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Update gazebo plugins to Gazebo 9 (#1189)

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Note: This breaks Gazebo 7 support.
This commit is contained in:
Peter Johnson
2018-07-18 20:16:43 -07:00
committed by GitHub
parent 4c527b9b08
commit 4029b5d84d
11 changed files with 22 additions and 24 deletions
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2
simulation/frc_gazebo_plugins/src/clock/cpp/clock.cpp
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@@ -25,7 +25,7 @@ void Clock::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf) {
// Connect to Gazebo transport for messaging
std::string scoped_name =
model->GetWorld()->GetName() + "::" + model->GetScopedName();
model->GetWorld()->Name() + "::" + model->GetScopedName();
boost::replace_all(scoped_name, "::", "/");
node = gazebo::transport::NodePtr(new gazebo::transport::Node());
node->Init(scoped_name);

2
simulation/frc_gazebo_plugins/src/dc_motor/cpp/dc_motor.cpp
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@@ -34,7 +34,7 @@ void DCMotor::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf) {
// Connect to Gazebo transport for messaging
std::string scoped_name =
model->GetWorld()->GetName() + "::" + model->GetScopedName();
model->GetWorld()->Name() + "::" + model->GetScopedName();
boost::replace_all(scoped_name, "::", "/");
node = gazebo::transport::NodePtr(new gazebo::transport::Node());
node->Init(scoped_name);

2
simulation/frc_gazebo_plugins/src/drive_motor/cpp/drive_motor.cpp
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@@ -76,7 +76,7 @@ void DriveMotor::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf) {
// Connect to Gazebo transport for messaging
std::string scoped_name =
model->GetWorld()->GetName() + "::" + model->GetScopedName();
model->GetWorld()->Name() + "::" + model->GetScopedName();
boost::replace_all(scoped_name, "::", "/");
node = gazebo::transport::NodePtr(new gazebo::transport::Node());
node->Init(scoped_name);

6
simulation/frc_gazebo_plugins/src/encoder/cpp/encoder.cpp
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@@ -40,7 +40,7 @@ void Encoder::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf) {
// Connect to Gazebo transport for messaging
std::string scoped_name =
model->GetWorld()->GetName() + "::" + model->GetScopedName();
model->GetWorld()->Name() + "::" + model->GetScopedName();
boost::replace_all(scoped_name, "::", "/");
node = gazebo::transport::NodePtr(new gazebo::transport::Node());
node->Init(scoped_name);
@@ -87,9 +87,9 @@ void Encoder::Callback(const gazebo::msgs::ConstStringPtr& msg) {
double Encoder::GetAngle() {
if (radians) {
return joint->GetAngle(0).Radian();
return joint->Position(0);
} else {
return joint->GetAngle(0).Degree();
return joint->Position(0) * (180.0 / M_PI);
}
}

10
simulation/frc_gazebo_plugins/src/gyro/cpp/gyro.cpp
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@@ -39,7 +39,7 @@ void Gyro::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf) {
// Connect to Gazebo transport for messaging
std::string scoped_name =
model->GetWorld()->GetName() + "::" + model->GetScopedName();
model->GetWorld()->Name() + "::" + model->GetScopedName();
boost::replace_all(scoped_name, "::", "/");
node = gazebo::transport::NodePtr(new gazebo::transport::Node());
node->Init(scoped_name);
@@ -73,17 +73,17 @@ void Gyro::Callback(const gazebo::msgs::ConstStringPtr& msg) {
double Gyro::GetAngle() {
if (radians) {
return link->GetWorldCoGPose().rot.GetAsEuler()[axis];
return link->WorldCoGPose().Rot().Euler()[axis];
} else {
return link->GetWorldCoGPose().rot.GetAsEuler()[axis] * (180.0 / M_PI);
return link->WorldCoGPose().Rot().Euler()[axis] * (180.0 / M_PI);
}
}
double Gyro::GetVelocity() {
if (radians) {
return link->GetRelativeAngularVel()[axis];
return link->RelativeAngularVel()[axis];
} else {
return link->GetRelativeAngularVel()[axis] * (180.0 / M_PI);
return link->RelativeAngularVel()[axis] * (180.0 / M_PI);
}
}

5
simulation/frc_gazebo_plugins/src/limit_switch/cpp/internal_limit_switch.cpp
View File

@@ -28,11 +28,10 @@ InternalLimitSwitch::InternalLimitSwitch(gazebo::physics::ModelPtr model,
bool InternalLimitSwitch::Get() {
double value;
joint->GetAngle(0).Normalize();
if (radians) {
value = joint->GetAngle(0).Radian();
value = joint->Position(0);
} else {
value = joint->GetAngle(0).Degree();
value = joint->Position(0) * (180.0 / M_PI);
}
return value >= min && value <= max;
}

2
simulation/frc_gazebo_plugins/src/limit_switch/cpp/limit_switch.cpp
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@@ -35,7 +35,7 @@ void LimitSwitch::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf) {
// Connect to Gazebo transport for messaging
std::string scoped_name =
model->GetWorld()->GetName() + "::" + model->GetScopedName();
model->GetWorld()->Name() + "::" + model->GetScopedName();
boost::replace_all(scoped_name, "::", "/");
node = gazebo::transport::NodePtr(new gazebo::transport::Node());
node->Init(scoped_name);

2
simulation/frc_gazebo_plugins/src/pneumatic_piston/cpp/pneumatic_piston.cpp
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@@ -56,7 +56,7 @@ void PneumaticPiston::Load(gazebo::physics::ModelPtr model,
// Connect to Gazebo transport for messaging
std::string scoped_name =
model->GetWorld()->GetName() + "::" + model->GetScopedName();
model->GetWorld()->Name() + "::" + model->GetScopedName();
boost::replace_all(scoped_name, "::", "/");
node = gazebo::transport::NodePtr(new gazebo::transport::Node());
node->Init(scoped_name);

7
simulation/frc_gazebo_plugins/src/potentiometer/cpp/potentiometer.cpp
View File

@@ -46,7 +46,7 @@ void Potentiometer::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf) {
// Connect to Gazebo transport for messaging
std::string scoped_name =
model->GetWorld()->GetName() + "::" + model->GetScopedName();
model->GetWorld()->Name() + "::" + model->GetScopedName();
boost::replace_all(scoped_name, "::", "/");
node = gazebo::transport::NodePtr(new gazebo::transport::Node());
node->Init(scoped_name);
@@ -59,12 +59,11 @@ void Potentiometer::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf) {
}
void Potentiometer::Update(const gazebo::common::UpdateInfo& info) {
joint->GetAngle(0).Normalize();
gazebo::msgs::Float64 msg;
if (radians) {
msg.set_data(joint->GetAngle(0).Radian() * multiplier);
msg.set_data(joint->Position(0) * multiplier);
} else {
msg.set_data(joint->GetAngle(0).Degree() * multiplier);
msg.set_data(joint->Position(0) * (180.0 / M_PI) * multiplier);
}
pub->Publish(msg);
}

2
simulation/frc_gazebo_plugins/src/rangefinder/cpp/rangefinder.cpp
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@@ -37,7 +37,7 @@ void Rangefinder::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf) {
// Connect to Gazebo transport for messaging
std::string scoped_name =
model->GetWorld()->GetName() + "::" + model->GetScopedName();
model->GetWorld()->Name() + "::" + model->GetScopedName();
boost::replace_all(scoped_name, "::", "/");
node = gazebo::transport::NodePtr(new gazebo::transport::Node());
node->Init(scoped_name);

6
simulation/frc_gazebo_plugins/src/servo/cpp/servo.cpp
View File

@@ -42,7 +42,7 @@ void Servo::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf) {
// Connect to Gazebo transport for messaging
std::string scoped_name =
model->GetWorld()->GetName() + "::" + model->GetScopedName();
model->GetWorld()->Name() + "::" + model->GetScopedName();
boost::replace_all(scoped_name, "::", "/");
node = gazebo::transport::NodePtr(new gazebo::transport::Node());
node->Init(scoped_name);
@@ -57,9 +57,9 @@ void Servo::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf) {
void Servo::Update(const gazebo::common::UpdateInfo& info) {
// torque is in kg*cm
// joint->SetAngle(0,signal*180);
if (joint->GetAngle(0) < signal) {
if (joint->Position(0) < signal) {
joint->SetForce(0, torque);
} else if (joint->GetAngle(0) > signal) {
} else if (joint->Position(0) > signal) {
joint->SetForce(0, torque);
}
joint->SetForce(0, 0);