Merge 8 -> main

.github/workflows/ci.yml

@@ -1,14 +1,20 @@
 name: Ubuntu CI
 
-on: [push, pull_request]
+on:
+  pull_request:
+  push:
+    branches:
+      - 'ign-sensors[0-9]'
+      - 'gz-sensors[0-9]?'
+      - 'main'
 
 jobs:
   jammy-ci:
     runs-on: ubuntu-latest
     name: Ubuntu Jammy CI
     steps:
       - name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
       - name: Compile and test
         id: ci
         uses: gazebo-tooling/action-gz-ci@jammy

.github/workflows/triage.yml

@@ -14,4 +14,3 @@ jobs:
         with:
           project-url: https://github.com/orgs/gazebosim/projects/7
           github-token: ${{ secrets.TRIAGE_TOKEN }}
-

Changelog.md

@@ -269,6 +269,40 @@
 
 ## 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.
@@ -536,6 +570,31 @@
 
 ## 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.

README.md

@@ -9,10 +9,10 @@
 
 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)
+Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-sensors/tree/main/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-sensors/tree/main)
 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/)
+Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=gz_sensors-ci-main-homebrew-amd64)](https://build.osrfoundation.org/job/gz_sensors-ci-main-homebrew-amd64)
+Windows       | [![Build Status](https://build.osrfoundation.org/job/gz_sensors-main-win/badge/icon)](https://build.osrfoundation.org/job/gz_sensors-main-win/)
 
 Gazebo Sensors, a component of [Gazebo](https://gazebosim.org),
 provides numerous sensor models

src/CameraSensor.cc

@@ -42,7 +42,7 @@
 #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;

src/DepthCameraSensor.cc

@@ -480,12 +480,6 @@
         std::placeholders::_1, std::placeholders::_2, std::placeholders::_3,
         std::placeholders::_4, std::placeholders::_5));
 
-  this->dataPtr->pointCloudConnection =
-      this->dataPtr->depthCamera->ConnectNewRgbPointCloud(
-      std::bind(&DepthCameraSensor::OnNewRgbPointCloud, this,
-        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
@@ -609,6 +603,19 @@
     return false;
   }
 
+  if (this->HasPointConnections() && !this->dataPtr->pointCloudConnection)
+  {
+    this->dataPtr->pointCloudConnection =
+        this->dataPtr->depthCamera->ConnectNewRgbPointCloud(
+        std::bind(&DepthCameraSensor::OnNewRgbPointCloud, this,
+          std::placeholders::_1, std::placeholders::_2, std::placeholders::_3,
+          std::placeholders::_4, std::placeholders::_5));
+  }
+  else if (!this->HasPointConnections() && this->dataPtr->pointCloudConnection)
+  {
+    this->dataPtr->pointCloudConnection.reset();
+  }
+
   // generate sensor data
   this->Render();
 

src/RgbdCameraSensor.cc

@@ -448,13 +448,6 @@
         std::placeholders::_1, std::placeholders::_2, std::placeholders::_3,
         std::placeholders::_4, std::placeholders::_5));
 
-  this->dataPtr->pointCloudConnection =
-      this->dataPtr->depthCamera->ConnectNewRgbPointCloud(
-        std::bind(&RgbdCameraSensorPrivate::OnNewRgbPointCloud,
-        this->dataPtr.get(),
-        std::placeholders::_1, std::placeholders::_2, std::placeholders::_3,
-        std::placeholders::_4, std::placeholders::_5));
-
   // 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());
@@ -545,6 +538,22 @@
     return false;
   }
 
+  if ((this->HasPointConnections() || HasColorConnections()) &&
+      !this->dataPtr->pointCloudConnection)
+  {
+    this->dataPtr->pointCloudConnection =
+        this->dataPtr->depthCamera->ConnectNewRgbPointCloud(
+        std::bind(&RgbdCameraSensorPrivate::OnNewRgbPointCloud,
+        this->dataPtr.get(),
+        std::placeholders::_1, std::placeholders::_2, std::placeholders::_3,
+        std::placeholders::_4, std::placeholders::_5));
+  }
+  else if (!this->HasPointConnections() && !this->HasColorConnections() &&
+      this->dataPtr->pointCloudConnection)
+  {
+    this->dataPtr->pointCloudConnection.reset();
+  }
+
   unsigned int width = this->dataPtr->depthCamera->ImageWidth();
   unsigned int height = this->dataPtr->depthCamera->ImageHeight();
   unsigned int depthSamples = height * width;

src/Sensor_TEST.cc

@@ -349,6 +349,55 @@ 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,
+                           "<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("other_custom_frame_id", testSensor.FrameId());
+  }
+}
 //////////////////////////////////////////////////
 TEST_F(SensorUpdate, NextDataUpdateTime)
 {

test/integration/camera.cc

@@ -20,11 +20,13 @@
 
 #include <gz/msgs/camera_info.pb.h>
 #include <gz/msgs/image.pb.h>
+#include <gz/common/Image.hh>
 
 #include <gz/common/Console.hh>
 #include <gz/common/Filesystem.hh>
 #include <gz/sensors/Manager.hh>
 #include <gz/sensors/CameraSensor.hh>
+#include <gz/rendering/Utils.hh>
 
 // TODO(louise) Remove these pragmas once gz-rendering is disabling the
 // warnings