Check if key exists in gpu lidar's user data

[iche033]

Signed-off-by: Ian Chen [email protected]

🦟 Bug fix

Partially fixes #394

Summary

The problem is described in #394. Summary is that the gpu lidar is flooding the console with Error casting user data: Unexpected index message because because objects in the scene do not have laser_retro set. This is actually ok as not all objects contain laser_retro values. This property is set in ign-gazebo.

This PR adds a HasUserData API to check if a UserData key exists or not. This avoid additional parsing in gpu lidar to figure out if the user data contains valid value or not.

The second issue identified in #394 is that the visibility flags set to objects with laser_retro do not have effect.

the intended path is that items whose retroValue is not set should not be rendered; however they are being rendered.

That's found to be the case. This issue is not fixed in this PR as that turns out to require more work. I've removed the visibility mask/flag logic as they are not doing their job, and added a todo in the code.

Checklist

• Signed all commits for DCO
• Added tests
• Updated documentation (as needed)
• Updated migration guide (as needed)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

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[codecov]

Codecov Report

Merging #396 (603246b) into main (55a3e43) will decrease coverage by 0.02%.
The diff coverage is 77.77%.

❗ Current head 603246b differs from pull request most recent head 4cacd59. Consider uploading reports for the commit 4cacd59 to get more accurate results

@@            Coverage Diff             @@
##             main     #396      +/-   ##
==========================================
- Coverage   58.67%   58.64%   -0.03%     
==========================================
  Files         174      174              
  Lines       17276    17278       +2     
==========================================
- Hits        10137    10133       -4     
- Misses       7139     7145       +6     

Impacted Files	Coverage Δ
include/ignition/rendering/Node.hh	100.00% <ø> (ø)
ogre2/src/Ogre2GpuRays.cc	95.30% <76.00%> (-0.84%)	⬇️
include/ignition/rendering/base/BaseNode.hh	81.81% <100.00%> (+0.18%)	⬆️
...e/ignition/rendering/base/BaseGaussianNoisePass.hh	96.66% <0.00%> (-3.34%)	⬇️

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[chapulina]

It's worth pointing out that since #371, UserData will return an invalid variant if it's unset. So downstream callers should be able to check something like if (!userData.index() == 0). I don't think that's very user friendly though, so an explicit HasUserData function sounds like a good addition.

[iche033]

So downstream callers should be able to check something like if (!userData.index() == 0)

true, I added a check in the test in bade294 as a reminder that this also works.