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Fixes for compilation and warnings in Lunar-devel #573

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merged 24 commits into from Apr 28, 2017
Merged

Fixes for compilation and warnings in Lunar-devel #573

merged 24 commits into from Apr 28, 2017

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j-rivero
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Initial work to solve compilation and deprecation warnings on Lunar-devel.

@j-rivero
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@osrf-jenkins run test please

khancyr
khancyr reviewed Apr 27, 2017
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gazebo_plugins/src/gazebo_ros_block_laser.cpp Outdated
@@ -236,8 +236,8 @@ void GazeboRosBlockLaser::PutLaserData(common::Time &_updateTime)
auto maxAngle = this->parent_ray_sensor_->AngleMax();
auto minAngle = this->parent_ray_sensor_->AngleMin();
#else
math::Angle maxAngle = this->parent_ray_sensor_->GetAngleMax();
math::Angle minAngle = this->parent_ray_sensor_->GetAngleMin();
ignition::math::Angle maxAngle = this->parent_ray_sensor_->PositionMax();
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this is wrong I think since GAZEBO_MAJOR_VERSION <6 don't use inition lib, no?

khancyr
khancyr reviewed Apr 27, 2017
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gazebo_plugins/src/gazebo_ros_bumper.cpp Outdated
@@ -157,7 +157,7 @@ void GazeboRosBumper::OnContact()
*Simulator::Instance()->GetMRMutex());
// look through all models in the world, search for body
// name that matches frameName
phyaics::Model_V all_models = World::Instance()->GetModels();
phyaics::Model_V all_models = World::Instance()->Models();
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typo even if not used : physics

khancyr
khancyr reviewed Apr 27, 2017
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gazebo_plugins/src/gazebo_ros_camera_utils.cpp Outdated
@@ -355,7 +355,7 @@ void GazeboRosCameraUtils::SetHFOV(const std_msgs::Float64::ConstPtr& hfov)
#if GAZEBO_MAJOR_VERSION >= 7
this->camera_->SetHFOV(ignition::math::Angle(hfov->data));
#else
this->camera_->SetHFOV(gazebo::math::Angle(hfov->data));
this->camera_->SetHFOV(ignition::math::Angle(hfov->data));
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this looks also wrong

khancyr
khancyr reviewed Apr 27, 2017
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gazebo_plugins/src/gazebo_ros_joint_pose_trajectory.cpp Outdated
@@ -295,8 +295,8 @@ bool GazeboRosJointPoseTrajectory::SetTrajectory(
this->disable_physics_updates_ = req.disable_physics_updates;
if (this->disable_physics_updates_)
{
this->physics_engine_enabled_ = this->world_->GetEnablePhysicsEngine();
this->world_->EnablePhysicsEngine(false);
this->physics_engine_enabled_ = this->world_->SetPhysicsEnabled();
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@khancyr khancyr Apr 27, 2017 •
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either do as before : + this->world_->SetPhysicsEnabled(false);

  • this->physics_engine_enabled_ = false;

Or this->world_->SetPhysicsEnabled(false)
this->physics_engine_enabled_ = this->world_->PhysicsEnabled();

khancyr
khancyr reviewed Apr 27, 2017
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gazebo_plugins/src/gazebo_ros_joint_trajectory.cpp Outdated
@@ -297,8 +297,8 @@ bool GazeboRosJointTrajectory::SetTrajectory(
this->disable_physics_updates_ = req.disable_physics_updates;
if (this->disable_physics_updates_)
{
this->physics_engine_enabled_ = this->world_->GetEnablePhysicsEngine();
this->world_->EnablePhysicsEngine(false);
this->physics_engine_enabled_ = this->world_->SetPhysicsEnabled();
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@khancyr khancyr Apr 27, 2017 •
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either do as before : + this->world_->SetPhysicsEnabled(false);

this->physics_engine_enabled_ = false;
Or
this->world_->SetPhysicsEnabled(false)
this->physics_engine_enabled_ = this->world_->PhysicsEnabled();

khancyr
khancyr reviewed Apr 27, 2017
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gazebo_plugins/src/gazebo_ros_tricycle_drive.cpp Outdated
@@ -312,7 +311,7 @@ void GazeboRosTricycleDrive::motorController ( double target_speed, double targe
#if GAZEBO_MAJOR_VERSION >= 4
joint_steering_->SetPosition(0, applied_angle);
#else
joint_steering_->SetAngle(0, math::Angle(applied_angle));
joint_steering_->SetAngle(0,ignition::math::Angle(applied_angle));
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@khancyr khancyr Apr 27, 2017 •
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doesn't look good

khancyr
khancyr reviewed Apr 27, 2017
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gazebo_ros/src/gazebo_ros_api_plugin.cpp Outdated
gazebo::math::Pose frame_pose = frame->GetWorldPose();
initial_xyz = frame_pose.rot.RotateVector(initial_xyz);
ignition::math::Pose3d frame_pose = frame->WorldPose();
initial_xyz = frame_pose.Rot().RotateVector(initial_xyz);
initial_xyz += frame_pose.pos;
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miss initial_xyz += frame_pose.Pos();
initial_q *= frame_pose.Rot();

khancyr
khancyr reviewed Apr 27, 2017
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gazebo_ros/src/gazebo_ros_api_plugin.cpp Outdated
gazebo::math::Vector3 model_pos = model_pose.pos;
gazebo::math::Quaternion model_rot = model_pose.rot;
ignition::math::Pose3d model_pose = model->WorldPose();
ignition::math::Vector3d model_pos = model_pose.pos;
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ignition::math::Vector3d    model_pos = model_pose.Pos();
ignition::math::Quaterniond model_rot = model_pose.Rot();

khancyr
khancyr reviewed Apr 27, 2017
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gazebo_ros/src/gazebo_ros_api_plugin.cpp Outdated


if (frame)
{
// convert to relative pose
gazebo::math::Pose frame_pose = frame->GetWorldPose();
ignition::math::Pose3d frame_pose = frame->WorldPose();
model_pos = model_pos - frame_pose.pos;
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Pos()

khancyr
khancyr reviewed Apr 27, 2017
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gazebo_ros/src/gazebo_ros_api_plugin.cpp Outdated
model_pos = model_pos - frame_pose.pos;
model_pos = frame_pose.rot.RotateVectorReverse(model_pos);
model_rot *= frame_pose.rot.GetInverse();
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model_rot *= frame_pose.Rot().Inverse();

khancyr
khancyr reviewed Apr 27, 2017
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gazebo_ros/src/gazebo_ros_api_plugin.cpp
ignition::math::Vector3d frame_vpos = frame->WorldLinearVel(); // get velocity in gazebo frame
ignition::math::Vector3d frame_veul = frame->WorldAngularVel(); // get velocity in gazebo frame
model_linear_vel = frame_pose.Rot().RotateVector(model_linear_vel - frame_vpos);
model_angular_vel = frame_pose.Rot().RotateVector(model_angular_vel - frame_veul);
}
/// @todo: FIXME map is really wrong, need to use tf here somehow
else if (req.relative_entity_name == "" || req.relative_entity_name == "world" || req.relative_entity_name == "map" || req.relative_entity_name == "/map")
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// fill in response
res.pose.position.x = model_pos.X();
res.pose.position.y = model_pos.Y();
res.pose.position.z = model_pos.Z();
res.pose.orientation.w = model_rot.W();
res.pose.orientation.x = model_rot.X();
res.pose.orientation.y = model_rot.Y();
res.pose.orientation.z = model_rot.Z();

res.twist.linear.x = model_linear_vel.X();
res.twist.linear.y = model_linear_vel.Y();
res.twist.linear.z = model_linear_vel.Z();
res.twist.angular.x = model_angular_vel.X();
res.twist.angular.y = model_angular_vel.Y();
res.twist.angular.z = model_angular_vel.Z();

@khancyr
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khancyr commented Apr 27, 2017 •
edited

Hello, I spot plenties of changes miss ! I will rebase my gazebo9 branch and submit you a PR, it will be simplier than trying to correct all on github interface ... most are in gazebo_ros_api_plugin.cpp and gazebo_ros_control

@khancyr @j-rivero
Lunar devel initial fix: more fixes ! (#574)
e865a36 
* Whitespace fixes

* revert wrong changes

* correct typo in launch file

* update missing file
@j-rivero
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Hello, I spot plenties of changes miss ! I will rebase my gazebo9 branch and submit you a PR, it will be simplier than trying to correct all on github interface ... most are in gazebo_ros_api_plugin.cpp and gazebo_ros_control

Thanks for that. The fixes have been merged. I expect the builds to fail because we still miss some gazebo8 packages in the ROS repo.

@j-rivero j-rivero mentioned this pull request Apr 27, 2017
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@j-rivero
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First clean build. Here we go.

@j-rivero j-rivero merged commit 675f764 into lunar-devel Apr 28, 2017
@scpeters scpeters deleted the lunar-devel-initial-fix branch November 28, 2017 18:11
cohen39 pushed a commit to cohen39/gazebo_ros_pkgs that referenced this pull request Nov 15, 2021
@j-rivero
Fixes for compilation and warnings in Lunar-devel (ros-simulation#573)
0643684 
Multiple fixes for compilation and warnings coming from Gazebo8 and ignition-math3
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