From 44c67b08bb4b5c44cff91501de9a23d659af985c Mon Sep 17 00:00:00 2001 From: Levi Armstrong Date: Fri, 21 Jul 2023 02:16:55 -0600 Subject: [PATCH 01/14] Fix CameraSensor to check if element is null before access (#361) * Fix CameraSensor to check if element is null before access Signed-off-by: Levi Armstrong --- src/CameraSensor.cc | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/CameraSensor.cc b/src/CameraSensor.cc index e8f99e76..173f2aaf 100644 --- a/src/CameraSensor.cc +++ b/src/CameraSensor.cc @@ -257,7 +257,8 @@ bool CameraSensor::CreateCamera() this->dataPtr->camera->SetAspectRatio(static_cast(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); From 4300c17d47a4eeef9083ae2f8e49d7e8ad8294bf Mon Sep 17 00:00:00 2001 From: Levi Armstrong Date: Tue, 25 Jul 2023 17:03:44 -0500 Subject: [PATCH 02/14] Expose optical frame in CameraSensor so it can be set in DepthCameraSensor (#362) Signed-off-by: Levi Armstrong --- include/gz/sensors/CameraSensor.hh | 4 ++++ src/CameraSensor.cc | 6 ++++++ src/DepthCameraSensor.cc | 26 +++++++++++++++----------- 3 files changed, 25 insertions(+), 11 deletions(-) diff --git a/include/gz/sensors/CameraSensor.hh b/include/gz/sensors/CameraSensor.hh index aae0ad45..b4939f7a 100644 --- a/include/gz/sensors/CameraSensor.hh +++ b/include/gz/sensors/CameraSensor.hh @@ -146,6 +146,10 @@ namespace gz /// \todo(iche033) Make this function virtual on Harmonic public: 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(); diff --git a/src/CameraSensor.cc b/src/CameraSensor.cc index 173f2aaf..140d162d 100644 --- a/src/CameraSensor.cc +++ b/src/CameraSensor.cc @@ -921,6 +921,12 @@ bool CameraSensor::HasInfoConnections() const return this->dataPtr->infoPub && this->dataPtr->infoPub.HasConnections(); } +////////////////////////////////////////////////// +const std::string& CameraSensor::OpticalFrameId() const +{ + return this->dataPtr->opticalFrameId; +} + ////////////////////////////////////////////////// math::Matrix4d CameraSensorPrivate::BuildProjectionMatrix( double _imageWidth, double _imageHeight, diff --git a/src/DepthCameraSensor.cc b/src/DepthCameraSensor.cc index e295d0e5..f965e18e 100644 --- a/src/DepthCameraSensor.cc +++ b/src/DepthCameraSensor.cc @@ -299,15 +299,6 @@ 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(); @@ -422,6 +413,18 @@ 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()); @@ -549,9 +552,10 @@ 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 lock(this->dataPtr->mutex); msg.set_data(this->dataPtr->depthBuffer, From 4881904675898c16180c1b1fbe62de1b88dc2805 Mon Sep 17 00:00:00 2001 From: "Addisu Z. Taddese" Date: Tue, 1 Aug 2023 16:26:12 -0500 Subject: [PATCH 03/14] Fix Github project automation for new project board (#371) Signed-off-by: Addisu Z. Taddese --- .github/workflows/triage.yml | 10 ++++------ 1 file changed, 4 insertions(+), 6 deletions(-) diff --git a/.github/workflows/triage.yml b/.github/workflows/triage.yml index 736670e0..152404be 100644 --- a/.github/workflows/triage.yml +++ b/.github/workflows/triage.yml @@ -1,7 +1,7 @@ on: issues: types: [opened] - pull_request_target: + pull_request: types: [opened] name: Ticket opened jobs: @@ -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/add-to-project@v0.5.0 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 }} From 7b4387fc64b12f72a39e7c7efafcbc8cc4230766 Mon Sep 17 00:00:00 2001 From: "Addisu Z. Taddese" Date: Wed, 2 Aug 2023 15:49:30 -0500 Subject: [PATCH 04/14] Use `pull_request_target` for triage workflow (#372) Signed-off-by: Addisu Z. Taddese --- .github/workflows/triage.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/triage.yml b/.github/workflows/triage.yml index 152404be..2c94852d 100644 --- a/.github/workflows/triage.yml +++ b/.github/workflows/triage.yml @@ -1,7 +1,7 @@ on: issues: types: [opened] - pull_request: + pull_request_target: types: [opened] name: Ticket opened jobs: From cb20312072d9f12485096baaebc0738be730410b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= Date: Tue, 5 Sep 2023 16:28:07 +0200 Subject: [PATCH 05/14] Update README.md (#378) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Alejandro Hernández Cordero --- README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 3be9eb15..5381b7dd 100644 --- a/README.md +++ b/README.md @@ -16,7 +16,7 @@ Windows | [![Build Status](https://build.osrfoundation.org/job/ign_sensors 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 @@ -49,7 +49,7 @@ See the [installation tutorial](https://gazebosim.org/api/sensors/7.0/installati # 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 From fc18ada375102b6a5e47d392e45d7c3874830857 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Tue, 12 Sep 2023 11:35:25 -0700 Subject: [PATCH 06/14] update introduction text (#381) Signed-off-by: Ian Chen --- tutorials/intro.md | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/tutorials/intro.md b/tutorials/intro.md index ee7e9d7b..29e5a72b 100644 --- a/tutorials/intro.md +++ b/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. From a776d8afa7462d8c4eaac7e7f5a3d9f6ef7838fc Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Tue, 12 Sep 2023 11:35:54 -0700 Subject: [PATCH 07/14] update readme (#380) Signed-off-by: Ian Chen --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 5381b7dd..6f148d73 100644 --- a/README.md +++ b/README.md @@ -45,7 +45,7 @@ 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 From f504526975891c867bb2ffe4f5492ea4452bc9be Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Tue, 12 Sep 2023 11:36:52 -0700 Subject: [PATCH 08/14] Minor tweak to thermal camera tutorial (#379) Signed-off-by: Ian Chen --- tutorials/thermal_camera.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/tutorials/thermal_camera.md b/tutorials/thermal_camera.md index 889737ff..481dd380 100644 --- a/tutorials/thermal_camera.md +++ b/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 From 11bf73100dbeeafc950f6fcf537f991fc4b717e6 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Wed, 13 Sep 2023 14:50:05 -0700 Subject: [PATCH 09/14] Replace ign with gz and update windows instructions in installation tutorial (#382) --------- Signed-off-by: Ian Chen --- tutorials/install.md | 69 ++++++++++++++++++++++---------------------- 1 file changed, 35 insertions(+), 34 deletions(-) diff --git a/tutorials/install.md b/tutorials/install.md index 39689286..6c58d59b 100644 --- a/tutorials/install.md +++ b/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 ``` From cf62d0fef8c4965cfb194b57d3f5dbede8dece14 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Thu, 14 Sep 2023 12:09:21 -0700 Subject: [PATCH 10/14] update ci badge (#385) Signed-off-by: Ian Chen --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 6f148d73..82c4aeec 100644 --- a/README.md +++ b/README.md @@ -10,7 +10,7 @@ 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/) From ec52913e608ce8f64053650bfcced84a70ca12e2 Mon Sep 17 00:00:00 2001 From: "Addisu Z. Taddese" Date: Tue, 26 Sep 2023 08:55:04 -0500 Subject: [PATCH 11/14] 7.3.0 release (#386) Signed-off-by: Addisu Z. Taddese --- CMakeLists.txt | 2 +- Changelog.md | 32 ++++++++++++++++++++++++++++++++ 2 files changed, 33 insertions(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index a4f27393..34b1c6b9 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR) #============================================================================ # Initialize the project #============================================================================ -project(gz-sensors7 VERSION 7.2.0) +project(gz-sensors7 VERSION 7.3.0) #============================================================================ # Find gz-cmake diff --git a/Changelog.md b/Changelog.md index dc0d1bfc..abcbdf53 100644 --- a/Changelog.md +++ b/Changelog.md @@ -2,6 +2,38 @@ ### Gazebo Sensors 7.X.X +### 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 From bb08963887fb4f33f95fbf89bffbf138962c805c Mon Sep 17 00:00:00 2001 From: "Addisu Z. Taddese" Date: Wed, 27 Sep 2023 18:10:09 -0500 Subject: [PATCH 12/14] Update changelog and prepare for pre2 (#388) Signed-off-by: Addisu Z. Taddese --- CMakeLists.txt | 2 +- Changelog.md | 58 ++++++++++++++++++++++++++++++++++++++++++++++++++ 2 files changed, 59 insertions(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 970f7b31..ff5143b6 100644 --- a/CMakeLists.txt +++ b/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 pre2) #============================================================================ # Set project-specific options diff --git a/Changelog.md b/Changelog.md index 35519482..bab41165 100644 --- a/Changelog.md +++ b/Changelog.md @@ -2,6 +2,64 @@ ### Gazebo Sensors 8.0.0 (202X-XX-XX) +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) From abca8da21ed165d46c516632314222eae0e3370c Mon Sep 17 00:00:00 2001 From: "Addisu Z. Taddese" Date: Fri, 29 Sep 2023 13:03:57 -0500 Subject: [PATCH 13/14] Prepare for 8.0.0 Release (#389) Signed-off-by: Addisu Z. Taddese --- CMakeLists.txt | 2 +- Changelog.md | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index ff5143b6..ad30b533 100644 --- a/CMakeLists.txt +++ b/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 pre2) +gz_configure_project(VERSION_SUFFIX) #============================================================================ # Set project-specific options diff --git a/Changelog.md b/Changelog.md index bab41165..9ee5e44a 100644 --- a/Changelog.md +++ b/Changelog.md @@ -1,6 +1,6 @@ ## 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) From 2cab123979c1bb740808ea07dd8ae93552871ba9 Mon Sep 17 00:00:00 2001 From: Ian Chen Date: Tue, 10 Oct 2023 17:35:34 +0000 Subject: [PATCH 14/14] fix build Signed-off-by: Ian Chen --- src/CameraSensor.cc | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/src/CameraSensor.cc b/src/CameraSensor.cc index 04d86a12..0b231067 100644 --- a/src/CameraSensor.cc +++ b/src/CameraSensor.cc @@ -858,3 +858,9 @@ bool CameraSensor::HasInfoConnections() const { return this->dataPtr->infoPub && this->dataPtr->infoPub.HasConnections(); } + +////////////////////////////////////////////////// +const std::string& CameraSensor::OpticalFrameId() const +{ + return this->dataPtr->opticalFrameId; +}