diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel.zip b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel.zip new file mode 100755 index 0000000..e2b0efc Binary files /dev/null and b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel.zip differ diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/.gitignore b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/.gitignore new file mode 100644 index 0000000..40b6a72 --- /dev/null +++ b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/.gitignore @@ -0,0 +1,17 @@ +# vi stuff +.*.sw? + +# Python stuff +*.pyc + +# Data files +*.dat +*.csv + +# Emacs temp files +.#* + +# OSX Files +.DS_Store + +CATKIN_IGNORE diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/CONTRIBUTING.md b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/CONTRIBUTING.md old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/CONTRIBUTING.md rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/CONTRIBUTING.md diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/README.md b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/README.md old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/README.md rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/README.md diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/SENSORS.md b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/SENSORS.md old mode 100755 new mode 100644 similarity index 94% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/SENSORS.md rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/SENSORS.md index f2a8658..a087a6f --- a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/SENSORS.md +++ b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/SENSORS.md @@ -211,6 +211,15 @@ details about which code should be submitted to this repository. - ***example:*** gazebo_plugins/test/tricycle_drive/ xacro, launch, world, rviz, etc. + * ***gazebo_ros_triggered_camera / gazebo_ros_triggered_multicamera*** + - ***description:*** These camera sensors do not publish unless triggered. They have an + additional topic (default name `image_trigger`) that subscribes to std_msgs/Empty messages + and will publish a single update after being triggered. Its maximum update rate is currently + set by the sdf tag in the block. + Publishes: sensor_msgs::Image, sensor_msgs::CameraInfo + - ***status:*** maintained + - ***example:*** gazebo_plugins/test/camera/triggered_camera.* + * ***gazebo_ros_video*** - ***description:*** Video plugin for displaying ROS image topics on Ogre textures - ***status:*** maintained diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_dev/CHANGELOG.rst b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_dev/CHANGELOG.rst old mode 100755 new mode 100644 similarity index 87% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_dev/CHANGELOG.rst rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_dev/CHANGELOG.rst index 3bd922b..ad49d4f --- a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_dev/CHANGELOG.rst +++ b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_dev/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package gazebo_dev ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.5.17 (2018-06-07) +------------------- + +2.5.16 (2018-06-04) +------------------- + 2.5.15 (2018-02-12) ------------------- diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_dev/CMakeLists.txt b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_dev/CMakeLists.txt old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_dev/CMakeLists.txt rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_dev/CMakeLists.txt diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_dev/cmake/gazebo_dev-extras.cmake b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_dev/cmake/gazebo_dev-extras.cmake old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_dev/cmake/gazebo_dev-extras.cmake rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_dev/cmake/gazebo_dev-extras.cmake diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_dev/package.xml b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_dev/package.xml old mode 100755 new mode 100644 similarity index 96% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_dev/package.xml rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_dev/package.xml index cc682a7..db465d3 --- a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_dev/package.xml +++ b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_dev/package.xml @@ -1,7 +1,7 @@ gazebo_dev - 2.5.15 + 2.5.17 Provides a cmake config for the default version of Gazebo for the ROS distribution. diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/CHANGELOG.rst b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/CHANGELOG.rst old mode 100755 new mode 100644 similarity index 97% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/CHANGELOG.rst rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/CHANGELOG.rst index bcdf004..1488e05 --- a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/CHANGELOG.rst +++ b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package gazebo_msgs ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.5.17 (2018-06-07) +------------------- + +2.5.16 (2018-06-04) +------------------- + 2.5.15 (2018-02-12) ------------------- diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/CMakeLists.txt b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/CMakeLists.txt old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/CMakeLists.txt rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/CMakeLists.txt diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/msg/ContactState.msg b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/msg/ContactState.msg old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/msg/ContactState.msg rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/msg/ContactState.msg diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/msg/ContactsState.msg b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/msg/ContactsState.msg old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/msg/ContactsState.msg rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/msg/ContactsState.msg diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/msg/LinkState.msg b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/msg/LinkState.msg old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/msg/LinkState.msg rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/msg/LinkState.msg diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/msg/LinkStates.msg b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/msg/LinkStates.msg old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/msg/LinkStates.msg rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/msg/LinkStates.msg diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/msg/ModelState.msg b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/msg/ModelState.msg old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/msg/ModelState.msg rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/msg/ModelState.msg diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/msg/ModelStates.msg b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/msg/ModelStates.msg old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/msg/ModelStates.msg rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/msg/ModelStates.msg diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/msg/ODEJointProperties.msg b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/msg/ODEJointProperties.msg old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/msg/ODEJointProperties.msg rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/msg/ODEJointProperties.msg diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/msg/ODEPhysics.msg b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/msg/ODEPhysics.msg old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/msg/ODEPhysics.msg rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/msg/ODEPhysics.msg diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/msg/WorldState.msg b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/msg/WorldState.msg old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/msg/WorldState.msg rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/msg/WorldState.msg diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/package.xml b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/package.xml old mode 100755 new mode 100644 similarity index 97% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/package.xml rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/package.xml index 56c7814..eb891ce --- a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/package.xml +++ b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/package.xml @@ -1,7 +1,7 @@ gazebo_msgs - 2.5.15 + 2.5.17 Message and service data structures for interacting with Gazebo from ROS. diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/srv/ApplyBodyWrench.srv b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/srv/ApplyBodyWrench.srv old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/srv/ApplyBodyWrench.srv rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/srv/ApplyBodyWrench.srv diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/srv/ApplyJointEffort.srv b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/srv/ApplyJointEffort.srv old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/srv/ApplyJointEffort.srv rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/srv/ApplyJointEffort.srv diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/srv/BodyRequest.srv b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/srv/BodyRequest.srv old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/srv/BodyRequest.srv rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/srv/BodyRequest.srv diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/srv/DeleteLight.srv b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/srv/DeleteLight.srv old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/srv/DeleteLight.srv rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/srv/DeleteLight.srv diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/srv/DeleteModel.srv b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/srv/DeleteModel.srv old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/srv/DeleteModel.srv rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/srv/DeleteModel.srv diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/srv/GetJointProperties.srv b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/srv/GetJointProperties.srv old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/srv/GetJointProperties.srv rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/srv/GetJointProperties.srv diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/srv/GetLightProperties.srv b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/srv/GetLightProperties.srv old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/srv/GetLightProperties.srv rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/srv/GetLightProperties.srv diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/srv/GetLinkProperties.srv b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/srv/GetLinkProperties.srv old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/srv/GetLinkProperties.srv rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/srv/GetLinkProperties.srv diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/srv/GetLinkState.srv b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/srv/GetLinkState.srv old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/srv/GetLinkState.srv rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/srv/GetLinkState.srv diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/srv/GetModelProperties.srv b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/srv/GetModelProperties.srv old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/srv/GetModelProperties.srv rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/srv/GetModelProperties.srv diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/srv/GetModelState.srv b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/srv/GetModelState.srv old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/srv/GetModelState.srv rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/srv/GetModelState.srv diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/srv/GetPhysicsProperties.srv b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/srv/GetPhysicsProperties.srv old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/srv/GetPhysicsProperties.srv rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/srv/GetPhysicsProperties.srv diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/srv/GetWorldProperties.srv b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/srv/GetWorldProperties.srv old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/srv/GetWorldProperties.srv rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/srv/GetWorldProperties.srv diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/srv/JointRequest.srv b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/srv/JointRequest.srv old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/srv/JointRequest.srv rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/srv/JointRequest.srv diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/srv/SetJointProperties.srv b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/srv/SetJointProperties.srv old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/srv/SetJointProperties.srv rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/srv/SetJointProperties.srv diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/srv/SetJointTrajectory.srv b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/srv/SetJointTrajectory.srv old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/srv/SetJointTrajectory.srv rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/srv/SetJointTrajectory.srv diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/srv/SetLightProperties.srv b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/srv/SetLightProperties.srv old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/srv/SetLightProperties.srv rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/srv/SetLightProperties.srv diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/srv/SetLinkProperties.srv b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/srv/SetLinkProperties.srv old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/srv/SetLinkProperties.srv rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/srv/SetLinkProperties.srv diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/srv/SetLinkState.srv b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/srv/SetLinkState.srv old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/srv/SetLinkState.srv rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/srv/SetLinkState.srv diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/srv/SetModelConfiguration.srv b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/srv/SetModelConfiguration.srv old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/srv/SetModelConfiguration.srv rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/srv/SetModelConfiguration.srv diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/srv/SetModelState.srv b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/srv/SetModelState.srv old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/srv/SetModelState.srv rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/srv/SetModelState.srv diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/srv/SetPhysicsProperties.srv b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/srv/SetPhysicsProperties.srv old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/srv/SetPhysicsProperties.srv rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/srv/SetPhysicsProperties.srv diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/srv/SpawnModel.srv b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/srv/SpawnModel.srv old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_msgs/srv/SpawnModel.srv rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_msgs/srv/SpawnModel.srv diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/CHANGELOG.rst b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/CHANGELOG.rst old mode 100755 new mode 100644 similarity index 91% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/CHANGELOG.rst rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/CHANGELOG.rst index 45a5665..1010b71 --- a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/CHANGELOG.rst +++ b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/CHANGELOG.rst @@ -2,6 +2,39 @@ Changelog for package gazebo_plugins ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.5.17 (2018-06-07) +------------------- +* gazebo_plugins: install triggered camera plugins (`#740 `_) + Fixes `#739 `_. +* Contributors: Steven Peters + +2.5.16 (2018-06-04) +------------------- +* Add publishOdomTF flag (`#692 `_) (`#716 `_) +* ROS UTILS: prevent segfault when using alternative GazeboRos constructor (kinetic-devel) (`#721 `_) +* Triggered camera / multicamera plugins (`#687 `_) +* Fix sensors after time reset (`#683 `_) + World resets result in a negative time differences between current world + time and the last recorded sensor update time, preventing the plugin + from publishing new frames. This commit detects such events and resets + the internal sensor update timestamp. + * block_laser, range, and joint_state_publisher keep publishing after clock reset + * p3d keeps publishing after clock reset +* Support 16-bit cameras (`#675 `_) + * extend camera util to support 16 bit rgb image encoding: support 16 bit mono +* Add warnings when the user is affected by gazebo not preserving world velocity when set positions (`#691 `_) + Issue `#612 `_. Workaround at https://github.com/mintar/mimic_joint_gazebo_tutorial +* Fix for preserving world velocity when set positions for Gazebo9: `#612 `_ + This commit fixes `#612 `_, but only for Gazebo9. + Fixing it for Gazebo7 (the version used in ROS Kinetic) requires the + following PR to be backported to Gazebo 7 and 8: + https://bitbucket.org/osrf/gazebo/pull-requests/2814/fix-issue-2111-by-providing-options-to/diff +* gazebo_plugins: unique names for distortion tests (`#685 `_) +* Fix tests and compiler warnings on kinetic-devel `#678 `_ +* fix gazebo9 warnings by removing Set.*Accel calls +* gazebo_plugins: don't use -r in tests +* Contributors: Jose Luis Rivero, Julian Kooij, Kevin Allen, Martin Günther, Steven Peters, krzysztof-zurad + 2.5.15 (2018-02-12) ------------------- * Merge pull request `#669 `_ from ahcorde/kinetic-devel diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/CMakeLists.txt b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/CMakeLists.txt old mode 100755 new mode 100644 similarity index 99% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/CMakeLists.txt rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/CMakeLists.txt index 5ed3b31..7ef8dcc --- a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/CMakeLists.txt +++ b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/CMakeLists.txt @@ -304,11 +304,12 @@ install(TARGETS gazebo_ros_utils gazebo_ros_camera_utils gazebo_ros_camera + gazebo_ros_triggered_camera gazebo_ros_multicamera MultiCameraPlugin + gazebo_ros_triggered_multicamera gazebo_ros_depth_camera gazebo_ros_openni_kinect - gazebo_ros_openni_kinect gazebo_ros_laser gazebo_ros_block_laser gazebo_ros_p3d diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/Media/models/chair/doc.kml b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/Media/models/chair/doc.kml old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/Media/models/chair/doc.kml rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/Media/models/chair/doc.kml diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/Media/models/chair/images/texture0.jpg b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/Media/models/chair/images/texture0.jpg old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/Media/models/chair/images/texture0.jpg rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/Media/models/chair/images/texture0.jpg diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/Media/models/chair/images/texture1.jpg b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/Media/models/chair/images/texture1.jpg old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/Media/models/chair/images/texture1.jpg rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/Media/models/chair/images/texture1.jpg diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/Media/models/chair/models/Chair.dae b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/Media/models/chair/models/Chair.dae old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/Media/models/chair/models/Chair.dae rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/Media/models/chair/models/Chair.dae diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/Media/models/chair/models/Chair.stl b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/Media/models/chair/models/Chair.stl old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/Media/models/chair/models/Chair.stl rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/Media/models/chair/models/Chair.stl diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/Media/models/chair/textures.txt b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/Media/models/chair/textures.txt old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/Media/models/chair/textures.txt rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/Media/models/chair/textures.txt diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/cfg/CameraSynchronizer.cfg b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/cfg/CameraSynchronizer.cfg similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/cfg/CameraSynchronizer.cfg rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/cfg/CameraSynchronizer.cfg diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/cfg/GazeboRosCamera.cfg b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/cfg/GazeboRosCamera.cfg similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/cfg/GazeboRosCamera.cfg rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/cfg/GazeboRosCamera.cfg diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/cfg/GazeboRosOpenniKinect.cfg b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/cfg/GazeboRosOpenniKinect.cfg similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/cfg/GazeboRosOpenniKinect.cfg rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/cfg/GazeboRosOpenniKinect.cfg diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/cfg/Hokuyo.cfg b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/cfg/Hokuyo.cfg similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/cfg/Hokuyo.cfg rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/cfg/Hokuyo.cfg diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/MultiCameraPlugin.h b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/MultiCameraPlugin.h old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/MultiCameraPlugin.h rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/MultiCameraPlugin.h diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/PubQueue.h b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/PubQueue.h old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/PubQueue.h rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/PubQueue.h diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_block_laser.h b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_block_laser.h old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_block_laser.h rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_block_laser.h diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_bumper.h b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_bumper.h old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_bumper.h rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_bumper.h diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_camera.h b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_camera.h old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_camera.h rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_camera.h diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_camera_utils.h b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_camera_utils.h old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_camera_utils.h rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_camera_utils.h diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_depth_camera.h b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_depth_camera.h old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_depth_camera.h rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_depth_camera.h diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_diff_drive.h b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_diff_drive.h old mode 100755 new mode 100644 similarity index 99% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_diff_drive.h rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_diff_drive.h index 8615f31..6a3dd41 --- a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_diff_drive.h +++ b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_diff_drive.h @@ -149,6 +149,7 @@ namespace gazebo { // Flags bool publishWheelTF_; + bool publishOdomTF_; bool publishWheelJointState_; }; @@ -156,4 +157,3 @@ namespace gazebo { } #endif - diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_elevator.h b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_elevator.h old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_elevator.h rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_elevator.h diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_f3d.h b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_f3d.h old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_f3d.h rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_f3d.h diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_force.h b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_force.h old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_force.h rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_force.h diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_ft_sensor.h b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_ft_sensor.h old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_ft_sensor.h rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_ft_sensor.h diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_gpu_laser.h b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_gpu_laser.h old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_gpu_laser.h rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_gpu_laser.h diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_hand_of_god.h b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_hand_of_god.h old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_hand_of_god.h rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_hand_of_god.h diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_harness.h b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_harness.h old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_harness.h rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_harness.h diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_imu.h b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_imu.h old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_imu.h rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_imu.h diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_imu_sensor.h b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_imu_sensor.h old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_imu_sensor.h rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_imu_sensor.h diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_joint_pose_trajectory.h b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_joint_pose_trajectory.h old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_joint_pose_trajectory.h rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_joint_pose_trajectory.h diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_joint_state_publisher.h b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_joint_state_publisher.h old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_joint_state_publisher.h rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_joint_state_publisher.h diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_joint_trajectory.h b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_joint_trajectory.h old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_joint_trajectory.h rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_joint_trajectory.h diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_laser.h b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_laser.h old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_laser.h rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_laser.h diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_multicamera.h b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_multicamera.h old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_multicamera.h rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_multicamera.h diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_openni_kinect.h b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_openni_kinect.h old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_openni_kinect.h rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_openni_kinect.h diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_p3d.h b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_p3d.h old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_p3d.h rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_p3d.h diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_planar_move.h b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_planar_move.h old mode 100755 new mode 100644 similarity index 97% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_planar_move.h rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_planar_move.h index d399443..44f6c75 --- a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_planar_move.h +++ b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_planar_move.h @@ -89,6 +89,7 @@ namespace gazebo { double y_; double rot_; bool alive_; + bool enable_y_axis_; ///< Enable Y-axis movement. common::Time last_odom_publish_time_; ignition::math::Pose3d last_odom_pose_; diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_projector.h b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_projector.h old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_projector.h rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_projector.h diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_prosilica.h b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_prosilica.h old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_prosilica.h rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_prosilica.h diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_range.h b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_range.h old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_range.h rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_range.h diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_skid_steer_drive.h b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_skid_steer_drive.h old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_skid_steer_drive.h rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_skid_steer_drive.h diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_template.h b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_template.h old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_template.h rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_template.h diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_tricycle_drive.h b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_tricycle_drive.h old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_tricycle_drive.h rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_tricycle_drive.h diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_triggered_camera.h b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_triggered_camera.h old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_triggered_camera.h rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_triggered_camera.h diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_triggered_multicamera.h b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_triggered_multicamera.h old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_triggered_multicamera.h rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_triggered_multicamera.h diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_utils.h b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_utils.h old mode 100755 new mode 100644 similarity index 99% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_utils.h rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_utils.h index ed51a72..4cc35e3 --- a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_utils.h +++ b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_utils.h @@ -160,6 +160,7 @@ public: } else { ss << "the 'robotNamespace' param did not exit"; } + rosnode_ = boost::shared_ptr ( new ros::NodeHandle ( namespace_ ) ); info_text = plugin_ + "(ns = " + namespace_ + ")"; ROS_INFO_NAMED("utils", "%s: %s" , info_text.c_str(), ss.str().c_str() ); readCommonParameter (); diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_vacuum_gripper.h b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_vacuum_gripper.h old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_vacuum_gripper.h rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_vacuum_gripper.h diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_video.h b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_video.h old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/gazebo_ros_video.h rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/gazebo_ros_video.h diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/vision_reconfigure.h b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/vision_reconfigure.h old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/include/gazebo_plugins/vision_reconfigure.h rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/include/gazebo_plugins/vision_reconfigure.h diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/package.xml b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/package.xml old mode 100755 new mode 100644 similarity index 98% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/package.xml rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/package.xml index d0e1d98..2ee06b1 --- a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/package.xml +++ b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/package.xml @@ -1,7 +1,7 @@ gazebo_plugins - 2.5.15 + 2.5.17 Robot-independent Gazebo plugins for sensors, motors and dynamic reconfigurable components. diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/scripts/gazebo_model b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/scripts/gazebo_model similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/scripts/gazebo_model rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/scripts/gazebo_model diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/scripts/set_pose.py b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/scripts/set_pose.py similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/scripts/set_pose.py rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/scripts/set_pose.py diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/scripts/set_wrench.py b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/scripts/set_wrench.py similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/scripts/set_wrench.py rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/scripts/set_wrench.py diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/scripts/test_range.py b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/scripts/test_range.py similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/scripts/test_range.py rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/scripts/test_range.py diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/setup.py b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/setup.py old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/setup.py rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/setup.py diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/MultiCameraPlugin.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/MultiCameraPlugin.cpp old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/MultiCameraPlugin.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/MultiCameraPlugin.cpp diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/camera_synchronizer.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/camera_synchronizer.cpp old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/camera_synchronizer.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/camera_synchronizer.cpp diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_plugins/__init__.py b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_plugins/__init__.py old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_plugins/__init__.py rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_plugins/__init__.py diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_plugins/gazebo_plugins_interface.py b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_plugins/gazebo_plugins_interface.py old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_plugins/gazebo_plugins_interface.py rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_plugins/gazebo_plugins_interface.py diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_block_laser.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_block_laser.cpp old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_block_laser.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_block_laser.cpp diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_bumper.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_bumper.cpp old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_bumper.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_bumper.cpp diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_camera.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_camera.cpp old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_camera.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_camera.cpp diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_camera_utils.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_camera_utils.cpp old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_camera_utils.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_camera_utils.cpp diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_depth_camera.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_depth_camera.cpp old mode 100755 new mode 100644 similarity index 99% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_depth_camera.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_depth_camera.cpp index 54dc539..c7acaf7 --- a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_depth_camera.cpp +++ b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_depth_camera.cpp @@ -45,6 +45,7 @@ GZ_REGISTER_SENSOR_PLUGIN(GazeboRosDepthCamera) GazeboRosDepthCamera::GazeboRosDepthCamera() { this->point_cloud_connect_count_ = 0; + this->depth_image_connect_count_ = 0; this->depth_info_connect_count_ = 0; this->last_depth_image_camera_info_update_time_ = common::Time(0); } diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_diff_drive.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_diff_drive.cpp old mode 100755 new mode 100644 similarity index 98% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_diff_drive.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_diff_drive.cpp index f9e9e27..79127b0 --- a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_diff_drive.cpp +++ b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_diff_drive.cpp @@ -87,6 +87,7 @@ void GazeboRosDiffDrive::Load ( physics::ModelPtr _parent, sdf::ElementPtr _sdf gazebo_ros_->getParameter ( odometry_frame_, "odometryFrame", "odom" ); gazebo_ros_->getParameter ( robot_base_frame_, "robotBaseFrame", "base_footprint" ); gazebo_ros_->getParameterBoolean ( publishWheelTF_, "publishWheelTF", false ); + gazebo_ros_->getParameterBoolean ( publishOdomTF_, "publishOdomTF", true); gazebo_ros_->getParameterBoolean ( publishWheelJointState_, "publishWheelJointState", false ); gazebo_ros_->getParameterBoolean ( legacy_mode_, "legacyMode", true ); @@ -466,10 +467,12 @@ void GazeboRosDiffDrive::publishOdometry ( double step_time ) odom_.twist.twist.linear.y = cosf ( yaw ) * linear.Y() - sinf ( yaw ) * linear.X(); } - tf::Transform base_footprint_to_odom ( qt, vt ); - transform_broadcaster_->sendTransform ( - tf::StampedTransform ( base_footprint_to_odom, current_time, - odom_frame, base_footprint_frame ) ); + if (publishOdomTF_ == true){ + tf::Transform base_footprint_to_odom ( qt, vt ); + transform_broadcaster_->sendTransform ( + tf::StampedTransform ( base_footprint_to_odom, current_time, + odom_frame, base_footprint_frame ) ); + } // set covariance diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_elevator.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_elevator.cpp old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_elevator.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_elevator.cpp diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_f3d.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_f3d.cpp old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_f3d.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_f3d.cpp diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_force.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_force.cpp old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_force.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_force.cpp diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_ft_sensor.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_ft_sensor.cpp old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_ft_sensor.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_ft_sensor.cpp diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_gpu_laser.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_gpu_laser.cpp old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_gpu_laser.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_gpu_laser.cpp diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_hand_of_god.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_hand_of_god.cpp old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_hand_of_god.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_hand_of_god.cpp diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_harness.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_harness.cpp old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_harness.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_harness.cpp diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_imu.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_imu.cpp old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_imu.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_imu.cpp diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_imu_sensor.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_imu_sensor.cpp old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_imu_sensor.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_imu_sensor.cpp diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_joint_pose_trajectory.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_joint_pose_trajectory.cpp old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_joint_pose_trajectory.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_joint_pose_trajectory.cpp diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_joint_state_publisher.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_joint_state_publisher.cpp old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_joint_state_publisher.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_joint_state_publisher.cpp diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_joint_trajectory.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_joint_trajectory.cpp old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_joint_trajectory.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_joint_trajectory.cpp diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_laser.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_laser.cpp old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_laser.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_laser.cpp diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_multicamera.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_multicamera.cpp old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_multicamera.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_multicamera.cpp diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_openni_kinect.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_openni_kinect.cpp old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_openni_kinect.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_openni_kinect.cpp diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_p3d.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_p3d.cpp old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_p3d.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_p3d.cpp diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_planar_move.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_planar_move.cpp old mode 100755 new mode 100644 similarity index 96% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_planar_move.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_planar_move.cpp index fdad12b..e796360 --- a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_planar_move.cpp +++ b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_planar_move.cpp @@ -52,6 +52,17 @@ namespace gazebo sdf->GetElement("robotNamespace")->Get(); } + enable_y_axis_ = true; + if (!sdf->HasElement ("enableYAxis")) + { + ROS_INFO_NAMED("planar_move", "PlanarMovePlugin missing , " + "defaults to \"%d\"", enable_y_axis_); + } + else + { + enable_y_axis_ = sdf->GetElement("enableYAxis")->Get(); + } + command_topic_ = "cmd_vel"; if (!sdf->HasElement("commandTopic")) { @@ -208,7 +219,10 @@ namespace gazebo { boost::mutex::scoped_lock scoped_lock(lock); x_ = cmd_msg->linear.x; - y_ = cmd_msg->linear.y; + if (enable_y_axis_) + { + y_ = cmd_msg->linear.y; + } rot_ = cmd_msg->angular.z; } diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_projector.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_projector.cpp old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_projector.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_projector.cpp diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_prosilica.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_prosilica.cpp old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_prosilica.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_prosilica.cpp diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_range.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_range.cpp old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_range.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_range.cpp diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_skid_steer_drive.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_skid_steer_drive.cpp old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_skid_steer_drive.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_skid_steer_drive.cpp diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_template.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_template.cpp old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_template.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_template.cpp diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_tricycle_drive.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_tricycle_drive.cpp old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_tricycle_drive.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_tricycle_drive.cpp diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_triggered_camera.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_triggered_camera.cpp old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_triggered_camera.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_triggered_camera.cpp diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_triggered_multicamera.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_triggered_multicamera.cpp old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_triggered_multicamera.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_triggered_multicamera.cpp diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_utils.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_utils.cpp old mode 100755 new mode 100644 similarity index 97% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_utils.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_utils.cpp index 15e2741..0a71303 --- a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_utils.cpp +++ b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_utils.cpp @@ -98,7 +98,7 @@ void GazeboRos ::getParameterBoolean(bool &_value, const char *_tag_name, const _value = _default; if (!sdf_->HasElement(_tag_name)) { ROS_WARN_NAMED("utils", "%s: missing <%s> default is %s", - info(), _tag_name, (_default?"ture":"false")); + info(), _tag_name, (_default?"true":"false")); } else { getParameterBoolean(_value, _tag_name); } @@ -123,7 +123,7 @@ void GazeboRos ::getParameterBoolean(bool &_value, const char *_tag_name) { } } ROS_DEBUG_NAMED("utils", "%s: <%s> = %s", - info(), _tag_name, (_value?"ture":"false")); + info(), _tag_name, (_value?"true":"false")); } diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_vacuum_gripper.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_vacuum_gripper.cpp old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_vacuum_gripper.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_vacuum_gripper.cpp diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_video.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_video.cpp old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/gazebo_ros_video.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/gazebo_ros_video.cpp diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/hokuyo_node.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/hokuyo_node.cpp old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/hokuyo_node.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/hokuyo_node.cpp diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/vision_reconfigure.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/vision_reconfigure.cpp old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/src/vision_reconfigure.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/src/vision_reconfigure.cpp diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/bumper_test/gazebo_ros_bumper.world b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/bumper_test/gazebo_ros_bumper.world old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/bumper_test/gazebo_ros_bumper.world rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/bumper_test/gazebo_ros_bumper.world diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/bumper_test/test_bumper.launch b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/bumper_test/test_bumper.launch old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/bumper_test/test_bumper.launch rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/bumper_test/test_bumper.launch diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/bumper_test/test_bumper.py b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/bumper_test/test_bumper.py similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/bumper_test/test_bumper.py rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/bumper_test/test_bumper.py diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/camera/camera.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/camera/camera.cpp old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/camera/camera.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/camera/camera.cpp diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/camera/camera.h b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/camera/camera.h old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/camera/camera.h rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/camera/camera.h diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/camera/camera.test b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/camera/camera.test old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/camera/camera.test rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/camera/camera.test diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/camera/camera.world b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/camera/camera.world old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/camera/camera.world rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/camera/camera.world diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/camera/camera16bit.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/camera/camera16bit.cpp old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/camera/camera16bit.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/camera/camera16bit.cpp diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/camera/camera16bit.test b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/camera/camera16bit.test old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/camera/camera16bit.test rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/camera/camera16bit.test diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/camera/camera16bit.world b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/camera/camera16bit.world old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/camera/camera16bit.world rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/camera/camera16bit.world diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/camera/depth_camera.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/camera/depth_camera.cpp old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/camera/depth_camera.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/camera/depth_camera.cpp diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/camera/depth_camera.test b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/camera/depth_camera.test old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/camera/depth_camera.test rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/camera/depth_camera.test diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/camera/depth_camera.world b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/camera/depth_camera.world old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/camera/depth_camera.world rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/camera/depth_camera.world diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/camera/distortion.h b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/camera/distortion.h old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/camera/distortion.h rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/camera/distortion.h diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/camera/distortion_barrel.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/camera/distortion_barrel.cpp old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/camera/distortion_barrel.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/camera/distortion_barrel.cpp diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/camera/distortion_barrel.test b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/camera/distortion_barrel.test old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/camera/distortion_barrel.test rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/camera/distortion_barrel.test diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/camera/distortion_barrel.world b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/camera/distortion_barrel.world old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/camera/distortion_barrel.world rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/camera/distortion_barrel.world diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/camera/distortion_pincushion.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/camera/distortion_pincushion.cpp old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/camera/distortion_pincushion.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/camera/distortion_pincushion.cpp diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/camera/distortion_pincushion.test b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/camera/distortion_pincushion.test old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/camera/distortion_pincushion.test rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/camera/distortion_pincushion.test diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/camera/distortion_pincushion.world b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/camera/distortion_pincushion.world old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/camera/distortion_pincushion.world rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/camera/distortion_pincushion.world diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/camera/multicamera.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/camera/multicamera.cpp old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/camera/multicamera.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/camera/multicamera.cpp diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/camera/multicamera.test b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/camera/multicamera.test old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/camera/multicamera.test rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/camera/multicamera.test diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/camera/multicamera.world b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/camera/multicamera.world old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/camera/multicamera.world rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/camera/multicamera.world diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/camera/triggered_camera.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/camera/triggered_camera.cpp old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/camera/triggered_camera.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/camera/triggered_camera.cpp diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/camera/triggered_camera.test b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/camera/triggered_camera.test old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/camera/triggered_camera.test rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/camera/triggered_camera.test diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/camera/triggered_camera.world b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/camera/triggered_camera.world old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/camera/triggered_camera.world rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/camera/triggered_camera.world diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/config/example_models.yaml b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/config/example_models.yaml old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/config/example_models.yaml rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/config/example_models.yaml diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/launch/multi_robot_scenario.launch b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/launch/multi_robot_scenario.launch old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/launch/multi_robot_scenario.launch rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/launch/multi_robot_scenario.launch diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/launch/pioneer3dx.gazebo.launch b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/launch/pioneer3dx.gazebo.launch old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/launch/pioneer3dx.gazebo.launch rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/launch/pioneer3dx.gazebo.launch diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/launch/pioneer3dx.rviz b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/launch/pioneer3dx.rviz old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/launch/pioneer3dx.rviz rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/launch/pioneer3dx.rviz diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/launch/pioneer3dx.urdf.launch b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/launch/pioneer3dx.urdf.launch old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/launch/pioneer3dx.urdf.launch rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/launch/pioneer3dx.urdf.launch diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/meshes/laser/hokuyo.dae b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/meshes/laser/hokuyo.dae old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/meshes/laser/hokuyo.dae rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/meshes/laser/hokuyo.dae diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/Coordinates b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/Coordinates old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/Coordinates rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/Coordinates diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/back_rim.stl b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/back_rim.stl old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/back_rim.stl rename to 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Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/center_hubcap.stl rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/center_hubcap.stl diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/center_wheel.stl b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/center_wheel.stl old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/center_wheel.stl rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/center_wheel.stl diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/chassis.stl b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/chassis.stl old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/chassis.stl rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/chassis.stl diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/front_rim.stl b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/front_rim.stl old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/front_rim.stl rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/front_rim.stl diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/front_sonar.stl b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/front_sonar.stl old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/front_sonar.stl rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/front_sonar.stl diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/left_hubcap.stl b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/left_hubcap.stl old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/left_hubcap.stl rename to 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Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/right_hubcap.stl rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/right_hubcap.stl diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/right_wheel.stl b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/right_wheel.stl old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/right_wheel.stl rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/right_wheel.stl diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/swivel.stl b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/swivel.stl old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/swivel.stl rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/swivel.stl diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/top.stl b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/top.stl old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/top.stl rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/meshes/p3dx/top.stl diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/xacro/camera/camera.xacro b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/xacro/camera/camera.xacro old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/xacro/camera/camera.xacro rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/xacro/camera/camera.xacro diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/xacro/laser/hokuyo.xacro b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/xacro/laser/hokuyo.xacro old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/xacro/laser/hokuyo.xacro rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/xacro/laser/hokuyo.xacro diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/xacro/laser/hokuyo_gpu.xacro b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/xacro/laser/hokuyo_gpu.xacro old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/xacro/laser/hokuyo_gpu.xacro rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/xacro/laser/hokuyo_gpu.xacro diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/xacro/materials.xacro b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/xacro/materials.xacro old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/xacro/materials.xacro rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/xacro/materials.xacro diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/battery_block.xacro b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/battery_block.xacro old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/battery_block.xacro rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/battery_block.xacro diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/inertia_tensors.xacro b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/inertia_tensors.xacro old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/inertia_tensors.xacro rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/inertia_tensors.xacro diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx.xacro b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx.xacro old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx.xacro rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx.xacro diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_body.xacro b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_body.xacro old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_body.xacro rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_body.xacro diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_chassis.xacro b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_chassis.xacro old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_chassis.xacro rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_chassis.xacro diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_plugins.xacro b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_plugins.xacro old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_plugins.xacro rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_plugins.xacro diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_sonar.xacro b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_sonar.xacro old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_sonar.xacro rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_sonar.xacro diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_swivel.xacro b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_swivel.xacro old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_swivel.xacro rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_swivel.xacro diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_wheel.xacro b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_wheel.xacro old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_wheel.xacro rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/multi_robot_scenario/xacro/p3dx/pioneer3dx_wheel.xacro diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/p3d_test/test_3_double_pendulums.launch b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/p3d_test/test_3_double_pendulums.launch old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/p3d_test/test_3_double_pendulums.launch rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/p3d_test/test_3_double_pendulums.launch diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/p3d_test/test_3_single_pendulums.launch b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/p3d_test/test_3_single_pendulums.launch old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/p3d_test/test_3_single_pendulums.launch rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/p3d_test/test_3_single_pendulums.launch diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/p3d_test/test_double_pendulum.launch b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/p3d_test/test_double_pendulum.launch old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/p3d_test/test_double_pendulum.launch rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/p3d_test/test_double_pendulum.launch diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/p3d_test/test_link_pose.py b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/p3d_test/test_link_pose.py similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/p3d_test/test_link_pose.py rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/p3d_test/test_link_pose.py diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/p3d_test/test_single_pendulum.launch b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/p3d_test/test_single_pendulum.launch old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/p3d_test/test_single_pendulum.launch rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/p3d_test/test_single_pendulum.launch diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/p3d_test/worlds/3_double_pendulums.world b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/p3d_test/worlds/3_double_pendulums.world old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/p3d_test/worlds/3_double_pendulums.world rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/p3d_test/worlds/3_double_pendulums.world diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/p3d_test/worlds/3_single_pendulums.world b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/p3d_test/worlds/3_single_pendulums.world old mode 100755 new mode 100644 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rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/range/range_plugin.test rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/range/range_plugin.test diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/set_model_state_test/set_model_state_test.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/set_model_state_test/set_model_state_test.cpp old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/set_model_state_test/set_model_state_test.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/set_model_state_test/set_model_state_test.cpp diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/set_model_state_test/set_model_state_test.test b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/set_model_state_test/set_model_state_test.test old mode 100755 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Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/tricycle_drive/launch/tricycle.gazebo.launch rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/tricycle_drive/launch/tricycle.gazebo.launch diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/tricycle_drive/launch/tricycle.rviz b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/tricycle_drive/launch/tricycle.rviz old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/tricycle_drive/launch/tricycle.rviz rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/tricycle_drive/launch/tricycle.rviz diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/tricycle_drive/launch/tricycle.urdf.launch b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/tricycle_drive/launch/tricycle.urdf.launch old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/tricycle_drive/launch/tricycle.urdf.launch rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/tricycle_drive/launch/tricycle.urdf.launch diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/tricycle_drive/launch/tricycle_drive_scenario.launch b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/tricycle_drive/launch/tricycle_drive_scenario.launch old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/tricycle_drive/launch/tricycle_drive_scenario.launch rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/tricycle_drive/launch/tricycle_drive_scenario.launch diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/tricycle_drive/launch/tricycle_rviz.launch b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/tricycle_drive/launch/tricycle_rviz.launch old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/tricycle_drive/launch/tricycle_rviz.launch rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/tricycle_drive/launch/tricycle_rviz.launch diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/tricycle_drive/xacro/.directory b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/tricycle_drive/xacro/.directory old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/tricycle_drive/xacro/.directory rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/tricycle_drive/xacro/.directory diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/tricycle_drive/xacro/materials.xacro b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/tricycle_drive/xacro/materials.xacro old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/tricycle_drive/xacro/materials.xacro rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/tricycle_drive/xacro/materials.xacro diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/tricycle_drive/xacro/tricycle/inertia_tensors.xacro b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/tricycle_drive/xacro/tricycle/inertia_tensors.xacro old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/tricycle_drive/xacro/tricycle/inertia_tensors.xacro rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/tricycle_drive/xacro/tricycle/inertia_tensors.xacro diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/tricycle_drive/xacro/tricycle/tricycle.xacro b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/tricycle_drive/xacro/tricycle/tricycle.xacro old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/tricycle_drive/xacro/tricycle/tricycle.xacro rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/tricycle_drive/xacro/tricycle/tricycle.xacro diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/tricycle_drive/xacro/tricycle/tricycle_body.xacro b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/tricycle_drive/xacro/tricycle/tricycle_body.xacro old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/tricycle_drive/xacro/tricycle/tricycle_body.xacro rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/tricycle_drive/xacro/tricycle/tricycle_body.xacro diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/tricycle_drive/xacro/tricycle/tricycle_chassis.xacro b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/tricycle_drive/xacro/tricycle/tricycle_chassis.xacro old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/tricycle_drive/xacro/tricycle/tricycle_chassis.xacro rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/tricycle_drive/xacro/tricycle/tricycle_chassis.xacro diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/tricycle_drive/xacro/tricycle/tricycle_plugins.xacro b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/tricycle_drive/xacro/tricycle/tricycle_plugins.xacro old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/tricycle_drive/xacro/tricycle/tricycle_plugins.xacro rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/tricycle_drive/xacro/tricycle/tricycle_plugins.xacro diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/tricycle_drive/xacro/tricycle/wheel.xacro b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/tricycle_drive/xacro/tricycle/wheel.xacro old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/tricycle_drive/xacro/tricycle/wheel.xacro rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/tricycle_drive/xacro/tricycle/wheel.xacro diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/tricycle_drive/xacro/tricycle/wheel_actuated.xacro b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/tricycle_drive/xacro/tricycle/wheel_actuated.xacro old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test/tricycle_drive/xacro/tricycle/wheel_actuated.xacro rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test/tricycle_drive/xacro/tricycle/wheel_actuated.xacro diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/CMakeLists_tests_pkg.txt b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/CMakeLists_tests_pkg.txt old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/CMakeLists_tests_pkg.txt rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/CMakeLists_tests_pkg.txt diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/contact_tolerance/contact_tolerance.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/contact_tolerance/contact_tolerance.cpp old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/contact_tolerance/contact_tolerance.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/contact_tolerance/contact_tolerance.cpp diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/contact_tolerance/contact_tolerance.launch b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/contact_tolerance/contact_tolerance.launch old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/contact_tolerance/contact_tolerance.launch rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/contact_tolerance/contact_tolerance.launch diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/large_models/large_model.launch b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/large_models/large_model.launch old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/large_models/large_model.launch rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/large_models/large_model.launch diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/large_models/large_model.urdf.xacro b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/large_models/large_model.urdf.xacro old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/large_models/large_model.urdf.xacro rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/large_models/large_model.urdf.xacro diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/large_models/large_models.world b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/large_models/large_models.world old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/large_models/large_models.world rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/large_models/large_models.world diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/large_models/smaller_large_model.launch b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/large_models/smaller_large_model.launch old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/large_models/smaller_large_model.launch rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/large_models/smaller_large_model.launch diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/large_models/smaller_large_model.urdf.xacro b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/large_models/smaller_large_model.urdf.xacro old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/large_models/smaller_large_model.urdf.xacro rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/large_models/smaller_large_model.urdf.xacro diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/lcp_tests/balance.launch b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/lcp_tests/balance.launch old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/lcp_tests/balance.launch rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/lcp_tests/balance.launch diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/lcp_tests/balance.world b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/lcp_tests/balance.world old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/lcp_tests/balance.world rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/lcp_tests/balance.world diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/lcp_tests/stack.launch b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/lcp_tests/stack.launch old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/lcp_tests/stack.launch rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/lcp_tests/stack.launch diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/lcp_tests/stack.world b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/lcp_tests/stack.world old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/lcp_tests/stack.world rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/lcp_tests/stack.world diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/lcp_tests/stacks.launch b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/lcp_tests/stacks.launch old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/lcp_tests/stacks.launch rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/lcp_tests/stacks.launch diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/lcp_tests/stacks.world b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/lcp_tests/stacks.world old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/lcp_tests/stacks.world rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/lcp_tests/stacks.world diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/meshes/cube.wings b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/meshes/cube.wings old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/meshes/cube.wings rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/meshes/cube.wings diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/meshes/cube_20k.stl b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/meshes/cube_20k.stl old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/meshes/cube_20k.stl rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/meshes/cube_20k.stl diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/meshes/cube_30k.stl b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/meshes/cube_30k.stl old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/meshes/cube_30k.stl rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/meshes/cube_30k.stl diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/spawn_model/check_model.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/spawn_model/check_model.cpp old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/spawn_model/check_model.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/spawn_model/check_model.cpp diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/spawn_model/spawn_box.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/spawn_model/spawn_box.cpp old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/spawn_model/spawn_box.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/spawn_model/spawn_box.cpp diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/spawn_model/spawn_box.launch b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/spawn_model/spawn_box.launch old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/spawn_model/spawn_box.launch rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/spawn_model/spawn_box.launch diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/spawn_model/spawn_box_file.launch b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/spawn_model/spawn_box_file.launch old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/spawn_model/spawn_box_file.launch rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/spawn_model/spawn_box_file.launch diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/spawn_model/spawn_box_param.launch b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/spawn_model/spawn_box_param.launch old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/spawn_model/spawn_box_param.launch rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/spawn_model/spawn_box_param.launch diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/trimesh_tests/test_trimesh.launch b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/trimesh_tests/test_trimesh.launch old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/trimesh_tests/test_trimesh.launch rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/trimesh_tests/test_trimesh.launch diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/urdf/box.urdf b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/urdf/box.urdf old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/urdf/box.urdf rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/urdf/box.urdf diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/urdf/cube.urdf b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/urdf/cube.urdf old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/urdf/cube.urdf rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/urdf/cube.urdf diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/worlds/empty.world b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/worlds/empty.world old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_plugins/test2/worlds/empty.world rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_plugins/test2/worlds/empty.world diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/CHANGELOG.rst b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/CHANGELOG.rst old mode 100755 new mode 100644 similarity index 93% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/CHANGELOG.rst rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/CHANGELOG.rst index cbe3963..83b2cce --- a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/CHANGELOG.rst +++ b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/CHANGELOG.rst @@ -2,6 +2,24 @@ Changelog for package gazebo_ros ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.5.17 (2018-06-07) +------------------- + +2.5.16 (2018-06-04) +------------------- +* Use generic SIGINT parameter in kill command for gazebo script (kinetic-devel) (`#723 `_) + * Use generic SIGINT parameter in kill command for gazebo script + * redirect to kill command to std_err +* strip comments from parsed urdf (`#695 `_) + Remove comments from urdf before trying to find packages. Otherwise non-existant packages will produce a fatal error, even though they are not used. +* Merge pull request `#672 `_ from ros-simulation/gzclient_verbose + Pass verbose argument to gzclient +* Merge pull request `#670 `_ from ros-simulation/add_ros_api_plugin_to_gzclient + Load the libgazebo_ros_api_plugin when starting gzclient +* Pass verbose argument to gzclient +* Load the libgazebo_ros_api_plugin when starting gzclient so that the ROS event loop will turn over, which is required when you have a client-side Gazebo plugin that uses ROS. +* Contributors: Brian Gerkey, Jose Luis Rivero, Steven Peters, azhural, chapulina + 2.5.15 (2018-02-12) ------------------- * Fix last gazebo8 warnings! (`#658 `_) diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/CMakeLists.txt b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/CMakeLists.txt old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/CMakeLists.txt rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/CMakeLists.txt diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/cfg/Physics.cfg b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/cfg/Physics.cfg similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/cfg/Physics.cfg rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/cfg/Physics.cfg diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/include/gazebo_ros/gazebo_ros_api_plugin.h b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/include/gazebo_ros/gazebo_ros_api_plugin.h old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/include/gazebo_ros/gazebo_ros_api_plugin.h rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/include/gazebo_ros/gazebo_ros_api_plugin.h diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/launch/elevator_world.launch b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/launch/elevator_world.launch old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/launch/elevator_world.launch rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/launch/elevator_world.launch diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/launch/empty_world (复件).launch b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/launch/empty_world.launch old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/launch/empty_world (复件).launch rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/launch/empty_world.launch diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/launch/mud_world.launch b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/launch/mud_world.launch old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/launch/mud_world.launch rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/launch/mud_world.launch diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/launch/range_world.launch b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/launch/range_world.launch old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/launch/range_world.launch rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/launch/range_world.launch diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/launch/rubble_world.launch b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/launch/rubble_world.launch old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/launch/rubble_world.launch rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/launch/rubble_world.launch diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/launch/shapes_world.launch b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/launch/shapes_world.launch old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/launch/shapes_world.launch rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/launch/shapes_world.launch diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/launch/willowgarage_world.launch b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/launch/willowgarage_world.launch old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/launch/willowgarage_world.launch rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/launch/willowgarage_world.launch diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/package.xml b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/package.xml old mode 100755 new mode 100644 similarity index 97% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/package.xml rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/package.xml index d4b9f66..3264450 --- a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/package.xml +++ b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/package.xml @@ -1,7 +1,7 @@ gazebo_ros - 2.5.15 + 2.5.17 Provides ROS plugins that offer message and service publishers for interfacing with Gazebo through ROS. Formally simulator_gazebo/gazebo diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/scripts/debug b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/scripts/debug similarity index 95% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/scripts/debug rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/scripts/debug index 37cd902..e132676 100755 --- a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/scripts/debug +++ b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/scripts/debug @@ -2,7 +2,7 @@ final="$@" EXT=so -if [ $(uname) == "Darwin" ]; then +if [ $(uname) = "Darwin" ]; then EXT=dylib fi diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/scripts/gazebo b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/scripts/gazebo similarity index 77% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/scripts/gazebo rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/scripts/gazebo index 0e96229..883aeb4 100755 --- a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/scripts/gazebo +++ b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/scripts/gazebo @@ -7,10 +7,8 @@ SCRIPT_DIR=$(dirname ${SCRIPT_DIR}) final="$@" EXT=so -SIGNAL=SIGINT if [ $(uname) = "Darwin" ]; then EXT=dylib - SIGNAL=INT fi # add ros path plugin if it does not already exist in the passed in arguments @@ -43,8 +41,15 @@ fi final=$(relocate_remappings "${final}") # Combine the commands -GAZEBO_MASTER_URI="$desired_master_uri" GAZEBO_MODEL_DATABASE_URI="$desired_model_database_uri" gzserver $final & -GAZEBO_MASTER_URI="$desired_master_uri" GAZEBO_MODEL_DATABASE_URI="$desired_model_database_uri" gzclient $client_final +GAZEBO_MASTER_URI="$desired_master_uri" GAZEBO_MODEL_DATABASE_URI="$desired_model_database_uri" gzserver $final & +gzserver_pid="$!" +# Use kill -0 to check if the process is running +if $(kill -0 $! 2> /dev/null); then + GAZEBO_MASTER_URI="$desired_master_uri" GAZEBO_MODEL_DATABASE_URI="$desired_model_database_uri" gzclient $client_final +fi -# Kill the server -kill -s $SIGNAL $! +# Kill the server if it is alive +if $(kill -0 $! 2> /dev/null); then + # -2 SIGINT valid for Linux and Mac + kill -2 $! +fi diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/scripts/gdbrun b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/scripts/gdbrun similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/scripts/gdbrun rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/scripts/gdbrun diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/scripts/gzclient b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/scripts/gzclient similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/scripts/gzclient rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/scripts/gzclient diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/scripts/gzserver (复件) b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/scripts/gzserver similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/scripts/gzserver (复件) rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/scripts/gzserver diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/scripts/libcommon.sh b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/scripts/libcommon.sh old mode 100755 new mode 100644 similarity index 82% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/scripts/libcommon.sh rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/scripts/libcommon.sh index b166a5f..a6beff6 --- a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/scripts/libcommon.sh +++ b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/scripts/libcommon.sh @@ -5,11 +5,8 @@ # https://github.com/ros-simulation/gazebo_ros_pkgs/issues/387 relocate_remappings() { - # echo "=====libcommon=====${1}" command_line=${1} - # echo "=====libcommon=====" - for w in $command_line; do if $(echo "$w" | grep -q ':='); then ros_remaps="$ros_remaps $w" @@ -20,5 +17,3 @@ relocate_remappings() echo "$gazebo_args$ros_remaps" | cut -c 1- } -echo "=====libcommon2===== ${1}" - diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/scripts/perf b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/scripts/perf similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/scripts/perf rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/scripts/perf diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/scripts/spawn_model b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/scripts/spawn_model similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/scripts/spawn_model rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/scripts/spawn_model diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/setup.py b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/setup.py old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/setup.py rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/setup.py diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/src/gazebo_ros/__init__.py b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/src/gazebo_ros/__init__.py old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/src/gazebo_ros/__init__.py rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/src/gazebo_ros/__init__.py diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/src/gazebo_ros/gazebo_interface.py b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/src/gazebo_ros/gazebo_interface.py old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/src/gazebo_ros/gazebo_interface.py rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/src/gazebo_ros/gazebo_interface.py diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/src/gazebo_ros_api_plugin.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/src/gazebo_ros_api_plugin.cpp old mode 100755 new mode 100644 similarity index 70% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/src/gazebo_ros_api_plugin.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/src/gazebo_ros_api_plugin.cpp index 546c8e4..61b02e6 --- a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/src/gazebo_ros_api_plugin.cpp +++ b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/src/gazebo_ros_api_plugin.cpp @@ -27,29 +27,30 @@ namespace gazebo { -GazeboRosApiPlugin::GazeboRosApiPlugin() : physics_reconfigure_initialized_(false), - world_created_(false), - stop_(false), - plugin_loaded_(false), - pub_link_states_connection_count_(0), - pub_model_states_connection_count_(0), - pub_clock_frequency_(0) +GazeboRosApiPlugin::GazeboRosApiPlugin() : + physics_reconfigure_initialized_(false), + world_created_(false), + stop_(false), + plugin_loaded_(false), + pub_link_states_connection_count_(0), + pub_model_states_connection_count_(0), + pub_clock_frequency_(0) { robot_namespace_.clear(); } GazeboRosApiPlugin::~GazeboRosApiPlugin() { - ROS_DEBUG_STREAM_NAMED("api_plugin", "GazeboRosApiPlugin Deconstructor start"); + ROS_DEBUG_STREAM_NAMED("api_plugin","GazeboRosApiPlugin Deconstructor start"); // Unload the sigint event sigint_event_.reset(); - ROS_DEBUG_STREAM_NAMED("api_plugin", "After sigint_event unload"); + ROS_DEBUG_STREAM_NAMED("api_plugin","After sigint_event unload"); // Don't attempt to unload this plugin if it was never loaded in the Load() function - if (!plugin_loaded_) + if(!plugin_loaded_) { - ROS_DEBUG_STREAM_NAMED("api_plugin", "Deconstructor skipped because never loaded"); + ROS_DEBUG_STREAM_NAMED("api_plugin","Deconstructor skipped because never loaded"); return; } @@ -58,94 +59,80 @@ GazeboRosApiPlugin::~GazeboRosApiPlugin() wrench_update_event_.reset(); force_update_event_.reset(); time_update_event_.reset(); - ROS_DEBUG_STREAM_NAMED("api_plugin", "Slots disconnected"); + ROS_DEBUG_STREAM_NAMED("api_plugin","Slots disconnected"); if (pub_link_states_connection_count_ > 0) // disconnect if there are subscribers on exit pub_link_states_event_.reset(); if (pub_model_states_connection_count_ > 0) // disconnect if there are subscribers on exit pub_model_states_event_.reset(); - ROS_DEBUG_STREAM_NAMED("api_plugin", "Disconnected World Updates"); + ROS_DEBUG_STREAM_NAMED("api_plugin","Disconnected World Updates"); // Stop the multi threaded ROS spinner async_ros_spin_->stop(); - ROS_DEBUG_STREAM_NAMED("api_plugin", "Async ROS Spin Stopped"); + ROS_DEBUG_STREAM_NAMED("api_plugin","Async ROS Spin Stopped"); // Shutdown the ROS node nh_->shutdown(); - ROS_DEBUG_STREAM_NAMED("api_plugin", "Node Handle Shutdown"); + ROS_DEBUG_STREAM_NAMED("api_plugin","Node Handle Shutdown"); // Shutdown ROS queue gazebo_callback_queue_thread_->join(); - ROS_DEBUG_STREAM_NAMED("api_plugin", "Callback Queue Joined"); + ROS_DEBUG_STREAM_NAMED("api_plugin","Callback Queue Joined"); // Physics Dynamic Reconfigure physics_reconfigure_thread_->join(); - ROS_DEBUG_STREAM_NAMED("api_plugin", "Physics reconfigure joined"); + ROS_DEBUG_STREAM_NAMED("api_plugin","Physics reconfigure joined"); // Delete Force and Wrench Jobs lock_.lock(); - for (std::vector::iterator iter = force_joint_jobs_.begin(); iter != force_joint_jobs_.end();) + for (std::vector::iterator iter=force_joint_jobs_.begin();iter!=force_joint_jobs_.end();) { delete (*iter); iter = force_joint_jobs_.erase(iter); } force_joint_jobs_.clear(); - ROS_DEBUG_STREAM_NAMED("api_plugin", "ForceJointJobs deleted"); - for (std::vector::iterator iter = wrench_body_jobs_.begin(); iter != wrench_body_jobs_.end();) + ROS_DEBUG_STREAM_NAMED("api_plugin","ForceJointJobs deleted"); + for (std::vector::iterator iter=wrench_body_jobs_.begin();iter!=wrench_body_jobs_.end();) { delete (*iter); iter = wrench_body_jobs_.erase(iter); } wrench_body_jobs_.clear(); lock_.unlock(); - ROS_DEBUG_STREAM_NAMED("api_plugin", "WrenchBodyJobs deleted"); + ROS_DEBUG_STREAM_NAMED("api_plugin","WrenchBodyJobs deleted"); - ROS_DEBUG_STREAM_NAMED("api_plugin", "Unloaded"); + ROS_DEBUG_STREAM_NAMED("api_plugin","Unloaded"); } void GazeboRosApiPlugin::shutdownSignal() { - ROS_DEBUG_STREAM_NAMED("api_plugin", "shutdownSignal() recieved"); + ROS_DEBUG_STREAM_NAMED("api_plugin","shutdownSignal() recieved"); stop_ = true; } -void GazeboRosApiPlugin::Load(int argc, char **argv) +void GazeboRosApiPlugin::Load(int argc, char** argv) { - ROS_DEBUG_STREAM_NAMED("api_plugin", "Load"); - - // Added by zhangshuai 2019.05.10 ----Begin - /// use argv to name the gazebo ros node - std::string gazebo_node_name = "gazebo"; - for (int i = 0; i < argc; i++) - { - std::string tmp_string = argv[i]; - std::cout << "******" << i << ": " << tmp_string << std::endl; - if (tmp_string == "-gname") - { - gazebo_node_name = argv[i + 1]; - } - } - // Added by zhangshuai 2019.05.10 ----End + ROS_DEBUG_STREAM_NAMED("api_plugin","Load"); // connect to sigint event - sigint_event_ = gazebo::event::Events::ConnectSigInt(boost::bind(&GazeboRosApiPlugin::shutdownSignal, this)); + sigint_event_ = gazebo::event::Events::ConnectSigInt(boost::bind(&GazeboRosApiPlugin::shutdownSignal,this)); // setup ros related if (!ros::isInitialized()) - ros::init(argc, argv, gazebo_node_name, ros::init_options::NoSigintHandler); + ros::init(argc,argv,"gazebo",ros::init_options::NoSigintHandler); else ROS_ERROR_NAMED("api_plugin", "Something other than this gazebo_ros_api plugin started ros::init(...), command line arguments may not be parsed properly."); // check if the ros master is available - required - while (!ros::master::check()) + while(!ros::master::check()) { - ROS_WARN_STREAM_NAMED("api_plugin", "No ROS master - start roscore to continue..."); + ROS_WARN_STREAM_NAMED("api_plugin","No ROS master - start roscore to continue..."); // wait 0.5 second - usleep(500 * 1000); // can't use ROS Time here b/c node handle is not yet initialized + usleep(500*1000); // can't use ROS Time here b/c node handle is not yet initialized - if (stop_) + if(stop_) { - ROS_WARN_STREAM_NAMED("api_plugin", "Canceled loading Gazebo ROS API plugin by sigint event"); + ROS_WARN_STREAM_NAMED("api_plugin","Canceled loading Gazebo ROS API plugin by sigint event"); return; } } @@ -157,13 +144,13 @@ void GazeboRosApiPlugin::Load(int argc, char **argv) async_ros_spin_->start(); /// \brief setup custom callback queue - gazebo_callback_queue_thread_.reset(new boost::thread(&GazeboRosApiPlugin::gazeboQueueThread, this)); + gazebo_callback_queue_thread_.reset(new boost::thread( &GazeboRosApiPlugin::gazeboQueueThread, this) ); /// \brief start a thread for the physics dynamic reconfigure node physics_reconfigure_thread_.reset(new boost::thread(boost::bind(&GazeboRosApiPlugin::physicsReconfigureThread, this))); // below needs the world to be created first - load_gazebo_ros_api_plugin_event_ = gazebo::event::Events::ConnectWorldCreated(boost::bind(&GazeboRosApiPlugin::loadGazeboRosApiPlugin, this, _1)); + load_gazebo_ros_api_plugin_event_ = gazebo::event::Events::ConnectWorldCreated(boost::bind(&GazeboRosApiPlugin::loadGazeboRosApiPlugin,this,_1)); plugin_loaded_ = true; ROS_INFO_NAMED("api_plugin", "Finished loading Gazebo ROS API Plugin."); @@ -199,7 +186,7 @@ void GazeboRosApiPlugin::loadGazeboRosApiPlugin(std::string world_name) factory_light_pub_ = gazebonode_->Advertise("~/factory/light"); light_modify_pub_ = gazebonode_->Advertise("~/light/modify"); request_pub_ = gazebonode_->Advertise("~/request"); - response_sub_ = gazebonode_->Subscribe("~/response", &GazeboRosApiPlugin::onResponse, this); + response_sub_ = gazebonode_->Subscribe("~/response",&GazeboRosApiPlugin::onResponse, this); // reset topic connection counts pub_link_states_connection_count_ = 0; @@ -209,13 +196,14 @@ void GazeboRosApiPlugin::loadGazeboRosApiPlugin(std::string world_name) advertiseServices(); // hooks for applying forces, publishing simtime on /clock - wrench_update_event_ = gazebo::event::Events::ConnectWorldUpdateBegin(boost::bind(&GazeboRosApiPlugin::wrenchBodySchedulerSlot, this)); - force_update_event_ = gazebo::event::Events::ConnectWorldUpdateBegin(boost::bind(&GazeboRosApiPlugin::forceJointSchedulerSlot, this)); - time_update_event_ = gazebo::event::Events::ConnectWorldUpdateBegin(boost::bind(&GazeboRosApiPlugin::publishSimTime, this)); + wrench_update_event_ = gazebo::event::Events::ConnectWorldUpdateBegin(boost::bind(&GazeboRosApiPlugin::wrenchBodySchedulerSlot,this)); + force_update_event_ = gazebo::event::Events::ConnectWorldUpdateBegin(boost::bind(&GazeboRosApiPlugin::forceJointSchedulerSlot,this)); + time_update_event_ = gazebo::event::Events::ConnectWorldUpdateBegin(boost::bind(&GazeboRosApiPlugin::publishSimTime,this)); } void GazeboRosApiPlugin::onResponse(ConstResponsePtr &response) { + } void GazeboRosApiPlugin::gazeboQueueThread() @@ -230,288 +218,289 @@ void GazeboRosApiPlugin::gazeboQueueThread() void GazeboRosApiPlugin::advertiseServices() { // publish clock for simulated ros time - pub_clock_ = nh_->advertise("/clock", 10); + pub_clock_ = nh_->advertise("/clock",10); // Advertise spawn services on the custom queue std::string spawn_sdf_model_service_name("spawn_sdf_model"); ros::AdvertiseServiceOptions spawn_sdf_model_aso = - ros::AdvertiseServiceOptions::create( - spawn_sdf_model_service_name, - boost::bind(&GazeboRosApiPlugin::spawnSDFModel, this, _1, _2), - ros::VoidPtr(), &gazebo_queue_); + ros::AdvertiseServiceOptions::create( + spawn_sdf_model_service_name, + boost::bind(&GazeboRosApiPlugin::spawnSDFModel,this,_1,_2), + ros::VoidPtr(), &gazebo_queue_); spawn_sdf_model_service_ = nh_->advertiseService(spawn_sdf_model_aso); // Advertise spawn services on the custom queue std::string spawn_urdf_model_service_name("spawn_urdf_model"); ros::AdvertiseServiceOptions spawn_urdf_model_aso = - ros::AdvertiseServiceOptions::create( - spawn_urdf_model_service_name, - boost::bind(&GazeboRosApiPlugin::spawnURDFModel, this, _1, _2), - ros::VoidPtr(), &gazebo_queue_); + ros::AdvertiseServiceOptions::create( + spawn_urdf_model_service_name, + boost::bind(&GazeboRosApiPlugin::spawnURDFModel,this,_1,_2), + ros::VoidPtr(), &gazebo_queue_); spawn_urdf_model_service_ = nh_->advertiseService(spawn_urdf_model_aso); // Advertise delete services on the custom queue std::string delete_model_service_name("delete_model"); ros::AdvertiseServiceOptions delete_aso = - ros::AdvertiseServiceOptions::create( - delete_model_service_name, - boost::bind(&GazeboRosApiPlugin::deleteModel, this, _1, _2), - ros::VoidPtr(), &gazebo_queue_); + ros::AdvertiseServiceOptions::create( + delete_model_service_name, + boost::bind(&GazeboRosApiPlugin::deleteModel,this,_1,_2), + ros::VoidPtr(), &gazebo_queue_); delete_model_service_ = nh_->advertiseService(delete_aso); // Advertise delete service for lights on the custom queue std::string delete_light_service_name("delete_light"); ros::AdvertiseServiceOptions delete_light_aso = - ros::AdvertiseServiceOptions::create( - delete_light_service_name, - boost::bind(&GazeboRosApiPlugin::deleteLight, this, _1, _2), - ros::VoidPtr(), &gazebo_queue_); + ros::AdvertiseServiceOptions::create( + delete_light_service_name, + boost::bind(&GazeboRosApiPlugin::deleteLight,this,_1,_2), + ros::VoidPtr(), &gazebo_queue_); delete_light_service_ = nh_->advertiseService(delete_light_aso); // Advertise more services on the custom queue std::string get_model_properties_service_name("get_model_properties"); ros::AdvertiseServiceOptions get_model_properties_aso = - ros::AdvertiseServiceOptions::create( - get_model_properties_service_name, - boost::bind(&GazeboRosApiPlugin::getModelProperties, this, _1, _2), - ros::VoidPtr(), &gazebo_queue_); + ros::AdvertiseServiceOptions::create( + get_model_properties_service_name, + boost::bind(&GazeboRosApiPlugin::getModelProperties,this,_1,_2), + ros::VoidPtr(), &gazebo_queue_); get_model_properties_service_ = nh_->advertiseService(get_model_properties_aso); // Advertise more services on the custom queue std::string get_model_state_service_name("get_model_state"); ros::AdvertiseServiceOptions get_model_state_aso = - ros::AdvertiseServiceOptions::create( - get_model_state_service_name, - boost::bind(&GazeboRosApiPlugin::getModelState, this, _1, _2), - ros::VoidPtr(), &gazebo_queue_); + ros::AdvertiseServiceOptions::create( + get_model_state_service_name, + boost::bind(&GazeboRosApiPlugin::getModelState,this,_1,_2), + ros::VoidPtr(), &gazebo_queue_); get_model_state_service_ = nh_->advertiseService(get_model_state_aso); // Advertise more services on the custom queue std::string get_world_properties_service_name("get_world_properties"); ros::AdvertiseServiceOptions get_world_properties_aso = - ros::AdvertiseServiceOptions::create( - get_world_properties_service_name, - boost::bind(&GazeboRosApiPlugin::getWorldProperties, this, _1, _2), - ros::VoidPtr(), &gazebo_queue_); + ros::AdvertiseServiceOptions::create( + get_world_properties_service_name, + boost::bind(&GazeboRosApiPlugin::getWorldProperties,this,_1,_2), + ros::VoidPtr(), &gazebo_queue_); get_world_properties_service_ = nh_->advertiseService(get_world_properties_aso); // Advertise more services on the custom queue std::string get_joint_properties_service_name("get_joint_properties"); ros::AdvertiseServiceOptions get_joint_properties_aso = - ros::AdvertiseServiceOptions::create( - get_joint_properties_service_name, - boost::bind(&GazeboRosApiPlugin::getJointProperties, this, _1, _2), - ros::VoidPtr(), &gazebo_queue_); + ros::AdvertiseServiceOptions::create( + get_joint_properties_service_name, + boost::bind(&GazeboRosApiPlugin::getJointProperties,this,_1,_2), + ros::VoidPtr(), &gazebo_queue_); get_joint_properties_service_ = nh_->advertiseService(get_joint_properties_aso); // Advertise more services on the custom queue std::string get_link_properties_service_name("get_link_properties"); ros::AdvertiseServiceOptions get_link_properties_aso = - ros::AdvertiseServiceOptions::create( - get_link_properties_service_name, - boost::bind(&GazeboRosApiPlugin::getLinkProperties, this, _1, _2), - ros::VoidPtr(), &gazebo_queue_); + ros::AdvertiseServiceOptions::create( + get_link_properties_service_name, + boost::bind(&GazeboRosApiPlugin::getLinkProperties,this,_1,_2), + ros::VoidPtr(), &gazebo_queue_); get_link_properties_service_ = nh_->advertiseService(get_link_properties_aso); // Advertise more services on the custom queue std::string get_link_state_service_name("get_link_state"); ros::AdvertiseServiceOptions get_link_state_aso = - ros::AdvertiseServiceOptions::create( - get_link_state_service_name, - boost::bind(&GazeboRosApiPlugin::getLinkState, this, _1, _2), - ros::VoidPtr(), &gazebo_queue_); + ros::AdvertiseServiceOptions::create( + get_link_state_service_name, + boost::bind(&GazeboRosApiPlugin::getLinkState,this,_1,_2), + ros::VoidPtr(), &gazebo_queue_); get_link_state_service_ = nh_->advertiseService(get_link_state_aso); // Advertise more services on the custom queue std::string get_light_properties_service_name("get_light_properties"); ros::AdvertiseServiceOptions get_light_properties_aso = - ros::AdvertiseServiceOptions::create( - get_light_properties_service_name, - boost::bind(&GazeboRosApiPlugin::getLightProperties, this, _1, _2), - ros::VoidPtr(), &gazebo_queue_); + ros::AdvertiseServiceOptions::create( + get_light_properties_service_name, + boost::bind(&GazeboRosApiPlugin::getLightProperties,this,_1,_2), + ros::VoidPtr(), &gazebo_queue_); get_light_properties_service_ = nh_->advertiseService(get_light_properties_aso); // Advertise more services on the custom queue std::string set_light_properties_service_name("set_light_properties"); ros::AdvertiseServiceOptions set_light_properties_aso = - ros::AdvertiseServiceOptions::create( - set_light_properties_service_name, - boost::bind(&GazeboRosApiPlugin::setLightProperties, this, _1, _2), - ros::VoidPtr(), &gazebo_queue_); + ros::AdvertiseServiceOptions::create( + set_light_properties_service_name, + boost::bind(&GazeboRosApiPlugin::setLightProperties,this,_1,_2), + ros::VoidPtr(), &gazebo_queue_); set_light_properties_service_ = nh_->advertiseService(set_light_properties_aso); // Advertise more services on the custom queue std::string get_physics_properties_service_name("get_physics_properties"); ros::AdvertiseServiceOptions get_physics_properties_aso = - ros::AdvertiseServiceOptions::create( - get_physics_properties_service_name, - boost::bind(&GazeboRosApiPlugin::getPhysicsProperties, this, _1, _2), - ros::VoidPtr(), &gazebo_queue_); + ros::AdvertiseServiceOptions::create( + get_physics_properties_service_name, + boost::bind(&GazeboRosApiPlugin::getPhysicsProperties,this,_1,_2), + ros::VoidPtr(), &gazebo_queue_); get_physics_properties_service_ = nh_->advertiseService(get_physics_properties_aso); // publish complete link states in world frame ros::AdvertiseOptions pub_link_states_ao = - ros::AdvertiseOptions::create( - "link_states", 10, - boost::bind(&GazeboRosApiPlugin::onLinkStatesConnect, this), - boost::bind(&GazeboRosApiPlugin::onLinkStatesDisconnect, this), - ros::VoidPtr(), &gazebo_queue_); + ros::AdvertiseOptions::create( + "link_states",10, + boost::bind(&GazeboRosApiPlugin::onLinkStatesConnect,this), + boost::bind(&GazeboRosApiPlugin::onLinkStatesDisconnect,this), + ros::VoidPtr(), &gazebo_queue_); pub_link_states_ = nh_->advertise(pub_link_states_ao); // publish complete model states in world frame ros::AdvertiseOptions pub_model_states_ao = - ros::AdvertiseOptions::create( - "model_states", 10, - boost::bind(&GazeboRosApiPlugin::onModelStatesConnect, this), - boost::bind(&GazeboRosApiPlugin::onModelStatesDisconnect, this), - ros::VoidPtr(), &gazebo_queue_); + ros::AdvertiseOptions::create( + "model_states",10, + boost::bind(&GazeboRosApiPlugin::onModelStatesConnect,this), + boost::bind(&GazeboRosApiPlugin::onModelStatesDisconnect,this), + ros::VoidPtr(), &gazebo_queue_); pub_model_states_ = nh_->advertise(pub_model_states_ao); // Advertise more services on the custom queue std::string set_link_properties_service_name("set_link_properties"); ros::AdvertiseServiceOptions set_link_properties_aso = - ros::AdvertiseServiceOptions::create( - set_link_properties_service_name, - boost::bind(&GazeboRosApiPlugin::setLinkProperties, this, _1, _2), - ros::VoidPtr(), &gazebo_queue_); + ros::AdvertiseServiceOptions::create( + set_link_properties_service_name, + boost::bind(&GazeboRosApiPlugin::setLinkProperties,this,_1,_2), + ros::VoidPtr(), &gazebo_queue_); set_link_properties_service_ = nh_->advertiseService(set_link_properties_aso); // Advertise more services on the custom queue std::string set_physics_properties_service_name("set_physics_properties"); ros::AdvertiseServiceOptions set_physics_properties_aso = - ros::AdvertiseServiceOptions::create( - set_physics_properties_service_name, - boost::bind(&GazeboRosApiPlugin::setPhysicsProperties, this, _1, _2), - ros::VoidPtr(), &gazebo_queue_); + ros::AdvertiseServiceOptions::create( + set_physics_properties_service_name, + boost::bind(&GazeboRosApiPlugin::setPhysicsProperties,this,_1,_2), + ros::VoidPtr(), &gazebo_queue_); set_physics_properties_service_ = nh_->advertiseService(set_physics_properties_aso); // Advertise more services on the custom queue std::string set_model_state_service_name("set_model_state"); ros::AdvertiseServiceOptions set_model_state_aso = - ros::AdvertiseServiceOptions::create( - set_model_state_service_name, - boost::bind(&GazeboRosApiPlugin::setModelState, this, _1, _2), - ros::VoidPtr(), &gazebo_queue_); + ros::AdvertiseServiceOptions::create( + set_model_state_service_name, + boost::bind(&GazeboRosApiPlugin::setModelState,this,_1,_2), + ros::VoidPtr(), &gazebo_queue_); set_model_state_service_ = nh_->advertiseService(set_model_state_aso); // Advertise more services on the custom queue std::string set_model_configuration_service_name("set_model_configuration"); ros::AdvertiseServiceOptions set_model_configuration_aso = - ros::AdvertiseServiceOptions::create( - set_model_configuration_service_name, - boost::bind(&GazeboRosApiPlugin::setModelConfiguration, this, _1, _2), - ros::VoidPtr(), &gazebo_queue_); + ros::AdvertiseServiceOptions::create( + set_model_configuration_service_name, + boost::bind(&GazeboRosApiPlugin::setModelConfiguration,this,_1,_2), + ros::VoidPtr(), &gazebo_queue_); set_model_configuration_service_ = nh_->advertiseService(set_model_configuration_aso); // Advertise more services on the custom queue std::string set_joint_properties_service_name("set_joint_properties"); ros::AdvertiseServiceOptions set_joint_properties_aso = - ros::AdvertiseServiceOptions::create( - set_joint_properties_service_name, - boost::bind(&GazeboRosApiPlugin::setJointProperties, this, _1, _2), - ros::VoidPtr(), &gazebo_queue_); + ros::AdvertiseServiceOptions::create( + set_joint_properties_service_name, + boost::bind(&GazeboRosApiPlugin::setJointProperties,this,_1,_2), + ros::VoidPtr(), &gazebo_queue_); set_joint_properties_service_ = nh_->advertiseService(set_joint_properties_aso); // Advertise more services on the custom queue std::string set_link_state_service_name("set_link_state"); ros::AdvertiseServiceOptions set_link_state_aso = - ros::AdvertiseServiceOptions::create( - set_link_state_service_name, - boost::bind(&GazeboRosApiPlugin::setLinkState, this, _1, _2), - ros::VoidPtr(), &gazebo_queue_); + ros::AdvertiseServiceOptions::create( + set_link_state_service_name, + boost::bind(&GazeboRosApiPlugin::setLinkState,this,_1,_2), + ros::VoidPtr(), &gazebo_queue_); set_link_state_service_ = nh_->advertiseService(set_link_state_aso); // Advertise topic on custom queue // topic callback version for set_link_state ros::SubscribeOptions link_state_so = - ros::SubscribeOptions::create( - "set_link_state", 10, - boost::bind(&GazeboRosApiPlugin::updateLinkState, this, _1), - ros::VoidPtr(), &gazebo_queue_); + ros::SubscribeOptions::create( + "set_link_state",10, + boost::bind( &GazeboRosApiPlugin::updateLinkState,this,_1), + ros::VoidPtr(), &gazebo_queue_); set_link_state_topic_ = nh_->subscribe(link_state_so); // topic callback version for set_model_state ros::SubscribeOptions model_state_so = - ros::SubscribeOptions::create( - "set_model_state", 10, - boost::bind(&GazeboRosApiPlugin::updateModelState, this, _1), - ros::VoidPtr(), &gazebo_queue_); + ros::SubscribeOptions::create( + "set_model_state",10, + boost::bind( &GazeboRosApiPlugin::updateModelState,this,_1), + ros::VoidPtr(), &gazebo_queue_); set_model_state_topic_ = nh_->subscribe(model_state_so); // Advertise more services on the custom queue std::string pause_physics_service_name("pause_physics"); ros::AdvertiseServiceOptions pause_physics_aso = - ros::AdvertiseServiceOptions::create( - pause_physics_service_name, - boost::bind(&GazeboRosApiPlugin::pausePhysics, this, _1, _2), - ros::VoidPtr(), &gazebo_queue_); + ros::AdvertiseServiceOptions::create( + pause_physics_service_name, + boost::bind(&GazeboRosApiPlugin::pausePhysics,this,_1,_2), + ros::VoidPtr(), &gazebo_queue_); pause_physics_service_ = nh_->advertiseService(pause_physics_aso); // Advertise more services on the custom queue std::string unpause_physics_service_name("unpause_physics"); ros::AdvertiseServiceOptions unpause_physics_aso = - ros::AdvertiseServiceOptions::create( - unpause_physics_service_name, - boost::bind(&GazeboRosApiPlugin::unpausePhysics, this, _1, _2), - ros::VoidPtr(), &gazebo_queue_); + ros::AdvertiseServiceOptions::create( + unpause_physics_service_name, + boost::bind(&GazeboRosApiPlugin::unpausePhysics,this,_1,_2), + ros::VoidPtr(), &gazebo_queue_); unpause_physics_service_ = nh_->advertiseService(unpause_physics_aso); // Advertise more services on the custom queue std::string apply_body_wrench_service_name("apply_body_wrench"); ros::AdvertiseServiceOptions apply_body_wrench_aso = - ros::AdvertiseServiceOptions::create( - apply_body_wrench_service_name, - boost::bind(&GazeboRosApiPlugin::applyBodyWrench, this, _1, _2), - ros::VoidPtr(), &gazebo_queue_); + ros::AdvertiseServiceOptions::create( + apply_body_wrench_service_name, + boost::bind(&GazeboRosApiPlugin::applyBodyWrench,this,_1,_2), + ros::VoidPtr(), &gazebo_queue_); apply_body_wrench_service_ = nh_->advertiseService(apply_body_wrench_aso); // Advertise more services on the custom queue std::string apply_joint_effort_service_name("apply_joint_effort"); ros::AdvertiseServiceOptions apply_joint_effort_aso = - ros::AdvertiseServiceOptions::create( - apply_joint_effort_service_name, - boost::bind(&GazeboRosApiPlugin::applyJointEffort, this, _1, _2), - ros::VoidPtr(), &gazebo_queue_); + ros::AdvertiseServiceOptions::create( + apply_joint_effort_service_name, + boost::bind(&GazeboRosApiPlugin::applyJointEffort,this,_1,_2), + ros::VoidPtr(), &gazebo_queue_); apply_joint_effort_service_ = nh_->advertiseService(apply_joint_effort_aso); // Advertise more services on the custom queue std::string clear_joint_forces_service_name("clear_joint_forces"); ros::AdvertiseServiceOptions clear_joint_forces_aso = - ros::AdvertiseServiceOptions::create( - clear_joint_forces_service_name, - boost::bind(&GazeboRosApiPlugin::clearJointForces, this, _1, _2), - ros::VoidPtr(), &gazebo_queue_); + ros::AdvertiseServiceOptions::create( + clear_joint_forces_service_name, + boost::bind(&GazeboRosApiPlugin::clearJointForces,this,_1,_2), + ros::VoidPtr(), &gazebo_queue_); clear_joint_forces_service_ = nh_->advertiseService(clear_joint_forces_aso); // Advertise more services on the custom queue std::string clear_body_wrenches_service_name("clear_body_wrenches"); ros::AdvertiseServiceOptions clear_body_wrenches_aso = - ros::AdvertiseServiceOptions::create( - clear_body_wrenches_service_name, - boost::bind(&GazeboRosApiPlugin::clearBodyWrenches, this, _1, _2), - ros::VoidPtr(), &gazebo_queue_); + ros::AdvertiseServiceOptions::create( + clear_body_wrenches_service_name, + boost::bind(&GazeboRosApiPlugin::clearBodyWrenches,this,_1,_2), + ros::VoidPtr(), &gazebo_queue_); clear_body_wrenches_service_ = nh_->advertiseService(clear_body_wrenches_aso); // Advertise more services on the custom queue std::string reset_simulation_service_name("reset_simulation"); ros::AdvertiseServiceOptions reset_simulation_aso = - ros::AdvertiseServiceOptions::create( - reset_simulation_service_name, - boost::bind(&GazeboRosApiPlugin::resetSimulation, this, _1, _2), - ros::VoidPtr(), &gazebo_queue_); + ros::AdvertiseServiceOptions::create( + reset_simulation_service_name, + boost::bind(&GazeboRosApiPlugin::resetSimulation,this,_1,_2), + ros::VoidPtr(), &gazebo_queue_); reset_simulation_service_ = nh_->advertiseService(reset_simulation_aso); // Advertise more services on the custom queue std::string reset_world_service_name("reset_world"); ros::AdvertiseServiceOptions reset_world_aso = - ros::AdvertiseServiceOptions::create( - reset_world_service_name, - boost::bind(&GazeboRosApiPlugin::resetWorld, this, _1, _2), - ros::VoidPtr(), &gazebo_queue_); + ros::AdvertiseServiceOptions::create( + reset_world_service_name, + boost::bind(&GazeboRosApiPlugin::resetWorld,this,_1,_2), + ros::VoidPtr(), &gazebo_queue_); reset_world_service_ = nh_->advertiseService(reset_world_aso); + // set param for use_sim_time if not set by user already - if (!(nh_->hasParam("/use_sim_time"))) + if(!(nh_->hasParam("/use_sim_time"))) nh_->setParam("/use_sim_time", true); // todo: contemplate setting environment variable ROBOT=sim here??? @@ -527,14 +516,14 @@ void GazeboRosApiPlugin::onLinkStatesConnect() { pub_link_states_connection_count_++; if (pub_link_states_connection_count_ == 1) // connect on first subscriber - pub_link_states_event_ = gazebo::event::Events::ConnectWorldUpdateBegin(boost::bind(&GazeboRosApiPlugin::publishLinkStates, this)); + pub_link_states_event_ = gazebo::event::Events::ConnectWorldUpdateBegin(boost::bind(&GazeboRosApiPlugin::publishLinkStates,this)); } void GazeboRosApiPlugin::onModelStatesConnect() { pub_model_states_connection_count_++; if (pub_model_states_connection_count_ == 1) // connect on first subscriber - pub_model_states_event_ = gazebo::event::Events::ConnectWorldUpdateBegin(boost::bind(&GazeboRosApiPlugin::publishModelStates, this)); + pub_model_states_event_ = gazebo::event::Events::ConnectWorldUpdateBegin(boost::bind(&GazeboRosApiPlugin::publishModelStates,this)); } void GazeboRosApiPlugin::onLinkStatesDisconnect() @@ -582,32 +571,31 @@ bool GazeboRosApiPlugin::spawnURDFModel(gazebo_msgs::SpawnModel::Request &req, { std::string open_bracket(""); - size_t pos1 = model_xml.find(open_bracket, 0); - size_t pos2 = model_xml.find(close_bracket, 0); + size_t pos1 = model_xml.find(open_bracket,0); + size_t pos2 = model_xml.find(close_bracket,0); if (pos1 != std::string::npos && pos2 != std::string::npos) - model_xml.replace(pos1, pos2 - pos1 + 2, std::string("")); + model_xml.replace(pos1,pos2-pos1+2,std::string("")); } - + // Remove comments from URDF { std::string open_comment(""); size_t pos1; - while ((pos1 = model_xml.find(open_comment, 0)) != std::string::npos) - { - size_t pos2 = model_xml.find(close_comment, 0); + while((pos1 = model_xml.find(open_comment,0)) != std::string::npos){ + size_t pos2 = model_xml.find(close_comment,0); if (pos2 != std::string::npos) - model_xml.replace(pos1, pos2 - pos1 + 3, std::string("")); + model_xml.replace(pos1,pos2-pos1+3,std::string("")); } } // Now, replace package://xxx with the full path to the package { std::string package_prefix("package://"); - size_t pos1 = model_xml.find(package_prefix, 0); + size_t pos1 = model_xml.find(package_prefix,0); while (pos1 != std::string::npos) { - size_t pos2 = model_xml.find("/", pos1 + 10); + size_t pos2 = model_xml.find("/", pos1+10); //ROS_DEBUG_NAMED("api_plugin", " pos %d %d",(int)pos1, (int)pos2); if (pos2 == std::string::npos || pos1 >= pos2) { @@ -615,19 +603,19 @@ bool GazeboRosApiPlugin::spawnURDFModel(gazebo_msgs::SpawnModel::Request &req, break; } - std::string package_name = model_xml.substr(pos1 + 10, pos2 - pos1 - 10); + std::string package_name = model_xml.substr(pos1+10,pos2-pos1-10); //ROS_DEBUG_NAMED("api_plugin", "package name [%s]", package_name.c_str()); std::string package_path = ros::package::getPath(package_name); if (package_path.empty()) { - ROS_FATAL_NAMED("api_plugin", "Package[%s] does not have a path", package_name.c_str()); + ROS_FATAL_NAMED("api_plugin", "Package[%s] does not have a path",package_name.c_str()); res.success = false; res.status_message = "urdf reference package name does not exist: " + package_name; return false; } ROS_DEBUG_ONCE_NAMED("api_plugin", "Package name [%s] has path [%s]", package_name.c_str(), package_path.c_str()); - model_xml.replace(pos1, (pos2 - pos1), package_path); + model_xml.replace(pos1,(pos2-pos1),package_path); pos1 = model_xml.find(package_prefix, pos1); } } @@ -636,7 +624,7 @@ bool GazeboRosApiPlugin::spawnURDFModel(gazebo_msgs::SpawnModel::Request &req, req.model_xml = model_xml; // Model is now considered convert to SDF - return spawnSDFModel(req, res); + return spawnSDFModel(req,res); } bool GazeboRosApiPlugin::spawnSDFModel(gazebo_msgs::SpawnModel::Request &req, @@ -649,9 +637,9 @@ bool GazeboRosApiPlugin::spawnSDFModel(gazebo_msgs::SpawnModel::Request &req, robot_namespace_ = req.robot_namespace; // get initial pose of model - ignition::math::Vector3d initial_xyz(req.initial_pose.position.x, req.initial_pose.position.y, req.initial_pose.position.z); + ignition::math::Vector3d initial_xyz(req.initial_pose.position.x,req.initial_pose.position.y,req.initial_pose.position.z); // get initial roll pitch yaw (fixed frame transform) - ignition::math::Quaterniond initial_q(req.initial_pose.orientation.w, req.initial_pose.orientation.x, req.initial_pose.orientation.y, req.initial_pose.orientation.z); + ignition::math::Quaterniond initial_q(req.initial_pose.orientation.w,req.initial_pose.orientation.x,req.initial_pose.orientation.y,req.initial_pose.orientation.z); // refernce frame for initial pose definition, modify initial pose if defined #if GAZEBO_MAJOR_VERSION >= 8 @@ -706,8 +694,9 @@ bool GazeboRosApiPlugin::spawnSDFModel(gazebo_msgs::SpawnModel::Request &req, { // Get root element for SDF // TODO: implement the spawning also with and - TiXmlNode *model_tixml = gazebo_model_xml.FirstChild("sdf"); - model_tixml = (!model_tixml) ? gazebo_model_xml.FirstChild("gazebo") : model_tixml; + TiXmlNode* model_tixml = gazebo_model_xml.FirstChild("sdf"); + model_tixml = (!model_tixml) ? + gazebo_model_xml.FirstChild("gazebo") : model_tixml; if (model_tixml) { walkChildAddRobotNamespace(model_tixml); @@ -728,7 +717,7 @@ bool GazeboRosApiPlugin::spawnSDFModel(gazebo_msgs::SpawnModel::Request &req, if (!this->robot_namespace_.empty()) { // Get root element for URDF - TiXmlNode *model_tixml = gazebo_model_xml.FirstChild("robot"); + TiXmlNode* model_tixml = gazebo_model_xml.FirstChild("robot"); if (model_tixml) { walkChildAddRobotNamespace(model_tixml); @@ -762,14 +751,14 @@ bool GazeboRosApiPlugin::deleteModel(gazebo_msgs::DeleteModel::Request &req, #endif if (!model) { - ROS_ERROR_NAMED("api_plugin", "DeleteModel: model [%s] does not exist", req.model_name.c_str()); + ROS_ERROR_NAMED("api_plugin", "DeleteModel: model [%s] does not exist",req.model_name.c_str()); res.success = false; res.status_message = "DeleteModel: model does not exist"; return true; } // delete wrench jobs on bodies - for (unsigned int i = 0; i < model->GetChildCount(); i++) + for (unsigned int i = 0 ; i < model->GetChildCount(); i ++) { gazebo::physics::LinkPtr body = boost::dynamic_pointer_cast(model->GetChild(i)); if (body) @@ -781,15 +770,15 @@ bool GazeboRosApiPlugin::deleteModel(gazebo_msgs::DeleteModel::Request &req, // delete force jobs on joints gazebo::physics::Joint_V joints = model->GetJoints(); - for (unsigned int i = 0; i < joints.size(); i++) + for (unsigned int i=0;i< joints.size(); i++) { // look for it in jobs, delete joint force jobs clearJointForces(joints[i]->GetName()); } // send delete model request - gazebo::msgs::Request *msg = gazebo::msgs::CreateRequest("entity_delete", req.model_name); - request_pub_->Publish(*msg, true); + gazebo::msgs::Request *msg = gazebo::msgs::CreateRequest("entity_delete",req.model_name); + request_pub_->Publish(*msg,true); ros::Duration model_spawn_timeout(60.0); ros::Time timeout = ros::Time::now() + model_spawn_timeout; @@ -805,14 +794,12 @@ bool GazeboRosApiPlugin::deleteModel(gazebo_msgs::DeleteModel::Request &req, { //boost::recursive_mutex::scoped_lock lock(*world->GetMRMutex()); #if GAZEBO_MAJOR_VERSION >= 8 - if (!world_->ModelByName(req.model_name)) - break; + if (!world_->ModelByName(req.model_name)) break; #else - if (!world_->GetModel(req.model_name)) - break; + if (!world_->GetModel(req.model_name)) break; #endif } - ROS_DEBUG_NAMED("api_plugin", "Waiting for model deletion (%s)", req.model_name.c_str()); + ROS_DEBUG_NAMED("api_plugin", "Waiting for model deletion (%s)",req.model_name.c_str()); usleep(1000); } @@ -838,7 +825,7 @@ bool GazeboRosApiPlugin::deleteLight(gazebo_msgs::DeleteLight::Request &req, } else { - gazebo::msgs::Request *msg = gazebo::msgs::CreateRequest("entity_delete", req.light_name); + gazebo::msgs::Request* msg = gazebo::msgs::CreateRequest("entity_delete", req.light_name); request_pub_->Publish(*msg, true); res.success = false; @@ -861,7 +848,8 @@ bool GazeboRosApiPlugin::deleteLight(gazebo_msgs::DeleteLight::Request &req, } } - res.status_message = "DeleteLight: Timeout reached while removing light \"" + req.light_name + "\""; + res.status_message = "DeleteLight: Timeout reached while removing light \"" + req.light_name + + "\""; return true; } @@ -878,23 +866,23 @@ bool GazeboRosApiPlugin::getModelState(gazebo_msgs::GetModelState::Request &req, #endif if (!model) { - ROS_ERROR_NAMED("api_plugin", "GetModelState: model [%s] does not exist", req.model_name.c_str()); + ROS_ERROR_NAMED("api_plugin", "GetModelState: model [%s] does not exist",req.model_name.c_str()); res.success = false; res.status_message = "GetModelState: model does not exist"; return true; } else { - /** + /** * @brief creates a header for the result * @author Markus Bader markus.bader@tuwien.ac.at * @date 21th Nov 2014 **/ { std::map::iterator it = access_count_get_model_state_.find(req.model_name); - if (it == access_count_get_model_state_.end()) + if(it == access_count_get_model_state_.end()) { - access_count_get_model_state_.insert(std::pair(req.model_name, 1)); + access_count_get_model_state_.insert( std::pair(req.model_name, 1) ); res.header.seq = 1; } else @@ -908,27 +896,29 @@ bool GazeboRosApiPlugin::getModelState(gazebo_msgs::GetModelState::Request &req, // get model pose // get model twist #if GAZEBO_MAJOR_VERSION >= 8 - ignition::math::Pose3d model_pose = model->WorldPose(); - ignition::math::Vector3d model_linear_vel = model->WorldLinearVel(); + ignition::math::Pose3d model_pose = model->WorldPose(); + ignition::math::Vector3d model_linear_vel = model->WorldLinearVel(); ignition::math::Vector3d model_angular_vel = model->WorldAngularVel(); #else - ignition::math::Pose3d model_pose = model->GetWorldPose().Ign(); - ignition::math::Vector3d model_linear_vel = model->GetWorldLinearVel().Ign(); + ignition::math::Pose3d model_pose = model->GetWorldPose().Ign(); + ignition::math::Vector3d model_linear_vel = model->GetWorldLinearVel().Ign(); ignition::math::Vector3d model_angular_vel = model->GetWorldAngularVel().Ign(); #endif - ignition::math::Vector3d model_pos = model_pose.Pos(); + ignition::math::Vector3d model_pos = model_pose.Pos(); ignition::math::Quaterniond model_rot = model_pose.Rot(); + + if (frame) { // convert to relative pose, rates #if GAZEBO_MAJOR_VERSION >= 8 ignition::math::Pose3d frame_pose = frame->WorldPose(); - ignition::math::Vector3d frame_vpos = frame->WorldLinearVel(); // get velocity in gazebo frame + ignition::math::Vector3d frame_vpos = frame->WorldLinearVel(); // get velocity in gazebo frame ignition::math::Vector3d frame_veul = frame->WorldAngularVel(); // get velocity in gazebo frame #else ignition::math::Pose3d frame_pose = frame->GetWorldPose().Ign(); - ignition::math::Vector3d frame_vpos = frame->GetWorldLinearVel().Ign(); // get velocity in gazebo frame + ignition::math::Vector3d frame_vpos = frame->GetWorldLinearVel().Ign(); // get velocity in gazebo frame ignition::math::Vector3d frame_veul = frame->GetWorldAngularVel().Ign(); // get velocity in gazebo frame #endif ignition::math::Pose3d model_rel_pose = model_pose - frame_pose; @@ -983,7 +973,7 @@ bool GazeboRosApiPlugin::getModelProperties(gazebo_msgs::GetModelProperties::Req #endif if (!model) { - ROS_ERROR_NAMED("api_plugin", "GetModelProperties: model [%s] does not exist", req.model_name.c_str()); + ROS_ERROR_NAMED("api_plugin", "GetModelProperties: model [%s] does not exist",req.model_name.c_str()); res.success = false; res.status_message = "GetModelProperties: model does not exist"; return true; @@ -992,20 +982,19 @@ bool GazeboRosApiPlugin::getModelProperties(gazebo_msgs::GetModelProperties::Req { // get model parent name gazebo::physics::ModelPtr parent_model = boost::dynamic_pointer_cast(model->GetParent()); - if (parent_model) - res.parent_model_name = parent_model->GetName(); + if (parent_model) res.parent_model_name = parent_model->GetName(); // get list of child bodies, geoms res.body_names.clear(); res.geom_names.clear(); - for (unsigned int i = 0; i < model->GetChildCount(); i++) + for (unsigned int i = 0 ; i < model->GetChildCount(); i ++) { gazebo::physics::LinkPtr body = boost::dynamic_pointer_cast(model->GetChild(i)); if (body) { res.body_names.push_back(body->GetName()); // get list of geoms - for (unsigned int j = 0; j < body->GetChildCount(); j++) + for (unsigned int j = 0; j < body->GetChildCount() ; j++) { gazebo::physics::CollisionPtr geom = boost::dynamic_pointer_cast(body->GetChild(j)); if (geom) @@ -1018,8 +1007,8 @@ bool GazeboRosApiPlugin::getModelProperties(gazebo_msgs::GetModelProperties::Req res.joint_names.clear(); gazebo::physics::Joint_V joints = model->GetJoints(); - for (unsigned int i = 0; i < joints.size(); i++) - res.joint_names.push_back(joints[i]->GetName()); + for (unsigned int i=0;i< joints.size(); i++) + res.joint_names.push_back( joints[i]->GetName() ); // get children model names res.child_model_names.clear(); @@ -1027,7 +1016,7 @@ bool GazeboRosApiPlugin::getModelProperties(gazebo_msgs::GetModelProperties::Req { gazebo::physics::ModelPtr child_model = boost::dynamic_pointer_cast(model->GetChild(j)); if (child_model) - res.child_model_names.push_back(child_model->GetName()); + res.child_model_names.push_back(child_model->GetName() ); } // is model static @@ -1046,11 +1035,11 @@ bool GazeboRosApiPlugin::getWorldProperties(gazebo_msgs::GetWorldProperties::Req res.model_names.clear(); #if GAZEBO_MAJOR_VERSION >= 8 res.sim_time = world_->SimTime().Double(); - for (unsigned int i = 0; i < world_->ModelCount(); i++) + for (unsigned int i = 0; i < world_->ModelCount(); i ++) res.model_names.push_back(world_->ModelByIndex(i)->GetName()); #else res.sim_time = world_->GetSimTime().Double(); - for (unsigned int i = 0; i < world_->GetModelCount(); i++) + for (unsigned int i = 0; i < world_->GetModelCount(); i ++) res.model_names.push_back(world_->GetModel(i)->GetName()); #endif gzerr << "disablign rendering has not been implemented, rendering is always enabled\n"; @@ -1065,16 +1054,15 @@ bool GazeboRosApiPlugin::getJointProperties(gazebo_msgs::GetJointProperties::Req { gazebo::physics::JointPtr joint; #if GAZEBO_MAJOR_VERSION >= 8 - for (unsigned int i = 0; i < world_->ModelCount(); i++) + for (unsigned int i = 0; i < world_->ModelCount(); i ++) { joint = world_->ModelByIndex(i)->GetJoint(req.joint_name); #else - for (unsigned int i = 0; i < world_->GetModelCount(); i++) + for (unsigned int i = 0; i < world_->GetModelCount(); i ++) { joint = world_->GetModel(i)->GetJoint(req.joint_name); #endif - if (joint) - break; + if (joint) break; } if (!joint) @@ -1187,11 +1175,11 @@ bool GazeboRosApiPlugin::getLinkState(gazebo_msgs::GetLinkState::Request &req, // Get inertial rates #if GAZEBO_MAJOR_VERSION >= 8 ignition::math::Pose3d body_pose = body->WorldPose(); - ignition::math::Vector3d body_vpos = body->WorldLinearVel(); // get velocity in gazebo frame + ignition::math::Vector3d body_vpos = body->WorldLinearVel(); // get velocity in gazebo frame ignition::math::Vector3d body_veul = body->WorldAngularVel(); // get velocity in gazebo frame #else ignition::math::Pose3d body_pose = body->GetWorldPose().Ign(); - ignition::math::Vector3d body_vpos = body->GetWorldLinearVel().Ign(); // get velocity in gazebo frame + ignition::math::Vector3d body_vpos = body->GetWorldLinearVel().Ign(); // get velocity in gazebo frame ignition::math::Vector3d body_veul = body->GetWorldAngularVel().Ign(); // get velocity in gazebo frame #endif @@ -1200,11 +1188,11 @@ bool GazeboRosApiPlugin::getLinkState(gazebo_msgs::GetLinkState::Request &req, // convert to relative pose, rates #if GAZEBO_MAJOR_VERSION >= 8 ignition::math::Pose3d frame_pose = frame->WorldPose(); - ignition::math::Vector3d frame_vpos = frame->WorldLinearVel(); // get velocity in gazebo frame + ignition::math::Vector3d frame_vpos = frame->WorldLinearVel(); // get velocity in gazebo frame ignition::math::Vector3d frame_veul = frame->WorldAngularVel(); // get velocity in gazebo frame #else ignition::math::Pose3d frame_pose = frame->GetWorldPose().Ign(); - ignition::math::Vector3d frame_vpos = frame->GetWorldLinearVel().Ign(); // get velocity in gazebo frame + ignition::math::Vector3d frame_vpos = frame->GetWorldLinearVel().Ign(); // get velocity in gazebo frame ignition::math::Vector3d frame_veul = frame->GetWorldAngularVel().Ign(); // get velocity in gazebo frame #endif body_pose = body_pose - frame_pose; @@ -1246,7 +1234,7 @@ bool GazeboRosApiPlugin::getLinkState(gazebo_msgs::GetLinkState::Request &req, } bool GazeboRosApiPlugin::getLightProperties(gazebo_msgs::GetLightProperties::Request &req, - gazebo_msgs::GetLightProperties::Response &res) + gazebo_msgs::GetLightProperties::Response &res) { #if GAZEBO_MAJOR_VERSION >= 8 gazebo::physics::LightPtr phy_light = world_->LightByName(req.light_name); @@ -1256,8 +1244,8 @@ bool GazeboRosApiPlugin::getLightProperties(gazebo_msgs::GetLightProperties::Req if (phy_light == NULL) { - res.success = false; - res.status_message = "getLightProperties: Requested light " + req.light_name + " not found!"; + res.success = false; + res.status_message = "getLightProperties: Requested light " + req.light_name + " not found!"; } else { @@ -1280,7 +1268,7 @@ bool GazeboRosApiPlugin::getLightProperties(gazebo_msgs::GetLightProperties::Req } bool GazeboRosApiPlugin::setLightProperties(gazebo_msgs::SetLightProperties::Request &req, - gazebo_msgs::SetLightProperties::Response &res) + gazebo_msgs::SetLightProperties::Response &res) { #if GAZEBO_MAJOR_VERSION >= 8 gazebo::physics::LightPtr phy_light = world_->LightByName(req.light_name); @@ -1335,8 +1323,8 @@ bool GazeboRosApiPlugin::setLinkProperties(gazebo_msgs::SetLinkProperties::Reque gazebo::physics::InertialPtr mass = body->GetInertial(); // @todo: FIXME: add inertia matrix rotation to Gazebo // mass.SetInertiaRotation(ignition::math::Quaterniondion(req.com.orientation.w,res.com.orientation.x,req.com.orientation.y req.com.orientation.z)); - mass->SetCoG(ignition::math::Vector3d(req.com.position.x, req.com.position.y, req.com.position.z)); - mass->SetInertiaMatrix(req.ixx, req.iyy, req.izz, req.ixy, req.ixz, req.iyz); + mass->SetCoG(ignition::math::Vector3d(req.com.position.x,req.com.position.y,req.com.position.z)); + mass->SetInertiaMatrix(req.ixx,req.iyy,req.izz,req.ixy,req.ixz,req.iyz); mass->SetMass(req.mass); body->SetGravityMode(req.gravity_mode); // @todo: mass change unverified @@ -1352,7 +1340,7 @@ bool GazeboRosApiPlugin::setPhysicsProperties(gazebo_msgs::SetPhysicsProperties: // pause simulation if requested bool is_paused = world_->IsPaused(); world_->SetPaused(true); - world_->SetGravity(ignition::math::Vector3d(req.gravity.x, req.gravity.y, req.gravity.z)); + world_->SetGravity(ignition::math::Vector3d(req.gravity.x,req.gravity.y,req.gravity.z)); // supported updates #if GAZEBO_MAJOR_VERSION >= 8 @@ -1373,9 +1361,9 @@ bool GazeboRosApiPlugin::setPhysicsProperties(gazebo_msgs::SetPhysicsProperties: pe->SetParam("cfm", req.ode_config.cfm); pe->SetParam("erp", req.ode_config.erp); pe->SetParam("contact_surface_layer", - req.ode_config.contact_surface_layer); + req.ode_config.contact_surface_layer); pe->SetParam("contact_max_correcting_vel", - req.ode_config.contact_max_correcting_vel); + req.ode_config.contact_max_correcting_vel); pe->SetParam("max_contacts", int(req.ode_config.max_contacts)); world_->SetPaused(is_paused); @@ -1414,23 +1402,23 @@ bool GazeboRosApiPlugin::getPhysicsProperties(gazebo_msgs::GetPhysicsProperties: if (pe->GetType() == "ode") { res.ode_config.auto_disable_bodies = - pe->GetAutoDisableFlag(); + pe->GetAutoDisableFlag(); res.ode_config.sor_pgs_precon_iters = boost::any_cast( - pe->GetParam("precon_iters")); + pe->GetParam("precon_iters")); res.ode_config.sor_pgs_iters = boost::any_cast( pe->GetParam("iters")); res.ode_config.sor_pgs_w = boost::any_cast( pe->GetParam("sor")); res.ode_config.contact_surface_layer = boost::any_cast( - pe->GetParam("contact_surface_layer")); + pe->GetParam("contact_surface_layer")); res.ode_config.contact_max_correcting_vel = boost::any_cast( - pe->GetParam("contact_max_correcting_vel")); + pe->GetParam("contact_max_correcting_vel")); res.ode_config.cfm = boost::any_cast( pe->GetParam("cfm")); res.ode_config.erp = boost::any_cast( pe->GetParam("erp")); res.ode_config.max_contacts = boost::any_cast( - pe->GetParam("max_contacts")); + pe->GetParam("max_contacts")); res.success = true; res.status_message = "GetPhysicsProperties: got properties"; @@ -1451,16 +1439,15 @@ bool GazeboRosApiPlugin::setJointProperties(gazebo_msgs::SetJointProperties::Req /// @todo: current settings only allows for setting of 1DOF joints (e.g. HingeJoint and SliderJoint) correctly. gazebo::physics::JointPtr joint; #if GAZEBO_MAJOR_VERSION >= 8 - for (unsigned int i = 0; i < world_->ModelCount(); i++) + for (unsigned int i = 0; i < world_->ModelCount(); i ++) { joint = world_->ModelByIndex(i)->GetJoint(req.joint_name); #else - for (unsigned int i = 0; i < world_->GetModelCount(); i++) + for (unsigned int i = 0; i < world_->GetModelCount(); i ++) { joint = world_->GetModel(i)->GetJoint(req.joint_name); #endif - if (joint) - break; + if (joint) break; } if (!joint) @@ -1471,26 +1458,26 @@ bool GazeboRosApiPlugin::setJointProperties(gazebo_msgs::SetJointProperties::Req } else { - for (unsigned int i = 0; i < req.ode_joint_config.damping.size(); i++) - joint->SetDamping(i, req.ode_joint_config.damping[i]); - for (unsigned int i = 0; i < req.ode_joint_config.hiStop.size(); i++) - joint->SetParam("hi_stop", i, req.ode_joint_config.hiStop[i]); - for (unsigned int i = 0; i < req.ode_joint_config.loStop.size(); i++) - joint->SetParam("lo_stop", i, req.ode_joint_config.loStop[i]); - for (unsigned int i = 0; i < req.ode_joint_config.erp.size(); i++) - joint->SetParam("erp", i, req.ode_joint_config.erp[i]); - for (unsigned int i = 0; i < req.ode_joint_config.cfm.size(); i++) - joint->SetParam("cfm", i, req.ode_joint_config.cfm[i]); - for (unsigned int i = 0; i < req.ode_joint_config.stop_erp.size(); i++) - joint->SetParam("stop_erp", i, req.ode_joint_config.stop_erp[i]); - for (unsigned int i = 0; i < req.ode_joint_config.stop_cfm.size(); i++) - joint->SetParam("stop_cfm", i, req.ode_joint_config.stop_cfm[i]); - for (unsigned int i = 0; i < req.ode_joint_config.fudge_factor.size(); i++) - joint->SetParam("fudge_factor", i, req.ode_joint_config.fudge_factor[i]); - for (unsigned int i = 0; i < req.ode_joint_config.fmax.size(); i++) - joint->SetParam("fmax", i, req.ode_joint_config.fmax[i]); - for (unsigned int i = 0; i < req.ode_joint_config.vel.size(); i++) - joint->SetParam("vel", i, req.ode_joint_config.vel[i]); + for(unsigned int i=0;i< req.ode_joint_config.damping.size();i++) + joint->SetDamping(i,req.ode_joint_config.damping[i]); + for(unsigned int i=0;i< req.ode_joint_config.hiStop.size();i++) + joint->SetParam("hi_stop",i,req.ode_joint_config.hiStop[i]); + for(unsigned int i=0;i< req.ode_joint_config.loStop.size();i++) + joint->SetParam("lo_stop",i,req.ode_joint_config.loStop[i]); + for(unsigned int i=0;i< req.ode_joint_config.erp.size();i++) + joint->SetParam("erp",i,req.ode_joint_config.erp[i]); + for(unsigned int i=0;i< req.ode_joint_config.cfm.size();i++) + joint->SetParam("cfm",i,req.ode_joint_config.cfm[i]); + for(unsigned int i=0;i< req.ode_joint_config.stop_erp.size();i++) + joint->SetParam("stop_erp",i,req.ode_joint_config.stop_erp[i]); + for(unsigned int i=0;i< req.ode_joint_config.stop_cfm.size();i++) + joint->SetParam("stop_cfm",i,req.ode_joint_config.stop_cfm[i]); + for(unsigned int i=0;i< req.ode_joint_config.fudge_factor.size();i++) + joint->SetParam("fudge_factor",i,req.ode_joint_config.fudge_factor[i]); + for(unsigned int i=0;i< req.ode_joint_config.fmax.size();i++) + joint->SetParam("fmax",i,req.ode_joint_config.fmax[i]); + for(unsigned int i=0;i< req.ode_joint_config.vel.size();i++) + joint->SetParam("vel",i,req.ode_joint_config.vel[i]); res.success = true; res.status_message = "SetJointProperties: properties set"; @@ -1501,12 +1488,12 @@ bool GazeboRosApiPlugin::setJointProperties(gazebo_msgs::SetJointProperties::Req bool GazeboRosApiPlugin::setModelState(gazebo_msgs::SetModelState::Request &req, gazebo_msgs::SetModelState::Response &res) { - ignition::math::Vector3d target_pos(req.model_state.pose.position.x, req.model_state.pose.position.y, req.model_state.pose.position.z); - ignition::math::Quaterniond target_rot(req.model_state.pose.orientation.w, req.model_state.pose.orientation.x, req.model_state.pose.orientation.y, req.model_state.pose.orientation.z); + ignition::math::Vector3d target_pos(req.model_state.pose.position.x,req.model_state.pose.position.y,req.model_state.pose.position.z); + ignition::math::Quaterniond target_rot(req.model_state.pose.orientation.w,req.model_state.pose.orientation.x,req.model_state.pose.orientation.y,req.model_state.pose.orientation.z); target_rot.Normalize(); // eliminates invalid rotation (0, 0, 0, 0) - ignition::math::Pose3d target_pose(target_pos, target_rot); - ignition::math::Vector3d target_pos_dot(req.model_state.twist.linear.x, req.model_state.twist.linear.y, req.model_state.twist.linear.z); - ignition::math::Vector3d target_rot_dot(req.model_state.twist.angular.x, req.model_state.twist.angular.y, req.model_state.twist.angular.z); + ignition::math::Pose3d target_pose(target_pos,target_rot); + ignition::math::Vector3d target_pos_dot(req.model_state.twist.linear.x,req.model_state.twist.linear.y,req.model_state.twist.linear.z); + ignition::math::Vector3d target_rot_dot(req.model_state.twist.angular.x,req.model_state.twist.angular.y,req.model_state.twist.angular.z); #if GAZEBO_MAJOR_VERSION >= 8 gazebo::physics::ModelPtr model = world_->ModelByName(req.model_state.model_name); @@ -1515,7 +1502,7 @@ bool GazeboRosApiPlugin::setModelState(gazebo_msgs::SetModelState::Request &req, #endif if (!model) { - ROS_ERROR_NAMED("api_plugin", "Updating ModelState: model [%s] does not exist", req.model_state.model_name.c_str()); + ROS_ERROR_NAMED("api_plugin", "Updating ModelState: model [%s] does not exist",req.model_state.model_name.c_str()); res.success = false; res.status_message = "SetModelState: model does not exist"; return true; @@ -1530,9 +1517,9 @@ bool GazeboRosApiPlugin::setModelState(gazebo_msgs::SetModelState::Request &req, if (relative_entity) { #if GAZEBO_MAJOR_VERSION >= 8 - ignition::math::Pose3d frame_pose = relative_entity->WorldPose(); // - myBody->GetCoMPose(); + ignition::math::Pose3d frame_pose = relative_entity->WorldPose(); // - myBody->GetCoMPose(); #else - ignition::math::Pose3d frame_pose = relative_entity->GetWorldPose().Ign(); // - myBody->GetCoMPose(); + ignition::math::Pose3d frame_pose = relative_entity->GetWorldPose().Ign(); // - myBody->GetCoMPose(); #endif target_pose = target_pose + frame_pose; @@ -1543,14 +1530,14 @@ bool GazeboRosApiPlugin::setModelState(gazebo_msgs::SetModelState::Request &req, target_rot_dot = frame_pose.Rot().RotateVector(target_rot_dot); } /// @todo: FIXME map is really wrong, need to use tf here somehow - else if (req.model_state.reference_frame == "" || req.model_state.reference_frame == "world" || req.model_state.reference_frame == "map" || req.model_state.reference_frame == "/map") + else if (req.model_state.reference_frame == "" || req.model_state.reference_frame == "world" || req.model_state.reference_frame == "map" || req.model_state.reference_frame == "/map" ) { ROS_DEBUG_NAMED("api_plugin", "Updating ModelState: reference frame is empty/world/map, usig inertial frame"); } else { ROS_ERROR_NAMED("api_plugin", "Updating ModelState: for model[%s], specified reference frame entity [%s] does not exist", - req.model_state.model_name.c_str(), req.model_state.reference_frame.c_str()); + req.model_state.model_name.c_str(),req.model_state.reference_frame.c_str()); res.success = false; res.status_message = "SetModelState: specified reference frame entity does not exist"; return true; @@ -1574,12 +1561,12 @@ bool GazeboRosApiPlugin::setModelState(gazebo_msgs::SetModelState::Request &req, } } -void GazeboRosApiPlugin::updateModelState(const gazebo_msgs::ModelState::ConstPtr &model_state) +void GazeboRosApiPlugin::updateModelState(const gazebo_msgs::ModelState::ConstPtr& model_state) { gazebo_msgs::SetModelState::Response res; gazebo_msgs::SetModelState::Request req; req.model_state = *model_state; - /*bool success =*/setModelState(req, res); + /*bool success =*/ setModelState(req,res); } bool GazeboRosApiPlugin::applyJointEffort(gazebo_msgs::ApplyJointEffort::Request &req, @@ -1587,17 +1574,17 @@ bool GazeboRosApiPlugin::applyJointEffort(gazebo_msgs::ApplyJointEffort::Request { gazebo::physics::JointPtr joint; #if GAZEBO_MAJOR_VERSION >= 8 - for (unsigned int i = 0; i < world_->ModelCount(); i++) + for (unsigned int i = 0; i < world_->ModelCount(); i ++) { joint = world_->ModelByIndex(i)->GetJoint(req.joint_name); #else - for (unsigned int i = 0; i < world_->GetModelCount(); i++) + for (unsigned int i = 0; i < world_->GetModelCount(); i ++) { joint = world_->GetModel(i)->GetJoint(req.joint_name); #endif if (joint) { - GazeboRosApiPlugin::ForceJointJob *fjj = new GazeboRosApiPlugin::ForceJointJob; + GazeboRosApiPlugin::ForceJointJob* fjj = new GazeboRosApiPlugin::ForceJointJob; fjj->joint = joint; fjj->force = req.effort; fjj->start_time = req.start_time; @@ -1624,25 +1611,25 @@ bool GazeboRosApiPlugin::applyJointEffort(gazebo_msgs::ApplyJointEffort::Request return true; } -bool GazeboRosApiPlugin::resetSimulation(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res) +bool GazeboRosApiPlugin::resetSimulation(std_srvs::Empty::Request &req,std_srvs::Empty::Response &res) { world_->Reset(); return true; } -bool GazeboRosApiPlugin::resetWorld(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res) +bool GazeboRosApiPlugin::resetWorld(std_srvs::Empty::Request &req,std_srvs::Empty::Response &res) { world_->ResetEntities(gazebo::physics::Base::MODEL); return true; } -bool GazeboRosApiPlugin::pausePhysics(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res) +bool GazeboRosApiPlugin::pausePhysics(std_srvs::Empty::Request &req,std_srvs::Empty::Response &res) { world_->SetPaused(true); return true; } -bool GazeboRosApiPlugin::unpausePhysics(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res) +bool GazeboRosApiPlugin::unpausePhysics(std_srvs::Empty::Request &req,std_srvs::Empty::Response &res) { world_->SetPaused(false); return true; @@ -1657,10 +1644,10 @@ bool GazeboRosApiPlugin::clearJointForces(std::string joint_name) { bool search = true; lock_.lock(); - while (search) + while(search) { search = false; - for (std::vector::iterator iter = force_joint_jobs_.begin(); iter != force_joint_jobs_.end(); ++iter) + for (std::vector::iterator iter=force_joint_jobs_.begin();iter!=force_joint_jobs_.end();++iter) { if ((*iter)->joint->GetName() == joint_name) { @@ -1685,10 +1672,10 @@ bool GazeboRosApiPlugin::clearBodyWrenches(std::string body_name) { bool search = true; lock_.lock(); - while (search) + while(search) { search = false; - for (std::vector::iterator iter = wrench_body_jobs_.begin(); iter != wrench_body_jobs_.end(); ++iter) + for (std::vector::iterator iter=wrench_body_jobs_.begin();iter!=wrench_body_jobs_.end();++iter) { //ROS_ERROR_NAMED("api_plugin", "search %s %s",(*iter)->body->GetScopedName().c_str(), body_name.c_str()); if ((*iter)->body->GetScopedName() == body_name) @@ -1718,7 +1705,7 @@ bool GazeboRosApiPlugin::setModelConfiguration(gazebo_msgs::SetModelConfiguratio #endif if (!gazebo_model) { - ROS_ERROR_NAMED("api_plugin", "SetModelConfiguration: model [%s] does not exist", gazebo_model_name.c_str()); + ROS_ERROR_NAMED("api_plugin", "SetModelConfiguration: model [%s] does not exist",gazebo_model_name.c_str()); res.success = false; res.status_message = "SetModelConfiguration: model does not exist"; return true; @@ -1734,8 +1721,7 @@ bool GazeboRosApiPlugin::setModelConfiguration(gazebo_msgs::SetModelConfiguratio // make the service call to pause gazebo bool is_paused = world_->IsPaused(); - if (!is_paused) - world_->SetPaused(true); + if (!is_paused) world_->SetPaused(true); gazebo_model->SetJointPositions(joint_position_map); @@ -1766,7 +1752,7 @@ bool GazeboRosApiPlugin::setLinkState(gazebo_msgs::SetLinkState::Request &req, #endif if (!body) { - ROS_ERROR_NAMED("api_plugin", "Updating LinkState: link [%s] does not exist", req.link_state.link_name.c_str()); + ROS_ERROR_NAMED("api_plugin", "Updating LinkState: link [%s] does not exist",req.link_state.link_name.c_str()); res.success = false; res.status_message = "SetLinkState: link does not exist"; return true; @@ -1775,20 +1761,20 @@ bool GazeboRosApiPlugin::setLinkState(gazebo_msgs::SetLinkState::Request &req, /// @todo: FIXME map is really wrong, unless using tf here somehow // get reference frame (body/model(link)) pose and // transform target pose to absolute world frame - ignition::math::Vector3d target_pos(req.link_state.pose.position.x, req.link_state.pose.position.y, req.link_state.pose.position.z); - ignition::math::Quaterniond target_rot(req.link_state.pose.orientation.w, req.link_state.pose.orientation.x, req.link_state.pose.orientation.y, req.link_state.pose.orientation.z); - ignition::math::Pose3d target_pose(target_pos, target_rot); - ignition::math::Vector3d target_linear_vel(req.link_state.twist.linear.x, req.link_state.twist.linear.y, req.link_state.twist.linear.z); - ignition::math::Vector3d target_angular_vel(req.link_state.twist.angular.x, req.link_state.twist.angular.y, req.link_state.twist.angular.z); + ignition::math::Vector3d target_pos(req.link_state.pose.position.x,req.link_state.pose.position.y,req.link_state.pose.position.z); + ignition::math::Quaterniond target_rot(req.link_state.pose.orientation.w,req.link_state.pose.orientation.x,req.link_state.pose.orientation.y,req.link_state.pose.orientation.z); + ignition::math::Pose3d target_pose(target_pos,target_rot); + ignition::math::Vector3d target_linear_vel(req.link_state.twist.linear.x,req.link_state.twist.linear.y,req.link_state.twist.linear.z); + ignition::math::Vector3d target_angular_vel(req.link_state.twist.angular.x,req.link_state.twist.angular.y,req.link_state.twist.angular.z); if (frame) { #if GAZEBO_MAJOR_VERSION >= 8 - ignition::math::Pose3d frame_pose = frame->WorldPose(); // - myBody->GetCoMPose(); + ignition::math::Pose3d frame_pose = frame->WorldPose(); // - myBody->GetCoMPose(); ignition::math::Vector3d frame_linear_vel = frame->WorldLinearVel(); ignition::math::Vector3d frame_angular_vel = frame->WorldAngularVel(); #else - ignition::math::Pose3d frame_pose = frame->GetWorldPose().Ign(); // - myBody->GetCoMPose(); + ignition::math::Pose3d frame_pose = frame->GetWorldPose().Ign(); // - myBody->GetCoMPose(); ignition::math::Vector3d frame_linear_vel = frame->GetWorldLinearVel().Ign(); ignition::math::Vector3d frame_angular_vel = frame->GetWorldAngularVel().Ign(); #endif @@ -1817,8 +1803,7 @@ bool GazeboRosApiPlugin::setLinkState(gazebo_msgs::SetLinkState::Request &req, //boost::recursive_mutex::scoped_lock lock(*world->GetMRMutex()); bool is_paused = world_->IsPaused(); - if (!is_paused) - world_->SetPaused(true); + if (!is_paused) world_->SetPaused(true); body->SetWorldPose(target_pose); world_->SetPaused(is_paused); @@ -1831,18 +1816,18 @@ bool GazeboRosApiPlugin::setLinkState(gazebo_msgs::SetLinkState::Request &req, return true; } -void GazeboRosApiPlugin::updateLinkState(const gazebo_msgs::LinkState::ConstPtr &link_state) +void GazeboRosApiPlugin::updateLinkState(const gazebo_msgs::LinkState::ConstPtr& link_state) { gazebo_msgs::SetLinkState::Request req; gazebo_msgs::SetLinkState::Response res; req.link_state = *link_state; - /*bool success = */ setLinkState(req, res); + /*bool success = */ setLinkState(req,res); } -void GazeboRosApiPlugin::transformWrench(ignition::math::Vector3d &target_force, ignition::math::Vector3d &target_torque, - const ignition::math::Vector3d &reference_force, - const ignition::math::Vector3d &reference_torque, - const ignition::math::Pose3d &target_to_reference) +void GazeboRosApiPlugin::transformWrench( ignition::math::Vector3d &target_force, ignition::math::Vector3d &target_torque, + const ignition::math::Vector3d &reference_force, + const ignition::math::Vector3d &reference_torque, + const ignition::math::Pose3d &target_to_reference ) { // rotate force into target frame target_force = target_to_reference.Rot().RotateVector(reference_force); @@ -1865,16 +1850,16 @@ bool GazeboRosApiPlugin::applyBodyWrench(gazebo_msgs::ApplyBodyWrench::Request & #endif if (!body) { - ROS_ERROR_NAMED("api_plugin", "ApplyBodyWrench: body [%s] does not exist", req.body_name.c_str()); + ROS_ERROR_NAMED("api_plugin", "ApplyBodyWrench: body [%s] does not exist",req.body_name.c_str()); res.success = false; res.status_message = "ApplyBodyWrench: body does not exist"; return true; } // target wrench - ignition::math::Vector3d reference_force(req.wrench.force.x, req.wrench.force.y, req.wrench.force.z); - ignition::math::Vector3d reference_torque(req.wrench.torque.x, req.wrench.torque.y, req.wrench.torque.z); - ignition::math::Vector3d reference_point(req.reference_point.x, req.reference_point.y, req.reference_point.z); + ignition::math::Vector3d reference_force(req.wrench.force.x,req.wrench.force.y,req.wrench.force.z); + ignition::math::Vector3d reference_torque(req.wrench.torque.x,req.wrench.torque.y,req.wrench.torque.z); + ignition::math::Vector3d reference_point(req.reference_point.x,req.reference_point.y,req.reference_point.z); ignition::math::Vector3d target_force; ignition::math::Vector3d target_torque; @@ -1904,40 +1889,43 @@ bool GazeboRosApiPlugin::applyBodyWrench(gazebo_msgs::ApplyBodyWrench::Request & #endif ignition::math::Pose3d target_to_reference = framePose - bodyPose; ROS_DEBUG_NAMED("api_plugin", "reference frame for applied wrench: [%f %f %f, %f %f %f]-[%f %f %f, %f %f %f]=[%f %f %f, %f %f %f]", - bodyPose.Pos().X(), - bodyPose.Pos().Y(), - bodyPose.Pos().Z(), - bodyPose.Rot().Euler().X(), - bodyPose.Rot().Euler().Y(), - bodyPose.Rot().Euler().Z(), - framePose.Pos().X(), - framePose.Pos().Y(), - framePose.Pos().Z(), - framePose.Rot().Euler().X(), - framePose.Rot().Euler().Y(), - framePose.Rot().Euler().Z(), - target_to_reference.Pos().X(), - target_to_reference.Pos().Y(), - target_to_reference.Pos().Z(), - target_to_reference.Rot().Euler().X(), - target_to_reference.Rot().Euler().Y(), - target_to_reference.Rot().Euler().Z()); + bodyPose.Pos().X(), + bodyPose.Pos().Y(), + bodyPose.Pos().Z(), + bodyPose.Rot().Euler().X(), + bodyPose.Rot().Euler().Y(), + bodyPose.Rot().Euler().Z(), + framePose.Pos().X(), + framePose.Pos().Y(), + framePose.Pos().Z(), + framePose.Rot().Euler().X(), + framePose.Rot().Euler().Y(), + framePose.Rot().Euler().Z(), + target_to_reference.Pos().X(), + target_to_reference.Pos().Y(), + target_to_reference.Pos().Z(), + target_to_reference.Rot().Euler().X(), + target_to_reference.Rot().Euler().Y(), + target_to_reference.Rot().Euler().Z() + ); transformWrench(target_force, target_torque, reference_force, reference_torque, target_to_reference); ROS_ERROR_NAMED("api_plugin", "wrench defined as [%s]:[%f %f %f, %f %f %f] --> applied as [%s]:[%f %f %f, %f %f %f]", - frame->GetName().c_str(), - reference_force.X(), - reference_force.Y(), - reference_force.Z(), - reference_torque.X(), - reference_torque.Y(), - reference_torque.Z(), - body->GetName().c_str(), - target_force.X(), - target_force.Y(), - target_force.Z(), - target_torque.X(), - target_torque.Y(), - target_torque.Z()); + frame->GetName().c_str(), + reference_force.X(), + reference_force.Y(), + reference_force.Z(), + reference_torque.X(), + reference_torque.Y(), + reference_torque.Z(), + body->GetName().c_str(), + target_force.X(), + target_force.Y(), + target_force.Z(), + target_torque.X(), + target_torque.Y(), + target_torque.Z() + ); + } else if (req.reference_frame == "" || req.reference_frame == "world" || req.reference_frame == "map" || req.reference_frame == "/map") { @@ -1950,6 +1938,7 @@ bool GazeboRosApiPlugin::applyBodyWrench(gazebo_msgs::ApplyBodyWrench::Request & #endif target_force = reference_force; target_torque = reference_torque; + } else { @@ -1963,7 +1952,7 @@ bool GazeboRosApiPlugin::applyBodyWrench(gazebo_msgs::ApplyBodyWrench::Request & // schedule a job to do below at appropriate times: // body->SetForce(force) // body->SetTorque(torque) - GazeboRosApiPlugin::WrenchBodyJob *wej = new GazeboRosApiPlugin::WrenchBodyJob; + GazeboRosApiPlugin::WrenchBodyJob* wej = new GazeboRosApiPlugin::WrenchBodyJob; wej->body = body; wej->force = target_force; wej->torque = target_torque; @@ -2012,7 +2001,7 @@ void GazeboRosApiPlugin::wrenchBodySchedulerSlot() // MDMutex locks in case model is getting deleted, don't have to do this if we delete jobs first // boost::recursive_mutex::scoped_lock lock(*world->GetMDMutex()); lock_.lock(); - for (std::vector::iterator iter = wrench_body_jobs_.begin(); iter != wrench_body_jobs_.end();) + for (std::vector::iterator iter=wrench_body_jobs_.begin();iter!=wrench_body_jobs_.end();) { // check times and apply wrench if necessary #if GAZEBO_MAJOR_VERSION >= 8 @@ -2021,7 +2010,7 @@ void GazeboRosApiPlugin::wrenchBodySchedulerSlot() ros::Time simTime = ros::Time(world_->GetSimTime().Double()); #endif if (simTime >= (*iter)->start_time) - if (simTime <= (*iter)->start_time + (*iter)->duration || + if (simTime <= (*iter)->start_time+(*iter)->duration || (*iter)->duration.toSec() < 0.0) { if ((*iter)->body) // if body exists @@ -2033,7 +2022,7 @@ void GazeboRosApiPlugin::wrenchBodySchedulerSlot() (*iter)->duration.fromSec(0.0); // mark for delete } - if (simTime > (*iter)->start_time + (*iter)->duration && + if (simTime > (*iter)->start_time+(*iter)->duration && (*iter)->duration.toSec() >= 0.0) { // remove from queue once expires @@ -2051,7 +2040,7 @@ void GazeboRosApiPlugin::forceJointSchedulerSlot() // MDMutex locks in case model is getting deleted, don't have to do this if we delete jobs first // boost::recursive_mutex::scoped_lock lock(*world->GetMDMutex()); lock_.lock(); - for (std::vector::iterator iter = force_joint_jobs_.begin(); iter != force_joint_jobs_.end();) + for (std::vector::iterator iter=force_joint_jobs_.begin();iter!=force_joint_jobs_.end();) { // check times and apply force if necessary #if GAZEBO_MAJOR_VERSION >= 8 @@ -2060,16 +2049,16 @@ void GazeboRosApiPlugin::forceJointSchedulerSlot() ros::Time simTime = ros::Time(world_->GetSimTime().Double()); #endif if (simTime >= (*iter)->start_time) - if (simTime <= (*iter)->start_time + (*iter)->duration || + if (simTime <= (*iter)->start_time+(*iter)->duration || (*iter)->duration.toSec() < 0.0) { if ((*iter)->joint) // if joint exists - (*iter)->joint->SetForce(0, (*iter)->force); + (*iter)->joint->SetForce(0,(*iter)->force); else (*iter)->duration.fromSec(0.0); // mark for delete } - if (simTime > (*iter)->start_time + (*iter)->duration && + if (simTime > (*iter)->start_time+(*iter)->duration && (*iter)->duration.toSec() >= 0.0) { // remove from queue once expires @@ -2089,10 +2078,10 @@ void GazeboRosApiPlugin::publishSimTime(const boost::shared_ptrGetSimTime(); #endif - if (pub_clock_frequency_ > 0 && (sim_time - last_pub_clock_time_).Double() < 1.0 / pub_clock_frequency_) + if (pub_clock_frequency_ > 0 && (sim_time - last_pub_clock_time_).Double() < 1.0/pub_clock_frequency_) return; - gazebo::common::Time currentTime = gazebo::msgs::Convert(msg->sim_time()); + gazebo::common::Time currentTime = gazebo::msgs::Convert( msg->sim_time() ); rosgraph_msgs::Clock ros_time_; ros_time_.clock.fromSec(currentTime.Double()); // publish time to ros @@ -2106,7 +2095,7 @@ void GazeboRosApiPlugin::publishSimTime() #else gazebo::common::Time sim_time = world_->GetSimTime(); #endif - if (pub_clock_frequency_ > 0 && (sim_time - last_pub_clock_time_).Double() < 1.0 / pub_clock_frequency_) + if (pub_clock_frequency_ > 0 && (sim_time - last_pub_clock_time_).Double() < 1.0/pub_clock_frequency_) return; #if GAZEBO_MAJOR_VERSION >= 8 @@ -2127,16 +2116,16 @@ void GazeboRosApiPlugin::publishLinkStates() // fill link_states #if GAZEBO_MAJOR_VERSION >= 8 - for (unsigned int i = 0; i < world_->ModelCount(); i++) + for (unsigned int i = 0; i < world_->ModelCount(); i ++) { gazebo::physics::ModelPtr model = world_->ModelByIndex(i); #else - for (unsigned int i = 0; i < world_->GetModelCount(); i++) + for (unsigned int i = 0; i < world_->GetModelCount(); i ++) { gazebo::physics::ModelPtr model = world_->GetModel(i); #endif - for (unsigned int j = 0; j < model->GetChildCount(); j++) + for (unsigned int j = 0 ; j < model->GetChildCount(); j ++) { gazebo::physics::LinkPtr body = boost::dynamic_pointer_cast(model->GetChild(j)); @@ -2145,12 +2134,12 @@ void GazeboRosApiPlugin::publishLinkStates() link_states.name.push_back(body->GetScopedName()); geometry_msgs::Pose pose; #if GAZEBO_MAJOR_VERSION >= 8 - ignition::math::Pose3d body_pose = body->WorldPose(); // - myBody->GetCoMPose(); - ignition::math::Vector3d linear_vel = body->WorldLinearVel(); + ignition::math::Pose3d body_pose = body->WorldPose(); // - myBody->GetCoMPose(); + ignition::math::Vector3d linear_vel = body->WorldLinearVel(); ignition::math::Vector3d angular_vel = body->WorldAngularVel(); #else - ignition::math::Pose3d body_pose = body->GetWorldPose().Ign(); // - myBody->GetCoMPose(); - ignition::math::Vector3d linear_vel = body->GetWorldLinearVel().Ign(); + ignition::math::Pose3d body_pose = body->GetWorldPose().Ign(); // - myBody->GetCoMPose(); + ignition::math::Vector3d linear_vel = body->GetWorldLinearVel().Ign(); ignition::math::Vector3d angular_vel = body->GetWorldAngularVel().Ign(); #endif ignition::math::Vector3d pos = body_pose.Pos(); @@ -2184,18 +2173,18 @@ void GazeboRosApiPlugin::publishModelStates() // fill model_states #if GAZEBO_MAJOR_VERSION >= 8 - for (unsigned int i = 0; i < world_->ModelCount(); i++) + for (unsigned int i = 0; i < world_->ModelCount(); i ++) { gazebo::physics::ModelPtr model = world_->ModelByIndex(i); - ignition::math::Pose3d model_pose = model->WorldPose(); // - myBody->GetCoMPose(); - ignition::math::Vector3d linear_vel = model->WorldLinearVel(); + ignition::math::Pose3d model_pose = model->WorldPose(); // - myBody->GetCoMPose(); + ignition::math::Vector3d linear_vel = model->WorldLinearVel(); ignition::math::Vector3d angular_vel = model->WorldAngularVel(); #else - for (unsigned int i = 0; i < world_->GetModelCount(); i++) + for (unsigned int i = 0; i < world_->GetModelCount(); i ++) { gazebo::physics::ModelPtr model = world_->GetModel(i); - ignition::math::Pose3d model_pose = model->GetWorldPose().Ign(); // - myBody->GetCoMPose(); - ignition::math::Vector3d linear_vel = model->GetWorldLinearVel().Ign(); + ignition::math::Pose3d model_pose = model->GetWorldPose().Ign(); // - myBody->GetCoMPose(); + ignition::math::Vector3d linear_vel = model->GetWorldLinearVel().Ign(); ignition::math::Vector3d angular_vel = model->GetWorldAngularVel().Ign(); #endif ignition::math::Vector3d pos = model_pose.Pos(); @@ -2229,21 +2218,21 @@ void GazeboRosApiPlugin::physicsReconfigureCallback(gazebo_ros::PhysicsConfig &c gazebo_msgs::GetPhysicsProperties srv; physics_reconfigure_get_client_.call(srv); - config.time_step = srv.response.time_step; - config.max_update_rate = srv.response.max_update_rate; - config.gravity_x = srv.response.gravity.x; - config.gravity_y = srv.response.gravity.y; - config.gravity_z = srv.response.gravity.z; - config.auto_disable_bodies = srv.response.ode_config.auto_disable_bodies; - config.sor_pgs_precon_iters = srv.response.ode_config.sor_pgs_precon_iters; - config.sor_pgs_iters = srv.response.ode_config.sor_pgs_iters; - config.sor_pgs_rms_error_tol = srv.response.ode_config.sor_pgs_rms_error_tol; - config.sor_pgs_w = srv.response.ode_config.sor_pgs_w; - config.contact_surface_layer = srv.response.ode_config.contact_surface_layer; - config.contact_max_correcting_vel = srv.response.ode_config.contact_max_correcting_vel; - config.cfm = srv.response.ode_config.cfm; - config.erp = srv.response.ode_config.erp; - config.max_contacts = srv.response.ode_config.max_contacts; + config.time_step = srv.response.time_step; + config.max_update_rate = srv.response.max_update_rate; + config.gravity_x = srv.response.gravity.x; + config.gravity_y = srv.response.gravity.y; + config.gravity_z = srv.response.gravity.z; + config.auto_disable_bodies = srv.response.ode_config.auto_disable_bodies; + config.sor_pgs_precon_iters = srv.response.ode_config.sor_pgs_precon_iters; + config.sor_pgs_iters = srv.response.ode_config.sor_pgs_iters; + config.sor_pgs_rms_error_tol = srv.response.ode_config.sor_pgs_rms_error_tol; + config.sor_pgs_w = srv.response.ode_config.sor_pgs_w; + config.contact_surface_layer = srv.response.ode_config.contact_surface_layer; + config.contact_max_correcting_vel = srv.response.ode_config.contact_max_correcting_vel; + config.cfm = srv.response.ode_config.cfm; + config.erp = srv.response.ode_config.erp; + config.max_contacts = srv.response.ode_config.max_contacts; physics_reconfigure_initialized_ = true; } else @@ -2253,56 +2242,41 @@ void GazeboRosApiPlugin::physicsReconfigureCallback(gazebo_ros::PhysicsConfig &c physics_reconfigure_get_client_.call(srv); // check for changes - if (config.time_step != srv.response.time_step) - changed = true; - if (config.max_update_rate != srv.response.max_update_rate) - changed = true; - if (config.gravity_x != srv.response.gravity.x) - changed = true; - if (config.gravity_y != srv.response.gravity.y) - changed = true; - if (config.gravity_z != srv.response.gravity.z) - changed = true; - if (config.auto_disable_bodies != srv.response.ode_config.auto_disable_bodies) - changed = true; - if ((uint32_t)config.sor_pgs_precon_iters != srv.response.ode_config.sor_pgs_precon_iters) - changed = true; - if ((uint32_t)config.sor_pgs_iters != srv.response.ode_config.sor_pgs_iters) - changed = true; - if (config.sor_pgs_rms_error_tol != srv.response.ode_config.sor_pgs_rms_error_tol) - changed = true; - if (config.sor_pgs_w != srv.response.ode_config.sor_pgs_w) - changed = true; - if (config.contact_surface_layer != srv.response.ode_config.contact_surface_layer) - changed = true; - if (config.contact_max_correcting_vel != srv.response.ode_config.contact_max_correcting_vel) - changed = true; - if (config.cfm != srv.response.ode_config.cfm) - changed = true; - if (config.erp != srv.response.ode_config.erp) - changed = true; - if ((uint32_t)config.max_contacts != srv.response.ode_config.max_contacts) - changed = true; + if (config.time_step != srv.response.time_step) changed = true; + if (config.max_update_rate != srv.response.max_update_rate) changed = true; + if (config.gravity_x != srv.response.gravity.x) changed = true; + if (config.gravity_y != srv.response.gravity.y) changed = true; + if (config.gravity_z != srv.response.gravity.z) changed = true; + if (config.auto_disable_bodies != srv.response.ode_config.auto_disable_bodies) changed = true; + if ((uint32_t)config.sor_pgs_precon_iters != srv.response.ode_config.sor_pgs_precon_iters) changed = true; + if ((uint32_t)config.sor_pgs_iters != srv.response.ode_config.sor_pgs_iters) changed = true; + if (config.sor_pgs_rms_error_tol != srv.response.ode_config.sor_pgs_rms_error_tol) changed = true; + if (config.sor_pgs_w != srv.response.ode_config.sor_pgs_w) changed = true; + if (config.contact_surface_layer != srv.response.ode_config.contact_surface_layer) changed = true; + if (config.contact_max_correcting_vel != srv.response.ode_config.contact_max_correcting_vel) changed = true; + if (config.cfm != srv.response.ode_config.cfm) changed = true; + if (config.erp != srv.response.ode_config.erp) changed = true; + if ((uint32_t)config.max_contacts != srv.response.ode_config.max_contacts) changed = true; if (changed) { // pause simulation if requested gazebo_msgs::SetPhysicsProperties srv; - srv.request.time_step = config.time_step; - srv.request.max_update_rate = config.max_update_rate; - srv.request.gravity.x = config.gravity_x; - srv.request.gravity.y = config.gravity_y; - srv.request.gravity.z = config.gravity_z; - srv.request.ode_config.auto_disable_bodies = config.auto_disable_bodies; - srv.request.ode_config.sor_pgs_precon_iters = config.sor_pgs_precon_iters; - srv.request.ode_config.sor_pgs_iters = config.sor_pgs_iters; - srv.request.ode_config.sor_pgs_rms_error_tol = config.sor_pgs_rms_error_tol; - srv.request.ode_config.sor_pgs_w = config.sor_pgs_w; - srv.request.ode_config.contact_surface_layer = config.contact_surface_layer; - srv.request.ode_config.contact_max_correcting_vel = config.contact_max_correcting_vel; - srv.request.ode_config.cfm = config.cfm; - srv.request.ode_config.erp = config.erp; - srv.request.ode_config.max_contacts = config.max_contacts; + srv.request.time_step = config.time_step ; + srv.request.max_update_rate = config.max_update_rate ; + srv.request.gravity.x = config.gravity_x ; + srv.request.gravity.y = config.gravity_y ; + srv.request.gravity.z = config.gravity_z ; + srv.request.ode_config.auto_disable_bodies = config.auto_disable_bodies ; + srv.request.ode_config.sor_pgs_precon_iters = config.sor_pgs_precon_iters ; + srv.request.ode_config.sor_pgs_iters = config.sor_pgs_iters ; + srv.request.ode_config.sor_pgs_rms_error_tol = config.sor_pgs_rms_error_tol ; + srv.request.ode_config.sor_pgs_w = config.sor_pgs_w ; + srv.request.ode_config.contact_surface_layer = config.contact_surface_layer ; + srv.request.ode_config.contact_max_correcting_vel = config.contact_max_correcting_vel ; + srv.request.ode_config.cfm = config.cfm ; + srv.request.ode_config.erp = config.erp ; + srv.request.ode_config.max_contacts = config.max_contacts ; physics_reconfigure_set_client_.call(srv); ROS_INFO_NAMED("api_plugin", "physics dynamics reconfigure update complete"); } @@ -2335,10 +2309,10 @@ void GazeboRosApiPlugin::stripXmlDeclaration(std::string &model_xml) /// @todo: should gazebo take care of the declaration? std::string open_bracket(""); - size_t pos1 = model_xml.find(open_bracket, 0); - size_t pos2 = model_xml.find(close_bracket, 0); + size_t pos1 = model_xml.find(open_bracket,0); + size_t pos2 = model_xml.find(close_bracket,0); if (pos1 != std::string::npos && pos2 != std::string::npos) - model_xml.replace(pos1, pos2 - pos1 + 2, std::string("")); + model_xml.replace(pos1,pos2-pos1+2,std::string("")); } void GazeboRosApiPlugin::updateSDFAttributes(TiXmlDocument &gazebo_model_xml, @@ -2349,10 +2323,10 @@ void GazeboRosApiPlugin::updateSDFAttributes(TiXmlDocument &gazebo_model_xml, // This function can handle both regular SDF files and SDFs that are used with the // Gazebo Model Database - TiXmlElement *pose_element; // This is used by both reguar and database SDFs + TiXmlElement* pose_element; // This is used by both reguar and database SDFs // Check SDF for requires SDF element - TiXmlElement *gazebo_tixml = gazebo_model_xml.FirstChildElement("sdf"); + TiXmlElement* gazebo_tixml = gazebo_model_xml.FirstChildElement("sdf"); if (!gazebo_tixml) { ROS_WARN_NAMED("api_plugin", "Could not find element in sdf, so name and initial position cannot be applied"); @@ -2360,7 +2334,7 @@ void GazeboRosApiPlugin::updateSDFAttributes(TiXmlDocument &gazebo_model_xml, } // Check SDF for optional model element. May not have one - TiXmlElement *model_tixml = gazebo_tixml->FirstChildElement("model"); + TiXmlElement* model_tixml = gazebo_tixml->FirstChildElement("model"); if (model_tixml) { // Update entity name @@ -2370,12 +2344,12 @@ void GazeboRosApiPlugin::updateSDFAttributes(TiXmlDocument &gazebo_model_xml, model_tixml->RemoveAttribute("name"); } // replace with user specified name - model_tixml->SetAttribute("name", model_name); + model_tixml->SetAttribute("name",model_name); } else { // Check SDF for world element - TiXmlElement *world_tixml = gazebo_tixml->FirstChildElement("world"); + TiXmlElement* world_tixml = gazebo_tixml->FirstChildElement("world"); if (!world_tixml) { ROS_WARN_NAMED("api_plugin", "Could not find or element in sdf, so name and initial position cannot be applied"); @@ -2390,7 +2364,7 @@ void GazeboRosApiPlugin::updateSDFAttributes(TiXmlDocument &gazebo_model_xml, } // Check for name element - TiXmlElement *name_tixml = model_tixml->FirstChildElement("name"); + TiXmlElement* name_tixml = model_tixml->FirstChildElement("name"); if (!name_tixml) { // Create the name element @@ -2399,10 +2373,11 @@ void GazeboRosApiPlugin::updateSDFAttributes(TiXmlDocument &gazebo_model_xml, } // Set the text within the name element - TiXmlText *text = new TiXmlText(model_name); - name_tixml->LinkEndChild(text); + TiXmlText* text = new TiXmlText(model_name); + name_tixml->LinkEndChild( text ); } + // Check for the pose element pose_element = model_tixml->FirstChildElement("pose"); ignition::math::Pose3d model_pose; @@ -2428,8 +2403,8 @@ void GazeboRosApiPlugin::updateSDFAttributes(TiXmlDocument &gazebo_model_xml, << model_rpy.X() << " " << model_rpy.Y() << " " << model_rpy.Z(); // Add value to pose element - TiXmlText *text = new TiXmlText(pose_stream.str()); - TiXmlElement *new_pose_element = new TiXmlElement("pose"); + TiXmlText* text = new TiXmlText(pose_stream.str()); + TiXmlElement* new_pose_element = new TiXmlElement("pose"); new_pose_element->LinkEndChild(text); model_tixml->LinkEndChild(new_pose_element); } @@ -2449,11 +2424,11 @@ ignition::math::Pose3d GazeboRosApiPlugin::parsePose(const std::string &str) { vals.push_back(boost::lexical_cast(pieces[i].c_str())); } - catch (boost::bad_lexical_cast &e) + catch(boost::bad_lexical_cast &e) { sdferr << "xml key [" << str - << "][" << i << "] value [" << pieces[i] - << "] is not a valid double from a 3-tuple\n"; + << "][" << i << "] value [" << pieces[i] + << "] is not a valid double from a 3-tuple\n"; return ignition::math::Pose3d(); } } @@ -2482,11 +2457,11 @@ ignition::math::Vector3d GazeboRosApiPlugin::parseVector3(const std::string &str { vals.push_back(boost::lexical_cast(pieces[i].c_str())); } - catch (boost::bad_lexical_cast &e) + catch(boost::bad_lexical_cast &e) { sdferr << "xml key [" << str - << "][" << i << "] value [" << pieces[i] - << "] is not a valid double from a 3-tuple\n"; + << "][" << i << "] value [" << pieces[i] + << "] is not a valid double from a 3-tuple\n"; return ignition::math::Vector3d(); } } @@ -2505,12 +2480,12 @@ void GazeboRosApiPlugin::updateURDFModelPose(TiXmlDocument &gazebo_model_xml, const ignition::math::Vector3d &initial_xyz, const ignition::math::Quaterniond &initial_q) { - TiXmlElement *model_tixml = (gazebo_model_xml.FirstChildElement("robot")); + TiXmlElement* model_tixml = (gazebo_model_xml.FirstChildElement("robot")); if (model_tixml) { // replace initial pose of model // find first instance of xyz and rpy, replace with initial pose - TiXmlElement *origin_key = model_tixml->FirstChildElement("origin"); + TiXmlElement* origin_key = model_tixml->FirstChildElement("origin"); if (!origin_key) { @@ -2532,7 +2507,8 @@ void GazeboRosApiPlugin::updateURDFModelPose(TiXmlDocument &gazebo_model_xml, } // add xyz, rpy to initial pose - ignition::math::Pose3d model_pose = ignition::math::Pose3d(xyz, ignition::math::Quaterniond(rpy)) + ignition::math::Pose3d(initial_xyz, initial_q); + ignition::math::Pose3d model_pose = ignition::math::Pose3d(xyz, ignition::math::Quaterniond(rpy)) + + ignition::math::Pose3d(initial_xyz, initial_q); std::ostringstream xyz_stream; xyz_stream << model_pose.Pos().X() << " " << model_pose.Pos().Y() << " " << model_pose.Pos().Z(); @@ -2541,8 +2517,8 @@ void GazeboRosApiPlugin::updateURDFModelPose(TiXmlDocument &gazebo_model_xml, ignition::math::Vector3d model_rpy = model_pose.Rot().Euler(); // convert to Euler angles for Gazebo XML rpy_stream << model_rpy.X() << " " << model_rpy.Y() << " " << model_rpy.Z(); - origin_key->SetAttribute("xyz", xyz_stream.str()); - origin_key->SetAttribute("rpy", rpy_stream.str()); + origin_key->SetAttribute("xyz",xyz_stream.str()); + origin_key->SetAttribute("rpy",rpy_stream.str()); } else ROS_WARN_NAMED("api_plugin", "Could not find element in sdf, so name and initial position is not applied"); @@ -2550,7 +2526,7 @@ void GazeboRosApiPlugin::updateURDFModelPose(TiXmlDocument &gazebo_model_xml, void GazeboRosApiPlugin::updateURDFName(TiXmlDocument &gazebo_model_xml, const std::string &model_name) { - TiXmlElement *model_tixml = gazebo_model_xml.FirstChildElement("robot"); + TiXmlElement* model_tixml = gazebo_model_xml.FirstChildElement("robot"); // replace model name if one is specified by the user if (model_tixml) { @@ -2560,15 +2536,15 @@ void GazeboRosApiPlugin::updateURDFName(TiXmlDocument &gazebo_model_xml, const s model_tixml->RemoveAttribute("name"); } // replace with user specified name - model_tixml->SetAttribute("name", model_name); + model_tixml->SetAttribute("name",model_name); } else ROS_WARN_NAMED("api_plugin", "Could not find element in URDF, name not replaced"); } -void GazeboRosApiPlugin::walkChildAddRobotNamespace(TiXmlNode *model_xml) +void GazeboRosApiPlugin::walkChildAddRobotNamespace(TiXmlNode* model_xml) { - TiXmlNode *child = 0; + TiXmlNode* child = 0; child = model_xml->IterateChildren(child); while (child != NULL) { @@ -2577,14 +2553,14 @@ void GazeboRosApiPlugin::walkChildAddRobotNamespace(TiXmlNode *model_xml) { if (child->FirstChildElement("robotNamespace") == NULL) { - TiXmlElement *child_elem = child->ToElement()->FirstChildElement("robotNamespace"); + TiXmlElement* child_elem = child->ToElement()->FirstChildElement("robotNamespace"); while (child_elem) { child->ToElement()->RemoveChild(child_elem); child_elem = child->ToElement()->FirstChildElement("robotNamespace"); } - TiXmlElement *key = new TiXmlElement("robotNamespace"); - TiXmlText *val = new TiXmlText(robot_namespace_); + TiXmlElement* key = new TiXmlElement("robotNamespace"); + TiXmlText* val = new TiXmlText(robot_namespace_); key->LinkEndChild(val); child->ToElement()->LinkEndChild(key); } @@ -2607,19 +2583,19 @@ bool GazeboRosApiPlugin::spawnAndConform(TiXmlDocument &gazebo_model_xml, const std::ostringstream stream; stream << gazebo_model_xml; std::string gazebo_model_xml_string = stream.str(); - ROS_DEBUG_NAMED("api_plugin.xml", "Gazebo Model XML\n\n%s\n\n ", gazebo_model_xml_string.c_str()); + ROS_DEBUG_NAMED("api_plugin.xml", "Gazebo Model XML\n\n%s\n\n ",gazebo_model_xml_string.c_str()); // publish to factory topic gazebo::msgs::Factory msg; gazebo::msgs::Init(msg, "spawn_model"); - msg.set_sdf(gazebo_model_xml_string); + msg.set_sdf( gazebo_model_xml_string ); //ROS_ERROR_NAMED("api_plugin", "attempting to spawn model name [%s] [%s]", model_name.c_str(),gazebo_model_xml_string.c_str()); // FIXME: should use entity_info or add lock to World::receiveMutex // looking for Model to see if it exists already gazebo::msgs::Request *entity_info_msg = gazebo::msgs::CreateRequest("entity_info", model_name); - request_pub_->Publish(*entity_info_msg, true); + request_pub_->Publish(*entity_info_msg,true); // todo: should wait for response response_sub_, check to see that if _msg->response == "nonexistant" #if GAZEBO_MAJOR_VERSION >= 8 @@ -2631,7 +2607,7 @@ bool GazeboRosApiPlugin::spawnAndConform(TiXmlDocument &gazebo_model_xml, const #endif if ((isLight && light != NULL) || (model != NULL)) { - ROS_ERROR_NAMED("api_plugin", "SpawnModel: Failure - model name %s already exist.", model_name.c_str()); + ROS_ERROR_NAMED("api_plugin", "SpawnModel: Failure - model name %s already exist.",model_name.c_str()); res.success = false; res.status_message = "SpawnModel: Failure - entity already exists."; return true; @@ -2671,15 +2647,17 @@ bool GazeboRosApiPlugin::spawnAndConform(TiXmlDocument &gazebo_model_xml, const { //boost::recursive_mutex::scoped_lock lock(*world->GetMRMutex()); #if GAZEBO_MAJOR_VERSION >= 8 - if ((isLight && world_->LightByName(model_name) != NULL) || (world_->ModelByName(model_name) != NULL)) + if ((isLight && world_->LightByName(model_name) != NULL) + || (world_->ModelByName(model_name) != NULL)) #else - if ((isLight && world_->Light(model_name) != NULL) || (world_->GetModel(model_name) != NULL)) + if ((isLight && world_->Light(model_name) != NULL) + || (world_->GetModel(model_name) != NULL)) #endif break; } - ROS_DEBUG_STREAM_ONCE_NAMED("api_plugin", "Waiting for " << timeout - ros::Time::now() - << " for entity " << model_name << " to spawn"); + ROS_DEBUG_STREAM_ONCE_NAMED("api_plugin","Waiting for " << timeout - ros::Time::now() + << " for entity " << model_name << " to spawn"); usleep(2000); } @@ -2692,4 +2670,4 @@ bool GazeboRosApiPlugin::spawnAndConform(TiXmlDocument &gazebo_model_xml, const // Register this plugin with the simulator GZ_REGISTER_SYSTEM_PLUGIN(GazeboRosApiPlugin) -} // namespace gazebo +} diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/src/gazebo_ros_paths_plugin.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/src/gazebo_ros_paths_plugin.cpp old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/src/gazebo_ros_paths_plugin.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros/src/gazebo_ros_paths_plugin.cpp diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros_control/CHANGELOG.rst b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros_control/CHANGELOG.rst old mode 100755 new mode 100644 similarity index 93% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros_control/CHANGELOG.rst rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros_control/CHANGELOG.rst index 826fe5e..495c0ca --- a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros_control/CHANGELOG.rst +++ b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros_control/CHANGELOG.rst @@ -2,6 +2,22 @@ Changelog for package gazebo_ros_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.5.17 (2018-06-07) +------------------- + +2.5.16 (2018-06-04) +------------------- +* add physics type for dart with joint velocity interface (`#693 `_) +* Add warnings when the user is affected by gazebo not preserving world velocity when set positions (`#691 `_) + Issue `#612 `_. Workaround at https://github.com/mintar/mimic_joint_gazebo_tutorial +* Fix for preserving world velocity when set positions for Gazebo9: `#612 `_ + This commit fixes `#612 `_, but only for Gazebo9. + Fixing it for Gazebo7 (the version used in ROS Kinetic) requires the + following PR to be backported to Gazebo 7 and 8: + https://bitbucket.org/osrf/gazebo/pull-requests/2814/fix-issue-2111-by-providing-options-to/diff + +* Contributors: Jack Liu, Martin Günther + 2.5.15 (2018-02-12) ------------------- * Fix last gazebo8 warnings! (`#658 `_) diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros_control/CMakeLists.txt b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros_control/CMakeLists.txt old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros_control/CMakeLists.txt rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros_control/CMakeLists.txt diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros_control/README.md b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros_control/README.md old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros_control/README.md rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros_control/README.md diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros_control/include/gazebo_ros_control/default_robot_hw_sim.h b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros_control/include/gazebo_ros_control/default_robot_hw_sim.h old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros_control/include/gazebo_ros_control/default_robot_hw_sim.h rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros_control/include/gazebo_ros_control/default_robot_hw_sim.h diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros_control/include/gazebo_ros_control/gazebo_ros_control_plugin.h b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros_control/include/gazebo_ros_control/gazebo_ros_control_plugin.h old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros_control/include/gazebo_ros_control/gazebo_ros_control_plugin.h rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros_control/include/gazebo_ros_control/gazebo_ros_control_plugin.h diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros_control/include/gazebo_ros_control/robot_hw_sim.h b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros_control/include/gazebo_ros_control/robot_hw_sim.h old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros_control/include/gazebo_ros_control/robot_hw_sim.h rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros_control/include/gazebo_ros_control/robot_hw_sim.h diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros_control/package.xml b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros_control/package.xml old mode 100755 new mode 100644 similarity index 97% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros_control/package.xml rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros_control/package.xml index 7c59f21..5e72de9 --- a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros_control/package.xml +++ b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros_control/package.xml @@ -1,7 +1,7 @@ gazebo_ros_control - 2.5.15 + 2.5.17 gazebo_ros_control Jose Luis Rivero diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros_control/robot_hw_sim_plugins.xml b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros_control/robot_hw_sim_plugins.xml old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros_control/robot_hw_sim_plugins.xml rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros_control/robot_hw_sim_plugins.xml diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros_control/src/default_robot_hw_sim.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros_control/src/default_robot_hw_sim.cpp old mode 100755 new mode 100644 similarity index 99% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros_control/src/default_robot_hw_sim.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros_control/src/default_robot_hw_sim.cpp index 4d3f799..bd5f2b6 --- a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros_control/src/default_robot_hw_sim.cpp +++ b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros_control/src/default_robot_hw_sim.cpp @@ -217,9 +217,9 @@ bool DefaultRobotHWSim::initSim( { // Initialize the PID controller. If no PID gain values are found, use joint->SetAngle() or // joint->SetParam("vel") to control the joint. - const ros::NodeHandle nh(model_nh, "/gazebo_ros_control/pid_gains/" + + const ros::NodeHandle nh(robot_namespace + "/gazebo_ros_control/pid_gains/" + joint_names_[j]); - if (pid_controllers_[j].init(nh, true)) + if (pid_controllers_[j].init(nh)) { switch (joint_control_methods_[j]) { @@ -358,13 +358,13 @@ void DefaultRobotHWSim::writeSim(ros::Time time, ros::Duration period) case VELOCITY: #if GAZEBO_MAJOR_VERSION > 2 - if (physics_type_.compare("dart") == 0) + if (physics_type_.compare("ode") == 0) { - sim_joints_[j]->SetVelocity(0, e_stop_active_ ? 0 : joint_velocity_command_[j]); + sim_joints_[j]->SetParam("vel", 0, e_stop_active_ ? 0 : joint_velocity_command_[j]); } else { - sim_joints_[j]->SetParam("vel", 0, e_stop_active_ ? 0 : joint_velocity_command_[j]); + sim_joints_[j]->SetVelocity(0, e_stop_active_ ? 0 : joint_velocity_command_[j]); } #else sim_joints_[j]->SetVelocity(0, e_stop_active_ ? 0 : joint_velocity_command_[j]); diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros_control/src/gazebo_ros_control_plugin.cpp b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros_control/src/gazebo_ros_control_plugin.cpp old mode 100755 new mode 100644 similarity index 91% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros_control/src/gazebo_ros_control_plugin.cpp rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros_control/src/gazebo_ros_control_plugin.cpp index c4d7437..db54c88 --- a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros_control/src/gazebo_ros_control_plugin.cpp +++ b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros_control/src/gazebo_ros_control_plugin.cpp @@ -110,6 +110,23 @@ void GazeboRosControlPlugin::Load(gazebo::physics::ModelPtr parent, sdf::Element ROS_DEBUG_STREAM_NAMED("loadThread","Using default plugin for RobotHWSim (none specified in URDF/SDF)\""<HasElement("legacyModeNS")) { + if( sdf_->GetElement("legacyModeNS")->Get() ){ + robot_ns = ""; + } + }else{ + robot_ns = ""; + ROS_ERROR("GazeboRosControlPlugin missing while using DefaultRobotHWSim, defaults to true.\n" + "This setting assumes you have an old package with an old implementation of DefaultRobotHWSim, " + "where the robotNamespace is disregarded and absolute paths are used instead.\n" + "If you do not want to fix this issue in an old package just set to true.\n" + ); + } + } + // Get the Gazebo simulation period #if GAZEBO_MAJOR_VERSION >= 8 ros::Duration gazebo_period(parent_model_->GetWorld()->Physics()->GetMaxStepSize()); @@ -177,7 +194,7 @@ void GazeboRosControlPlugin::Load(gazebo::physics::ModelPtr parent, sdf::Element urdf::Model urdf_model; const urdf::Model *const urdf_model_ptr = urdf_model.initString(urdf_string) ? &urdf_model : NULL; - if(!robot_hw_sim_->initSim(robot_namespace_, model_nh_, parent_model_, urdf_model_ptr, transmissions_)) + if(!robot_hw_sim_->initSim(robot_ns, model_nh_, parent_model_, urdf_model_ptr, transmissions_)) { ROS_FATAL_NAMED("gazebo_ros_control","Could not initialize robot simulation interface"); return; diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros_pkgs/CHANGELOG.rst b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros_pkgs/CHANGELOG.rst old mode 100755 new mode 100644 similarity index 97% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros_pkgs/CHANGELOG.rst rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros_pkgs/CHANGELOG.rst index 05bb5ad..8c15ad4 --- a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros_pkgs/CHANGELOG.rst +++ b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros_pkgs/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package gazebo_ros_pkgs ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +2.5.17 (2018-06-07) +------------------- + +2.5.16 (2018-06-04) +------------------- + 2.5.15 (2018-02-12) ------------------- diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros_pkgs/CMakeLists.txt b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros_pkgs/CMakeLists.txt old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros_pkgs/CMakeLists.txt rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros_pkgs/CMakeLists.txt diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros_pkgs/documentation/gazebo_ros_api.odg b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros_pkgs/documentation/gazebo_ros_api.odg old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros_pkgs/documentation/gazebo_ros_api.odg rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros_pkgs/documentation/gazebo_ros_api.odg diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros_pkgs/documentation/gazebo_ros_api.pdf b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros_pkgs/documentation/gazebo_ros_api.pdf old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros_pkgs/documentation/gazebo_ros_api.pdf rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros_pkgs/documentation/gazebo_ros_api.pdf diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros_pkgs/documentation/gazebo_ros_api.png b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros_pkgs/documentation/gazebo_ros_api.png old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros_pkgs/documentation/gazebo_ros_api.png rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros_pkgs/documentation/gazebo_ros_api.png diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros_pkgs/documentation/gazebo_ros_transmission.odg b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros_pkgs/documentation/gazebo_ros_transmission.odg old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros_pkgs/documentation/gazebo_ros_transmission.odg rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros_pkgs/documentation/gazebo_ros_transmission.odg diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros_pkgs/documentation/gazebo_ros_transmission.pdf b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros_pkgs/documentation/gazebo_ros_transmission.pdf old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros_pkgs/documentation/gazebo_ros_transmission.pdf rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros_pkgs/documentation/gazebo_ros_transmission.pdf diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros_pkgs/documentation/gazebo_ros_transmission.png b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros_pkgs/documentation/gazebo_ros_transmission.png old mode 100755 new mode 100644 similarity index 100% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros_pkgs/documentation/gazebo_ros_transmission.png rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros_pkgs/documentation/gazebo_ros_transmission.png diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros_pkgs/package.xml b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros_pkgs/package.xml old mode 100755 new mode 100644 similarity index 97% rename from Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros_pkgs/package.xml rename to Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros_pkgs/package.xml index 704e8a8..19d0e2c --- a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros_pkgs/package.xml +++ b/Gazebo_Hector_Test/src/gazebo_ros_pkgs-kinetic-devel/gazebo_ros_pkgs/package.xml @@ -1,7 +1,7 @@ gazebo_ros_pkgs - 2.5.15 + 2.5.17 Interface for using ROS with the Gazebo simulator. Jose Luis Rivero diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/launch/empty_world (另一个复件).launch b/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/launch/empty_world (另一个复件).launch deleted file mode 100755 index 7fba552..0000000 --- a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/launch/empty_world (另一个复件).launch +++ /dev/null @@ -1,47 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/launch/empty_world.launch b/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/launch/empty_world.launch deleted file mode 100755 index 6ad2b42..0000000 --- a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/launch/empty_world.launch +++ /dev/null @@ -1,53 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/launch/empty_world_o.launch b/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/launch/empty_world_o.launch deleted file mode 100755 index e478d26..0000000 --- a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/launch/empty_world_o.launch +++ /dev/null @@ -1,47 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/launch/empty_world_try.launch b/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/launch/empty_world_try.launch deleted file mode 100755 index 13d118d..0000000 --- a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/launch/empty_world_try.launch +++ /dev/null @@ -1,52 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/scripts/gzclient1 b/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/scripts/gzclient1 deleted file mode 100755 index f945834..0000000 --- a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/scripts/gzclient1 +++ /dev/null @@ -1,43 +0,0 @@ -#!/bin/sh -[ -L ${0} ] && SCRIPT_DIR=$(readlink ${0}) || SCRIPT_DIR=${0} -SCRIPT_DIR=$(dirname ${SCRIPT_DIR}) - -. ${SCRIPT_DIR}/libcommon.sh - -final="$@" - -EXT=so -if [ $(uname) = "Darwin" ]; then - EXT=dylib -fi - -# add ros plugin if does not exist -if [ `expr "$final" : ".*libgazebo_ros_paths_plugin\.$EXT.*"` -eq 0 ] -then - final="$final -g `catkin_find --first-only libgazebo_ros_paths_plugin.$EXT`" -fi - -# add ros api plugin if it does not already exist in the passed in arguments -if [ `expr "$final" : ".*libgazebo_ros_api_plugin\.$EXT.*"` -eq 0 ] -then - final="$final -g `catkin_find --first-only libgazebo_ros_api_plugin.$EXT`" -fi - -setup_path=$(pkg-config --variable=prefix gazebo)/share/gazebo/ - -# source setup.sh, but keep local modifications to GAZEBO_MASTER_URI and GAZEBO_MODEL_DATABASE_URI -# desired_master_uri="$GAZEBO_MASTER_URI" -desired_master_uri="http://localhost:11346" -desired_model_database_uri="$GAZEBO_MODEL_DATABASE_URI" -. $setup_path/setup.sh -if [ "$desired_master_uri" = "" ]; then - desired_master_uri="$GAZEBO_MASTER_URI" -fi -if [ "$desired_model_database_uri" = "" ]; then - desired_model_database_uri="$GAZEBO_MODEL_DATABASE_URI" -fi - -final=$(relocate_remappings "${final}") - -# Combine the commands -GAZEBO_MASTER_URI="$desired_master_uri" GAZEBO_MODEL_DATABASE_URI="$desired_model_database_uri" gzclient $final diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/scripts/gzclient2 b/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/scripts/gzclient2 deleted file mode 100755 index 6812f93..0000000 --- a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/scripts/gzclient2 +++ /dev/null @@ -1,43 +0,0 @@ -#!/bin/sh -[ -L ${0} ] && SCRIPT_DIR=$(readlink ${0}) || SCRIPT_DIR=${0} -SCRIPT_DIR=$(dirname ${SCRIPT_DIR}) - -. ${SCRIPT_DIR}/libcommon.sh - -final="$@" - -EXT=so -if [ $(uname) = "Darwin" ]; then - EXT=dylib -fi - -# add ros plugin if does not exist -if [ `expr "$final" : ".*libgazebo_ros_paths_plugin\.$EXT.*"` -eq 0 ] -then - final="$final -g `catkin_find --first-only libgazebo_ros_paths_plugin.$EXT`" -fi - -# add ros api plugin if it does not already exist in the passed in arguments -if [ `expr "$final" : ".*libgazebo_ros_api_plugin\.$EXT.*"` -eq 0 ] -then - final="$final -g `catkin_find --first-only libgazebo_ros_api_plugin.$EXT`" -fi - -setup_path=$(pkg-config --variable=prefix gazebo)/share/gazebo/ - -# source setup.sh, but keep local modifications to GAZEBO_MASTER_URI and GAZEBO_MODEL_DATABASE_URI -# desired_master_uri="$GAZEBO_MASTER_URI" -desired_master_uri="http://localhost:11347" -desired_model_database_uri="$GAZEBO_MODEL_DATABASE_URI" -. $setup_path/setup.sh -if [ "$desired_master_uri" = "" ]; then - desired_master_uri="$GAZEBO_MASTER_URI" -fi -if [ "$desired_model_database_uri" = "" ]; then - desired_model_database_uri="$GAZEBO_MODEL_DATABASE_URI" -fi - -final=$(relocate_remappings "${final}") - -# Combine the commands -GAZEBO_MASTER_URI="$desired_master_uri" GAZEBO_MODEL_DATABASE_URI="$desired_model_database_uri" gzclient $final diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/scripts/gzserver b/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/scripts/gzserver deleted file mode 100755 index 7baad73..0000000 --- a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/scripts/gzserver +++ /dev/null @@ -1,47 +0,0 @@ -#!/bin/sh -[ -L ${0} ] && SCRIPT_DIR=$(readlink ${0}) || SCRIPT_DIR=${0} -SCRIPT_DIR=$(dirname ${SCRIPT_DIR}) - -. ${SCRIPT_DIR}/libcommon.sh - -final="$@" - -EXT=so -if [ $(uname) = "Darwin" ]; then - EXT=dylib -fi - -# add ros path plugin if it does not already exist in the passed in arguments -if [ `expr "$final" : ".*libgazebo_ros_paths_plugin\.$EXT.*"` -eq 0 ] -then - final="$final -s `catkin_find --first-only libgazebo_ros_paths_plugin.$EXT`" -fi - -# add ros api plugin if it does not already exist in the passed in arguments -if [ `expr "$final" : ".*libgazebo_ros_api_plugin\.$EXT.*"` -eq 0 ] -then - final="$final -s `catkin_find --first-only libgazebo_ros_api_plugin.$EXT`" -fi - -setup_path=$(pkg-config --variable=prefix gazebo)/share/gazebo/ - -# source setup.sh, but keep local modifications to GAZEBO_MASTER_URI and GAZEBO_MODEL_DATABASE_URI -desired_master_uri="$GAZEBO_MASTER_URI" -desired_model_database_uri="$GAZEBO_MODEL_DATABASE_URI" -. $setup_path/setup.sh -if [ "$desired_master_uri" = "" ]; then - desired_master_uri="$GAZEBO_MASTER_URI" -fi -if [ "$desired_model_database_uri" = "" ]; then - desired_model_database_uri="$GAZEBO_MODEL_DATABASE_URI" -fi - -final=$(relocate_remappings "${final}") - -echo "print each param from \"\$final\"" -for var in "$final" -do -echo "!!!!!$var" -done - -GAZEBO_MASTER_URI="$desired_master_uri" GAZEBO_MODEL_DATABASE_URI="$desired_model_database_uri" gzserver $final diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/scripts/gzserver1 b/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/scripts/gzserver1 deleted file mode 100755 index af61de7..0000000 --- a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/scripts/gzserver1 +++ /dev/null @@ -1,85 +0,0 @@ -#!/bin/sh -# [ -L ${0} ] && SCRIPT_DIR=$(readlink ${0}) || SCRIPT_DIR=${0} -# SCRIPT_DIR=$(dirname ${SCRIPT_DIR}) - - -# . ${SCRIPT_DIR}/libcommon.sh - -relocate_remappings() -{ - command_line=${1} - - # echo "=====libcommon=====" - - for w in $command_line; do - if $(echo "$w" | grep -q ':='); then - ros_remaps="$ros_remaps $w" - else - gazebo_args="$gazebo_args $w" - fi - done - - echo "$gazebo_args$ros_remaps" | cut -c 1- -} - -final="$@" - -# echo "print each param from \"\$@\"" -# for var in "$@" -# do -# echo "$var" -# done - -EXT=so -if [ $(uname) = "Darwin" ]; then - EXT=dylib -fi - -# add ros path plugin if it does not already exist in the passed in arguments -if [ `expr "$final" : ".*libgazebo_ros_paths_plugin\.$EXT.*"` -eq 0 ] -then - final="$final -s `catkin_find --first-only libgazebo_ros_paths_plugin.$EXT`" -fi - - - -# add ros api plugin if it does not already exist in the passed in arguments -if [ `expr "$final" : ".*libgazebo_ros_api_plugin\.$EXT.*"` -eq 0 ] -then - final="$final -s `catkin_find --first-only libgazebo_ros_api_plugin.$EXT`" -fi - -setup_path=$(pkg-config --variable=prefix gazebo)/share/gazebo/ - -# source setup.sh, but keep local modifications to GAZEBO_MASTER_URI and GAZEBO_MODEL_DATABASE_URI -desired_master_uri="http://localhost:11346" -desired_model_database_uri="$GAZEBO_MODEL_DATABASE_URI" - -# echo "=========Gazebo1 start sleeping==========" -# sleep 5m - -echo "+++=====$GAZEBO_MASTER_URI=====" -. $setup_path/setup.sh -echo "+++=====$GAZEBO_MASTER_URI=====" -if [ "$desired_master_uri" = "" ]; then - desired_master_uri="$GAZEBO_MASTER_URI" -fi -if [ "$desired_model_database_uri" = "" ]; then - desired_model_database_uri="$GAZEBO_MODEL_DATABASE_URI" -fi - -echo "+++=====1$desired_model_database_uri=====" - -echo "=====final1=====" -final=$(relocate_remappings "${final}") -echo "=====final2=====" - -echo "print each param from \"\$final\"" -for var in "$final" -do -echo "$var" -done - -GAZEBO_MASTER_URI="$desired_master_uri" GAZEBO_MODEL_DATABASE_URI="$desired_model_database_uri" gzserver $final - - diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/scripts/gzserver2 b/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/scripts/gzserver2 deleted file mode 100755 index 3d9e092..0000000 --- a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/scripts/gzserver2 +++ /dev/null @@ -1,54 +0,0 @@ -#!/bin/sh -[ -L ${0} ] && SCRIPT_DIR=$(readlink ${0}) || SCRIPT_DIR=${0} -SCRIPT_DIR=$(dirname ${SCRIPT_DIR}) - -. ${SCRIPT_DIR}/libcommon.sh - -final="$@" - -echo "print each param from \"\$@\"" -for var in "$@" -do -echo "$var" -done - -EXT=so -if [ $(uname) = "Darwin" ]; then - EXT=dylib -fi - -# add ros path plugin if it does not already exist in the passed in arguments -if [ `expr "$final" : ".*libgazebo_ros_paths_plugin\.$EXT.*"` -eq 0 ] -then - final="$final -s `catkin_find --first-only libgazebo_ros_paths_plugin.$EXT`" -fi - -# add ros api plugin if it does not already exist in the passed in arguments -if [ `expr "$final" : ".*libgazebo_ros_api_plugin\.$EXT.*"` -eq 0 ] -then - final="$final -s `catkin_find --first-only libgazebo_ros_api_plugin.$EXT`" -fi - -echo "=========Gazebo2 start sleeping==========" -sleep 5m - -setup_path=$(pkg-config --variable=prefix gazebo)/share/gazebo/ - -# source setup.sh, but keep local modifications to GAZEBO_MASTER_URI and GAZEBO_MODEL_DATABASE_URI -desired_master_uri="http://localhost:11347" -desired_model_database_uri="$GAZEBO_MODEL_DATABASE_URI" -. $setup_path/setup.sh -if [ "$desired_master_uri" = "" ]; then - desired_master_uri="$GAZEBO_MASTER_URI" -fi -if [ "$desired_model_database_uri" = "" ]; then - desired_model_database_uri="$GAZEBO_MODEL_DATABASE_URI" -fi - -echo "+++=====2$desired_model_database_uri=====" - -echo "=====final1=====" -final=$(relocate_remappings "${final}") -echo "=====final2=====" - -GAZEBO_MASTER_URI="$desired_master_uri" GAZEBO_MODEL_DATABASE_URI="$desired_model_database_uri" gzserver $final diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/scripts/gzserver_mpi b/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/scripts/gzserver_mpi deleted file mode 100755 index b0fba18..0000000 --- a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/scripts/gzserver_mpi +++ /dev/null @@ -1,51 +0,0 @@ -#!/bin/sh -[ -L ${0} ] && SCRIPT_DIR=$(readlink ${0}) || SCRIPT_DIR=${0} -SCRIPT_DIR=$(dirname ${SCRIPT_DIR}) - -. ${SCRIPT_DIR}/libcommon.sh - -final="$@" - -echo "print each param from \"\$@\"" -for var in "$@" -do -echo "$var" -done - -EXT=so -if [ $(uname) = "Darwin" ]; then - EXT=dylib -fi - -# add ros path plugin if it does not already exist in the passed in arguments -if [ `expr "$final" : ".*libgazebo_ros_paths_plugin\.$EXT.*"` -eq 0 ] -then - final="$final -s `catkin_find --first-only libgazebo_ros_paths_plugin.$EXT`" -fi - -# add ros api plugin if it does not already exist in the passed in arguments -if [ `expr "$final" : ".*libgazebo_ros_api_plugin\.$EXT.*"` -eq 0 ] -then - final="$final -s `catkin_find --first-only libgazebo_ros_api_plugin.$EXT`" -fi - -setup_path=$(pkg-config --variable=prefix gazebo)/share/gazebo/ - -# source setup.sh, but keep local modifications to GAZEBO_MASTER_URI and GAZEBO_MODEL_DATABASE_URI -desired_master_uri1="http://localhost:11346" -desired_master_uri2="http://localhost:11347" -desired_model_database_uri="$GAZEBO_MODEL_DATABASE_URI" -# . $setup_path/setup.sh -# if [ "$desired_master_uri" = "" ]; then -# desired_master_uri="$GAZEBO_MASTER_URI" -# fi -# if [ "$desired_model_database_uri" = "" ]; then -# desired_model_database_uri="$GAZEBO_MODEL_DATABASE_URI" -# fi - -final=$(relocate_remappings "${final}") - -GAZEBO_MASTER_URI="$desired_master_uri1" GAZEBO_MODEL_DATABASE_URI="$desired_model_database_uri" gzserver $final -GAZEBO_MASTER_URI="$desired_master_uri2" GAZEBO_MODEL_DATABASE_URI="$desired_model_database_uri" gzserver $final - -# mpiexec -hostfile hostfile -np 1 -x GAZEBO_MASTER_URI="$desired_master_uri1" gzserver $final : -np 1 -x GAZEBO_MASTER_URI="$desired_master_uri2" gzserver $final \ No newline at end of file diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/scripts/hostfile b/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/scripts/hostfile deleted file mode 100644 index abddf32..0000000 --- a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/scripts/hostfile +++ /dev/null @@ -1,4 +0,0 @@ -localhost slots=2 -#anwen slots=2 -zhangshuai-ThinkPad-X250 slots=2 - diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/scripts/spawn_model1 b/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/scripts/spawn_model1 deleted file mode 100755 index f3f4c9b..0000000 --- a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/scripts/spawn_model1 +++ /dev/null @@ -1,317 +0,0 @@ -#!/usr/bin/env python -# -# Copyright 2013 Open Source Robotics Foundation -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. -# -# Desc: helper script for spawning models in gazebo -# Author: John Hsu, Dave Coleman -# - -import rospy, sys, os, time -import string -import warnings -import re - -from gazebo_ros import gazebo_interface - -from gazebo_msgs.msg import * -from gazebo_msgs.srv import * -from std_srvs.srv import Empty -from geometry_msgs.msg import Point, Pose, Quaternion, Twist, Wrench -import tf.transformations as tft - -model_database_template = """ - - - model://MODEL_NAME - - -""" - -def usage(): - print('''Commands: - -[urdf|sdf|trimesh|gazebo] - specify incoming xml is urdf, sdf or trimesh format. gazebo arg is deprecated in ROS Hydro - -[file|param|database] [||] - source of the model xml or the trimesh file - -model - name of the model to be spawned. - -reference_frame - optinal: name of the model/body where initial pose is defined. - If left empty or specified as "world", gazebo world frame is used. - -gazebo_namespace - optional: ROS namespace of gazebo offered ROS interfaces. Defaults to /gazebo/ (e.g. /gazebo/spawn_model). - -robot_namespace - optional: change ROS namespace of gazebo-plugins. - -unpause - optional: !!!Experimental!!! unpause physics after spawning model - -wait - optional: !!!Experimental!!! wait for model to exist - -trimesh_mass - required if -trimesh is used: linear mass - -trimesh_ixx - required if -trimesh is used: moment of inertia about x-axis - -trimesh_iyy - required if -trimesh is used: moment of inertia about y-axis - -trimesh_izz - required if -trimesh is used: moment of inertia about z-axis - -trimesh_gravity - required if -trimesh is used: gravity turned on for this trimesh model - -trimesh_material - required if -trimesh is used: E.g. Gazebo/Blue - -trimesh_name - required if -trimesh is used: name of the link containing the trimesh - -x - optional: initial pose, use 0 if left out - -y - optional: initial pose, use 0 if left out - -z - optional: initial pose, use 0 if left out - -R - optional: initial pose, use 0 if left out - -P - optional: initial pose, use 0 if left out - -Y - optional: initial pose, use 0 if left out - -J - optional: initialize the specified joint at the specified value - -package_to_model - optional: convert urdf i+2: - self.joint_names.append(sys.argv[i+1]) - self.joint_positions.append(float(sys.argv[i+2])) - else: - rospy.logerr("Error: must specify a joint name and joint value pair") - sys.exit(0) - if sys.argv[i] == '-param': - if len(sys.argv) > i+1: - if self.file_name != "" or self.database_name != "": - rospy.logerr("Error: you cannot specify file name if parameter or database name is given, must pick one source of model xml") - sys.exit(0) - else: - self.param_name = sys.argv[i+1] - if sys.argv[i] == '-file': - if len(sys.argv) > i+1: - if self.param_name != "" or self.database_name != "": - rospy.logerr("Error: you cannot specify parameter if file or database name is given, must pick one source of model xml") - sys.exit(0) - else: - self.file_name = sys.argv[i+1] - if sys.argv[i] == '-database': - if len(sys.argv) > i+1: - if self.param_name != "" or self.file_name != "": - rospy.logerr("Error: you cannot specify parameter if file or parameter name is given, must pick one source of model xml") - sys.exit(0) - else: - self.database_name = sys.argv[i+1] - if sys.argv[i] == '-model': - if len(sys.argv) > i+1: - self.model_name = sys.argv[i+1] - if sys.argv[i] == '-wait': - if len(sys.argv) > i+1: - self.wait_for_model = sys.argv[i+1] - if sys.argv[i] == '-reference_frame': - if len(sys.argv) > i+1: - self.reference_frame = sys.argv[i+1] - if sys.argv[i] == '-robot_namespace': - if len(sys.argv) > i+1: - self.robot_namespace = sys.argv[i+1] - if sys.argv[i] == '-namespace': - if len(sys.argv) > i+1: - self.robot_namespace = sys.argv[i+1] - if sys.argv[i] == '-gazebo_namespace': - if len(sys.argv) > i+1: - self.gazebo_namespace = sys.argv[i+1] - if sys.argv[i] == '-x': - if len(sys.argv) > i+1: - self.initial_xyz[0] = float(sys.argv[i+1]) - if sys.argv[i] == '-y': - if len(sys.argv) > i+1: - self.initial_xyz[1] = float(sys.argv[i+1]) - if sys.argv[i] == '-z': - if len(sys.argv) > i+1: - self.initial_xyz[2] = float(sys.argv[i+1]) - if sys.argv[i] == '-R': - if len(sys.argv) > i+1: - self.initial_rpy[0] = float(sys.argv[i+1]) - if sys.argv[i] == '-P': - if len(sys.argv) > i+1: - self.initial_rpy[1] = float(sys.argv[i+1]) - if sys.argv[i] == '-Y': - if len(sys.argv) > i+1: - self.initial_rpy[2] = float(sys.argv[i+1]) - if sys.argv[i] == '-package_to_model': - self.package_to_model = True; - if sys.argv[i] == '-b': - self.bond = True - - if not self.sdf_format and not self.urdf_format: - rospy.logerr("Error: you must specify incoming format as either urdf or sdf format xml") - sys.exit(0) - if self.model_name == "": - rospy.logerr("Error: you must specify model name") - sys.exit(0) - - def checkForModel(self,model): - for n in model.name: - if n == self.wait_for_model: - self.wait_for_model_exists = True - - - # Generate a blank SDF file with an include for the model from the model database - def createDatabaseCode(self, database_name): - return model_database_template.replace("MODEL_NAME", database_name); - - def callSpawnService(self): - - # wait for model to exist - rospy.init_node('spawn_model') - - if not self.wait_for_model == "": - rospy.Subscriber("%s/model_states"%(self.gazebo_namespace), ModelStates, self.checkForModel) - r= rospy.Rate(10) - while not rospy.is_shutdown() and not self.wait_for_model_exists: - r.sleep() - - if rospy.is_shutdown(): - sys.exit(0) - - if self.file_name != "": - rospy.loginfo("Loading model XML from file") - if os.path.exists(self.file_name): - if os.path.isdir(self.file_name): - rospy.logerr("Error: file name is a path? %s", self.file_name) - sys.exit(0) - if not os.path.isfile(self.file_name): - rospy.logerr("Error: unable to open file %s", self.file_name) - sys.exit(0) - else: - rospy.logerr("Error: file does not exist %s", self.file_name) - sys.exit(0) - # load file - f = open(self.file_name,'r') - model_xml = f.read() - if model_xml == "": - rospy.logerr("Error: file is empty %s", self.file_name) - sys.exit(0) - - # ROS Parameter - elif self.param_name != "": - rospy.loginfo( "Loading model XML from ros parameter") - model_xml = rospy.get_param(self.param_name) - if model_xml == "": - rospy.logerr("Error: param does not exist or is empty") - sys.exit(0) - - # Gazebo Model Database - elif self.database_name != "": - rospy.loginfo( "Loading model XML from Gazebo Model Database") - model_xml = self.createDatabaseCode(self.database_name) - if model_xml == "": - rospy.logerr("Error: an error occured generating the SDF file") - sys.exit(0) - else: - rospy.logerr("Error: user specified param or filename is an empty string") - sys.exit(0) - - if self.package_to_model: - model_xml = re.sub("<\s*mesh\s+filename\s*=\s*([\"|'])package://","model://", model_xml) - - # setting initial pose - initial_pose = Pose() - initial_pose.position.x = self.initial_xyz[0] - initial_pose.position.y = self.initial_xyz[1] - initial_pose.position.z = self.initial_xyz[2] - # convert rpy to quaternion for Pose message - tmpq = tft.quaternion_from_euler(self.initial_rpy[0],self.initial_rpy[1],self.initial_rpy[2]) - q = Quaternion(tmpq[0],tmpq[1],tmpq[2],tmpq[3]) - initial_pose.orientation = q; - - # spawn model - if self.urdf_format: - success = gazebo_interface.spawn_urdf_model_client(self.model_name, model_xml, self.robot_namespace, - initial_pose, self.reference_frame, self.gazebo_namespace) - elif self.sdf_format: - success = gazebo_interface.spawn_sdf_model_client(self.model_name, model_xml, self.robot_namespace, - initial_pose, self.reference_frame, self.gazebo_namespace) - else: - rospy.logerr("Error: should not be here in spawner helper script, there is a bug") - sys.exit(0) - - # set model configuration before unpause if user requested - if len(self.joint_names) != 0: - try: - success = gazebo_interface.set_model_configuration_client(self.model_name, self.param_name, - self.joint_names, self.joint_positions, self.gazebo_namespace) - except rospy.ServiceException as e: - rospy.logerr("Set model configuration service call failed: %s", e) - - # unpause physics if user requested - if self.unpause_physics: - rospy.wait_for_service('%s/unpause_physics'%(self.gazebo_namespace)) - try: - unpause_physics = rospy.ServiceProxy('%s/unpause_physics'%(self.gazebo_namespace), Empty) - unpause_physics() - except rospy.ServiceException as e: - rospy.logerr("Unpause physics service call failed: %s", e) - - return - - - def callDeleteService(self): - try: - delete_model = rospy.ServiceProxy('%s/delete_model'%(self.gazebo_namespace), DeleteModel) - delete_model(model_name=self.model_name) - except rospy.ServiceException as e: - rospy.logerr("Delete model service call failed: %s", e) - -if __name__ == "__main__": - if len(sys.argv) < 2: - print(usage()) - else: - print("SpawnModel script started") # make this a print incase roscore has not been started - sm = SpawnModel() - sm.parseUserInputs() - sm.callSpawnService() - - if sm.bond: - rospy.on_shutdown(sm.callDeleteService) - rospy.spin() diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/scripts/spawn_model2 b/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/scripts/spawn_model2 deleted file mode 100755 index 60c89a1..0000000 --- a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/scripts/spawn_model2 +++ /dev/null @@ -1,317 +0,0 @@ -#!/usr/bin/env python -# -# Copyright 2013 Open Source Robotics Foundation -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. -# -# Desc: helper script for spawning models in gazebo -# Author: John Hsu, Dave Coleman -# - -import rospy, sys, os, time -import string -import warnings -import re - -from gazebo_ros import gazebo_interface - -from gazebo_msgs.msg import * -from gazebo_msgs.srv import * -from std_srvs.srv import Empty -from geometry_msgs.msg import Point, Pose, Quaternion, Twist, Wrench -import tf.transformations as tft - -model_database_template = """ - - - model://MODEL_NAME - - -""" - -def usage(): - print('''Commands: - -[urdf|sdf|trimesh|gazebo] - specify incoming xml is urdf, sdf or trimesh format. gazebo arg is deprecated in ROS Hydro - -[file|param|database] [||] - source of the model xml or the trimesh file - -model - name of the model to be spawned. - -reference_frame - optinal: name of the model/body where initial pose is defined. - If left empty or specified as "world", gazebo world frame is used. - -gazebo_namespace - optional: ROS namespace of gazebo offered ROS interfaces. Defaults to /gazebo/ (e.g. /gazebo/spawn_model). - -robot_namespace - optional: change ROS namespace of gazebo-plugins. - -unpause - optional: !!!Experimental!!! unpause physics after spawning model - -wait - optional: !!!Experimental!!! wait for model to exist - -trimesh_mass - required if -trimesh is used: linear mass - -trimesh_ixx - required if -trimesh is used: moment of inertia about x-axis - -trimesh_iyy - required if -trimesh is used: moment of inertia about y-axis - -trimesh_izz - required if -trimesh is used: moment of inertia about z-axis - -trimesh_gravity - required if -trimesh is used: gravity turned on for this trimesh model - -trimesh_material - required if -trimesh is used: E.g. Gazebo/Blue - -trimesh_name - required if -trimesh is used: name of the link containing the trimesh - -x - optional: initial pose, use 0 if left out - -y - optional: initial pose, use 0 if left out - -z - optional: initial pose, use 0 if left out - -R - optional: initial pose, use 0 if left out - -P - optional: initial pose, use 0 if left out - -Y - optional: initial pose, use 0 if left out - -J - optional: initialize the specified joint at the specified value - -package_to_model - optional: convert urdf i+2: - self.joint_names.append(sys.argv[i+1]) - self.joint_positions.append(float(sys.argv[i+2])) - else: - rospy.logerr("Error: must specify a joint name and joint value pair") - sys.exit(0) - if sys.argv[i] == '-param': - if len(sys.argv) > i+1: - if self.file_name != "" or self.database_name != "": - rospy.logerr("Error: you cannot specify file name if parameter or database name is given, must pick one source of model xml") - sys.exit(0) - else: - self.param_name = sys.argv[i+1] - if sys.argv[i] == '-file': - if len(sys.argv) > i+1: - if self.param_name != "" or self.database_name != "": - rospy.logerr("Error: you cannot specify parameter if file or database name is given, must pick one source of model xml") - sys.exit(0) - else: - self.file_name = sys.argv[i+1] - if sys.argv[i] == '-database': - if len(sys.argv) > i+1: - if self.param_name != "" or self.file_name != "": - rospy.logerr("Error: you cannot specify parameter if file or parameter name is given, must pick one source of model xml") - sys.exit(0) - else: - self.database_name = sys.argv[i+1] - if sys.argv[i] == '-model': - if len(sys.argv) > i+1: - self.model_name = sys.argv[i+1] - if sys.argv[i] == '-wait': - if len(sys.argv) > i+1: - self.wait_for_model = sys.argv[i+1] - if sys.argv[i] == '-reference_frame': - if len(sys.argv) > i+1: - self.reference_frame = sys.argv[i+1] - if sys.argv[i] == '-robot_namespace': - if len(sys.argv) > i+1: - self.robot_namespace = sys.argv[i+1] - if sys.argv[i] == '-namespace': - if len(sys.argv) > i+1: - self.robot_namespace = sys.argv[i+1] - if sys.argv[i] == '-gazebo_namespace': - if len(sys.argv) > i+1: - self.gazebo_namespace = sys.argv[i+1] - if sys.argv[i] == '-x': - if len(sys.argv) > i+1: - self.initial_xyz[0] = float(sys.argv[i+1]) - if sys.argv[i] == '-y': - if len(sys.argv) > i+1: - self.initial_xyz[1] = float(sys.argv[i+1]) - if sys.argv[i] == '-z': - if len(sys.argv) > i+1: - self.initial_xyz[2] = float(sys.argv[i+1]) - if sys.argv[i] == '-R': - if len(sys.argv) > i+1: - self.initial_rpy[0] = float(sys.argv[i+1]) - if sys.argv[i] == '-P': - if len(sys.argv) > i+1: - self.initial_rpy[1] = float(sys.argv[i+1]) - if sys.argv[i] == '-Y': - if len(sys.argv) > i+1: - self.initial_rpy[2] = float(sys.argv[i+1]) - if sys.argv[i] == '-package_to_model': - self.package_to_model = True; - if sys.argv[i] == '-b': - self.bond = True - - if not self.sdf_format and not self.urdf_format: - rospy.logerr("Error: you must specify incoming format as either urdf or sdf format xml") - sys.exit(0) - if self.model_name == "": - rospy.logerr("Error: you must specify model name") - sys.exit(0) - - def checkForModel(self,model): - for n in model.name: - if n == self.wait_for_model: - self.wait_for_model_exists = True - - - # Generate a blank SDF file with an include for the model from the model database - def createDatabaseCode(self, database_name): - return model_database_template.replace("MODEL_NAME", database_name); - - def callSpawnService(self): - - # wait for model to exist - rospy.init_node('spawn_model') - - if not self.wait_for_model == "": - rospy.Subscriber("%s/model_states"%(self.gazebo_namespace), ModelStates, self.checkForModel) - r= rospy.Rate(10) - while not rospy.is_shutdown() and not self.wait_for_model_exists: - r.sleep() - - if rospy.is_shutdown(): - sys.exit(0) - - if self.file_name != "": - rospy.loginfo("Loading model XML from file") - if os.path.exists(self.file_name): - if os.path.isdir(self.file_name): - rospy.logerr("Error: file name is a path? %s", self.file_name) - sys.exit(0) - if not os.path.isfile(self.file_name): - rospy.logerr("Error: unable to open file %s", self.file_name) - sys.exit(0) - else: - rospy.logerr("Error: file does not exist %s", self.file_name) - sys.exit(0) - # load file - f = open(self.file_name,'r') - model_xml = f.read() - if model_xml == "": - rospy.logerr("Error: file is empty %s", self.file_name) - sys.exit(0) - - # ROS Parameter - elif self.param_name != "": - rospy.loginfo( "Loading model XML from ros parameter") - model_xml = rospy.get_param(self.param_name) - if model_xml == "": - rospy.logerr("Error: param does not exist or is empty") - sys.exit(0) - - # Gazebo Model Database - elif self.database_name != "": - rospy.loginfo( "Loading model XML from Gazebo Model Database") - model_xml = self.createDatabaseCode(self.database_name) - if model_xml == "": - rospy.logerr("Error: an error occured generating the SDF file") - sys.exit(0) - else: - rospy.logerr("Error: user specified param or filename is an empty string") - sys.exit(0) - - if self.package_to_model: - model_xml = re.sub("<\s*mesh\s+filename\s*=\s*([\"|'])package://","model://", model_xml) - - # setting initial pose - initial_pose = Pose() - initial_pose.position.x = self.initial_xyz[0] - initial_pose.position.y = self.initial_xyz[1] - initial_pose.position.z = self.initial_xyz[2] - # convert rpy to quaternion for Pose message - tmpq = tft.quaternion_from_euler(self.initial_rpy[0],self.initial_rpy[1],self.initial_rpy[2]) - q = Quaternion(tmpq[0],tmpq[1],tmpq[2],tmpq[3]) - initial_pose.orientation = q; - - # spawn model - if self.urdf_format: - success = gazebo_interface.spawn_urdf_model_client(self.model_name, model_xml, self.robot_namespace, - initial_pose, self.reference_frame, self.gazebo_namespace) - elif self.sdf_format: - success = gazebo_interface.spawn_sdf_model_client(self.model_name, model_xml, self.robot_namespace, - initial_pose, self.reference_frame, self.gazebo_namespace) - else: - rospy.logerr("Error: should not be here in spawner helper script, there is a bug") - sys.exit(0) - - # set model configuration before unpause if user requested - if len(self.joint_names) != 0: - try: - success = gazebo_interface.set_model_configuration_client(self.model_name, self.param_name, - self.joint_names, self.joint_positions, self.gazebo_namespace) - except rospy.ServiceException as e: - rospy.logerr("Set model configuration service call failed: %s", e) - - # unpause physics if user requested - if self.unpause_physics: - rospy.wait_for_service('%s/unpause_physics'%(self.gazebo_namespace)) - try: - unpause_physics = rospy.ServiceProxy('%s/unpause_physics'%(self.gazebo_namespace), Empty) - unpause_physics() - except rospy.ServiceException as e: - rospy.logerr("Unpause physics service call failed: %s", e) - - return - - - def callDeleteService(self): - try: - delete_model = rospy.ServiceProxy('%s/delete_model'%(self.gazebo_namespace), DeleteModel) - delete_model(model_name=self.model_name) - except rospy.ServiceException as e: - rospy.logerr("Delete model service call failed: %s", e) - -if __name__ == "__main__": - if len(sys.argv) < 2: - print(usage()) - else: - print("SpawnModel script started") # make this a print incase roscore has not been started - sm = SpawnModel() - sm.parseUserInputs() - sm.callSpawnService() - - if sm.bond: - rospy.on_shutdown(sm.callDeleteService) - rospy.spin() diff --git a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/src/gazebo_ros/gazebo_interface.pyc b/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/src/gazebo_ros/gazebo_interface.pyc deleted file mode 100755 index 3e5b09a..0000000 Binary files a/Gazebo_Hector_Test/src/gazebo_ros_pkgs/gazebo_ros/src/gazebo_ros/gazebo_interface.pyc and /dev/null differ