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Bump gz-cmake and others in jetty (#525)
* Bumping gz-cmake and others except gz-tools. * CameraSensor: use Sensor::FrameId only Remove all references to sdf::Camera::OpticalFrameId. Signed-off-by: Steve Peters <[email protected]>
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-109
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9 files changed

+62
-109
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‎.github/ci/packages.apt‎

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -1,9 +1,9 @@
1-
libgz-cmake4-dev
2-
libgz-common6-dev
3-
libgz-math8-dev
4-
libgz-msgs11-dev
5-
libgz-rendering9-dev
1+
libgz-cmake5-dev
2+
libgz-common7-dev
3+
libgz-math9-dev
4+
libgz-msgs12-dev
5+
libgz-rendering10-dev
66
libgz-tools2-dev
77
libgz-transport15-dev
8-
libsdformat15-dev
8+
libsdformat16-dev
99
xvfb

‎CMakeLists.txt‎

Lines changed: 8 additions & 13 deletions
Original file line numberDiff line numberDiff line change
@@ -8,7 +8,7 @@ project(gz-sensors VERSION 10.0.0)
88
#============================================================================
99
# Find gz-cmake
1010
#============================================================================
11-
find_package(gz-cmake4 REQUIRED)
11+
find_package(gz-cmake REQUIRED)
1212

1313
#============================================================================
1414
# Configure the project
@@ -44,44 +44,39 @@ gz_find_package(GzProtobuf
4444

4545
#--------------------------------------
4646
# Find gz-math
47-
gz_find_package(gz-math8 REQUIRED)
48-
set(GZ_MATH_VER ${gz-math8_VERSION_MAJOR})
47+
gz_find_package(gz-math REQUIRED)
4948

5049
#--------------------------------------
5150
# Find gz-common
52-
gz_find_package(gz-common6
51+
gz_find_package(gz-common
5352
COMPONENTS profiler
5453
REQUIRED)
55-
set(GZ_COMMON_VER ${gz-common6_VERSION_MAJOR})
5654

5755
#--------------------------------------
5856
# Find gz-transport
5957
gz_find_package(gz-transport REQUIRED)
6058

6159
#--------------------------------------
6260
# Find gz-rendering
63-
gz_find_package(gz-rendering9 REQUIRED OPTIONAL_COMPONENTS ogre ogre2)
64-
set(GZ_RENDERING_VER ${gz-rendering9_VERSION_MAJOR})
61+
gz_find_package(gz-rendering REQUIRED OPTIONAL_COMPONENTS ogre ogre2)
6562

66-
if (TARGET gz-rendering${GZ_RENDERING_VER}::ogre)
63+
if (TARGET gz-rendering::ogre)
6764
set(HAVE_OGRE TRUE)
6865
add_definitions(-DWITH_OGRE)
6966
endif()
7067

71-
if (TARGET gz-rendering${GZ_RENDERING_VER}::ogre2)
68+
if (TARGET gz-rendering::ogre2)
7269
set(HAVE_OGRE2 TRUE)
7370
add_definitions(-DWITH_OGRE2)
7471
endif()
7572

7673
#--------------------------------------
7774
# Find gz-msgs
78-
gz_find_package(gz-msgs11 REQUIRED)
79-
set(GZ_MSGS_VER ${gz-msgs11_VERSION_MAJOR})
75+
gz_find_package(gz-msgs REQUIRED)
8076

8177
#--------------------------------------
8278
# Find SDFormat
83-
gz_find_package(sdformat15 REQUIRED)
84-
set(SDF_VER ${sdformat15_VERSION_MAJOR})
79+
gz_find_package(sdformat REQUIRED)
8580

8681
#--------------------------------------
8782
# Find Eigen3

‎examples/custom_sensor/CMakeLists.txt‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
22

33
project(odometer)
44

5-
find_package(gz-cmake4 REQUIRED)
5+
find_package(gz-cmake REQUIRED)
66
find_package(gz-sensors REQUIRED)
77

88
add_library(${PROJECT_NAME} SHARED Odometer.cc)

‎examples/save_image/CMakeLists.txt‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -2,13 +2,13 @@ cmake_minimum_required(VERSION 3.5 FATAL_ERROR)
22
project(gz-sensors-camera-demo)
33

44
# Find the Gazebo Libraries used directly by the example
5-
find_package(gz-rendering9 REQUIRED OPTIONAL_COMPONENTS ogre ogre2)
5+
find_package(gz-rendering REQUIRED OPTIONAL_COMPONENTS ogre ogre2)
66
find_package(gz-sensors REQUIRED COMPONENTS rendering camera)
77

8-
if (TARGET gz-rendering9::ogre)
8+
if (TARGET gz-rendering::ogre)
99
add_definitions(-DWITH_OGRE)
1010
endif()
11-
if (TARGET gz-rendering9::ogre2)
11+
if (TARGET gz-rendering::ogre2)
1212
add_definitions(-DWITH_OGRE2)
1313
endif()
1414

‎package.xml‎

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -10,15 +10,15 @@
1010

1111
<buildtool_depend>cmake</buildtool_depend>
1212

13-
<build_depend>gz-cmake4</build_depend>
13+
<build_depend>gz-cmake</build_depend>
1414

15-
<depend>gz-common6</depend>
16-
<depend>gz-math8</depend>
17-
<depend>gz-msgs11</depend>
18-
<depend>gz-rendering9</depend>
15+
<depend>gz-common</depend>
16+
<depend>gz-math</depend>
17+
<depend>gz-msgs</depend>
18+
<depend>gz-rendering</depend>
1919
<depend>gz-tools2</depend>
2020
<depend>gz-transport</depend>
21-
<depend>sdformat15</depend>
21+
<depend>sdformat</depend>
2222

2323
<test_depend>xvfb</test_depend>
2424

‎src/CMakeLists.txt‎

Lines changed: 30 additions & 30 deletions
Original file line numberDiff line numberDiff line change
@@ -42,20 +42,20 @@ endif()
4242
gz_create_core_library(SOURCES ${sources})
4343
target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
4444
PUBLIC
45-
gz-math${GZ_MATH_VER}::gz-math${GZ_MATH_VER}
46-
gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER}
45+
gz-math::gz-math
46+
gz-common::gz-common
4747
gz-transport::gz-transport
48-
sdformat${SDF_VER}::sdformat${SDF_VER}
48+
sdformat::sdformat
4949
PRIVATE
50-
gz-common${GZ_COMMON_VER}::profiler
51-
gz-msgs${GZ_MSGS_VER}::gz-msgs${GZ_MSGS_VER}
50+
gz-common::profiler
51+
gz-msgs::gz-msgs
5252
)
5353
target_compile_definitions(${PROJECT_LIBRARY_TARGET_NAME} PUBLIC DepthPoints_EXPORTS)
5454

5555
gz_add_component(rendering SOURCES ${rendering_sources} GET_TARGET_NAME rendering_target)
5656
target_link_libraries(${rendering_target}
5757
PUBLIC
58-
gz-rendering${GZ_RENDERING_VER}::gz-rendering${GZ_RENDERING_VER}
58+
gz-rendering::gz-rendering
5959
)
6060

6161
set(camera_sources CameraSensor.cc CameraSensorUtil.cc)
@@ -71,8 +71,8 @@ target_link_libraries(${camera_target}
7171
PUBLIC
7272
${rendering_target}
7373
PRIVATE
74-
gz-msgs${GZ_MSGS_VER}::gz-msgs${GZ_MSGS_VER}
75-
gz-transport${GZ_TRANSPORT_VER}::gz-transport${GZ_TRANSPORT_VER}
74+
gz-msgs::gz-msgs
75+
gz-transport::gz-transport
7676
)
7777

7878
set(depth_camera_sources DepthCameraSensor.cc CameraSensorUtil.cc)
@@ -85,8 +85,8 @@ target_compile_definitions(${depth_camera_target} PUBLIC DepthCameraSensor_EXPOR
8585
target_link_libraries(${depth_camera_target}
8686
PRIVATE
8787
${camera_target}
88-
gz-msgs${GZ_MSGS_VER}::gz-msgs${GZ_MSGS_VER}
89-
gz-transport${GZ_TRANSPORT_VER}::gz-transport${GZ_TRANSPORT_VER}
88+
gz-msgs::gz-msgs
89+
gz-transport::gz-transport
9090
)
9191

9292
set(dvl_sources DopplerVelocityLog.cc)
@@ -100,10 +100,10 @@ target_link_libraries(${dvl_target}
100100
${rendering_target}
101101
Eigen3::Eigen
102102
PRIVATE
103-
gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER}
104-
gz-math${GZ_MATH_VER}::gz-math${GZ_MATH_VER}
105-
gz-msgs${GZ_MSGS_VER}::gz-msgs${GZ_MSGS_VER}
106-
gz-transport${GZ_TRANSPORT_VER}::gz-transport${GZ_TRANSPORT_VER})
103+
gz-common::gz-common
104+
gz-math::gz-math
105+
gz-msgs::gz-msgs
106+
gz-transport::gz-transport)
107107

108108
set(lidar_sources Lidar.cc)
109109
gz_add_component(lidar
@@ -116,8 +116,8 @@ target_link_libraries(${lidar_target}
116116
PUBLIC
117117
${rendering_target}
118118
PRIVATE
119-
gz-msgs${GZ_MSGS_VER}::gz-msgs${GZ_MSGS_VER}
120-
gz-transport${GZ_TRANSPORT_VER}::gz-transport${GZ_TRANSPORT_VER}
119+
gz-msgs::gz-msgs
120+
gz-transport::gz-transport
121121
)
122122

123123
set(gpu_lidar_sources GpuLidarSensor.cc)
@@ -129,8 +129,8 @@ gz_add_component(gpu_lidar
129129
target_compile_definitions(${gpu_lidar_target} PUBLIC GpuLidarSensor_EXPORTS)
130130
target_link_libraries(${gpu_lidar_target}
131131
PRIVATE
132-
gz-msgs${GZ_MSGS_VER}::gz-msgs${GZ_MSGS_VER}
133-
gz-transport${GZ_TRANSPORT_VER}::gz-transport${GZ_TRANSPORT_VER}
132+
gz-msgs::gz-msgs
133+
gz-transport::gz-transport
134134
${lidar_target}
135135
)
136136

@@ -139,8 +139,8 @@ gz_add_component(logical_camera SOURCES ${logical_camera_sources} GET_TARGET_NAM
139139
target_compile_definitions(${logical_camera_target} PUBLIC LogicalCameraSensor_EXPORTS)
140140
target_link_libraries(${logical_camera_target}
141141
PRIVATE
142-
gz-msgs${GZ_MSGS_VER}::gz-msgs${GZ_MSGS_VER}
143-
gz-transport${GZ_TRANSPORT_VER}::gz-transport${GZ_TRANSPORT_VER}
142+
gz-msgs::gz-msgs
143+
gz-transport::gz-transport
144144
)
145145

146146
set(magnetometer_sources MagnetometerSensor.cc)
@@ -174,8 +174,8 @@ target_compile_definitions(${rgbd_camera_target} PUBLIC RgbdCameraSensor_EXPORTS
174174
target_link_libraries(${rgbd_camera_target}
175175
PRIVATE
176176
${camera_target}
177-
gz-msgs${GZ_MSGS_VER}::gz-msgs${GZ_MSGS_VER}
178-
gz-transport${GZ_TRANSPORT_VER}::gz-transport${GZ_TRANSPORT_VER}
177+
gz-msgs::gz-msgs
178+
gz-transport::gz-transport
179179
)
180180

181181
set(thermal_camera_sources ThermalCameraSensor.cc)
@@ -187,17 +187,17 @@ gz_add_component(thermal_camera
187187
target_link_libraries(${thermal_camera_target}
188188
PRIVATE
189189
${camera_target}
190-
gz-msgs${GZ_MSGS_VER}::gz-msgs${GZ_MSGS_VER}
191-
gz-transport${GZ_TRANSPORT_VER}::gz-transport${GZ_TRANSPORT_VER}
190+
gz-msgs::gz-msgs
191+
gz-transport::gz-transport
192192
)
193193

194194
set(boundingbox_camera_sources BoundingBoxCameraSensor.cc)
195195
gz_add_component(boundingbox_camera SOURCES ${boundingbox_camera_sources} GET_TARGET_NAME boundingbox_camera_target)
196196
target_link_libraries(${boundingbox_camera_target}
197197
PRIVATE
198198
${camera_target}
199-
gz-msgs${GZ_MSGS_VER}::gz-msgs${GZ_MSGS_VER}
200-
gz-transport${GZ_TRANSPORT_VER}::gz-transport${GZ_TRANSPORT_VER}
199+
gz-msgs::gz-msgs
200+
gz-transport::gz-transport
201201
)
202202

203203
set(segmentation_camera_sources SegmentationCameraSensor.cc)
@@ -206,17 +206,17 @@ target_compile_definitions(${segmentation_camera_target} PUBLIC SegmentationCame
206206
target_link_libraries(${segmentation_camera_target}
207207
PRIVATE
208208
${camera_target}
209-
gz-msgs${GZ_MSGS_VER}::gz-msgs${GZ_MSGS_VER}
210-
gz-transport${GZ_TRANSPORT_VER}::gz-transport${GZ_TRANSPORT_VER}
209+
gz-msgs::gz-msgs
210+
gz-transport::gz-transport
211211
)
212212

213213
set(wide_angle_camera_sources WideAngleCameraSensor.cc)
214214
gz_add_component(wide_angle_camera SOURCES ${wide_angle_camera_sources} GET_TARGET_NAME wide_angle_camera_target)
215215
target_link_libraries(${wide_angle_camera_target}
216216
PRIVATE
217217
${camera_target}
218-
gz-msgs${GZ_MSGS_VER}::gz-msgs${GZ_MSGS_VER}
219-
gz-transport${GZ_TRANSPORT_VER}::gz-transport${GZ_TRANSPORT_VER}
218+
gz-msgs::gz-msgs
219+
gz-transport::gz-transport
220220
)
221221

222222
# Build the unit tests.

‎src/CameraSensor.cc‎

Lines changed: 3 additions & 24 deletions
Original file line numberDiff line numberDiff line change
@@ -118,9 +118,6 @@ class gz::sensors::CameraSensorPrivate
118118
/// \brief Camera information message.
119119
public: msgs::CameraInfo infoMsg;
120120

121-
/// \brief The frame this camera uses in its camera_info topic.
122-
public: std::string opticalFrameId{""};
123-
124121
/// \brief Topic for info message.
125122
public: std::string infoTopic{""};
126123

@@ -511,7 +508,7 @@ bool CameraSensor::Update(const std::chrono::steady_clock::duration &_now)
511508
*msg.mutable_header()->mutable_stamp() = msgs::Convert(_now);
512509
auto frame = msg.mutable_header()->add_data();
513510
frame->set_key("frame_id");
514-
frame->add_value(this->dataPtr->opticalFrameId);
511+
frame->add_value(this->FrameId());
515512
msg.set_data(data, this->dataPtr->camera->ImageMemorySize());
516513
}
517514

@@ -708,27 +705,9 @@ void CameraSensor::PopulateInfo(const sdf::Camera *_cameraSdf)
708705
this->dataPtr->infoMsg.add_rectification_matrix(0.0);
709706
this->dataPtr->infoMsg.add_rectification_matrix(1.0);
710707

711-
// Note: while Gazebo interprets the camera frame to be looking towards +X,
712-
// other tools, such as ROS, may interpret this frame as looking towards +Z.
713-
// To make this configurable the user has the option to set an optical frame.
714-
// If the user has set <optical_frame_id> in the cameraSdf use it,
715-
// otherwise fall back to the sensor frame.
716-
// \todo(iche033 sdf::Camera::OpticalFrameId is deprecated.
717-
// Remove this if statement when gz-sensors is updated to use sdformat16
718-
GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
719-
if (_cameraSdf->OpticalFrameId().empty())
720-
{
721-
this->dataPtr->opticalFrameId = this->FrameId();
722-
}
723-
else
724-
{
725-
this->dataPtr->opticalFrameId = _cameraSdf->OpticalFrameId();
726-
}
727-
GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
728-
729708
auto infoFrame = this->dataPtr->infoMsg.mutable_header()->add_data();
730709
infoFrame->set_key("frame_id");
731-
infoFrame->add_value(this->dataPtr->opticalFrameId);
710+
infoFrame->add_value(this->FrameId());
732711

733712
this->dataPtr->infoMsg.set_width(width);
734713
this->dataPtr->infoMsg.set_height(height);
@@ -776,7 +755,7 @@ bool CameraSensor::HasInfoConnections() const
776755
//////////////////////////////////////////////////
777756
const std::string& CameraSensor::OpticalFrameId() const
778757
{
779-
return this->dataPtr->opticalFrameId;
758+
return this->FrameId();
780759
}
781760

782761
//////////////////////////////////////////////////

‎src/RgbdCameraSensor.cc‎

Lines changed: 2 additions & 23 deletions
Original file line numberDiff line numberDiff line change
@@ -105,9 +105,6 @@ class gz::sensors::RgbdCameraSensorPrivate
105105
/// point cloud.
106106
public: unsigned int channels = 4;
107107

108-
/// \brief Frame ID the camera_info message header is expressed.
109-
public: std::string opticalFrameId{""};
110-
111108
/// \brief Pointer to an image to be published
112109
public: gz::rendering::Image image;
113110

@@ -295,24 +292,6 @@ bool RgbdCameraSensor::CreateCameras()
295292
this->dataPtr->depthCamera->SetNearClipPlane(cameraSdf->NearClip());
296293
this->dataPtr->depthCamera->SetFarClipPlane(cameraSdf->FarClip());
297294

298-
// Note: while Gazebo interprets the camera frame to be looking towards +X,
299-
// other tools, such as ROS, may interpret this frame as looking towards +Z.
300-
// To make this configurable the user has the option to set an optical frame.
301-
// If the user has set <optical_frame_id> in the cameraSdf use it,
302-
// otherwise fall back to the sensor frame.
303-
// \todo(iche033 sdf::Camera::OpticalFrameId is deprecated.
304-
// Remove this if statement when gz-sensors is updated to use sdformat16
305-
GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
306-
if (cameraSdf->OpticalFrameId().empty())
307-
{
308-
this->dataPtr->opticalFrameId = this->FrameId();
309-
}
310-
else
311-
{
312-
this->dataPtr->opticalFrameId = cameraSdf->OpticalFrameId();
313-
}
314-
GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
315-
316295
// Depth camera clip params are new and only override the camera clip
317296
// params if specified.
318297
if (cameraSdf->HasDepthCamera())
@@ -525,7 +504,7 @@ bool RgbdCameraSensor::Update(const std::chrono::steady_clock::duration &_now)
525504
*msg.mutable_header()->mutable_stamp() = msgs::Convert(_now);
526505
auto frame = msg.mutable_header()->add_data();
527506
frame->set_key("frame_id");
528-
frame->add_value(this->dataPtr->opticalFrameId);
507+
frame->add_value(this->FrameId());
529508

530509
std::lock_guard<std::mutex> lock(this->dataPtr->mutex);
531510

@@ -637,7 +616,7 @@ bool RgbdCameraSensor::Update(const std::chrono::steady_clock::duration &_now)
637616
*msg.mutable_header()->mutable_stamp() = msgs::Convert(_now);
638617
auto frame = msg.mutable_header()->add_data();
639618
frame->set_key("frame_id");
640-
frame->add_value(this->dataPtr->opticalFrameId);
619+
frame->add_value(this->FrameId());
641620
msg.set_data(data, rendering::PixelUtil::MemorySize(rendering::PF_R8G8B8,
642621
width, height));
643622

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