Utilize sensor manager to creat sensors

Signed-off-by: Nate Koenig <[email protected]>
gazebosim · Jan 29, 2021 · 2f674e6 · 2f674e6
1 parent d2de367
commit 2f674e6
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Showing 2 changed files with 4 additions and 22 deletions.
diff --git a/src/SystemLoader.cc b/src/SystemLoader.cc
@@ -79,7 +79,7 @@ class ignition::gazebo::SystemLoaderPrivate
     }
 
     std::string pluginName = "";
-    for (auto name : pluginNames)
+    for (const auto &name : pluginNames)
     {
       pluginName = name;
     }

diff --git a/src/systems/sensors/Sensors.cc b/src/systems/sensors/Sensors.cc
@@ -498,27 +498,9 @@ std::string Sensors::CreateSensor(const Entity &_entity,
     return std::string();
   }
 
-  // Create within ign-sensors
-  ignition::sensors::SensorId sensorId;
-  if (_sdf.Type() == sdf::SensorType::CAMERA)
-  {
-    std::unique_ptr<sensors::CameraSensor> cameraSensor =
-      std::make_unique<sensors::CameraSensor>();
-    cameraSensor->Load(_sdf);
-    sensorId = this->dataPtr->sensorManager.AddSensor(std::move(cameraSensor));
-  }
-  else if (_sdf.Type() == sdf::SensorType::THERMAL_CAMERA)
-  {
-    std::unique_ptr<sensors::ThermalCameraSensor> thermalCameraSensor =
-      std::make_unique<sensors::ThermalCameraSensor>();
-    thermalCameraSensor->Load(_sdf);
-    sensorId = this->dataPtr->sensorManager.AddSensor(
-      std::move(thermalCameraSensor));
-  }
-  else
-  {
-    sensorId = this->dataPtr->sensorManager.CreateSensor(_sdf);
-  }
+  // Create using ign-sensors
+  ignition::sensors::SensorId sensorId =
+    this->dataPtr->sensorManager.CreateSensor(_sdf);
   auto sensor = this->dataPtr->sensorManager.Sensor(sensorId);
 
   // Add to sensorID -> entity map