Apply upstream patches for Gazebo 7

3 files changed, 307 insertions, 5 deletions

diff --git a/.SRCINFO b/.SRCINFO
index cb56ed8f034d..0e5ff5090d74 100644
--- a/.SRCINFO
+++ b/.SRCINFO
@@ -1,7 +1,9 @@
+# Generated by mksrcinfo v8
+# Fri Feb  5 15:42:04 UTC 2016
 pkgbase = ros-indigo-gazebo-plugins
 	pkgdesc = ROS - Robot-independent Gazebo plugins for sensors, motors and dynamic reconfigurable components.
 	pkgver = 2.4.9
-	pkgrel = 2
+	pkgrel = 3
 	url = http://gazebosim.org/tutorials?cat=connect_ros
 	arch = any
 	license = BSD, Apache 2.0
@@ -60,7 +62,9 @@ pkgbase = ros-indigo-gazebo-plugins
 	depends = ros-indigo-driver-base
 	depends = gazebo
 	source = gazebo_plugins::git+https://github.com/ros-gbp/gazebo_ros_pkgs-release.git#tag=release/indigo/gazebo_plugins/2.4.9-0
-	md5sums = SKIP
+	source = gazebo7.patch
+	sha256sums = SKIP
+	sha256sums = 715d38ef4b51dfb712c4b049b026d546748e3ede9d8da7c9bd6fba4a4b4a1753
 
 pkgname = ros-indigo-gazebo-plugins
 
diff --git a/PKGBUILD b/PKGBUILD
index a7ea6a045259..d3dd2bb1b1e3 100644
--- a/PKGBUILD
+++ b/PKGBUILD
@@ -7,7 +7,7 @@ pkgname='ros-indigo-gazebo-plugins'
 pkgver='2.4.9'
 _pkgver_patch=0
 arch=('any')
-pkgrel=2
+pkgrel=3
 license=('BSD, Apache 2.0')
 
 ros_makedepends=(ros-indigo-geometry-msgs
@@ -68,18 +68,24 @@ depends=(${ros_depends[@]}
 
 _tag=release/indigo/gazebo_plugins/${pkgver}-${_pkgver_patch}
 _dir=gazebo_plugins
-source=("${_dir}"::"git+https://github.com/ros-gbp/gazebo_ros_pkgs-release.git"#tag=${_tag})
-md5sums=('SKIP')
+source=("${_dir}"::"git+https://github.com/ros-gbp/gazebo_ros_pkgs-release.git"#tag=${_tag}
+        "gazebo7.patch")
+sha256sums=('SKIP'
+            '715d38ef4b51dfb712c4b049b026d546748e3ede9d8da7c9bd6fba4a4b4a1753')
 
 build() {
   # Use ROS environment variables
   source /usr/share/ros-build-tools/clear-ros-env.sh
   [ -f /opt/ros/indigo/setup.bash ] && source /opt/ros/indigo/setup.bash
 
+  # Fix for gazebo 7
+  git -C ${srcdir}/${_dir} apply ${srcdir}/gazebo7.patch
+
   # Create build directory
   [ -d ${srcdir}/build ] || mkdir ${srcdir}/build
   cd ${srcdir}/build
 
+
   # Fix Python2/Python3 conflicts
   /usr/share/ros-build-tools/fix-python-scripts.sh -v 2 ${srcdir}/${_dir}
 
diff --git a/gazebo7.patch b/gazebo7.patch
new file mode 100644
index 000000000000..bff56e54a149
--- /dev/null
+++ b/gazebo7.patch
@@ -0,0 +1,292 @@
+From 03c3b38073f2461eca1f132ae98c69d028fe8c83 Mon Sep 17 00:00:00 2001
+From: Boris Gromov <0xff.root@gmail.com>
+Date: Sat, 24 Oct 2015 23:26:00 +0200
+Subject: Fix for Gazebo 7
+
+Fix invalid signal name on OS X
+
+scripts/gazebo: line 30: kill: SIGINT: invalid signal specification
+
+Restart package resolving from last position, do not start all over.
+
+Update readme with the correct doc link
+
+Current installing guide 404s
+
+Fix gazebo6 deprecation warnings
+
+Several RaySensor functions are deprecated in gazebo6
+and are removed in gazebo7.
+The return type is changed to use ignition math
+and the function name is changed.
+This adds ifdef's to handle the changes.
+
+Fix gazebo7 build errors
+
+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.
+
+Add missing boost header
+
+Some boost headers were remove from gazebo7 header files
+and gazebo_ros_joint_state_publisher.cpp was using it
+implicitly.
+
+Fix compiler error with SetHFOV
+
+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.
+
+gazebo_ros_utils.h: include gazebo_config.h
+
+Make sure to include gazebo_config.h,
+which defines the GAZEBO_MAJOR_VERSION macro
+
+Added a missing initialization inside Differential Drive
+
+diff --git a/include/gazebo_plugins/MultiCameraPlugin.h b/include/gazebo_plugins/MultiCameraPlugin.h
+index ff38ef6..b3092d0 100644
+--- a/include/gazebo_plugins/MultiCameraPlugin.h
++++ b/include/gazebo_plugins/MultiCameraPlugin.h
+@@ -43,7 +43,7 @@ namespace gazebo
+                               unsigned int _width, unsigned int _height,
+                               unsigned int _depth, const std::string &_format);
+ 
+-    protected: boost::shared_ptr<sensors::MultiCameraSensor> parentSensor;
++    protected: sensors::MultiCameraSensorPtr parentSensor;
+ 
+     protected: std::vector<unsigned int> width, height, depth;
+     protected: std::vector<std::string> format;
+diff --git a/include/gazebo_plugins/gazebo_ros_utils.h b/include/gazebo_plugins/gazebo_ros_utils.h
+index 3db4c45..6b016b8 100644
+--- a/include/gazebo_plugins/gazebo_ros_utils.h
++++ b/include/gazebo_plugins/gazebo_ros_utils.h
+@@ -39,8 +39,17 @@
+ #include <gazebo/common/common.hh>
+ #include <gazebo/physics/physics.hh>
+ #include <gazebo/sensors/Sensor.hh>
++#include <gazebo/gazebo_config.h>
+ #include <ros/ros.h>
+ 
++#ifndef GAZEBO_SENSORS_USING_DYNAMIC_POINTER_CAST
++# if GAZEBO_MAJOR_VERSION >= 7
++#define GAZEBO_SENSORS_USING_DYNAMIC_POINTER_CAST using std::dynamic_pointer_cast
++# else
++#define GAZEBO_SENSORS_USING_DYNAMIC_POINTER_CAST using boost::dynamic_pointer_cast
++# endif
++#endif
++
+ namespace gazebo
+ {
+ 
+diff --git a/src/MultiCameraPlugin.cpp b/src/MultiCameraPlugin.cpp
+index 8001a22..11f663c 100644
+--- a/src/MultiCameraPlugin.cpp
++++ b/src/MultiCameraPlugin.cpp
+@@ -17,6 +17,7 @@
+ #include <gazebo/sensors/DepthCameraSensor.hh>
+ #include <gazebo/sensors/CameraSensor.hh>
+ #include <gazebo_plugins/MultiCameraPlugin.h>
++#include <gazebo_plugins/gazebo_ros_utils.h>
+ 
+ using namespace gazebo;
+ GZ_REGISTER_SENSOR_PLUGIN(MultiCameraPlugin)
+@@ -40,15 +41,16 @@ void MultiCameraPlugin::Load(sensors::SensorPtr _sensor,
+   if (!_sensor)
+     gzerr << "Invalid sensor pointer.\n";
+ 
++  GAZEBO_SENSORS_USING_DYNAMIC_POINTER_CAST;
+   this->parentSensor =
+-    boost::dynamic_pointer_cast<sensors::MultiCameraSensor>(_sensor);
++    dynamic_pointer_cast<sensors::MultiCameraSensor>(_sensor);
+ 
+   if (!this->parentSensor)
+   {
+     gzerr << "MultiCameraPlugin requires a CameraSensor.\n";
+-    if (boost::dynamic_pointer_cast<sensors::DepthCameraSensor>(_sensor))
++    if (dynamic_pointer_cast<sensors::DepthCameraSensor>(_sensor))
+       gzmsg << "It is a depth camera sensor\n";
+-    if (boost::dynamic_pointer_cast<sensors::CameraSensor>(_sensor))
++    if (dynamic_pointer_cast<sensors::CameraSensor>(_sensor))
+       gzmsg << "It is a camera sensor\n";
+   }
+ 
+diff --git a/src/gazebo_ros_block_laser.cpp b/src/gazebo_ros_block_laser.cpp
+index d8f40bc..d03b9f1 100644
+--- a/src/gazebo_ros_block_laser.cpp
++++ b/src/gazebo_ros_block_laser.cpp
+@@ -24,6 +24,7 @@
+ #include <assert.h>
+ 
+ #include <gazebo_plugins/gazebo_ros_block_laser.h>
++#include <gazebo_plugins/gazebo_ros_utils.h>
+ 
+ #include <gazebo/physics/World.hh>
+ #include <gazebo/physics/HingeJoint.hh>
+@@ -86,7 +87,8 @@ void GazeboRosBlockLaser::Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
+   this->node_ = transport::NodePtr(new transport::Node());
+   this->node_->Init(worldName);
+ 
+-  this->parent_ray_sensor_ = boost::dynamic_pointer_cast<sensors::RaySensor>(this->parent_sensor_);
++  GAZEBO_SENSORS_USING_DYNAMIC_POINTER_CAST;
++  this->parent_ray_sensor_ = dynamic_pointer_cast<sensors::RaySensor>(this->parent_sensor_);
+ 
+   if (!this->parent_ray_sensor_)
+     gzthrow("GazeboRosBlockLaser controller requires a Ray Sensor as its parent");
+@@ -230,8 +232,13 @@ void GazeboRosBlockLaser::PutLaserData(common::Time &_updateTime)
+ 
+   this->parent_ray_sensor_->SetActive(false);
+ 
++#if GAZEBO_MAJOR_VERSION >= 6
++  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();
++#endif
+ 
+   double maxRange = this->parent_ray_sensor_->GetRangeMax();
+   double minRange = this->parent_ray_sensor_->GetRangeMin();
+@@ -240,8 +247,13 @@ void GazeboRosBlockLaser::PutLaserData(common::Time &_updateTime)
+ 
+   int verticalRayCount = this->parent_ray_sensor_->GetVerticalRayCount();
+   int verticalRangeCount = this->parent_ray_sensor_->GetVerticalRangeCount();
++#if GAZEBO_MAJOR_VERSION >= 6
++  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();
++#endif
+ 
+   double yDiff = maxAngle.Radian() - minAngle.Radian();
+   double pDiff = verticalMaxAngle.Radian() - verticalMinAngle.Radian();
+diff --git a/src/gazebo_ros_bumper.cpp b/src/gazebo_ros_bumper.cpp
+index 059f1d9..f8dbdd0 100644
+--- a/src/gazebo_ros_bumper.cpp
++++ b/src/gazebo_ros_bumper.cpp
+@@ -39,6 +39,7 @@
+ #include <tf/tf.h>
+ 
+ #include <gazebo_plugins/gazebo_ros_bumper.h>
++#include <gazebo_plugins/gazebo_ros_utils.h>
+ 
+ namespace gazebo
+ {
+@@ -65,7 +66,8 @@ GazeboRosBumper::~GazeboRosBumper()
+ // Load the controller
+ void GazeboRosBumper::Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
+ {
+-  this->parentSensor = boost::dynamic_pointer_cast<sensors::ContactSensor>(_parent);
++  GAZEBO_SENSORS_USING_DYNAMIC_POINTER_CAST;
++  this->parentSensor = dynamic_pointer_cast<sensors::ContactSensor>(_parent);
+   if (!this->parentSensor)
+   {
+     ROS_ERROR("Contact sensor parent is not of type ContactSensor");
+diff --git a/src/gazebo_ros_camera_utils.cpp b/src/gazebo_ros_camera_utils.cpp
+index 2129b65..4574e8d 100644
+--- a/src/gazebo_ros_camera_utils.cpp
++++ b/src/gazebo_ros_camera_utils.cpp
+@@ -360,7 +360,11 @@ void GazeboRosCameraUtils::LoadThread()
+ // Set Horizontal Field of View
+ void GazeboRosCameraUtils::SetHFOV(const std_msgs::Float64::ConstPtr& hfov)
+ {
+-  this->camera_->SetHFOV(hfov->data);
++#if GAZEBO_MAJOR_VERSION >= 7
++  this->camera_->SetHFOV(ignition::math::Angle(hfov->data));
++#else
++  this->camera_->SetHFOV(gazebo::math::Angle(hfov->data));
++#endif
+ }
+ 
+ ////////////////////////////////////////////////////////////////////////////////
+diff --git a/src/gazebo_ros_diff_drive.cpp b/src/gazebo_ros_diff_drive.cpp
+index 74dd734..e9e497a 100644
+--- a/src/gazebo_ros_diff_drive.cpp
++++ b/src/gazebo_ros_diff_drive.cpp
+@@ -127,6 +127,10 @@ void GazeboRosDiffDrive::Load ( physics::ModelPtr _parent, sdf::ElementPtr _sdf
+     wheel_speed_[RIGHT] = 0;
+     wheel_speed_[LEFT] = 0;
+ 
++    // Initialize velocity support stuff
++    wheel_speed_instr_[RIGHT] = 0;
++    wheel_speed_instr_[LEFT] = 0;
++
+     x_ = 0;
+     rot_ = 0;
+     alive_ = true;
+diff --git a/src/gazebo_ros_gpu_laser.cpp b/src/gazebo_ros_gpu_laser.cpp
+index 811fc81..6b36c48 100644
+--- a/src/gazebo_ros_gpu_laser.cpp
++++ b/src/gazebo_ros_gpu_laser.cpp
+@@ -75,8 +75,9 @@ void GazeboRosLaser::Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
+   // save pointers
+   this->sdf = _sdf;
+ 
++  GAZEBO_SENSORS_USING_DYNAMIC_POINTER_CAST;
+   this->parent_ray_sensor_ =
+-    boost::dynamic_pointer_cast<sensors::GpuRaySensor>(_parent);
++    dynamic_pointer_cast<sensors::GpuRaySensor>(_parent);
+ 
+   if (!this->parent_ray_sensor_)
+     gzthrow("GazeboRosLaser controller requires a Ray Sensor as its parent");
+diff --git a/src/gazebo_ros_joint_state_publisher.cpp b/src/gazebo_ros_joint_state_publisher.cpp
+index 6c1ede1..d78b3d8 100644
+--- a/src/gazebo_ros_joint_state_publisher.cpp
++++ b/src/gazebo_ros_joint_state_publisher.cpp
+@@ -25,6 +25,7 @@
+  *  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+  *
+  **/
++#include <boost/algorithm/string.hpp>
+ #include <gazebo_plugins/gazebo_ros_joint_state_publisher.h>
+ #include <tf/transform_broadcaster.h>
+ #include <tf/transform_listener.h>
+diff --git a/src/gazebo_ros_laser.cpp b/src/gazebo_ros_laser.cpp
+index 815c456..80e60a2 100644
+--- a/src/gazebo_ros_laser.cpp
++++ b/src/gazebo_ros_laser.cpp
+@@ -72,8 +72,9 @@ void GazeboRosLaser::Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
+   // save pointers
+   this->sdf = _sdf;
+ 
++  GAZEBO_SENSORS_USING_DYNAMIC_POINTER_CAST;
+   this->parent_ray_sensor_ =
+-    boost::dynamic_pointer_cast<sensors::RaySensor>(_parent);
++    dynamic_pointer_cast<sensors::RaySensor>(_parent);
+ 
+   if (!this->parent_ray_sensor_)
+     gzthrow("GazeboRosLaser controller requires a Ray Sensor as its parent");
+diff --git a/src/gazebo_ros_range.cpp b/src/gazebo_ros_range.cpp
+index 9387dde..cb229fe 100644
+--- a/src/gazebo_ros_range.cpp
++++ b/src/gazebo_ros_range.cpp
+@@ -35,6 +35,7 @@
+ /** \author Jose Capriles, Bence Magyar. */
+ 
+ #include "gazebo_plugins/gazebo_ros_range.h"
++#include "gazebo_plugins/gazebo_ros_utils.h"
+ 
+ #include <algorithm>
+ #include <string>
+@@ -92,8 +93,9 @@ void GazeboRosRange::Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
+ 
+   this->last_update_time_ = common::Time(0);
+ 
++  GAZEBO_SENSORS_USING_DYNAMIC_POINTER_CAST;
+   this->parent_ray_sensor_ =
+-    boost::dynamic_pointer_cast<sensors::RaySensor>(this->parent_sensor_);
++    dynamic_pointer_cast<sensors::RaySensor>(this->parent_sensor_);
+ 
+   if (!this->parent_ray_sensor_)
+     gzthrow("GazeboRosRange controller requires a Ray Sensor as its parent");