Merge pull request #445 from gazebosim/merge_8_main_2024-07-04

Merge 8 -> main

Changelog.md

@@ -4,6 +4,14 @@
 
 ## Gazebo Sensors 8
 
+### Gazebo Sensors 8.2.0 (2024-06-14)
+
+1. Add API to check if sensor is in trigger mode
+    * [Pull request #441](https://github.com/gazebosim/gz-sensors/pull/441)
+
+1. Set rendering sensor pose
+    * [Pull request #439](https://github.com/gazebosim/gz-sensors/pull/439)
+
 ### Gazebo Sensors 8.1.0 (2024-05-16)
 
 1. Set camera projection matrix based on lens params for other types of cameras

include/gz/sensors/Sensor.hh

@@ -253,6 +253,10 @@ namespace gz
       /// trigger.
       public: bool HasPendingTrigger() const;
 
+      /// \brief Whether the sensor trigger mode is enabled.
+      /// \return True if the sensor is in trigger mode, false otherwise
+      public: bool IsTriggered() const;
+
       GZ_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
       /// \internal
       /// \brief Data pointer for private data

src/BoundingBoxCameraSensor.cc

@@ -321,6 +321,7 @@ bool BoundingBoxCameraSensor::CreateCamera()
   this->dataPtr->boundingboxCamera->SetVisibilityMask(
     sdfCamera->VisibilityMask());
   this->dataPtr->boundingboxCamera->SetBoundingBoxType(this->dataPtr->type);
+  this->dataPtr->boundingboxCamera->SetLocalPose(this->Pose());
 
   // Add the camera to the scene
   this->Scene()->RootVisual()->AddChild(this->dataPtr->rgbCamera);
@@ -330,11 +331,13 @@ bool BoundingBoxCameraSensor::CreateCamera()
   this->AddSensor(this->dataPtr->boundingboxCamera);
   this->AddSensor(this->dataPtr->rgbCamera);
 
+  // use a copy so we do not modify the original sdfCamera
+  // when updating bounding box camera
+  auto sdfCameraCopy = *sdfCamera;
   this->UpdateLensIntrinsicsAndProjection(this->dataPtr->rgbCamera,
-      *sdfCamera);
+      sdfCameraCopy);
   this->UpdateLensIntrinsicsAndProjection(this->dataPtr->boundingboxCamera,
       *sdfCamera);
-
   // Camera Info Msg
   this->PopulateInfo(sdfCamera);
 

src/CameraSensor.cc

@@ -150,6 +150,7 @@ bool CameraSensor::CreateCamera()
   this->dataPtr->camera->SetNearClipPlane(cameraSdf->NearClip());
   this->dataPtr->camera->SetFarClipPlane(cameraSdf->FarClip());
   this->dataPtr->camera->SetVisibilityMask(cameraSdf->VisibilityMask());
+  this->dataPtr->camera->SetLocalPose(this->Pose());
   this->AddSensor(this->dataPtr->camera);
 
   const std::map<SensorNoiseType, sdf::Noise> noises = {
@@ -391,9 +392,6 @@ bool CameraSensor::Update(const std::chrono::steady_clock::duration &_now)
 
   std::lock_guard<std::mutex> lock(this->dataPtr->mutex);
 
-  // move the camera to the current pose
-  this->dataPtr->camera->SetLocalPose(this->Pose());
-
   if (this->HasInfoConnections())
   {
     // publish the camera info message

src/DepthCameraSensor.cc

@@ -351,7 +351,7 @@ bool DepthCameraSensor::CreateCamera()
   this->dataPtr->depthCamera->SetFarClipPlane(far);
   this->dataPtr->depthCamera->SetVisibilityMask(
       cameraSdf->VisibilityMask());
-
+  this->dataPtr->depthCamera->SetLocalPose(this->Pose());
   this->AddSensor(this->dataPtr->depthCamera);
 
   const std::map<SensorNoiseType, sdf::Noise> noises = {

src/GpuLidarSensor.cc

@@ -194,9 +194,6 @@ bool GpuLidarSensor::CreateLidar()
     return false;
   }
 
-  this->dataPtr->gpuRays->SetWorldPosition(this->Pose().Pos());
-  this->dataPtr->gpuRays->SetWorldRotation(this->Pose().Rot());
-
   this->dataPtr->gpuRays->SetNearClipPlane(this->RangeMin());
   this->dataPtr->gpuRays->SetFarClipPlane(this->RangeMax());
 
@@ -214,6 +211,7 @@ bool GpuLidarSensor::CreateLidar()
   this->dataPtr->gpuRays->SetRayCount(this->RayCount());
   this->dataPtr->gpuRays->SetVerticalRayCount(
       this->VerticalRayCount());
+  this->dataPtr->gpuRays->SetLocalPose(this->Pose());
 
   this->Scene()->RootVisual()->AddChild(
       this->dataPtr->gpuRays);

src/RgbdCameraSensor.cc

@@ -328,6 +328,7 @@ bool RgbdCameraSensor::CreateCameras()
   }
 
   this->dataPtr->depthCamera->SetVisibilityMask(cameraSdf->VisibilityMask());
+  this->dataPtr->depthCamera->SetLocalPose(this->Pose());
 
   this->AddSensor(this->dataPtr->depthCamera);
 

src/SegmentationCameraSensor.cc

@@ -369,6 +369,7 @@ bool SegmentationCameraSensor::CreateCamera()
   this->dataPtr->camera->SetFarClipPlane(sdfCamera->FarClip());
   this->dataPtr->camera->SetAspectRatio(aspectRatio);
   this->dataPtr->camera->SetHFOV(angle);
+  this->dataPtr->camera->SetLocalPose(this->Pose());
 
   // Add the camera to the scene
   this->Scene()->RootVisual()->AddChild(this->dataPtr->camera);

src/Sensor.cc

@@ -653,10 +653,17 @@ void SensorPrivate::DisableTriggered() {
 }
 
 //////////////////////////////////////////////////
-bool Sensor::HasPendingTrigger() const {
+bool Sensor::HasPendingTrigger() const
+{
   if (!this->dataPtr->IsTriggered())
     return false;
 
   std::lock_guard<std::mutex> triggerLock(this->dataPtr->triggerMutex);
   return this->dataPtr->pendingTrigger;
 }
+
+//////////////////////////////////////////////////
+bool Sensor::IsTriggered() const
+{
+  return this->dataPtr->IsTriggered();
+}

src/Sensor_TEST.cc

@@ -477,8 +477,10 @@ TEST(Sensor_TEST, Trigger)
   sensor.SetUpdateRate(5);
   EXPECT_DOUBLE_EQ(kUpdateRate, sensor.UpdateRate());
 
+  EXPECT_FALSE(sensor.IsTriggered());
   constexpr char kTriggerTopic[] = "/trigger";
   EXPECT_TRUE(sensor.SetTriggered(true, kTriggerTopic));
+  EXPECT_TRUE(sensor.IsTriggered());
   EXPECT_FALSE(sensor.HasPendingTrigger());
 
   transport::Node node;

src/ThermalCameraSensor.cc

@@ -300,7 +300,7 @@ bool ThermalCameraSensor::CreateCamera()
   this->dataPtr->thermalCamera->SetMinTemperature(this->dataPtr->minTemp);
   this->dataPtr->thermalCamera->SetMaxTemperature(this->dataPtr->maxTemp);
   this->dataPtr->thermalCamera->SetLinearResolution(this->dataPtr->resolution);
-
+  this->dataPtr->thermalCamera->SetLocalPose(this->Pose());
   this->AddSensor(this->dataPtr->thermalCamera);
 
   const std::map<SensorNoiseType, sdf::Noise> noises = {

src/WideAngleCameraSensor.cc

@@ -240,6 +240,7 @@ bool WideAngleCameraSensor::CreateCamera()
   this->dataPtr->camera->SetNearClipPlane(cameraSdf->NearClip());
   this->dataPtr->camera->SetFarClipPlane(cameraSdf->FarClip());
   this->dataPtr->camera->SetVisibilityMask(cameraSdf->VisibilityMask());
+  this->dataPtr->camera->SetLocalPose(this->Pose());
 
   rendering::CameraLens lens;
   std::string lensType = cameraSdf->LensType();
@@ -413,9 +414,6 @@ bool WideAngleCameraSensor::Update(
     return false;
   }
 
-  // move the camera to the current pose
-  this->dataPtr->camera->SetLocalPose(this->Pose());
-
   // render only if necessary
   if (!this->dataPtr->pub.HasConnections() &&
       this->dataPtr->imageEvent.ConnectionCount() <= 0 &&