| 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(); |