Added Logic to flag pointcloud if invalid point is Detected

[carlos-m159]

🦟 Bug fix

Fixes #179

Summary

Currently, when filling pointcloud message, the is_dense field is always set to true. According to the definition used by PCL, a pointcloud should be considered dense if all point are valid (i.e. not NaN nor +/-INF). Please refer to the linked issue to understand the common problem that this can cause when using PCL lib.

Checklist

• Signed all commits for DCO
• Added tests
• Updated documentation (as needed)
• Updated migration guide (as needed)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

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[iche033]

looks good to me, thanks for the fix.

[codecov]

Codecov Report

Merging #180 (cb38b1b) into ign-sensors6 (8ae7167) will increase coverage by 0.02%.
The diff coverage is 100.00%.

❗ Current head cb38b1b differs from pull request most recent head c78c77e. Consider uploading reports for the commit c78c77e to get more accurate results

@@               Coverage Diff                @@
##           ign-sensors6     #180      +/-   ##
================================================
+ Coverage         76.01%   76.04%   +0.02%     
================================================
  Files                27       27              
  Lines              2760     2763       +3     
================================================
+ Hits               2098     2101       +3     
  Misses              662      662              

Impacted Files	Coverage Δ
src/GpuLidarSensor.cc	88.53% <100.00%> (+0.22%)	⬆️

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[chapulina]

Thanks! Should we update the migration guide explaining that the behaviour will change in the next 6.X release?

addressed

[carlos-m159]

@chapulina will you update afterwards? Regarding the merge, will you handle it?

[chapulina]

@carlos-m159 , do you mind adding a note to Migration.md? You can add a new section "Ignition Sensors 6.0.1 to 6.X.X", and we update the X when we trigger a release. Thanks 🙇‍♀️

Once you do it I can merge it

[carlos-m159]

@chapulina Migration doc updated.

[osrf-triage]

This pull request has been mentioned on Gazebo Community. There might be relevant details there:

https://community.gazebosim.org/t/new-ignition-releases-2022-01-10/1228/1