dev-ros/gazebo_ros_control: remove old

Package-Manager: portage-2.3.0

1 files changed, 0 insertions, 61 deletions

diff --git a/dev-ros/gazebo_ros_control/files/gazebo7.patch b/dev-ros/gazebo_ros_control/files/gazebo7.patch
deleted file mode 100644
index 190756daa747..000000000000
--- a/dev-ros/gazebo_ros_control/files/gazebo7.patch
+++ /dev/null
@@ -1,61 +0,0 @@
-commit b5303e692bb5dd2e4f4fc7932c7ec2c7e0b2e907
-Author: Steven Peters <scpeters@osrfoundation.org>
-Date:   Tue Apr 14 18:10:36 2015 -0700
-
-    Use Joint::SetParam for joint velocity motors
-    
-    Before gazebo5, Joint::SetVelocity and SetMaxForce
-    were used to set joint velocity motors.
-    The API has changed in gazebo5, to use Joint::SetParam
-    instead.
-    The functionality is still available through the SetParam API.
-    
-    cherry-picked from indigo-devel
-    
-    Add ifdefs to fix build with gazebo2
-    
-    It was broken by #315.
-    Fixes #321.
-
-diff --git a/gazebo_ros_control/src/default_robot_hw_sim.cpp b/gazebo_ros_control/src/default_robot_hw_sim.cpp
-index 249c8d3..1d9418d 100644
---- a/gazebo_ros_control/src/default_robot_hw_sim.cpp
-+++ b/gazebo_ros_control/src/default_robot_hw_sim.cpp
-@@ -199,7 +199,7 @@ bool DefaultRobotHWSim::initSim(
-     if (joint_control_methods_[j] != EFFORT)
-     {
-       // Initialize the PID controller. If no PID gain values are found, use joint->SetAngle() or
--      // joint->SetVelocity() to control the joint.
-+      // joint->SetParam("vel") to control the joint.
-       const ros::NodeHandle nh(model_nh, "/gazebo_ros_control/pid_gains/" +
-                                joint_names_[j]);
-       if (pid_controllers_[j].init(nh, true))
-@@ -216,10 +216,14 @@ bool DefaultRobotHWSim::initSim(
-       }
-       else
-       {
--        // joint->SetMaxForce() must be called if joint->SetAngle() or joint->SetVelocity() are
--        // going to be called. joint->SetMaxForce() must *not* be called if joint->SetForce() is
-+        // joint->SetParam("fmax") must be called if joint->SetAngle() or joint->SetParam("vel") are
-+        // going to be called. joint->SetParam("fmax") must *not* be called if joint->SetForce() is
-         // going to be called.
-+#if GAZEBO_MAJOR_VERSION > 2
-+        joint->SetParam("fmax", 0, joint_effort_limits_[j]);
-+#else
-         joint->SetMaxForce(0, joint_effort_limits_[j]);
-+#endif
-       }
-     }
-   }
-@@ -327,7 +331,11 @@ void DefaultRobotHWSim::writeSim(ros::Time time, ros::Duration period)
-         break;
- 
-       case VELOCITY:
-+#if GAZEBO_MAJOR_VERSION > 2
-+        sim_joints_[j]->SetParam("vel", 0, e_stop_active_ ? 0 : joint_velocity_command_[j]);
-+#else
-         sim_joints_[j]->SetVelocity(0, e_stop_active_ ? 0 : joint_velocity_command_[j]);
-+#endif
-         break;
- 
-       case VELOCITY_PID: