add conversion for particle scatter ratio field #791
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Signed-off-by: Ian Chen <ichen@osrfoundation.org>
Signed-off-by: Ian Chen <ichen@osrfoundation.org>
chapulina
added
the
needs upstream release
chapulina
reviewed
May 6, 2021
8 tasks
nkoenig
approved these changes
May 17, 2021
src/Conversions.cc
Outdated
| @@ -1390,6 +1390,12 @@ msgs::ParticleEmitter ignition::gazebo::convert(const sdf::ParticleEmitter &_in) | |||
| header->add_value(_in.Topic()); | |||
| } | |||
|
|
|||
| // todo(anyone) add particle_scatter_ratio field in particle_emitter.proto | |||
There was a problem hiding this comment.
How about making a PR in ign-msgs targeting Fortress? Then this todo could be changed to:
Use particle_scatter_ratio in particle_emitter.proto from Fortress on.
There was a problem hiding this comment.
the field was added in gazebosim/gz-msgs#162 so updated comment
99b8ae7
7 tasks
Signed-off-by: Ian Chen <ichen@osrfoundation.org>
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Signed-off-by: Ian Chen ichen@osrfoundation.org
🎉 New feature
Summary
Depends on gazebosim/sdformat#547
This feature was originally added for the
particle_emittersystem in #674. This PR ports the functionality to theparticle_emitter2system.Test it
You can test this PR in the same way as the steps listed in #674 but using this sensor_particles_scattering2.sdf world file. The first time you run it, it'll download the Fog Generator model.
Pay attention to the particle effects in depth, rgbd cameras and lidars. Now change particle scatter ratio by modifying
~/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/fog generator/<version_number>/model.sdfand adding<particle_scatter_ratio>0.01</particle_scatter_ratio>under<emitter>.Run ign-gazebo with
sensor_particles_scattering2.sdfagain to see that the new scatter ratio in effect. The fog particles should appear to be less dense (noisy) in the depth / rgbd cameras and lidar visualizations.Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge