Add SensorType::RGBDCamera/rgbd_camera type

Author: Nicogene

README.md

@@ -237,7 +237,7 @@ to URDF limitations.
 | `sensorName`      | String   | LinkName_FrameName | Name of the sensor, to be used in the output URDF file |
 | `exportFrameInURDF` | Bool   | False        | If true, export a fake URDF link whose frame is coincident with the sensor frame (as if the sensor frame was added to the `exportedFrames` array) |
 | `exportedFrameName` | String | sensorName | Name of the URDF link exported by the `exportFrameInURDF` option |
-| `sensorType` | String | Mandatory | Type of sensor. Supported: "altimeter", "camera", "contact", "depth", "gps", "gpu_ray", "imu", "logical_camera", "magnetometer", "multicamera", "ray", "rfid", "rfidtag", "sonar", "wireless_receiver", "wireless_transmitter" |
+| `sensorType` | String | Mandatory | Type of sensor. Supported: "accelerometer", "gyroscope", "camera", "depth", "ray", "rgbd_camera" |
 | `updateRate` | String | Mandatory | Number representing the update rate of the sensor. Expressed in [Hz]. |
 | `sensorBlobs` | String | empty | Array of strings (possibly on multiple lines) represeting complex XML blobs that will be included as child of the `<sensor>` element |
 

src/creo2urdf/include/creo2urdf/Utils.h

@@ -106,7 +106,8 @@ enum class SensorType {
     Gyroscope,      ///< Gyroscope sensor type.
     Camera,         ///< Camera sensor type, usually RGB.
     Depth,          ///< Depth sensor type, usually associated with a RGBD camera.
-    Ray             ///< Ray sensor type, such as LIDAR.
+    Ray,            ///< Ray sensor type, such as LIDAR.
+    RGBDCamera      ///< RGBD camera sensor type.
 };
 
 /**
@@ -131,7 +132,8 @@ static const std::map<SensorType, std::string> sensor_type_map = {
     {SensorType::Gyroscope, "gyroscope"}, /// < Gyroscope sensor type.
     {SensorType::Camera, "camera"},  /// < Camera sensor type.
     {SensorType::Depth, "depth"}, /// < Depth sensor type.
-    {SensorType::Ray, "ray"} /// < Lidar sensor type.
+    {SensorType::Ray, "ray"}, /// < Lidar sensor type.
+    {SensorType::RGBDCamera, "rgbd_camera"} /// < RGBD camera sensor type.
 };
 
 /**
@@ -157,7 +159,8 @@ static const std::map<SensorType, std::string> gazebo_sensor_type_map = {
     {SensorType::Gyroscope, "gyroscope"}, /// < Gyroscope sensor type.
     {SensorType::Camera, "camera"}, /// < Camera sensor type.
     {SensorType::Depth, "depth"}, /// < Depth sensor type.
-    {SensorType::Ray, "ray"} /// < Lidar sensor type.
+    {SensorType::Ray, "ray"}, /// < Lidar sensor type.
+    {SensorType::RGBDCamera, "rgbd_camera"} /// < RGBD camera sensor type.
 };
 
 /**