CameraZoomPlugin: support all camera-family sensor components - #167
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CameraZoomPlugin: support all camera-family sensor components#167g-ampo wants to merge 1 commit into
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Extends PreUpdate's component lookup to accept BoundingBoxCamera, DepthCamera, RgbdCamera, SegmentationCamera, ThermalCamera and WideAngleCamera in addition to plain Camera. Fixes ArduPilot#129 and removes the same latent bug for every other camera variant.
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Fixes #129.
Problem
CameraZoomPlugin::PreUpdatelooked up onlycomponents::Cameraon the sensor entity, so the early-return fired for every other camera-family variant:boundingbox_camera,depth_camera,rgbd_camera,segmentation,thermal,wideanglecamera.Fix
Added
Impl::CameraSensorSdfhelper that fans out across the camera-family components and returns the matchedComponentTypeId.PreUpdateuses it for both lookup and_ecm.SetChanged(...).LogicalCamerais excluded (nosdf::Camera).Verification
Built against
gz-sim 8.11.0(Ubuntu 24.04). For each of 7 sensor types: minimal world +gz.msgs.Double{ data: 4.0 }on/model/cam_mount/sensor/camera/zoom/cmd_zoom. Pre-fix: onlycameraconverged torefHfov / zoom = 0.5 rad; others stayed at 2.0 rad. Post-fix: all 7 converge.Test fixture
Adds
tests/worlds/test_camera_zoom_boundingbox.sdfas in-tree reproducer for the bbox case.