From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Sun, 18 Nov 2018 01:41:49 +0000 (-0200)
Subject: Initial Melodic commit.
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=ee4b99a863e8077afbb84e524cff97e3b51ea6c8;p=gazebo_ros_electrical.git

Initial Melodic commit.
---

diff --git a/CMakeLists.txt b/CMakeLists.txt
index a862a37..5b5a787 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3)
 project(gazebo_ros_electrical)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
-# add_compile_options(-std=c++11)
+add_compile_options(-std=c++11)
 
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
@@ -18,7 +18,7 @@ find_package(catkin REQUIRED COMPONENTS
   roscpp
   transmission_interface
   urdf
-  voltage_controllers
+  electrical_interface
 )
 
 ## System dependencies are found with CMake's conventions
@@ -114,7 +114,7 @@ find_package(gazebo REQUIRED)
 catkin_package(
   INCLUDE_DIRS include
   LIBRARIES gazebo_ros_electrical
-#  CATKIN_DEPENDS angles control_toolbox gazebo hardware_interface joint_limits_interface pluginlib roscpp transmission_interface urdf voltage_controllers
+#  CATKIN_DEPENDS angles control_toolbox gazebo hardware_interface joint_limits_interface pluginlib roscpp transmission_interface urdf electrical_interface
 #  DEPENDS system_lib
 )
 
diff --git a/include/gazebo_ros_electrical/dcmotor_robot_hw_sim.h b/include/gazebo_ros_electrical/dcmotor_robot_hw_sim.h
index 15a53e7..db38205 100644
--- a/include/gazebo_ros_electrical/dcmotor_robot_hw_sim.h
+++ b/include/gazebo_ros_electrical/dcmotor_robot_hw_sim.h
@@ -74,8 +74,8 @@
 // URDF
 #include <urdf/model.h>
 
-//Fix this
-#include <voltage_controllers/joint_command_interface.h>
+// Electrical inteface
+#include <electrical_interface/joint_command_interface.h>
 
 
 namespace gazebo_ros_electrical
@@ -119,7 +119,7 @@ protected:
   hardware_interface::EffortJointInterface   ej_interface_;
   hardware_interface::PositionJointInterface pj_interface_;
   hardware_interface::VelocityJointInterface vj_interface_;
-  hardware_interface::VoltageJointInterface  uj_interface_;
+  electrical_interface::VoltageJointInterface uj_interface_;
 
   joint_limits_interface::EffortJointSaturationInterface   ej_sat_interface_;
   joint_limits_interface::EffortJointSoftLimitsInterface   ej_limits_interface_;
diff --git a/package.xml b/package.xml
index c187572..c439623 100644
--- a/package.xml
+++ b/package.xml
@@ -51,7 +51,7 @@
   <build_depend>roscpp</build_depend>
   <build_depend>transmission_interface</build_depend>
   <build_depend>urdf</build_depend>
-  <build_depend>voltage_controllers</build_depend>
+  <build_depend>electrical_interface</build_depend>
   <run_depend>angles</run_depend>
   <run_depend>control_toolbox</run_depend>
   <run_depend>gazebo</run_depend>
@@ -62,7 +62,7 @@
   <run_depend>roscpp</run_depend>
   <run_depend>transmission_interface</run_depend>
   <run_depend>urdf</run_depend>
-  <run_depend>voltage_controllers</run_depend>
+  <run_depend>electrical_interface</run_depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->
diff --git a/src/dcmotor_robot_hw_sim.cpp b/src/dcmotor_robot_hw_sim.cpp
index 0ff1caf..caa7b5c 100644
--- a/src/dcmotor_robot_hw_sim.cpp
+++ b/src/dcmotor_robot_hw_sim.cpp
@@ -286,14 +286,19 @@ void DCmotorRobotHWSim::readSim(ros::Time time, ros::Duration period)
   for(unsigned int j=0; j < n_dof_; j++)
   {
     // Gazebo has an interesting API...
+#if GAZEBO_MAJOR_VERSION >= 8
+    double position = sim_joints_[j]->Position(0);
+#else
+    double position = sim_joints_[j]->GetAngle(0).Radian();
+#endif
     if (joint_types_[j] == urdf::Joint::PRISMATIC)
     {
-      joint_position_[j] = sim_joints_[j]->GetAngle(0).Radian();
+      joint_position_[j] = position;
     }
     else
     {
       joint_position_[j] += angles::shortest_angular_distance(joint_position_[j],
-                            sim_joints_[j]->GetAngle(0).Radian());
+                            position);
     }
     joint_velocity_[j] = sim_joints_[j]->GetVelocity(0);
     joint_effort_[j] = sim_joints_[j]->GetForce((unsigned int)(0));
@@ -438,7 +443,7 @@ void DCmotorRobotHWSim::registerJointLimits(const std::string& joint_name,
 
   if (urdf_model != NULL)
   {
-    const boost::shared_ptr<const urdf::Joint> urdf_joint = urdf_model->getJoint(joint_name);
+    const urdf::JointConstSharedPtr urdf_joint = urdf_model->getJoint(joint_name);
     if (urdf_joint != NULL)
     {
       *joint_type = urdf_joint->type;