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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/servo/cpp/servo.cpp
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@@ -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);