dev-ros/gazebo_plugins: remove old

Package-Manager: portage-2.2.28
Signed-off-by: Alexis Ballier <aballier@gentoo.org>

8 files changed, 0 insertions, 501 deletions

diff --git a/dev-ros/gazebo_plugins/Manifest b/dev-ros/gazebo_plugins/Manifest
index f4649f44c43..c7694640837 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 43dd2d796d5..00000000000
--- 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 09af84e0349..00000000000
--- 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 895033d01d4..00000000000
--- 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 0dab70d16b8..00000000000
--- 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 d83fdc29c0d..00000000000
--- 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 7b10e18e7ed..00000000000
--- 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 5a965c4ad09..00000000000
--- 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"
-)