From bf8d7a386b2a76b06618542f770aa66ef6bc6c11 Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Tue, 22 Oct 2019 08:20:00 +0200
Subject: [PATCH] Makes SpringPlugin.cc resilient to GAZEBO version
---
src/SpringPlugin.cc | 8 ++++++--
1 file changed, 6 insertions(+), 2 deletions(-)
diff --git a/src/SpringPlugin.cc b/src/SpringPlugin.cc
index 300fc2d..487dd25 100644
--- a/src/SpringPlugin.cc
+++ b/src/SpringPlugin.cc
@@ -63,12 +63,17 @@ void SpringPlugin::Init()
boost::bind(&SpringPlugin::ExplicitUpdate, this));
}
-
+
/////////////////////////////////////////////////
void SpringPlugin::ExplicitUpdate()
{
+#if GAZEBO_MAJOR_VERSION < 9
common::Time currTime = this->model->GetWorld()->GetSimTime();
+#else
+ common::Time currTime = this->model->GetWorld()->SimTime();
+#endif
+
common::Time stepTime = currTime - this->prevUpdateTime;
this->prevUpdateTime = currTime;
@@ -78,4 +83,3 @@ void SpringPlugin::ExplicitUpdate()
-this->kdExplicit * vel;
this->jointExplicit->SetForce(0, force);
}
-
--
GitLab