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commit 194ebf81f025c450555ec8cf3a98653bb1307c4c
Author: Steven Peters <scpeters@osrfoundation.org>
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<sensors::MultiCameraSensor> parentSensor;
+ protected: sensors::MultiCameraSensorPtr parentSensor;
protected: std::vector<unsigned int> width, height, depth;
protected: std::vector<std::string> 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 <gazebo/sensors/Sensor.hh>
#include <ros/ros.h>
+#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 <gazebo/sensors/DepthCameraSensor.hh>
#include <gazebo/sensors/CameraSensor.hh>
#include <gazebo_plugins/MultiCameraPlugin.h>
+#include <gazebo_plugins/gazebo_ros_utils.h>
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<sensors::MultiCameraSensor>(_sensor);
+ dynamic_pointer_cast<sensors::MultiCameraSensor>(_sensor);
if (!this->parentSensor)
{
gzerr << "MultiCameraPlugin requires a CameraSensor.\n";
- if (boost::dynamic_pointer_cast<sensors::DepthCameraSensor>(_sensor))
+ if (dynamic_pointer_cast<sensors::DepthCameraSensor>(_sensor))
gzmsg << "It is a depth camera sensor\n";
- if (boost::dynamic_pointer_cast<sensors::CameraSensor>(_sensor))
+ if (dynamic_pointer_cast<sensors::CameraSensor>(_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 <assert.h>
#include <gazebo_plugins/gazebo_ros_block_laser.h>
+#include <gazebo_plugins/gazebo_ros_utils.h>
#include <gazebo/physics/World.hh>
#include <gazebo/physics/HingeJoint.hh>
@@ -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<sensors::RaySensor>(this->parent_sensor_);
+ GAZEBO_SENSORS_USING_DYNAMIC_POINTER_CAST;
+ this->parent_ray_sensor_ = dynamic_pointer_cast<sensors::RaySensor>(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 <tf/tf.h>
#include <gazebo_plugins/gazebo_ros_bumper.h>
+#include <gazebo_plugins/gazebo_ros_utils.h>
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<sensors::ContactSensor>(_parent);
+ GAZEBO_SENSORS_USING_DYNAMIC_POINTER_CAST;
+ this->parentSensor = dynamic_pointer_cast<sensors::ContactSensor>(_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<sensors::GpuRaySensor>(_parent);
+ dynamic_pointer_cast<sensors::GpuRaySensor>(_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<sensors::RaySensor>(_parent);
+ dynamic_pointer_cast<sensors::RaySensor>(_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 <algorithm>
#include <string>
@@ -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<sensors::RaySensor>(this->parent_sensor_);
+ dynamic_pointer_cast<sensors::RaySensor>(this->parent_sensor_);
if (!this->parent_ray_sensor_)
gzthrow("GazeboRosRange controller requires a Ray Sensor as its parent");
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