From: Martin Günther <martin.guenther@dfki.de>
Date: Fri, 16 Mar 2018 15:59:13 +0000 (+0100)
Subject: Add fix for gazebo_ros_pkgs#612
X-Git-Tag: 0.1.0~6^2~2
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=4522c863dd965281e0e9824e5c963109e65322ff;p=roboticsgroup_upatras_gazebo_plugins.git

Add fix for gazebo_ros_pkgs#612

This issue also affects the mimic joint plugin:

    https://github.com/ros-simulation/gazebo_ros_pkgs/issues/612

The commit here fixes that issue for Gazebo 9. We should change the
GAZEBO_MAJOR_VERSION check to >= 7 if the following PR gets backported
to Gazebo 7 and 8:

    https://bitbucket.org/osrf/gazebo/pull-requests/2814/fix-issue-2111-by-providing-options-to/diff
---

diff --git a/src/mimic_joint_plugin.cpp b/src/mimic_joint_plugin.cpp
index 7a2c516..f9de9ee 100644
--- a/src/mimic_joint_plugin.cpp
+++ b/src/mimic_joint_plugin.cpp
@@ -169,7 +169,9 @@ namespace gazebo {
                 mimic_joint_->SetForce(0, effort);
             }
             else {
-#if GAZEBO_MAJOR_VERSION > 2
+#if GAZEBO_MAJOR_VERSION >= 9
+                mimic_joint_->SetPosition(0, angle, true);
+#elif GAZEBO_MAJOR_VERSION > 2
                 mimic_joint_->SetPosition(0, angle);
 #else
                 mimic_joint_->SetAngle(0, math::Angle(angle));