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Patch for compiling with Gazebo 7.0 in ROS Melodic #6

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merged 9 commits into from
Nov 14, 2024
Merged

Patch for compiling with Gazebo 7.0 in ROS Melodic #6

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c875a95
Updates to allow compiling for melodic
eitanme Jul 12, 2019
e2663c4
Updating README for Melodic
eitanme Jul 12, 2019
38475c9
Putting back in proto definitions
eitanme Jul 12, 2019
9933083
Merge pull request #1 from dwijaybane/master
dudasdavid May 25, 2020
d2f1fa6
Merge pull request #2 from eitanme/master
dudasdavid May 25, 2020
cad1661
custom map generated
dudasdavid May 25, 2020
0d01c46
fix libprotobuf error
dudasdavid May 25, 2020
1daeb70
Merge branch 'pr/9' into melodic
abhiojha8 Dec 8, 2021
d5013d7
Update collision_map_creator.cc for melodic compilation
brolinA Jul 10, 2024
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2 changes: 1 addition & 1 deletion README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
Create pgm map from Gazebo world file for ROS localization

## Environment
Tested on Ubuntu 16.04, ROS Kinetic, Boost 1.58, [Protocol Buffers v2.6.1](https://github.com/protocolbuffers/protobuf/releases/tag/v2.6.1)
Tested on Ubuntu 18.04, ROS Melodic, Boost 1.65

Install Protocol Buffers v2.6.1
- Download the zip file
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3,003 changes: 3,003 additions & 0 deletions maps/example_map.pgm
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3,090 changes: 1,545 additions & 1,545 deletions maps/map.pgm
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6 changes: 3 additions & 3 deletions msgs/CMakeLists.txt
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Expand Up @@ -9,9 +9,9 @@ endforeach()

set (msgs
collision_map_request.proto
${PROTOBUF_IMPORT_DIRS}/vector2d.proto
${PROTOBUF_IMPORT_DIRS}/header.proto
${PROTOBUF_IMPORT_DIRS}/time.proto
#${PROTOBUF_IMPORT_DIRS}/vector2d.proto
#${PROTOBUF_IMPORT_DIRS}/header.proto
#${PROTOBUF_IMPORT_DIRS}/time.proto
)
PROTOBUF_GENERATE_CPP(PROTO_SRCS PROTO_HDRS ${msgs})
add_library(collision_map_creator_msgs SHARED ${PROTO_SRCS})
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7 changes: 5 additions & 2 deletions src/collision_map_creator.cc
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@@ -1,3 +1,6 @@
#define png_infopp_NULL (png_infopp)NULL
#define int_p_NULL (int*)NULL

#include <fstream>
#include <iostream>
#include <math.h>
Expand Down Expand Up @@ -32,7 +35,7 @@ class CollisionMapCreator : public WorldPlugin
node = transport::NodePtr(new transport::Node());
world = _parent;
// Initialize the node with the world name
node->Init(world->Name());
node->Init(world->GetName());
std::cout << "Subscribing to: " << "~/collision_map/command" << std::endl;
commandSubscriber = node->Subscribe("~/collision_map/command",
&CollisionMapCreator::create, this);
Expand Down Expand Up @@ -88,7 +91,7 @@ class CollisionMapCreator : public WorldPlugin
start.Z(msg->height());
end.Z(0.001);

gazebo::physics::PhysicsEnginePtr engine = world->Physics();
gazebo::physics::PhysicsEnginePtr engine = world->GetPhysicsEngine();
engine->InitForThread();
gazebo::physics::RayShapePtr ray =
boost::dynamic_pointer_cast<gazebo::physics::RayShape>(
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