diff options
Diffstat (limited to 'gazebo7.patch')
| -rw-r--r-- | gazebo7.patch | 292 |
1 files changed, 0 insertions, 292 deletions
diff --git a/gazebo7.patch b/gazebo7.patch deleted file mode 100644 index bff56e54a149..000000000000 --- a/gazebo7.patch +++ /dev/null @@ -1,292 +0,0 @@ -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"); |