Merge ign-sensors2 to ign-sensors3 (#44)

* mv hgignore Signed-off-by: claireyywang <[email protected]> * add gitignore Signed-off-by: claireyywang <[email protected]> * [ign-sensors2] Update BitBucket links (#10) * [ign-sensors2] Update BitBucket links Signed-off-by: Louise Poubel <[email protected]> * [ign-sensors2] Update BitBucket links Signed-off-by: Louise Poubel <[email protected]> * [ign-sensors2] Workflow updates (#20) Signed-off-by: Louise Poubel <[email protected]> * Make topics valid (#33) Signed-off-by: Louise Poubel <[email protected]> * add noise to depth camera Signed-off-by: Ian Chen <[email protected]> * 2.9.0 release prep Signed-off-by: Nate Koenig <[email protected]> * Fix version numbers in config.hh (#42) Signed-off-by: Carlos Agüero <[email protected]> * ci fixes Signed-off-by: Ian Chen <[email protected]> Co-authored-by: claireyywang <[email protected]> Co-authored-by: chapulina <[email protected]> Co-authored-by: Louise Poubel <[email protected]> Co-authored-by: Nate Koenig <[email protected]> Co-authored-by: Nate Koenig <[email protected]> Co-authored-by: Carlos Agüero <[email protected]>
gazebo-tooling · Sep 1, 2020 · ef3c85b · ef3c85b
1 parent 6f1e16a
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diff --git a/.github/ci/after_make.sh b/.github/ci/after_make.sh
@@ -0,0 +1,12 @@
+#!/bin/sh -l
+
+set -x
+set -e
+
+# Install (needed for some tests)
+make install
+
+Xvfb :1 -screen 0 1280x1024x24 &
+export DISPLAY=:1.0
+export RENDER_ENGINE_VALUES=ogre2
+export MESA_GL_VERSION_OVERRIDE=3.3
diff --git a/.github/ci/packages.apt b/.github/ci/packages.apt
@@ -0,0 +1,10 @@
+libignition-cmake2-dev
+libignition-common3-dev
+libignition-math6-dev
+libignition-msgs5-dev
+libignition-plugin-dev
+libignition-rendering3-dev
+libignition-tools-dev
+libignition-transport8-dev
+libsdformat9-dev
+xvfb
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -0,0 +1,25 @@
+name: Ubuntu CI
+
+on: [push]
+
+jobs:
+  bionic-ci:
+    runs-on: ubuntu-latest
+    name: Ubuntu Bionic CI
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Compile and test
+        id: ci
+        uses: ignition-tooling/action-ignition-ci@master
+        with:
+          codecov-token: ${{ secrets.CODECOV_TOKEN }}
+  focal-ci:
+    runs-on: ubuntu-latest
+    name: Ubuntu Focal CI
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Compile and test
+        id: ci
+        uses: ignition-tooling/action-ignition-ci@focal
diff --git a/Changelog.md b/Changelog.md
@@ -29,6 +29,17 @@
 
 ## Ignition Sensors 2
 
+### Ignition Sensors 2.9.0 (2020-08-07)
+
+1. Add noise to RGBD camera.
+    * [Pull Request 35](https://github.com/ignitionrobotics/ign-sensors/pull/35)
+
+1. Make sure all sensors have a default topic.When invalid topics are passed
+   in, convert them to valid topics if possible. If not possible to convert
+   into valid topic, fail gracefully.
+    * [Pull Request 33](https://github.com/ignitionrobotics/ign-sensors/pull/33)
+
+
 ### Ignition Sensors 2.8.0 (2020-03-04)
 
 1. Added sequence numbers to sensor data messages.

diff --git a/include/ignition/sensors/Sensor.hh b/include/ignition/sensors/Sensor.hh
@@ -132,6 +132,11 @@ namespace ignition
       /// \return Topic sensor publishes data to
       public: std::string Topic() const;
 
+      /// \brief Set topic where sensor data is published.
+      /// \param[in] _topic Topic sensor publishes data to.
+      /// \return True if a valid topic was set.
+      public: bool SetTopic(const std::string &_topic);
+
       /// \brief Get parent link of the sensor.
       /// \return Parent link of sensor.
       public: std::string Parent() const;

diff --git a/include/ignition/sensors/config.hh.in b/include/ignition/sensors/config.hh.in
@@ -1,9 +1,9 @@
 /* Config.hh. Generated by CMake for @PROJECT_NAME_NO_VERSION@. */
 
 /* Version number */
-#define IGNITION_SENSORS_MAJOR_VERSION ${PROJECT_MAJOR_VERSION}
-#define IGNITION_SENSORS_MINOR_VERSION ${PROJECT_MINOR_VERSION}
-#define IGNITION_SENSORS_PATCH_VERSION ${PROJECT_PATCH_VERSION}
+#define IGNITION_SENSORS_MAJOR_VERSION ${PROJECT_VERSION_MAJOR}
+#define IGNITION_SENSORS_MINOR_VERSION ${PROJECT_VERSION_MINOR}
+#define IGNITION_SENSORS_PATCH_VERSION ${PROJECT_VERSION_PATCH}
 
 #define IGNITION_SENSORS_VERSION "${PROJECT_VERSION}"
 #define IGNITION_SENSORS_VERSION_FULL "${PROJECT_VERSION_FULL}"

diff --git a/src/AirPressureSensor.cc b/src/AirPressureSensor.cc
@@ -100,16 +100,16 @@ bool AirPressureSensor::Load(const sdf::Sensor &_sdf)
     return false;
   }
 
-  std::string topic = this->Topic();
-  if (topic.empty())
-    topic = "/air_pressure";
+  if (this->Topic().empty())
+    this->SetTopic("/air_pressure");
 
   this->dataPtr->pub =
-      this->dataPtr->node.Advertise<ignition::msgs::FluidPressure>(topic);
+      this->dataPtr->node.Advertise<ignition::msgs::FluidPressure>(
+      this->Topic());
 
   if (!this->dataPtr->pub)
   {
-    ignerr << "Unable to create publisher on topic[" << topic << "].\n";
+    ignerr << "Unable to create publisher on topic[" << this->Topic() << "].\n";
     return false;
   }
 

diff --git a/src/AltimeterSensor.cc b/src/AltimeterSensor.cc
@@ -88,16 +88,15 @@ bool AltimeterSensor::Load(const sdf::Sensor &_sdf)
     return false;
   }
 
-  std::string topic = this->Topic();
-  if (topic.empty())
-    topic = "/altimeter";
+  if (this->Topic().empty())
+    this->SetTopic("/altimeter");
 
   this->dataPtr->pub =
-      this->dataPtr->node.Advertise<ignition::msgs::Altimeter>(topic);
+      this->dataPtr->node.Advertise<ignition::msgs::Altimeter>(this->Topic());
 
   if (!this->dataPtr->pub)
   {
-    ignerr << "Unable to create publisher on topic[" << topic << "].\n";
+    ignerr << "Unable to create publisher on topic[" << this->Topic() << "].\n";
     return false;
   }
 

diff --git a/src/CameraSensor.cc b/src/CameraSensor.cc
@@ -247,6 +247,9 @@ bool CameraSensor::Load(const sdf::Sensor &_sdf)
 
   this->dataPtr->sdfSensor = _sdf;
 
+  if (this->Topic().empty())
+    this->SetTopic("/camera");
+
   this->dataPtr->pub =
       this->dataPtr->node.Advertise<ignition::msgs::Image>(
           this->Topic());

diff --git a/src/Camera_TEST.cc b/src/Camera_TEST.cc
@@ -29,7 +29,7 @@ sdf::ElementPtr cameraToBadSdf()
     << "<sdf version='1.6'>"
     << " <model name='m1'>"
     << "  <link name='link1'>"
-    << "    <sensor name='cam_name' type='camera'>"
+    << "    <sensor name='cam_name' type='not_camera'>"
     << "      <not_camera>"
     << "      </not_camera>"
     << "    </sensor>"
@@ -46,7 +46,7 @@ sdf::ElementPtr cameraToBadSdf()
     ->GetElement("sensor");
 }
 
-sdf::ElementPtr cameraToSdf(const std::string &_type,
+sdf::ElementPtr CameraToSdf(const std::string &_type,
     const std::string &_name, double _updateRate,
     const std::string &_topic, bool _alwaysOn, bool _visualize)
 {
@@ -128,7 +128,7 @@ TEST(Camera_TEST, CreateCamera)
 {
   ignition::sensors::Manager mgr;
 
-  sdf::ElementPtr camSdf = cameraToSdf("camera", "my_camera", 60.0, "/cam",
+  sdf::ElementPtr camSdf = CameraToSdf("camera", "my_camera", 60.0, "/cam",
       true, true);
 
   // Create a CameraSensor
@@ -157,6 +157,65 @@ TEST(Camera_TEST, CreateCamera)
   EXPECT_TRUE(badCam == nullptr);
 }
 
+/////////////////////////////////////////////////
+TEST(Camera_TEST, Topic)
+{
+  const std::string type = "camera";
+  const std::string name = "TestCamera";
+  const double updateRate = 30;
+  const bool alwaysOn = 1;
+  const bool visualize = 1;
+
+  // Factory
+  ignition::sensors::Manager mgr;
+
+  // Default topic
+  {
+    const std::string topic;
+    auto cameraSdf = CameraToSdf(type, name, updateRate, topic, alwaysOn,
+        visualize);
+
+    auto sensorId = mgr.CreateSensor(cameraSdf);
+    EXPECT_NE(ignition::sensors::NO_SENSOR, sensorId);
+
+    auto sensor = mgr.Sensor(sensorId);
+    EXPECT_NE(nullptr, sensor);
+
+    auto camera = dynamic_cast<ignition::sensors::CameraSensor *>(sensor);
+    ASSERT_NE(nullptr, camera);
+
+    EXPECT_EQ("/camera", camera->Topic());
+  }
+
+  // Convert to valid topic
+  {
+    const std::string topic = "/topic with spaces/@~characters//";
+    auto cameraSdf = CameraToSdf(type, name, updateRate, topic, alwaysOn,
+        visualize);
+
+    auto sensorId = mgr.CreateSensor(cameraSdf);
+    EXPECT_NE(ignition::sensors::NO_SENSOR, sensorId);
+
+    auto sensor = mgr.Sensor(sensorId);
+    EXPECT_NE(nullptr, sensor);
+
+    auto camera = dynamic_cast<ignition::sensors::CameraSensor *>(sensor);
+    ASSERT_NE(nullptr, camera);
+
+    EXPECT_EQ("/topic_with_spaces/characters", camera->Topic());
+  }
+
+  // Invalid topic
+  {
+    const std::string topic = "@@@";
+    auto cameraSdf = CameraToSdf(type, name, updateRate, topic, alwaysOn,
+        visualize);
+
+    auto sensorId = mgr.CreateSensor(cameraSdf);
+    EXPECT_EQ(ignition::sensors::NO_SENSOR, sensorId);
+  }
+}
+
 //////////////////////////////////////////////////
 int main(int argc, char **argv)
 {

diff --git a/src/DepthCameraSensor.cc b/src/DepthCameraSensor.cc
@@ -264,6 +264,9 @@ bool DepthCameraSensor::Load(const sdf::Sensor &_sdf)
 
   this->dataPtr->sdfSensor = _sdf;
 
+  if (this->Topic().empty())
+    this->SetTopic("/camera/depth");
+
   this->dataPtr->pub =
       this->dataPtr->node.Advertise<ignition::msgs::Image>(
           this->Topic());

diff --git a/src/GpuLidarSensor.cc b/src/GpuLidarSensor.cc
@@ -122,14 +122,16 @@ bool GpuLidarSensor::Load(const sdf::Sensor &_sdf)
         std::bind(&GpuLidarSensor::SetScene, this, std::placeholders::_1));
 
   // Create the point cloud publisher
+  this->SetTopic(this->Topic() + "/points");
+
   this->dataPtr->pointPub =
       this->dataPtr->node.Advertise<ignition::msgs::PointCloudPacked>(
-          this->Topic() + "/points");
+          this->Topic());
 
   if (!this->dataPtr->pointPub)
   {
     ignerr << "Unable to create publisher on topic["
-      << this->Topic() + "/points" << "].\n";
+      << this->Topic() << "].\n";
     return false;
   }
 

diff --git a/src/ImageNoise.cc b/src/ImageNoise.cc
@@ -44,7 +44,7 @@ NoisePtr ImageNoiseFactory::NewNoiseModel(const sdf::Noise &_sdf,
   {
     if (_sensorType == "camera" || _sensorType == "depth" ||
         _sensorType == "multicamera" || _sensorType == "wideanglecamera" ||
-        _sensorType == "thermal_camera")
+        _sensorType == "thermal_camera" ||  _sensorType == "rgbd_camera")
     {
       noise.reset(new ImageGaussianNoiseModel());
     }

diff --git a/src/ImuSensor.cc b/src/ImuSensor.cc
@@ -104,16 +104,15 @@ bool ImuSensor::Load(const sdf::Sensor &_sdf)
     return false;
   }
 
-  std::string topic = this->Topic();
-  if (topic.empty())
-    topic = "/imu";
+  if (this->Topic().empty())
+    this->SetTopic("/imu");
 
   this->dataPtr->pub =
-      this->dataPtr->node.Advertise<ignition::msgs::IMU>(topic);
+      this->dataPtr->node.Advertise<ignition::msgs::IMU>(this->Topic());
 
   if (!this->dataPtr->pub)
   {
-    ignerr << "Unable to create publisher on topic[" << topic << "].\n";
+    ignerr << "Unable to create publisher on topic[" << this->Topic() << "].\n";
     return false;
   }
 

diff --git a/src/Lidar.cc b/src/Lidar.cc
@@ -106,6 +106,9 @@ bool Lidar::Load(const sdf::Sensor &_sdf)
   }
 
   // Register publisher
+  if (this->Topic().empty())
+    this->SetTopic("/lidar");
+
   this->dataPtr->pub =
       this->dataPtr->node.Advertise<ignition::msgs::LaserScan>(
         this->Topic());

diff --git a/src/LogicalCameraSensor.cc b/src/LogicalCameraSensor.cc
@@ -104,16 +104,16 @@ bool LogicalCameraSensor::Load(sdf::ElementPtr _sdf)
   if (!Sensor::Load(_sdf))
     return false;
 
-  std::string topic = this->Topic();
-  if (topic.empty())
-    topic = "/logical_camera";
+  if (this->Topic().empty())
+    this->SetTopic("/logical_camera");
 
   this->dataPtr->pub =
-      this->dataPtr->node.Advertise<ignition::msgs::LogicalCameraImage>(topic);
+      this->dataPtr->node.Advertise<ignition::msgs::LogicalCameraImage>(
+      this->Topic());
 
   if (!this->dataPtr->pub)
   {
-    ignerr << "Unable to create publisher on topic[" << topic << "].\n";
+    ignerr << "Unable to create publisher on topic[" << this->Topic() << "].\n";
     return false;
   }
 

diff --git a/src/MagnetometerSensor.cc b/src/MagnetometerSensor.cc
@@ -92,16 +92,16 @@ bool MagnetometerSensor::Load(const sdf::Sensor &_sdf)
     return false;
   }
 
-  std::string topic = this->Topic();
-  if (topic.empty())
-    topic = "/magnetometer";
+  if (this->Topic().empty())
+    this->SetTopic("/magnetometer");
 
   this->dataPtr->pub =
-      this->dataPtr->node.Advertise<ignition::msgs::Magnetometer>(topic);
+      this->dataPtr->node.Advertise<ignition::msgs::Magnetometer>(
+      this->Topic());
 
   if (!this->dataPtr->pub)
   {
-    ignerr << "Unable to create publisher on topic[" << topic << "].\n";
+    ignerr << "Unable to create publisher on topic[" << this->Topic() << "].\n";
     return false;
   }
 

diff --git a/src/Noise.cc b/src/Noise.cc
@@ -57,7 +57,7 @@ NoisePtr NoiseFactory::NewNoiseModel(const sdf::Noise &_sdf,
   {
     if (_sensorType == "camera" || _sensorType == "depth" ||
         _sensorType == "multicamera" || _sensorType == "wideanglecamera" ||
-        _sensorType == "thermal_camera")
+        _sensorType == "thermal_camera" || _sensorType == "rgbd_camera")
     {
       ignerr << "Image noise requested. "
              << "Please use ImageNoiseFactory::NoiseModel instead"