gz-sensors: Thermal Camera in Gazebo

I observe the following flickering in the thermal camera image output

When I run gz sim -r thermal_camera.sdf, I see the following vibration in the thermal camera image output of the box
When I try to move objects, using transform control I get the following flickering output.
When I modified Rescue Randy's model.sdf to have min_temp be 200, and max_temp be 500, I again see the following flickering in the normalized image. I have listed the specs of my environment at the bottom of this comment.

Further, adding the thermal system plugin into the <visual> tag gives the following warning:

Warning [Utils.cc:129] [/sdf/plugin[@name="gz::sim::systems::Thermal"]:<data-string>:L1]: XML Element[plugin], child of element[sdf], not defined in SDF. Copying[plugin] as children of [sdf].

The warning also appears when I try to run the default thermal_camera.sdf. The warning is removed when I put the same plugin under the model tag for all included fuel models. Rest all of the things work fine.

Environment specifications:

OS: Ubuntu 20.04 Build Type: Source GPU Info:

Fri Sep 23 19:39:58 2022       
+-----------------------------------------------------------------------------+
| NVIDIA-SMI 515.65.01    Driver Version: 515.65.01    CUDA Version: 11.7     |
|-------------------------------+----------------------+----------------------+
| GPU  Name        Persistence-M| Bus-Id        Disp.A | Volatile Uncorr. ECC |
| Fan  Temp  Perf  Pwr:Usage/Cap|         Memory-Usage | GPU-Util  Compute M. |
|                               |                      |               MIG M. |
|===============================+======================+======================|
|   0  NVIDIA GeForce ...  Off  | 00000000:01:00.0 Off |                  N/A |
| N/A   44C    P8    N/A /  N/A |      9MiB /  3072MiB |      0%      Default |
|                               |                      |                  N/A |
+-------------------------------+----------------------+----------------------+

+-----------------------------------------------------------------------------+
| Processes:                                                                  |
|  GPU   GI   CI        PID   Type   Process name                  GPU Memory |
|        ID   ID                                                   Usage      |
|=============================================================================|
|    0   N/A  N/A       958      G   /usr/lib/xorg/Xorg                  4MiB |
|    0   N/A  N/A      1716      G   /usr/lib/xorg/Xorg                  4MiB |
+-----------------------------------------------------------------------------+

Rendering System Info:

Details

``` $ LANG=C lspci -nn | grep VGA 00:02.0 VGA compatible controller [0300]: Intel Corporation UHD Graphics 630 (Mobile) [8086:3e9b] ``` ``` $ echo "$DISPLAY" :1 ``` ``` $ LANG=C glxinfo -B | grep -i '$direct rendering\|opengl\|profile$' direct rendering: Yes Preferred profile: core (0x1) Max core profile version: 4.6 Max compat profile version: 4.6 Max GLES1 profile version: 1.1 Max GLES[23] profile version: 3.2 OpenGL vendor string: Intel OpenGL renderer string: Mesa Intel(R) UHD Graphics 630 (CFL GT2) OpenGL core profile version string: 4.6 (Core Profile) Mesa 21.2.6 OpenGL core profile shading language version string: 4.60 OpenGL core profile context flags: (none) OpenGL core profile profile mask: core profile OpenGL version string: 4.6 (Compatibility Profile) Mesa 21.2.6 OpenGL shading language version string: 4.60 OpenGL context flags: (none) OpenGL profile mask: compatibility profile OpenGL ES profile version string: OpenGL ES 3.2 Mesa 21.2.6 OpenGL ES profile shading language version string: OpenGL ES GLSL ES 3.20 ``` ``` $ ps aux | grep Xorg root 958 0.0 1.4 25606412 112416 tty1 Sl+ 19:03 0:02 /usr/lib/xorg/Xorg vt1 -displayfd 3 -auth /run/user/125/gdm/Xauthority -background none -noreset -keeptty -verbose 3 root 1716 10.9 1.7 25717456 141428 tty2 Sl+ 19:03 4:25 /usr/lib/xorg/Xorg vt2 -displayfd 3 -auth /run/user/1000/gdm/Xauthority -background none -noreset -keeptty -verbose 3 devank 10817 0.0 0.0 17672 724 pts/1 S+ 19:43 0:00 grep --color=auto Xorg ``` ``` $ sudo env LANG=C X -version X.Org X Server 1.20.13 X Protocol Version 11, Revision 0 Build Operating System: linux Ubuntu Current Operating System: Linux devank-Inspiron-7591 5.15.0-48-generic #54~20.04.1-Ubuntu SMP Thu Sep 1 16:17:26 UTC 2022 x86_64 Kernel command line: BOOT_IMAGE=/boot/vmlinuz-5.15.0-48-generic root=UUID=b8963a84-1de3-4641-9971-8b2fecfd0ffa ro quiet splash vt.handoff=7 Build Date: 06 July 2022 01:53:24PM xorg-server 2:1.20.13-1ubuntu1~20.04.3 (For technical support please see http://www.ubuntu.com/support) Current version of pixman: 0.38.4 Before reporting problems, check http://wiki.x.org to make sure that you have the latest version. ```

gazebosim / garden-tutorial-party

gz-sensors: Thermal Camera in Gazebo #571

Setup

Links

Checks

Environment specifications: