* [gentoo-commits] repo/gentoo:master commit in: dev-ros/gazebo_plugins/files/, dev-ros/gazebo_plugins/
@ 2019-12-10 17:35 Alexis Ballier
0 siblings, 0 replies; 2+ messages in thread
From: Alexis Ballier @ 2019-12-10 17:35 UTC (permalink / raw
To: gentoo-commits
commit: 805aafb0c92c712d8c2b03d486166ffbfaab8d98
Author: Alexis Ballier <aballier <AT> gentoo <DOT> org>
AuthorDate: Tue Dec 10 17:31:06 2019 +0000
Commit: Alexis Ballier <aballier <AT> gentoo <DOT> org>
CommitDate: Tue Dec 10 17:34:50 2019 +0000
URL: https://gitweb.gentoo.org/repo/gentoo.git/commit/?id=805aafb0
dev-ros/gazebo_plugins: fix build with opencv4
Package-Manager: Portage-2.3.81, Repoman-2.3.20
Signed-off-by: Alexis Ballier <aballier <AT> gentoo.org>
dev-ros/gazebo_plugins/files/ocv4.patch | 17 +++++++++++++++++
dev-ros/gazebo_plugins/gazebo_plugins-2.8.5.ebuild | 1 +
2 files changed, 18 insertions(+)
diff --git a/dev-ros/gazebo_plugins/files/ocv4.patch b/dev-ros/gazebo_plugins/files/ocv4.patch
new file mode 100644
index 00000000000..6d93feac4be
--- /dev/null
+++ b/dev-ros/gazebo_plugins/files/ocv4.patch
@@ -0,0 +1,17 @@
+Index: gazebo_plugins/src/gazebo_ros_prosilica.cpp
+===================================================================
+--- gazebo_plugins.orig/src/gazebo_ros_prosilica.cpp
++++ gazebo_plugins/src/gazebo_ros_prosilica.cpp
+@@ -44,10 +44,8 @@
+ #include <diagnostic_updater/diagnostic_updater.h>
+ #include <sensor_msgs/RegionOfInterest.h>
+
+-#include <opencv/cv.h>
+-#include <opencv/highgui.h>
+-
+-#include <opencv/cvwimage.h>
++#include <opencv2/core/core_c.h>
++#include <opencv2/highgui/highgui_c.h>
+
+ #include <boost/scoped_ptr.hpp>
+ #include <boost/bind.hpp>
diff --git a/dev-ros/gazebo_plugins/gazebo_plugins-2.8.5.ebuild b/dev-ros/gazebo_plugins/gazebo_plugins-2.8.5.ebuild
index af125170e28..d2a12c5f874 100644
--- a/dev-ros/gazebo_plugins/gazebo_plugins-2.8.5.ebuild
+++ b/dev-ros/gazebo_plugins/gazebo_plugins-2.8.5.ebuild
@@ -51,3 +51,4 @@ RDEPEND="
dev-ros/roslib[${PYTHON_USEDEP}]
"
DEPEND="${RDEPEND}"
+PATCHES=( "${FILESDIR}/ocv4.patch" )
^ permalink raw reply related [flat|nested] 2+ messages in thread* [gentoo-commits] repo/gentoo:master commit in: dev-ros/gazebo_plugins/files/, dev-ros/gazebo_plugins/
@ 2016-03-24 11:18 Alexis Ballier
0 siblings, 0 replies; 2+ messages in thread
From: Alexis Ballier @ 2016-03-24 11:18 UTC (permalink / raw
To: gentoo-commits
commit: 4927f6b20eae962bcb0dd75712c9119e36c8261b
Author: Alexis Ballier <aballier <AT> gentoo <DOT> org>
AuthorDate: Thu Mar 24 11:16:15 2016 +0000
Commit: Alexis Ballier <aballier <AT> gentoo <DOT> org>
CommitDate: Thu Mar 24 11:18:43 2016 +0000
URL: https://gitweb.gentoo.org/repo/gentoo.git/commit/?id=4927f6b2
dev-ros/gazebo_plugins: remove old
Package-Manager: portage-2.2.28
Signed-off-by: Alexis Ballier <aballier <AT> gentoo.org>
dev-ros/gazebo_plugins/Manifest | 1 -
dev-ros/gazebo_plugins/files/gazebo6.patch | 44 ------
dev-ros/gazebo_plugins/files/gazebo7-2.patch | 22 ---
dev-ros/gazebo_plugins/files/gazebo7-3.patch | 30 ----
dev-ros/gazebo_plugins/files/gazebo7-4.patch | 21 ---
dev-ros/gazebo_plugins/files/gazebo7-5.patch | 146 -----------------
dev-ros/gazebo_plugins/files/gazebo7.patch | 176 ---------------------
dev-ros/gazebo_plugins/gazebo_plugins-2.5.1.ebuild | 61 -------
8 files changed, 501 deletions(-)
diff --git a/dev-ros/gazebo_plugins/Manifest b/dev-ros/gazebo_plugins/Manifest
index f4649f4..c769464 100644
--- a/dev-ros/gazebo_plugins/Manifest
+++ b/dev-ros/gazebo_plugins/Manifest
@@ -1,2 +1 @@
-DIST gazebo_ros_pkgs-2.5.1.tar.gz 1812295 SHA256 1d78839d174790db400466b4b165a79fea50177a3fbe59291539b8bdc1876d4e SHA512 2e0faaa770abe9ff2b41d176c7a3dadaf8749f32c924ba6018b3d7dabf0fe2a1e4ffd24c840c777229a4941e7f4522bf2287288619e2c819d4fb3c10fa431c9d WHIRLPOOL 09b0c5038b21a6cfc355fed8d8d2981cb845c8d209cb89112fb6daf1694b735dd68096ca7e2f255fdc2e8ba435080df186057344c81c2ac247c28d64019dbe32
DIST gazebo_ros_pkgs-2.5.2.tar.gz 1815044 SHA256 849c541412b7312d3455827ccf386246b5bbc4d674e76ed0e9e08032026a929b SHA512 1f8b7034520712606e8389526115f0bae4084cbfdd1b5834f5c00233ae2864260cbb591512228f1519642fde860366a7b4f9602d5374817ca084494668b76bd4 WHIRLPOOL 13283cda29a4da4efb366d3074b9a55ca61b5c9e4a27b3cb467210405ed82334a849a3353f652bc6333e86e845f5845437ebaa23942a027a288fcd831fc77525
diff --git a/dev-ros/gazebo_plugins/files/gazebo6.patch b/dev-ros/gazebo_plugins/files/gazebo6.patch
deleted file mode 100644
index 43dd2d7..0000000
--- a/dev-ros/gazebo_plugins/files/gazebo6.patch
+++ /dev/null
@@ -1,44 +0,0 @@
-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();
diff --git a/dev-ros/gazebo_plugins/files/gazebo7-2.patch b/dev-ros/gazebo_plugins/files/gazebo7-2.patch
deleted file mode 100644
index 09af84e..0000000
--- a/dev-ros/gazebo_plugins/files/gazebo7-2.patch
+++ /dev/null
@@ -1,22 +0,0 @@
-commit a27311b3b37a661aadb9815346d26e2970441bef
-Author: Steven Peters <scpeters@osrfoundation.org>
-Date: Wed Jan 13 11:29:32 2016 -0800
-
- Add missing boost header
-
- Some boost headers were remove from gazebo7 header files
- and gazebo_ros_joint_state_publisher.cpp was using it
- implicitly.
-
-diff --git a/gazebo_plugins/src/gazebo_ros_joint_state_publisher.cpp b/gazebo_plugins/src/gazebo_ros_joint_state_publisher.cpp
-index 6c1ede1..d78b3d8 100644
---- a/gazebo_plugins/src/gazebo_ros_joint_state_publisher.cpp
-+++ b/gazebo_plugins/src/gazebo_ros_joint_state_publisher.cpp
-@@ -25,6 +25,7 @@
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- **/
-+#include <boost/algorithm/string.hpp>
- #include <gazebo_plugins/gazebo_ros_joint_state_publisher.h>
- #include <tf/transform_broadcaster.h>
- #include <tf/transform_listener.h>
diff --git a/dev-ros/gazebo_plugins/files/gazebo7-3.patch b/dev-ros/gazebo_plugins/files/gazebo7-3.patch
deleted file mode 100644
index 895033d..0000000
--- a/dev-ros/gazebo_plugins/files/gazebo7-3.patch
+++ /dev/null
@@ -1,30 +0,0 @@
-commit ce0ab101b272c4933f31945e2edaf215c4342772
-Author: Steven Peters <scpeters@osrfoundation.org>
-Date: Wed Jan 13 11:30:57 2016 -0800
-
- Fix compiler error with SetHFOV
-
- In gazebo7, the rendering::Camera::SetHFOV function
- is overloaded with a potential for ambiguity,
- as reported in the following issue:
- https://bitbucket.org/osrf/gazebo/issues/1830
- This fixes the build by explicitly defining the
- Angle type.
-
-diff --git a/gazebo_plugins/src/gazebo_ros_camera_utils.cpp b/gazebo_plugins/src/gazebo_ros_camera_utils.cpp
-index 2129b65..4574e8d 100644
---- a/gazebo_plugins/src/gazebo_ros_camera_utils.cpp
-+++ b/gazebo_plugins/src/gazebo_ros_camera_utils.cpp
-@@ -360,7 +360,11 @@ void GazeboRosCameraUtils::LoadThread()
- // Set Horizontal Field of View
- void GazeboRosCameraUtils::SetHFOV(const std_msgs::Float64::ConstPtr& hfov)
- {
-- this->camera_->SetHFOV(hfov->data);
-+#if GAZEBO_MAJOR_VERSION >= 7
-+ this->camera_->SetHFOV(ignition::math::Angle(hfov->data));
-+#else
-+ this->camera_->SetHFOV(gazebo::math::Angle(hfov->data));
-+#endif
- }
-
- ////////////////////////////////////////////////////////////////////////////////
diff --git a/dev-ros/gazebo_plugins/files/gazebo7-4.patch b/dev-ros/gazebo_plugins/files/gazebo7-4.patch
deleted file mode 100644
index 0dab70d..0000000
--- a/dev-ros/gazebo_plugins/files/gazebo7-4.patch
+++ /dev/null
@@ -1,21 +0,0 @@
-commit d7580215c9e39eddc33196b32b05219fcea707fd
-Author: Steven Peters <scpeters@osrfoundation.org>
-Date: Fri Jan 15 16:29:37 2016 -0800
-
- gazebo_ros_utils.h: include gazebo_config.h
-
- Make sure to include gazebo_config.h,
- which defines the GAZEBO_MAJOR_VERSION macro
-
-diff --git a/gazebo_plugins/include/gazebo_plugins/gazebo_ros_utils.h b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_utils.h
-index 6cdc4a8..6b016b8 100644
---- a/gazebo_plugins/include/gazebo_plugins/gazebo_ros_utils.h
-+++ b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_utils.h
-@@ -39,6 +39,7 @@
- #include <gazebo/common/common.hh>
- #include <gazebo/physics/physics.hh>
- #include <gazebo/sensors/Sensor.hh>
-+#include <gazebo/gazebo_config.h>
- #include <ros/ros.h>
-
- #ifndef GAZEBO_SENSORS_USING_DYNAMIC_POINTER_CAST
diff --git a/dev-ros/gazebo_plugins/files/gazebo7-5.patch b/dev-ros/gazebo_plugins/files/gazebo7-5.patch
deleted file mode 100644
index d83fdc2..0000000
--- a/dev-ros/gazebo_plugins/files/gazebo7-5.patch
+++ /dev/null
@@ -1,146 +0,0 @@
-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 );
diff --git a/dev-ros/gazebo_plugins/files/gazebo7.patch b/dev-ros/gazebo_plugins/files/gazebo7.patch
deleted file mode 100644
index 7b10e18..0000000
--- a/dev-ros/gazebo_plugins/files/gazebo7.patch
+++ /dev/null
@@ -1,176 +0,0 @@
-commit 194ebf81f025c450555ec8cf3a98653bb1307c4c
-Author: Steven Peters <scpeters@osrfoundation.org>
-Date: Wed Jan 13 11:25:52 2016 -0800
-
- Fix gazebo7 build errors
-
- The SensorPtr types have changed from boost:: pointers
- to std:: pointers,
- which requires boost::dynamic_pointer_cast to change to
- std::dynamic_pointer_cast.
- A helper macro is added that adds a `using` statement
- corresponding to the correct type of dynamic_pointer_cast.
- This macro should be narrowly scoped to protect
- other code.
-
-diff --git a/gazebo_plugins/include/gazebo_plugins/MultiCameraPlugin.h b/gazebo_plugins/include/gazebo_plugins/MultiCameraPlugin.h
-index ff38ef6..b3092d0 100644
---- a/gazebo_plugins/include/gazebo_plugins/MultiCameraPlugin.h
-+++ b/gazebo_plugins/include/gazebo_plugins/MultiCameraPlugin.h
-@@ -43,7 +43,7 @@ namespace gazebo
- unsigned int _width, unsigned int _height,
- unsigned int _depth, const std::string &_format);
-
-- protected: boost::shared_ptr<sensors::MultiCameraSensor> parentSensor;
-+ protected: sensors::MultiCameraSensorPtr parentSensor;
-
- protected: std::vector<unsigned int> width, height, depth;
- protected: std::vector<std::string> format;
-diff --git a/gazebo_plugins/include/gazebo_plugins/gazebo_ros_utils.h b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_utils.h
-index 3db4c45..6cdc4a8 100644
---- a/gazebo_plugins/include/gazebo_plugins/gazebo_ros_utils.h
-+++ b/gazebo_plugins/include/gazebo_plugins/gazebo_ros_utils.h
-@@ -41,6 +41,14 @@
- #include <gazebo/sensors/Sensor.hh>
- #include <ros/ros.h>
-
-+#ifndef GAZEBO_SENSORS_USING_DYNAMIC_POINTER_CAST
-+# if GAZEBO_MAJOR_VERSION >= 7
-+#define GAZEBO_SENSORS_USING_DYNAMIC_POINTER_CAST using std::dynamic_pointer_cast
-+# else
-+#define GAZEBO_SENSORS_USING_DYNAMIC_POINTER_CAST using boost::dynamic_pointer_cast
-+# endif
-+#endif
-+
- namespace gazebo
- {
-
-diff --git a/gazebo_plugins/src/MultiCameraPlugin.cpp b/gazebo_plugins/src/MultiCameraPlugin.cpp
-index 8001a22..11f663c 100644
---- a/gazebo_plugins/src/MultiCameraPlugin.cpp
-+++ b/gazebo_plugins/src/MultiCameraPlugin.cpp
-@@ -17,6 +17,7 @@
- #include <gazebo/sensors/DepthCameraSensor.hh>
- #include <gazebo/sensors/CameraSensor.hh>
- #include <gazebo_plugins/MultiCameraPlugin.h>
-+#include <gazebo_plugins/gazebo_ros_utils.h>
-
- using namespace gazebo;
- GZ_REGISTER_SENSOR_PLUGIN(MultiCameraPlugin)
-@@ -40,15 +41,16 @@ void MultiCameraPlugin::Load(sensors::SensorPtr _sensor,
- if (!_sensor)
- gzerr << "Invalid sensor pointer.\n";
-
-+ GAZEBO_SENSORS_USING_DYNAMIC_POINTER_CAST;
- this->parentSensor =
-- boost::dynamic_pointer_cast<sensors::MultiCameraSensor>(_sensor);
-+ dynamic_pointer_cast<sensors::MultiCameraSensor>(_sensor);
-
- if (!this->parentSensor)
- {
- gzerr << "MultiCameraPlugin requires a CameraSensor.\n";
-- if (boost::dynamic_pointer_cast<sensors::DepthCameraSensor>(_sensor))
-+ if (dynamic_pointer_cast<sensors::DepthCameraSensor>(_sensor))
- gzmsg << "It is a depth camera sensor\n";
-- if (boost::dynamic_pointer_cast<sensors::CameraSensor>(_sensor))
-+ if (dynamic_pointer_cast<sensors::CameraSensor>(_sensor))
- gzmsg << "It is a camera sensor\n";
- }
-
-diff --git a/gazebo_plugins/src/gazebo_ros_block_laser.cpp b/gazebo_plugins/src/gazebo_ros_block_laser.cpp
-index 76e0206..d03b9f1 100644
---- a/gazebo_plugins/src/gazebo_ros_block_laser.cpp
-+++ b/gazebo_plugins/src/gazebo_ros_block_laser.cpp
-@@ -24,6 +24,7 @@
- #include <assert.h>
-
- #include <gazebo_plugins/gazebo_ros_block_laser.h>
-+#include <gazebo_plugins/gazebo_ros_utils.h>
-
- #include <gazebo/physics/World.hh>
- #include <gazebo/physics/HingeJoint.hh>
-@@ -86,7 +87,8 @@ void GazeboRosBlockLaser::Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
- this->node_ = transport::NodePtr(new transport::Node());
- this->node_->Init(worldName);
-
-- this->parent_ray_sensor_ = boost::dynamic_pointer_cast<sensors::RaySensor>(this->parent_sensor_);
-+ GAZEBO_SENSORS_USING_DYNAMIC_POINTER_CAST;
-+ this->parent_ray_sensor_ = dynamic_pointer_cast<sensors::RaySensor>(this->parent_sensor_);
-
- if (!this->parent_ray_sensor_)
- gzthrow("GazeboRosBlockLaser controller requires a Ray Sensor as its parent");
-diff --git a/gazebo_plugins/src/gazebo_ros_bumper.cpp b/gazebo_plugins/src/gazebo_ros_bumper.cpp
-index 059f1d9..f8dbdd0 100644
---- a/gazebo_plugins/src/gazebo_ros_bumper.cpp
-+++ b/gazebo_plugins/src/gazebo_ros_bumper.cpp
-@@ -39,6 +39,7 @@
- #include <tf/tf.h>
-
- #include <gazebo_plugins/gazebo_ros_bumper.h>
-+#include <gazebo_plugins/gazebo_ros_utils.h>
-
- namespace gazebo
- {
-@@ -65,7 +66,8 @@ GazeboRosBumper::~GazeboRosBumper()
- // Load the controller
- void GazeboRosBumper::Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
- {
-- this->parentSensor = boost::dynamic_pointer_cast<sensors::ContactSensor>(_parent);
-+ GAZEBO_SENSORS_USING_DYNAMIC_POINTER_CAST;
-+ this->parentSensor = dynamic_pointer_cast<sensors::ContactSensor>(_parent);
- if (!this->parentSensor)
- {
- ROS_ERROR("Contact sensor parent is not of type ContactSensor");
-diff --git a/gazebo_plugins/src/gazebo_ros_gpu_laser.cpp b/gazebo_plugins/src/gazebo_ros_gpu_laser.cpp
-index 811fc81..6b36c48 100644
---- a/gazebo_plugins/src/gazebo_ros_gpu_laser.cpp
-+++ b/gazebo_plugins/src/gazebo_ros_gpu_laser.cpp
-@@ -75,8 +75,9 @@ void GazeboRosLaser::Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
- // save pointers
- this->sdf = _sdf;
-
-+ GAZEBO_SENSORS_USING_DYNAMIC_POINTER_CAST;
- this->parent_ray_sensor_ =
-- boost::dynamic_pointer_cast<sensors::GpuRaySensor>(_parent);
-+ dynamic_pointer_cast<sensors::GpuRaySensor>(_parent);
-
- if (!this->parent_ray_sensor_)
- gzthrow("GazeboRosLaser controller requires a Ray Sensor as its parent");
-diff --git a/gazebo_plugins/src/gazebo_ros_laser.cpp b/gazebo_plugins/src/gazebo_ros_laser.cpp
-index 815c456..80e60a2 100644
---- a/gazebo_plugins/src/gazebo_ros_laser.cpp
-+++ b/gazebo_plugins/src/gazebo_ros_laser.cpp
-@@ -72,8 +72,9 @@ void GazeboRosLaser::Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
- // save pointers
- this->sdf = _sdf;
-
-+ GAZEBO_SENSORS_USING_DYNAMIC_POINTER_CAST;
- this->parent_ray_sensor_ =
-- boost::dynamic_pointer_cast<sensors::RaySensor>(_parent);
-+ dynamic_pointer_cast<sensors::RaySensor>(_parent);
-
- if (!this->parent_ray_sensor_)
- gzthrow("GazeboRosLaser controller requires a Ray Sensor as its parent");
-diff --git a/gazebo_plugins/src/gazebo_ros_range.cpp b/gazebo_plugins/src/gazebo_ros_range.cpp
-index 9387dde..cb229fe 100644
---- a/gazebo_plugins/src/gazebo_ros_range.cpp
-+++ b/gazebo_plugins/src/gazebo_ros_range.cpp
-@@ -35,6 +35,7 @@
- /** \author Jose Capriles, Bence Magyar. */
-
- #include "gazebo_plugins/gazebo_ros_range.h"
-+#include "gazebo_plugins/gazebo_ros_utils.h"
-
- #include <algorithm>
- #include <string>
-@@ -92,8 +93,9 @@ void GazeboRosRange::Load(sensors::SensorPtr _parent, sdf::ElementPtr _sdf)
-
- this->last_update_time_ = common::Time(0);
-
-+ GAZEBO_SENSORS_USING_DYNAMIC_POINTER_CAST;
- this->parent_ray_sensor_ =
-- boost::dynamic_pointer_cast<sensors::RaySensor>(this->parent_sensor_);
-+ dynamic_pointer_cast<sensors::RaySensor>(this->parent_sensor_);
-
- if (!this->parent_ray_sensor_)
- gzthrow("GazeboRosRange controller requires a Ray Sensor as its parent");
diff --git a/dev-ros/gazebo_plugins/gazebo_plugins-2.5.1.ebuild b/dev-ros/gazebo_plugins/gazebo_plugins-2.5.1.ebuild
deleted file mode 100644
index 5a965c4..0000000
--- a/dev-ros/gazebo_plugins/gazebo_plugins-2.5.1.ebuild
+++ /dev/null
@@ -1,61 +0,0 @@
-# Copyright 1999-2014 Gentoo Foundation
-# Distributed under the terms of the GNU General Public License v2
-# $Id$
-
-EAPI=5
-ROS_REPO_URI="https://github.com/ros-simulation/gazebo_ros_pkgs"
-KEYWORDS="~amd64"
-PYTHON_COMPAT=( python2_7 )
-CATKIN_HAS_MESSAGES=yes
-ROS_SUBDIR=${PN}
-
-inherit ros-catkin
-
-DESCRIPTION="Robot-independent Gazebo plugins for sensors, motors and dynamic reconfigurable components"
-LICENSE="BSD Apache-2.0"
-SLOT="0"
-IUSE=""
-
-RDEPEND="
- dev-ros/gazebo_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
- dev-ros/roscpp
- dev-ros/rospy
- dev-ros/nodelet
- dev-ros/angles
- dev-ros/std_srvs
- dev-ros/geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP},${CATKIN_MESSAGES_PYTHON_USEDEP}]
- dev-ros/sensor_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
- dev-ros/nav_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
- dev-ros/urdf
- dev-ros/tf
- dev-ros/tf2_ros
- dev-ros/dynamic_reconfigure
- dev-ros/driver_base
- dev-ros/rosgraph_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
- dev-ros/trajectory_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
- dev-ros/pcl_conversions
- dev-ros/image_transport
- dev-ros/rosconsole
- dev-ros/cv_bridge
- dev-ros/polled_camera
- dev-ros/diagnostic_updater
- dev-ros/camera_info_manager
- dev-ros/moveit_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
- dev-libs/libxml2
- >=sci-electronics/gazebo-7:=
- dev-games/ogre
- sci-libs/pcl
- dev-libs/boost:=
- dev-qt/qtcore:4
- dev-qt/qtgui:4
- dev-ros/roslib[${PYTHON_USEDEP}]
-"
-DEPEND="${RDEPEND}"
-PATCHES=(
- "${FILESDIR}/gazebo6.patch"
- "${FILESDIR}/gazebo7.patch"
- "${FILESDIR}/gazebo7-2.patch"
- "${FILESDIR}/gazebo7-3.patch"
- "${FILESDIR}/gazebo7-4.patch"
- "${FILESDIR}/gazebo7-5.patch"
-)
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2016-03-24 11:18 Alexis Ballier
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