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Cleanup of gazebo plugins (#46)

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* Upgraded plugins for gazebo 7
* Fixed documentation on sensors
This commit is contained in:
Peter Mitrano
2016-05-24 23:27:24 -04:00
committed by Peter Johnson
parent 6d9b3b0aaa
commit e3eae023da
13 changed files with 21 additions and 22 deletions
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6
simulation/frc_gazebo_plugins/limit_switch/src/external_limit_switch.cpp
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@@ -8,15 +8,15 @@
#include "external_limit_switch.h"
ExternalLimitSwitch::ExternalLimitSwitch(sdf::ElementPtr sdf) {
sensor = boost::dynamic_pointer_cast<sensors::ContactSensor>(
sensor = std::dynamic_pointer_cast<sensors::ContactSensor>(
sensors::get_sensor(sdf->Get<std::string>("sensor")));
gzmsg << "\texternal limit switch: "
<< " sensor=" << sensor->GetName() << std::endl;
<< " sensor=" << sensor->Name() << std::endl;
}
ExternalLimitSwitch::~ExternalLimitSwitch() {}
bool ExternalLimitSwitch::Get() {
return sensor->GetContacts().contact().size() > 0;
return sensor->Contacts().contact().size() > 0;
}

4
simulation/frc_gazebo_plugins/limit_switch/src/limit_switch.h
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@@ -36,7 +36,7 @@ using namespace gazebo;
*
* Internal:
*
* <plugin name="my_limit_switch" filename="libgz_limit_switch.so">
* <plugin name="my_limit_switch" filename="liblimit_switch.so">
* <topic>~/my/topic</topic>
* <type>internal</type>
* <joint>Joint Name</joint>
@@ -47,7 +47,7 @@ using namespace gazebo;
*
* External:
*
* <plugin name="my_limit_switch" filename="libgz_limit_switch.so">
* <plugin name="my_limit_switch" filename="liblimit_switch.so">
* <topic>~/my/topic</topic>
* <type>external</type>
* <sensor>Sensor Name</sensor>