Deprecate openni_kinect in favor of depth_camera #757
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marting87
reviewed
Jul 3, 2018
| //ROS_ERROR_NAMED("depth_camera", "camera_ new frame %s %s",this->parentSensor_->GetName().c_str(),this->frame_name_.c_str()); | ||
| # if GAZEBO_MAJOR_VERSION >= 7 | ||
| ======= | ||
| >>>>>>> abf673f... GAZEBO_PLUGINS: Deprecate openni_kinect |
| this->point_cloud_cutoff_ = 0.4; | ||
| ROS_INFO_NAMED("depth_camera", "Tag <pointCloudCutoff> not set, defaulting to %f", this->point_cloud_cutoff_); |
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Maybe use plugin name from from sdf instead of depth_camera for multiple camera support
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Related review: #759 |
kev-the-dev
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Any updates on this? |
chapulina
reviewed
Mar 12, 2019
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| namespace gazebo | ||
| { | ||
| class GazeboRosOpenniKinect : public DepthCameraPlugin, GazeboRosCameraUtils | ||
| class GazeboRosOpenniKinect : public GazeboRosDepthCamera |
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This looks like a big change to make in a release branch since it should break API.
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For several years there has been two nearly identical plugins, openni_kinnect and depth_camera. This is confusing for users and had lead to several bugs from not porting changes in one to the other.
This PR makes openni_kinect inherit from depth_camera and print a deprecation warning on load so users will switch to depth_camera. Some fixes/features from openni_kinnect are also ported into depth_camera.
The API for using both plugins should remain the same, but ABI for both had to be broken (this isn't very important as they are dynamically loaded anyways).
Also added a test for openni_kinnect to ensure it still works
Implements #127
Replaces #749
Fixes #569
Replaces #570