Control: tags 792992 + pending Dear maintainer,
I've prepared an NMU for gazebo (versioned as 5.0.1+dfsg-2.1) and uploaded it to DELAYED/2. Please feel free to tell me if I should delay it longer. Cheers -- Sebastian Ramacher
diff -Nru gazebo-5.0.1+dfsg/debian/changelog gazebo-5.0.1+dfsg/debian/changelog --- gazebo-5.0.1+dfsg/debian/changelog 2015-05-31 07:59:19.000000000 +0200 +++ gazebo-5.0.1+dfsg/debian/changelog 2015-07-27 18:36:20.000000000 +0200 @@ -1,3 +1,11 @@ +gazebo (5.0.1+dfsg-2.1) unstable; urgency=medium + + * Non-maintainer upload. + * debian/patches/0010-bullet-2.83.patch: Apply upstream patch to fix build + against bullet 2.83. (Closes: #792992) + + -- Sebastian Ramacher <sramac...@debian.org> Mon, 27 Jul 2015 18:35:36 +0200 + gazebo (5.0.1+dfsg-2) unstable; urgency=medium * [208ddf2] Disable robot-player-dev support (see #787007) diff -Nru gazebo-5.0.1+dfsg/debian/patches/0010-bullet-2.83.patch gazebo-5.0.1+dfsg/debian/patches/0010-bullet-2.83.patch --- gazebo-5.0.1+dfsg/debian/patches/0010-bullet-2.83.patch 1970-01-01 01:00:00.000000000 +0100 +++ gazebo-5.0.1+dfsg/debian/patches/0010-bullet-2.83.patch 2015-07-27 18:29:51.000000000 +0200 @@ -0,0 +1,146 @@ +Description: Fix build against bullet 2.83 +Origin: upstream, + https://bitbucket.org/osrf/gazebo/commits/53bd6fdb10e57d8a70353dd02a48e2ff8a8c7f4b, + https://bitbucket.org/osrf/gazebo/commits/893065d361d16cd39dfe25716408e36543272e24 +Bug-Debian: https://bugs.debian.org/792992 +Last-Update: 2015-07-27 + +--- gazebo-5.0.1+dfsg.orig/cmake/SearchForStuff.cmake ++++ gazebo-5.0.1+dfsg/cmake/SearchForStuff.cmake +@@ -362,6 +362,10 @@ if (PKG_CONFIG_FOUND) + add_definitions( -DLIBBULLET_VERSION=0.0 ) + BUILD_WARNING ("Bullet > 2.82 not found, for bullet physics engine option, please install libbullet2.82-dev.") + endif() ++ ++ if (BULLET_VERSION VERSION_GREATER 2.82) ++ add_definitions( -DLIBBULLET_VERSION_GT_282 ) ++ endif() + + else (PKG_CONFIG_FOUND) + set (BUILD_GAZEBO OFF CACHE INTERNAL "Build Gazebo" FORCE) +--- gazebo-5.0.1+dfsg.orig/gazebo/physics/bullet/BulletHinge2Joint.cc ++++ gazebo-5.0.1+dfsg/gazebo/physics/bullet/BulletHinge2Joint.cc +@@ -211,8 +211,12 @@ math::Angle BulletHinge2Joint::GetHighSt + return math::Angle(); + } + +- btRotationalLimitMotor *motor = +- this->bulletHinge2->getRotationalLimitMotor(_index); ++#ifndef LIBBULLET_VERSION_GT_282 ++ btRotationalLimitMotor ++#else ++ btRotationalLimitMotor2 ++#endif ++ *motor = this->bulletHinge2->getRotationalLimitMotor(_index); + if (motor) + return motor->m_hiLimit; + +@@ -229,8 +233,12 @@ math::Angle BulletHinge2Joint::GetLowSto + return math::Angle(0.0); + } + +- btRotationalLimitMotor *motor = +- this->bulletHinge2->getRotationalLimitMotor(_index); ++#ifndef LIBBULLET_VERSION_GT_282 ++ btRotationalLimitMotor ++#else ++ btRotationalLimitMotor2 ++#endif ++ *motor = this->bulletHinge2->getRotationalLimitMotor(_index); + if (motor) + return motor->m_loLimit; + +--- gazebo-5.0.1+dfsg.orig/gazebo/physics/bullet/BulletHingeJoint.cc ++++ gazebo-5.0.1+dfsg/gazebo/physics/bullet/BulletHingeJoint.cc +@@ -105,7 +105,11 @@ void BulletHingeJoint::Init() + // If both links exist, then create a joint between the two links. + if (bulletChildLink && bulletParentLink) + { ++#ifdef LIBBULLET_VERSION_GT_282 ++ this->bulletHinge = new btHingeAccumulatedAngleConstraint( ++#else + this->bulletHinge = new btHingeConstraint( ++#endif + *(bulletChildLink->GetBulletLink()), + *(bulletParentLink->GetBulletLink()), + BulletTypes::ConvertVector3(pivotChild), +@@ -117,7 +121,11 @@ void BulletHingeJoint::Init() + // and the world. + else if (bulletChildLink) + { ++#ifdef LIBBULLET_VERSION_GT_282 ++ this->bulletHinge = new btHingeAccumulatedAngleConstraint( ++#else + this->bulletHinge = new btHingeConstraint( ++#endif + *(bulletChildLink->GetBulletLink()), + BulletTypes::ConvertVector3(pivotChild), + BulletTypes::ConvertVector3(axisChild)); +@@ -126,7 +134,11 @@ void BulletHingeJoint::Init() + // and the world. + else if (bulletParentLink) + { ++#ifdef LIBBULLET_VERSION_GT_282 ++ this->bulletHinge = new btHingeAccumulatedAngleConstraint( ++#else + this->bulletHinge = new btHingeConstraint( ++#endif + *(bulletParentLink->GetBulletLink()), + BulletTypes::ConvertVector3(pivotParent), + BulletTypes::ConvertVector3(axisParent)); +@@ -219,7 +231,18 @@ math::Angle BulletHingeJoint::GetAngleIm + { + math::Angle result; + if (this->bulletHinge) +- result = this->bulletHinge->getHingeAngle() - this->angleOffset; ++ { ++#ifdef LIBBULLET_VERSION_GT_282 ++ btHingeAccumulatedAngleConstraint* hinge = ++ static_cast<btHingeAccumulatedAngleConstraint*>(this->bulletHinge); ++ if (hinge) ++ result = hinge->getAccumulatedHingeAngle(); ++ else ++#else ++ result = this->bulletHinge->getHingeAngle(); ++#endif ++ result -= this->angleOffset; ++ } + return result; + } + +--- gazebo-5.0.1+dfsg.orig/test/integration/joint_revolute.cc ++++ gazebo-5.0.1+dfsg/test/integration/joint_revolute.cc +@@ -16,6 +16,7 @@ + */ + + #include "ServerFixture.hh" ++#include "gazebo/gazebo_config.h" + #include "gazebo/physics/physics.hh" + #include "SimplePendulumIntegrator.hh" + #include "helper_physics_generator.hh" +@@ -97,12 +98,15 @@ void JointTestRevolute::PendulumEnergy(c + //////////////////////////////////////////////////////////// + void JointTestRevolute::WrapAngle(const std::string &_physicsEngine) + { +- /// \TODO: bullet hinge angles are wrapped (#1074) ++#ifndef LIBBULLET_VERSION_GT_282 ++ /// bullet hinge angles are wrapped for 2.82 and less + if (_physicsEngine == "bullet") + { +- gzerr << "Aborting test for bullet, see issues #1074.\n"; ++ gzerr << "Aborting test for bullet, angle wrapping requires bullet 2.83" ++ << std::endl; + return; + } ++#endif + + // Load an empty world + Load("worlds/empty.world", true, _physicsEngine); +@@ -124,6 +128,7 @@ void JointTestRevolute::WrapAngle(const + ASSERT_TRUE(joint != NULL); + + // set velocity to 2 pi rad/s and step forward 1.5 seconds. ++ // angle should reach 3 pi rad. + double vel = 2*M_PI; + unsigned int stepSize = 50; + unsigned int stepCount = 30; diff -Nru gazebo-5.0.1+dfsg/debian/patches/series gazebo-5.0.1+dfsg/debian/patches/series --- gazebo-5.0.1+dfsg/debian/patches/series 2015-03-25 21:06:37.000000000 +0100 +++ gazebo-5.0.1+dfsg/debian/patches/series 2015-07-27 18:30:04.000000000 +0200 @@ -6,3 +6,4 @@ 0006-remove-maiden-font.patch 0008-arial-font-removed-in-dfsg.patch 0009-backport-model-path-fix.patch +0010-bullet-2.83.patch
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