diff options
-rw-r--r-- | .SRCINFO | 12 | ||||
-rw-r--r-- | PKGBUILD | 17 | ||||
-rw-r--r-- | gazebo_9_fixes.patch | 37 |
3 files changed, 56 insertions, 10 deletions
@@ -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 @@ -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_; + |