Version bump and gazebo 9 fixes (untested).

3 files changed, 56 insertions, 10 deletions

diff --git a/.SRCINFO b/.SRCINFO
index 7077a2a7a827..c01fbf1eaa90 100644
--- a/.SRCINFO
+++ b/.SRCINFO
@@ -1,9 +1,9 @@
 # Generated by mksrcinfo v8
-# Sun Sep 10 04:25:16 UTC 2017
+# Tue Mar 27 05:16:06 UTC 2018
 pkgbase = ros-kinetic-gazebo-ros-control
 	pkgdesc = ROS - gazebo_ros_control.
-	pkgver = 2.5.13
-	pkgrel = 1
+	pkgver = 2.5.14
+	pkgrel = 2
 	url = http://ros.org/wiki/gazebo_ros_control
 	arch = any
 	license = BSD
@@ -32,8 +32,10 @@ pkgbase = ros-kinetic-gazebo-ros-control
 	depends = ros-kinetic-angles
 	depends = ros-kinetic-joint-limits-interface
 	depends = ros-kinetic-hardware-interface
-	source = ros-kinetic-gazebo-ros-control-2.5.13-0.tar.gz::https://github.com/ros-gbp/gazebo_ros_pkgs-release/archive/release/kinetic/gazebo_ros_control/2.5.13-0.tar.gz
-	sha256sums = b21fdb2d458208fc1d6a657b9dcd67f3f7481a469092ae6c403907a2b50ce53d
+	source = ros-kinetic-gazebo-ros-control-2.5.14-1.tar.gz::https://github.com/ros-gbp/gazebo_ros_pkgs-release/archive/release/kinetic/gazebo_ros_control/2.5.14-1.tar.gz
+	source = gazebo_9_fixes.patch
+	sha256sums = d1ab5943f207f602c0f0439964007c7536a04a3cc411c06ac5c6f0e59a67cedc
+	sha256sums = ac4869ae999f4e5871f03b4432a6621f120d754ff1df1820f81ccc491598a83e
 
 pkgname = ros-kinetic-gazebo-ros-control
 
diff --git a/PKGBUILD b/PKGBUILD
index da6adbbe2781..a8b352d3aff5 100644
--- a/PKGBUILD
+++ b/PKGBUILD
@@ -4,10 +4,10 @@ pkgdesc="ROS - gazebo_ros_control."
 url='http://ros.org/wiki/gazebo_ros_control'
 
 pkgname='ros-kinetic-gazebo-ros-control'
-pkgver='2.5.13'
-_pkgver_patch=0
+pkgver='2.5.14'
+_pkgver_patch=1
 arch=('any')
-pkgrel=1
+pkgrel=2
 license=('BSD')
 
 ros_makedepends=(ros-kinetic-gazebo-dev
@@ -46,8 +46,15 @@ depends=(${ros_depends[@]})
 
 # Tarball version (faster download)
 _dir="gazebo_ros_pkgs-release-release-kinetic-gazebo_ros_control-${pkgver}-${_pkgver_patch}"
-source=("${pkgname}-${pkgver}-${_pkgver_patch}.tar.gz"::"https://github.com/ros-gbp/gazebo_ros_pkgs-release/archive/release/kinetic/gazebo_ros_control/${pkgver}-${_pkgver_patch}.tar.gz")
-sha256sums=('b21fdb2d458208fc1d6a657b9dcd67f3f7481a469092ae6c403907a2b50ce53d')
+source=("${pkgname}-${pkgver}-${_pkgver_patch}.tar.gz"::"https://github.com/ros-gbp/gazebo_ros_pkgs-release/archive/release/kinetic/gazebo_ros_control/${pkgver}-${_pkgver_patch}.tar.gz"
+  gazebo_9_fixes.patch)
+sha256sums=('d1ab5943f207f602c0f0439964007c7536a04a3cc411c06ac5c6f0e59a67cedc'
+            'ac4869ae999f4e5871f03b4432a6621f120d754ff1df1820f81ccc491598a83e')
+
+prepare() {
+  cd ${srcdir}
+  patch -p1 <gazebo_9_fixes.patch
+}
 
 build() {
   # Use ROS environment variables
diff --git a/gazebo_9_fixes.patch b/gazebo_9_fixes.patch
new file mode 100644
index 000000000000..b1cbf914434a
--- /dev/null
+++ b/gazebo_9_fixes.patch
@@ -0,0 +1,37 @@
+--- sro/gazebo_ros_pkgs-release-release-kinetic-gazebo_ros_control-2.5.14-1/src/default_robot_hw_sim.cpp	2018-03-26 22:10:18.896417813 -0700
++++ src/gazebo_ros_pkgs-release-release-kinetic-gazebo_ros_control-2.5.14-1/src/default_robot_hw_sim.cpp	2018-03-26 22:13:02.172214036 -0700
+@@ -253,12 +253,12 @@
+     // Gazebo has an interesting API...
+     if (joint_types_[j] == urdf::Joint::PRISMATIC)
+     {
+-      joint_position_[j] = sim_joints_[j]->GetAngle(0).Radian();
++      joint_position_[j] = sim_joints_[j]->Position(0);
+     }
+     else
+     {
+       joint_position_[j] += angles::shortest_angular_distance(joint_position_[j],
+-                            sim_joints_[j]->GetAngle(0).Radian());
++                            sim_joints_[j]->Position(0));
+     }
+     joint_velocity_[j] = sim_joints_[j]->GetVelocity(0);
+     joint_effort_[j] = sim_joints_[j]->GetForce((unsigned int)(0));
+--- sro/gazebo_ros_pkgs-release-release-kinetic-gazebo_ros_control-2.5.14-1/src/gazebo_ros_control_plugin.cpp	2018-03-26 22:10:18.897417800 -0700
++++ src/gazebo_ros_pkgs-release-release-kinetic-gazebo_ros_control-2.5.14-1/src/gazebo_ros_control_plugin.cpp	2018-03-26 22:11:30.010458519 -0700
+@@ -111,7 +111,7 @@
+   }
+ 
+   // Get the Gazebo simulation period
+-  ros::Duration gazebo_period(parent_model_->GetWorld()->GetPhysicsEngine()->GetMaxStepSize());
++  ros::Duration gazebo_period(parent_model_->GetWorld()->Physics()->GetMaxStepSize());
+ 
+   // Decide the plugin control period
+   if(sdf_->HasElement("controlPeriod"))
+@@ -202,7 +202,7 @@
+ void GazeboRosControlPlugin::Update()
+ {
+   // Get the simulation time and period
+-  gazebo::common::Time gz_time_now = parent_model_->GetWorld()->GetSimTime();
++  gazebo::common::Time gz_time_now = parent_model_->GetWorld()->SimTime();
+   ros::Time sim_time_ros(gz_time_now.sec, gz_time_now.nsec);
+   ros::Duration sim_period = sim_time_ros - last_update_sim_time_ros_;
+