fixes for compile with gazebo 9 (#143)

PR2 · Apr 5, 2019 · 779da3a · 779da3a
1 parent e4aa25d
commit 779da3a
Show file tree

Hide file tree

Showing 2 changed files with 10 additions and 10 deletions.
diff --git a/pr2_gazebo_plugins/src/gazebo_ros_controller_manager.cpp b/pr2_gazebo_plugins/src/gazebo_ros_controller_manager.cpp
@@ -119,8 +119,8 @@ void GazeboRosControllerManager::Load(physics::ModelPtr _parent, sdf::ElementPtr
 
   if (getenv("CHECK_SPEEDUP"))
   {
-    wall_start_ = this->world->GetRealTime().Double();
-    sim_start_  = this->world->GetSimTime().Double();
+    wall_start_ = this->world->RealTime().Double();
+    sim_start_  = this->world->SimTime().Double();
   }
 
   // check update rate against world physics update rate
@@ -159,7 +159,7 @@ void GazeboRosControllerManager::Load(physics::ModelPtr _parent, sdf::ElementPtr
 
   // load a controller manager
   this->cm_ = new pr2_controller_manager::ControllerManager(&hw_,*this->rosnode_);
-  this->hw_.current_time_ = ros::Time(this->world->GetSimTime().Double());
+  this->hw_.current_time_ = ros::Time(this->world->SimTime().Double());
   if (this->hw_.current_time_ < ros::Time(0.001)) this->hw_.current_time_ == ros::Time(0.001); // hardcoded to minimum of 1ms on start up
 
   this->rosnode_->param("gazebo/start_robot_calibrated",this->fake_calibration_,true);
@@ -209,8 +209,8 @@ void GazeboRosControllerManager::UpdateChild()
 
   if (getenv("CHECK_SPEEDUP"))
   {
-    double wall_elapsed = this->world->GetRealTime().Double() - wall_start_;
-    double sim_elapsed  = this->world->GetSimTime().Double()  - sim_start_;
+    double wall_elapsed = this->world->RealTime().Double() - wall_start_;
+    double sim_elapsed  = this->world->SimTime().Double()  - sim_start_;
     std::cout << " real time: " <<  wall_elapsed
               << "  sim time: " <<  sim_elapsed
               << "  speed up: " <<  sim_elapsed / wall_elapsed
@@ -235,7 +235,7 @@ void GazeboRosControllerManager::UpdateChild()
     {
       gazebo::physics::JointPtr hj = this->joints_[i];
       this->fake_state_->joint_states_[i].position_ = this->fake_state_->joint_states_[i].position_ +
-                    angles::shortest_angular_distance(this->fake_state_->joint_states_[i].position_,hj->GetAngle(0).Radian());
+                    angles::shortest_angular_distance(this->fake_state_->joint_states_[i].position_,hj->Position(0));
       this->fake_state_->joint_states_[i].velocity_ = hj->GetVelocity(0);
       //if (this->joints_[i]->GetName() == "torso_lift_motor_screw_joint")
       //  ROS_WARN("joint[%s] [%f]",this->joints_[i]->GetName().c_str(), this->fake_state_->joint_states_[i].position_);
@@ -244,7 +244,7 @@ void GazeboRosControllerManager::UpdateChild()
     {
       gazebo::physics::JointPtr sj = this->joints_[i];
       {
-        this->fake_state_->joint_states_[i].position_ = sj->GetAngle(0).Radian();
+        this->fake_state_->joint_states_[i].position_ = sj->Position(0);
         this->fake_state_->joint_states_[i].velocity_ = sj->GetVelocity(0);
       }
       //ROS_ERROR("joint[%s] is a slider [%f]",this->joints_[i]->GetName().c_str(),sj->GetAngle(0).Radian());
@@ -271,7 +271,7 @@ void GazeboRosControllerManager::UpdateChild()
   //--------------------------------------------------
   //  Runs Mechanism Control
   //--------------------------------------------------
-  this->hw_.current_time_ = ros::Time(this->world->GetSimTime().Double());
+  this->hw_.current_time_ = ros::Time(this->world->SimTime().Double());
   try
   {
     if (this->cm_->state_ != NULL) // could be NULL if ReadPr2Xml is unsuccessful

diff --git a/pr2_gazebo_plugins/src/gazebo_ros_power_monitor.cpp b/pr2_gazebo_plugins/src/gazebo_ros_power_monitor.cpp
@@ -155,7 +155,7 @@ void GazeboRosPowerMonitor::LoadThread()
   charge_      = this->full_capacity_;
   charge_rate_ = this->discharge_rate_;
   voltage_     = this->discharge_voltage_;
-  last_time_ = this->world_->GetSimTime().Double();
+  last_time_ = this->world_->SimTime().Double();
 
   // Listen to the update event. This event is broadcast every
   // simulation iteration.
@@ -185,7 +185,7 @@ void GazeboRosPowerMonitor::QueueThread()
 void GazeboRosPowerMonitor::UpdateChild()
 {
   // Update time
-  double curr_time_ = this->world_->GetSimTime().Double();
+  double curr_time_ = this->world_->SimTime().Double();
   double dt = curr_time_ - last_time_;
 
   if (dt < this->power_state_rate_)