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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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10
simulation/frc_gazebo_plugins/rangefinder/src/rangefinder.cpp
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@@ -17,8 +17,6 @@
#include <gazebo/sensors/sensors.hh>
#include <gazebo/transport/transport.hh>
#include <boost/pointer_cast.hpp>
GZ_REGISTER_MODEL_PLUGIN(Rangefinder)
Rangefinder::Rangefinder() {}
@@ -29,7 +27,7 @@ void Rangefinder::Load(physics::ModelPtr model, sdf::ElementPtr sdf) {
this->model = model;
// Parse SDF properties
sensor = boost::dynamic_pointer_cast<sensors::SonarSensor>(
sensor = std::dynamic_pointer_cast<sensors::SonarSensor>(
sensors::get_sensor(sdf->Get<std::string>("sensor")));
if (sdf->HasElement("topic")) {
topic = sdf->Get<std::string>("topic");
@@ -37,8 +35,8 @@ void Rangefinder::Load(physics::ModelPtr model, sdf::ElementPtr sdf) {
topic = "~/" + sdf->GetAttribute("name")->GetAsString();
}
gzmsg << "Initializing rangefinder: " << topic
<< " sensor=" << sensor->GetName() << std::endl;
gzmsg << "Initializing rangefinder: " << topic << " sensor=" << sensor->Name()
<< std::endl;
// Connect to Gazebo transport for messaging
std::string scoped_name =
@@ -56,6 +54,6 @@ void Rangefinder::Load(physics::ModelPtr model, sdf::ElementPtr sdf) {
void Rangefinder::Update(const common::UpdateInfo& info) {
msgs::Float64 msg;
msg.set_data(sensor->GetRange());
msg.set_data(sensor->Range());
pub->Publish(msg);
}