5 ➡️ 6 (main) (#155)

Signed-off-by: Louise Poubel <[email protected]>

Changelog.md

@@ -29,6 +29,41 @@
 
 ### Ignition Sensors 4.X.X
 
+### Ignition Sensors 4.2.0 (2021-07-12)
+
+1. Add API for enabling / disabling IMU orientation
+    * [Pull request #142](https://github.com/ignitionrobotics/ign-sensors/pull/142)
+
+1. Init will now set the nextUpdateTime to zero
+    * [Pull request #137](https://github.com/ignitionrobotics/ign-sensors/pull/137)
+
+1. Remove clamping from lidar noise
+    * [Pull request #132](https://github.com/ignitionrobotics/ign-sensors/pull/132)
+
+1. Remove tools/code_check and update codecov
+    * [Pull request #130](https://github.com/ignitionrobotics/ign-sensors/pull/130)
+
+1. Disable macOS workflow
+    * [Pull request #124](https://github.com/ignitionrobotics/ign-sensors/pull/124)
+
+1. 👩‍🌾 Disable tests that consistently fail on macOS
+    * [Pull request #121](https://github.com/ignitionrobotics/ign-sensors/pull/121)
+
+1. Master branch updates
+    * [Pull request #106](https://github.com/ignitionrobotics/ign-sensors/pull/106)
+
+1. 👩‍🌾 Clear Windows warnings (backport #58)
+    * [Pull request #102](https://github.com/ignitionrobotics/ign-sensors/pull/102)
+
+1. Update thermal camera tutorial - include varying temp. objects
+    * [Pull request #79](https://github.com/ignitionrobotics/ign-sensors/pull/79)
+
+1. Fix macOS/windows tests that failed to load library
+    * [Pull request #60](https://github.com/ignitionrobotics/ign-sensors/pull/60)
+
+1. Removed issue & PR templates
+    * [Pull request #99](https://github.com/ignitionrobotics/ign-sensors/pull/99)
+
 ### Ignition Sensors 4.1.0 (2021-02-10)
 
 1. Added issue and PR templates.
@@ -72,6 +107,30 @@
 
 ## Ignition Sensors 3
 
+### Ignition Sensors 3.X.X (202X-XX-XX)
+
+### Ignition Sensors 3.3.0 (2021-08-26)
+
+1. 👩‍🌾 Print debug messages when sensors advertise topics
+    * [Pull request #151](https://github.com/ignitionrobotics/ign-sensors/pull/151)
+
+1. Publish performance sensor metrics.
+    * [Pull request #146](https://github.com/ignitionrobotics/ign-sensors/pull/146)
+
+1. CI and infrastructure
+    * [Pull request #130](https://github.com/ignitionrobotics/ign-sensors/pull/130)
+    * [Pull request #150](https://github.com/ignitionrobotics/ign-sensors/pull/150)
+    * [Pull request #106](https://github.com/ignitionrobotics/ign-sensors/pull/106)
+
+1. 👩‍🌾 Disable tests that consistently fail on macOS
+    * [Pull request #121](https://github.com/ignitionrobotics/ign-sensors/pull/121)
+
+1. 👩‍🌾 Clear Windows warnings (backport #58)
+    * [Pull request #58](https://github.com/ignitionrobotics/ign-sensors/pull/58)
+
+1. Fix macOS/windows tests that failed to load library (backport #60)
+    * [Pull request #60](https://github.com/ignitionrobotics/ign-sensors/pull/60)
+
 ### Ignition Sensors 3.2.0 (2021-02-08)
 
 1. Apply noise to lidar point cloud.

include/ignition/sensors/ImuSensor.hh

@@ -111,13 +111,27 @@ namespace ignition
       public: math::Quaterniond OrientationReference() const;
 
       /// \brief Get the orienation of the imu with respect to reference frame
-      /// \return Orientation in reference frame
+      /// \return Orientation in reference frame. If orientation is not
+      /// enabled, this will return the last computed orientation before
+      /// orientation is disabled or identity Quaternion if orientation has
+      /// never been enabled.
       public: math::Quaterniond Orientation() const;
 
       /// \brief Set the gravity vector
       /// \param[in] _gravity gravity vector in meters per second squared.
       public: void SetGravity(const math::Vector3d &_gravity);
 
+      /// \brief Set whether to output orientation. Not all imu's generate
+      /// orientation values as they use filters to produce orientation
+      /// estimates.
+      /// \param[in] _enabled True to publish orientation data, false to leave
+      /// the message field empty.
+      public: void SetOrientationEnabled(bool _enabled);
+
+      /// \brief Get whether or not orientation is enabled.
+      /// \return True if orientation is enabled, false otherwise.
+      public: bool OrientationEnabled() const;
+
       /// \brief Get the gravity vector
       /// \return Gravity vectory in meters per second squared.
       public: math::Vector3d Gravity() const;

include/ignition/sensors/Sensor.hh

@@ -27,6 +27,7 @@
 #pragma warning(pop)
 #endif
 
+#include <chrono>
 #include <memory>
 #include <string>
 
@@ -150,6 +151,14 @@ namespace ignition
       /// \return True if a valid topic was set.
       public: bool SetTopic(const std::string &_topic);
 
+      /// \brief Get flag state for enabling performance metrics publication.
+      /// \return True if performance metrics are enabled, false otherwise.
+      public: bool EnableMetrics() const;
+
+      /// \brief Set flag to enable publishing performance metrics
+      /// \param[in] _enableMetrics True to enable.
+      public: void SetEnableMetrics(bool _enableMetrics);
+
       /// \brief Get parent link of the sensor.
       /// \return Parent link of sensor.
       public: std::string Parent() const;
@@ -184,6 +193,12 @@ namespace ignition
       public: void AddSequence(ignition::msgs::Header *_msg,
                   const std::string &_seqKey = "default");
 
+      /// \brief Publishes information about the performance of the sensor.
+      ///        This method is called by Update().
+      /// \param[in] _now Current time.
+      public: void PublishMetrics(
+        const std::chrono::duration<double> &_now);
+
       IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING
       /// \internal
       /// \brief Data pointer for private data

src/AirPressureSensor.cc

@@ -122,6 +122,9 @@ bool AirPressureSensor::Load(const sdf::Sensor &_sdf)
     return false;
   }
 
+  igndbg << "Air pressure for [" << this->Name() << "] advertised on ["
+         << this->Topic() << "]" << std::endl;
+
   // Load the noise parameters
   if (_sdf.AirPressureSensor()->PressureNoise().Type() != sdf::NoiseType::NONE)
   {

src/AltimeterSensor.cc

@@ -100,6 +100,9 @@ bool AltimeterSensor::Load(const sdf::Sensor &_sdf)
     return false;
   }
 
+  igndbg << "Altimeter data for [" << this->Name() << "] advertised on ["
+         << this->Topic() << "]" << std::endl;
+
   // Load the noise parameters
   if (_sdf.AltimeterSensor()->VerticalPositionNoise().Type()
       != sdf::NoiseType::NONE)

src/CameraSensor.cc

@@ -268,6 +268,9 @@ bool CameraSensor::Load(const sdf::Sensor &_sdf)
     return false;
   }
 
+  igndbg << "Camera images for [" << this->Name() << "] advertised on ["
+         << this->Topic() << "]" << std::endl;
+
   if (!this->AdvertiseInfo())
     return false;
 
@@ -500,16 +503,7 @@ bool CameraSensor::AdvertiseInfo()
   }
   this->dataPtr->infoTopic += "/camera_info";
 
-  this->dataPtr->infoPub =
-      this->dataPtr->node.Advertise<ignition::msgs::CameraInfo>(
-      this->dataPtr->infoTopic);
-  if (!this->dataPtr->infoPub)
-  {
-    ignerr << "Unable to create publisher on topic["
-      << this->dataPtr->infoTopic << "].\n";
-  }
-
-  return this->dataPtr->infoPub;
+  return this->AdvertiseInfo(this->dataPtr->infoTopic);
 }
 
 //////////////////////////////////////////////////
@@ -522,9 +516,14 @@ bool CameraSensor::AdvertiseInfo(const std::string &_topic)
       this->dataPtr->infoTopic);
   if (!this->dataPtr->infoPub)
   {
-    ignerr << "Unable to create publisher on topic["
+    ignerr << "Unable to create publisher on topic ["
       << this->dataPtr->infoTopic << "].\n";
   }
+  else
+  {
+    igndbg << "Camera info for [" << this->Name() << "] advertised on ["
+           << this->dataPtr->infoTopic << "]" << std::endl;
+  }
 
   return this->dataPtr->infoPub;
 }

src/DepthCameraSensor.cc

@@ -284,6 +284,9 @@ bool DepthCameraSensor::Load(const sdf::Sensor &_sdf)
     return false;
   }
 
+  igndbg << "Depth images for [" << this->Name() << "] advertised on ["
+         << this->Topic() << "]" << std::endl;
+
   if (!this->AdvertiseInfo())
     return false;
 
@@ -298,6 +301,9 @@ bool DepthCameraSensor::Load(const sdf::Sensor &_sdf)
     return false;
   }
 
+  igndbg << "Points for [" << this->Name() << "] advertised on ["
+         << this->Topic() << "/points]" << std::endl;
+
   // Initialize the point message.
   // \todo(anyone) The true value in the following function call forces
   // the xyz and rgb fields to be aligned to memory boundaries. This is need

src/GpuLidarSensor.cc

@@ -146,6 +146,9 @@ bool GpuLidarSensor::Load(const sdf::Sensor &_sdf)
     return false;
   }
 
+  igndbg << "Lidar points for [" << this->Name() << "] advertised on ["
+         << this->Topic() << "]" << std::endl;
+
   this->initialized = true;
 
   return true;

src/ImuSensor.cc

@@ -59,6 +59,9 @@ class ignition::sensors::ImuSensorPrivate
   /// \brief transform to Imu frame from Imu reference frame.
   public: ignition::math::Quaterniond orientation;
 
+  /// \brief True to publish orientation data.
+  public: bool orientationEnabled = true;
+
   /// \brief store gravity vector to be added to the IMU output.
   public: ignition::math::Vector3d gravity;
 
@@ -125,6 +128,9 @@ bool ImuSensor::Load(const sdf::Sensor &_sdf)
     return false;
   }
 
+  igndbg << "IMU data for [" << this->Name() << "] advertised on ["
+         << this->Topic() << "]" << std::endl;
+
   const std::map<SensorNoiseType, sdf::Noise> noises = {
     {ACCELEROMETER_X_NOISE_M_S_S, _sdf.ImuSensor()->LinearAccelerationXNoise()},
     {ACCELEROMETER_Y_NOISE_M_S_S, _sdf.ImuSensor()->LinearAccelerationYNoise()},
@@ -204,20 +210,23 @@ bool ImuSensor::Update(const std::chrono::steady_clock::duration &_now)
   applyNoise(GYROSCOPE_Y_NOISE_RAD_S, this->dataPtr->angularVel.Y());
   applyNoise(GYROSCOPE_Z_NOISE_RAD_S, this->dataPtr->angularVel.Z());
 
-  // Set the IMU orientation
-  // imu orientation with respect to reference frame
-  this->dataPtr->orientation =
-      this->dataPtr->orientationReference.Inverse() *
-      this->dataPtr->worldPose.Rot();
-
   msgs::IMU msg;
   *msg.mutable_header()->mutable_stamp() = msgs::Convert(_now);
   msg.set_entity_name(this->Name());
   auto frame = msg.mutable_header()->add_data();
   frame->set_key("frame_id");
   frame->add_value(this->Name());
 
-  msgs::Set(msg.mutable_orientation(), this->dataPtr->orientation);
+  if (this->dataPtr->orientationEnabled)
+  {
+    // Set the IMU orientation
+    // imu orientation with respect to reference frame
+    this->dataPtr->orientation =
+        this->dataPtr->orientationReference.Inverse() *
+        this->dataPtr->worldPose.Rot();
+
+    msgs::Set(msg.mutable_orientation(), this->dataPtr->orientation);
+  }
   msgs::Set(msg.mutable_angular_velocity(), this->dataPtr->angularVel);
   msgs::Set(msg.mutable_linear_acceleration(), this->dataPtr->linearAcc);
 
@@ -277,6 +286,18 @@ math::Quaterniond ImuSensor::OrientationReference() const
   return this->dataPtr->orientationReference;
 }
 
+//////////////////////////////////////////////////
+void ImuSensor::SetOrientationEnabled(bool _enabled)
+{
+  this->dataPtr->orientationEnabled = _enabled;
+}
+
+//////////////////////////////////////////////////
+bool ImuSensor::OrientationEnabled() const
+{
+  return this->dataPtr->orientationEnabled;
+}
+
 //////////////////////////////////////////////////
 void ImuSensor::SetGravity(const math::Vector3d &_gravity)
 {