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commit: 8e1c93101a3d9f946c1278da7e69da3eaa7bf139 |
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Author: Alexis Ballier <aballier <AT> gentoo <DOT> org> |
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AuthorDate: Thu Jan 28 20:23:08 2016 +0000 |
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Commit: Alexis Ballier <aballier <AT> gentoo <DOT> org> |
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CommitDate: Thu Jan 28 20:25:43 2016 +0000 |
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URL: https://gitweb.gentoo.org/repo/gentoo.git/commit/?id=8e1c9310 |
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|
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dev-ros/gazebo_ros_control: fix build with gazebo7 |
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|
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Package-Manager: portage-2.2.27 |
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Signed-off-by: Alexis Ballier <aballier <AT> gentoo.org> |
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|
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dev-ros/gazebo_ros_control/files/gazebo7.patch | 61 ++++++++++++++++++++++ |
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.../gazebo_ros_control-2.5.1.ebuild | 1 + |
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2 files changed, 62 insertions(+) |
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|
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diff --git a/dev-ros/gazebo_ros_control/files/gazebo7.patch b/dev-ros/gazebo_ros_control/files/gazebo7.patch |
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new file mode 100644 |
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index 0000000..190756d |
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--- /dev/null |
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+++ b/dev-ros/gazebo_ros_control/files/gazebo7.patch |
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@@ -0,0 +1,61 @@ |
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+commit b5303e692bb5dd2e4f4fc7932c7ec2c7e0b2e907 |
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+Author: Steven Peters <scpeters@×××××××××××××.org> |
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+Date: Tue Apr 14 18:10:36 2015 -0700 |
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+ |
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+ Use Joint::SetParam for joint velocity motors |
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+ |
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+ Before gazebo5, Joint::SetVelocity and SetMaxForce |
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+ were used to set joint velocity motors. |
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+ The API has changed in gazebo5, to use Joint::SetParam |
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+ instead. |
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+ The functionality is still available through the SetParam API. |
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+ |
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+ cherry-picked from indigo-devel |
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+ |
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+ Add ifdefs to fix build with gazebo2 |
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+ |
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+ It was broken by #315. |
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+ Fixes #321. |
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+ |
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+diff --git a/gazebo_ros_control/src/default_robot_hw_sim.cpp b/gazebo_ros_control/src/default_robot_hw_sim.cpp |
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+index 249c8d3..1d9418d 100644 |
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+--- a/gazebo_ros_control/src/default_robot_hw_sim.cpp |
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++++ b/gazebo_ros_control/src/default_robot_hw_sim.cpp |
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+@@ -199,7 +199,7 @@ bool DefaultRobotHWSim::initSim( |
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+ if (joint_control_methods_[j] != EFFORT) |
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+ { |
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+ // Initialize the PID controller. If no PID gain values are found, use joint->SetAngle() or |
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+- // joint->SetVelocity() to control the joint. |
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++ // joint->SetParam("vel") to control the joint. |
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+ const ros::NodeHandle nh(model_nh, "/gazebo_ros_control/pid_gains/" + |
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+ joint_names_[j]); |
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+ if (pid_controllers_[j].init(nh, true)) |
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+@@ -216,10 +216,14 @@ bool DefaultRobotHWSim::initSim( |
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+ } |
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+ else |
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+ { |
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+- // joint->SetMaxForce() must be called if joint->SetAngle() or joint->SetVelocity() are |
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+- // going to be called. joint->SetMaxForce() must *not* be called if joint->SetForce() is |
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++ // joint->SetParam("fmax") must be called if joint->SetAngle() or joint->SetParam("vel") are |
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++ // going to be called. joint->SetParam("fmax") must *not* be called if joint->SetForce() is |
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+ // going to be called. |
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++#if GAZEBO_MAJOR_VERSION > 2 |
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++ joint->SetParam("fmax", 0, joint_effort_limits_[j]); |
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++#else |
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+ joint->SetMaxForce(0, joint_effort_limits_[j]); |
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++#endif |
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+ } |
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+ } |
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+ } |
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+@@ -327,7 +331,11 @@ void DefaultRobotHWSim::writeSim(ros::Time time, ros::Duration period) |
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+ break; |
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+ |
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+ case VELOCITY: |
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++#if GAZEBO_MAJOR_VERSION > 2 |
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++ sim_joints_[j]->SetParam("vel", 0, e_stop_active_ ? 0 : joint_velocity_command_[j]); |
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++#else |
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+ sim_joints_[j]->SetVelocity(0, e_stop_active_ ? 0 : joint_velocity_command_[j]); |
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++#endif |
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+ break; |
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+ |
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+ case VELOCITY_PID: |
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|
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diff --git a/dev-ros/gazebo_ros_control/gazebo_ros_control-2.5.1.ebuild b/dev-ros/gazebo_ros_control/gazebo_ros_control-2.5.1.ebuild |
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index a8ee997..65b2ca7 100644 |
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--- a/dev-ros/gazebo_ros_control/gazebo_ros_control-2.5.1.ebuild |
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+++ b/dev-ros/gazebo_ros_control/gazebo_ros_control-2.5.1.ebuild |
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@@ -27,3 +27,4 @@ RDEPEND=" |
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sci-electronics/gazebo |
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" |
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DEPEND="${RDEPEND}" |
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+PATCHES=( "${FILESDIR}/gazebo7.patch" ) |