add gazebo_ros_diff_drive until ros-simulation/gazebo_ros_pkgs#298 is…

… merged
130s · Mar 3, 2015 · 40ecea6 · 40ecea6
1 parent a6702d7
commit 40ecea6
Show file tree

Hide file tree

Showing 5 changed files with 612 additions and 2 deletions.
diff --git a/tetris_description/urdf/tetris.gazebo.xacro b/tetris_description/urdf/tetris.gazebo.xacro
@@ -9,7 +9,7 @@
   </gazebo>
 
   <gazebo>
-    <plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
+    <plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive_fixed.so">
       <alwaysOn>true</alwaysOn>
       <updateRate>100</updateRate>
       <leftJoint>right_wheel_joint</leftJoint> <!-- intentionally reverted -->

diff --git a/tetris_gazebo/CMakeLists.txt b/tetris_gazebo/CMakeLists.txt
@@ -1,10 +1,35 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(tetris_gazebo)
 
-find_package(catkin REQUIRED COMPONENTS)
+find_package(catkin REQUIRED COMPONENTS gazebo_plugins)
+
+# Depend on system install of Gazebo and SDFormat
+find_package(gazebo REQUIRED)
+find_package(Boost REQUIRED COMPONENTS thread)
+
+include_directories(
+  ${Boost_INCLUDE_DIRS}
+  ${catkin_INCLUDE_DIRS}
+  ${GAZEBO_INCLUDE_DIRS}
+)
+
+link_directories(
+  ${catkin_LIBRARY_DIRS}
+  ${GAZEBO_LIBRARY_DIRS}
+)
+
 
 catkin_package()
 
+add_library(gazebo_ros_diff_drive_fixed src/gazebo_ros_diff_drive.cpp)
+target_link_libraries(gazebo_ros_diff_drive_fixed gazebo_ros_utils ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+
+install(TARGETS 
+  gazebo_ros_diff_drive_fixed
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  )
+
 install(DIRECTORY launch worlds models
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   USE_SOURCE_PERMISSIONS)
diff --git a/tetris_gazebo/package.xml b/tetris_gazebo/package.xml
@@ -14,6 +14,8 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
+  <build_depend>gazebo_plugins</build_depend>
+
   <run_depend>tetris_description</run_depend>
   <run_depend>rosbash</run_depend>
   <run_depend>xacro</run_depend>