Keep compatibility with earlier Gazebo version

SyrianSpock · Jan 9, 2020 · 5e33286 · 5e33286
1 parent 6d931c8
commit 5e33286
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Showing 3 changed files with 20 additions and 6 deletions.
diff --git a/README.md b/README.md
@@ -1,11 +1,5 @@
 # Intel RealSense Gazebo ROS plugin and model
 
-## _**Important note**_
-
-**This branch only supports ROS Melodic with Gazebo 9.**
-
-**To use this plugin with ROS Kinetic and Gazebo 7 you should use the [`kinetic-devel` branch](https://github.com/SyrianSpock/realsense_gazebo_plugin/tree/kinetic-devel).**
-
 ## Quickstart
 
 Build the plugin

diff --git a/src/RealSensePlugin.cpp b/src/RealSensePlugin.cpp
@@ -120,7 +120,11 @@ void RealSensePlugin::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
 
   // Setup Transport Node
   this->transportNode = transport::NodePtr(new transport::Node());
+#if GAZEBO_MAJOR_VERSION >= 9
   this->transportNode->Init(this->world->Name());
+#else
+  this->transportNode->Init(this->world->GetName());
+#endif
 
   // Setup Publishers
   std::string rsTopicRoot =
@@ -166,7 +170,11 @@ void RealSensePlugin::OnNewFrame(const rendering::CameraPtr cam,
   msgs::ImageStamped msg;
 
   // Set Simulation Time
+#if GAZEBO_MAJOR_VERSION >= 9
   msgs::Set(msg.mutable_time(), this->world->SimTime());
+#else
+  msgs::Set(msg.mutable_time(), this->world->GetSimTime());
+#endif
 
   // Set Image Dimensions
   msg.mutable_image()->set_width(cam->ImageWidth());
@@ -215,7 +223,11 @@ void RealSensePlugin::OnNewDepthFrame()
   }
 
   // Pack realsense scaled depth map
+#if GAZEBO_MAJOR_VERSION >= 9
   msgs::Set(msg.mutable_time(), this->world->SimTime());
+#else
+  msgs::Set(msg.mutable_time(), this->world->GetSimTime());
+#endif
   msg.mutable_image()->set_width(this->depthCam->ImageWidth());
   msg.mutable_image()->set_height(this->depthCam->ImageHeight());
   msg.mutable_image()->set_pixel_format(common::Image::L_INT16);

diff --git a/src/gazebo_ros_realsense.cpp b/src/gazebo_ros_realsense.cpp
@@ -51,7 +51,11 @@ void GazeboRosRealsense::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
 void GazeboRosRealsense::OnNewFrame(const rendering::CameraPtr cam,
                                     const transport::PublisherPtr pub)
 {
+#if GAZEBO_MAJOR_VERSION >= 9
   common::Time current_time = this->world->SimTime();
+#else
+  common::Time current_time = this->world->GetSimTime();
+#endif
 
   // identify camera
   std::string camera_id = extractCameraName(cam->Name());
@@ -96,7 +100,11 @@ void GazeboRosRealsense::OnNewFrame(const rendering::CameraPtr cam,
 void GazeboRosRealsense::OnNewDepthFrame()
 {
   // get current time
+#if GAZEBO_MAJOR_VERSION >= 9
   common::Time current_time = this->world->SimTime();
+#else
+  common::Time current_time = this->world->GetSimTime();
+#endif
 
   RealSensePlugin::OnNewDepthFrame();