fixes for gazebo9 (melodic)

ZebraDevs · Jun 5, 2018 · 146ae27 · 146ae27
1 parent 545769a
commit 146ae27
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Showing 2 changed files with 8 additions and 8 deletions.
diff --git a/fetch_gazebo/include/fetch_gazebo/joint_handle.h b/fetch_gazebo/include/fetch_gazebo/joint_handle.h
@@ -128,9 +128,9 @@ class JointHandle : public robot_controllers::JointHandle
   {
     if (continuous_)
     {
-      return angles::normalize_angle(joint_->GetAngle(0).Radian());
+      return angles::normalize_angle(joint_->Position(0));
     }
-    return joint_->GetAngle(0).Radian();
+    return joint_->Position(0);
   }
 
   /** @brief Get the velocity of the joint in rad/sec or meters/sec. */
@@ -154,13 +154,13 @@ class JointHandle : public robot_controllers::JointHandle
   /** @brief Get the minimum valid position command. */
   virtual double getPositionMin()
   {
-    return joint_->GetLowerLimit(0).Radian();
+    return joint_->LowerLimit(0);
   }
 
   /** @brief Get the maximum valid position command. */
   virtual double getPositionMax()
   {
-    return joint_->GetUpperLimit(0).Radian();
+    return joint_->UpperLimit(0);
   }
 
   /** @brief Get the maximum velocity command. */
@@ -271,4 +271,4 @@ typedef boost::shared_ptr<JointHandle> JointHandlePtr;
 
 }  // namespace gazebo
 
-#endif  // FETCH_GAZEBO_JOINT_HANDLE_H
+#endif  // FETCH_GAZEBO_JOINT_HANDLE_H
diff --git a/fetch_gazebo/src/plugin.cpp b/fetch_gazebo/src/plugin.cpp
@@ -94,7 +94,7 @@ void FetchGazeboPlugin::Load(
 void FetchGazeboPlugin::Init()
 {
   // Init time stuff
-  prevUpdateTime = model_->GetWorld()->GetSimTime();
+  prevUpdateTime = model_->GetWorld()->SimTime();
   last_publish_ = ros::Time(prevUpdateTime.Double());
   urdf::Model urdfmodel;
   if (!urdfmodel.initParam("robot_description"))
@@ -107,7 +107,7 @@ void FetchGazeboPlugin::Init()
   for (physics::Joint_V::iterator it = joints.begin(); it != joints.end(); ++it)
   {
     //get effort limit and continuous state from URDF
-    boost::shared_ptr<const urdf::Joint> urdf_joint = urdfmodel.getJoint((*it)->GetName());
+    std::shared_ptr<const urdf::Joint> urdf_joint = urdfmodel.getJoint((*it)->GetName());
 
     JointHandlePtr handle(new JointHandle(*it,
                                           urdf_joint->limits->velocity,
@@ -135,7 +135,7 @@ void FetchGazeboPlugin::OnUpdate(
     return;
 
   // Get time and timestep for controllers
-  common::Time currTime = model_->GetWorld()->GetSimTime();
+  common::Time currTime = model_->GetWorld()->SimTime();
   common::Time stepTime = currTime - prevUpdateTime;
   prevUpdateTime = currTime;
   double dt = stepTime.Double();