Use the symbols if they are already loaded #304

ahcorde · 2020-08-21T11:20:14Z

This PR is part of this other PR gazebosim/gz-sensors#38 and it's related with this issue gazebosim/gz-sensors#18

The symbols for some sensors are already loaded when the ignition::gazebo::systems::Sensors is loaded (In particular Camera and ThermalCamera). Instead of creating the sensor using the Manager class (which needs to reload the library which is already loaded by the system Sensor, it's generating some issue.) I instantiated the class and add it to the Manager.

Signed-off-by: ahcorde ahcorde@gmail.com

Signed-off-by: ahcorde <ahcorde@gmail.com>

…ionrobotics/ign-gazebo into ahcorde/replace/pluginload

Signed-off-by: ahcorde <ahcorde@gmail.com>

iche033 · 2020-09-02T02:56:18Z

src/systems/air_pressure/AirPressure.cc

-            this->sensorFactory.CreateSensor<
-            sensors::AirPressureSensor>(data);
+          std::make_unique<sensors::AirPressureSensor>();
+        sensor->Load(data);


looking at the CreateSensor function, it also makes a sensor->Init() call in addition to sensor->Load

Added init() method 3f42c00

iche033 · 2020-09-02T02:59:55Z

src/systems/sensors/Sensors.cc

+    cameraSensor->Load(_sdf);
+    sensorId = this->dataPtr->sensorManager.AddSensor(std::move(cameraSensor));
+  }
+  else if (_sdf.Type() == sdf::SensorType::THERMAL_CAMERA)


Do you also need to do the same for depth and rgbd camera? or do they work with CreateSensor?

depth and rgbd camera classes are not being used, we don't need to link against them, we can use createSensor. If need to modify some of the specific parameters, then we need to instanciate a class and create a specific case for them.

you can try sensors_demos.sdf which is creating: camera, depth_camera, gpu_lidar, rgbd_camera and thermal_camera

Since this is now targeting Edifice, I think lines 485 - 504 can be replaced with:

ignition::sensors::SensorId sensorId = this->dataPtr->sensorManager.CreateSensor(_sdf);

At least, this worked for me.

I took the liberty of applying this change in 2f674e6. Feel free to revert.

Signed-off-by: ahcorde <ahcorde@gmail.com>

mjcarroll · 2020-09-10T16:01:03Z

@ahcorde This needs a bit of an update

…ginload

chapulina · 2020-09-21T17:28:53Z

We're retargeting the upstream PR gazebosim/gz-sensors#38 to Ign-E, and this one as well. Removing from the Dome beta.

nkoenig · 2021-01-27T23:11:42Z

src/SystemLoader.cc

@@ -78,7 +78,11 @@ class ignition::gazebo::SystemLoaderPrivate
      return false;
    }

-    auto pluginName = *pluginNames.begin();
+    std::string pluginName = "";
+    for (auto name : pluginNames)


Suggested change

for (auto name : pluginNames)

for (const auto &name : pluginNames)

I applied this change in 2f674e6

nkoenig · 2021-01-27T23:28:58Z

src/systems/sensors/Sensors.cc

+    cameraSensor->Load(_sdf);
+    sensorId = this->dataPtr->sensorManager.AddSensor(std::move(cameraSensor));
+  }
+  else if (_sdf.Type() == sdf::SensorType::THERMAL_CAMERA)


Since this is now targeting Edifice, I think lines 485 - 504 can be replaced with:

ignition::sensors::SensorId sensorId = this->dataPtr->sensorManager.CreateSensor(_sdf);

At least, this worked for me.

Signed-off-by: Nate Koenig <nate@openrobotics.org>

codecov · 2021-01-29T18:55:36Z

Codecov Report

Merging #304 (2f674e6) into main (cd78bd4) will decrease coverage by 0.03%.
The diff coverage is 47.36%.

@@            Coverage Diff             @@
##             main     #304      +/-   ##
==========================================
- Coverage   77.38%   77.35%   -0.04%     
==========================================
  Files         213      213              
  Lines       11954    11966      +12     
==========================================
+ Hits         9251     9256       +5     
- Misses       2703     2710       +7

Impacted Files	Coverage Δ
src/systems/air_pressure/AirPressure.cc	`75.00% <42.85%> (-0.76%)`	⬇️
src/systems/altimeter/Altimeter.cc	`75.71% <42.85%> (-0.76%)`	⬇️
src/systems/imu/Imu.cc	`73.07% <42.85%> (-0.61%)`	⬇️
src/systems/logical_camera/LogicalCamera.cc	`77.33% <42.85%> (-0.75%)`	⬇️
src/systems/magnetometer/Magnetometer.cc	`72.36% <42.85%> (-0.61%)`	⬇️
src/SystemLoader.cc	`77.77% <100.00%> (+0.72%)`	⬆️
src/network/PeerInfo.cc	`95.45% <0.00%> (-4.55%)`	⬇️
... and 2 more

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chapulina · 2021-02-05T02:32:45Z

With the proposal on gazebosim/gz-plugin#35, I think this PR isn't necessary.

chapulina · 2021-03-23T16:34:56Z

Removing beta label, we won't have time to wrap this up before code freeze. Let's retarget at Ignition-F.

chapulina · 2021-08-12T16:23:39Z

Superseded by #617

Use the symbols if they are already loaded

7338e3a

Signed-off-by: ahcorde <ahcorde@gmail.com>

ahcorde added enhancement New feature or request 🔮 dome Ignition Dome labels Aug 21, 2020

ahcorde requested review from iche033 and chapulina August 21, 2020 11:20

ahcorde self-assigned this Aug 21, 2020

ahcorde mentioned this pull request Aug 21, 2020

Replace ign common plugin loader with ign-plugin gazebosim/gz-sensors#38

Closed

Fixed IMU, magnetometer, air_pressure and altimeter sensors

db5dde6

Signed-off-by: ahcorde <ahcorde@gmail.com>

ahcorde mentioned this pull request Aug 24, 2020

Use ign-plugin gazebosim/gz-sensors#18

Closed

ahcorde added 4 commits August 24, 2020 11:47

Merge branch 'master' into ahcorde/replace/pluginload

d65936a

Fixed logical camera

075b66a

Signed-off-by: ahcorde <ahcorde@gmail.com>

Merge branch 'ahcorde/replace/pluginload' of https://github.com/ignit…

5f85b01

…ionrobotics/ign-gazebo into ahcorde/replace/pluginload

make linters happy

e423cf7

Signed-off-by: ahcorde <ahcorde@gmail.com>

iche033 reviewed Sep 2, 2020

View reviewed changes

Added Init method when initialized the sensors

3f42c00

Signed-off-by: ahcorde <ahcorde@gmail.com>

chapulina added needs upstream release Blocked by a release of an upstream library beta Targeting beta release of upcoming collection labels Sep 4, 2020

ahcorde added 2 commits September 14, 2020 10:10

Merge remote-tracking branch 'origin/master' into ahcorde/replace/plu…

ec01e9a

…ginload

Merge branch 'master' into ahcorde/replace/pluginload

21722ed

chapulina removed beta Targeting beta release of upcoming collection 🔮 dome Ignition Dome labels Sep 21, 2020

chapulina changed the base branch from master to main October 3, 2020 01:29

chapulina removed their request for review October 16, 2020 02:54

Merge branch 'main' into ahcorde/replace/pluginload

d2de367

ahcorde requested a review from chapulina as a code owner January 27, 2021 23:19

nkoenig reviewed Jan 27, 2021

View reviewed changes

Utilize sensor manager to creat sensors

2f674e6

Signed-off-by: Nate Koenig <nate@openrobotics.org>

chapulina added the 🏢 edifice Ignition Edifice label Feb 6, 2021

chapulina mentioned this pull request Feb 6, 2021

Upgrade ign-sensors and support custom sensors #617

Merged

8 tasks

chapulina added the beta Targeting beta release of upcoming collection label Mar 17, 2021

chapulina removed the beta Targeting beta release of upcoming collection label Mar 23, 2021

chapulina added 🏯 fortress Ignition Fortress and removed 🏢 edifice Ignition Edifice labels Apr 1, 2021

chapulina closed this Aug 12, 2021

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Use the symbols if they are already loaded #304

Use the symbols if they are already loaded #304

ahcorde commented Aug 21, 2020

iche033 Sep 2, 2020

ahcorde Sep 2, 2020

iche033 Sep 2, 2020

ahcorde Sep 2, 2020

ahcorde Sep 2, 2020

nkoenig Jan 27, 2021

nkoenig Jan 29, 2021

mjcarroll commented Sep 10, 2020

chapulina commented Sep 21, 2020

nkoenig Jan 27, 2021

nkoenig Jan 29, 2021

nkoenig Jan 27, 2021

codecov bot commented Jan 29, 2021 •

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chapulina commented Feb 5, 2021

chapulina commented Mar 23, 2021

chapulina commented Aug 12, 2021

	for (auto name : pluginNames)
	for (const auto &name : pluginNames)

Use the symbols if they are already loaded #304

Use the symbols if they are already loaded #304

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ahcorde commented Aug 21, 2020

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mjcarroll commented Sep 10, 2020

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chapulina commented Aug 12, 2021

codecov bot commented Jan 29, 2021 •

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