From ea7d33ab4e058b2f5b3a09b2e0b2f344839d323b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= <ahcorde@gmail.com>
Date: Tue, 6 Dec 2022 21:43:45 +0100
Subject: [PATCH] Renamed ignition_frame_id to gz_frame_id and fix warning
 (#296)
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Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
---
 src/Sensor.cc                             | 16 +++++++++++++---
 test/integration/triggered_camera.cc      |  2 +-
 test/sdf/camera_intrinsics.sdf            |  4 ++--
 test/sdf/camera_sensor_builtin.sdf        |  2 +-
 test/sdf/camera_sensor_l16_builtin.sdf    |  2 +-
 test/sdf/camera_sensor_l8_l16_builtin.sdf |  4 ++--
 6 files changed, 20 insertions(+), 10 deletions(-)

diff --git a/src/Sensor.cc b/src/Sensor.cc
index 6bdb6605..7f8d598e 100644
--- a/src/Sensor.cc
+++ b/src/Sensor.cc
@@ -155,13 +155,23 @@ bool SensorPrivate::PopulateFromSDF(const sdf::Sensor &_sdf)
   sdf::ElementPtr element = _sdf.Element();
   if (element)
   {
-    if (element->HasElement("ignition_frame_id"))
+    if (element->HasElement("gz_frame_id"))
     {
-      this->frame_id = element->Get<std::string>("ignition_frame_id");
+      this->frame_id = element->Get<std::string>("gz_frame_id");
     }
     else
     {
-      this->frame_id = this->name;
+      // TODO(ahcorde): Remove this deprecation in gz-sensors8
+      if (element->HasElement("ignition_frame_id"))
+      {
+        gzwarn << "The `ignition_frame_id` tag is deprecated. "
+               << "Please use `gz_frame_id` instead." << std::endl;
+        this->frame_id = element->Get<std::string>("ignition_frame_id");
+      }
+      else
+      {
+        this->frame_id = this->name;
+      }
     }
   }
 
diff --git a/test/integration/triggered_camera.cc b/test/integration/triggered_camera.cc
index 6fed2b87..995471a3 100644
--- a/test/integration/triggered_camera.cc
+++ b/test/integration/triggered_camera.cc
@@ -125,7 +125,7 @@ void TriggeredCameraTest::ImagesWithBuiltinSDF(const std::string &_renderEngine)
         "/test/integration/TriggeredCameraPlugin_imagesWithBuiltinSDF";
     WaitForMessageTestHelper<gz::msgs::Image> helper(imageTopic);
     mgr.RunOnce(std::chrono::steady_clock::duration::zero(), true);
-    EXPECT_TRUE(helper.WaitForMessage()) << helper;
+    EXPECT_TRUE(helper.WaitForMessage(10s)) << helper;
   }
 
   // test removing sensor
diff --git a/test/sdf/camera_intrinsics.sdf b/test/sdf/camera_intrinsics.sdf
index ca1f10a0..cfb4e856 100644
--- a/test/sdf/camera_intrinsics.sdf
+++ b/test/sdf/camera_intrinsics.sdf
@@ -4,7 +4,7 @@
     <link name="link1">
       <sensor name="camera_without_intrinsics_tag" type="camera">
         <update_rate>10</update_rate>
-        <ignition_frame_id>base_camera</ignition_frame_id>
+        <gz_frame_id>base_camera</gz_frame_id>
         <topic>/camera1/image</topic>
         <camera>
           <horizontal_fov>1.05</horizontal_fov>
@@ -17,7 +17,7 @@
       </sensor>
       <sensor name="camera_with_intrinsics_tag" type="camera">
         <update_rate>10</update_rate>
-        <ignition_frame_id>base_camera</ignition_frame_id>
+        <gz_frame_id>base_camera</gz_frame_id>
         <topic>/camera2/image</topic>
         <camera>
           <horizontal_fov>1.05</horizontal_fov>
diff --git a/test/sdf/camera_sensor_builtin.sdf b/test/sdf/camera_sensor_builtin.sdf
index 12662eba..797315bb 100644
--- a/test/sdf/camera_sensor_builtin.sdf
+++ b/test/sdf/camera_sensor_builtin.sdf
@@ -4,7 +4,7 @@
     <link name="link1">
       <sensor name="camera1" type="camera">
         <update_rate>10</update_rate>
-        <ignition_frame_id>base_camera</ignition_frame_id>
+        <gz_frame_id>base_camera</gz_frame_id>
         <topic>/test/integration/CameraPlugin_imagesWithBuiltinSDF</topic>
         <camera>
           <horizontal_fov>1.05</horizontal_fov>
diff --git a/test/sdf/camera_sensor_l16_builtin.sdf b/test/sdf/camera_sensor_l16_builtin.sdf
index 8b812bce..6c18e155 100644
--- a/test/sdf/camera_sensor_l16_builtin.sdf
+++ b/test/sdf/camera_sensor_l16_builtin.sdf
@@ -4,7 +4,7 @@
     <link name="link1">
       <sensor name="camera1" type="camera">
         <update_rate>10</update_rate>
-        <ignition_frame_id>base_camera</ignition_frame_id>
+        <gz_frame_id>base_camera</gz_frame_id>
         <topic>/images_l16</topic>
         <camera>
           <horizontal_fov>1.05</horizontal_fov>
diff --git a/test/sdf/camera_sensor_l8_l16_builtin.sdf b/test/sdf/camera_sensor_l8_l16_builtin.sdf
index bb640495..0e0df559 100644
--- a/test/sdf/camera_sensor_l8_l16_builtin.sdf
+++ b/test/sdf/camera_sensor_l8_l16_builtin.sdf
@@ -4,7 +4,7 @@
     <link name="link1">
       <sensor name="camera_8_bit" type="camera">
         <update_rate>10</update_rate>
-        <ignition_frame_id>base_camera</ignition_frame_id>
+        <gz_frame_id>base_camera</gz_frame_id>
         <topic>/images_l8</topic>
         <camera>
           <horizontal_fov>1.05</horizontal_fov>
@@ -26,7 +26,7 @@
       </sensor>
       <sensor name="camera_16_bit" type="camera">
         <update_rate>10</update_rate>
-        <ignition_frame_id>base_camera</ignition_frame_id>
+        <gz_frame_id>base_camera</gz_frame_id>
         <topic>/images_l16</topic>
         <camera>
           <horizontal_fov>1.05</horizontal_fov>