Missing many elements & attributes in the XML Schema file

[solonovamax]

Environment

N/A

Description

Currently, there are many elements that are missing from the XML Schema file.

Here are a couple that I've noticed so far:

• sensors:
  • there is no <enable_metrics> element for sensors: http://sdformat.org/spec?ver=1.12&elem=sensor#sensor_enable_metrics
  • there is no <frame_id> element for sensors: http://sdformat.org/spec?ver=1.12&elem=sensor#sensor_frame_id
  • the <pose> element does not support relative_to, rotation_format, or degrees attributes: http://sdformat.org/spec?ver=1.12&elem=sensor#sensor_pose
  • there exists no <air_pressure> sensor: http://sdformat.org/spec?ver=1.12&elem=sensor#sensor_air_pressure
  • there exists no <air_speed> sensor: http://sdformat.org/spec?ver=1.12&elem=sensor#sensor_air_speed
  • there exists no <air_pressure> sensor: http://sdformat.org/spec?ver=1.12&elem=sensor#sensor_air_pressure
  • the <altimeter> sensor does not have definitions for any child elements of the <vertical_position> and <vertical_velocity> elements: http://sdformat.org/spec?ver=1.12&elem=sensor#sensor_altimeter
  • the <camera> sensor is missing definitions for many elements: http://sdformat.org/spec?ver=1.12&elem=sensor#sensor_camera
    • the <triggered> element
    • the <camera_info_topic> element
    • the <trigger> element
    • the <anti_aliasing> element which is a child of the <image> element
    • also the <format> element which is a child of the <image> element is not an enum, although it is present
    • the <clip> element which is a child of the <depth_camera> element
    • the <segmentation_type> element
    • the <box_type> element
    • the <lens> element
    • the <visibility_mask> element
    • the relative_to, rotation_format, or degrees attributes on the <pose> element
  • the <force_torque> sensor is missing the <force> and <torque> elements: http://sdformat.org/spec?ver=1.12&elem=sensor#sensor_force_torque
  • the <gps> sensor is missing the elements for specifying noise values for the <position_sensing> and <velocity_sensing> elements: http://sdformat.org/spec?ver=1.12&elem=sensor#sensor_gps
  • the <imu> sensor is missing definitions for many elements: http://sdformat.org/spec?ver=1.12&elem=sensor#sensor_imu
    • the <orientation_frame_reference> element
    • the <noise> elements under which are children of the <angular_velocity> and <linear_acceleration> elements.
    • the <enable_orientation> element
  • there exists no <lidar> sensor: http://sdformat.org/spec?ver=1.12&elem=sensor#sensor_lidar
  • the <magnetometer> sensor is missing the <noise> elements for all axes: http://sdformat.org/spec?ver=1.12&elem=sensor#sensor_magnetometer
  • there exists no <navsat> sensor: http://sdformat.org/spec?ver=1.12&elem=sensor#sensor_navsat
  • the <ray> sensor is missing the <visibility_mask> element: http://sdformat.org/spec?ver=1.12&elem=sensor#sensor_ray
  • the <sonar> sensor is missing the <geometry> element: http://sdformat.org/spec?ver=1.12&elem=sensor#sensor_sonar

(will update this with any others I find later. so far I've only looked through the sensors & found a bunch of missing stuff, I have not looked through anything else)

related:

• Make schema for validation #2
• XSD schema generation doesn't parse all nested elements #633, however this also references the <gravity_dir_x> element, which is not present in the xsd file I'm looking at.
• XSD 1.0 can't efficiently represent SDF #649
• Using SDF schema for VSCode SDF validation and intellisense #1326