Add warnings when the user is affected by ros-simulation#612

mintar · Mar 20, 2018 · 1d6616e · 1d6616e
1 parent 3164e4c
commit 1d6616e
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Showing 4 changed files with 16 additions and 0 deletions.
diff --git a/gazebo_plugins/src/gazebo_ros_joint_pose_trajectory.cpp b/gazebo_plugins/src/gazebo_ros_joint_pose_trajectory.cpp
@@ -388,6 +388,10 @@ void GazeboRosJointPoseTrajectory::UpdateStates()
               this->joints_[i]->SetPosition(0,
                 this->points_[this->trajectory_index].positions[i], true);
 #else
+              ROS_WARN_ONCE("The joint_pose_trajectory plugin is using the Joint::SetPosition method without preserving the link velocity.");
+              ROS_WARN_ONCE("As a result, gravity will not be simulated correctly for your model.");
+              ROS_WARN_ONCE("Please upgrade to Gazebo 9.");
+              ROS_WARN_ONCE("For details, see https://github.com/ros-simulation/gazebo_ros_pkgs/issues/612");
               this->joints_[i]->SetPosition(0,
                 this->points_[this->trajectory_index].positions[i]);
 #endif

diff --git a/gazebo_plugins/src/gazebo_ros_joint_trajectory.cpp b/gazebo_plugins/src/gazebo_ros_joint_trajectory.cpp
@@ -390,6 +390,10 @@ void GazeboRosJointTrajectory::UpdateStates()
               this->joints_[i]->SetPosition(0,
                 this->points_[this->trajectory_index].positions[i], true);
 #else
+              ROS_WARN_ONCE("The joint_trajectory plugin is using the Joint::SetPosition method without preserving the link velocity.");
+              ROS_WARN_ONCE("As a result, gravity will not be simulated correctly for your model.");
+              ROS_WARN_ONCE("Please upgrade to Gazebo 9.");
+              ROS_WARN_ONCE("For details, see https://github.com/ros-simulation/gazebo_ros_pkgs/issues/612");
               this->joints_[i]->SetPosition(0,
                 this->points_[this->trajectory_index].positions[i]);
 #endif

diff --git a/gazebo_plugins/src/gazebo_ros_tricycle_drive.cpp b/gazebo_plugins/src/gazebo_ros_tricycle_drive.cpp
@@ -320,6 +320,10 @@ void GazeboRosTricycleDrive::motorController ( double target_speed, double targe
 #if GAZEBO_MAJOR_VERSION >= 9
       joint_steering_->SetPosition(0, applied_angle, true);
 #else
+      ROS_WARN_ONCE("The tricycle_drive plugin is using the Joint::SetPosition method without preserving the link velocity.");
+      ROS_WARN_ONCE("As a result, gravity will not be simulated correctly for your model.");
+      ROS_WARN_ONCE("Please upgrade to Gazebo 9.");
+      ROS_WARN_ONCE("For details, see https://github.com/ros-simulation/gazebo_ros_pkgs/issues/612");
       joint_steering_->SetPosition(0, applied_angle);
 #endif
     }

diff --git a/gazebo_ros_control/src/default_robot_hw_sim.cpp b/gazebo_ros_control/src/default_robot_hw_sim.cpp
@@ -309,6 +309,10 @@ void DefaultRobotHWSim::writeSim(ros::Time time, ros::Duration period)
 #if GAZEBO_MAJOR_VERSION >= 9
         sim_joints_[j]->SetPosition(0, joint_position_command_[j], true);
 #else
+        ROS_WARN_ONCE("The default_robot_hw_sim plugin is using the Joint::SetPosition method without preserving the link velocity.");
+        ROS_WARN_ONCE("As a result, gravity will not be simulated correctly for your model.");
+        ROS_WARN_ONCE("Please set gazebo_pid parameters, switch to the VelocityJointInterface or EffortJointInterface, or upgrade to Gazebo 9.");
+        ROS_WARN_ONCE("For details, see https://github.com/ros-simulation/gazebo_ros_pkgs/issues/612");
         sim_joints_[j]->SetPosition(0, joint_position_command_[j]);
 #endif
         break;