I was following velodyne control plugin tutorial but as i try to build the velodyne_plugin.cc file get this error:
/home/rob/velodyne_plugin/velodyne_plugin.cc:42:42: error: ‘class gazebo::physics::JointController’ has no member named ‘SetVelocityPID’
this->model->GetJointController()->SetVelocityPID(
^
/home/rob/velodyne_plugin/velodyne_plugin.cc: In member function ‘void gazebo::VelodynePlugin::SetVelocity(const double&)’:
/home/rob/velodyne_plugin/velodyne_plugin.cc:71:42: error: ‘class gazebo::physics::JointController’ has no member named ‘SetVelocityTarget’
this->model->GetJointController()->SetVelocityTarget(
When i saw the gazebo::physics::jointcontroller class reference [here](http://osrf-distributions.s3.amazonaws.com/gazebo/api/dev/classgazebo_1_1physics_1_1JointController.html), i can clearly see that it contatins the member function named
SetVelocityTargt SetVelocityPID
and others, i have a doubt that because i am using gazebo2.2 which came with ros indigo, this is happening. Do i have to upgrade my gazebo to use all features?
Till this step the code builds without error:
class VelodynePlugin : public ModelPlugin
{
public: VelodynePlugin() {}
public: virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
{
std::cerr << "\nThe velodyne plugin is attach to model[" <<
_model->GetName() << "]\n";
if(_model->GetJointCount() == 0)
{ std::cerr<<"Invalid joint count, Velodyne plugin not loaded/n"; return; }
this->model = _model;
this->joint = _model->GetJoints()[0];
this->pid = common::PID(0.1,0,0);
}
private: physics::ModelPtr model;
private: physics::JointPtr joint;
private: common::PID pid;
};
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