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Changes for Melodic - QtGui -> QtWidgets; Gazebo 9 api changes, such as GetAngles() became … #23

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Changes for Melodic - QtGui -> QtWidgets; Gazebo 9 api changes, such as GetAngles() became … #23

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2 changes: 1 addition & 1 deletion create_dashboard/src/create_dashboard/dashboard.py
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@

from rqt_robot_dashboard.dashboard import Dashboard
from rqt_robot_dashboard.widgets import MonitorDashWidget, ConsoleDashWidget, MenuDashWidget, BatteryDashWidget, IconToolButton, NavViewDashWidget
from QtGui import QMessageBox, QAction
from QtWidgets import QMessageBox, QAction
from python_qt_binding.QtCore import QSize

from .battery import TurtlebotBattery
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14 changes: 7 additions & 7 deletions create_gazebo_plugins/src/gazebo_ros_create.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -165,7 +165,7 @@ void GazeboRosCreate::Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf )
if (joints_[REAR]) set_joints_[REAR] = true;

//initialize time and odometry position
prev_update_time_ = last_cmd_vel_time_ = this->my_world_->GetSimTime();
prev_update_time_ = last_cmd_vel_time_ = this->my_world_->SimTime();
odom_pose_[0] = 0.0;
odom_pose_[1] = 0.0;
odom_pose_[2] = 0.0;
Expand Down Expand Up @@ -208,7 +208,7 @@ void GazeboRosCreate::OnContact(ConstContactsPtr &contacts)

void GazeboRosCreate::UpdateChild()
{
common::Time time_now = this->my_world_->GetSimTime();
common::Time time_now = this->my_world_->SimTime();
common::Time step_time = time_now - prev_update_time_;
prev_update_time_ = time_now;

Expand Down Expand Up @@ -303,25 +303,25 @@ void GazeboRosCreate::UpdateChild()
js_.header.stamp.nsec = time_now.nsec;
if (this->set_joints_[LEFT])
{
js_.position[0] = joints_[LEFT]->GetAngle(0).Radian();
js_.position[0] = joints_[LEFT]->Position(0);
js_.velocity[0] = joints_[LEFT]->GetVelocity(0);
}

if (this->set_joints_[RIGHT])
{
js_.position[1] = joints_[RIGHT]->GetAngle(0).Radian();
js_.position[1] = joints_[RIGHT]->Position(0);
js_.velocity[1] = joints_[RIGHT]->GetVelocity(0);
}

if (this->set_joints_[FRONT])
{
js_.position[2] = joints_[FRONT]->GetAngle(0).Radian();
js_.position[2] = joints_[FRONT]->Position(0);
js_.velocity[2] = joints_[FRONT]->GetVelocity(0);
}

if (this->set_joints_[REAR])
{
js_.position[3] = joints_[REAR]->GetAngle(0).Radian();
js_.position[3] = joints_[REAR]->Position(0);
js_.velocity[3] = joints_[REAR]->GetVelocity(0);
}

Expand Down Expand Up @@ -374,7 +374,7 @@ void GazeboRosCreate::UpdateSensors()

void GazeboRosCreate::OnCmdVel( const geometry_msgs::TwistConstPtr &msg)
{
last_cmd_vel_time_ = this->my_world_->GetSimTime();
last_cmd_vel_time_ = this->my_world_->SimTime();
double vr, va;
vr = msg->linear.x;
va = msg->angular.z;
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