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Updated gazebo_ros_pkg to latest gazebo api (gazebo 7.0.1). #375

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Updated gazebo_ros_pkg to latest gazebo api (gazebo 7.0.1). #375

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3 changes: 3 additions & 0 deletions gazebo_plugins/include/gazebo_plugins/gazebo_ros_joint_state_publisher.h
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Expand Up @@ -31,6 +31,9 @@
#define JOINT_STATE_PUBLISHER_PLUGIN_HH

#include <boost/bind.hpp>
#include <boost/algorithm/string/erase.hpp>
#include <boost/algorithm/string/split.hpp>
#include <boost/algorithm/string/classification.hpp>
#include <gazebo/gazebo.hh>
#include <gazebo/physics/physics.hh>
#include <gazebo/common/common.hh>
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8 changes: 4 additions & 4 deletions gazebo_plugins/src/gazebo_ros_block_laser.cpp
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Expand Up @@ -230,8 +230,8 @@ void GazeboRosBlockLaser::PutLaserData(common::Time &_updateTime)

this->parent_ray_sensor_->SetActive(false);

math::Angle maxAngle = this->parent_ray_sensor_->GetAngleMax();
math::Angle minAngle = this->parent_ray_sensor_->GetAngleMin();
math::Angle maxAngle = this->parent_ray_sensor_->AngleMax();
math::Angle minAngle = this->parent_ray_sensor_->AngleMin();

double maxRange = this->parent_ray_sensor_->GetRangeMax();
double minRange = this->parent_ray_sensor_->GetRangeMin();
Expand All @@ -240,8 +240,8 @@ void GazeboRosBlockLaser::PutLaserData(common::Time &_updateTime)

int verticalRayCount = this->parent_ray_sensor_->GetVerticalRayCount();
int verticalRangeCount = this->parent_ray_sensor_->GetVerticalRangeCount();
math::Angle verticalMaxAngle = this->parent_ray_sensor_->GetVerticalAngleMax();
math::Angle verticalMinAngle = this->parent_ray_sensor_->GetVerticalAngleMin();
math::Angle verticalMaxAngle = this->parent_ray_sensor_->VerticalAngleMax();
math::Angle verticalMinAngle = this->parent_ray_sensor_->VerticalAngleMin();

double yDiff = maxAngle.Radian() - minAngle.Radian();
double pDiff = verticalMaxAngle.Radian() - verticalMinAngle.Radian();
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12 changes: 6 additions & 6 deletions gazebo_plugins/src/gazebo_ros_diff_drive.cpp
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Expand Up @@ -100,8 +100,8 @@ void GazeboRosDiffDrive::Load ( physics::ModelPtr _parent, sdf::ElementPtr _sdf
joints_.resize ( 2 );
joints_[LEFT] = gazebo_ros_->getJoint ( parent, "leftJoint", "left_joint" );
joints_[RIGHT] = gazebo_ros_->getJoint ( parent, "rightJoint", "right_joint" );
joints_[LEFT]->SetMaxForce ( 0, wheel_torque );
joints_[RIGHT]->SetMaxForce ( 0, wheel_torque );
joints_[LEFT]->SetParam("fmax", 0, wheel_torque );
joints_[RIGHT]->SetParam("fmax", 0, wheel_torque );



Expand Down Expand Up @@ -170,8 +170,8 @@ void GazeboRosDiffDrive::Reset()
pose_encoder_.theta = 0;
x_ = 0;
rot_ = 0;
joints_[LEFT]->SetMaxForce ( 0, wheel_torque );
joints_[RIGHT]->SetMaxForce ( 0, wheel_torque );
joints_[LEFT]->SetParam("fmax", 0, wheel_torque );
joints_[RIGHT]->SetParam("fmax", 0, wheel_torque );
}

void GazeboRosDiffDrive::publishWheelJointState()
Expand Down Expand Up @@ -221,8 +221,8 @@ void GazeboRosDiffDrive::UpdateChild()
(this seems to be solved in https://bitbucket.org/osrf/gazebo/commits/ec8801d8683160eccae22c74bf865d59fac81f1e)
*/
for ( int i = 0; i < 2; i++ ) {
if ( fabs(wheel_torque -joints_[i]->GetMaxForce ( 0 )) > 1e-6 ) {
joints_[i]->SetMaxForce ( 0, wheel_torque );
if ( fabs(wheel_torque -joints_[i]->GetParam("fmax", 0 )) > 1e-6 ) {
joints_[i]->SetParam("fmax", 0, wheel_torque );
}
}

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8 changes: 4 additions & 4 deletions gazebo_plugins/src/gazebo_ros_skid_steer_drive.cpp
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Expand Up @@ -256,10 +256,10 @@ namespace gazebo {
gzthrow(error);
}

joints[LEFT_FRONT]->SetMaxForce(0, torque);
joints[RIGHT_FRONT]->SetMaxForce(0, torque);
joints[LEFT_REAR]->SetMaxForce(0, torque);
joints[RIGHT_REAR]->SetMaxForce(0, torque);
joints[LEFT_FRONT]->SetParam("fmax", 0, torque);
joints[RIGHT_FRONT]->SetParam("fmax", 0, torque);
joints[LEFT_REAR]->SetParam("fmax", 0, torque);
joints[RIGHT_REAR]->SetParam("fmax", 0, torque);

// Make sure the ROS node for Gazebo has already been initialized
if (!ros::isInitialized())
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4 changes: 2 additions & 2 deletions gazebo_plugins/src/gazebo_ros_tricycle_drive.cpp
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Expand Up @@ -108,8 +108,8 @@ void GazeboRosTricycleDrive::Load ( physics::ModelPtr _parent, sdf::ElementPtr _
odomOptions["world"] = WORLD;
gazebo_ros_->getParameter<OdomSource> ( odom_source_, "odometrySource", odomOptions, WORLD );

joint_wheel_actuated_->SetMaxForce ( 0, wheel_torque_ );
joint_steering_->SetMaxForce ( 0, wheel_torque_ );
joint_wheel_actuated_->SetParam("fmax", 0, wheel_torque_ );
joint_steering_->SetParam("fmax", 0, wheel_torque_ );


// Initialize update rate stuff
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2 changes: 1 addition & 1 deletion gazebo_ros_control/src/default_robot_hw_sim.cpp
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Expand Up @@ -219,7 +219,7 @@ bool DefaultRobotHWSim::initSim(
// joint->SetMaxForce() must be called if joint->SetAngle() or joint->SetVelocity() are
// going to be called. joint->SetMaxForce() must *not* be called if joint->SetForce() is
// going to be called.
joint->SetMaxForce(0, joint_effort_limits_[j]);
joint->SetParam("fmax", 0, joint_effort_limits_[j]);
}
}
}
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