Add Noetic support. Set compiler flags based on CMake version. Add conditional code to support Gazebo 11.

Signed-off-by: Thomas Denewiler <[email protected]>

Author: Thomas Denewiler

uuv_control/uuv_thruster_manager/src/uuv_thrusters/models/thruster_proportional.py

@@ -14,7 +14,7 @@
 # limitations under the License.
 import rospy
 import numpy
-from thruster import Thruster
+from .thruster import Thruster
 
 
 class ThrusterProportional(Thruster):

uuv_gazebo_plugins/uuv_gazebo_plugins/CMakeLists.txt

@@ -1,8 +1,13 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(uuv_gazebo_plugins)
 
 # Specify C++11 standard
-add_definitions(-std=c++11)
+if(NOT "${CMAKE_VERSION}" VERSION_LESS "3.16")
+    set(CMAKE_CXX_STANDARD 17)
+    set(CMAKE_CXX_STANDARD_REQUIRED ON)
+else()
+    set(LOCAL_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+endif()
 
 find_package(catkin REQUIRED COMPONENTS
     gazebo_dev)
@@ -72,6 +77,11 @@ add_library(uuv_dynamics
     src/Dynamics.cc
 )
 list(APPEND UUV_GAZEBO_PLUGINS_LIST uuv_dynamics)
+set_target_properties(uuv_dynamics
+    PROPERTIES
+    COMPILE_FLAGS
+    "${LOCAL_CXX_FLAGS}"
+)
 
 add_library(uuv_fin_plugin
     src/LiftDragModel.cc
@@ -97,6 +107,11 @@ target_link_libraries(uuv_underwater_object_plugin
     ${EIGEN3_LIBRARIES}
 )
 list(APPEND UUV_GAZEBO_PLUGINS_LIST uuv_underwater_object_plugin)
+set_target_properties(uuv_underwater_object_plugin
+    PROPERTIES
+    COMPILE_FLAGS
+    "${LOCAL_CXX_FLAGS}"
+)
 
 add_library(uuv_thruster_plugin
     src/ThrusterConversionFcn.cc
@@ -136,8 +151,8 @@ install(DIRECTORY include/${PROJECT_NAME}/
 )
 
 install(DIRECTORY include/
-   DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}
-   FILES_MATCHING PATTERN ".hh"
+  DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN ".hh"
 )
 
 install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/

uuv_gazebo_plugins/uuv_gazebo_plugins/include/uuv_gazebo_plugins/BuoyantObject.hh

@@ -74,7 +74,11 @@ class BuoyantObject
   public: double GetGravity();
 
   /// \brief Sets bounding box
+#if GAZEBO_MAJOR_VERSION >= 11
+  public: void SetBoundingBox(const ignition::math::AxisAlignedBox &_bBox);
+#else
   public: void SetBoundingBox(const ignition::math::Box &_bBox);
+#endif
 
   /// \brief Adds a field in the hydroWrench map
   public: void SetStoreVector(std::string _tag);
@@ -120,7 +124,11 @@ class BuoyantObject
 
   /// \brief TEMP for calculation of the buoyancy
   /// force close to the surface
+#if GAZEBO_MAJOR_VERSION >= 11
+  protected: ignition::math::AxisAlignedBox boundingBox;
+#else
   protected: ignition::math::Box boundingBox;
+#endif
 
   /// \brief Storage for hydrodynamic and hydrostatic forces and torques
   /// for debugging purposes

uuv_gazebo_plugins/uuv_gazebo_plugins/src/BuoyantObject.cc

@@ -205,9 +205,17 @@ void BuoyantObject::ApplyBuoyancyForce()
 }
 
 /////////////////////////////////////////////////
+#if GAZEBO_MAJOR_VERSION >= 11
+void BuoyantObject::SetBoundingBox(const ignition::math::AxisAlignedBox &_bBox)
+#else
 void BuoyantObject::SetBoundingBox(const ignition::math::Box &_bBox)
+#endif
 {
+#if GAZEBO_MAJOR_VERSION >= 11
+  this->boundingBox = ignition::math::AxisAlignedBox(_bBox);
+#else
   this->boundingBox = ignition::math::Box(_bBox);
+#endif
 
   gzmsg << "New bounding box for " << this->link->GetName() << "::"
     << this->boundingBox << std::endl;

uuv_gazebo_plugins/uuv_gazebo_plugins/src/HydrodynamicModel.cc

@@ -75,9 +75,15 @@ HydrodynamicModel::HydrodynamicModel(sdf::ElementPtr _sdf,
       double width = sdfModel->Get<double>("width");
       double length = sdfModel->Get<double>("length");
       double height = sdfModel->Get<double>("height");
+#if GAZEBO_MAJOR_VERSION >= 11
+      ignition::math::AxisAlignedBox boundingBox = ignition::math::AxisAlignedBox(
+        ignition::math::Vector3d(-width / 2, -length / 2, -height / 2),
+        ignition::math::Vector3d(width / 2, length / 2, height / 2));
+#else
       ignition::math::Box boundingBox = ignition::math::Box(
         ignition::math::Vector3d(-width / 2, -length / 2, -height / 2),
         ignition::math::Vector3d(width / 2, length / 2, height / 2));
+#endif
       // Setting the the bounding box from the given dimensions
       this->SetBoundingBox(boundingBox);
     }

uuv_sensor_plugins/uuv_sensor_ros_plugins/src/gazebo_ros_image_sonar.cpp

@@ -49,6 +49,7 @@
 #include <sensor_msgs/image_encodings.h>
 #include <cv_bridge/cv_bridge.h>
 #include <opencv2/core/core.hpp>
+#include <opencv2/imgproc/imgproc_c.h>
 
 namespace gazebo
 {
@@ -1054,4 +1055,4 @@ void GazeboRosImageSonar::PublishDisparityImage(const DepthImage& depth, ros::Ti
 */
 
 
-}
+}