dev-ros/gazebo_ros_control: fix build with gazebo7

Package-Manager: portage-2.2.27
Signed-off-by: Alexis Ballier <aballier@gentoo.org>

2 files changed, 62 insertions, 0 deletions

diff --git a/dev-ros/gazebo_ros_control/files/gazebo7.patch b/dev-ros/gazebo_ros_control/files/gazebo7.patch
new file mode 100644
index 00000000000..190756daa74
--- /dev/null
+++ b/dev-ros/gazebo_ros_control/files/gazebo7.patch
@@ -0,0 +1,61 @@
+commit b5303e692bb5dd2e4f4fc7932c7ec2c7e0b2e907
+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.
+    
+    cherry-picked from indigo-devel
+    
+    Add ifdefs to fix build with gazebo2
+    
+    It was broken by #315.
+    Fixes #321.
+
+diff --git a/gazebo_ros_control/src/default_robot_hw_sim.cpp b/gazebo_ros_control/src/default_robot_hw_sim.cpp
+index 249c8d3..1d9418d 100644
+--- a/gazebo_ros_control/src/default_robot_hw_sim.cpp
++++ b/gazebo_ros_control/src/default_robot_hw_sim.cpp
+@@ -199,7 +199,7 @@ bool DefaultRobotHWSim::initSim(
+     if (joint_control_methods_[j] != EFFORT)
+     {
+       // Initialize the PID controller. If no PID gain values are found, use joint->SetAngle() or
+-      // joint->SetVelocity() to control the joint.
++      // joint->SetParam("vel") to control the joint.
+       const ros::NodeHandle nh(model_nh, "/gazebo_ros_control/pid_gains/" +
+                                joint_names_[j]);
+       if (pid_controllers_[j].init(nh, true))
+@@ -216,10 +216,14 @@ bool DefaultRobotHWSim::initSim(
+       }
+       else
+       {
+-        // joint->SetMaxForce() must be called if joint->SetAngle() or joint->SetVelocity() are
+-        // going to be called. joint->SetMaxForce() must *not* be called if joint->SetForce() is
++        // joint->SetParam("fmax") must be called if joint->SetAngle() or joint->SetParam("vel") are
++        // going to be called. joint->SetParam("fmax") must *not* be called if joint->SetForce() is
+         // going to be called.
++#if GAZEBO_MAJOR_VERSION > 2
++        joint->SetParam("fmax", 0, joint_effort_limits_[j]);
++#else
+         joint->SetMaxForce(0, joint_effort_limits_[j]);
++#endif
+       }
+     }
+   }
+@@ -327,7 +331,11 @@ void DefaultRobotHWSim::writeSim(ros::Time time, ros::Duration period)
+         break;
+ 
+       case VELOCITY:
++#if GAZEBO_MAJOR_VERSION > 2
++        sim_joints_[j]->SetParam("vel", 0, e_stop_active_ ? 0 : joint_velocity_command_[j]);
++#else
+         sim_joints_[j]->SetVelocity(0, e_stop_active_ ? 0 : joint_velocity_command_[j]);
++#endif
+         break;
+ 
+       case VELOCITY_PID:
diff --git a/dev-ros/gazebo_ros_control/gazebo_ros_control-2.5.1.ebuild b/dev-ros/gazebo_ros_control/gazebo_ros_control-2.5.1.ebuild
index a8ee99778af..65b2ca7eeb2 100644
--- a/dev-ros/gazebo_ros_control/gazebo_ros_control-2.5.1.ebuild
+++ b/dev-ros/gazebo_ros_control/gazebo_ros_control-2.5.1.ebuild
@@ -27,3 +27,4 @@ RDEPEND="
 	sci-electronics/gazebo
 "
 DEPEND="${RDEPEND}"
+PATCHES=( "${FILESDIR}/gazebo7.patch" )