diff options
Diffstat (limited to 'gazebo_9_fixes.patch')
| -rw-r--r-- | gazebo_9_fixes.patch | 37 |
1 files changed, 37 insertions, 0 deletions
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_; + |