Merge branch 'sdf12' into scpeters/merge_12_13

Changelog.md

@@ -1318,6 +1318,12 @@
 
 ## libsdformat 9.X
 
+### libsdformat 9.10.0 (2022-11-17)
+
+1. Added camera info topic to Camera
+    * [Pull request #1198](https://github.com/gazebosim/sdformat/pull/1198)
+    * [Pull request #1201](https://github.com/gazebosim/sdformat/pull/1201)
+
 ### libsdformat 9.9.1 (2022-11-08)
 
 1. Fix static URDF models with fixed joints

sdf/1.7/camera.sdf

@@ -5,7 +5,7 @@
     <description>An optional name for the camera.</description>
   </attribute>
 
-  <element name="camera_info_topic" type="string" default="camera_info" required="0">
+  <element name="camera_info_topic" type="string" default="__default__" required="0">
     <description>Name of the camera info</description>
   </element> <!-- End camera Info topic -->
 

src/Camera.cc

@@ -208,12 +208,12 @@ class sdf::Camera::Implementation
   /// \brief lens instrinsics s.
   public: double lensIntrinsicsS{1.0};
 
-  /// \brief True if this camera has custom projection values
-  public: bool hasProjection = false;
-
   /// \brief True if this camera has custom intrinsics values
   public: bool hasIntrinsics = false;
 
+  /// \brief True if this camera has custom projection values
+  public: bool hasProjection = false;
+
   /// \brief Visibility mask of a camera. Defaults to 0xFFFFFFFF
   public: uint32_t visibilityMask{UINT32_MAX};
 };
@@ -260,6 +260,8 @@ Errors Camera::Load(ElementPtr _sdf)
 
   this->dataPtr->cameraInfoTopic = _sdf->Get<std::string>("camera_info_topic",
       this->dataPtr->cameraInfoTopic).first;
+  if (this->dataPtr->cameraInfoTopic == "__default__")
+    this->dataPtr->cameraInfoTopic = "";
 
   this->dataPtr->hfov = _sdf->Get<gz::math::Angle>("horizontal_fov",
       this->dataPtr->hfov).first;