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Keep compatibility with earlier Gazebo version #45

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merged 1 commit into from
Mar 3, 2020
Merged

Keep compatibility with earlier Gazebo version #45

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6 changes: 0 additions & 6 deletions README.md
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Original file line number Diff line number Diff line change
@@ -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
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12 changes: 12 additions & 0 deletions src/RealSensePlugin.cpp
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Expand Up @@ -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 =
Expand Down Expand Up @@ -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());
Expand Down Expand Up @@ -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);
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8 changes: 8 additions & 0 deletions src/gazebo_ros_realsense.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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());
Expand Down Expand Up @@ -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();

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