Merge branch 'develop'

Author: jlblancoc

CHANGELOG.rst

@@ -2,6 +2,18 @@
 Changelog for package mvsim
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.13.1 (2025-02-04)
+-------------------
+* Merge pull request `#65 <https://github.com/MRPT/mvsim/issues/65>`_ from MRPT/fix/no-joystick-crash
+  BUGFIX: Crash due to access uninitialized memory when no joystick is …
+* BUGFIX: Crash due to access uninitialized memory when no joystick is found
+* Merge pull request `#64 <https://github.com/MRPT/mvsim/issues/64>`_ from MRPT/feature/new-dem-param
+  New offset parameters for DEM XYZRGB files
+* New offset parameters for DEM XYZRGB files
+* greenhouse demo world: add ROS 1 launch file too
+* version.h
+* Contributors: Jose Luis Blanco-Claraco
+
 0.13.0 (2024-12-24)
 -------------------
 * Add ROS1 generic launcher

modules/simulator/include/mvsim/mvsim_version.h

@@ -12,7 +12,7 @@
 // clang-format off
 #define MVSIM_MAJOR_VERSION 0
 #define MVSIM_MINOR_VERSION 13
-#define MVSIM_PATCH_VERSION 0
+#define MVSIM_PATCH_VERSION 1
 
 #define MVSIM_STR_EXP(__A) #__A
 #define MVSIM_STR(__A)  MVSIM_STR_EXP(__A)

modules/simulator/src/VehicleDynamics/VehicleDifferential_ControllerTwistIdeal.cpp

@@ -75,7 +75,7 @@ void DynamicsDifferential::ControllerTwistIdeal::teleop_interface(
 
 	out.append_gui_lines += "[Controller=" + std::string(class_name()) + "]";
 
-	if (in.js)
+	if (in.js && in.js->axes.size() >= 2)
 	{
 		const auto& js = in.js.value();
 		const float js_x = js.axes[0];

modules/simulator/src/VehicleDynamics/VehicleDifferential_ControllerTwistPID.cpp

@@ -127,7 +127,7 @@ void DynamicsDifferential::ControllerTwistPID::teleop_interface(
 
 	out.append_gui_lines += "[Controller=" + std::string(class_name()) + "]";
 
-	if (in.js)
+	if (in.js && in.js->axes.size() >= 2)
 	{
 		const auto& js = in.js.value();
 		const float js_x = js.axes[0];

modules/simulator/src/VehicleDynamics/Vehicleackermann_Drivetrain_ControllerTwistFrontSteerPID.cpp

@@ -111,7 +111,7 @@ void DynamicsAckermannDrivetrain::ControllerTwistFrontSteerPID::teleop_interface
 
 	out.append_gui_lines += "[Controller=" + std::string(class_name()) + "]";
 
-	if (in.js)
+	if (in.js && in.js->axes.size() >= 2)
 	{
 		const auto& js = in.js.value();
 		const float js_x = js.axes[0];

modules/simulator/src/WorldElements/ElevationMap.cpp

@@ -98,6 +98,11 @@ void ElevationMap::loadConfigFrom(const rapidxml::xml_node<char>* root)
 	std::string sDemTextFile;
 	params["dem_xyzrgb_file"] = TParamEntry("%s", &sDemTextFile);
 
+	mrpt::math::TPoint3Df dem_xyz_offset = {0, 0, 0};
+	params["dem_offset_x"] = TParamEntry("%f", &dem_xyz_offset.x);
+	params["dem_offset_y"] = TParamEntry("%f", &dem_xyz_offset.y);
+	params["dem_offset_z"] = TParamEntry("%f", &dem_xyz_offset.z);
+
 	double img_min_z = 0.0, img_max_z = 5.0;
 	params["elevation_image_min_z"] = TParamEntry("%lf", &img_min_z);
 	params["elevation_image_max_z"] = TParamEntry("%lf", &img_max_z);
@@ -174,6 +179,11 @@ void ElevationMap::loadConfigFrom(const rapidxml::xml_node<char>* root)
 		data.loadFromTextFile(sDemTextFile);
 		ASSERTMSG_(data.cols() == 6, "DEM txt file format error: expected 6 columns (x,y,z,r,g,b)");
 
+		// Apply optional offset:
+		data.col(0).array() += dem_xyz_offset.x;
+		data.col(1).array() += dem_xyz_offset.y;
+		data.col(2).array() += dem_xyz_offset.z;
+
 		// Points from DEM geographic sources are not sorted, not even uniformly sampled.
 		// Let's re-sample them:
 		const double minx = data.col(0).minCoeff();

package.xml

@@ -5,7 +5,7 @@
   <description>A lightweight multivehicle simulation framework.</description>
 
   <!-- All version numbers in CMake scripts are taken from this line: -->
-  <version>0.13.0</version>
+  <version>0.13.1</version>
 
   <maintainer email="[email protected]">Jose-Luis Blanco-Claraco</maintainer>
   <license>BSD</license>