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Fix compilation on Ubuntu 18.04 w ROS Melodic #130

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Fix compilation on Ubuntu 18.04 w ROS Melodic #130

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e2f874d
Fix compilation on Ubuntu 18.04 w ROS Melodic
roncapat Feb 14, 2019
b390be0
Fix xacro warning on melodic
roncapat Mar 10, 2019
9333227
Rollback conditional support for Kinetic
roncapat Apr 22, 2020
de51c01
Fix typo
roncapat Apr 25, 2020
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2 changes: 1 addition & 1 deletion baxter_gazebo/launch/baxter_world.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,7 @@
to launching baxter_world -->
<arg name="load_robot_description" default="true"/>
<param if="$(arg load_robot_description)" name="robot_description"
command="$(find xacro)/xacro.py --inorder $(find baxter_description)/urdf/baxter.urdf.xacro gazebo:=true"/>
command="$(find xacro)/xacro $(find baxter_description)/urdf/baxter.urdf.xacro gazebo:=true"/>

<!-- We resume the logic in empty_world.launch, changing the name of the world to be launched -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
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7 changes: 5 additions & 2 deletions baxter_sim_io/include/baxter_sim_io/qnode.hpp
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Expand Up @@ -34,12 +34,15 @@
#ifndef baxter_sim_io_QNODE_HPP_
#define baxter_sim_io_QNODE_HPP_

#ifndef Q_MOC_RUN
#include <ros/ros.h>
#include <baxter_core_msgs/NavigatorState.h>
#include <baxter_core_msgs/DigitalIOState.h>
#endif

#include <string>
#include <QThread>
#include <QStringListModel>
#include <baxter_core_msgs/NavigatorState.h>
#include <baxter_core_msgs/DigitalIOState.h>

namespace baxter_sim_io {

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8 changes: 8 additions & 0 deletions baxter_sim_kinematics/src/arm_kinematics.cpp
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Expand Up @@ -34,6 +34,9 @@
#include <cstring>
#include <ros/ros.h>
#include <baxter_sim_kinematics/arm_kinematics.h>
#if ROS_VERSION_MINIMUM(1, 14, 0) //Melodic
#include <memory>
#endif

namespace arm_kinematics {

Expand Down Expand Up @@ -245,8 +248,13 @@ bool Kinematics::loadModel(const std::string xml) {
*/
bool Kinematics::readJoints(urdf::Model &robot_model) {
num_joints = 0;
#if ROS_VERSION_MINIMUM(1, 14, 0) // Melodic
std::shared_ptr<const urdf::Link> link = robot_model.getLink(tip_name);
std::shared_ptr<const urdf::Joint> joint;
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#else
boost::shared_ptr<const urdf::Link> link = robot_model.getLink(tip_name);
boost::shared_ptr<const urdf::Joint> joint;
#endif
for (int i = 0; i < chain.getNrOfSegments(); i++)
while (link && link->name != root_name) {
if (!(link->parent_joint)) {
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