Added ifdef to publish the data with bigger version than Gazebo 9.14 …

…and Gazebo 11.1 Signed-off-by: ahcorde <ahcorde@gmail.com>
ros-simulation · Aug 28, 2020 · 6787a96 · 6787a96
1 parent ee5430e
commit 6787a96
Show file tree

Hide file tree

Showing 2 changed files with 8 additions and 3 deletions.
diff --git a/gazebo_ros/include/gazebo_ros/gazebo_ros_api_plugin.h b/gazebo_ros/include/gazebo_ros/gazebo_ros_api_plugin.h
@@ -292,9 +292,10 @@ class GazeboRosApiPlugin : public SystemPlugin
   /// \brief Unused
   void onResponse(ConstResponsePtr &response);
 
+#if (GAZEBO_MAJOR_VERSION == 11 && GAZEBO_MINOR_VERSION > 1) || (GAZEBO_MAJOR_VERSION == 9 && GAZEBO_MINOR_VERSION > 14)
   /// \brief Subscriber callback for performance metrics. This will be send in the ROS network
   void onPerformanceMetrics(const boost::shared_ptr<gazebo::msgs::PerformanceMetrics const> &msg);
-
+#endif
   /// \brief utility for checking if string is in URDF format
   bool isURDF(std::string model_xml);
 

diff --git a/gazebo_ros/src/gazebo_ros_api_plugin.cpp b/gazebo_ros/src/gazebo_ros_api_plugin.cpp
@@ -193,9 +193,10 @@ void GazeboRosApiPlugin::loadGazeboRosApiPlugin(std::string world_name)
   light_modify_pub_ = gazebonode_->Advertise<gazebo::msgs::Light>("~/light/modify");
   request_pub_ = gazebonode_->Advertise<gazebo::msgs::Request>("~/request");
   response_sub_ = gazebonode_->Subscribe("~/response",&GazeboRosApiPlugin::onResponse, this);
+#if (GAZEBO_MAJOR_VERSION == 11 && GAZEBO_MINOR_VERSION > 1) || (GAZEBO_MAJOR_VERSION == 9 && GAZEBO_MINOR_VERSION > 14)
   performance_metric_sub_ = gazebonode_->Subscribe("/gazebo/performance_metrics",
     &GazeboRosApiPlugin::onPerformanceMetrics, this);
-
+#endif
   // reset topic connection counts
   pub_link_states_connection_count_ = 0;
   pub_model_states_connection_count_ = 0;
@@ -227,7 +228,7 @@ void GazeboRosApiPlugin::onResponse(ConstResponsePtr &response)
 {
 
 }
-
+#if (GAZEBO_MAJOR_VERSION == 11 && GAZEBO_MINOR_VERSION > 1) || (GAZEBO_MAJOR_VERSION == 9 && GAZEBO_MINOR_VERSION > 14)
 void GazeboRosApiPlugin::onPerformanceMetrics(const boost::shared_ptr<gazebo::msgs::PerformanceMetrics const> &msg)
 {
   gazebo_msgs::PerformanceMetrics msg_ros;
@@ -253,6 +254,7 @@ void GazeboRosApiPlugin::onPerformanceMetrics(const boost::shared_ptr<gazebo::ms
 
   pub_performance_metrics_.publish(msg_ros);
 }
+#endif
 
 void GazeboRosApiPlugin::gazeboQueueThread()
 {
@@ -409,8 +411,10 @@ void GazeboRosApiPlugin::advertiseServices()
                                                             ros::VoidPtr(), &gazebo_queue_);
   pub_model_states_ = nh_->advertise(pub_model_states_ao);
 
+#if (GAZEBO_MAJOR_VERSION == 11 && GAZEBO_MINOR_VERSION > 1) || (GAZEBO_MAJOR_VERSION == 9 && GAZEBO_MINOR_VERSION > 14)
   // publish performance metrics
   pub_performance_metrics_ = nh_->advertise<gazebo_msgs::PerformanceMetrics>("performance_metrics", 10);
+#endif
 
   // Advertise more services on the custom queue
   std::string set_link_properties_service_name("set_link_properties");