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Merge branch "ign-msgs8" into merge8main
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scpeters committed Mar 18, 2022
2 parents 12b1593 + 0d07350 commit 85db26d
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12 changes: 12 additions & 0 deletions .github/workflows/ci.yml
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Expand Up @@ -14,3 +14,15 @@ jobs:
uses: ignition-tooling/action-ignition-ci@focal
with:
codecov-enabled: true
cppcheck-enabled: true
cpplint-enabled: true
doxygen-enabled: true
jammy-ci:
runs-on: ubuntu-latest
name: Ubuntu Jammy CI
steps:
- name: Checkout
uses: actions/checkout@v2
- name: Compile and test
id: ci
uses: ignition-tooling/action-ignition-ci@jammy
40 changes: 40 additions & 0 deletions Changelog.md
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Expand Up @@ -41,6 +41,34 @@

## Ignition Msgs 7.x

### Ignition Msgs 7.3.0 (2022-03-17)

1. Backport NavSat message for bridge compatibility
* [Pull request #231](https://github.com/ignitionrobotics/ign-msgs/pull/231)

1. Focal CI: static checkers and doxygen linters
* [Pull request #230](https://github.com/ignitionrobotics/ign-msgs/pull/230)

1. Add wheel slip message definition
* [Pull request #205](https://github.com/ignitionrobotics/ign-msgs/pull/205)
* [Pull request #227](https://github.com/ignitionrobotics/ign-msgs/pull/227)

1. Add PointCloudPacked iterators
* [Pull request #210](https://github.com/ignitionrobotics/ign-msgs/pull/210)
* [Pull request #218](https://github.com/ignitionrobotics/ign-msgs/pull/218)

1. Utility\_TEST: adjust expectations for 32-bit arch (#120)
* [Pull request #120) (#196](https://github.com/ignitionrobotics/ign-msgs/pull/120) (#196)

1. Fix trivial typo in command line help message
* [Pull request #191](https://github.com/ignitionrobotics/ign-msgs/pull/191)

1. Support colcon in windows CI
* [Pull request #189](https://github.com/ignitionrobotics/ign-msgs/pull/189)

1. 🥳 Update ign-tools issue on README
* [Pull request #184](https://github.com/ignitionrobotics/ign-msgs/pull/184)

### Ignition Msgs 7.2.0 (2021-09-10)

1. Adds PerformanceSensorMetrics proto message.
Expand Down Expand Up @@ -193,6 +221,18 @@

## Ignition Msgs 5.x

### Ignition Msgs 5.9.0 (2022-03-16)

1. Backport NavSat message for ROS bridge compatibility
* [Pull request #231](https://github.com/ignitionrobotics/ign-msgs/pull/231)

1. Focal CI: static checkers and doxygen linters
* [Pull request #230](https://github.com/ignitionrobotics/ign-msgs/pull/230)

1. Add PointCloudPacked iterators
* [Pull request #210](https://github.com/ignitionrobotics/ign-msgs/pull/210)
* [Pull request #218](https://github.com/ignitionrobotics/ign-msgs/pull/218)

### Ignition Msgs 5.8.1 (2021-10-29)

1. Utility\_TEST: adjust expectations for 32-bit arch (Backport of #120)
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13 changes: 7 additions & 6 deletions include/ignition/msgs/PointCloudPackedUtils.hh
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Expand Up @@ -38,29 +38,30 @@ namespace msgs
/// \brief Class that can iterate over a PointCloudPacked message.
///
/// E.g, you create your message and reserve space for data as follows:
/// \verbatim
///
/// \code{.cpp}
/// ignition::msgs::PointCloudPacked pcMsg;
/// ignition::msgs::InitPointCloudPacked(pcMsg, "my_new_frame", false,
/// {{"a", PointCloudPacked::Field::FLOAT32}});
/// pcMsg.mutable_data()->resize(numPts * pcMsg.point_step());
/// \endverbatim
/// \endcode
///
/// For iterating over "a", you do :
///
/// \verbatim
/// \code{.cpp}
/// ignition::msgs::PointCloudPackedIterator<float> iterA(pcMsg, "a");
/// \endverbatim
/// \endcode
///
/// And then access it through iterA[0] or *iterA.
///
/// For iterating over RGBA, you can access each element as uint8_t:
///
/// \verbatim
/// \code{.cpp}
/// ignition::msgs::PointCloudPackedIterator<uint8_t> iterR(pcMsg, "r");
/// ignition::msgs::PointCloudPackedIterator<uint8_t> iterG(pcMsg, "g");
/// ignition::msgs::PointCloudPackedIterator<uint8_t> iterB(pcMsg, "b");
/// ignition::msgs::PointCloudPackedIterator<uint8_t> iterA(pcMsg, "a");
/// \endverbatim
/// \endcode
///
/// \tparam FieldType Type of the element being iterated upon
template<typename FieldType>
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40 changes: 40 additions & 0 deletions proto/ignition/msgs/odometry_with_covariance.proto
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/*
* Copyright (C) 2022 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
syntax = "proto3";
package ignition.msgs;
option java_package = "com.ignition.msgs";
option java_outer_classname = "OdometryWithCovarianceProtos";

/// \ingroup ignition.msgs
/// \interface OdometryWithCovariance
/// \brief Message for odometry with covariance

import "ignition/msgs/header.proto";
import "ignition/msgs/pose_with_covariance.proto";
import "ignition/msgs/twist_with_covariance.proto";

message OdometryWithCovariance
{
/// \brief Optional header data.
Header header = 1;

/// \brief Estimated pose.
PoseWithCovariance pose_with_covariance = 2;

/// \brief Estimated linear and angular velocities.
TwistWithCovariance twist_with_covariance = 3;
}
40 changes: 40 additions & 0 deletions proto/ignition/msgs/pose_with_covariance.proto
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/*
* Copyright (C) 2022 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/

syntax = "proto3";
package ignition.msgs;
option java_package = "com.ignition.msgs";
option java_outer_classname = "PoseWithCovarianceProtos";

/// \ingroup ignition.msgs
/// \interface PoseWithCovariance
/// \brief Message with pose and a covariance matrix

import "ignition/msgs/float_v.proto";
import "ignition/msgs/pose.proto";

message PoseWithCovariance
{
/// \brief Pose message.
Pose pose = 1;

/// \brief Row-major representation of the 6x6 covariance matrix
/// The orientation parameters use a fixed-axis representation.
/// In order, the parameters are:
/// (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)
Float_V covariance = 2;
}
2 changes: 1 addition & 1 deletion proto/ignition/msgs/twist.proto
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Expand Up @@ -32,7 +32,7 @@ message Twist
/// \brief Optional header data.
Header header = 1;

/// \brief Lnear velocity in 3d space.
/// \brief Linear velocity in 3d space.
Vector3d linear = 2;

/// \brief Angular velocity in 3d space.
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40 changes: 40 additions & 0 deletions proto/ignition/msgs/twist_with_covariance.proto
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/*
* Copyright (C) 2022 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/

syntax = "proto3";
package ignition.msgs;
option java_package = "com.ignition.msgs";
option java_outer_classname = "TwistWithCovarianceProtos";

/// \ingroup ignition.msgs
/// \interface TwistWithCovariance
/// \brief Message with twist and a covariance matrix

import "ignition/msgs/float_v.proto";
import "ignition/msgs/twist.proto";

message TwistWithCovariance
{
/// \brief Twist message.
Twist twist = 1;

/// \brief Row-major representation of the 6x6 covariance matrix
/// The orientation parameters use a fixed-axis representation.
/// In order, the parameters are:
/// (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)
Float_V covariance = 2;
}
72 changes: 72 additions & 0 deletions proto/ignition/msgs/wheel_slip_parameters_cmd.proto
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/*
* Copyright (C) 2022 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/

syntax = "proto3";
package ignition.msgs;
option java_package = "com.ignition.msgs";
option java_outer_classname = "WheelSlipParametersCmd";

/// \ingroup ignition.msgs
/// \interface WheelSlipParametersCmd
/// \brief Message containing a wheel slip parameters user command.

import "ignition/msgs/entity.proto";
import "ignition/msgs/header.proto";

message WheelSlipParametersCmd
{
/// \brief Optional header data
Header header = 1;

/// \brief Entity which wheel slip parameters are going to be modified.
///
/// The entity might be a model with at least one link or a link.
/// If the entity is a model, the wheel slip parameters of all its
/// links will be updated.
///
/// The entity name (entity.name) will be used as an scoped name.
/// For example, in this
/// hierarchy:
///
/// world_name
/// model_name
/// link_name
///
/// All these names will return the link entity:
///
/// * world_name::model_name::link_name
/// * model_name::link_name
/// * link_name
Entity entity = 2;

/// \brief Unitless lateral slip ratio.
///
/// See https://en.wikipedia.org/wiki/Slip_(vehicle_dynamics).
/// to tangential force ratio (tangential / normal force).
/// At each time step, these compliances are multiplied by
/// the linear wheel spin velocity and divided by the wheel normal force
/// parameter specified in the sdf.
double slip_compliance_lateral = 4;
/// \brief Unitless longitudinal slip ratio.
///
/// See https://en.wikipedia.org/wiki/Slip_(vehicle_dynamics).
/// to tangential force ratio (tangential / normal force).
/// At each time step, these compliances are multiplied by
/// the linear wheel spin velocity and divided by the wheel normal force
/// parameter specified in the sdf.
double slip_compliance_longitudinal = 5;
}

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