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commit 04855dc0fd2d82d6fe72c0b54ae66a5f86c5ceb4
Author: Steven Peters <scpeters@osrfoundation.org>
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();
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