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support GAZEBO_MAJOUR_VERSION >= 10 (noetic)

This commit is contained in:
Kei Okada 2022-04-01 17:45:56 +09:00
parent 49e936b9a8
commit 50ff982dfb
1 changed files with 8 additions and 0 deletions
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8
unitree_gazebo/plugin/draw_force_plugin.cc
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@ -44,8 +44,16 @@ namespace gazebo
}
this->line = this->visual->CreateDynamicLine(rendering::RENDERING_LINE_STRIP);
#if GAZEBO_MAJOR_VERSION >= 10
// https://github.com/osrf/gazebo/blob/gazebo11/Migration.md#gazebo-8x-to-9x
// gazebo 9 deprecations removed on gazebo 10
// https://github.com/osrf/gazebo/commit/0bd72b9500e7377c873e32d25b8db772e782bd6f
this->line->AddPoint(ignition::math::Vector3d(0, 0, 0), ignition::math::Color(0, 1, 0, 1.0));
this->line->AddPoint(ignition::math::Vector3d(1, 1, 1), ignition::math::Color(0, 1, 0, 1.0));
#else
this->line->AddPoint(ignition::math::Vector3d(0, 0, 0), common::Color(0, 1, 0, 1.0));
this->line->AddPoint(ignition::math::Vector3d(1, 1, 1), common::Color(0, 1, 0, 1.0));
#endif
this->line->setMaterial("Gazebo/Purple");
this->line->setVisibilityFlags(GZ_VISIBILITY_GUI);
this->visual->SetVisible(true);