[Err] [WideAngleCameraSensor.cc:408] WideAngleCamera doesn't exist.

[drfenixion]

Environment

• OS Version: Ubuntu 22.04.5 LTS
• Source or binary build?

As binary:
Gazebo Garden

As source:
[submodule "modules/ros_gz"]
path = modules/ros_gz
url = https://github.com/gazebosim/ros_gz
branch = iron
[submodule "modules/gz_ros2_control"]
path = modules/gz_ros2_control
url = https://github.com/ros-controls/gz_ros2_control
branch = iron

Description

• Expected behavior: Select topic of wideanglecamera in ImageDisplay widget of Gazebo (other camera types work this way) and want to see video from camera
• Actual behavior: got gazebo errors ([Err] [WideAngleCameraSensor.cc:408] WideAngleCamera doesn't exist.)

Steps to reproduce

I use wide angle camera SDF example from official exmaples

    <sensor name="wideangle_camera" type="wideanglecamera">
      <camera>
        <horizontal_fov>3.14</horizontal_fov>
        <image>
          <width>800</width>
          <height>600</height>
        </image>
        <clip>
          <near>0.1</near>
          <far>100</far>
        </clip>
        <!-- A new section named `lens`. -->
        <lens>
          <!-- type element is mandatory -->
          <type>custom</type>
          <!-- manually defined mapping function r = c1*f*fun(theta/c2 + c3) -->
          <!-- More information here: https://en.wikipedia.org/wiki/Fisheye_lens#Mapping_function -->
          <custom_function>
            <c1>1.05</c1>
            <!-- linear scaling -->
            <c2>4</c2>
            <!-- angle scaling -->
            <f>1.0</f>
            <!-- one more scaling parameter -->
            <fun>tan</fun>
            <!-- one of sin,tan,id -->
          </custom_function>
          <!-- if it is set to `true` your horizontal FOV will ramain as defined -->
          <!-- othervise it depends on lens type and custom function, if there is one -->
          <scale_to_hfov>true</scale_to_hfov>
          <!-- clip everything that is outside of this angle -->
          <cutoff_angle>3.1415</cutoff_angle>
          <!-- resolution of the cubemap texture, the highter it is - the sharper is your image -->
          <env_texture_size>512</env_texture_size>
        </lens>
      </camera>
      <always_on>true</always_on>
      <update_rate>30</update_rate>
      <topic>wide_angle_camera</topic>
    </sensor>

https://github.com/gazebosim/gz-sim/blob/gz-sim7/examples/worlds/wide_angle_camera.sdf
i also tried other sdf configuration and they gave same error.

I also tried some other camera types they work correct.

Output

[ruby $(which gz) sim-4] [Err] [WideAngleCameraSensor.cc:408] WideAngleCamera doesn't exist.

[azeey]

I tested using gz-sim 7.9.0 and I couldn't reproduce this problem. What version are you running? You can find out using gz sim --version.

I just ran gz sim -v4 wide_angle_camera.sdf.

[drfenixion]

Gazebo 7.9.0

I changed some SDF parameters and now it returns meaningfull error (looks like with some options it can returns silent error like "WideAngleCamera doesn't exist."). Reason is Ogre2 does not support Wide angle camera.

[ruby $(which gz) sim-4] [Err] [BaseScene.hh:704] Wide angle camera not supported by: ogre2
[ruby $(which gz) sim-4] [Err] [WideAngleCameraSensor.cc:231] Failed to create wide angle camera
[ruby $(which gz) sim-4] [Err] [SceneManager.cc:1763] Unable to find sensor 
[ruby $(which gz) sim-4] [Err] [RenderUtil.cc:1318] Failed to create sensor 

On Ogre (1) it works correct.

For error reproduce:

    <plugin
      filename="gz-sim-sensors-system"
      name="gz::sim::systems::Sensors">
      <render_engine>ogre2</render_engine>
    </plugin>