Update air sensor with air_speed.proto (#374)

Signed-off-by: Alejandro Hernández Cordero <[email protected]>
gazebosim · Aug 15, 2023 · 83f0e1f · 83f0e1f
1 parent 7bfc85a
commit 83f0e1f
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Showing 2 changed files with 5 additions and 6 deletions.
diff --git a/src/AirSpeedSensor.cc b/src/AirSpeedSensor.cc
@@ -20,7 +20,7 @@
   #pragma warning(disable: 4005)
   #pragma warning(disable: 4251)
 #endif
-#include <gz/msgs/air_speed_sensor.pb.h>
+#include <gz/msgs/air_speed.pb.h>
 #if defined(_MSC_VER)
   #pragma warning(pop)
 #endif
@@ -113,7 +113,7 @@ bool AirSpeedSensor::Load(const sdf::Sensor &_sdf)
     this->SetTopic("/air_speed");
 
   this->dataPtr->pub =
-      this->dataPtr->node.Advertise<msgs::AirSpeedSensor>(
+      this->dataPtr->node.Advertise<msgs::AirSpeed>(
       this->Topic());
 
   if (!this->dataPtr->pub)
@@ -155,7 +155,7 @@ bool AirSpeedSensor::Update(
     return false;
   }
 
-  msgs::AirSpeedSensor msg;
+  msgs::AirSpeed msg;
   *msg.mutable_header()->mutable_stamp() = msgs::Convert(_now);
   auto frame = msg.mutable_header()->add_data();
   frame->set_key("frame_id");
@@ -185,7 +185,6 @@ bool AirSpeedSensor::Update(
     diff_pressure =
       this->dataPtr->noises[AIR_SPEED_NOISE_PASCALS]->Apply(
           diff_pressure);
-    msg.mutable_pressure_noise()->set_type(msgs::SensorNoise::GAUSSIAN);
   }
 
   msg.set_diff_pressure(diff_pressure * 100.0f);

diff --git a/test/integration/air_speed.cc b/test/integration/air_speed.cc
@@ -184,7 +184,7 @@ TEST_F(AirSpeedSensorTest, SensorReadings)
       gz::math::Pose3d(0, 0, 1.5, 0, 0, 0) * sensorNoise->Pose());
 
   // verify msg received on the topic
-  WaitForMessageTestHelper<gz::msgs::AirSpeedSensor> msgHelper(topic);
+  WaitForMessageTestHelper<gz::msgs::AirSpeed> msgHelper(topic);
   EXPECT_TRUE(sensor->HasConnections());
   sensor->Update(std::chrono::steady_clock::duration(std::chrono::seconds(1)));
   EXPECT_TRUE(msgHelper.WaitForMessage()) << msgHelper;
@@ -195,7 +195,7 @@ TEST_F(AirSpeedSensorTest, SensorReadings)
   EXPECT_DOUBLE_EQ(288.1369934082031, msg.temperature());
 
   // verify msg with noise received on the topic
-  WaitForMessageTestHelper<gz::msgs::AirSpeedSensor>
+  WaitForMessageTestHelper<gz::msgs::AirSpeed>
     msgHelperNoise(topicNoise);
   sensorNoise->Update(std::chrono::steady_clock::duration(
       std::chrono::seconds(1)), false);