6 ➡️ 7 (main) (#172)

Signed-off-by: Ian Chen <ichen@osrfoundation.org>
Signed-off-by: Louise Poubel <louise@openrobotics.org>

Author: chapulina

Changelog.md

@@ -1,12 +1,28 @@
-## Ignition Sensors 6
+## Ignition Sensors 7
 
 ### Ignition Sensors 7.X.X
 
 ### Ignition Sensors 7.0.0 (202X-XX-XX)
 
+## Ignition Sensors 6
+
 ### Ignition Sensors 6.X.X
 
-### Ignition Sensors 6.0.0 (2021-09-22)
+### Ignition Sensors 6.0.1 (2021-11-12)
+
+1. Disable GPU lidar tests on macOS
+    * [Pull request #163](https://github.com/ignitionrobotics/ign-sensors/pull/163)
+
+1. Added macOS install instructions.
+    * [Pull request #162](https://github.com/ignitionrobotics/ign-sensors/pull/162)
+
+1. Destroy rendering sensors when sensor is removed.
+    * [Pull request #169](https://github.com/ignitionrobotics/ign-sensors/pull/169)
+
+### Ignition Sensors 6.0.0 (2021-09-30)
+
+1. Trivial tutorial typo correction in Custom Sensors tutorial
+    * [Pull request #160](https://github.com/ignitionrobotics/ign-sensors/pull/160)
 
 1. Bumps in fortress: ign-sensors6
     * [Pull request #120](https://github.com/ignitionrobotics/ign-sensors/pull/120)

src/RenderingSensor.cc

@@ -56,6 +56,15 @@ RenderingSensor::RenderingSensor() :
 //////////////////////////////////////////////////
 RenderingSensor::~RenderingSensor()
 {
+  if (!this->dataPtr->scene)
+    return;
+  for (auto &s : this->dataPtr->sensors)
+  {
+    auto sensor = s.lock();
+    if (sensor)
+      this->dataPtr->scene->DestroySensor(sensor);
+  }
+  this->dataPtr->sensors.clear();
 }
 
 /////////////////////////////////////////////////

test/integration/camera.cc

@@ -109,6 +109,18 @@ void CameraSensorTest::ImagesWithBuiltinSDF(const std::string &_renderEngine)
 
   EXPECT_TRUE(helper.WaitForMessage()) << helper;
 
+  // test removing sensor
+  // first make sure the sensor objects do exist
+  auto sensorId = sensor->Id();
+  auto cameraId = sensor->RenderingCamera()->Id();
+  EXPECT_EQ(sensor, mgr.Sensor(sensorId));
+  EXPECT_EQ(sensor->RenderingCamera(), scene->SensorById(cameraId));
+  // remove and check sensor objects no longer exist in both sensors and
+  // rendering
+  EXPECT_TRUE(mgr.Remove(sensorId));
+  EXPECT_EQ(nullptr, mgr.Sensor(sensorId));
+  EXPECT_EQ(nullptr, scene->SensorById(cameraId));
+
   // Clean up
   engine->DestroyScene(scene);
   ignition::rendering::unloadEngine(engine->Name());

test/integration/gpu_lidar_sensor.cc

@@ -901,31 +901,51 @@ void GpuLidarSensorTest::Topic(const std::string &_renderEngine)
 }
 
 /////////////////////////////////////////////////
+#ifdef __APPLE__
+TEST_P(GpuLidarSensorTest, DISABLED_CreateGpuLidar)
+#else
 TEST_P(GpuLidarSensorTest, CreateGpuLidar)
+#endif
 {
   CreateGpuLidar(GetParam());
 }
 
 /////////////////////////////////////////////////
+#ifdef __APPLE__
+TEST_P(GpuLidarSensorTest, DISABLED_DetectBox)
+#else
 TEST_P(GpuLidarSensorTest, DetectBox)
+#endif
 {
   DetectBox(GetParam());
 }
 
 /////////////////////////////////////////////////
+#ifdef __APPLE__
+TEST_P(GpuLidarSensorTest, DISABLED_TestThreeBoxes)
+#else
 TEST_P(GpuLidarSensorTest, TestThreeBoxes)
+#endif
 {
   TestThreeBoxes(GetParam());
 }
 
 /////////////////////////////////////////////////
+#ifdef __APPLE__
+TEST_P(GpuLidarSensorTest, DISABLED_VerticalLidar)
+#else
 TEST_P(GpuLidarSensorTest, VerticalLidar)
+#endif
 {
   VerticalLidar(GetParam());
 }
 
 /////////////////////////////////////////////////
+#ifdef __APPLE__
+TEST_P(GpuLidarSensorTest, DISABLED_ManualUpdate)
+#else
 TEST_P(GpuLidarSensorTest, ManualUpdate)
+#endif
 {
   ManualUpdate(GetParam());
 }

tutorials/install.md

@@ -23,6 +23,22 @@ sudo apt-get update
 sudo apt install libignition-sensors<#>-dev
 ```
 
+### macOS
+
+On macOS, add OSRF packages:
+  ```
+  ruby -e "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install)"
+  brew tap osrf/simulation
+  ```
+
+Install Ignition Sensors:
+  ```
+  brew install ignition-sensors<#>
+  ```
+
+Be sure to replace `<#>` with a number value, such as 5 or 6, depending on
+which version you need.
+
 ### Windows
 
 Binary install is pending `ignition-rendering` and `ignition-sensors` being added to conda-forge.
@@ -72,6 +88,36 @@ Ignition Sensors requires:
   sudo make install
   ```
 
+### macOS
+
+1. Clone the repository
+  ```
+  git clone https://github.com/ignitionrobotics/ign-sensors -b ign-sensors<#>
+  ```
+  Be sure to replace `<#>` with a number value, such as 5 or 6, depending on
+  which version you need.
+
+2. Install dependencies
+  ```
+  brew install --only-dependencies ignition-sensors<#>
+  ```
+  Be sure to replace `<#>` with a number value, such as 5 or 6, depending on
+  which version you need.
+
+3. Configure and build
+  ```
+  cd ign-sensors
+  mkdir build
+  cd build
+  cmake ..
+  make
+  ```
+
+4. Optionally, install
+  ```
+  sudo make install
+  ```
+
 ### Windows
 
 #### Install Prerequisites
@@ -165,4 +211,3 @@ Follow these steps to run tests and static code analysis in your clone of this r
   ```
   make codecheck
   ```
-