uuvsimulator · my-name-is-D · Jul 9, 2021 · Jul 9, 2021 · Oct 23, 2021 · Aug 8, 2023
diff --git a/uuv_control/uuv_control_utils/package.xml b/uuv_control/uuv_control_utils/package.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
   <name>uuv_control_utils</name>
   <version>0.6.13</version>
   <description>The uuv_control_utils package</description>
@@ -24,7 +24,8 @@
   <exec_depend>python-numpy</exec_depend>
   <exec_depend>uuv_control_msgs</exec_depend>
   <exec_depend>std_msgs</exec_depend>
-  <exec_depend>python-yaml</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-yaml</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-yaml</exec_depend>
   <exec_depend>visualization_msgs</exec_depend>
   <exec_depend>nav_msgs</exec_depend>
   <exec_depend>uuv_trajectory_control</exec_depend>

diff --git a/uuv_control/uuv_control_utils/scripts/trajectory_marker_publisher.py b/uuv_control/uuv_control_utils/scripts/trajectory_marker_publisher.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 # Copyright (c) 2016 The UUV Simulator Authors.
 # All rights reserved.
 #

diff --git a/uuv_control/uuv_thruster_manager/package.xml b/uuv_control/uuv_thruster_manager/package.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
   <name>uuv_thruster_manager</name>
   <version>0.6.13</version>
   <description>The thruster manager package</description>
@@ -22,7 +22,10 @@
   <exec_depend>message_runtime</exec_depend>
   <exec_depend>tf</exec_depend>
   <exec_depend>rospy</exec_depend>
-  <exec_depend>python-yaml</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-empy</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-empy</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-yaml</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-yaml</exec_depend>
   <exec_depend>uuv_gazebo_ros_plugins_msgs</exec_depend>
   <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>uuv_assistants</exec_depend>
@@ -37,4 +40,3 @@
   <test_depend>xacro</test_depend>
 
 </package>
-
diff --git a/uuv_control/uuv_thruster_manager/src/uuv_thrusters/models/thruster_proportional.py b/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):

diff --git a/uuv_control/uuv_trajectory_control/package.xml b/uuv_control/uuv_trajectory_control/package.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
   <name>uuv_trajectory_control</name>
   <version>0.6.13</version>
   <description>The uuv_trajectory_control package</description>
@@ -15,9 +15,12 @@
   <exec_depend>rospy</exec_depend>
   <exec_depend>roslib</exec_depend>
   <exec_depend>python-numpy</exec_depend>
-  <exec_depend>python-matplotlib</exec_depend>
-  <exec_depend>python-yaml</exec_depend>
-  <exec_depend>python-scipy</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-matplotlib</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-matplotlib</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-yaml</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-yaml</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-scipy</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-scipy</exec_depend>
   <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>uuv_control_msgs</exec_depend>
   <exec_depend>tf</exec_depend>

diff --git a/uuv_control/uuv_trajectory_control/scripts/rov_mb_fl_controller.py b/uuv_control/uuv_trajectory_control/scripts/rov_mb_fl_controller.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 # Copyright (c) 2016-2019 The UUV Simulator Authors.
 # All rights reserved.
 #

diff --git a/uuv_gazebo_plugins/uuv_gazebo_plugins/CMakeLists.txt b/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)
@@ -72,7 +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
     src/FinPlugin.cc
@@ -97,6 +106,11 @@ 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 +150,8 @@ 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}/

diff --git a/uuv_gazebo_plugins/uuv_gazebo_plugins/include/uuv_gazebo_plugins/BuoyantObject.hh b/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

diff --git a/uuv_gazebo_plugins/uuv_gazebo_plugins/src/BuoyantObject.cc b/uuv_gazebo_plugins/uuv_gazebo_plugins/src/BuoyantObject.cc
@@ -205,10 +205,18 @@ 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;
 }

diff --git a/uuv_gazebo_plugins/uuv_gazebo_plugins/src/HydrodynamicModel.cc b/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");
-      ignition::math::Box boundingBox = ignition::math::Box(
+  #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);
     }

diff --git a/uuv_sensor_plugins/uuv_sensor_ros_plugins/src/MagnetometerROSPlugin.cc b/uuv_sensor_plugins/uuv_sensor_ros_plugins/src/MagnetometerROSPlugin.cc
@@ -149,6 +149,7 @@ bool MagnetometerROSPlugin::OnUpdate(const common::UpdateInfo& _info)
   this->rosMsg.magnetic_field.z = this->measMagneticField.Z();
 
   this->rosSensorOutputPub.publish(this->rosMsg);
+  return true;
 }
 
 /////////////////////////////////////////////////

diff --git a/uuv_sensor_plugins/uuv_sensor_ros_plugins/src/ROSBasePlugin.cc b/uuv_sensor_plugins/uuv_sensor_ros_plugins/src/ROSBasePlugin.cc
@@ -141,6 +141,7 @@ bool ROSBasePlugin::InitBasePlugin(sdf::ElementPtr _sdf)
 
   // Add a default Gaussian noise model
   this->AddNoiseModel("default", this->noiseSigma);
+  return true;
 }
 
 /////////////////////////////////////////////////

diff --git a/uuv_sensor_plugins/uuv_sensor_ros_plugins/src/gazebo_ros_image_sonar.cpp b/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
 {

diff --git a/uuv_simulator/CHANGELOG.rst b/uuv_simulator/CHANGELOG.rst
diff --git a/uuv_simulator/CMakeLists.txt b/uuv_simulator/CMakeLists.txt
diff --git a/uuv_simulator/package.xml b/uuv_simulator/package.xml