Fix gazebo8 warnings part 7: retry ros-simulation#642 on lunar (ros-s…

…imulation#660) ifdef's for Joint::GetAngle and some cleanup (ros-simulation#642) * fix major version check >= 8, instead of > 8 * gazebo_ros_bumper: use new API in commented code * gazebo_ros_api_plugin: world pose in local vars * worldLinearVel as local var in hand of god plugin * gazebo8+: Joint::GetAngle -> Joint::Position
cohen39 · Dec 27, 2017 · 7d5eb73 · 7d5eb73
1 parent 7564810
commit 7d5eb73
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Showing 5 changed files with 26 additions and 8 deletions.
diff --git a/gazebo_plugins/src/gazebo_ros_bumper.cpp b/gazebo_plugins/src/gazebo_ros_bumper.cpp
@@ -183,9 +183,9 @@ void GazeboRosBumper::OnContact()
   /*
   if (myFrame)
   {
-    frame_pose = myFrame->GetWorldPose();  //-this->myBody->GetCoMPose();
-    frame_pos = frame_pose.pos;
-    frame_rot = frame_pose.rot;
+    frame_pose = myFrame->WorldPose();  //-this->myBody->GetCoMPose();
+    frame_pos = frame_pose.Pos();
+    frame_rot = frame_pose.Rot();
   }
   else
   */

diff --git a/gazebo_plugins/src/gazebo_ros_diff_drive.cpp b/gazebo_plugins/src/gazebo_ros_diff_drive.cpp
@@ -203,9 +203,13 @@ void GazeboRosDiffDrive::publishWheelJointState()
 
     for ( int i = 0; i < 2; i++ ) {
         physics::JointPtr joint = joints_[i];
-        ignition::math::Angle angle = joint->GetAngle ( 0 ).Ign();
+#if GAZEBO_MAJOR_VERSION >= 8
+        double position = joint->Position ( 0 );
+#else
+        double position = joint->GetAngle ( 0 ).Radian();
+#endif
         joint_state_.name[i] = joint->GetName();
-        joint_state_.position[i] = angle.Radian () ;
+        joint_state_.position[i] = position;
     }
     joint_state_publisher_.publish ( joint_state_ );
 }

diff --git a/gazebo_plugins/src/gazebo_ros_hand_of_god.cpp b/gazebo_plugins/src/gazebo_ros_hand_of_god.cpp
@@ -161,9 +161,11 @@ namespace gazebo
     // Relative transform from actual to desired pose
 #if GAZEBO_MAJOR_VERSION >= 8
     ignition::math::Pose3d world_pose = floating_link_->DirtyPose();
+    ignition::math::Vector3d worldLinearVel = floating_link_->WorldLinearVel();
     ignition::math::Vector3d relativeAngularVel = floating_link_->RelativeAngularVel();
 #else
     ignition::math::Pose3d world_pose = floating_link_->GetDirtyPose().Ign();
+    ignition::math::Vector3d worldLinearVel = floating_link_->GetWorldLinearVel().Ign();
     ignition::math::Vector3d relativeAngularVel = floating_link_->GetRelativeAngularVel().Ign();
 #endif
     ignition::math::Vector3d err_pos = hog_desired.Pos() - world_pose.Pos();
@@ -173,7 +175,7 @@ namespace gazebo
     ignition::math::Quaterniond not_a_quaternion = err_rot.Log();
 
     floating_link_->AddForce(
-        kl_ * err_pos - cl_ * floating_link_->GetWorldLinearVel().Ign());
+        kl_ * err_pos - cl_ * worldLinearVel);
 
     floating_link_->AddRelativeTorque(
         ka_ * ignition::math::Vector3d(not_a_quaternion.X(), not_a_quaternion.Y(), not_a_quaternion.Z())

diff --git a/gazebo_plugins/src/gazebo_ros_joint_state_publisher.cpp b/gazebo_plugins/src/gazebo_ros_joint_state_publisher.cpp
@@ -124,9 +124,13 @@ void GazeboRosJointStatePublisher::publishJointStates() {
 
     for ( int i = 0; i < joints_.size(); i++ ) {
         physics::JointPtr joint = joints_[i];
-        ignition::math::Angle angle = joint->GetAngle ( 0 ).Ign();
+#if GAZEBO_MAJOR_VERSION >= 8
+        double position = joint->Position ( 0 );
+#else
+        double position = joint->GetAngle ( 0 ).Radian();
+#endif
         joint_state_.name[i] = joint->GetName();
-        joint_state_.position[i] = angle.Radian () ;
+        joint_state_.position[i] = position;
     }
     joint_state_publisher_.publish ( joint_state_ );
 }
diff --git a/gazebo_plugins/src/gazebo_ros_tricycle_drive.cpp b/gazebo_plugins/src/gazebo_ros_tricycle_drive.cpp
@@ -166,7 +166,11 @@ void GazeboRosTricycleDrive::publishWheelJointState()
     joint_state_.effort.resize ( joints.size() );
     for ( std::size_t i = 0; i < joints.size(); i++ ) {
         joint_state_.name[i] = joints[i]->GetName();
+#if GAZEBO_MAJOR_VERSION >= 8
+        joint_state_.position[i] = joints[i]->Position ( 0 );
+#else
         joint_state_.position[i] = joints[i]->GetAngle ( 0 ).Radian();
+#endif
         joint_state_.velocity[i] = joints[i]->GetVelocity ( 0 );
         joint_state_.effort[i] = joints[i]->GetForce ( 0 );
     }
@@ -250,7 +254,11 @@ void GazeboRosTricycleDrive::motorController ( double target_speed, double targe
     }
     joint_wheel_actuated_->SetParam ( "vel", 0, applied_speed );
 
+#if GAZEBO_MAJOR_VERSION >= 8
+    double current_angle = joint_steering_->Position ( 0 );
+#else
     double current_angle = joint_steering_->GetAngle ( 0 ).Radian();
+#endif
 
     // truncate target angle
     if (target_angle > +M_PI / 2.0)