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Update camera sensors to use the //sensor/camera/pose sdf element. #2433

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Update camera sensors to use the //sensor/camera/pose sdf element. #2433

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update camera based sensors to use //sensor/camera/pose
iche033 Jun 5, 2024
051190e
typo
iche033 Jun 5, 2024
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3 changes: 3 additions & 0 deletions Migration.md
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,9 @@ release will remove the deprecated code.
each time step, whereas previously the component values were set to `0`
after each time step. Persistent velocity commands should be reapplied at
each time step.
+ For camera based sensors, their pose now takes into account the
`//sensor/camera/pose` sdf element. Previously only the `//sensor/pose`
sdf element was used and `//sensor/camera/pose` was ignored.

## Gazebo Sim 7.x to 8.0
* **Deprecated**
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4 changes: 4 additions & 0 deletions src/rendering/RenderUtil.cc
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Expand Up @@ -1334,6 +1334,10 @@ void RenderUtil::Update()
{
sensorPose = dataSdf.RawPose();
}
if (dataSdf.CameraSensor())
{
sensorPose = sensorPose * dataSdf.CameraSensor()->RawPose();
}
sensorNode->SetLocalPose(sensorPose);
}
}
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