Merge branch 'main' into auto_inertia_mass

Migration.md

@@ -12,6 +12,24 @@ forward programmatically.
 This document aims to contain similar information to those files
 but with improved human-readability..
 
+## libsdformat 15.x to 16.x
+
+### Removals
+
+- **sdf/config.hh**:
+   + The macro `SDF_SHARE_PATH` has been removed.
+     Please use `sdf::getSharePath()` instead.
+   + The macro `SDF_VERSION_PATH` has been removed.
+
+- **sdf/Camera.hh**:
+   + The `//sensor/camera/optical_frame_id` SDF element and corresponding functions
+     in the Camera DOM class are removed. Please specify camera frame using
+     the `//sensor/frame_id` SDF element instead.
+   + ***removal:*** std::string OpticalFrameId() const
+   + ***Replacement:*** std::string Sensor::FrameId() const
+   + ***removal:*** void SetOpticalFrameId(const std::string &)
+   + ***Replacement:*** void Sensor::SetFrameId(const std::string &)
+
 ## libsdformat 14.x to 15.x
 
 ### Additions

include/sdf/Camera.hh

@@ -356,20 +356,6 @@ namespace sdf
     /// \param[in] _frame The name of the pose relative-to frame.
     public: void SetPoseRelativeTo(const std::string &_frame);
 
-    /// \brief Get the name of the coordinate frame relative to which this
-    /// object's camera_info message header is expressed.
-    /// Note: while Gazebo interprets the camera frame to be looking towards +X,
-    /// other tools, such as ROS interprets this frame as looking towards +Z.
-    /// The Camera sensor assumes that the color and depth images are captured
-    /// at the same frame_id.
-    /// \return The name of the frame this camera uses in its camera_info topic.
-    public: const std::string GZ_DEPRECATED(15) OpticalFrameId() const;
-
-    /// \brief Set the name of the coordinate frame relative to which this
-    /// object's camera_info is expressed.
-    /// \param[in] _frame The frame this camera uses in its camera_info topic.
-    public: void GZ_DEPRECATED(15) SetOpticalFrameId(const std::string &_frame);
-
     /// \brief Get the lens type. This is the type of the lens mapping.
     /// Supported values are gnomonical, stereographic, equidistant,
     /// equisolid_angle, orthographic, custom. For gnomonical (perspective)

include/sdf/ParserConfig.hh

@@ -221,10 +221,6 @@ class SDFORMAT_VISIBLE ParserConfig
   /// and merge the child link into the parent.
   public: bool URDFPreserveFixedJoint() const;
 
-  /// \brief Set the storeResolvedURIs flag value.
-  /// \sa SetStoreResolvedURIs
-  public: GZ_DEPRECATED(15) void SetStoreResovledURIs(bool _resolveURI);
-
   /// \brief Set the storeResolvedURIs flag value.
   /// \param[in] _resolveURI True to make the parser attempt to resolve any
   /// URIs found and store them.  False to preserve original URIs

include/sdf/config.hh.in

@@ -47,12 +47,4 @@
 
 #cmakedefine SDFORMAT_DISABLE_CONSOLE_LOGFILE 1
 
-#ifndef SDF_SHARE_PATH
-#define SDF_SHARE_PATH _Pragma ("GCC warning \"'SDF_SHARE_PATH' macro is deprecated, use sdf::getSharePath() function instead. \"") "${CMAKE_INSTALL_FULL_DATAROOTDIR}/"
-#endif
-
-#ifndef SDF_VERSION_PATH
-#define SDF_VERSION_PATH _Pragma ("GCC warning \"'SDF_VERSION_PATH' macro is deprecated and should not be used. \"") "${CMAKE_INSTALL_FULL_DATAROOTDIR}/sdformat${PROJECT_VERSION_MAJOR}/${PROJECT_VERSION}"
-#endif
-
 #endif  // #ifndef SDF_CONFIG_HH_

python/src/sdf/pyCamera.cc

@@ -32,9 +32,6 @@ namespace python
 /////////////////////////////////////////////////
 void defineCamera(pybind11::object module)
 {
-  // \todo(iche033) OpticalFrameId and SetOpticalFrameId are deprecated
-  // Remove sdformat16
-  GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
   pybind11::class_<sdf::Camera> cameraModule(module, "Camera");
   cameraModule
     .def(pybind11::init<>())
@@ -178,16 +175,6 @@ void defineCamera(pybind11::object module)
          "Set the name of the coordinate frame relative to which this "
          "object's pose is expressed. An empty value indicates that the frame "
          "is relative to the parent link.")
-    .def("optical_frame_id", &sdf::Camera::OpticalFrameId,
-         "Get the name of the coordinate frame relative to which this "
-         "object's camera_info message header is expressed. "
-         "Note: while Gazebo interprets the camera frame to be looking towards "
-         "+X, other tools, such as ROS interprets this frame as looking "
-         "towards +Z.  The Camera sensor assumes that the color and depth "
-         "images are captured at the same frame_id.")
-    .def("set_optical_frame_id", &sdf::Camera::SetOpticalFrameId,
-         "Set the name of the coordinate frame relative to which this "
-         "object's camera_info is expressed.")
     .def("lens_type", &sdf::Camera::LensType,
          "Get the lens type. This is the type of the lens mapping. "
          "Supported values are gnomonical, stereographic, equidistant, "
@@ -300,7 +287,6 @@ void defineCamera(pybind11::object module)
       .value("BAYER_GBRG8", sdf::PixelFormatType::BAYER_GBRG8)
       .value("BAYER_GRBG8", sdf::PixelFormatType::BAYER_GRBG8);
 
-  GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
 }
 }  // namespace python
 }  // namespace SDF_VERSION_NAMESPACE

python/test/pyCamera_TEST.py

@@ -135,10 +135,6 @@ def test_default_construction(self):
       cam.set_pose_relative_to("/frame")
       self.assertEqual("/frame", cam.pose_relative_to())
 
-      self.assertFalse(cam.optical_frame_id());
-      cam.set_optical_frame_id("/optical_frame");
-      self.assertEqual("/optical_frame", cam.optical_frame_id());
-
       self.assertEqual("stereographic", cam.lens_type())
       cam.set_lens_type("custom")
       self.assertEqual("custom", cam.lens_type())

src/Camera.cc

@@ -147,9 +147,6 @@ class sdf::Camera::Implementation
   /// \brief Frame of the pose.
   public: std::string poseRelativeTo = "";
 
-  /// \brief Frame ID the camera_info message header is expressed.
-  public: std::string opticalFrameId{""};
-
   /// \brief Lens type.
   public: std::string lensType{"stereographic"};
 
@@ -382,13 +379,6 @@ Errors Camera::Load(ElementPtr _sdf)
   // Load the pose. Ignore the return value since the pose is optional.
   loadPose(_sdf, this->dataPtr->pose, this->dataPtr->poseRelativeTo);
 
-  // Load the optional optical_frame_id value.
-  if (_sdf->HasElement("optical_frame_id"))
-  {
-    this->dataPtr->opticalFrameId = _sdf->Get<std::string>("optical_frame_id",
-        this->dataPtr->opticalFrameId).first;
-  }
-
   // Load the lens values.
   if (_sdf->HasElement("lens"))
   {
@@ -752,9 +742,6 @@ void Camera::SetSaveFramesPath(const std::string &_path)
 //////////////////////////////////////////////////
 bool Camera::operator==(const Camera &_cam) const
 {
-
-  // \todo(iche033) Remove in sdformat16
-  GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
   return this->Name() == _cam.Name() &&
     this->HorizontalFov() == _cam.HorizontalFov() &&
     this->ImageWidth() == _cam.ImageWidth() &&
@@ -765,9 +752,7 @@ bool Camera::operator==(const Camera &_cam) const
     this->SaveFrames() == _cam.SaveFrames() &&
     this->SaveFramesPath() == _cam.SaveFramesPath() &&
     this->ImageNoise() == _cam.ImageNoise() &&
-    this->VisibilityMask() == _cam.VisibilityMask() &&
-    this->OpticalFrameId() == _cam.OpticalFrameId();
-  GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
+    this->VisibilityMask() == _cam.VisibilityMask();
 }
 
 //////////////////////////////////////////////////
@@ -884,18 +869,6 @@ void Camera::SetPoseRelativeTo(const std::string &_frame)
   this->dataPtr->poseRelativeTo = _frame;
 }
 
-/////////////////////////////////////////////////
-const std::string Camera::OpticalFrameId() const
-{
-  return this->dataPtr->opticalFrameId;
-}
-
-/////////////////////////////////////////////////
-void Camera::SetOpticalFrameId(const std::string &_frame)
-{
-  this->dataPtr->opticalFrameId = _frame;
-}
-
 /////////////////////////////////////////////////
 std::string Camera::LensType() const
 {
@@ -1336,11 +1309,5 @@ sdf::ElementPtr Camera::ToElement() const
         this->SegmentationType());
   }
 
-  // \todo(iche033) Remove in sdformat16
-  GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
-  elem->GetElement("optical_frame_id")->Set<std::string>(
-      this->OpticalFrameId());
-  GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
-
   return elem;
 }

src/Camera_TEST.cc

@@ -134,13 +134,6 @@ TEST(DOMCamera, Construction)
   cam.SetPoseRelativeTo("/frame");
   EXPECT_EQ("/frame", cam.PoseRelativeTo());
 
-  // \todo(iche033) Remove in sdformat16
-  GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
-  EXPECT_TRUE(cam.OpticalFrameId().empty());
-  cam.SetOpticalFrameId("/optical_frame");
-  EXPECT_EQ("/optical_frame", cam.OpticalFrameId());
-  GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
-
   EXPECT_EQ("stereographic", cam.LensType());
   cam.SetLensType("custom");
   EXPECT_EQ("custom", cam.LensType());
@@ -277,11 +270,6 @@ TEST(DOMCamera, ToElement)
   cam.SetSaveFrames(true);
   cam.SetSaveFramesPath("/tmp");
 
-  // \todo(iche033) Remove in sdformat16
-  GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
-  cam.SetOpticalFrameId("/optical_frame");
-  GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
-
   cam.SetCameraInfoTopic("/camera_info_test");
   cam.SetTriggerTopic("/trigger_topic_test");
   cam.SetTriggered(true);
@@ -305,11 +293,6 @@ TEST(DOMCamera, ToElement)
   EXPECT_TRUE(cam2.SaveFrames());
   EXPECT_EQ("/tmp", cam2.SaveFramesPath());
 
-  // \todo(iche033) Remove in sdformat16
-  GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
-  EXPECT_EQ("/optical_frame", cam2.OpticalFrameId());
-  GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
-
   EXPECT_EQ("/camera_info_test", cam2.CameraInfoTopic());
   EXPECT_EQ("/trigger_topic_test", cam2.TriggerTopic());
   EXPECT_TRUE(cam2.Triggered());

src/ParserConfig.cc

@@ -218,12 +218,6 @@ bool ParserConfig::URDFPreserveFixedJoint() const
   return this->dataPtr->preserveFixedJoint;
 }
 
-/////////////////////////////////////////////////
-void ParserConfig::SetStoreResovledURIs(bool _resolveURI)
-{
-  this->SetStoreResolvedURIs(_resolveURI);
-}
-
 /////////////////////////////////////////////////
 void ParserConfig::SetStoreResolvedURIs(bool _resolveURI)
 {