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262 lines
12 KiB
262 lines
12 KiB
Index: rviz-1.12.1/src/rviz/default_plugin/effort_display.cpp
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===================================================================
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--- rviz-1.12.1.orig/src/rviz/default_plugin/effort_display.cpp
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+++ rviz-1.12.1/src/rviz/default_plugin/effort_display.cpp
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@@ -200,7 +200,7 @@ namespace rviz
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robot_description_ = content;
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- robot_model_ = boost::shared_ptr<urdf::Model>(new urdf::Model());
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+ robot_model_ = std::shared_ptr<urdf::Model>(new urdf::Model());
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if (!robot_model_->initString(content))
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{
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ROS_ERROR("Unable to parse URDF description!");
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@@ -208,11 +208,11 @@ namespace rviz
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return;
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}
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setStatus(rviz::StatusProperty::Ok, "URDF", "Robot model parserd Ok");
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- for (std::map<std::string, boost::shared_ptr<urdf::Joint> >::iterator it = robot_model_->joints_.begin(); it != robot_model_->joints_.end(); it ++ ) {
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- boost::shared_ptr<urdf::Joint> joint = it->second;
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+ for (std::map<std::string, std::shared_ptr<urdf::Joint> >::iterator it = robot_model_->joints_.begin(); it != robot_model_->joints_.end(); it ++ ) {
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+ std::shared_ptr<urdf::Joint> joint = it->second;
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if ( joint->type == urdf::Joint::REVOLUTE ) {
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std::string joint_name = it->first;
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- boost::shared_ptr<urdf::JointLimits> limit = joint->limits;
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+ std::shared_ptr<urdf::JointLimits> limit = joint->limits;
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joints_[joint_name] = createJoint(joint_name);
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//joints_[joint_name]->max_effort_property_->setFloat(limit->effort);
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//joints_[joint_name]->max_effort_property_->setReadOnly( true );
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Index: rviz-1.12.1/src/rviz/default_plugin/effort_display.h
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===================================================================
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--- rviz-1.12.1.orig/src/rviz/default_plugin/effort_display.h
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+++ rviz-1.12.1/src/rviz/default_plugin/effort_display.h
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@@ -36,13 +36,13 @@ namespace tf
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# undef TF_MESSAGEFILTER_DEBUG
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#endif
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#define TF_MESSAGEFILTER_DEBUG(fmt, ...) \
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- ROS_DEBUG_NAMED("message_filter", "MessageFilter [target=%s]: "fmt, getTargetFramesString().c_str(), __VA_ARGS__)
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+ ROS_DEBUG_NAMED("message_filter", "MessageFilter [target=%s]: " fmt, getTargetFramesString().c_str(), __VA_ARGS__)
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#ifdef TF_MESSAGEFILTER_WARN
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# undef TF_MESSAGEFILTER_WARN
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#endif
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#define TF_MESSAGEFILTER_WARN(fmt, ...) \
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- ROS_WARN_NAMED("message_filter", "MessageFilter [target=%s]: "fmt, getTargetFramesString().c_str(), __VA_ARGS__)
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+ ROS_WARN_NAMED("message_filter", "MessageFilter [target=%s]: " fmt, getTargetFramesString().c_str(), __VA_ARGS__)
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class MessageFilterJointState : public MessageFilter<sensor_msgs::JointState>
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{
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@@ -706,7 +706,7 @@ namespace rviz
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void clear();
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// The object for urdf model
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- boost::shared_ptr<urdf::Model> robot_model_;
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+ std::shared_ptr<urdf::Model> robot_model_;
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//
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std::string robot_description_;
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Index: rviz-1.12.1/src/rviz/default_plugin/effort_visual.cpp
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===================================================================
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--- rviz-1.12.1.orig/src/rviz/default_plugin/effort_visual.cpp
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+++ rviz-1.12.1/src/rviz/default_plugin/effort_visual.cpp
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@@ -13,7 +13,7 @@
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namespace rviz
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{
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- EffortVisual::EffortVisual( Ogre::SceneManager* scene_manager, Ogre::SceneNode* parent_node, boost::shared_ptr<urdf::Model> urdf_model )
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+ EffortVisual::EffortVisual( Ogre::SceneManager* scene_manager, Ogre::SceneNode* parent_node, std::shared_ptr<urdf::Model> urdf_model )
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{
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scene_manager_ = scene_manager;
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@@ -31,7 +31,7 @@ namespace rviz
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// We create the arrow object within the frame node so that we can
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// set its position and direction relative to its header frame.
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- for (std::map<std::string, boost::shared_ptr<urdf::Joint> >::iterator it = urdf_model_->joints_.begin(); it != urdf_model_->joints_.end(); it ++ ) {
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+ for (std::map<std::string, std::shared_ptr<urdf::Joint> >::iterator it = urdf_model_->joints_.begin(); it != urdf_model_->joints_.end(); it ++ ) {
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if ( it->second->type == urdf::Joint::REVOLUTE ) {
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std::string joint_name = it->first;
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effort_enabled_[joint_name] = true;
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@@ -103,7 +103,7 @@ namespace rviz
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if ( ! effort_enabled_[joint_name] ) continue;
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//tf::Transform offset = poseFromJoint(joint);
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- boost::shared_ptr<urdf::JointLimits> limit = joint->limits;
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+ std::shared_ptr<urdf::JointLimits> limit = joint->limits;
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double max_effort = limit->effort, effort_value = 0.05;
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if ( max_effort != 0.0 )
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Index: rviz-1.12.1/src/rviz/default_plugin/effort_visual.h
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===================================================================
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--- rviz-1.12.1.orig/src/rviz/default_plugin/effort_visual.h
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+++ rviz-1.12.1/src/rviz/default_plugin/effort_visual.h
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@@ -33,7 +33,7 @@ class EffortVisual
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public:
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// Constructor. Creates the visual stuff and puts it into the
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// scene, but in an unconfigured state.
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- EffortVisual( Ogre::SceneManager* scene_manager, Ogre::SceneNode* parent_node, boost::shared_ptr<urdf::Model> urdf_model );
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+ EffortVisual( Ogre::SceneManager* scene_manager, Ogre::SceneNode* parent_node, std::shared_ptr<urdf::Model> urdf_model );
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// Destructor. Removes the visual stuff from the scene.
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virtual ~EffortVisual();
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@@ -85,7 +85,7 @@ private:
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float width_, scale_;
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// The object for urdf model
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- boost::shared_ptr<urdf::Model> urdf_model_;
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+ std::shared_ptr<urdf::Model> urdf_model_;
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};
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} // end namespace rviz
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Index: rviz-1.12.1/src/rviz/robot/robot.cpp
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===================================================================
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--- rviz-1.12.1.orig/src/rviz/robot/robot.cpp
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+++ rviz-1.12.1/src/rviz/robot/robot.cpp
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@@ -236,7 +236,7 @@ void Robot::clear()
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RobotLink* Robot::LinkFactory::createLink(
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Robot* robot,
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- const boost::shared_ptr<const urdf::Link>& link,
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+ const std::shared_ptr<const urdf::Link>& link,
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const std::string& parent_joint_name,
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bool visual,
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bool collision)
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@@ -246,7 +246,7 @@ RobotLink* Robot::LinkFactory::createLin
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RobotJoint* Robot::LinkFactory::createJoint(
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Robot* robot,
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- const boost::shared_ptr<const urdf::Joint>& joint)
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+ const std::shared_ptr<const urdf::Joint>& joint)
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{
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return new RobotJoint(robot, joint);
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}
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@@ -265,12 +265,12 @@ void Robot::load( const urdf::ModelInter
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// Create properties for each link.
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// Properties are not added to display until changedLinkTreeStyle() is called (below).
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{
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- typedef std::map<std::string, boost::shared_ptr<urdf::Link> > M_NameToUrdfLink;
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+ typedef std::map<std::string, std::shared_ptr<urdf::Link> > M_NameToUrdfLink;
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M_NameToUrdfLink::const_iterator link_it = urdf.links_.begin();
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M_NameToUrdfLink::const_iterator link_end = urdf.links_.end();
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for( ; link_it != link_end; ++link_it )
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{
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- const boost::shared_ptr<const urdf::Link>& urdf_link = link_it->second;
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+ const std::shared_ptr<const urdf::Link>& urdf_link = link_it->second;
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std::string parent_joint_name;
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if (urdf_link != urdf.getRoot() && urdf_link->parent_joint)
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@@ -298,12 +298,12 @@ void Robot::load( const urdf::ModelInter
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// Create properties for each joint.
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// Properties are not added to display until changedLinkTreeStyle() is called (below).
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{
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- typedef std::map<std::string, boost::shared_ptr<urdf::Joint> > M_NameToUrdfJoint;
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+ typedef std::map<std::string, std::shared_ptr<urdf::Joint> > M_NameToUrdfJoint;
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M_NameToUrdfJoint::const_iterator joint_it = urdf.joints_.begin();
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M_NameToUrdfJoint::const_iterator joint_end = urdf.joints_.end();
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for( ; joint_it != joint_end; ++joint_it )
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{
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- const boost::shared_ptr<const urdf::Joint>& urdf_joint = joint_it->second;
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+ const std::shared_ptr<const urdf::Joint>& urdf_joint = joint_it->second;
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RobotJoint* joint = link_factory_->createJoint( this, urdf_joint );
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joints_[urdf_joint->name] = joint;
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Index: rviz-1.12.1/src/rviz/robot/robot.h
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===================================================================
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--- rviz-1.12.1.orig/src/rviz/robot/robot.h
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+++ rviz-1.12.1/src/rviz/robot/robot.h
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@@ -173,12 +173,12 @@ public:
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{
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public:
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virtual RobotLink* createLink( Robot* robot,
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- const boost::shared_ptr<const urdf::Link>& link,
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+ const std::shared_ptr<const urdf::Link>& link,
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const std::string& parent_joint_name,
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bool visual,
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bool collision);
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virtual RobotJoint* createJoint( Robot* robot,
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- const boost::shared_ptr<const urdf::Joint>& joint);
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+ const std::shared_ptr<const urdf::Joint>& joint);
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};
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/** Call this before load() to subclass the RobotLink or RobotJoint class used in the link property.
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Index: rviz-1.12.1/src/rviz/robot/robot_joint.cpp
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===================================================================
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--- rviz-1.12.1.orig/src/rviz/robot/robot_joint.cpp
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+++ rviz-1.12.1/src/rviz/robot/robot_joint.cpp
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@@ -46,7 +46,7 @@
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namespace rviz
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{
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-RobotJoint::RobotJoint( Robot* robot, const boost::shared_ptr<const urdf::Joint>& joint )
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+RobotJoint::RobotJoint( Robot* robot, const std::shared_ptr<const urdf::Joint>& joint )
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: robot_( robot )
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, name_( joint->name )
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, child_link_name_( joint->child_link_name )
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Index: rviz-1.12.1/src/rviz/robot/robot_joint.h
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===================================================================
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--- rviz-1.12.1.orig/src/rviz/robot/robot_joint.h
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+++ rviz-1.12.1/src/rviz/robot/robot_joint.h
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@@ -89,7 +89,7 @@ class RobotJoint: public QObject
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{
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Q_OBJECT
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public:
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- RobotJoint( Robot* robot, const boost::shared_ptr<const urdf::Joint>& joint );
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+ RobotJoint( Robot* robot, const std::shared_ptr<const urdf::Joint>& joint );
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virtual ~RobotJoint();
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Index: rviz-1.12.1/src/rviz/robot/robot_link.cpp
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===================================================================
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--- rviz-1.12.1.orig/src/rviz/robot/robot_link.cpp
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+++ rviz-1.12.1/src/rviz/robot/robot_link.cpp
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@@ -262,8 +262,8 @@ RobotLink::RobotLink( Robot* robot,
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desc << " child joint: ";
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}
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- std::vector<boost::shared_ptr<urdf::Joint> >::const_iterator child_it = link->child_joints.begin();
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- std::vector<boost::shared_ptr<urdf::Joint> >::const_iterator child_end = link->child_joints.end();
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+ std::vector<std::shared_ptr<urdf::Joint> >::const_iterator child_it = link->child_joints.begin();
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+ std::vector<std::shared_ptr<urdf::Joint> >::const_iterator child_end = link->child_joints.end();
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for ( ; child_it != child_end ; ++child_it )
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{
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urdf::Joint *child_joint = child_it->get();
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@@ -674,10 +674,10 @@ void RobotLink::createCollision(const ur
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}
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}
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#else
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- std::vector<boost::shared_ptr<urdf::Collision> >::const_iterator vi;
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+ std::vector<std::shared_ptr<urdf::Collision> >::const_iterator vi;
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for( vi = link->collision_array.begin(); vi != link->collision_array.end(); vi++ )
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{
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- boost::shared_ptr<urdf::Collision> collision = *vi;
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+ std::shared_ptr<urdf::Collision> collision = *vi;
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if( collision && collision->geometry )
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{
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Ogre::Entity* collision_mesh = NULL;
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@@ -731,10 +731,10 @@ void RobotLink::createVisual(const urdf:
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}
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}
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#else
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- std::vector<boost::shared_ptr<urdf::Visual> >::const_iterator vi;
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+ std::vector<std::shared_ptr<urdf::Visual> >::const_iterator vi;
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for( vi = link->visual_array.begin(); vi != link->visual_array.end(); vi++ )
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{
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- boost::shared_ptr<urdf::Visual> visual = *vi;
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+ std::shared_ptr<urdf::Visual> visual = *vi;
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if( visual && visual->geometry )
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{
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Ogre::Entity* visual_mesh = NULL;
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Index: rviz-1.12.1/src/rviz/robot/robot_link.h
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===================================================================
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--- rviz-1.12.1.orig/src/rviz/robot/robot_link.h
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+++ rviz-1.12.1/src/rviz/robot/robot_link.h
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@@ -62,7 +62,7 @@ namespace urdf
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{
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class ModelInterface;
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class Link;
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-typedef boost::shared_ptr<const Link> LinkConstPtr;
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+typedef std::shared_ptr<const Link> LinkConstPtr;
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class Geometry;
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typedef boost::shared_ptr<const Geometry> GeometryConstPtr;
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class Pose;
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