[Update] gz-sensors7 merge upstream

.github/workflows/ci.yml

@@ -0,0 +1,33 @@
+name: Ubuntu CI
+
+on:
+  pull_request:
+  push:
+    branches:
+      - 'ign-sensors[0-9]'
+      - 'gz-sensors[0-9]?'
+      - 'main'
+
+jobs:
+  focal-ci:
+    runs-on: ubuntu-latest
+    name: Ubuntu Focal CI
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+      - name: Compile and test
+        id: ci
+        uses: gazebo-tooling/action-gz-ci@focal
+        with:
+          codecov-enabled: true
+          cppcheck-enabled: true
+          cpplint-enabled: true
+  jammy-ci:
+    runs-on: ubuntu-latest
+    name: Ubuntu Jammy CI
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+      - name: Compile and test
+        id: ci
+        uses: gazebo-tooling/action-gz-ci@jammy

.github/workflows/triage.yml

@@ -0,0 +1,16 @@
+on:
+  issues:
+    types: [opened]
+  pull_request_target:
+    types: [opened]
+name: Ticket opened
+jobs:
+  assign:
+    name: Add ticket to inbox
+    runs-on: ubuntu-latest
+    steps:
+      - name: Add ticket to inbox
+        uses: actions/[email protected]
+        with:
+          project-url: https://github.com/orgs/gazebosim/projects/7
+          github-token: ${{ secrets.TRIAGE_TOKEN }}

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 7.3.1)
 
 #============================================================================
 # Find gz-cmake
@@ -38,11 +38,9 @@ message(STATUS "\n\n-- ====== Finding Dependencies ======")
 
 #--------------------------------------
 # Find Protobuf
-set(REQ_PROTOBUF_VER 3)
 gz_find_package(GzProtobuf
-                 VERSION ${REQ_PROTOBUF_VER}
-                 REQUIRED
-                 PRETTY Protobuf)
+                REQUIRED
+                PRETTY Protobuf)
 
 #--------------------------------------
 # Find gz-math

Changelog.md

@@ -1,6 +1,51 @@
 ## Gazebo Sensors 7
 
-### Gazebo Sensors 7.X.X
+### Gazebo Sensors 7.3.1 (2024-11-07)
+
+1. Update github action workflows
+    * [Pull request #401](https://github.com/gazebosim/gz-sensors/pull/401)
+
+1. clean up rendering resources
+    * [Pull request #324](https://github.com/gazebosim/gz-sensors/pull/324)
+
+1. Destroy rendering sensors when sensor is removed
+    * [Pull request #169](https://github.com/gazebosim/gz-sensors/pull/169)
+
+1. Support protobuf >= 22
+    * [Pull request #351](https://github.com/gazebosim/gz-sensors/pull/351)
+
+
+### 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)
 
@@ -173,6 +218,40 @@
 
 ## Gazebo Sensors 6
 
+### Gazebo Sensors 6.8.0 (2024-01-12)
+
+1. Allow specifying gz_frame_id as an alternative to ignition_frame_id
+    * [Pull request #409](https://github.com/gazebosim/gz-sensors/pull/409)
+
+1. [backport fortress] camera info topic published with the right data
+    * [Pull request #383](https://github.com/gazebosim/gz-sensors/pull/383)
+
+1. Infrastructure
+    * [Pull request #401](https://github.com/gazebosim/gz-sensors/pull/401)
+
+### Gazebo Sensors 6.7.1 (2023-09-01)
+
+1. Support protobuf >= 22
+    * [Pull request #351](https://github.com/gazebosim/gz-sensors/pull/351)
+
+1. Infrastructure
+    * [Pull request #335](https://github.com/gazebosim/gz-sensors/pull/335)
+
+1. Rename COPYING to LICENSE
+    * [Pull request #334](https://github.com/gazebosim/gz-sensors/pull/334)
+
+1. Fix links in Changelog
+    * [Pull request #330](https://github.com/gazebosim/gz-sensors/pull/330)
+
+1. Fix Camera info test
+    * [Pull request #326](https://github.com/gazebosim/gz-sensors/pull/326)
+
+1. clean up rendering resources
+    * [Pull request #324](https://github.com/gazebosim/gz-sensors/pull/324)
+
+1. Added Camera Info topic support for cameras
+    * [Pull request #285](https://github.com/gazebosim/gz-sensors/pull/285)
+
 ### Gazebo Sensors 6.7.0 (2023-02-13)
 
 1. Disable thermal camera test on MacOS.
@@ -440,6 +519,31 @@
 
 ## Gazebo Sensors 3
 
+### Gazebo Sensors 3.6.0 (2024-01-05)
+
+1. Update github action workflows
+    * [Pull request #401](https://github.com/gazebosim/gz-sensors/pull/401)
+    * [Pull request #335](https://github.com/gazebosim/gz-sensors/pull/335)
+    * [Pull request #334](https://github.com/gazebosim/gz-sensors/pull/334)
+
+1. Clean up rendering resources
+    * [Pull request #324](https://github.com/gazebosim/gz-sensors/pull/324)
+
+1. Destroy rendering sensors when sensor is removed
+    * [Pull request #169](https://github.com/gazebosim/gz-sensors/pull/169)
+
+1. Support protobuf >= 22
+    * [Pull request #351](https://github.com/gazebosim/gz-sensors/pull/351)
+
+1. Fix links in Changelog
+    * [Pull request #330](https://github.com/gazebosim/gz-sensors/pull/330)
+
+1. Fix Camera info test
+    * [Pull request #326](https://github.com/gazebosim/gz-sensors/pull/326)
+
+1. Added Camera Info topic support for cameras
+    * [Pull request #285](https://github.com/gazebosim/gz-sensors/pull/285)
+
 ### Gazebo Sensors 3.5.0 (2022-11-30)
 
 1. Add missing DEPENDS_ON_COMPONENTS parameters.

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();

include/gz/sensors/DepthCameraSensor.hh

@@ -105,12 +105,12 @@ namespace gz
                     const std::string &/*_format*/);
 
       /// \brief Point cloud data callback used to get the data from the sensor
-      /// \param[in] _data pointer to the data from the sensor
+      /// \param[in] _scan pointer to the data from the sensor
       /// \param[in] _width width of the point cloud image
       /// \param[in] _height height of the point cloud image
       /// \param[in] _channel bytes used for the point cloud data
       /// \param[in] _format string with the format
-      public: void OnNewRgbPointCloud(const float *_data,
+      public: void OnNewRgbPointCloud(const float *_scan,
                     unsigned int _width, unsigned int _height,
                     unsigned int /*_channels*/,
                     const std::string &/*_format*/);

src/BoundingBoxCameraSensor.cc

@@ -316,6 +316,13 @@ bool BoundingBoxCameraSensor::CreateCamera()
   auto width = sdfCamera->ImageWidth();
   auto height = sdfCamera->ImageHeight();
 
+  if (width == 0u || height == 0u)
+  {
+    gzerr << "Unable to create a bounding box camera sensor with 0 width or "
+          << "height. " << std::endl;
+    return false;
+  }
+
   // Set Camera Properties
   this->dataPtr->rgbCamera->SetImageFormat(rendering::PF_R8G8B8);
   this->dataPtr->rgbCamera->SetImageWidth(width);

src/CameraSensor.cc

@@ -41,7 +41,7 @@
 #include "gz/sensors/SensorFactory.hh"
 #include "gz/sensors/SensorTypes.hh"
 
-#include "gz/rendering/Utils.hh"
+#include <gz/rendering/Utils.hh>
 
 using namespace gz;
 using namespace sensors;
@@ -212,6 +212,13 @@ bool CameraSensor::CreateCamera()
   unsigned int width = cameraSdf->ImageWidth();
   unsigned int height = cameraSdf->ImageHeight();
 
+  if (width == 0u || height == 0u)
+  {
+    gzerr << "Unable to create a camera sensor with 0 width or height."
+          << std::endl;
+    return false;
+  }
+
   this->dataPtr->camera = this->Scene()->CreateCamera(this->Name());
   this->dataPtr->camera->SetImageWidth(width);
   this->dataPtr->camera->SetImageHeight(height);
@@ -257,7 +264,8 @@ 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);
@@ -671,7 +679,7 @@ bool CameraSensor::Update(const std::chrono::steady_clock::duration &_now)
       }
       catch(...)
       {
-        ignerr << "Exception thrown in an image callback.\n";
+        gzerr << "Exception thrown in an image callback.\n";
       }
     }
 
@@ -920,6 +928,12 @@ 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,

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->Name(), true,
-      {{"xyz", msgs::PointCloudPacked::Field::FLOAT32},
-       {"rgb", msgs::PointCloudPacked::Field::FLOAT32}});
-
   if (this->Scene())
   {
     this->CreateCamera();
@@ -333,8 +324,15 @@ bool DepthCameraSensor::CreateCamera()
     return false;
   }
 
-  int width = cameraSdf->ImageWidth();
-  int height = cameraSdf->ImageHeight();
+  unsigned int width = cameraSdf->ImageWidth();
+  unsigned int height = cameraSdf->ImageHeight();
+
+  if (width == 0u || height == 0u)
+  {
+    gzerr << "Unable to create a depth camera sensor with 0 width or height."
+          << std::endl;
+    return false;
+  }
 
   double far = cameraSdf->FarClip();
   double near = cameraSdf->NearClip();
@@ -422,6 +420,18 @@ 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 +559,10 @@ 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,

src/GpuLidarSensor.cc

@@ -265,7 +265,7 @@ bool GpuLidarSensor::CreateLidar()
 }
 
 /////////////////////////////////////////////////
-void GpuLidarSensor::OnNewLidarFrame(const float *_data,
+void GpuLidarSensor::OnNewLidarFrame(const float *_scan,
     unsigned int _width, unsigned int _height, unsigned int _channels,
     const std::string &_format)
 {
@@ -277,11 +277,11 @@ void GpuLidarSensor::OnNewLidarFrame(const float *_data,
   if (!this->laserBuffer)
     this->laserBuffer = new float[samples];
 
-  memcpy(this->laserBuffer, _data, lidarBufferSize);
+  memcpy(this->laserBuffer, _scan, lidarBufferSize);
 
   if (this->dataPtr->lidarEvent.ConnectionCount() > 0)
   {
-    this->dataPtr->lidarEvent(_data, _width, _height, _channels, _format);
+    this->dataPtr->lidarEvent(_scan, _width, _height, _channels, _format);
   }
 }
 

src/NavSatSensor.cc

@@ -15,6 +15,8 @@
  *
 */
 
+#include <unordered_map>
+
 #ifdef _WIN32
 #pragma warning(push)
 #pragma warning(disable: 4005)