dev-ros/gazebo_plugins/files/gazebo7-5.patch

commit 19f5f19f48def0a2c5808a7266151eb8e06d7b63
Author: Steven Peters <scpeters@osrfoundation.org>
Date:   Tue Apr 14 18:10:36 2015 -0700

    Use Joint::SetParam for joint velocity motors
    
    Before gazebo5, Joint::SetVelocity and SetMaxForce
    were used to set joint velocity motors.
    The API has changed in gazebo5, to use Joint::SetParam
    instead.
    The functionality is still available through the SetParam API.

diff --git a/gazebo_plugins/src/gazebo_ros_diff_drive.cpp b/gazebo_plugins/src/gazebo_ros_diff_drive.cpp
index 004fb90..68265a8 100644
--- a/gazebo_plugins/src/gazebo_ros_diff_drive.cpp
+++ b/gazebo_plugins/src/gazebo_ros_diff_drive.cpp
@@ -100,8 +100,8 @@ void GazeboRosDiffDrive::Load ( physics::ModelPtr _parent, sdf::ElementPtr _sdf
     joints_.resize ( 2 );
     joints_[LEFT] = gazebo_ros_->getJoint ( parent, "leftJoint", "left_joint" );
     joints_[RIGHT] = gazebo_ros_->getJoint ( parent, "rightJoint", "right_joint" );
-    joints_[LEFT]->SetMaxForce ( 0, wheel_torque );
-    joints_[RIGHT]->SetMaxForce ( 0, wheel_torque );
+    joints_[LEFT]->SetParam ( "fmax", 0, wheel_torque );
+    joints_[RIGHT]->SetParam ( "fmax", 0, wheel_torque );
 
 
 
@@ -170,8 +170,8 @@ void GazeboRosDiffDrive::Reset()
   pose_encoder_.theta = 0;
   x_ = 0;
   rot_ = 0;
-  joints_[LEFT]->SetMaxForce ( 0, wheel_torque );
-  joints_[RIGHT]->SetMaxForce ( 0, wheel_torque );
+  joints_[LEFT]->SetParam ( "fmax", 0, wheel_torque );
+  joints_[RIGHT]->SetParam ( "fmax", 0, wheel_torque );
 }
 
 void GazeboRosDiffDrive::publishWheelJointState()
@@ -214,15 +214,15 @@ void GazeboRosDiffDrive::publishWheelTF()
 void GazeboRosDiffDrive::UpdateChild()
 {
   
-    /* force reset SetMaxForce since Joint::Reset reset MaxForce to zero at
+    /* force reset SetParam("fmax") since Joint::Reset reset MaxForce to zero at
        https://bitbucket.org/osrf/gazebo/src/8091da8b3c529a362f39b042095e12c94656a5d1/gazebo/physics/Joint.cc?at=gazebo2_2.2.5#cl-331
        (this has been solved in https://bitbucket.org/osrf/gazebo/diff/gazebo/physics/Joint.cc?diff2=b64ff1b7b6ff&at=issue_964 )
        and Joint::Reset is called after ModelPlugin::Reset, so we need to set maxForce to wheel_torque other than GazeboRosDiffDrive::Reset
        (this seems to be solved in https://bitbucket.org/osrf/gazebo/commits/ec8801d8683160eccae22c74bf865d59fac81f1e)
     */
     for ( int i = 0; i < 2; i++ ) {
-      if ( fabs(wheel_torque -joints_[i]->GetMaxForce ( 0 )) > 1e-6 ) {
-        joints_[i]->SetMaxForce ( 0, wheel_torque );
+      if ( fabs(wheel_torque -joints_[i]->GetParam ( "fmax", 0 )) > 1e-6 ) {
+        joints_[i]->SetParam ( "fmax", 0, wheel_torque );
       }
     }
 
@@ -248,8 +248,8 @@ void GazeboRosDiffDrive::UpdateChild()
                 ( fabs ( wheel_speed_[LEFT] - current_speed[LEFT] ) < 0.01 ) ||
                 ( fabs ( wheel_speed_[RIGHT] - current_speed[RIGHT] ) < 0.01 ) ) {
             //if max_accel == 0, or target speed is reached
-            joints_[LEFT]->SetVelocity ( 0, wheel_speed_[LEFT]/ ( wheel_diameter_ / 2.0 ) );
-            joints_[RIGHT]->SetVelocity ( 0, wheel_speed_[RIGHT]/ ( wheel_diameter_ / 2.0 ) );
+            joints_[LEFT]->SetParam ( "vel", 0, wheel_speed_[LEFT]/ ( wheel_diameter_ / 2.0 ) );
+            joints_[RIGHT]->SetParam ( "vel", 0, wheel_speed_[RIGHT]/ ( wheel_diameter_ / 2.0 ) );
         } else {
             if ( wheel_speed_[LEFT]>=current_speed[LEFT] )
                 wheel_speed_instr_[LEFT]+=fmin ( wheel_speed_[LEFT]-current_speed[LEFT],  wheel_accel * seconds_since_last_update );
@@ -264,8 +264,8 @@ void GazeboRosDiffDrive::UpdateChild()
             // ROS_INFO("actual wheel speed = %lf, issued wheel speed= %lf", current_speed[LEFT], wheel_speed_[LEFT]);
             // ROS_INFO("actual wheel speed = %lf, issued wheel speed= %lf", current_speed[RIGHT],wheel_speed_[RIGHT]);
 
-            joints_[LEFT]->SetVelocity ( 0,wheel_speed_instr_[LEFT] / ( wheel_diameter_ / 2.0 ) );
-            joints_[RIGHT]->SetVelocity ( 0,wheel_speed_instr_[RIGHT] / ( wheel_diameter_ / 2.0 ) );
+            joints_[LEFT]->SetParam ( "vel", 0, wheel_speed_instr_[LEFT] / ( wheel_diameter_ / 2.0 ) );
+            joints_[RIGHT]->SetParam ( "vel", 0, wheel_speed_instr_[RIGHT] / ( wheel_diameter_ / 2.0 ) );
         }
         last_update_time_+= common::Time ( update_period_ );
     }
diff --git a/gazebo_plugins/src/gazebo_ros_skid_steer_drive.cpp b/gazebo_plugins/src/gazebo_ros_skid_steer_drive.cpp
index fdaf61f..a24aba5 100644
--- a/gazebo_plugins/src/gazebo_ros_skid_steer_drive.cpp
+++ b/gazebo_plugins/src/gazebo_ros_skid_steer_drive.cpp
@@ -256,10 +256,10 @@ namespace gazebo {
 	 gzthrow(error);
    }
 
-    joints[LEFT_FRONT]->SetMaxForce(0, torque);
-    joints[RIGHT_FRONT]->SetMaxForce(0, torque);
-    joints[LEFT_REAR]->SetMaxForce(0, torque);
-    joints[RIGHT_REAR]->SetMaxForce(0, torque);
+    joints[LEFT_FRONT]->SetParam("fmax", 0, torque);
+    joints[RIGHT_FRONT]->SetParam("fmax", 0, torque);
+    joints[LEFT_REAR]->SetParam("fmax", 0, torque);
+    joints[RIGHT_REAR]->SetParam("fmax", 0, torque);
 
     // Make sure the ROS node for Gazebo has already been initialized
     if (!ros::isInitialized())
@@ -308,10 +308,10 @@ namespace gazebo {
 
       // Update robot in case new velocities have been requested
       getWheelVelocities();
-      joints[LEFT_FRONT]->SetVelocity(0, wheel_speed_[LEFT_FRONT] / (wheel_diameter_ / 2.0));
-      joints[RIGHT_FRONT]->SetVelocity(0, wheel_speed_[RIGHT_FRONT] / (wheel_diameter_ / 2.0));
-      joints[LEFT_REAR]->SetVelocity(0, wheel_speed_[LEFT_REAR] / (wheel_diameter_ / 2.0));
-      joints[RIGHT_REAR]->SetVelocity(0, wheel_speed_[RIGHT_REAR] / (wheel_diameter_ / 2.0));
+      joints[LEFT_FRONT]->SetParam("vel", 0, wheel_speed_[LEFT_FRONT] / (wheel_diameter_ / 2.0));
+      joints[RIGHT_FRONT]->SetParam("vel", 0, wheel_speed_[RIGHT_FRONT] / (wheel_diameter_ / 2.0));
+      joints[LEFT_REAR]->SetParam("vel", 0, wheel_speed_[LEFT_REAR] / (wheel_diameter_ / 2.0));
+      joints[RIGHT_REAR]->SetParam("vel", 0, wheel_speed_[RIGHT_REAR] / (wheel_diameter_ / 2.0));
 
       last_update_time_+= common::Time(update_period_);
 
diff --git a/gazebo_plugins/src/gazebo_ros_tricycle_drive.cpp b/gazebo_plugins/src/gazebo_ros_tricycle_drive.cpp
index 97c5ebb..0e83d2a 100644
--- a/gazebo_plugins/src/gazebo_ros_tricycle_drive.cpp
+++ b/gazebo_plugins/src/gazebo_ros_tricycle_drive.cpp
@@ -108,8 +108,8 @@ void GazeboRosTricycleDrive::Load ( physics::ModelPtr _parent, sdf::ElementPtr _
     odomOptions["world"] = WORLD;
     gazebo_ros_->getParameter<OdomSource> ( odom_source_, "odometrySource", odomOptions, WORLD );
 
-    joint_wheel_actuated_->SetMaxForce ( 0, wheel_torque_ );
-    joint_steering_->SetMaxForce ( 0, wheel_torque_ );
+    joint_wheel_actuated_->SetParam ( "fmax", 0, wheel_torque_ );
+    joint_steering_->SetParam ( "fmax", 0, wheel_torque_ );
 
 
     // Initialize update rate stuff
@@ -235,7 +235,7 @@ void GazeboRosTricycleDrive::motorController ( double target_speed, double targe
             applied_speed = current_speed - wheel_deceleration_ * dt;
         }
     }
-    joint_wheel_actuated_->SetVelocity ( 0, applied_speed );
+    joint_wheel_actuated_->SetParam ( "vel", 0, applied_speed );
     
     double current_angle = joint_steering_->GetAngle ( 0 ).Radian();
     if(target_angle > +M_PI / 2.0) target_angle =  +M_PI / 2.0;
@@ -249,7 +249,7 @@ void GazeboRosTricycleDrive::motorController ( double target_speed, double targe
         } else {
             applied_steering_speed = -steering_speed_;
         }
-      joint_steering_->SetVelocity ( 0, applied_steering_speed );
+      joint_steering_->SetParam ( "vel", 0, applied_steering_speed );
     }else {
 #if GAZEBO_MAJOR_VERSION >= 4
       joint_steering_->SetPosition ( 0, applied_angle );