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Update air sensor with air_speed.proto #374

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merged 1 commit into from
Aug 15, 2023
Merged

Update air sensor with air_speed.proto #374

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7 changes: 3 additions & 4 deletions src/AirSpeedSensor.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,7 @@
#pragma warning(disable: 4005)
#pragma warning(disable: 4251)
#endif
#include <gz/msgs/air_speed_sensor.pb.h>
#include <gz/msgs/air_speed.pb.h>
#if defined(_MSC_VER)
#pragma warning(pop)
#endif
Expand Down Expand Up @@ -113,7 +113,7 @@ bool AirSpeedSensor::Load(const sdf::Sensor &_sdf)
this->SetTopic("/air_speed");

this->dataPtr->pub =
this->dataPtr->node.Advertise<msgs::AirSpeedSensor>(
this->dataPtr->node.Advertise<msgs::AirSpeed>(
this->Topic());

if (!this->dataPtr->pub)
Expand Down Expand Up @@ -155,7 +155,7 @@ bool AirSpeedSensor::Update(
return false;
}

msgs::AirSpeedSensor msg;
msgs::AirSpeed msg;
*msg.mutable_header()->mutable_stamp() = msgs::Convert(_now);
auto frame = msg.mutable_header()->add_data();
frame->set_key("frame_id");
Expand Down Expand Up @@ -185,7 +185,6 @@ bool AirSpeedSensor::Update(
diff_pressure =
this->dataPtr->noises[AIR_SPEED_NOISE_PASCALS]->Apply(
diff_pressure);
msg.mutable_pressure_noise()->set_type(msgs::SensorNoise::GAUSSIAN);
}

msg.set_diff_pressure(diff_pressure * 100.0f);
Expand Down
4 changes: 2 additions & 2 deletions test/integration/air_speed.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -184,7 +184,7 @@ TEST_F(AirSpeedSensorTest, SensorReadings)
gz::math::Pose3d(0, 0, 1.5, 0, 0, 0) * sensorNoise->Pose());

// verify msg received on the topic
WaitForMessageTestHelper<gz::msgs::AirSpeedSensor> msgHelper(topic);
WaitForMessageTestHelper<gz::msgs::AirSpeed> msgHelper(topic);
EXPECT_TRUE(sensor->HasConnections());
sensor->Update(std::chrono::steady_clock::duration(std::chrono::seconds(1)));
EXPECT_TRUE(msgHelper.WaitForMessage()) << msgHelper;
Expand All @@ -195,7 +195,7 @@ TEST_F(AirSpeedSensorTest, SensorReadings)
EXPECT_DOUBLE_EQ(288.1369934082031, msg.temperature());

// verify msg with noise received on the topic
WaitForMessageTestHelper<gz::msgs::AirSpeedSensor>
WaitForMessageTestHelper<gz::msgs::AirSpeed>
msgHelperNoise(topicNoise);
sensorNoise->Update(std::chrono::steady_clock::duration(
std::chrono::seconds(1)), false);
Expand Down
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