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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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7
simulation/frc_gazebo_plugins/src/potentiometer/cpp/potentiometer.cpp
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@@ -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);
}