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Fix #612 for Gazebo9 #688

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merged 2 commits into from
Mar 17, 2018
Merged

Fix #612 for Gazebo9 #688

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9b15c68
Fix #612 for Gazebo9
mintar Mar 16, 2018
ffa38f9
remove old ifdef
scpeters Mar 17, 2018
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5 changes: 5 additions & 0 deletions gazebo_plugins/src/gazebo_ros_joint_pose_trajectory.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -384,8 +384,13 @@ void GazeboRosJointPoseTrajectory::UpdateStates()
// this is not the most efficient way to set things
if (this->joints_[i])
{
#if GAZEBO_MAJOR_VERSION >= 9
this->joints_[i]->SetPosition(0,
this->points_[this->trajectory_index].positions[i], true);
#else
this->joints_[i]->SetPosition(0,
this->points_[this->trajectory_index].positions[i]);
#endif
}
}

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5 changes: 5 additions & 0 deletions gazebo_plugins/src/gazebo_ros_joint_trajectory.cpp
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Expand Up @@ -386,8 +386,13 @@ void GazeboRosJointTrajectory::UpdateStates()
// this is not the most efficient way to set things
if (this->joints_[i])
{
#if GAZEBO_MAJOR_VERSION >= 9
this->joints_[i]->SetPosition(0,
this->points_[this->trajectory_index].positions[i], true);
#else
this->joints_[i]->SetPosition(0,
this->points_[this->trajectory_index].positions[i]);
#endif
}
}

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4 changes: 4 additions & 0 deletions gazebo_plugins/src/gazebo_ros_tricycle_drive.cpp
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Expand Up @@ -317,7 +317,11 @@ void GazeboRosTricycleDrive::motorController ( double target_speed, double targe
{
applied_angle = target_angle;
}
#if GAZEBO_MAJOR_VERSION >= 9
joint_steering_->SetPosition(0, applied_angle, true);
#else
joint_steering_->SetPosition(0, applied_angle);
#endif
}
//ROS_INFO_NAMED("tricycle_drive", "target: [%3.2f, %3.2f], current: [%3.2f, %3.2f], applied: [%3.2f, %3.2f/%3.2f] ",
// target_speed, target_angle, current_speed, current_angle, applied_speed, applied_angle, applied_steering_speed );
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6 changes: 3 additions & 3 deletions gazebo_ros_control/src/default_robot_hw_sim.cpp
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Expand Up @@ -306,10 +306,10 @@ void DefaultRobotHWSim::writeSim(ros::Time time, ros::Duration period)
break;

case POSITION:
#if GAZEBO_MAJOR_VERSION >= 4
sim_joints_[j]->SetPosition(0, joint_position_command_[j]);
#if GAZEBO_MAJOR_VERSION >= 9
sim_joints_[j]->SetPosition(0, joint_position_command_[j], true);
#else
sim_joints_[j]->SetAngle(0, joint_position_command_[j]);
sim_joints_[j]->SetPosition(0, joint_position_command_[j]);
#endif
break;

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