Merge pull request #140 from ignitionrobotics/merge_5_6_062421

5 -> 6 (main)

CMakeLists.txt

@@ -8,7 +8,7 @@ project(ignition-sensors6 VERSION 6.0.0)
 #============================================================================
 # Find ignition-cmake
 #============================================================================
-find_package(ignition-cmake2 REQUIRED)
+find_package(ignition-cmake2 2.8.0 REQUIRED)
 
 #============================================================================
 # Configure the project

include/ignition/sensors/Sensor.hh

@@ -75,6 +75,9 @@ namespace ignition
       public: virtual bool Load(sdf::ElementPtr _sdf);
 
       /// \brief Initialize values in the sensor
+      /// This will set the next update time to zero. This is particularly
+      /// useful if simulation time has jumped backward, for example during
+      /// a seek backward in a log file.
       public: virtual bool Init();
 
       /// \brief Force the sensor to generate data

src/Lidar.cc

@@ -211,8 +211,11 @@ void Lidar::ApplyNoise()
         int index = j * this->RayCount() + i;
         double range = this->laserBuffer[index*3];
         range = this->dataPtr->noises[LIDAR_NOISE]->Apply(range);
-        range = ignition::math::clamp(range,
+        if (std::isfinite(range))
+        {
+          range = ignition::math::clamp(range,
             this->RangeMin(), this->RangeMax());
+        }
         this->laserBuffer[index*3] = range;
       }
     }

src/Sensor.cc

@@ -142,6 +142,7 @@ Sensor::Sensor() :
 //////////////////////////////////////////////////
 bool Sensor::Init()
 {
+  this->dataPtr->nextUpdateTime = std::chrono::steady_clock::duration::zero();
   return true;
 }
 

test/integration/gpu_lidar_sensor_plugin.cc

@@ -537,7 +537,11 @@ void GpuLidarSensorTest::TestThreeBoxes(const std::string &_renderEngine)
   double expectedRangeAtMidPointBox2 = abs(box02Pose.Pos().Y()) - unitBoxSize/2;
 
   // Sensor 1 should see box01 and box02
-  EXPECT_NEAR(sensor1->Range(0), expectedRangeAtMidPointBox2, LASER_TOL);
+  // ign-rendering uses lower resolution textures for lidars with low sample
+  // count after: https://github.com/ignitionrobotics/ign-rendering/pull/296
+  // Side effect is the loss of precision in the depth buffer data so we relax
+  // tolerance for this check in order for test to pass.
+  EXPECT_NEAR(sensor1->Range(0), expectedRangeAtMidPointBox2, LASER_TOL + 1e-5);
   EXPECT_NEAR(sensor1->Range(mid), expectedRangeAtMidPointBox1, LASER_TOL);
 #ifndef __APPLE__
   // See https://github.com/ignitionrobotics/ign-sensors/issues/66