Gazebo7 fixes #381
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Gazebo7 fixes #381
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The SensorPtr types have changed from boost:: pointers to std:: pointers, which requires boost::dynamic_pointer_cast to change to std::dynamic_pointer_cast. A helper macro is added that adds a `using` statement corresponding to the correct type of dynamic_pointer_cast. This macro should be narrowly scoped to protect other code.
Some boost headers were remove from gazebo7 header files and gazebo_ros_joint_state_publisher.cpp was using it implicitly.
In gazebo7, the rendering::Camera::SetHFOV function is overloaded with a potential for ambiguity, as reported in the following issue: https://bitbucket.org/osrf/gazebo/issues/1830 This fixes the build by explicitly defining the Angle type.
| @@ -41,6 +41,14 @@ | |||
| #include <gazebo/sensors/Sensor.hh> | |||
| #include <ros/ros.h> | |||
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| #ifndef GAZEBO_SENSORS_USING_DYNAMIC_POINTER_CAST | |||
| # if GAZEBO_MAJOR_VERSION >= 7 | |||
| #define GAZEBO_SENSORS_USING_DYNAMIC_POINTER_CAST using std::dynamic_pointer_cast | |||
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just for my own education, what's the reasoning behind using using as opposed to making xxx::dynamic_pointer_cast a macro?
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In urdfdom we made wrapper functions in types.h so you could call urdf::dynamic_pointer_cast. In this case, we haven't switched all of gazebo's pointers yet (sensors uses std:: in gazebo7 while physics still uses boost::). It seemed like these using macros (which can be scoped) would be a more compact way to allow for different pointer types.
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other than the comment about the macro, everything looks good and compiles. Thanks! |
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+1 |
Make sure to include gazebo_config.h, which defines the GAZEBO_MAJOR_VERSION macro
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Nov 15, 2021
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This fixes three separate build errors when using gazebo7 (related to #375):
GAZEBO_SENSORS_USING_DYNAMIC_POINTER_CASTtogazebo_ros_utils.hthat provides ausingstatement so thatdynamic_pointer_castcan be used more easily.