Commit 730d0ade authored by Johannes Mey's avatar Johannes Mey
Browse files

fix for gazebo11

parent baf0f033
......@@ -55,6 +55,7 @@ endif()
# include_directories(include)
include_directories(
include
/usr/include/ffmpeg
${catkin_INCLUDE_DIRS}
${GAZEBO_INCLUDE_DIRS}
)
......
......@@ -64,6 +64,7 @@ endif()
# include_directories(include)
include_directories(
include
/usr/include/ffmpeg
${catkin_INCLUDE_DIRS}
${GAZEBO_INCLUDE_DIRS}
)
......
......@@ -157,7 +157,7 @@ shape_msgs::SolidPrimitive * GazeboObjectInfo::getSolidPrimitive(physics::Collis
else
{
ROS_WARN("shape type %i of collision %s not supported. Using bounding box instead. ", c->GetShapeType(),c->GetName().c_str());
gz_math::Box box = GetBoundingBox(*c);
gz_math::AxisAlignedBox box = GetBoundingBox(*c);
GzVector3 bb = GetBoundingBoxDimensions(box);
if ((GetX(bb) < 1e-05) || (GetY(bb) < 1e-05) || (GetZ(bb) < 1e-05)){
ROS_WARN_ONCE("Skipping coll %s because its bounding box is flat",c->GetName().c_str());
......
......@@ -50,6 +50,7 @@ endif()
## Your package locations should be listed before other locations
include_directories(
include
/usr/include/ffmpeg
${catkin_INCLUDE_DIRS}
${GAZEBO_INCLUDE_DIRS}
)
......
......@@ -116,7 +116,7 @@ std::string GetName(const T& t)
///////////////////////////////////////////////////////////////////////////////
template<typename T>
gz_math::Box GetBoundingBox(const T &t)
gz_math::AxisAlignedBox GetBoundingBox(const T &t)
{
#if GAZEBO_MAJOR_VERSION >= 8
return t.BoundingBox();
......@@ -126,7 +126,7 @@ gz_math::Box GetBoundingBox(const T &t)
}
///////////////////////////////////////////////////////////////////////////////
GzVector3 GetBoundingBoxDimensions(const gz_math::Box &box);
GzVector3 GetBoundingBoxDimensions(const gz_math::AxisAlignedBox &box);
///////////////////////////////////////////////////////////////////////////////
template<typename T>
......
......@@ -314,7 +314,7 @@ gazebo::physics::Model_V gazebo::GetModels(
}
///////////////////////////////////////////////////////////////////////////////
gazebo::GzVector3 gazebo::GetBoundingBoxDimensions(const gz_math::Box &box)
gazebo::GzVector3 gazebo::GetBoundingBoxDimensions(const gz_math::AxisAlignedBox &box)
{
#if GAZEBO_MAJOR_VERSION >= 8
GzVector3 bb(box.XLength(), box.YLength(), box.ZLength());
......
......@@ -55,6 +55,7 @@ endif()
# include_directories(include)
include_directories(
include
/usr/include/ffmpeg
${catkin_INCLUDE_DIRS}
${GAZEBO_INCLUDE_DIRS}
)
......
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