Fixes for compilation and warnings in Lunar-devel

gazebo_plugins/include/gazebo_plugins/gazebo_ros_imu.h

@@ -75,24 +75,24 @@ namespace gazebo
     private: std::string topic_name_;
 
     /// \brief allow specifying constant xyz and rpy offsets
-    private: math::Pose offset_;
+    private:ignition::math::Pose3d offset_;
 
     /// \brief A mutex to lock access to fields
     /// that are used in message callbacks
     private: boost::mutex lock_;
 
     /// \brief save last_time
     private: common::Time last_time_;
-    private: math::Vector3 last_vpos_;
-    private: math::Vector3 last_veul_;
-    private: math::Vector3 apos_;
-    private: math::Vector3 aeul_;
+    private:ignition::math::Vector3d last_vpos_;
+    private:ignition::math::Vector3d last_veul_;
+    private:ignition::math::Vector3d apos_;
+    private:ignition::math::Vector3d aeul_;
 
     // rate control
     private: double update_rate_;
 
     /// \brief: keep initial pose to offset orientation in imu message
-    private: math::Pose initial_pose_;
+    private:ignition::math::Pose3d initial_pose_;
 
     /// \brief Gaussian noise
     private: double gaussian_noise_;

gazebo_plugins/include/gazebo_plugins/gazebo_ros_imu_sensor.h

@@ -19,8 +19,8 @@
 
 #include <gazebo/common/Plugin.hh>
 #include <gazebo/common/UpdateInfo.hh>
-#include <gazebo/math/Vector3.hh>
-#include <gazebo/math/Pose.hh>
+#include <ignition/math/Vector3.hh>
+#include <ignition/math/Pose3.hh>
 #include <ros/ros.h>
 #include <sensor_msgs/Imu.h>
 #include <string>
@@ -79,11 +79,11 @@ namespace gazebo
     /// \brief Pointer to the sdf config file.
     sdf::ElementPtr sdf;
     /// \brief Orientation data from the sensor.
-    gazebo::math::Quaternion orientation;
+    ignition::math::Quaterniond orientation;
     /// \brief Linear acceleration data from the sensor.
-    math::Vector3 accelerometer_data;
+    ignition::math::Vector3d accelerometer_data;
     /// \brief Angular velocity data from the sensor.
-    math::Vector3 gyroscope_data;
+    ignition::math::Vector3d gyroscope_data;
 
     /// \brief Seed for the Gaussian noise generator.
     unsigned int seed;
@@ -100,8 +100,8 @@ namespace gazebo
     /// \brief Gaussian noise.
     double gaussian_noise;
     /// \brief Offset parameter, position part is unused.
-    math::Pose offset;
+    ignition::math::Pose3d offset;
   };
 }
 
-#endif //GAZEBO_ROS_IMU_SENSOR_H
+#endif //GAZEBO_ROS_IMU_SENSOR_H

gazebo_plugins/include/gazebo_plugins/gazebo_ros_p3d.h

@@ -89,21 +89,21 @@ namespace gazebo
     private: std::string tf_frame_name_;
 
     /// \brief allow specifying constant xyz and rpy offsets
-    private: math::Pose offset_;
+    private:ignition::math::Pose3d offset_;
 
     /// \brief mutex to lock access to fields used in message callbacks
     private: boost::mutex lock;
 
     /// \brief save last_time
     private: common::Time last_time_;
-    private: math::Vector3 last_vpos_;
-    private: math::Vector3 last_veul_;
-    private: math::Vector3 apos_;
-    private: math::Vector3 aeul_;
-    private: math::Vector3 last_frame_vpos_;
-    private: math::Vector3 last_frame_veul_;
-    private: math::Vector3 frame_apos_;
-    private: math::Vector3 frame_aeul_;
+    private:ignition::math::Vector3d last_vpos_;
+    private:ignition::math::Vector3d last_veul_;
+    private:ignition::math::Vector3d apos_;
+    private:ignition::math::Vector3d aeul_;
+    private:ignition::math::Vector3d last_frame_vpos_;
+    private:ignition::math::Vector3d last_frame_veul_;
+    private:ignition::math::Vector3d frame_apos_;
+    private:ignition::math::Vector3d frame_aeul_;
 
     // rate control
     private: double update_rate_;

gazebo_plugins/include/gazebo_plugins/gazebo_ros_planar_move.h

@@ -90,7 +90,7 @@ namespace gazebo {
       double rot_;
       bool alive_;
       common::Time last_odom_publish_time_;
-      math::Pose last_odom_pose_;
+     ignition::math::Pose3d last_odom_pose_;
 
   };
 

gazebo_plugins/src/gazebo_ros_block_laser.cpp

@@ -82,7 +82,7 @@ void GazeboRosBlockLaser::Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
   std::string worldName = _parent->WorldName();
   this->world_ = physics::get_world(worldName);
 
-  last_update_time_ = this->world_->GetSimTime();
+  last_update_time_ = this->world_->SimTime();
 
   this->node_ = transport::NodePtr(new transport::Node());
   this->node_->Init(worldName);
@@ -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();
+ ignition::math::Angle minAngle = this->parent_ray_sensor_->PositionMin();
 #endif
 
   double maxRange = this->parent_ray_sensor_->RangeMax();
@@ -251,8 +251,8 @@ void GazeboRosBlockLaser::PutLaserData(common::Time &_updateTime)
   auto verticalMaxAngle = this->parent_ray_sensor_->VerticalAngleMax();
   auto verticalMinAngle = this->parent_ray_sensor_->VerticalAngleMin();
 #else
-  math::Angle verticalMaxAngle = this->parent_ray_sensor_->GetVerticalAngleMax();
-  math::Angle verticalMinAngle = this->parent_ray_sensor_->GetVerticalAngleMin();
+ ignition::math::Angle verticalMaxAngle = this->parent_ray_sensor_->GetVerticalAngleMax();
+ ignition::math::Angle verticalMinAngle = this->parent_ray_sensor_->GetVerticalAngleMin();
 #endif
 
   double yDiff = maxAngle.Radian() - minAngle.Radian();
@@ -405,9 +405,9 @@ void GazeboRosBlockLaser::OnStats( const boost::shared_ptr<msgs::WorldStatistics
 {
   this->sim_time_  = msgs::Convert( _msg->sim_time() );
 
-  math::Pose pose;
-  pose.pos.x = 0.5*sin(0.01*this->sim_time_.Double());
-  gzdbg << "plugin simTime [" << this->sim_time_.Double() << "] update pose [" << pose.pos.x << "]\n";
+ ignition::math::Pose3d pose;
+  pose.Pos().X() = 0.5*sin(0.01*this->sim_time_.Double());
+  gzdbg << "plugin simTime [" << this->sim_time_.Double() << "] update pose [" << pose.Pos().X() << "]\n";
 }
 
 

gazebo_plugins/src/gazebo_ros_bumper.cpp

@@ -32,9 +32,9 @@
 #include <sdf/Param.hh>
 #include <gazebo/common/Exception.hh>
 #include <gazebo/sensors/SensorTypes.hh>
-#include <gazebo/math/Pose.hh>
-#include <gazebo/math/Quaternion.hh>
-#include <gazebo/math/Vector3.hh>
+#include <ignition/math/Pose3.hh>
+#include <ignition/math/Quaternion.hh>
+#include <ignition/math/Vector3.hh>
 
 #include <tf/tf.h>
 
@@ -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();
     for (physics::Model_V::iterator iter = all_models.begin();
       iter != all_models.end(); iter++)
     {
@@ -177,13 +177,13 @@ void GazeboRosBumper::OnContact()
 */
   // get reference frame (body(link)) pose and subtract from it to get
   // relative force, torque, position and normal vectors
-  math::Pose pose, frame_pose;
-  math::Quaternion rot, frame_rot;
-  math::Vector3 pos, frame_pos;
+ ignition::math::Pose3d pose, frame_pose;
+ ignition::math::Quaterniond rot, frame_rot;
+ ignition::math::Vector3d pos, frame_pos;
   /*
   if (myFrame)
   {
-    frame_pose = myFrame->GetWorldPose();  //-this->myBody->GetCoMPose();
+    frame_pose = myFrame->WorldPose();  //-this->myBody->GetCoMPose();
     frame_pos = frame_pose.pos;
     frame_rot = frame_pose.rot;
   }
@@ -192,9 +192,9 @@ void GazeboRosBumper::OnContact()
   {
     // no specific frames specified, use identity pose, keeping
     // relative frame at inertial origin
-    frame_pos = math::Vector3(0, 0, 0);
-    frame_rot = math::Quaternion(1, 0, 0, 0);  // gazebo u,x,y,z == identity
-    frame_pose = math::Pose(frame_pos, frame_rot);
+    frame_pos  = ignition::math::Vector3d(0, 0, 0);
+    frame_rot  = ignition::math::Quaterniond(1, 0, 0, 0);  // gazebo u,x,y,z == identity
+    frame_pose = ignition::math::Pose3d(frame_pos, frame_rot);
   }
 
 
@@ -242,34 +242,34 @@ void GazeboRosBumper::OnContact()
     {
       // loop through individual contacts between collision1 and collision2
       // gzerr << j << "  Position:"
-      //       << contact.position(j).x() << " "
-      //       << contact.position(j).y() << " "
-      //       << contact.position(j).z() << "\n";
+      //       << contact.position(j).X()() << " "
+      //       << contact.position(j).Y()() << " "
+      //       << contact.position(j).Z()() << "\n";
       // gzerr << "   Normal:"
-      //       << contact.normal(j).x() << " "
-      //       << contact.normal(j).y() << " "
-      //       << contact.normal(j).z() << "\n";
+      //       << contact.normal(j).X()() << " "
+      //       << contact.normal(j).Y()() << " "
+      //       << contact.normal(j).Z()() << "\n";
       // gzerr << "   Depth:" << contact.depth(j) << "\n";
 
       // Get force, torque and rotate into user specified frame.
       // frame_rot is identity if world is used (default for now)
-      math::Vector3 force = frame_rot.RotateVectorReverse(math::Vector3(
-                              contact.wrench(j).body_1_wrench().force().x(),
+     ignition::math::Vector3d force = frame_rot.RotateVectorReverse(ignition::math::Vector3d(
+                            contact.wrench(j).body_1_wrench().force().x(),
                             contact.wrench(j).body_1_wrench().force().y(),
                             contact.wrench(j).body_1_wrench().force().z()));
-      math::Vector3 torque = frame_rot.RotateVectorReverse(math::Vector3(
+     ignition::math::Vector3d torque = frame_rot.RotateVectorReverse(ignition::math::Vector3d(
                             contact.wrench(j).body_1_wrench().torque().x(),
                             contact.wrench(j).body_1_wrench().torque().y(),
                             contact.wrench(j).body_1_wrench().torque().z()));
 
       // set wrenches
       geometry_msgs::Wrench wrench;
-      wrench.force.x  = force.x;
-      wrench.force.y  = force.y;
-      wrench.force.z  = force.z;
-      wrench.torque.x = torque.x;
-      wrench.torque.y = torque.y;
-      wrench.torque.z = torque.z;
+      wrench.force.x  = force.X();
+      wrench.force.y  = force.Y();
+      wrench.force.z  = force.Z();
+      wrench.torque.x = torque.X();
+      wrench.torque.y = torque.Y();
+      wrench.torque.z = torque.Z();
       state.wrenches.push_back(wrench);
 
       total_wrench.force.x  += wrench.force.x;
@@ -281,27 +281,27 @@ void GazeboRosBumper::OnContact()
 
       // transform contact positions into relative frame
       // set contact positions
-      gazebo::math::Vector3 position = frame_rot.RotateVectorReverse(
-          math::Vector3(contact.position(j).x(),
-                        contact.position(j).y(),
-                        contact.position(j).z()) - frame_pos);
+      ignition::math::Vector3d position = frame_rot.RotateVectorReverse(
+         ignition::math::Vector3d(contact.position(j).x(),
+                                  contact.position(j).y(),
+                                  contact.position(j).z()) - frame_pos);
       geometry_msgs::Vector3 contact_position;
-      contact_position.x = position.x;
-      contact_position.y = position.y;
-      contact_position.z = position.z;
+      contact_position.x = position.X();
+      contact_position.y = position.Y();
+      contact_position.z = position.Z();
       state.contact_positions.push_back(contact_position);
 
       // rotate normal into user specified frame.
       // frame_rot is identity if world is used.
-      math::Vector3 normal = frame_rot.RotateVectorReverse(
-          math::Vector3(contact.normal(j).x(),
-                        contact.normal(j).y(),
-                        contact.normal(j).z()));
+     ignition::math::Vector3d normal = frame_rot.RotateVectorReverse(
+         ignition::math::Vector3d(contact.normal(j).x(),
+                                 contact.normal(j).y(),
+                                 contact.normal(j).z()));
       // set contact normals
       geometry_msgs::Vector3 contact_normal;
-      contact_normal.x = normal.x;
-      contact_normal.y = normal.y;
-      contact_normal.z = normal.z;
+      contact_normal.x = normal.X();
+      contact_normal.y = normal.Y();
+      contact_normal.z = normal.Z();
       state.contact_normals.push_back(contact_normal);
 
       // set contact depth, interpenetration

gazebo_plugins/src/gazebo_ros_camera_utils.cpp

@@ -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));
 #endif
 }
 
@@ -476,7 +476,7 @@ void GazeboRosCameraUtils::Init()
   else
   {
     // check against float precision
-    if (!gazebo::math::equal(this->focal_length_, computed_focal_length))
+    if (!ignition::math::equal(this->focal_length_, computed_focal_length))
     {
       ROS_WARN_NAMED("camera_utils", "The <focal_length>[%f] you have provided for camera_ [%s]"
                " is inconsistent with specified image_width [%d] and"