Remove plugin interface and support custom sensors

.github/ci/packages.apt

@@ -2,7 +2,6 @@ libignition-cmake2-dev
 libignition-common4-dev
 libignition-math6-dev
 libignition-msgs8-dev
-libignition-plugin-dev
 libignition-rendering6-dev
 libignition-tools-dev
 libignition-transport11-dev

CMakeLists.txt

@@ -78,11 +78,6 @@ endif()
 ign_find_package(ignition-msgs8 REQUIRED)
 set(IGN_MSGS_VER ${ignition-msgs8_VERSION_MAJOR})
 
-#--------------------------------------
-# Find ignition-plugin
-ign_find_package(ignition-plugin1 REQUIRED COMPONENTS all)
-set(IGN_PLUGIN_VER ${ignition-plugin1_VERSION_MAJOR})
-
 #--------------------------------------
 # Find SDFormat
 ign_find_package(sdformat12 REQUIRED)

Migration.md

@@ -5,6 +5,37 @@ Deprecated code produces compile-time warnings. These warning serve as
 notification to users that their code should be upgraded. The next major
 release will remove the deprecated code.
 
+## Ignition Sensors 5.X to 6.X
+
+1. Sensors aren't loaded as plugins anymore. Instead, downstream libraries must
+   link to the library of the sensor they're interested in, and instantiate
+   new sensors knowing their type. For example:
+
+    * `auto camera = std::make_unique<ignition::sensors::CameraSensor>();`
+    * `auto camera = sensorFactory.CreateSensor<ignition::sensors::CameraSensor>(_sdf);`
+    * `auto camera = manager.CreateSensor<ignition::sensors::CameraSensor>(_sdf);`
+
+1. **include/sensors/SensorFactory.hh**
+   + ***Deprecation*** SensorPlugin
+   + ***Replacement*** None; see above.
+   + ***Deprecation*** SensorTypePlugin
+   + ***Replacement*** None; see above.
+   + ***Deprecation*** std::unique_ptr<Sensor> CreateSensor(sdf::ElementPtr);
+   + ***Replacement*** template<typename SensorType> std::unique_ptr<SensorType> CreateSensor(sdf::ElementPtr);
+   + ***Deprecation*** std::unique_ptr<Sensor> CreateSensor(const sdf::Sensor &);
+   + ***Replacement*** template<typename SensorType> std::unique_ptr<SensorType> CreateSensor(const sdf::Sensor &);
+   + ***Deprecation*** void AddPluginPaths(const std::string &)
+   + ***Replacement*** None; see above.
+   + ***Deprecation*** IGN_SENSORS_REGISTER_SENSOR
+   + ***Replacement*** None; see above.
+
+1. **include/sensors/Manager.hh**
+   + ***Deprecation*** SensorId CreateSensor(sdf::ElementPtr);
+   + ***Replacement*** template<typename SensorType, typename SdfType> SensorType> \*CreateSensor(SdfType);
+   + ***Deprecation*** SensorId CreateSensor(const sdf::Sensor &);
+   + ***Replacement*** template<typename SensorType, typename SdfType> SensorType \*CreateSensor(SdfType);
+   + ***Deprecation*** void AddPluginPaths(const std::string &)
+   + ***Replacement*** None; see above.
 
 ## Ignition Sensors 3.X to 4.X
 

bitbucket-pipelines.yml

@@ -24,7 +24,6 @@ pipelines:
             libignition-math6-dev
             libignition-msgs5-dev
             libignition-tools-dev
-            libignition-plugin-dev
             libignition-transport8-dev
             libsdformat9-dev
           #  libignition-rendering3-dev

examples/custom_sensor/CMakeLists.txt

@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+
+project(odometer)
+
+find_package(ignition-cmake2 REQUIRED)
+find_package(ignition-sensors6 REQUIRED)
+
+add_library(${PROJECT_NAME} SHARED Odometer.cc)
+target_link_libraries(${PROJECT_NAME}
+  PUBLIC ignition-sensors6::ignition-sensors6)

examples/custom_sensor/Odometer.cc

@@ -0,0 +1,109 @@
+/*
+ * 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.
+ *
+*/
+
+#include <math.h>
+
+#include <ignition/msgs/double.pb.h>
+
+#include <ignition/common/Console.hh>
+#include <ignition/sensors/Noise.hh>
+#include <ignition/sensors/Util.hh>
+
+#include "Odometer.hh"
+
+using namespace custom;
+
+//////////////////////////////////////////////////
+bool Odometer::Load(const sdf::Sensor &_sdf)
+{
+  auto type = ignition::sensors::customType(_sdf);
+  if ("odometer" != type)
+  {
+    ignerr << "Trying to load [odometer] sensor, but got type ["
+           << type << "] instead." << std::endl;
+    return false;
+  }
+
+  // Load common sensor params
+  ignition::sensors::Sensor::Load(_sdf);
+
+  // Advertise topic where data will be published
+  this->pub = this->node.Advertise<ignition::msgs::Double>(this->Topic());
+
+  if (!_sdf.Element()->HasElement("ignition:odometer"))
+  {
+    igndbg << "No custom configuration for [" << this->Topic() << "]"
+           << std::endl;
+    return true;
+  }
+
+  // Load custom sensor params
+  auto customElem = _sdf.Element()->GetElement("ignition:odometer");
+
+  if (!customElem->HasElement("noise"))
+  {
+    igndbg << "No noise for [" << this->Topic() << "]" << std::endl;
+    return true;
+  }
+
+  sdf::Noise noiseSdf;
+  noiseSdf.Load(customElem->GetElement("noise"));
+  this->noise = ignition::sensors::NoiseFactory::NewNoiseModel(noiseSdf);
+  if (nullptr == this->noise)
+  {
+    ignerr << "Failed to load noise." << std::endl;
+    return false;
+  }
+
+  return true;
+}
+
+//////////////////////////////////////////////////
+bool Odometer::Update(const std::chrono::steady_clock::duration &_now)
+{
+  ignition::msgs::Double msg;
+  *msg.mutable_header()->mutable_stamp() = ignition::msgs::Convert(_now);
+  auto frame = msg.mutable_header()->add_data();
+  frame->set_key("frame_id");
+  frame->add_value(this->Name());
+
+  this->totalDistance = this->noise->Apply(this->totalDistance);
+
+  msg.set_data(this->totalDistance);
+
+  this->AddSequence(msg.mutable_header());
+  this->pub.Publish(msg);
+
+  return true;
+}
+
+//////////////////////////////////////////////////
+void Odometer::NewPosition(const ignition::math::Vector3d &_pos)
+{
+  if (!isnan(this->prevPos.X()))
+  {
+    this->totalDistance += this->prevPos.Distance(_pos);
+  }
+  this->prevPos = _pos;
+}
+
+//////////////////////////////////////////////////
+const ignition::math::Vector3d &Odometer::Position() const
+{
+  return this->prevPos;
+}
+

examples/custom_sensor/Odometer.hh

@@ -0,0 +1,68 @@
+/*
+ * 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.
+ *
+*/
+#ifndef ODOMETER_HH_
+#define ODOMETER_HH_
+
+#include <ignition/sensors/Sensor.hh>
+#include <ignition/sensors/SensorTypes.hh>
+#include <ignition/transport/Node.hh>
+
+namespace custom
+{
+  /// \brief Example sensor that publishes the total distance travelled by a
+  /// robot, with noise.
+  class Odometer : public ignition::sensors::Sensor
+  {
+    /// \brief Load the sensor with SDF parameters.
+    /// \param[in] _sdf SDF Sensor parameters.
+    /// \return True if loading was successful
+    public: virtual bool Load(const sdf::Sensor &_sdf) override;
+
+    /// \brief Update the sensor and generate data
+    /// \param[in] _now The current time
+    /// \return True if the update was successfull
+    public: virtual bool Update(
+      const std::chrono::steady_clock::duration &_now) override;
+
+    /// \brief Set the current postiion of the robot, so the odometer can
+    /// calculate the distance travelled.
+    /// \param[in] _pos Current position in world coordinates.
+    public: void NewPosition(const ignition::math::Vector3d &_pos);
+
+    /// \brief Get the latest world postiion of the robot.
+    /// \return The latest position given to the odometer.
+    public: const ignition::math::Vector3d &Position() const;
+
+    /// \brief Previous position of the robot.
+    private: ignition::math::Vector3d prevPos{std::nan(""), std::nan(""),
+        std::nan("")};
+
+    /// \brief Latest total distance.
+    private: double totalDistance{0.0};
+
+    /// \brief Noise that will be applied to the sensor data
+    private: ignition::sensors::NoisePtr noise{nullptr};
+
+    /// \brief Node for communication
+    private: ignition::transport::Node node;
+
+    /// \brief Publishes sensor data
+    private: ignition::transport::Node::Publisher pub;
+  };
+}
+
+#endif

examples/custom_sensor/README.md

@@ -0,0 +1,38 @@
+# Custom sensor
+
+This example creates a simple custom sensor called `Odometer`, which
+publishes the total distance travelled by a robot.
+
+## Build
+
+Compile the sensor as follows:
+
+```
+cd examples/custom_sensor
+mkdir build
+cd build
+cmake ..
+make
+```
+
+This will generate a shared library with the sensor called `libodometer`.
+
+## Use
+
+This sensor can be used with Ignition Gazebo, or with any downstream
+application that uses the Ignition Sensors API. Listed here are two ways of
+testing this sensor, one with Gazebo and one with a custom program.
+
+### With a custom program
+
+The [loop_sensor](../loop_sensor) example can be used to load an SDF file with
+configuration for this sensor and run it in a loop. See that example's
+instructions.
+
+### With Ignition Gazebo
+
+The
+[custom_sensor_system](https://github.com/ignitionrobotics/ign-gazebo/tree/main/examples/plugin/custom_sensor_system)
+example can be used to load this sensor into Gazebo and update it during the
+simulation.
+

examples/loop_sensor/CMakeLists.txt

@@ -0,0 +1,21 @@
+cmake_minimum_required(VERSION 3.5 FATAL_ERROR)
+project(loop_sensor)
+
+find_package(ignition-sensors6 REQUIRED
+  # Find built-in sensors
+  COMPONENTS
+    altimeter
+)
+
+# A simple example of how to find custom sensors
+add_subdirectory(../custom_sensor odometer)
+
+add_executable(${PROJECT_NAME} main.cc)
+target_link_libraries(${PROJECT_NAME} PUBLIC
+  ignition-sensors6::ignition-sensors6
+
+  # Link to custom sensors
+  odometer
+
+  # Link to built-in sensors
+  ignition-sensors6::altimeter)