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Migration.md

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Note on deprecations

A tick-tock release cycle allows easy migration to new software versions. Obsolete code is marked as deprecated for one major release. Deprecated code produces compile-time warnings. These warning serve as notification to users that their code should be upgraded. The next major release will remove the deprecated code.

Ignition Sensors 6.0.1 to 6.1.0

Modifications

  1. Point Cloud Density flag (is_dense from GpuLidarSensor) is set to false if invalid points (NaN or +/-INF) are found, and true otherwise.

Ignition Sensors 5.X to 6.X

  1. Sensors aren't loaded as plugins anymore. Instead, downstream libraries must link to the library of the sensor they're interested in, and instantiate new sensors knowing their type. For example:

    • auto camera = std::make_unique<ignition::sensors::CameraSensor>();
    • auto camera = sensorFactory.CreateSensor<ignition::sensors::CameraSensor>(_sdf);
    • auto camera = manager.CreateSensor<ignition::sensors::CameraSensor>(_sdf);

  2. include/sensors/SensorFactory.hh

    • Deprecation SensorPlugin
    • Replacement None; see above.
    • Deprecation SensorTypePlugin
    • Replacement None; see above.
    • Deprecation std::unique_ptr CreateSensor(sdf::ElementPtr);
    • Replacement template std::unique_ptr CreateSensor(sdf::ElementPtr);
    • Deprecation std::unique_ptr CreateSensor(const sdf::Sensor &);
    • Replacement template std::unique_ptr CreateSensor(const sdf::Sensor &);
    • Deprecation void AddPluginPaths(const std::string &)
    • Replacement None; see above.
    • Deprecation IGN_SENSORS_REGISTER_SENSOR
    • Replacement None; see above.

  3. include/sensors/Manager.hh

    • Deprecation SensorId CreateSensor(sdf::ElementPtr);
    • Replacement template<typename SensorType, typename SdfType> SensorType> *CreateSensor(SdfType);
    • Deprecation SensorId CreateSensor(const sdf::Sensor &);
    • Replacement template<typename SensorType, typename SdfType> SensorType *CreateSensor(SdfType);
    • Deprecation void AddPluginPaths(const std::string &)
    • Replacement None; see above.

Ignition Sensors 3.X to 4.X

  1. include/sensors/Sensor.hh

    • Deprecation virtual bool Update(const ignition::common::Time &)
    • Replacement virtual bool Update(const std::chrono::steady_clock::duration &)
    • Deprecation virtual bool Update(const ignition::common::Time &, const bool)
    • Replacement virtual bool Update(const std::chrono::steady_clock::duration &, const bool)
    • Deprecation ignition::common::Time NextUpdateTime() const
    • Replacement std::chrono::steady_clock::duration NextDataUpdateTime() const

  2. include/sensors/Manager.hh

    • Deprecation void RunOnce(const ignition::common::Time &, bool);
    • Replacement void RunOnce(const std::chrono::steady_clock::duration &, bool)

  3. include/sensors/Lidar.hh

    • Deprecation virtual bool PublishLidarScan(const ignition::common::Time &)
    • Replacement virtual bool PublishLidarScan(const std::chrono::steady_clock::duration &)

Ignition Sensors 2.X to 3.X

Additions

  1. The core ignition-sensors library no longer depends on ign-rendering. All rendering sensors and noise models are now part of the rendering component

  2. New sensors: thermal camera

Modifications

  1. Depend on ignition-rendering3, ignition-msgs5 and ignition-transport8.

  2. ImageGaussiaNoiseModel class is spearated out from GaussianNoiseModel source and header files. Similarly, noise models for rendering sensors need be created using the new ImageNoiseFactory class instead of NoiseFactory by including ImageNoise.hh.

Ignition Sensors 1.X to 2.X

Additions

  1. Rendering sensors moved to rendering component.

  2. New sensors: altimeter, IMU, magnetometer, RGBD camera

Modifications

  1. Depend on ignition-msgs4, ignition-rendering2, ignition-transport7.

Deprecations

  1. include/sensors/Noise.hh

    • Deprecation virtual void Load(sdf::ElementPtr _sdf)
    • Replacement virtual void Load(const sdf::Noise &_sdf)

  2. include/sensors/Events.hh

    • Deprecation: public: static ignition::common::ConnectionPtr ConnectSceneChangeCallback(std::function<void(const ignition::rendering::ScenePtr &)>)
    • Replacement: RenderingEvents::ConnectSceneChangeCallback

  3. include/sensors/Manager.hh

    • Deprecation: public: bool Init(ignition::rendering::ScenePtr);

    • Replacement: RenderingSensor::SetScene

    • Deprecation: public: void SetRenderingScene(ignition::rendering::ScenePtr

    • Replacement: RenderingSensor::SetScene

    • Deprecation: public: ignition::rendering::ScenePtr RenderingScene() const

    • Replacement: RenderingSensor::Scene()

  4. include/sensors/Noise.hh

    • Deprecation: public: virtual void SetCamera(rendering::CameraPtr)
    • Replacement: TODO (to be implemented in ImageGaussianNoiseModel)