Allow sensor to generate it's own messages

Signed-off-by: Michael Carroll <[email protected]>

CMakeLists.txt

@@ -56,7 +56,8 @@ set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR})
 
 #--------------------------------------
 # Find gz-transport
-gz_find_package(gz-transport13 REQUIRED)
+gz_find_package(gz-transport13-msgs REQUIRED)
+gz_find_package(gz-transport13 REQUIRED COMPONENTS msgs)
 set(GZ_TRANSPORT_VER ${gz-transport13_VERSION_MAJOR})
 
 #--------------------------------------
@@ -94,6 +95,8 @@ set(SDF_VER ${sdformat13_VERSION_MAJOR})
 # Find Eigen3
 find_package(Eigen3 REQUIRED)
 
+add_subdirectory(proto)
+
 #============================================================================
 # Configure the build
 #============================================================================

proto/CMakeLists.txt

@@ -0,0 +1,39 @@
+set(proto_files
+  ${PROJECT_SOURCE_DIR}/proto/gz/msgs/air_speed_sensor.proto
+  ${PROJECT_SOURCE_DIR}/proto/gz/msgs/altimeter.proto
+  ${PROJECT_SOURCE_DIR}/proto/gz/msgs/annotated_axis_aligned_2d_box.proto
+  ${PROJECT_SOURCE_DIR}/proto/gz/msgs/annotated_axis_aligned_2d_box_v.proto
+  ${PROJECT_SOURCE_DIR}/proto/gz/msgs/annotated_oriented_3d_box.proto
+  ${PROJECT_SOURCE_DIR}/proto/gz/msgs/annotated_oriented_3d_box_v.proto
+  ${PROJECT_SOURCE_DIR}/proto/gz/msgs/axis_aligned_2d_box.proto
+  ${PROJECT_SOURCE_DIR}/proto/gz/msgs/axis_aligned_box.proto
+  ${PROJECT_SOURCE_DIR}/proto/gz/msgs/camera_info.proto
+  ${PROJECT_SOURCE_DIR}/proto/gz/msgs/dvl_beam_state.proto
+  ${PROJECT_SOURCE_DIR}/proto/gz/msgs/dvl_kinematic_estimate.proto
+  ${PROJECT_SOURCE_DIR}/proto/gz/msgs/dvl_range_estimate.proto
+  ${PROJECT_SOURCE_DIR}/proto/gz/msgs/dvl_tracking_target.proto
+  ${PROJECT_SOURCE_DIR}/proto/gz/msgs/dvl_velocity_tracking.proto
+  ${PROJECT_SOURCE_DIR}/proto/gz/msgs/fluid_pressure.proto
+  ${PROJECT_SOURCE_DIR}/proto/gz/msgs/imu.proto
+  ${PROJECT_SOURCE_DIR}/proto/gz/msgs/laserscan.proto
+  ${PROJECT_SOURCE_DIR}/proto/gz/msgs/logical_camera_image.proto
+  ${PROJECT_SOURCE_DIR}/proto/gz/msgs/magnetometer.proto
+  ${PROJECT_SOURCE_DIR}/proto/gz/msgs/navsat.proto
+  ${PROJECT_SOURCE_DIR}/proto/gz/msgs/oriented_3d_box.proto
+  ${PROJECT_SOURCE_DIR}/proto/gz/msgs/performance_sensor_metrics.proto
+  ${PROJECT_SOURCE_DIR}/proto/gz/msgs/sensor_noise.proto
+)
+
+gz_msgs_generate_messages(
+  TARGET gz-sensors${PROJECT_VERSION_MAJOR}-msgs
+  PROTO_PACKAGE "gz.msgs"
+  MSGS_PATH ${PROJECT_SOURCE_DIR}/proto
+  MSGS_PROTOS ${proto_files}
+  DEPENDENCIES gz-msgs${GZ_MSGS_VER}::gz-msgs${GZ_MSGS_VER}-msgs
+)
+
+install(
+  DIRECTORY gz
+  DESTINATION share/protos
+  COMPONENT proto
+  FILES_MATCHING PATTERN "*.proto")

proto/gz/msgs/air_speed_sensor.proto

@@ -0,0 +1,44 @@
+/*
+ * Copyright (C) 2023 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+syntax = "proto3";
+package gz.msgs;
+option java_package = "com.gz.msgs";
+option java_outer_classname = "AirSpeedSensorProtos";
+
+/// \ingroup gz.msgs
+/// \interface AirSpeedSensor
+/// \brief Definition of an air speed sensor
+
+import "gz/msgs/header.proto";
+import "gz/msgs/sensor_noise.proto";
+
+/// \brief Message that describes an air speed sensor.
+message AirSpeedSensor
+{
+  /// \brief header data
+  Header header               = 1;
+
+  /// \brief Differential pressure (hPa).
+  double diff_pressure        = 2;
+
+  /// \brief Temperature (kelvin).
+  double temperature          = 3;
+
+  /// \brief Sensor speed noise.
+  SensorNoise pressure_noise     = 4;
+}

proto/gz/msgs/altimeter.proto

@@ -0,0 +1,43 @@
+/*
+ * Copyright (C) 2017 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+syntax = "proto3";
+package gz.msgs;
+option java_package = "com.gz.msgs";
+option java_outer_classname = "AltimeterProtos";
+
+/// \ingroup gz.msgs
+/// \interface Altimeter
+/// \brief Data from an altimeter sensor
+
+import "gz/msgs/header.proto";
+
+/// \brief Altimeter sensor data
+message Altimeter
+{
+  // Other Optional header data
+  Header header             = 1; /// Optional header data
+
+  /// \brief Vertical position data, in meters.
+  double vertical_position  = 2;
+
+  /// \brief Vertical velocity data, in meters/second.
+  double vertical_velocity  = 3;
+
+  /// \brief Vertical reference.
+  double vertical_reference = 4;
+}

proto/gz/msgs/annotated_axis_aligned_2d_box.proto

@@ -0,0 +1,40 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+syntax = "proto3";
+package gz.msgs;
+option java_package = "com.gz.msgs";
+option java_outer_classname = "AnnotatedAxisAligned2DBoxProtos";
+
+/// \ingroup gz.msgs
+/// \interface AnnotatedAxisAligned2DBox
+/// \brief A 2D axis aligned box with label
+
+import "gz/msgs/header.proto";
+import "gz/msgs/axis_aligned_2d_box.proto";
+
+message AnnotatedAxisAligned2DBox
+{
+  /// \brief Optional header data
+  Header header  = 1;
+
+  /// \brief Axis aligned 2d bounding box
+  AxisAligned2DBox box = 2;
+
+  /// \brief Label (class) of the box's object
+  uint32 label = 3;
+}

proto/gz/msgs/annotated_axis_aligned_2d_box_v.proto

@@ -0,0 +1,37 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+syntax = "proto3";
+package gz.msgs;
+option java_package = "com.gz.msgs";
+option java_outer_classname = "AnnotatedAxisAligned2DBox_VProtos";
+
+/// \ingroup gz.msgs
+/// \interface AnnotatedAxisAligned2DBox_V
+/// \brief A message for a vector of annotated axis aligned 2d boxes
+
+import "gz/msgs/header.proto";
+import "gz/msgs/annotated_axis_aligned_2d_box.proto";
+
+message AnnotatedAxisAligned2DBox_V
+{
+  /// \brief Optional header data
+  Header header  = 1;
+
+  /// \brief vector of 2d annotated boxes
+  repeated AnnotatedAxisAligned2DBox annotated_box = 2;
+}

proto/gz/msgs/annotated_oriented_3d_box.proto

@@ -0,0 +1,40 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+syntax = "proto3";
+package gz.msgs;
+option java_package = "com.gz.msgs";
+option java_outer_classname = "AnnotatedOriented3DBoxProtos";
+
+/// \ingroup gz.msgs
+/// \interface AnnotatedOriented3DBox
+/// \brief A 3D oriented bounding box with label
+
+import "gz/msgs/header.proto";
+import "gz/msgs/oriented_3d_box.proto";
+
+message AnnotatedOriented3DBox
+{
+  /// \brief Optional header data
+  Header header  = 1;
+
+  /// \brief oreinted 3d box
+  Oriented3DBox box = 2;
+
+  /// \brief Label (class) of the box's object
+  uint32 label = 3;
+}

proto/gz/msgs/annotated_oriented_3d_box_v.proto

@@ -0,0 +1,37 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+syntax = "proto3";
+package gz.msgs;
+option java_package = "com.gz.msgs";
+option java_outer_classname = "AnnotatedOriented3DBox_VProtos";
+
+/// \ingroup gz.msgs
+/// \interface AnnotatedOriented3DBox_V
+/// \brief A message for a vector of annotated oriented 3d boxes
+
+import "gz/msgs/header.proto";
+import "gz/msgs/annotated_oriented_3d_box.proto";
+
+message AnnotatedOriented3DBox_V
+{
+  /// \brief Optional header data
+  Header header  = 1;
+
+  /// \brief vector of 3d annotated oreinted boxes
+  repeated AnnotatedOriented3DBox annotated_box = 2;
+}

proto/gz/msgs/axis_aligned_2d_box.proto

@@ -0,0 +1,40 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+syntax = "proto3";
+package gz.msgs;
+option java_package = "com.gz.msgs";
+option java_outer_classname = "AxisAligned2DBoxProtos";
+
+/// \ingroup gz.msgs
+/// \interface AxisAligned2DBox
+/// \brief A 2D axis aligned box
+
+import "gz/msgs/header.proto";
+import "gz/msgs/vector2d.proto";
+
+message AxisAligned2DBox
+{
+  /// \brief Optional header data
+  Header header  = 1;
+
+  /// \brief Minimum corner of the axis aligned bound box in image coord.
+  Vector2d min_corner  = 2;
+
+  /// \brief Maximum corner of the axis aligned bound box in the image coord.
+  Vector2d max_corner  = 3;
+}

proto/gz/msgs/axis_aligned_box.proto

@@ -0,0 +1,40 @@
+/*
+ * Copyright (C) 2019 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+syntax = "proto3";
+package gz.msgs;
+option java_package = "com.gz.msgs";
+option java_outer_classname = "AxisAlignedBoxProtos";
+
+/// \ingroup gz.msgs
+/// \interface AxisAlignedBox 
+/// \brief An axis aligned box
+
+import "gz/msgs/header.proto";
+import "gz/msgs/vector3d.proto";
+
+message AxisAlignedBox
+{
+  /// \brief Optional header data
+  Header header  = 1;
+
+  /// \brief Minimum corner of the axis aligned bound box in the global frame.
+  Vector3d min_corner  = 2;
+
+  /// \brief Maximum corner of the axis aligned bound box in the global frame.
+  Vector3d max_corner  = 3;
+}