ros_noetic update

danielemorra98 · Nov 29, 2021 · e831d27 · e831d27
1 parent 9a85997
commit e831d27
Show file tree

Hide file tree

Showing 4 changed files with 10 additions and 10 deletions.
diff --git a/rotors_gazebo/CMakeLists.txt b/rotors_gazebo/CMakeLists.txt
@@ -10,6 +10,8 @@ add_definitions(-std=c++11)
 # We need Gazebo version >= 3.0.0 to generate iris.sdf file
 # (gz sdf ... command needs to be available)
 find_package(gazebo REQUIRED)
+find_package(PythonInterp REQUIRED)
+
 
 if(${gazebo_VERSION_MAJOR} GREATER 2)
     message(STATUS "Building iris.sdf.")
@@ -26,7 +28,7 @@ if(${gazebo_VERSION_MAJOR} GREATER 2)
     add_custom_command(OUTPUT ${CMAKE_CURRENT_SOURCE_DIR}/models/iris/iris.sdf
       WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
       COMMAND rm -f ${CMAKE_CURRENT_SOURCE_DIR}/models/iris/iris.sdf
-      COMMAND python ${scripts_dir}/xacro.py -o  ${rotors_description_dir}/urdf/iris_base.urdf  ${rotors_description_dir}/urdf/iris_base.xacro enable_mavlink_interface:=${enable_mavlink_interface} enable_ground_truth:=${enable_ground_truth} enable_wind:=${enable_wind} enable_logging:=${enable_logging} rotors_description_dir:=${rotors_description_dir}
+      COMMAND ${PYTHON_EXECUTABLE} ${scripts_dir}/xacro.py -o  ${rotors_description_dir}/urdf/iris_base.urdf  ${rotors_description_dir}/urdf/iris_base.xacro enable_mavlink_interface:=${enable_mavlink_interface} enable_ground_truth:=${enable_ground_truth} enable_wind:=${enable_wind} enable_logging:=${enable_logging} rotors_description_dir:=${rotors_description_dir}
       COMMAND gz sdf -p  ${rotors_description_dir}/urdf/iris_base.urdf >> ${CMAKE_CURRENT_SOURCE_DIR}/models/iris/iris.sdf
       COMMAND rm -f ${rotors_description_dir}/urdf/iris_base.urdf
       DEPENDS ${rotors_description_dir}/urdf/iris.xacro
@@ -55,20 +57,20 @@ find_package(catkin REQUIRED COMPONENTS
 )
 
 find_package(
-  Eigen REQUIRED
+  Eigen3 REQUIRED
 )
 
 catkin_package(
-  INCLUDE_DIRS include ${Eigen_INCLUDE_DIRS}
+  INCLUDE_DIRS include ${Eigen3_INCLUDE_DIRS}
   LIBRARIES spline_trajectory_generator
   CATKIN_DEPENDS geometry_msgs mav_msgs nav_msgs roscpp sensor_msgs gazebo_msgs
-  DEPENDS Eigen
+  DEPENDS Eigen3
 )
 
 include_directories(
   include
   ${catkin_INCLUDE_DIRS}
-  ${Eigen_INCLUDE_DIRS}
+  ${Eigen3_INCLUDE_DIRS}
 )
 
 add_library(spline_trajectory_generator

diff --git a/rotors_gazebo/launch/spawn_mav_crazyflie.launch b/rotors_gazebo/launch/spawn_mav_crazyflie.launch
@@ -20,7 +20,7 @@
 
   <!-- send the robot XML to param server -->
   <param name="robot_description" command="
-    $(find xacro)/xacro --inorder '$(arg model)'
+    $(find xacro)/xacro '$(arg model)'
     enable_logging:=$(arg enable_logging)
     enable_mellinger_controller:=$(arg enable_mellinger_controller)
     enable_internal_model_controller:=$(arg enable_internal_model_controller)

diff --git a/rotors_gazebo_plugins/src/external/gazebo_geotagged_images_plugin.cpp b/rotors_gazebo_plugins/src/external/gazebo_geotagged_images_plugin.cpp
@@ -22,8 +22,6 @@
 #include <iostream>
 
 #include <boost/filesystem.hpp>
-#include <cv.h>
-#include <highgui.h>
 #include <opencv2/opencv.hpp>
 
 #include "rotors_gazebo_plugins/common.h"
@@ -140,7 +138,7 @@ void GeotaggedImagesPlugin::OnNewFrame(const unsigned char * image)
   Mat frame = Mat(height_, width_, CV_8UC3);
   Mat frameBGR = Mat(height_, width_, CV_8UC3);
   frame.data = (uchar*)image; //frame has not the right color format yet -> convert
-  cvtColor(frame, frameBGR, CV_RGB2BGR);
+  cvtColor(frame, frameBGR, cv::COLOR_RGB2BGR);
 
   char file_name[256];
   snprintf(file_name, sizeof(file_name), "%s/DSC%05i.jpg", storageDir_.c_str(), imageCounter_);

diff --git a/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp b/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp
@@ -91,7 +91,7 @@ void GazeboOdometryPlugin::Load(physics::ModelPtr _model,
   if (_sdf->HasElement("covarianceImage")) {
     std::string image_name =
         _sdf->GetElement("covarianceImage")->Get<std::string>();
-    covariance_image_ = cv::imread(image_name, CV_LOAD_IMAGE_GRAYSCALE);
+    covariance_image_ = cv::imread(image_name, cv::IMREAD_GRAYSCALE);
     if (covariance_image_.data == NULL)
       gzerr << "loading covariance image " << image_name << " failed"
             << std::endl;