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Allow specifying gz_frame_id as an alternative to ignition_frame_id #409

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merged 1 commit into from
Jan 12, 2024
Merged

Allow specifying gz_frame_id as an alternative to ignition_frame_id #409

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12 changes: 12 additions & 0 deletions src/Sensor.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -148,6 +148,18 @@ bool SensorPrivate::PopulateFromSDF(const sdf::Sensor &_sdf)
if (element->HasElement("ignition_frame_id"))
{
this->frame_id = element->Get<std::string>("ignition_frame_id");
// Warn if both ignition_frame_id and gz_frame_id are specified
if (element->HasElement("gz_frame_id"))
{
ignwarn << "Found both `ignition_frame_id` and `gz_frame_id` in sensor"
<< this->name << ". Only `ignition_frame_id` will be used\n";
}
}
else if (element->HasElement("gz_frame_id"))
{
// Also read gz_frame_id to support SDF that's compatible with newer
// versions of Gazebo.
this->frame_id = element->Get<std::string>("gz_frame_id");
}
else
{
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55 changes: 55 additions & 0 deletions src/Sensor_TEST.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -350,6 +350,61 @@ TEST(Sensor_TEST, SetRateZeroService)
EXPECT_FLOAT_EQ(20.0, sensor.UpdateRate());
}

//////////////////////////////////////////////////
TEST(Sensor_TEST, FrameIdFromSdf)
{
auto loadSensorWithSdfParam =
[](TestSensor &_testSensor, const std::string &_sensorParam)
{
const std::string sensorSdf = R"(
<sdf version="1.9">
<model name="m1">
<link name="link1">
<sensor name="test" type="imu">)" +
_sensorParam + R"(
</sensor>
</link>
</model>
</sdf>
)";
sdf::Root root;
sdf::Errors errors = root.LoadSdfString(sensorSdf);
ASSERT_TRUE(errors.empty()) << errors;
auto *model = root.Model();
ASSERT_NE(model, nullptr);
auto *link = model->LinkByIndex(0);
ASSERT_NE(link, nullptr);
auto *sensor = link->SensorByIndex(0);
ASSERT_NE(sensor, nullptr);

_testSensor.Load(*sensor);
};

{
TestSensor testSensor;
loadSensorWithSdfParam(testSensor, "");
EXPECT_EQ("test", testSensor.FrameId());
}
{
TestSensor testSensor;
loadSensorWithSdfParam(
testSensor, "<ignition_frame_id>custom_frame_id</ignition_frame_id>");
EXPECT_EQ("custom_frame_id", testSensor.FrameId());
}
{
TestSensor testSensor;
loadSensorWithSdfParam(testSensor,
"<gz_frame_id>custom_frame_id</gz_frame_id>");
EXPECT_EQ("custom_frame_id", testSensor.FrameId());
}
{
TestSensor testSensor;
loadSensorWithSdfParam(testSensor, R"(
<ignition_frame_id>custom_frame_id</ignition_frame_id>
<gz_frame_id>other_custom_frame_id</gz_frame_id>)");
EXPECT_EQ("custom_frame_id", testSensor.FrameId());
}
}

//////////////////////////////////////////////////
int main(int argc, char **argv)
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