gazebo10 -> gazebo11 forward port

[j-rivero]

No description provided.

[j-rivero]

The ABI report message:

DepthCamera.hh
namespace gazebo::rendering
[+] DepthCamera::CreateNormalsTexture ( std::__cxx11::string const& _textureName )  

| Change | Effect
| -- | --
1st parameter _textureName has been renamed to _normalsName. | No effect.

Does not seem like a problem to me.

[j-rivero]

Forward port of #2809 to solve problems on compilation on Brew.

[iche033]

looks good to me. Waiting for results from jenkins build

[chapulina]

Just noticed a couple of things

[scpeters]

The ABI report message:

DepthCamera.hh
namespace gazebo::rendering
[+] DepthCamera::CreateNormalsTexture ( std::__cxx11::string const& _textureName )  

| Change | Effect
| -- | --
1st parameter _textureName has been renamed to _normalsName. | No effect.

Does not seem like a problem to me.

the DepthCameraPlugin v-table has also changed, which is a more significant problem, though for a plugin

it also complained about this in the 9 -> 10 forward port: #2796 (comment)

[chapulina]

the DepthCameraPlugin v-table has also changed, which is a more significant problem, though for a plugin

I suspect that was considered acceptable when merging this PR into Gazebo 9, although I didn't find any explicit discussion about it.

OnNewReflectanceFrame is pushing down OnNewNormalsFrame, but both functions have been recently added and haven't been released into Gazebo 11.0.0, see:

https://github.com/osrf/gazebo/blob/gazebo11_11.0.0/plugins/DepthCameraPlugin.hh

[scpeters]

the DepthCameraPlugin v-table has also changed, which is a more significant problem, though for a plugin

I suspect that was considered acceptable when merging this PR into Gazebo 9, although I didn't find any explicit discussion about it.

OnNewReflectanceFrame is pushing down OnNewNormalsFrame, but both functions have been recently added and haven't been released into Gazebo 11.0.0, see:

https://github.com/osrf/gazebo/blob/gazebo11_11.0.0/plugins/DepthCameraPlugin.hh

I think we'll just have to rebuild gazebo_plugins:

• https://github.com/ros-simulation/gazebo_ros_pkgs/blob/melodic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_depth_camera.h#L60

[chapulina]

I think we'll just have to rebuild gazebo_plugins:

The ABI report says "Call of any virtual method at higher position in this class or its subclasses may result in crash or incorrect behavior of applications."

But no higher virtual methods have ever been released. So I don't think this should break anyone already compiling against Gazebo 11, right?

[iche033]

I don't think we've released a new gazebo 11 minor version with the OnNewNormalsFrame function right? So it's position relative to OnNewReflectanceFrame should be fine as long as the two are at the bottom of the vtable.

[scpeters]

I don't think we've released a new gazebo 11 minor version with the OnNewNormalsFrame function right? So it's position relative to OnNewReflectanceFrame should be fine as long as the two are at the bottom of the vtable.

ok, thanks, I think that makes it ok.

[j-rivero]

All the CI looks good to me. Ready to go.