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Fix compile errors in kobuki_gazebo_plugins with Kinetic and Gazebo7 #45

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Fix compile errors in kobuki_gazebo_plugins with Kinetic and Gazebo7 #45

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05dbcae
using c++11 for gazebo as gazebo7 headers are c+11
Jul 8, 2016
bfce630
Use std pointer cast instead of boost
Jul 8, 2016
82edbdc
use isnan form std
Jul 8, 2016
2f553db
changed setMaxForce(deprecated) to setparam fmax
Jul 8, 2016
eca12eb
gazebo7 removes 'Get' from IMU data elements
Jul 8, 2016
410e4da
Remove fmax, as robot doesn't move with it
Jul 9, 2016
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3 changes: 3 additions & 0 deletions kobuki_gazebo_plugins/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@ project(kobuki_gazebo_plugins)

find_package(gazebo REQUIRED)


find_package(catkin REQUIRED COMPONENTS gazebo_ros
gazebo_plugins
geometry_msgs
Expand All @@ -25,6 +26,8 @@ catkin_package(INCLUDE_DIRS include
std_msgs
tf)

set(CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS} " -std=c++11")

link_directories(${GAZEBO_LIBRARY_DIRS})
include_directories(include
${catkin_INCLUDE_DIRS}
Expand Down
10 changes: 5 additions & 5 deletions kobuki_gazebo_plugins/src/gazebo_ros_kobuki_loads.cpp
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Expand Up @@ -212,11 +212,11 @@ bool GazeboRosKobuki::prepareCliffSensor()
<< " Did you specify it?" << " [" << node_name_ <<"]");
return false;
}
cliff_sensor_left_ = boost::dynamic_pointer_cast<sensors::RaySensor>(
cliff_sensor_left_ = std::dynamic_pointer_cast<sensors::RaySensor>(
sensors::SensorManager::Instance()->GetSensor(cliff_sensor_left_name));
cliff_sensor_center_ = boost::dynamic_pointer_cast<sensors::RaySensor>(
cliff_sensor_center_ = std::dynamic_pointer_cast<sensors::RaySensor>(
sensors::SensorManager::Instance()->GetSensor(cliff_sensor_center_name));
cliff_sensor_right_ = boost::dynamic_pointer_cast<sensors::RaySensor>(
cliff_sensor_right_ = std::dynamic_pointer_cast<sensors::RaySensor>(
sensors::SensorManager::Instance()->GetSensor(cliff_sensor_right_name));
if (!cliff_sensor_left_)
{
Expand Down Expand Up @@ -267,7 +267,7 @@ bool GazeboRosKobuki::prepareBumper()
<< " Did you specify it?" << " [" << node_name_ <<"]");
return false;
}
bumper_ = boost::dynamic_pointer_cast<sensors::ContactSensor>(
bumper_ = std::dynamic_pointer_cast<sensors::ContactSensor>(
sensors::SensorManager::Instance()->GetSensor(bumper_name));
if (!bumper_)
{
Expand All @@ -294,7 +294,7 @@ bool GazeboRosKobuki::prepareIMU()
<< " Did you specify it?" << " [" << node_name_ <<"]");
return false;
}
imu_ = boost::dynamic_pointer_cast<sensors::ImuSensor>(
imu_ = std::dynamic_pointer_cast<sensors::ImuSensor>(
sensors::get_sensor(world_->GetName()+"::"+node_name_+"::base_footprint::"+imu_name));
if (!imu_)
{
Expand Down
12 changes: 5 additions & 7 deletions kobuki_gazebo_plugins/src/gazebo_ros_kobuki_updates.cpp
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Expand Up @@ -73,13 +73,13 @@ void GazeboRosKobuki::updateOdometry(common::Time& step_time)
d1 = step_time.Double() * (wheel_diam_ / 2) * joints_[LEFT]->GetVelocity(0);
d2 = step_time.Double() * (wheel_diam_ / 2) * joints_[RIGHT]->GetVelocity(0);
// Can see NaN values here, just zero them out if needed
if (isnan(d1))
if (std::isnan(d1))
{
ROS_WARN_STREAM_THROTTLE(0.1, "Gazebo ROS Kobuki plugin: NaN in d1. Step time: " << step_time.Double()
<< ", WD: " << wheel_diam_ << ", velocity: " << joints_[LEFT]->GetVelocity(0));
d1 = 0;
}
if (isnan(d2))
if (std::isnan(d2))
{
ROS_WARN_STREAM_THROTTLE(0.1, "Gazebo ROS Kobuki plugin: NaN in d2. Step time: " << step_time.Double()
<< ", WD: " << wheel_diam_ << ", velocity: " << joints_[RIGHT]->GetVelocity(0));
Expand All @@ -89,7 +89,7 @@ void GazeboRosKobuki::updateOdometry(common::Time& step_time)
da = (d2 - d1) / wheel_sep_; // ignored

// Just as in the Kobuki driver, the angular velocity is taken directly from the IMU
vel_angular_ = imu_->GetAngularVelocity();
vel_angular_ = imu_->AngularVelocity();

// Compute odometric pose
odom_pose_[0] += dr * cos( odom_pose_[2] );
Expand Down Expand Up @@ -144,7 +144,7 @@ void GazeboRosKobuki::updateOdometry(common::Time& step_time)
void GazeboRosKobuki::updateIMU()
{
imu_msg_.header = joint_state_.header;
math::Quaternion quat = imu_->GetOrientation();
math::Quaternion quat = imu_->Orientation();
imu_msg_.orientation.x = quat.x;
imu_msg_.orientation.y = quat.y;
imu_msg_.orientation.z = quat.z;
Expand All @@ -158,7 +158,7 @@ void GazeboRosKobuki::updateIMU()
imu_msg_.angular_velocity_covariance[0] = 1e6;
imu_msg_.angular_velocity_covariance[4] = 1e6;
imu_msg_.angular_velocity_covariance[8] = 0.05;
math::Vector3 lin_acc = imu_->GetLinearAcceleration();
math::Vector3 lin_acc = imu_->LinearAcceleration();
imu_msg_.linear_acceleration.x = lin_acc.x;
imu_msg_.linear_acceleration.y = lin_acc.y;
imu_msg_.linear_acceleration.z = lin_acc.z;
Expand All @@ -178,8 +178,6 @@ void GazeboRosKobuki::propagateVelocityCommands()
}
joints_[LEFT]->SetVelocity(0, wheel_speed_cmd_[LEFT] / (wheel_diam_ / 2.0));
joints_[RIGHT]->SetVelocity(0, wheel_speed_cmd_[RIGHT] / (wheel_diam_ / 2.0));
joints_[LEFT]->SetMaxForce(0, torque_);
joints_[RIGHT]->SetMaxForce(0, torque_);
}

/*
Expand Down