Using gz_frame_id emits a warning; should be part of the SDFormat spec

[azeey]

Environment

• OS Version: any
• Source or binary build? any

Description

• Expected behavior: No warnings when using gz_frame_id to set a custom frame id for a sensor in gz-sim.
• Actual behavior: The following error is emitted warning that the element gz_frame_id is not part of the SDFormat spec.

Warning [Utils.cc:130] [/sdf/world[@name="imu_sensor"]/model[@name="imu_model"]/link[@name="link"]/sensor[@name="imu_sensor"]/gz_frame_id:/home/addisu/ws/garden/src/gz-sim/test/worlds/imu.sdf:L75]: XML Element[gz_frame_id], child of element[sensor], not defined in SDF. Copying[gz_frame_id] as children of [sensor].

I think we'd want this tag in SDFormat. I would also say we could just use frame_id instead of gz_frame_id.

Steps to reproduce

1. Modify gz-sim/test/worlds/imu.sdf to use gz_frame_id
2. Run the world in gz sim.

[azeey]

There's also an optical_frame_id in SDFormat. Probably should consolidate all frame id info into the frame_id tag targeting Harmonic.

[azeey]

@ahcorde is this something we can do for Harmonic?

[muttistefano]

Hi all,
as of today is there a way to change the frame_id of a sensor?
I am using a gpu_lidar but I cannot manage to change the frame_id attached to the message.
Thanks

[azeey]

Hi all, as of today is there a way to change the frame_id of a sensor? I am using a gpu_lidar but I cannot manage to change the frame_id attached to the message. Thanks

Yes, you should be able to use gz_frame_id. In Fortress, you can use ign_frame_id (discouraged) or gz_frame_id.

[faizurrahman1998]

Hello everyone,
I am facing the same problem. gz_frame_id tag is not changing the frame_id of the lidar_sensor. Rather, the lidar_sensor is publishing messages with frame_id of the format: ROBOT_NAME/base_footprint/NAME_OF_THE_SENSOR. is there any new fix for this?

Also, optical_frame_id is issuing the same warning.

[iche033]

included frame id fix for lidar sensor in #444. I'll backport to gz-sensors8 (harmonic) and make it compatible with <gz_frame_id> once that PR is merged.