SetAxis function replacement for gazebo11

[elle-miller]

Hi,

When simulating a mobile robot in Gazebo 11 using controller code written for Gazebo 9, I am noticing funny motion behaviour e.g. velocity controller works perfectly in x direction but not for y or z.

I use the function 'SetAxis' from /gazebo/physics in my code, which I noticed was deprecated by @chapulina in commit 5a0c754589e406d0b0104fd12edaa1430c72d1ab.

If my previous code was:

passivejoint->SetAxis(0, axis_);

What should I now include/replace it with?

Thank you! Elle

[j-rivero]

Hello Elle. We tried to document all the required changes for deprecated methods in https://github.com/osrf/gazebo/blob/gazebo11/Migration.md. Looking at the commit you mention seems like the deprecation cycle started in gazebo8. Anyway, You can check the API changed documented if you search the Changelog document by SetAxis. Hope it helps.

[elle-miller]

@j-rivero

Hi Jose, thanks for the help.

Unfortunately I have been unable to track down the replacement function for SetAxis in the Changelog. The only mention of the function is for Gazebo 7->8 when math was updated to ignition::math.

I see that the function ResolveAxisXyz was added in last commit f946cb3edbft (2020) "add helper function for resolving joint axis, pass resolved frame to Joint::SetAxis to simplify engine-specific code", but this doesn't make sense to me as I thought SetAxis was deprecated in @chapulina 's commit 5a0c75458 (2017) as mentioned in initial post.

this->SetAxis(0, this->ResolveAxisXyz(0)); (physics/Joint.cc line 380)

I have searched through the commits around the deprecation but it remains unclear to me what was replaced (and what I should use now). If you have any further advice or help to offer that would be greatly appreciated - cheers! :)

[j-rivero]

Hi Jose, thanks for the help.

You are welcome.

Unfortunately I have been unable to track down the replacement function for SetAxis in the Changelog. The only mention of the function is for Gazebo 7->8 when math was updated to ignition::math.

I think that is exactly was is being done in https://github.com/osrf/gazebo/commit/5a0c754589e406d0b0104fd12edaa1430c72d1ab

I have searched through the commits around the deprecation but it remains unclear to me what was replaced (and what I should use now). If you have any further advice or help to offer that would be greatly appreciated

From the Changelog:

Deprecation: void SetAxis(unsigned int _index, const math::Vector3 &_axis) = 0
Replacement: void SetAxis(const unsigned int _index, const ignition::math::Vector3d &_axis) = 0

The function is now using ignition::math input types instead of native Gazebo code, that should be the change you need to make.