Allow to change camera user hfov in camera_view plugin

[ahcorde]

Signed-off-by: Alejandro Hernández Cordero [email protected]

🎉 New feature

Set the user camera's horizontal fov through the View Angle plugin.

Checklist

• 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)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
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[codecov]

Codecov Report

Merging #1807 (e82b48f) into ign-gazebo6 (89df3b7) will decrease coverage by 0.03%.
The diff coverage is n/a.

❗ Current head e82b48f differs from pull request most recent head 948d28f. Consider uploading reports for the commit 948d28f to get more accurate results

@@               Coverage Diff               @@
##           ign-gazebo6    #1807      +/-   ##
===============================================
- Coverage        64.99%   64.97%   -0.03%     
===============================================
  Files              324      324              
  Lines            26562    26562              
===============================================
- Hits             17264    17258       -6     
- Misses            9298     9304       +6     

Impacted Files	Coverage Δ
src/SimulationRunner.cc	90.82% <0.00%> (-0.95%)	⬇️

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[iche033]

I think the previous PR was closed due to crashes on the gz-rendering side. It don't know if it's still be an issue. Maybe @jennuine has more info.

• Update: just remembered I was able to reproduce the crash by manually changing the <horizontal_fov> tag

[jennuine]

I think the previous PR was closed due to crashes on the gz-rendering side. It don't know if it's still be an issue. Maybe @jennuine has more info.

• Update: just remembered I was able to reproduce the crash by manually changing the <horizontal_fov> tag

Correct, we closed the original PR because it was exposing this bug gazebosim/gz-rendering#710
The crash occurs when you set the HFOV to high (e.g., 150) then move the camera away. For more details: #1499 (review)

[iche033]

here's more info about the crash from debugging: gazebosim/gz-rendering#710 (comment). I think the short term workaround is to set some bounds on the camera pos.

[azeey]

We discussed adding a limit in the ViewAngle plugin on the hfov users can set so as to reduce the chances of running into the gazebosim/gz-rendering#710 bug. But it seems to me a more reliable solution would be to limit the maximum distance of the camera from the origin per this comment. @iche033, is that fairly trivial to do?

[iche033]

yeah in gz-rendering, we can just limit pose of nodes in Ogre2Node: https://github.com/gazebosim/gz-rendering/blob/gz-rendering7/ogre2/src/Ogre2Node.cc#L107-L113. We just need to figure out a reasonable max value to limit the pos to.

[iche033]

limit max FOV to PI in 948d28f. Together with gazebosim/gz-rendering#827, gz-sim should no longer crash

[ahcorde]

Thank you for the fix @iche033