Fix gazebo scene viewer build (#289)

Signed-off-by: Ian Chen <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]>
gazebosim · Apr 5, 2021 · d6957d0 · d6957d0
1 parent 0c96fe8
commit d6957d0
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Showing 2 changed files with 16 additions and 12 deletions.
diff --git a/examples/gazebo_scene_viewer/CameraWindow.cc b/examples/gazebo_scene_viewer/CameraWindow.cc
@@ -14,7 +14,6 @@
  * limitations under the License.
  *
  */
-#include "CameraWindow.hh"
 
 #if __APPLE__
   #include <OpenGL/gl.h>
@@ -28,6 +27,7 @@
 
 #if !defined(__APPLE__) && !defined(_WIN32)
   #include <GL/glx.h>
+  #undef Status
 #endif
 
 #include <gazebo/common/Console.hh>
@@ -37,6 +37,7 @@
 #include <ignition/rendering/Image.hh>
 #include <ignition/rendering/Scene.hh>
 
+#include "CameraWindow.hh"
 #include "SceneManager.hh"
 
 #define KEY_ESC 27
@@ -166,7 +167,7 @@ void GlutKeyboard(unsigned char _key, int, int)
   {
     // stop transport
     gazebo::transport::stop();
-    gazebo::transport::fini();  
+    gazebo::transport::fini();
     exit(0);
   }
   else if (_key == KEY_TAB)

diff --git a/examples/gazebo_scene_viewer/SceneManager.cc b/examples/gazebo_scene_viewer/SceneManager.cc
@@ -22,6 +22,7 @@
 #include <ignition/math/Helpers.hh>
 
 #include <ignition/rendering/Camera.hh>
+#include <ignition/rendering/Capsule.hh>
 #include <ignition/rendering/Scene.hh>
 #include <ignition/rendering/Visual.hh>
 
@@ -1509,13 +1510,14 @@ void SubSceneManager::ProcessCone(
 void SubSceneManager::ProcessCapsule(
     const gazebo::msgs::Geometry & _geometryMsg, VisualPtr _parent)
 {
-  GeometryPtr capsule = this->activeScene->CreateCapsule();
-  const gazebo::msgs::CapsuleGeom &capsuleMsg = _geometryMsg.capsule();
-  double x = 2 * capsuleMsg.radius();
-  double y = 2 * capsuleMsg.radius();
-  double z = capsuleMsg.length();
-  _parent->SetLocalScale(x, y, z);
-  _parent->AddGeometry(capsule);
+  // \todo(anyone) needs gazebo capsule msg
+  CapsulePtr capsule = this->activeScene->CreateCapsule();
+  // Const gazebo::msgs::CapsuleGeom &capsuleMsg = _geometryMsg.capsule();
+  // Double x = 2 * capsuleMsg.radius();
+  // Double y = 2 * capsuleMsg.radius();
+  // Double z = capsuleMsg.length();
+  // _parent->SetLocalScale(x, y, z);
+  _parent->AddGeometry(std::dynamic_pointer_cast<Geometry>(capsule));
 }
 
 //////////////////////////////////////////////////
@@ -1833,12 +1835,13 @@ void SubSceneManager::CreateGeometryFunctionMap()
   this->geomFunctions[gazebo::msgs::Geometry::BOX] =
       &SubSceneManager::ProcessBox;
 
-  // TODO(anyone): enable when cone protobuf msg created
+  // todo(anyone): enable when cone protobuf msg is created
   // this->geomFunctions[gazebo::msgs::Geometry::CONE] =
   //     &SubSceneManager::ProcessCone;
 
-  this->geomFunctions[gazebo::msgs::Geometry::CAPSULE] =
-      &SubSceneManager::ProcessSphere;
+  // todo(anyone): enable when capsule protobuf msg is created
+  // this->geomFunctions[gazebo::msgs::Geometry::CAPSULE] =
+  //     &SubSceneManager::ProcessSphere;
 
   this->geomFunctions[gazebo::msgs::Geometry::CYLINDER] =
       &SubSceneManager::ProcessCylinder;