use enable_orientation sdf elem

Signed-off-by: Ian Chen <ichen@osrfoundation.org>
gazebosim · Aug 3, 2021 · 48e171f · 48e171f
1 parent 09c8b35
commit 48e171f
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Showing 2 changed files with 8 additions and 29 deletions.
diff --git a/src/systems/imu/Imu.cc b/src/systems/imu/Imu.cc
@@ -58,10 +58,6 @@ class ignition::gazebo::systems::ImuPrivate
   /// \brief Ign-sensors sensor factory for creating sensors
   public: sensors::SensorFactory sensorFactory;
 
-  /// \brief True to compute and output orientation values,
-  /// false to leave the orientation field empty in the published msg.
-  public: bool outputOrientation = true;
-
   public: Entity worldEntity = kNullEntity;
 
   /// \brief Create IMU sensor
@@ -86,19 +82,6 @@ Imu::Imu() : System(), dataPtr(std::make_unique<ImuPrivate>())
 //////////////////////////////////////////////////
 Imu::~Imu() = default;
 
-//////////////////////////////////////////////////
-void Imu::Configure(const Entity & /*_entity*/,
-    const std::shared_ptr<const sdf::Element> &_sdf,
-    gazebo::EntityComponentManager & /*_ecm*/,
-    gazebo::EventManager & /*_eventMgr*/)
-{
-  if (_sdf->HasElement("output_orientation"))
-  {
-    this->dataPtr->outputOrientation =
-        _sdf->Get<bool>("output_orientation");
-  }
-}
-
 //////////////////////////////////////////////////
 void Imu::PreUpdate(const UpdateInfo &/*_info*/,
     EntityComponentManager &_ecm)
@@ -203,8 +186,12 @@ void ImuPrivate::CreateImuEntities(EntityComponentManager &_ecm)
         // Set topic
         _ecm.CreateComponent(_entity, components::SensorTopic(sensor->Topic()));
 
-        // Set whether to output orientation
-        sensor->SetOrientationEnabled(this->outputOrientation);
+        // Set whether orientation is enabled
+        if (data.ImuSensor())
+        {
+          sensor->SetOrientationEnabled(
+              data.ImuSensor()->OrientationEnabled());
+        }
 
         this->entitySensorMap.insert(
             std::make_pair(_entity, std::move(sensor)));
@@ -274,8 +261,7 @@ void ImuPrivate::RemoveImuEntities(
 
 IGNITION_ADD_PLUGIN(Imu, System,
   Imu::ISystemPreUpdate,
-  Imu::ISystemPostUpdate,
-  Imu::ISystemConfigure
+  Imu::ISystemPostUpdate
 )
 
 IGNITION_ADD_PLUGIN_ALIAS(Imu, "ignition::gazebo::systems::Imu")
diff --git a/src/systems/imu/Imu.hh b/src/systems/imu/Imu.hh
@@ -40,21 +40,14 @@ namespace systems
   class Imu:
     public System,
     public ISystemPreUpdate,
-    public ISystemPostUpdate,
-    public ISystemConfigure
+    public ISystemPostUpdate
   {
     /// \brief Constructor
     public: explicit Imu();
 
     /// \brief Destructor
     public: ~Imu() override;
 
-    /// Documentation inherited
-    public: void Configure(const Entity &_entity,
-                           const std::shared_ptr<const sdf::Element> &_sdf,
-                           EntityComponentManager &_ecm,
-                           gazebo::EventManager &_eventMgr) final;
-
     /// Documentation inherited
     public: void PreUpdate(const UpdateInfo &_info,
                            EntityComponentManager &_ecm) final;