From c1d3b78f6fd826f60503603d15c92c289cdd799c Mon Sep 17 00:00:00 2001 From: Alexis Ballier Date: Thu, 28 Jan 2016 21:25:34 +0100 Subject: dev-ros/gazebo_plugins: backport upstream fixes to build with gazebo7 Package-Manager: portage-2.2.27 Signed-off-by: Alexis Ballier --- dev-ros/gazebo_plugins/files/gazebo6.patch | 44 ++++++ dev-ros/gazebo_plugins/files/gazebo7-2.patch | 22 +++ dev-ros/gazebo_plugins/files/gazebo7-3.patch | 30 ++++ dev-ros/gazebo_plugins/files/gazebo7-4.patch | 21 +++ dev-ros/gazebo_plugins/files/gazebo7-5.patch | 146 +++++++++++++++++ dev-ros/gazebo_plugins/files/gazebo7.patch | 176 +++++++++++++++++++++ dev-ros/gazebo_plugins/gazebo_plugins-2.5.1.ebuild | 10 +- dev-ros/gazebo_plugins/gazebo_plugins-9999.ebuild | 2 +- 8 files changed, 449 insertions(+), 2 deletions(-) create mode 100644 dev-ros/gazebo_plugins/files/gazebo6.patch create mode 100644 dev-ros/gazebo_plugins/files/gazebo7-2.patch create mode 100644 dev-ros/gazebo_plugins/files/gazebo7-3.patch create mode 100644 dev-ros/gazebo_plugins/files/gazebo7-4.patch create mode 100644 dev-ros/gazebo_plugins/files/gazebo7-5.patch create mode 100644 dev-ros/gazebo_plugins/files/gazebo7.patch (limited to 'dev-ros') diff --git a/dev-ros/gazebo_plugins/files/gazebo6.patch b/dev-ros/gazebo_plugins/files/gazebo6.patch new file mode 100644 index 000000000000..43dd2d796d5b --- /dev/null +++ b/dev-ros/gazebo_plugins/files/gazebo6.patch @@ -0,0 +1,44 @@ +commit 04855dc0fd2d82d6fe72c0b54ae66a5f86c5ceb4 +Author: Steven Peters +Date: Tue Jan 12 17:36:06 2016 -0800 + + Fix gazebo6 deprecation warnings + + Several RaySensor functions are deprecated in gazebo6 + and are removed in gazebo7. + The return type is changed to use ignition math + and the function name is changed. + This adds ifdef's to handle the changes. + +diff --git a/gazebo_plugins/src/gazebo_ros_block_laser.cpp b/gazebo_plugins/src/gazebo_ros_block_laser.cpp +index d8f40bc..76e0206 100644 +--- a/gazebo_plugins/src/gazebo_ros_block_laser.cpp ++++ b/gazebo_plugins/src/gazebo_ros_block_laser.cpp +@@ -230,8 +230,13 @@ void GazeboRosBlockLaser::PutLaserData(common::Time &_updateTime) + + this->parent_ray_sensor_->SetActive(false); + ++#if GAZEBO_MAJOR_VERSION >= 6 ++ auto maxAngle = this->parent_ray_sensor_->AngleMax(); ++ auto minAngle = this->parent_ray_sensor_->AngleMin(); ++#else + math::Angle maxAngle = this->parent_ray_sensor_->GetAngleMax(); + math::Angle minAngle = this->parent_ray_sensor_->GetAngleMin(); ++#endif + + double maxRange = this->parent_ray_sensor_->GetRangeMax(); + double minRange = this->parent_ray_sensor_->GetRangeMin(); +@@ -240,8 +245,13 @@ void GazeboRosBlockLaser::PutLaserData(common::Time &_updateTime) + + int verticalRayCount = this->parent_ray_sensor_->GetVerticalRayCount(); + int verticalRangeCount = this->parent_ray_sensor_->GetVerticalRangeCount(); ++#if GAZEBO_MAJOR_VERSION >= 6 ++ auto verticalMaxAngle = this->parent_ray_sensor_->VerticalAngleMax(); ++ auto verticalMinAngle = this->parent_ray_sensor_->VerticalAngleMin(); ++#else + math::Angle verticalMaxAngle = this->parent_ray_sensor_->GetVerticalAngleMax(); + math::Angle verticalMinAngle = this->parent_ray_sensor_->GetVerticalAngleMin(); ++#endif + + double yDiff = maxAngle.Radian() - minAngle.Radian(); + double pDiff = verticalMaxAngle.Radian() - verticalMinAngle.Radian(); diff --git a/dev-ros/gazebo_plugins/files/gazebo7-2.patch b/dev-ros/gazebo_plugins/files/gazebo7-2.patch new file mode 100644 index 000000000000..09af84e03496 --- /dev/null +++ b/dev-ros/gazebo_plugins/files/gazebo7-2.patch @@ -0,0 +1,22 @@ +commit a27311b3b37a661aadb9815346d26e2970441bef +Author: Steven Peters +Date: Wed Jan 13 11:29:32 2016 -0800 + + Add missing boost header + + Some boost headers were remove from gazebo7 header files + and gazebo_ros_joint_state_publisher.cpp was using it + implicitly. + +diff --git a/gazebo_plugins/src/gazebo_ros_joint_state_publisher.cpp b/gazebo_plugins/src/gazebo_ros_joint_state_publisher.cpp +index 6c1ede1..d78b3d8 100644 +--- a/gazebo_plugins/src/gazebo_ros_joint_state_publisher.cpp ++++ b/gazebo_plugins/src/gazebo_ros_joint_state_publisher.cpp +@@ -25,6 +25,7 @@ + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + **/ ++#include + #include + #include + #include diff --git a/dev-ros/gazebo_plugins/files/gazebo7-3.patch b/dev-ros/gazebo_plugins/files/gazebo7-3.patch new file mode 100644 index 000000000000..895033d01d47 --- /dev/null +++ b/dev-ros/gazebo_plugins/files/gazebo7-3.patch @@ -0,0 +1,30 @@ +commit ce0ab101b272c4933f31945e2edaf215c4342772 +Author: Steven Peters +Date: Wed Jan 13 11:30:57 2016 -0800 + + Fix compiler error with SetHFOV + + In gazebo7, the rendering::Camera::SetHFOV function + is overloaded with a potential for ambiguity, + as reported in the following issue: + https://bitbucket.org/osrf/gazebo/issues/1830 + This fixes the build by explicitly defining the + Angle type. + +diff --git a/gazebo_plugins/src/gazebo_ros_camera_utils.cpp b/gazebo_plugins/src/gazebo_ros_camera_utils.cpp +index 2129b65..4574e8d 100644 +--- a/gazebo_plugins/src/gazebo_ros_camera_utils.cpp ++++ b/gazebo_plugins/src/gazebo_ros_camera_utils.cpp +@@ -360,7 +360,11 @@ void GazeboRosCameraUtils::LoadThread() + // Set Horizontal Field of View + void GazeboRosCameraUtils::SetHFOV(const std_msgs::Float64::ConstPtr& hfov) + { +- this->camera_->SetHFOV(hfov->data); ++#if GAZEBO_MAJOR_VERSION >= 7 ++ this->camera_->SetHFOV(ignition::math::Angle(hfov->data)); ++#else ++ this->camera_->SetHFOV(gazebo::math::Angle(hfov->data)); ++#endif + } + + //////////////////////////////////////////////////////////////////////////////// diff --git a/dev-ros/gazebo_plugins/files/gazebo7-4.patch b/dev-ros/gazebo_plugins/files/gazebo7-4.patch new file mode 100644 index 000000000000..0dab70d16b83 --- /dev/null +++ b/dev-ros/gazebo_plugins/files/gazebo7-4.patch @@ -0,0 +1,21 @@ +commit d7580215c9e39eddc33196b32b05219fcea707fd +Author: Steven Peters +Date: Fri Jan 15 16:29:37 2016 -0800 + + gazebo_ros_utils.h: include gazebo_config.h + + Make sure to include gazebo_config.h, + which defines the GAZEBO_MAJOR_VERSION macro + +diff --git a/gazebo_plugins/include/gazebo_plugins/gazebo_ros_utils.h b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_utils.h +index 6cdc4a8..6b016b8 100644 +--- a/gazebo_plugins/include/gazebo_plugins/gazebo_ros_utils.h ++++ b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_utils.h +@@ -39,6 +39,7 @@ + #include + #include + #include ++#include + #include + + #ifndef GAZEBO_SENSORS_USING_DYNAMIC_POINTER_CAST diff --git a/dev-ros/gazebo_plugins/files/gazebo7-5.patch b/dev-ros/gazebo_plugins/files/gazebo7-5.patch new file mode 100644 index 000000000000..d83fdc29c0d1 --- /dev/null +++ b/dev-ros/gazebo_plugins/files/gazebo7-5.patch @@ -0,0 +1,146 @@ +commit 19f5f19f48def0a2c5808a7266151eb8e06d7b63 +Author: Steven Peters +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. + +diff --git a/gazebo_plugins/src/gazebo_ros_diff_drive.cpp b/gazebo_plugins/src/gazebo_ros_diff_drive.cpp +index 004fb90..68265a8 100644 +--- a/gazebo_plugins/src/gazebo_ros_diff_drive.cpp ++++ b/gazebo_plugins/src/gazebo_ros_diff_drive.cpp +@@ -100,8 +100,8 @@ void GazeboRosDiffDrive::Load ( physics::ModelPtr _parent, sdf::ElementPtr _sdf + joints_.resize ( 2 ); + joints_[LEFT] = gazebo_ros_->getJoint ( parent, "leftJoint", "left_joint" ); + joints_[RIGHT] = gazebo_ros_->getJoint ( parent, "rightJoint", "right_joint" ); +- joints_[LEFT]->SetMaxForce ( 0, wheel_torque ); +- joints_[RIGHT]->SetMaxForce ( 0, wheel_torque ); ++ joints_[LEFT]->SetParam ( "fmax", 0, wheel_torque ); ++ joints_[RIGHT]->SetParam ( "fmax", 0, wheel_torque ); + + + +@@ -170,8 +170,8 @@ void GazeboRosDiffDrive::Reset() + pose_encoder_.theta = 0; + x_ = 0; + rot_ = 0; +- joints_[LEFT]->SetMaxForce ( 0, wheel_torque ); +- joints_[RIGHT]->SetMaxForce ( 0, wheel_torque ); ++ joints_[LEFT]->SetParam ( "fmax", 0, wheel_torque ); ++ joints_[RIGHT]->SetParam ( "fmax", 0, wheel_torque ); + } + + void GazeboRosDiffDrive::publishWheelJointState() +@@ -214,15 +214,15 @@ void GazeboRosDiffDrive::publishWheelTF() + void GazeboRosDiffDrive::UpdateChild() + { + +- /* force reset SetMaxForce since Joint::Reset reset MaxForce to zero at ++ /* force reset SetParam("fmax") since Joint::Reset reset MaxForce to zero at + https://bitbucket.org/osrf/gazebo/src/8091da8b3c529a362f39b042095e12c94656a5d1/gazebo/physics/Joint.cc?at=gazebo2_2.2.5#cl-331 + (this has been solved in https://bitbucket.org/osrf/gazebo/diff/gazebo/physics/Joint.cc?diff2=b64ff1b7b6ff&at=issue_964 ) + and Joint::Reset is called after ModelPlugin::Reset, so we need to set maxForce to wheel_torque other than GazeboRosDiffDrive::Reset + (this seems to be solved in https://bitbucket.org/osrf/gazebo/commits/ec8801d8683160eccae22c74bf865d59fac81f1e) + */ + for ( int i = 0; i < 2; i++ ) { +- if ( fabs(wheel_torque -joints_[i]->GetMaxForce ( 0 )) > 1e-6 ) { +- joints_[i]->SetMaxForce ( 0, wheel_torque ); ++ if ( fabs(wheel_torque -joints_[i]->GetParam ( "fmax", 0 )) > 1e-6 ) { ++ joints_[i]->SetParam ( "fmax", 0, wheel_torque ); + } + } + +@@ -248,8 +248,8 @@ void GazeboRosDiffDrive::UpdateChild() + ( fabs ( wheel_speed_[LEFT] - current_speed[LEFT] ) < 0.01 ) || + ( fabs ( wheel_speed_[RIGHT] - current_speed[RIGHT] ) < 0.01 ) ) { + //if max_accel == 0, or target speed is reached +- joints_[LEFT]->SetVelocity ( 0, wheel_speed_[LEFT]/ ( wheel_diameter_ / 2.0 ) ); +- joints_[RIGHT]->SetVelocity ( 0, wheel_speed_[RIGHT]/ ( wheel_diameter_ / 2.0 ) ); ++ joints_[LEFT]->SetParam ( "vel", 0, wheel_speed_[LEFT]/ ( wheel_diameter_ / 2.0 ) ); ++ joints_[RIGHT]->SetParam ( "vel", 0, wheel_speed_[RIGHT]/ ( wheel_diameter_ / 2.0 ) ); + } else { + if ( wheel_speed_[LEFT]>=current_speed[LEFT] ) + wheel_speed_instr_[LEFT]+=fmin ( wheel_speed_[LEFT]-current_speed[LEFT], wheel_accel * seconds_since_last_update ); +@@ -264,8 +264,8 @@ void GazeboRosDiffDrive::UpdateChild() + // ROS_INFO("actual wheel speed = %lf, issued wheel speed= %lf", current_speed[LEFT], wheel_speed_[LEFT]); + // ROS_INFO("actual wheel speed = %lf, issued wheel speed= %lf", current_speed[RIGHT],wheel_speed_[RIGHT]); + +- joints_[LEFT]->SetVelocity ( 0,wheel_speed_instr_[LEFT] / ( wheel_diameter_ / 2.0 ) ); +- joints_[RIGHT]->SetVelocity ( 0,wheel_speed_instr_[RIGHT] / ( wheel_diameter_ / 2.0 ) ); ++ joints_[LEFT]->SetParam ( "vel", 0, wheel_speed_instr_[LEFT] / ( wheel_diameter_ / 2.0 ) ); ++ joints_[RIGHT]->SetParam ( "vel", 0, wheel_speed_instr_[RIGHT] / ( wheel_diameter_ / 2.0 ) ); + } + last_update_time_+= common::Time ( update_period_ ); + } +diff --git a/gazebo_plugins/src/gazebo_ros_skid_steer_drive.cpp b/gazebo_plugins/src/gazebo_ros_skid_steer_drive.cpp +index fdaf61f..a24aba5 100644 +--- a/gazebo_plugins/src/gazebo_ros_skid_steer_drive.cpp ++++ b/gazebo_plugins/src/gazebo_ros_skid_steer_drive.cpp +@@ -256,10 +256,10 @@ namespace gazebo { + gzthrow(error); + } + +- joints[LEFT_FRONT]->SetMaxForce(0, torque); +- joints[RIGHT_FRONT]->SetMaxForce(0, torque); +- joints[LEFT_REAR]->SetMaxForce(0, torque); +- joints[RIGHT_REAR]->SetMaxForce(0, torque); ++ joints[LEFT_FRONT]->SetParam("fmax", 0, torque); ++ joints[RIGHT_FRONT]->SetParam("fmax", 0, torque); ++ joints[LEFT_REAR]->SetParam("fmax", 0, torque); ++ joints[RIGHT_REAR]->SetParam("fmax", 0, torque); + + // Make sure the ROS node for Gazebo has already been initialized + if (!ros::isInitialized()) +@@ -308,10 +308,10 @@ namespace gazebo { + + // Update robot in case new velocities have been requested + getWheelVelocities(); +- joints[LEFT_FRONT]->SetVelocity(0, wheel_speed_[LEFT_FRONT] / (wheel_diameter_ / 2.0)); +- joints[RIGHT_FRONT]->SetVelocity(0, wheel_speed_[RIGHT_FRONT] / (wheel_diameter_ / 2.0)); +- joints[LEFT_REAR]->SetVelocity(0, wheel_speed_[LEFT_REAR] / (wheel_diameter_ / 2.0)); +- joints[RIGHT_REAR]->SetVelocity(0, wheel_speed_[RIGHT_REAR] / (wheel_diameter_ / 2.0)); ++ joints[LEFT_FRONT]->SetParam("vel", 0, wheel_speed_[LEFT_FRONT] / (wheel_diameter_ / 2.0)); ++ joints[RIGHT_FRONT]->SetParam("vel", 0, wheel_speed_[RIGHT_FRONT] / (wheel_diameter_ / 2.0)); ++ joints[LEFT_REAR]->SetParam("vel", 0, wheel_speed_[LEFT_REAR] / (wheel_diameter_ / 2.0)); ++ joints[RIGHT_REAR]->SetParam("vel", 0, wheel_speed_[RIGHT_REAR] / (wheel_diameter_ / 2.0)); + + last_update_time_+= common::Time(update_period_); + +diff --git a/gazebo_plugins/src/gazebo_ros_tricycle_drive.cpp b/gazebo_plugins/src/gazebo_ros_tricycle_drive.cpp +index 97c5ebb..0e83d2a 100644 +--- a/gazebo_plugins/src/gazebo_ros_tricycle_drive.cpp ++++ b/gazebo_plugins/src/gazebo_ros_tricycle_drive.cpp +@@ -108,8 +108,8 @@ void GazeboRosTricycleDrive::Load ( physics::ModelPtr _parent, sdf::ElementPtr _ + odomOptions["world"] = WORLD; + gazebo_ros_->getParameter ( odom_source_, "odometrySource", odomOptions, WORLD ); + +- joint_wheel_actuated_->SetMaxForce ( 0, wheel_torque_ ); +- joint_steering_->SetMaxForce ( 0, wheel_torque_ ); ++ joint_wheel_actuated_->SetParam ( "fmax", 0, wheel_torque_ ); ++ joint_steering_->SetParam ( "fmax", 0, wheel_torque_ ); + + + // Initialize update rate stuff +@@ -235,7 +235,7 @@ void GazeboRosTricycleDrive::motorController ( double target_speed, double targe + applied_speed = current_speed - wheel_deceleration_ * dt; + } + } +- joint_wheel_actuated_->SetVelocity ( 0, applied_speed ); ++ joint_wheel_actuated_->SetParam ( "vel", 0, applied_speed ); + + double current_angle = joint_steering_->GetAngle ( 0 ).Radian(); + if(target_angle > +M_PI / 2.0) target_angle = +M_PI / 2.0; +@@ -249,7 +249,7 @@ void GazeboRosTricycleDrive::motorController ( double target_speed, double targe + } else { + applied_steering_speed = -steering_speed_; + } +- joint_steering_->SetVelocity ( 0, applied_steering_speed ); ++ joint_steering_->SetParam ( "vel", 0, applied_steering_speed ); + }else { + #if GAZEBO_MAJOR_VERSION >= 4 + joint_steering_->SetPosition ( 0, applied_angle ); diff --git a/dev-ros/gazebo_plugins/files/gazebo7.patch b/dev-ros/gazebo_plugins/files/gazebo7.patch new file mode 100644 index 000000000000..7b10e18e7ed2 --- /dev/null +++ b/dev-ros/gazebo_plugins/files/gazebo7.patch @@ -0,0 +1,176 @@ +commit 194ebf81f025c450555ec8cf3a98653bb1307c4c +Author: Steven Peters +Date: Wed Jan 13 11:25:52 2016 -0800 + + Fix gazebo7 build errors + + The SensorPtr types have changed from boost:: pointers + to std:: pointers, + which requires boost::dynamic_pointer_cast to change to + std::dynamic_pointer_cast. + A helper macro is added that adds a `using` statement + corresponding to the correct type of dynamic_pointer_cast. + This macro should be narrowly scoped to protect + other code. + +diff --git a/gazebo_plugins/include/gazebo_plugins/MultiCameraPlugin.h b/gazebo_plugins/include/gazebo_plugins/MultiCameraPlugin.h +index ff38ef6..b3092d0 100644 +--- a/gazebo_plugins/include/gazebo_plugins/MultiCameraPlugin.h ++++ b/gazebo_plugins/include/gazebo_plugins/MultiCameraPlugin.h +@@ -43,7 +43,7 @@ namespace gazebo + unsigned int _width, unsigned int _height, + unsigned int _depth, const std::string &_format); + +- protected: boost::shared_ptr parentSensor; ++ protected: sensors::MultiCameraSensorPtr parentSensor; + + protected: std::vector width, height, depth; + protected: std::vector format; +diff --git a/gazebo_plugins/include/gazebo_plugins/gazebo_ros_utils.h b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_utils.h +index 3db4c45..6cdc4a8 100644 +--- a/gazebo_plugins/include/gazebo_plugins/gazebo_ros_utils.h ++++ b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_utils.h +@@ -41,6 +41,14 @@ + #include + #include + ++#ifndef GAZEBO_SENSORS_USING_DYNAMIC_POINTER_CAST ++# if GAZEBO_MAJOR_VERSION >= 7 ++#define GAZEBO_SENSORS_USING_DYNAMIC_POINTER_CAST using std::dynamic_pointer_cast ++# else ++#define GAZEBO_SENSORS_USING_DYNAMIC_POINTER_CAST using boost::dynamic_pointer_cast ++# endif ++#endif ++ + namespace gazebo + { + +diff --git a/gazebo_plugins/src/MultiCameraPlugin.cpp b/gazebo_plugins/src/MultiCameraPlugin.cpp +index 8001a22..11f663c 100644 +--- a/gazebo_plugins/src/MultiCameraPlugin.cpp ++++ b/gazebo_plugins/src/MultiCameraPlugin.cpp +@@ -17,6 +17,7 @@ + #include + #include + #include ++#include + + using namespace gazebo; + GZ_REGISTER_SENSOR_PLUGIN(MultiCameraPlugin) +@@ -40,15 +41,16 @@ void MultiCameraPlugin::Load(sensors::SensorPtr _sensor, + if (!_sensor) + gzerr << "Invalid sensor pointer.\n"; + ++ GAZEBO_SENSORS_USING_DYNAMIC_POINTER_CAST; + this->parentSensor = +- boost::dynamic_pointer_cast(_sensor); ++ dynamic_pointer_cast(_sensor); + + if (!this->parentSensor) + { + gzerr << "MultiCameraPlugin requires a CameraSensor.\n"; +- if (boost::dynamic_pointer_cast(_sensor)) ++ if (dynamic_pointer_cast(_sensor)) + gzmsg << "It is a depth camera sensor\n"; +- if (boost::dynamic_pointer_cast(_sensor)) ++ if (dynamic_pointer_cast(_sensor)) + gzmsg << "It is a camera sensor\n"; + } + +diff --git a/gazebo_plugins/src/gazebo_ros_block_laser.cpp b/gazebo_plugins/src/gazebo_ros_block_laser.cpp +index 76e0206..d03b9f1 100644 +--- a/gazebo_plugins/src/gazebo_ros_block_laser.cpp ++++ b/gazebo_plugins/src/gazebo_ros_block_laser.cpp +@@ -24,6 +24,7 @@ + #include + + #include ++#include + + #include + #include +@@ -86,7 +87,8 @@ void GazeboRosBlockLaser::Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf) + this->node_ = transport::NodePtr(new transport::Node()); + this->node_->Init(worldName); + +- this->parent_ray_sensor_ = boost::dynamic_pointer_cast(this->parent_sensor_); ++ GAZEBO_SENSORS_USING_DYNAMIC_POINTER_CAST; ++ this->parent_ray_sensor_ = dynamic_pointer_cast(this->parent_sensor_); + + if (!this->parent_ray_sensor_) + gzthrow("GazeboRosBlockLaser controller requires a Ray Sensor as its parent"); +diff --git a/gazebo_plugins/src/gazebo_ros_bumper.cpp b/gazebo_plugins/src/gazebo_ros_bumper.cpp +index 059f1d9..f8dbdd0 100644 +--- a/gazebo_plugins/src/gazebo_ros_bumper.cpp ++++ b/gazebo_plugins/src/gazebo_ros_bumper.cpp +@@ -39,6 +39,7 @@ + #include + + #include ++#include + + namespace gazebo + { +@@ -65,7 +66,8 @@ GazeboRosBumper::~GazeboRosBumper() + // Load the controller + void GazeboRosBumper::Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf) + { +- this->parentSensor = boost::dynamic_pointer_cast(_parent); ++ GAZEBO_SENSORS_USING_DYNAMIC_POINTER_CAST; ++ this->parentSensor = dynamic_pointer_cast(_parent); + if (!this->parentSensor) + { + ROS_ERROR("Contact sensor parent is not of type ContactSensor"); +diff --git a/gazebo_plugins/src/gazebo_ros_gpu_laser.cpp b/gazebo_plugins/src/gazebo_ros_gpu_laser.cpp +index 811fc81..6b36c48 100644 +--- a/gazebo_plugins/src/gazebo_ros_gpu_laser.cpp ++++ b/gazebo_plugins/src/gazebo_ros_gpu_laser.cpp +@@ -75,8 +75,9 @@ void GazeboRosLaser::Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf) + // save pointers + this->sdf = _sdf; + ++ GAZEBO_SENSORS_USING_DYNAMIC_POINTER_CAST; + this->parent_ray_sensor_ = +- boost::dynamic_pointer_cast(_parent); ++ dynamic_pointer_cast(_parent); + + if (!this->parent_ray_sensor_) + gzthrow("GazeboRosLaser controller requires a Ray Sensor as its parent"); +diff --git a/gazebo_plugins/src/gazebo_ros_laser.cpp b/gazebo_plugins/src/gazebo_ros_laser.cpp +index 815c456..80e60a2 100644 +--- a/gazebo_plugins/src/gazebo_ros_laser.cpp ++++ b/gazebo_plugins/src/gazebo_ros_laser.cpp +@@ -72,8 +72,9 @@ void GazeboRosLaser::Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf) + // save pointers + this->sdf = _sdf; + ++ GAZEBO_SENSORS_USING_DYNAMIC_POINTER_CAST; + this->parent_ray_sensor_ = +- boost::dynamic_pointer_cast(_parent); ++ dynamic_pointer_cast(_parent); + + if (!this->parent_ray_sensor_) + gzthrow("GazeboRosLaser controller requires a Ray Sensor as its parent"); +diff --git a/gazebo_plugins/src/gazebo_ros_range.cpp b/gazebo_plugins/src/gazebo_ros_range.cpp +index 9387dde..cb229fe 100644 +--- a/gazebo_plugins/src/gazebo_ros_range.cpp ++++ b/gazebo_plugins/src/gazebo_ros_range.cpp +@@ -35,6 +35,7 @@ + /** \author Jose Capriles, Bence Magyar. */ + + #include "gazebo_plugins/gazebo_ros_range.h" ++#include "gazebo_plugins/gazebo_ros_utils.h" + + #include + #include +@@ -92,8 +93,9 @@ void GazeboRosRange::Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf) + + this->last_update_time_ = common::Time(0); + ++ GAZEBO_SENSORS_USING_DYNAMIC_POINTER_CAST; + this->parent_ray_sensor_ = +- boost::dynamic_pointer_cast(this->parent_sensor_); ++ dynamic_pointer_cast(this->parent_sensor_); + + if (!this->parent_ray_sensor_) + gzthrow("GazeboRosRange controller requires a Ray Sensor as its parent"); diff --git a/dev-ros/gazebo_plugins/gazebo_plugins-2.5.1.ebuild b/dev-ros/gazebo_plugins/gazebo_plugins-2.5.1.ebuild index 45c19f28d45f..5a965c4ad09b 100644 --- a/dev-ros/gazebo_plugins/gazebo_plugins-2.5.1.ebuild +++ b/dev-ros/gazebo_plugins/gazebo_plugins-2.5.1.ebuild @@ -42,7 +42,7 @@ RDEPEND=" dev-ros/camera_info_manager dev-ros/moveit_msgs[${CATKIN_MESSAGES_CXX_USEDEP}] dev-libs/libxml2 - sci-electronics/gazebo + >=sci-electronics/gazebo-7:= dev-games/ogre sci-libs/pcl dev-libs/boost:= @@ -51,3 +51,11 @@ RDEPEND=" dev-ros/roslib[${PYTHON_USEDEP}] " DEPEND="${RDEPEND}" +PATCHES=( + "${FILESDIR}/gazebo6.patch" + "${FILESDIR}/gazebo7.patch" + "${FILESDIR}/gazebo7-2.patch" + "${FILESDIR}/gazebo7-3.patch" + "${FILESDIR}/gazebo7-4.patch" + "${FILESDIR}/gazebo7-5.patch" +) diff --git a/dev-ros/gazebo_plugins/gazebo_plugins-9999.ebuild b/dev-ros/gazebo_plugins/gazebo_plugins-9999.ebuild index 45c19f28d45f..2c0abf6a639e 100644 --- a/dev-ros/gazebo_plugins/gazebo_plugins-9999.ebuild +++ b/dev-ros/gazebo_plugins/gazebo_plugins-9999.ebuild @@ -42,7 +42,7 @@ RDEPEND=" dev-ros/camera_info_manager dev-ros/moveit_msgs[${CATKIN_MESSAGES_CXX_USEDEP}] dev-libs/libxml2 - sci-electronics/gazebo + >=sci-electronics/gazebo-7:= dev-games/ogre sci-libs/pcl dev-libs/boost:= -- cgit v1.2.3-65-gdbad