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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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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);
}
}