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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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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);
}
}