Conform to ros format for header field frame_id of sensor msgs

[ahcorde]

🎉 New feature

Summary

While I was giving support for the turtlebot3 in Ignition , I found that the frame_id is generated with this format <model_name>::<link_name>::<sensor_bane>, then when we use the bridge to republish the data in the ROS network, the frame_id is modified here and it will look like <model_name>/<link_name>/<sensor_bane>, but this format is still not valid, it not matching with any frame_id in tf.

This PR overwrite the frame_id value and set it to another value which allows to make it compatible with ROS.

I don't know where is the right place to document this.

Test it

Following the steps in the other PR you can test this.

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.

[codecov]

Codecov Report

Merging #195 (b2ad054) into ign-sensors3 (5d24d67) will increase coverage by 0.09%.
The diff coverage is 100.00%.

@@               Coverage Diff                @@
##           ign-sensors3     #195      +/-   ##
================================================
+ Coverage         77.48%   77.57%   +0.09%     
================================================
  Files                23       23              
  Lines              2367     2377      +10     
================================================
+ Hits               1834     1844      +10     
  Misses              533      533              

Impacted Files	Coverage Δ
src/AirPressureSensor.cc	86.30% <100.00%> (ø)
src/AltimeterSensor.cc	88.50% <100.00%> (ø)
src/CameraSensor.cc	75.37% <100.00%> (ø)
src/DepthCameraSensor.cc	74.48% <100.00%> (ø)
src/ImuSensor.cc	90.38% <100.00%> (ø)
src/Lidar.cc	73.15% <100.00%> (ø)
src/LogicalCameraSensor.cc	90.14% <100.00%> (ø)
src/MagnetometerSensor.cc	88.63% <100.00%> (ø)
src/RgbdCameraSensor.cc	75.21% <100.00%> (ø)
src/Sensor.cc	89.78% <100.00%> (+0.80%)	⬆️
... and 1 more

---

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[iche033]

looks good to me. Not sure what's wrong with the sensors windows CI build. I just retriggered a new build

[iche033]

CI is green now

[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-2022-03-25-fortress-edifice-citadel/1343/1

[doisyg]

Is it possible to trigger a release of libignition-sensors6 to benefit from this PR in Fortress bin?

[chapulina]

@doisyg , see #207

[doisyg]

Hello,
Testing this PR since it is now merged and released. It works for laserscan msgs but not for pointclouds.
I believe the type ignition.msgs.PointCloudPacked is missing the frame field.

[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-2022-04-13-fortress-edifice/1367/1

[doisyg]

This PR is not working for GpuLidarSensor published as ignition.msgs.PointCloudPacked
#217 and fixed here: #218

[ashBabu]

Saw this now only. I tried <optical_frame_id>, <ignition_frame_id>, <ign_frame_id> etc but nothing worked for me in gazebo fortress, ros2 humble. #384. ignition sensors6