There are many ways to specify the sensor frame id in gazebo, e.g.
//sensor/gz_frame_id - Parsed by gz-sensors. Not in official sdf spec
//sensor/ignition_frame_id - Parsed by gz-sensors (removed in harmonic). Not in official sdf spec
//sensor/camera/optical_frame_id
This PR proposes a //sensor/frame_id sdf element to rule them all. Yes now it just adds one more way to do it but fear not, all others are being deprecated (ignition_frame_id is already gone)
Checklist
[x] Signed all commits for DCO
[ ] Added tests
[ ] Added example and/or tutorial
[ ] Updated documentation (as needed)
[ ] Updated migration guide (as needed)
[ ] Consider updating Python bindings (if the library has them)
[ ] While waiting for a review on your PR, please help review another open pull request to support the maintainers
Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.
🎉 New feature
Related issue: https://github.com/gazebosim/gz-sensors/issues/306
Summary
There are many ways to specify the sensor frame id in gazebo, e.g.
//sensor/gz_frame_id- Parsed by gz-sensors. Not in official sdf spec//sensor/ignition_frame_id- Parsed by gz-sensors (removed in harmonic). Not in official sdf spec//sensor/camera/optical_frame_idThis PR proposes a
//sensor/frame_idsdf element to rule them all. Yes now it just adds one more way to do it but fear not, all others are being deprecated (ignition_frame_idis already gone)Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.