Migration to Gz Ignition

tiiuae · Sep 14, 2023 · 6a184eb · 6a184eb
1 parent 045778e
commit 6a184eb
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Showing 3 changed files with 7 additions and 7 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -417,7 +417,7 @@ set(plugins
   )
 
 foreach(plugin ${plugins})
-  target_link_libraries(${plugin} ${Boost_LIBRARIES} ${GAZEBO_LIBRARIES} ${TinyXML_LIBRARIES})
+  target_link_libraries(${plugin} ${Boost_LIBRARIES} ${GAZEBO_LIBRARIES} ${TinyXML_LIBRARIES} ignition-gazebo1-ignition-sensors)
 endforeach()
 target_link_libraries(gazebo_opticalflow_plugin ${OpticalFlow_LIBS})
 

diff --git a/include/gazebo_sensor_plugin.h b/include/gazebo_sensor_plugin.h
@@ -2,26 +2,26 @@
 
 #include <string>
 
-#include <gazebo/gazebo.hh>
-#include <gazebo/sensors/sensors.hh>
+#include <ignition/gazebo.hh>
+#include <ignition/gazebo/Sensors.hh>
 
 namespace gazebo
 {
 
-    class CollisionPlugin : public SensorPlugin
+    class CollisionPlugin : public ignition::gazebo::SensorPlugin
     {
 
     public:
         CollisionPlugin(){}
 
         virtual ~CollisionPlugin(){}
 
-        virtual void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf);
+        void Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf) override;
 
     private:
         std::string GetObjName(std::string const& object);
 
-        virtual void OnUpdate();
+        void OnUpdate() override;
         sensors::ContactSensorPtr parentSensor;
         event::ConnectionPtr updateConnection;
         transport::NodePtr node;

diff --git a/src/gazebo_sensor_plugin.cpp b/src/gazebo_sensor_plugin.cpp
@@ -2,7 +2,7 @@
 #include "SensorMessage.pb.h"
 
 using namespace gazebo;
-GZ_REGISTER_SENSOR_PLUGIN(CollisionPlugin)
+IGNITION_ADD_PLUGIN(CollisionPlugin)
 
 void CollisionPlugin::Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf)
 {