Merge pull request #391 from gazebosim/merge_8_main_20231010

Merge: 8 -> main

.github/workflows/triage.yml

@@ -10,10 +10,8 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Add ticket to inbox
-        uses: technote-space/create-project-card-action@v1
+        uses: actions/[email protected]
         with:
-          PROJECT: Core development
-          COLUMN: Inbox
-          GITHUB_TOKEN: ${{ secrets.TRIAGE_TOKEN }}
-          CHECK_ORG_PROJECT: true
+          project-url: https://github.com/orgs/gazebosim/projects/7
+          github-token: ${{ secrets.TRIAGE_TOKEN }}
 

CMakeLists.txt

@@ -16,7 +16,7 @@ find_package(gz-cmake3 REQUIRED)
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-gz_configure_project(VERSION_SUFFIX pre1)
+gz_configure_project(VERSION_SUFFIX)
 
 #============================================================================
 # Set project-specific options

Changelog.md

@@ -1,9 +1,99 @@
 ## Gazebo Sensors 8
 
-### Gazebo Sensors 8.0.0 (202X-XX-XX)
+### Gazebo Sensors 8.0.0 (2023-09-29)
+
+1. Documentation fixes
+    * [Pull request #385](https://github.com/gazebosim/gz-sensors/pull/385)
+    * [Pull request #382](https://github.com/gazebosim/gz-sensors/pull/382)
+    * [Pull request #379](https://github.com/gazebosim/gz-sensors/pull/379)
+    * [Pull request #380](https://github.com/gazebosim/gz-sensors/pull/380)
+    * [Pull request #381](https://github.com/gazebosim/gz-sensors/pull/381)
+    * [Pull request #378](https://github.com/gazebosim/gz-sensors/pull/378)
+    * [Pull request #344](https://github.com/gazebosim/gz-sensors/pull/344)
+
+1. populate the covariance fields using the noise models
+    * [Pull request #333](https://github.com/gazebosim/gz-sensors/pull/333)
+
+1. Tests need to include message types they are using
+    * [Pull request #375](https://github.com/gazebosim/gz-sensors/pull/375)
+
+1. Update air sensor with air_speed.proto
+    * [Pull request #374](https://github.com/gazebosim/gz-sensors/pull/374)
+
+1. Bumps in harmonic : sdformat14, rendering8, transport13
+    * [Pull request #367](https://github.com/gazebosim/gz-sensors/pull/367)
+    * [Pull request #316](https://github.com/gazebosim/gz-sensors/pull/316)
+
+1. ign -> gz
+    * [Pull request #366](https://github.com/gazebosim/gz-sensors/pull/366)
+
+1. Remove deprecations
+    * [Pull request #365](https://github.com/gazebosim/gz-sensors/pull/365)
+
+1. Infrastructure
+    * [Pull request #364](https://github.com/gazebosim/gz-sensors/pull/364)
+
+1. Support protobuf >= 22
+    * [Pull request #351](https://github.com/gazebosim/gz-sensors/pull/351)
+
+1. Minor cleanup - lint, typos
+    * [Pull request #352](https://github.com/gazebosim/gz-sensors/pull/352)
+
+1. Fix frame_id for depth camera point cloud
+    * [Pull request #350](https://github.com/gazebosim/gz-sensors/pull/350)
+
+1. Fix dvl integration test
+    * [Pull request #348](https://github.com/gazebosim/gz-sensors/pull/348)
+
+1. Add support for bayer images to camera sensor
+    * [Pull request #336](https://github.com/gazebosim/gz-sensors/pull/336)
+
+1. Fix flaky trigger camera test
+    * [Pull request #346](https://github.com/gazebosim/gz-sensors/pull/346)
+
+1. Generate default trigger topic name if empty
+    * [Pull request #343](https://github.com/gazebosim/gz-sensors/pull/343)
+
+1. Add DopplerVelocityLog sensor
+    * [Pull request #290](https://github.com/gazebosim/gz-sensors/pull/290)
+
+1. ⬆️  Bump main to 8.0.0~pre1
+    * [Pull request #254](https://github.com/gazebosim/gz-sensors/pull/254)
 
 ## Gazebo Sensors 7
 
+### Gazebo Sensors 7.3.0 (2023-09-26)
+
+1. Infrastructure
+    * [Pull request #372](https://github.com/gazebosim/gz-sensors/pull/372)
+    * [Pull request #371](https://github.com/gazebosim/gz-sensors/pull/371)
+
+1. Expose optical frame in CameraSensor so it can be set in DepthCameraSensor
+    * [Pull request #362](https://github.com/gazebosim/gz-sensors/pull/362)
+
+1. Fix CameraSensor to check if element is null before access
+    * [Pull request #361](https://github.com/gazebosim/gz-sensors/pull/361)
+
+1. Support protobuf >= 22
+    * [Pull request #351](https://github.com/gazebosim/gz-sensors/pull/351)
+
+1. Minor cleanup - lint, typos
+    * [Pull request #352](https://github.com/gazebosim/gz-sensors/pull/352)
+    * [Pull request #344](https://github.com/gazebosim/gz-sensors/pull/344)
+
+1. Fix frame_id for depth camera point cloud
+    * [Pull request #350](https://github.com/gazebosim/gz-sensors/pull/350)
+
+1. Add support for bayer images to camera sensor
+    * [Pull request #336](https://github.com/gazebosim/gz-sensors/pull/336)
+
+1. Fix flaky trigger camera test
+    * [Pull request #346](https://github.com/gazebosim/gz-sensors/pull/346)
+
+1. Generate default trigger topic name if empty
+    * [Pull request #343](https://github.com/gazebosim/gz-sensors/pull/343)
+
+
 ### Gazebo Sensors 7.2.0 (2023-04-13)
 
 1. Cleanup resources in CameraSensor destructor

README.md

@@ -10,13 +10,13 @@
 Build | Status
 -- | --
 Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-sensors/branch/main/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-sensors/branch/main)
-Ubuntu Focal | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_sensors-ci-main-focal-amd64)](https://build.osrfoundation.org/job/ignition_sensors-ci-main-focal-amd64)
+Ubuntu Jammy  | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_sensors-ci-main-jammy-amd64)](https://build.osrfoundation.org/job/gz_sensors-ci-main-jammy-amd64)
 Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_sensors-ci-main-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_sensors-ci-main-homebrew-amd64)
 Windows       | [![Build Status](https://build.osrfoundation.org/job/ign_sensors-ci-win/badge/icon)](https://build.osrfoundation.org/job/ign_sensors-ci-win/)
 
 Gazebo Sensors, a component of [Gazebo](https://gazebosim.org),
 provides numerous sensor models
-designed to generate realistic data from simulation environments. Gazebo Sensors is used in conjunction with [Gazebo Libraries](https://gazebosim/libs), and especially relies on the rendering capabilities from [Gazebo Rendering](https://gazebosim.org/libs/rendering) and physics simulation from [Gazebo Physics](https://gazebosim.org/libs/physics).
+designed to generate realistic data from simulation environments. Gazebo Sensors is used in conjunction with [Gazebo Libraries](https://gazebosim.org/libs), and especially relies on the rendering capabilities from [Gazebo Rendering](https://gazebosim.org/libs/rendering) and physics simulation from [Gazebo Physics](https://gazebosim.org/libs/physics).
 
 # Table of Contents
 
@@ -45,11 +45,11 @@ models into sensor streams.
 
 # Install
 
-See the [installation tutorial](https://gazebosim.org/api/sensors/7.0/installation.html).
+See the [installation tutorial](https://gazebosim.org/api/sensors/8/installation.html).
 
 # Usage
 
-Please refer to the [examples directory](https://github.com/gazebosim/gz-sensors/raw/main/examples/).
+Please refer to the [examples directory](https://github.com/gazebosim/gz-sensors/tree/main/examples).
 
 # Folder Structure
 

include/gz/sensors/CameraSensor.hh

@@ -144,6 +144,10 @@ namespace gz
       /// \return True if there are info subscribers, false otherwise
       public: virtual bool HasInfoConnections() const;
 
+      /// \brief Get the camera optical frame
+      /// \return The camera optical frame
+      public: const std::string& OpticalFrameId() const;
+
       /// \brief Advertise camera info topic.
       /// \return True if successful.
       protected: bool AdvertiseInfo();

src/CameraSensor.cc

@@ -195,7 +195,8 @@ bool CameraSensor::CreateCamera()
   this->dataPtr->camera->SetAspectRatio(static_cast<double>(width)/height);
   this->dataPtr->camera->SetHFOV(angle);
 
-  if (cameraSdf->Element()->HasElement("distortion")) {
+  if (cameraSdf->Element() != nullptr &&
+      cameraSdf->Element()->HasElement("distortion")) {
     this->dataPtr->distortion =
         ImageDistortionFactory::NewDistortionModel(*cameraSdf, "camera");
     this->dataPtr->distortion->Load(*cameraSdf);
@@ -857,3 +858,9 @@ bool CameraSensor::HasInfoConnections() const
 {
   return this->dataPtr->infoPub && this->dataPtr->infoPub.HasConnections();
 }
+
+//////////////////////////////////////////////////
+const std::string& CameraSensor::OpticalFrameId() const
+{
+  return this->dataPtr->opticalFrameId;
+}

src/DepthCameraSensor.cc

@@ -301,15 +301,6 @@ bool DepthCameraSensor::Load(const sdf::Sensor &_sdf)
   gzdbg << "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
-  // by ROS1: https://github.com/ros/common_msgs/pull/77. Ideally, memory
-  // alignment should be configured.
-  msgs::InitPointCloudPacked(this->dataPtr->pointMsg, this->FrameId(), true,
-      {{"xyz", msgs::PointCloudPacked::Field::FLOAT32},
-       {"rgb", msgs::PointCloudPacked::Field::FLOAT32}});
-
   if (this->Scene())
   {
     this->CreateCamera();
@@ -495,6 +486,18 @@ bool DepthCameraSensor::CreateCamera()
         std::placeholders::_1, std::placeholders::_2, std::placeholders::_3,
         std::placeholders::_4, std::placeholders::_5));
 
+  // 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
+  // by ROS1: https://github.com/ros/common_msgs/pull/77. Ideally, memory
+  // alignment should be configured.
+  msgs::InitPointCloudPacked(
+        this->dataPtr->pointMsg,
+        this->OpticalFrameId(),
+        true,
+        {{"xyz", msgs::PointCloudPacked::Field::FLOAT32},
+         {"rgb", msgs::PointCloudPacked::Field::FLOAT32}});
+
   // Set the values of the point message based on the camera information.
   this->dataPtr->pointMsg.set_width(this->ImageWidth());
   this->dataPtr->pointMsg.set_height(this->ImageHeight());
@@ -622,9 +625,10 @@ bool DepthCameraSensor::Update(
                rendering::PF_FLOAT32_R));
   msg.set_pixel_format_type(msgsFormat);
   *msg.mutable_header()->mutable_stamp() = msgs::Convert(_now);
-  auto frame = msg.mutable_header()->add_data();
+
+  auto* frame = msg.mutable_header()->add_data();
   frame->set_key("frame_id");
-  frame->add_value(this->FrameId());
+  frame->add_value(this->OpticalFrameId());
 
   std::lock_guard<std::mutex> lock(this->dataPtr->mutex);
   msg.set_data(this->dataPtr->depthBuffer,

tutorials/install.md

@@ -18,7 +18,7 @@ sudo apt-get update
 
 2. Install Gazebo Sensors
 ```{.sh}
-# Change <#> to a version number, like 3 or 4
+# Change <#> to a version number, like 7 or 8
 sudo apt install libgz-sensors<#>-dev
 ```
 
@@ -35,12 +35,32 @@ sudo apt install libgz-sensors<#>-dev
   brew install gz-sensors<#>
   ```
 
-Be sure to replace `<#>` with a number value, such as 5 or 6, depending on
+Be sure to replace `<#>` with a number value, such as 7 or 8, depending on
 which version you need.
 
 ### Windows
 
-Binary install is pending `gz-rendering` and `gz-sensors` being added to conda-forge.
+#### Install Prerequisites
+
+First, follow the [gz-cmake](https://github.com/gazebosim/gz-cmake) tutorial for installing Conda, Visual Studio, CMake, etc., prerequisites, and creating a Conda environment.
+
+Navigate to `condabin` if necessary to use the `conda` command (i.e., if Conda is not in your `PATH` environment variable. You can find the location of `condabin` in Anaconda Prompt, `where conda`).
+
+Create if necessary, and activate a Conda environment:
+
+```
+conda create -n gz-ws
+conda activate gz-ws
+```
+
+#### Binary Installation
+
+```
+conda install libgz-sensors<#> --channel conda-forge
+```
+
+Be sure to replace `<#>` with a number value, such as 7 or 8, depending on
+which version you need.
 
 ## Source Install
 
@@ -85,14 +105,14 @@ Gazebo Sensors requires:
 
 1. Clone the repository
   ```
-  git clone https://github.com/gazebosim/gz-sensors -b ign-sensors<#>
+  git clone https://github.com/gazebosim/gz-sensors -b gz-sensors<#>
   ```
   Be sure to replace `<#>` with a number value, such as 5 or 6, depending on
   which version you need.
 
 2. Install dependencies
   ```
-  brew install --only-dependencies ignition-sensors<#>
+  brew install --only-dependencies gz-sensors<#>
   ```
   Be sure to replace `<#>` with a number value, such as 5 or 6, depending on
   which version you need.
@@ -113,37 +133,24 @@ Gazebo Sensors requires:
 
 ### Windows
 
-#### Install Prerequisites
-
-First, follow the [gz-cmake](https://github.com/gazebosim/gz-cmake) tutorial for installing Conda, Visual Studio, CMake, etc., prerequisites, and creating a Conda environment.
-
-Navigate to `condabin` if necessary to use the `conda` command (i.e., if Conda is not in your `PATH` environment variable. You can find the location of `condabin` in Anaconda Prompt, `where conda`).
-
-Create if necessary, and activate a Conda environment:
+This assumes you have created and activated a Conda environment while [installing the Prerequisites](#install-prerequisites).
 
-```
-conda create -n gz-ws
-conda activate gz-ws
-```
+1. Install Gazebo dependencies:
 
-Install Gazebo dependencies, replacing `<#>` with the desired versions:
-
-```
-conda install libgz-cmake<#> libgz-common<#> libgz-math<#> libgz-transport<#> libgz-msgs<#> --channel conda-forge
-```
-
-Before [gz-rendering](https://github.com/gazebosim/gz-rendering) becomes available on conda-forge, follow its tutorial to build it from source.
+  You can view available versions and their dependencies:
+  ```
+  conda search libgz-sensors* --channel conda-forge --info
+  ```
 
-#### Build from source
+  Install dependencies, replacing `<#>` with the desired versions:
 
-1. Activate the Conda environment created in the prerequisites:
   ```
-  conda activate gz-ws
+  conda install libgz-cmake<#> libgz-common<#> libgz-math<#> libgz-transport<#> libgz-msgs<#> libgz-rendering<#> --channel conda-forge
   ```
 
 2. Navigate to where you would like to build the library, and clone the repository.
   ```
-  # Optionally, append `-b ign-sensors#` (replace # with a number) to check out a specific version
+  # Optionally, append `-b gz-sensors#` (replace # with a number) to check out a specific version
   git clone https://github.com/gazebosim/gz-sensors.git
   ```
 
@@ -154,13 +161,7 @@ Before [gz-rendering](https://github.com/gazebosim/gz-rendering) becomes availab
   cd build
   ```
 
-4. Before `gz-rendering` becomes available on conda-forge, we need to build it from source and specify the path containing `gz-rendering-config.cmake` in `CMAKE_PREFIX_PATH`, for cmake to find `gz-rendering`. That path could be `gz-rendering-install-path\lib\cmake\gz-rendering4`, for example.
-  ```
-  cmake .. -DBUILD_TESTING=OFF -DCMAKE_PREFIX_PATH=path\containing\ignition-rendering-config  # Optionally, -DCMAKE_INSTALL_PREFIX=path\to\install
-  cmake --build . --config Release
-  ```
-
-5. Optionally, install. You will likely need to run a terminal with admin privileges for this call to succeed.
+4. Optionally, install. You will likely need to run a terminal with admin privileges for this call to succeed.
   ```
   cmake --install . --config Release
   ```

tutorials/intro.md

@@ -9,7 +9,6 @@ noise models accessible through a C++ interface. The goal of Gazebo
 Sensors is to generate realistic sensor data suitable for use in robotic
 applications and simulation. The code behind Gazebo Sensors was originally
 developed as a suite of sensor models internal to
-[Gazebo](http://gazebosim.org). With the addition of some refactoring, the
-high-quality sensor models previously contained within Gazebo are now
-available for use in your next project without encumbering you with
-a complete simulation system.
+[Gazebo Classic](http://classic.gazebosim.org). With the addition of some
+refactoring, the high-quality sensor models are now available for use in
+your next project without encumbering you with a complete simulation system.

tutorials/thermal_camera.md

@@ -253,7 +253,7 @@ You should see something similar to this:
 
 Taking a look at the [SDF file](https://github.com/gazebosim/gz-sim/blob/e647570f25f962d63af75cf669ff72731d57bd5e/examples/worlds/thermal_camera.sdf) for this example shows that the box was assigned a temperature of 285 Kelvin.
 
-If we take a look at the Rescue Randy and Samsung J8 [fuel models](https://app.gazebosim.org/dashboard), we see that they have the following temperature range (the SDF file we are using with these models has an [ambient temperature of 300 Kelvin](https://github.com/gazebosim/gz-sim/blob/e647570f25f962d63af75cf669ff72731d57bd5e/examples/worlds/thermal_camera.sdf#L135-L144)):
+If we take a look at the [Rescue Randy](https://app.gazebosim.org/OpenRobotics/fuel/models/Rescue%20Randy) and [Samsung J8](https://app.gazebosim.org/OpenRobotics/fuel/models/Samsung%20J8%20Black) Fuel models, we see that they have the following temperature range (the SDF file we are using with these models has an [ambient temperature of 300 Kelvin](https://github.com/gazebosim/gz-sim/blob/e647570f25f962d63af75cf669ff72731d57bd5e/examples/worlds/thermal_camera.sdf#L135-L144)):
 * Rescue Randy: 300 Kelvin to 310 Kelvin
 * Samsung J8: 298.75 Kelvin to 300 Kelvin
 
@@ -262,12 +262,12 @@ The object with the highest temperature in the camera's view will always have wh
 If you move the object with the highest temperature out of the camera's view, the object with second highest temperature now becomes white.
 
 You can move the position of the objects and/or camera around in the world to see the effect it has on the camera's output (the different "camera outputs" are how they are visualized in the GUI).
-An easy way to move objects in the world is by using `Transform Control`:
+An easy way to move objects in the world is by using the `Transform Control` tool:
 
 @image html files/thermal_camera/thermal_camera_demo_2.png
 
 Another thing that you can do is modify the temperature ranges for objects with a heat signature.
-For example, if you go to the fuel cache on your machine (located at `~/.gz/fuel/` by default) and then modify Rescue Randy's `model.sdf` to have `min_temp` be `200`, and `max_temp` be `500`, you should see output similar to this (be sure to re-start the simulator by killing the current simulator (`ctrl-c` will do) and then re-running `gz sim -r thermal_camera.sdf`):
+For example, if you go to the fuel cache on your machine (located at `~/.gz/fuel/` by default) and then modify Rescue Randy's `model.sdf` to have `min_temp` be `200`, and `max_temp` be `500`, you should see output similar to this (be sure to re-start the simulator by closing the current simulator and then re-running `gz sim -r thermal_camera.sdf`):
 
 @image html files/thermal_camera/thermal_camera_demo_3.png