5 ➡️ 6 (#174)

Signed-off-by: Louise Poubel <louise@openrobotics.org>

CMakeLists.txt

@@ -69,9 +69,8 @@ ign_find_package(ignition-math6 REQUIRED VERSION 6.5)
 set(IGN_MATH_VER ${ignition-math6_VERSION_MAJOR})
 
 #--------------------------------------
-# Find ignition-tools
-ign_find_package(ignition-tools
-                 QUIET)
+# Find if ign command is available
+find_program(HAVE_IGN_TOOLS ign)
 
 #--------------------------------------
 # Find Tinyxml2

proto/ignition/msgs/performance_sensor_metrics.proto

@@ -0,0 +1,43 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+syntax = "proto3";
+package ignition.msgs;
+
+import "ignition/msgs/double.proto";
+
+/// \brief This message contains information about the performance of
+/// a sensor in the world.
+/// If the sensor is a camera then it will publish the frame per second (fps).
+message PerformanceSensorMetrics
+{
+  /// \brief Sensor name
+  string name                 = 1;
+
+  /// \brief The update rate of the sensor in real time.
+  double real_update_rate     = 2;
+
+  /// \brief The update rate of the sensor in simulation time.
+  double sim_update_rate      = 3;
+
+  /// \brief The nominal update rate defined to the sensor.
+  double nominal_update_rate  = 4;
+
+  /// \brief If the sensor is a camera then this field should be filled
+  /// with average fps in real time.
+  Double fps_optional         = 5;
+}

tools/CMakeLists.txt

@@ -12,6 +12,7 @@ if (MSVC)
   list(REMOVE_ITEM test_sources ign_TEST.cc)
 endif()
 
-if (IGNITION-TOOLS_BINARY_DIRS)
+
+if (HAVE_IGN_TOOLS)
   ign_build_tests(TYPE UNIT SOURCES ${test_sources})
 endif ()