Merge branch 'gazebosim:gz-sensors8' into gz-sensors8

CMakeLists.txt

@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 #============================================================================
 # Initialize the project
 #============================================================================
-project(gz-sensors8 VERSION 8.2.0)
+project(gz-sensors8 VERSION 8.2.1)
 
 #============================================================================
 # Find gz-cmake

Changelog.md

@@ -1,5 +1,28 @@
 ## Gazebo Sensors 8
 
+### Gazebo Sensors 8.2.1 (2024-11-08)
+
+1. RgbdCameraSensor: add missing include
+    * [Pull request #464](https://github.com/gazebosim/gz-sensors/pull/464)
+
+1. Fix frame_id in rgbd_camera
+    * [Pull request #458](https://github.com/gazebosim/gz-sensors/pull/458)
+
+1. Remove unused variable in DopplerVelocityLog
+    * [Pull request #453](https://github.com/gazebosim/gz-sensors/pull/453)
+
+1. Skip apply noise / distortion if parameters are 0s
+    * [Pull request #450](https://github.com/gazebosim/gz-sensors/pull/450)
+
+1. Publish lidar scan only if there are lidar scan connections
+    * [Pull request #447](https://github.com/gazebosim/gz-sensors/pull/447)
+
+1. Backport frame id fixes
+    * [Pull request #446](https://github.com/gazebosim/gz-sensors/pull/446)
+
+1. Fix boundingbox_camera integration test
+    * [Pull request #443](https://github.com/gazebosim/gz-sensors/pull/443)
+
 ### Gazebo Sensors 8.2.0 (2024-06-14)
 
 1. Add API to check if sensor is in trigger mode

package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>gz-sensors8</name>
-  <version>8.2.0</version>
+  <version>8.2.1</version>
   <description>Gazebo Sensors : Sensor models for simulation</description>
   <maintainer email="ichen@openrobotics.org">Ian Chen</maintainer>
   <license>Apache License 2.0</license>

src/BoundingBoxCameraSensor.cc

@@ -293,6 +293,13 @@ 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

@@ -206,6 +206,13 @@ 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);

src/DepthCameraSensor.cc

@@ -28,6 +28,7 @@
 #include <gz/math/Angle.hh>
 #include <gz/math/Helpers.hh>
 
+#include <gz/msgs/PointCloudPackedUtils.hh>
 #include <gz/msgs/Utility.hh>
 #include <gz/transport/Node.hh>
 
@@ -335,8 +336,15 @@ 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();

src/DopplerVelocityLog.cc

@@ -1682,9 +1682,6 @@ namespace gz
           }
         }
 
-        const gz::math::Vector3d beamAxisInWorldFrame =
-            sensorStateInWorldFrame.pose.Rot() * beamAxisInSensorFrame;
-
         const gz::math::Vector3d beamAxisInReferenceFrame =
             this->referenceFrameRotation * beamAxisInSensorFrame;
 

src/GpuLidarSensor.cc

@@ -26,6 +26,7 @@
 
 #include <gz/common/Console.hh>
 #include <gz/common/Profiler.hh>
+#include <gz/msgs/PointCloudPackedUtils.hh>
 #include <gz/msgs/Utility.hh>
 #include <gz/transport/Node.hh>
 

src/RgbdCameraSensor.cc

@@ -25,6 +25,7 @@
 #include <gz/rendering/Camera.hh>
 #include <gz/rendering/DepthCamera.hh>
 
+#include <gz/msgs/PointCloudPackedUtils.hh>
 #include <gz/msgs/Utility.hh>
 #include <gz/transport/Node.hh>
 
@@ -251,15 +252,6 @@ bool RgbdCameraSensor::Load(const sdf::Sensor &_sdf)
   if (!this->AdvertiseInfo(this->Topic() + "/camera_info"))
     return false;
 
-  // 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->FrameId(), true,
-      {{"xyz", msgs::PointCloudPacked::Field::FLOAT32},
-       {"rgb", msgs::PointCloudPacked::Field::FLOAT32}});
-
   if (this->Scene())
   {
     this->CreateCameras();
@@ -285,8 +277,15 @@ bool RgbdCameraSensor::CreateCameras()
     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 an RGBD camera sensor with 0 width or height."
+          << std::endl;
+    return false;
+  }
 
   this->dataPtr->depthCamera =
       this->Scene()->CreateDepthCamera(this->Name());
@@ -390,6 +389,16 @@ bool RgbdCameraSensor::CreateCameras()
         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());

src/SegmentationCameraSensor.cc

@@ -353,6 +353,13 @@ bool SegmentationCameraSensor::CreateCamera()
   auto width = sdfCamera->ImageWidth();
   auto height = sdfCamera->ImageHeight();
 
+  if (width == 0u || height == 0u)
+  {
+    gzerr << "Unable to create a segmentation camera sensor with 0 width or "
+          << "height." << std::endl;
+    return false;
+  }
+
   math::Angle angle = sdfCamera->HorizontalFov();
   if (angle < 0.01 || angle > GZ_PI*2)
   {

src/ThermalCameraSensor.cc

@@ -255,8 +255,15 @@ bool ThermalCameraSensor::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 thermal camera sensor with 0 width or height."
+          << std::endl;
+    return false;
+  }
 
   sdf::PixelFormatType pixelFormat = cameraSdf->PixelFormat();
 

src/WideAngleCameraSensor.cc

@@ -228,6 +228,13 @@ bool WideAngleCameraSensor::CreateCamera()
   unsigned int width = cameraSdf->ImageWidth();
   unsigned int height = cameraSdf->ImageHeight();
 
+  if (width == 0u || height == 0u)
+  {
+    gzerr << "Unable to create a wide angle camera sensor with 0 width or "
+          << "height." << std::endl;
+    return false;
+  }
+
   this->dataPtr->camera = this->Scene()->CreateWideAngleCamera(this->Name());
 
   if (!this->dataPtr->camera)