Merge pull request #1199 from gazebosim/ahcorde/sdf9_to_sdf12_15_11_2022

sdf9 to sdf12

Changelog.md

@@ -1058,6 +1058,14 @@
 
 ## libsdformat 9.X
 
+### libsdformat 9.9.1 (2022-11-08)
+
+1. Fix static URDF models with fixed joints
+    * [Pull request #1193](https://github.com/gazebosim/sdformat/pull/1193)
+
+1. Don't assume `CMAKE_INSTALL_*DIR` variables are relative
+    * [Pull request #1190](https://github.com/gazebosim/sdformat/pull/1190)
+
 ### libsdformat 9.9.0 (2022-09-07)
 
 1. sdf/camera.sdf: fields for projection matrix

include/sdf/Camera.hh

@@ -81,6 +81,14 @@ namespace sdf
     /// an error code and message. An empty vector indicates no error.
     public: Errors Load(ElementPtr _sdf);
 
+    /// \brief Get the camera info topic
+    /// \return Topic for the camera info
+    public: std::string CameraInfoTopic() const;
+
+    /// \brief Set the camera info topic
+    /// \param[in] _cameraInfoTopic Topic for the camera info.
+    public: void SetCameraInfoTopic(const std::string& _cameraInfoTopic);
+
     /// \brief Get a pointer to the SDF element that was used during
     /// load.
     /// \return SDF element pointer. The value will be nullptr if Load has

sdf/1.7/camera.sdf

@@ -5,6 +5,10 @@
     <description>An optional name for the camera.</description>
   </attribute>
 
+  <element name="camera_info_topic" type="string" default="camera_info" required="0">
+    <description>Name of the camera info</description>
+  </element> <!-- End camera Info topic -->
+
   <element name="horizontal_fov" type="double" default="1.047" min="0.1" max="6.283186" required="1">
     <description>Horizontal field of view</description>
   </element> <!-- End Horizontal_FOV -->

sdf/1.8/camera.sdf

@@ -5,6 +5,10 @@
     <description>An optional name for the camera.</description>
   </attribute>
 
+  <element name="camera_info_topic" type="string" default="camera_info" required="0">
+    <description>Name of the camera info</description>
+  </element> <!-- End camera Info topic -->
+
   <element name="horizontal_fov" type="double" default="1.047" min="0.1" max="6.283186" required="1">
     <description>Horizontal field of view</description>
   </element> <!-- End Horizontal_FOV -->

sdf/1.9/camera.sdf

@@ -5,6 +5,10 @@
     <description>An optional name for the camera.</description>
   </attribute>
 
+  <element name="camera_info_topic" type="string" default="camera_info" required="0">
+    <description>Name of the camera info</description>
+  </element> <!-- End camera Info topic -->
+
   <element name="triggered" type="bool" default="false" required="0">
     <description>If the camera will be triggered by a topic</description>
   </element> <!-- End Triggered -->

src/Camera.cc

@@ -52,6 +52,9 @@ class sdf::Camera::Implementation
   /// \brief The SDF element pointer used during load.
   public: sdf::ElementPtr sdf;
 
+  /// \brief Camera info topic.
+  public: std::string cameraInfoTopic = "";
+
   /// \brief Name of the camera.
   public: std::string name = "";
 
@@ -252,6 +255,9 @@ Errors Camera::Load(ElementPtr _sdf)
   this->dataPtr->triggerTopic = _sdf->Get<std::string>("trigger_topic",
       this->dataPtr->triggerTopic).first;
 
+  this->dataPtr->cameraInfoTopic = _sdf->Get<std::string>("camera_info_topic",
+      this->dataPtr->cameraInfoTopic).first;
+
   this->dataPtr->hfov = _sdf->Get<ignition::math::Angle>("horizontal_fov",
       this->dataPtr->hfov).first;
 
@@ -448,6 +454,18 @@ Errors Camera::Load(ElementPtr _sdf)
   return errors;
 }
 
+/////////////////////////////////////////////////
+std::string Camera::CameraInfoTopic() const
+{
+  return this->dataPtr->cameraInfoTopic;
+}
+
+/////////////////////////////////////////////////
+void Camera::SetCameraInfoTopic(const std::string &_cameraInfoTopic)
+{
+  this->dataPtr->cameraInfoTopic = _cameraInfoTopic;
+}
+
 /////////////////////////////////////////////////
 sdf::ElementPtr Camera::Element() const
 {
@@ -1194,6 +1212,12 @@ sdf::ElementPtr Camera::ToElement() const
   imageElem->GetElement("format")->Set<std::string>(this->PixelFormatStr());
   imageElem->GetElement("anti_aliasing")->Set<uint32_t>(
       this->AntiAliasingValue());
+  elem->GetElement("camera_info_topic")->Set<std::string>(
+      this->CameraInfoTopic());
+  elem->GetElement("trigger_topic")->Set<std::string>(
+      this->TriggerTopic());
+  elem->GetElement("triggered")->Set<bool>(
+      this->Triggered());
 
   sdf::ElementPtr clipElem = elem->GetElement("clip");
   clipElem->GetElement("near")->Set<double>(this->NearClip());

src/Camera_TEST.cc

@@ -34,6 +34,10 @@ TEST(DOMCamera, Construction)
   cam.SetTriggerTopic("my_camera/trigger");
   EXPECT_EQ("my_camera/trigger", cam.TriggerTopic());
 
+  EXPECT_EQ("", cam.CameraInfoTopic());
+  cam.SetCameraInfoTopic("/camera/camera_info");
+  EXPECT_EQ("/camera/camera_info", cam.CameraInfoTopic());
+
   EXPECT_DOUBLE_EQ(1.047, cam.HorizontalFov().Radian());
   cam.SetHorizontalFov(1.45);
   EXPECT_DOUBLE_EQ(1.45, cam.HorizontalFov().Radian());
@@ -269,6 +273,9 @@ TEST(DOMCamera, ToElement)
   cam.SetSaveFrames(true);
   cam.SetSaveFramesPath("/tmp");
   cam.SetOpticalFrameId("/optical_frame");
+  cam.SetCameraInfoTopic("/camera_info_test");
+  cam.SetTriggerTopic("/trigger_topic_test");
+  cam.SetTriggered(true);
 
   sdf::ElementPtr camElem = cam.ToElement();
   EXPECT_NE(nullptr, camElem);
@@ -289,6 +296,9 @@ TEST(DOMCamera, ToElement)
   EXPECT_TRUE(cam2.SaveFrames());
   EXPECT_EQ("/tmp", cam2.SaveFramesPath());
   EXPECT_EQ("/optical_frame", cam2.OpticalFrameId());
+  EXPECT_EQ("/camera_info_test", cam2.CameraInfoTopic());
+  EXPECT_EQ("/trigger_topic_test", cam2.TriggerTopic());
+  EXPECT_TRUE(cam2.Triggered());
 
   // make changes to DOM and verify ToElement produces updated values
   cam2.SetNearClip(0.33);

test/integration/link_dom.cc

@@ -277,6 +277,7 @@ TEST(DOMLink, Sensors)
   EXPECT_EQ("", cameraSensor->Topic());
   EXPECT_EQ("my_camera/trigger", camSensor->TriggerTopic());
   EXPECT_TRUE(camSensor->Triggered());
+  EXPECT_EQ("/camera_sensor/camera_info", camSensor->CameraInfoTopic());
   EXPECT_EQ(640u, camSensor->ImageWidth());
   EXPECT_EQ(480u, camSensor->ImageHeight());
   EXPECT_EQ(sdf::PixelFormatType::RGB_INT8, camSensor->PixelFormat());

test/sdf/sensors.sdf

@@ -25,6 +25,7 @@
         <enable_metrics>false</enable_metrics>
         <camera name="my_camera">
           <pose>0.1 0.2 0.3 0 0 0</pose>
+          <camera_info_topic>/camera_sensor/camera_info</camera_info_topic>
           <horizontal_fov>.75</horizontal_fov>
           <triggered>true</triggered>
           <trigger_topic>my_camera/trigger</trigger_topic>