4 ➡️ 5 (#98)

Signed-off-by: Louise Poubel <louise@openrobotics.org>

Author: chapulina

.github/ISSUE_TEMPLATE/bug_report.md

@@ -0,0 +1,29 @@
+---
+name: Bug report
+about: Report a bug
+labels: bug
+---
+
+<!-- If you're not sure whether your problem is a bug, please ask a question at
+http://answers.gazebosim.org instead.-->
+
+## Environment
+* OS Version: <!-- e.g, Ubuntu 20.04 -->
+* Source or binary build?
+  <!-- If binary, which version? -->
+  <!-- If source, which branch and what is the latest commit? -->
+
+## Description
+* Expected behavior: <!-- Tell us what you expected to happen -->
+* Actual behavior: <!-- What happened instead -->
+
+## Steps to reproduce
+<!-- Provide steps so we can try to reproduce this issue -->
+
+1.
+2.
+3.
+
+## Output
+<!-- Provide screenshots, console logs, backtraces, and/or anything that could
+be useful to us resolving this issue -->

.github/ISSUE_TEMPLATE/feature_request.md

@@ -0,0 +1,23 @@
+---
+name: Feature request
+about: Request a new feature
+labels: enhancement
+---
+
+<!-- If you're not sure on the specifics of the feature or would like a broader
+discussion, please ask consider posting a proposal to
+http://community.gazebosim.org/ instead.-->
+
+## Desired behavior
+<!-- Describe the current problem and the feature you want implemented.-->
+
+## Alternatives considered
+<!-- Describe alternate solutions or features you've considered.-->
+
+## Implementation suggestion
+<!-- Provide a suggestion on how to implement this feature, which could help us
+expedite this implementation.-->
+
+## Additional context
+<!-- Provide any other additional context (e.g., screenshots) about your feature
+request.-->

.github/PULL_REQUEST_TEMPLATE.md

@@ -0,0 +1,52 @@
+<!-- Please remove the appropriate section.
+For example, if this is a new feature, remove the "Bug Report" section -->
+
+# Bug Report
+
+Fixes issue #<NUMBER>
+
+## Summary
+<!-- Describe your fix, including an explanation of how to reproduce the bug
+before and after the PR.-->
+
+## Checklist
+- [ ] Signed all commits for DCO
+- [ ] Added tests
+- [ ] Updated documentation (as needed)
+- [ ] Updated migration guide (as needed)
+- [ ] `codecheck` passed (See
+  [contributing](https://ignitionrobotics.org/docs/all/contributing#contributing-code))
+- [ ] All tests passed (See
+  [test coverage](https://ignitionrobotics.org/docs/all/contributing#test-coverage))
+- [ ] While waiting for a review on your PR, please help review
+[another open pull request](https://github.com/pulls?q=is%3Aopen+is%3Apr+user%3Aignitionrobotics+archived%3Afalse+)
+to support the maintainers
+
+**Note to maintainers**: Remember to use **Squash-Merge**
+
+---
+
+# New feature
+
+Closes #<NUMBER>
+
+## Summary
+<!--Explain changes made, the expected behavior, and provide any other additional
+context (e.g., screenshots, gifs) if appropriate.-->
+
+## Test it
+<!--Explain how reviewers can test this new feature manually.-->
+
+## Checklist
+- [ ] Signed all commits for DCO
+- [ ] Added tests
+- [ ] Added example world and/or tutorial
+- [ ] Updated documentation (as needed)
+- [ ] Updated migration guide (as needed)
+- [ ] `codecheck` passed (See [contributing](https://ignitionrobotics.org/docs/all/contributing#contributing-code))
+- [ ] All tests passed (See [test coverage](https://ignitionrobotics.org/docs/all/contributing#test-coverage))
+- [ ] While waiting for a review on your PR, please help review
+[another open pull request](https://github.com/pulls?q=is%3Aopen+is%3Apr+user%3Aignitionrobotics+archived%3Afalse+)
+to support the maintainers
+
+**Note to maintainers**: Remember to use **Squash-Merge**

.github/PULL_REQUEST_TEMPLATE/port.md

@@ -0,0 +1,6 @@
+Port <FROM_BRANCH> to <TO_BRANCH>
+
+Branch comparison: https://github.com/ignitionrobotics/ign-sensors/compare/<FROM_BRANCH>...<TO_BRANCH>
+
+**Note to maintainers**: Remember to **Merge** with commit (not squash-merge
+or rebase)

.github/workflows/macos.yml

@@ -15,8 +15,6 @@ jobs:
       uses: Homebrew/actions/setup-homebrew@master
     - run: brew config
 
-    # Needed for X11Requirement
-    - run: brew cask install xquartz
     - name: Install base dependencies
       run: |
         brew tap osrf/simulation;

Changelog.md

@@ -2,6 +2,19 @@
 
 ### Ignition Sensors 4.X.X
 
+### Ignition Sensors 4.1.0 (2021-02-10)
+
+1. Added issue and PR templates.
+    * [Pull request 91](https://github.com/ignitionrobotics/ign-sensors/pull/91)
+
+1. Added `set_rate` service to all sensors.
+    * [Pull request 95](https://github.com/ignitionrobotics/ign-sensors/pull/95)
+
+1. Added support for 8 bit thermal camera image format.
+    * [Pull request 92](https://github.com/ignitionrobotics/ign-sensors/pull/92)
+
+1. All features up to version 3.2.0.
+
 ### Ignition Sensors 4.0.0 (2020-09-30)
 
 1. Fix link in README.md
@@ -32,7 +45,25 @@
 
 ## Ignition Sensors 3
 
-### Ignition Sensors 3.X.X (20XX-XX-XX)
+### Ignition Sensors 3.2.0 (2021-02-08)
+
+1. Apply noise to lidar point cloud.
+    * [Pull request 86](https://github.com/ignitionrobotics/ign-sensors/pull/86)
+
+1. Add Windows Installation.
+    * [Pull request 82](https://github.com/ignitionrobotics/ign-sensors/pull/82)
+
+1. Added thermal camera tutorial.
+    * [Pull request 61](https://github.com/ignitionrobotics/ign-sensors/pull/61)
+
+1. Prevent segfaults on test failures, make tests verbose. 
+    * [Pull request 56](https://github.com/ignitionrobotics/ign-sensors/pull/56)
+
+1. Resolve updated codecheck issues.
+    * [Pull request 57](https://github.com/ignitionrobotics/ign-sensors/pull/57)
+
+1. Improve fork experience.
+    * [Pull request 54](https://github.com/ignitionrobotics/ign-sensors/pull/54)
 
 ### Ignition Sensors 3.1.0 (2020-09-03)
 

README.md

@@ -34,10 +34,6 @@ designed to generate realistic data from simulation environments. Ignition Senso
 
 [Usage](#usage)
 
-[Documentation](#documentation)
-
-[Testing](#testing)
-
 [Folder Structure](#folder-structure)
 
 [Code of Conduct](#code-of-conduct)
@@ -63,54 +59,6 @@ See the [installation tutorial](https://ignitionrobotics.org/api/sensors/4.0/ins
 
 Please refer to the [examples directory](https://github.com/ignitionrobotics/ign-sensors/raw/master/examples/).
 
-# Documentation
-
-API and tutorials can be found at [https://ignitionrobotics.org/libs/sensors](https://ignitionrobotics.org/libs/sensors).
-
-You can also generate the documentation from a clone of this repository by following these steps.
-
-1. You will need Doxygen. On Ubuntu Doxygen can be installed using
-
-    ```
-    sudo apt-get install doxygen
-    ```
-
-2. Clone the repository
-
-    ```
-    git clone https://github.com/ignitionrobotics/ign-sensors
-    ```
-
-3. Configure and build the documentation.
-
-    ```
-    cd ign-sensors; mkdir build; cd build; cmake ../; make doc
-    ```
-
-4. View the documentation by running the following command from the build directory.
-
-    ```
-    firefox doxygen/html/index.html
-    ```
-
-# Testing
-
-Follow these steps to run tests and static code analysis in your clone of this repository.
-
-1. Follow the [source install instruction](#source-install).
-
-2. Run tests.
-
-    ```
-    make test
-    ```
-
-3. Static code checker.
-
-    ```
-    make codecheck
-    ```
-
 # Folder Structure
 
 Refer to the following table for information about important directories and files in this repository.

include/ignition/sensors/Lidar.hh

@@ -72,6 +72,11 @@ namespace ignition
       public: virtual bool IGN_DEPRECATED(4) PublishLidarScan(
         const ignition::common::Time &_now);
 
+      /// \brief Apply noise to the laser buffer, if noise has been
+      /// configured. This should be called before PublishLidarScan if you
+      /// want the scan data to contain noise.
+      public: void ApplyNoise();
+
       /// \brief Publish LaserScan message
       /// \param[in] _now The current time
       /// \return true if the update was successfull

src/CMakeLists.txt

@@ -43,6 +43,7 @@ target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
     sdformat${SDF_VER}::sdformat${SDF_VER}
   PRIVATE
     ignition-common${IGN_COMMON_VER}::profiler
+    ignition-msgs${IGN_MSGS_VER}::ignition-msgs${IGN_MSGS_VER}
 )
 target_compile_definitions(${PROJECT_LIBRARY_TARGET_NAME} PUBLIC DepthPoints_EXPORTS)
 

src/GpuLidarSensor.cc

@@ -39,7 +39,8 @@ using namespace ignition::sensors;
 class ignition::sensors::GpuLidarSensorPrivate
 {
   /// \brief Fill the point cloud packed message
-  public: void FillPointCloudMsg();
+  /// \param[in] _laserBuffer Lidar data buffer.
+  public: void FillPointCloudMsg(const float *_laserBuffer);
 
   /// \brief Rendering camera
   public: ignition::rendering::GpuRaysPtr gpuRays;
@@ -248,6 +249,9 @@ bool GpuLidarSensor::Update(const std::chrono::steady_clock::duration &_now)
   /// \todo(anyone) It would be nice to remove this copy.
   this->dataPtr->gpuRays->Copy(this->laserBuffer);
 
+  // Apply noise before publishing the data.
+  this->ApplyNoise();
+
   this->PublishLidarScan(_now);
 
   if (this->dataPtr->pointPub.HasConnections())
@@ -257,7 +261,7 @@ bool GpuLidarSensor::Update(const std::chrono::steady_clock::duration &_now)
       msgs::Convert(_now);
     this->dataPtr->pointMsg.set_is_dense(true);
 
-    this->dataPtr->FillPointCloudMsg();
+    this->dataPtr->FillPointCloudMsg(this->laserBuffer);
 
     {
       this->AddSequence(this->dataPtr->pointMsg.mutable_header());
@@ -302,7 +306,7 @@ ignition::math::Angle GpuLidarSensor::VFOV() const
 }
 
 //////////////////////////////////////////////////
-void GpuLidarSensorPrivate::FillPointCloudMsg()
+void GpuLidarSensorPrivate::FillPointCloudMsg(const float *_laserBuffer)
 {
   IGN_PROFILE("GpuLidarSensorPrivate::FillPointCloudMsg");
   uint32_t width = this->pointMsg.width();
@@ -335,8 +339,8 @@ void GpuLidarSensorPrivate::FillPointCloudMsg()
     {
       // Index of current point, and the depth value at that point
       auto index = j * width * channels + i * channels;
-      float depth = this->gpuRays->Data()[index];
-      float intensity = this->gpuRays->Data()[index + 1];
+      float depth = _laserBuffer[index];
+      float intensity = _laserBuffer[index + 1];
       uint16_t ring = j;
 
       int fieldIndex = 0;