[garden] Use anti-aliasing value from <anti_aliasing> SDF element

[WilliamLewww]

🎉 [garden] Use anti-aliasing value from <anti_aliasing> SDF element

Summary

The level of MSAA is hard-coded to 2. This pull request allows users to change the MSAA level with the SDF element <anti_aliasing>.

<camera name="camera">
  <image>
    <width>640</width>
    <height>480</height>
    <format>R8G8B8</format>
    <anti_aliasing>4</anti_aliasing>
  </image>
...
</camera>

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• 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

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[ahcorde]

I think you need to change this line

https://github.com/ignitionrobotics/ign-sensors/blob/ign-sensors6/CMakeLists.txt#L89

to

ign_find_package(sdformat12 REQUIRED VERSION 12.4)

[codecov]

Codecov Report

Merging #210 (6aa4cb9) into main (9302a7d) will not change coverage.
The diff coverage is 100.00%.

@@           Coverage Diff           @@
##             main     #210   +/-   ##
=======================================
  Coverage   68.73%   68.73%           
=======================================
  Files          34       34           
  Lines        3419     3419           
=======================================
  Hits         2350     2350           
  Misses       1069     1069           

Impacted Files	Coverage Δ
src/CameraSensor.cc	77.17% <100.00%> (ø)

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[WilliamLewww]

Test failures are irrelevant to changes.

[chapulina]

I think you need to change this line

+1 to @ahcorde 's suggestion. We should bump the required SDF version so that users know they need to upgrade when compiling, as opposed to having a compilation error due to the missing API, and needing to dig to find out what's happening.

[WilliamLewww]

I think you need to change this line

+1 to @ahcorde 's suggestion. We should bump the required SDF version so that users know they need to upgrade when compiling, as opposed to having a compilation error due to the missing API, and needing to dig to find out what's happening.

Since it's currently targeting sdformat13, should I bump the minor version?

gz-sensors/CMakeLists.txt

Lines 90 to 92 in 3359a0f

	# Find SDFormat
	ign_find_package(sdformat13 REQUIRED)
	set(SDF_VER ${sdformat13_VERSION_MAJOR})

to

ign_find_package(sdformat13 REQUIRED VERSION 13.1)

[scpeters]

I think you need to change this line

+1 to @ahcorde 's suggestion. We should bump the required SDF version so that users know they need to upgrade when compiling, as opposed to having a compilation error due to the missing API, and needing to dig to find out what's happening.

Since it's currently targeting sdformat13, should I bump the minor version?

gz-sensors/CMakeLists.txt

Lines 90 to 92 in 3359a0f

	# Find SDFormat
	ign_find_package(sdformat13 REQUIRED)
	set(SDF_VER ${sdformat13_VERSION_MAJOR})

to

ign_find_package(sdformat13 REQUIRED VERSION 13.1)

libsdformat13 hasn't been released yet, so we don't need to bump the minor. I think this request is out of date since it is targeting garden?

[scpeters]

the change looks fine to me, though I want to point out that it does change the default behavior. I'll leave it to @iche033 to merge

[scpeters]

the default value in SDFormat is 4, so this will represent a behavior change

• https://github.com/gazebosim/sdformat/blob/main/sdf/1.9/camera.sdf#L31

[iche033]

hmm it may be worth putting a note in the migration guide about this change, otherwise changes look good to me.

[scpeters]

6aa4cb9

comment addressed - now targeting garden