    /// This class is a base for all sensor classes. It parses some common
+    /// SDF elements in the `<sensor>` tag and is responsible for making sure
+    /// sensors update at the right time.
     class GZ_SENSORS_VISIBLE Sensor
     {
       /// \brief constructor
@@ -65,12 +65,12 @@ namespace gz
       public: virtual ~Sensor();
 
       /// \brief Load the sensor based on data from an sdf::Sensor object.
-      /// \param[in] _sdf SDF <sensor> or <plugin> inside of <sensor>
+      /// \param[in] _sdf SDF `<sensor>` or `<plugin>` inside of `<sensor>`
       /// \return true if loading was successful
       public: virtual bool Load(const sdf::Sensor &_sdf);
 
       /// \brief Load the sensor with SDF parameters.
-      /// \param[in] _sdf SDF <sensor> or <plugin> inside of <sensor>
+      /// \param[in] _sdf SDF `<sensor>` or `<plugin>` inside of `<sensor>`
       /// \return true if loading was successful
       public: virtual bool Load(sdf::ElementPtr _sdf);
 
@@ -131,7 +131,7 @@ namespace gz
 
       /// \brief Set the update rate of the sensor. An update rate of zero means
       /// that the sensor is updated every cycle. It's zero by default.
-      /// \detail Negative rates become zero.
+      /// \details Negative rates become zero.
       /// \param[in] _hz Update rate of sensor in Hertz.
       public: void SetUpdateRate(const double _hz);
 

include/gz/sensors/SensorTypes.hh

@@ -63,7 +63,7 @@ namespace gz
     /// \brief Shared pointer to Noise
     typedef std::shared_ptr<Noise> NoisePtr;
 
-    /// \def GaussianNoisePtr
+    /// \def GaussianNoiseModelPtr
     /// \brief Shared pointer to Noise
     typedef std::shared_ptr<GaussianNoiseModel> GaussianNoiseModelPtr;
 
@@ -214,7 +214,6 @@ namespace gz
       /// use this.
       SENSOR_NOISE_TYPE_END
     };
-    /// \}
 
 
     /// \def SensorDistortionType
@@ -239,7 +238,6 @@ namespace gz
       /// use this.
       SENSOR_DISTORTION_TYPE_END
     };
-    /// \}
 
     /// \brief SensorCategory is used to categorize sensors. This is used to
     /// put sensors into different threads.

include/gz/sensors/ThermalCameraSensor.hh

@@ -97,7 +97,7 @@ namespace gz
       /// \param[in] _scan pointer to the data from the sensor
       /// \param[in] _width width of the thermal image
       /// \param[in] _height height of the thermal image
-      /// \param[in] _channel bytes used for the thermal data
+      /// \param[in] _channels bytes used for the thermal data
       /// \param[in] _format string with the format
       public: void OnNewThermalFrame(const uint16_t *_scan,
                     unsigned int _width, unsigned int _height,
@@ -149,7 +149,7 @@ namespace gz
       /// returned will be temperature in kelvin / resolution.
       /// Typical values are 0.01 (10mK), 0.1 (100mK), or 0.04 to simulate
       /// 14 bit format.
-      /// \param[in] resolution Temperature linear resolution
+      /// \param[in] _resolution Temperature linear resolution
       public: virtual void SetLinearResolution(float _resolution);
 
       // Documentation inherited.

include/gz/sensors/WideAngleCameraSensor.hh

@@ -97,7 +97,7 @@ namespace gz
       /// \param[in] _data pointer to the data from the sensor
       /// \param[in] _width width of the image
       /// \param[in] _height height of the image
-      /// \param[in] _channel bytes used for the image data
+      /// \param[in] _channels bytes used for the image data
       /// \param[in] _format string with the format
       public: void OnNewWideAngleFrame(const unsigned char *_data,
                     unsigned int _width, unsigned int _height,