Merge branch 'main' into feature/cpu-lidar

Author: apojomovsky

.github/ci/packages.apt

@@ -1,9 +1,9 @@
-libgz-cmake5-dev
-libgz-common7-dev
-libgz-math9-dev
-libgz-msgs12-dev
-libgz-rendering10-dev
-libgz-tools2-dev
-libgz-transport15-dev
-libsdformat16-dev
+libgz-rotary-cmake-dev
+libgz-rotary-common-dev
+libgz-rotary-math-dev
+libgz-rotary-msgs-dev
+libgz-rotary-rendering-dev
+libgz-rotary-tools-dev
+libgz-rotary-transport-dev
+libgz-rotary-sdformat-dev
 xvfb

.github/workflows/ci.yml

@@ -19,6 +19,7 @@ jobs:
         id: ci
         uses: gazebo-tooling/action-gz-ci@noble
         with:
+          gzdev-project-name: rotary
           # codecov-enabled: true
           cppcheck-enabled: true
           cpplint-enabled: true

CMakeLists.txt

@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 #============================================================================
 # Initialize the project
 #============================================================================
-project(gz-sensors VERSION 10.0.0)
+project(gz-sensors VERSION 11.0.0)
 
 #============================================================================
 # Find gz-cmake

Changelog.md

@@ -1,3 +1,7 @@
+## Gazebo Sensors 11.x
+
+### Gazebo Sensors 11.0.0 (20XX-XX-XX)
+
 ## Gazebo Sensors 10
 
 ### Gazebo Sensors 10.0.0 (2025-09-30)

Migration.md

@@ -5,6 +5,10 @@ Deprecated code produces compile-time warnings. These warning serve as
 notification to users that their code should be upgraded. The next major
 release will remove the deprecated code.
 
+
+## Gz Sensors 10.X to 11.X
+
+
 ## Gazebo Sensors 6.X to 7.X
 
 1. The `ignition` namespace is deprecated and will be removed in future versions.  Use `gz` instead.
@@ -136,4 +140,4 @@ ImageNoise.hh.
 
 1. **include/sensors/Noise.hh**
     + ***Deprecation:*** public: virtual void SetCamera(rendering::CameraPtr)
-    + ***Replacement:***  TODO (to be implemented in ImageGaussianNoiseModel)
+    + ***Replacement:***  TODO (to be implemented in ImageGaussianNoiseModel)

package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>gz-sensors</name>
-  <version>10.0.0</version>
+  <version>11.0.0</version>
   <description>Gazebo Sensors : Sensor models for simulation</description>
   <maintainer email="ichen@openrobotics.org">Ian Chen</maintainer>
   <license>Apache License 2.0</license>

src/ThermalCameraSensor.cc

@@ -33,6 +33,7 @@
 
 #include "gz/sensors/ThermalCameraSensor.hh"
 #include "gz/sensors/ImageGaussianNoiseModel.hh"
+#include "gz/sensors/ImageNoise.hh"
 #include "gz/sensors/RenderingEvents.hh"
 #include "gz/sensors/SensorFactory.hh"
 
@@ -319,12 +320,20 @@ bool ThermalCameraSensor::CreateCamera()
     // Add gaussian noise to camera sensor
     if (noiseSdf.Type() == sdf::NoiseType::GAUSSIAN)
     {
-      this->dataPtr->noises[noiseType] =
-        NoiseFactory::NewNoiseModel(noiseSdf, "camera");
+      // Skip applying noise if mean and stddev are 0 - this avoids
+      // doing an extra render pass in gz-rendering
+      // Note ImageGaussianNoiseModel only uses mean and stddev and does not
+      // use bias parameters.
+      if (!math::equal(noiseSdf.Mean(), 0.0) ||
+          !math::equal(noiseSdf.StdDev(), 0.0))
+      {
+        this->dataPtr->noises[noiseType] =
+          ImageNoiseFactory::NewNoiseModel(noiseSdf, "thermal_camera");
 
-      std::dynamic_pointer_cast<ImageGaussianNoiseModel>(
-           this->dataPtr->noises[noiseType])->SetCamera(
-             this->dataPtr->thermalCamera);
+        std::dynamic_pointer_cast<ImageGaussianNoiseModel>(
+             this->dataPtr->noises[noiseType])->SetCamera(
+               this->dataPtr->thermalCamera);
+      }
     }
     else if (noiseSdf.Type() != sdf::NoiseType::NONE)
     {

test/integration/thermal_camera.cc

@@ -132,6 +132,12 @@ void ThermalCameraSensorTest::ImagesWithBuiltinSDF(
   auto imagePtr = cameraPtr->GetElement("image");
   ASSERT_TRUE(cameraPtr->HasElement("clip"));
   auto clipPtr = cameraPtr->GetElement("clip");
+  ASSERT_TRUE(cameraPtr->HasElement("noise"));
+  auto noisePtr = cameraPtr->GetElement("noise");
+
+  EXPECT_EQ("gaussian", noisePtr->Get<std::string>("type"));
+  EXPECT_FLOAT_EQ(0.0, noisePtr->Get<double>("mean"));
+  EXPECT_DOUBLE_EQ(0.007, noisePtr->Get<double>("stddev"));
 
   int imgWidth = imagePtr->Get<int>("width");
   int imgHeight = imagePtr->Get<int>("height");
@@ -392,6 +398,12 @@ void ThermalCameraSensorTest::Images8BitWithBuiltinSDF(
   auto cameraPtr = sensorPtr->GetElement("camera");
   ASSERT_TRUE(cameraPtr->HasElement("image"));
   auto imagePtr = cameraPtr->GetElement("image");
+  ASSERT_TRUE(cameraPtr->HasElement("noise"));
+  auto noisePtr = cameraPtr->GetElement("noise");
+
+  EXPECT_EQ("gaussian", noisePtr->Get<std::string>("type"));
+  EXPECT_FLOAT_EQ(0.0, noisePtr->Get<double>("mean"));
+  EXPECT_DOUBLE_EQ(0.007, noisePtr->Get<double>("stddev"));
 
   std::string format = imagePtr->Get<std::string>("format");
   EXPECT_EQ("L8", format);

test/sdf/thermal_camera_sensor_8bit_builtin.sdf

@@ -16,6 +16,11 @@
             <near>0.1</near>
             <far>10.0</far>
           </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.007</stddev>
+          </noise>
         </camera>
       </sensor>
     </link>

test/sdf/thermal_camera_sensor_builtin.sdf

@@ -16,6 +16,11 @@
             <near>0.1</near>
             <far>10.0</far>
           </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0.0</mean>
+            <stddev>0.007</stddev>
+          </noise>
         </camera>
       </sensor>
     </link>