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Fix <ignition_frame_id> not working for GpuLidarSensor #218

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Merged
ahcorde merged 3 commits into from
Apr 19, 2022
Merged

Fix <ignition_frame_id> not working for GpuLidarSensor #218

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ad260f0
Fix https://github.com/ignitionrobotics/ign-sensors/issues/217
Apr 17, 2022
469f147
Apply frame_id to all sensors
Apr 17, 2022
ad8c09d
lint
Apr 18, 2022
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2 changes: 1 addition & 1 deletion src/ForceTorqueSensor.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -250,7 +250,7 @@ bool ForceTorqueSensor::Update(const std::chrono::steady_clock::duration &_now)
*msg.mutable_header()->mutable_stamp() = msgs::Convert(_now);
auto frame = msg.mutable_header()->add_data();
frame->set_key("frame_id");
frame->add_value(this->Name());
frame->add_value(this->FrameId());

msgs::Set(msg.mutable_force(), measuredForce);
msgs::Set(msg.mutable_torque(), measuredTorque);
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13 changes: 13 additions & 0 deletions src/GpuLidarSensor.cc
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Expand Up @@ -256,6 +256,19 @@ bool GpuLidarSensor::Update(const std::chrono::steady_clock::duration &_now)
// Set the time stamp
*this->dataPtr->pointMsg.mutable_header()->mutable_stamp() =
msgs::Convert(_now);
// Set frame_id
for (auto i = 0;
i < this->dataPtr->pointMsg.mutable_header()->data_size();
++i)
{
if (this->dataPtr->pointMsg.mutable_header()->data(i).key() == "frame_id"
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@chapulina chapulina Apr 18, 2022

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Style nits.

The linter is complaining here:

  /github/workspace/src/GpuLidarSensor.cc:260:  Lines should be <= 80 characters long  [whitespace/line_length] [2]
  /github/workspace/src/GpuLidarSensor.cc:264:  Lines should be <= 80 characters long  [whitespace/line_length] [2]

Also, please put the { in a new line

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@doisyg doisyg Apr 18, 2022

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lint is now happy but not so sure about the formating

&& this->dataPtr->pointMsg.mutable_header()->data(i).value_size() > 0)
{
this->dataPtr->pointMsg.mutable_header()->mutable_data(i)->set_value(
0,
this->FrameId());
}
}

this->dataPtr->FillPointCloudMsg(this->laserBuffer);

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2 changes: 1 addition & 1 deletion src/SegmentationCameraSensor.cc
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Expand Up @@ -487,7 +487,7 @@ bool SegmentationCameraSensor::Update(
*stamp = msgs::Convert(_now);
auto frame = this->dataPtr->coloredMapMsg.mutable_header()->add_data();
frame->set_key("frame_id");
frame->add_value(this->Name());
frame->add_value(this->FrameId());

this->dataPtr->labelsMapMsg.CopyFrom(this->dataPtr->coloredMapMsg);

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