Simplify the code with gazebosim/gz-sim#629 .

peci1 · Mar 3, 2021 · b33cb5e · b33cb5e
1 parent 7a51ea1
commit b33cb5e
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Showing 3 changed files with 2 additions and 34 deletions.
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/src/ecm_helper.hh b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/src/ecm_helper.hh
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/src/flipper_control_plugin.cpp b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/src/flipper_control_plugin.cpp
@@ -12,8 +12,6 @@
 
 #include <sdf/JointAxis.hh>
 
-#include "ecm_helper.hh"
-
 using namespace ignition;
 using namespace gazebo;
 using namespace systems;
@@ -155,7 +153,7 @@ class FlipperControlPlugin : public System, public ISystemConfigure, public ISys
       return;
     }
 
-    const auto& angle = ComponentDefault<components::JointPosition>(_ecm, this->joint)->Data()[0];
+    const auto& angle = _ecm.ComponentDefault<components::JointPosition>(this->joint)->Data()[0];
 
     if (this->cmdVel.has_value())
     {

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/src/laser_rotate_plugin.cpp b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/src/laser_rotate_plugin.cpp
@@ -8,8 +8,6 @@
 #include "ignition/gazebo/components/JointVelocityCmd.hh"
 #include "ignition/gazebo/Model.hh"
 
-#include "ecm_helper.hh"
-
 using namespace ignition;
 using namespace gazebo;
 using namespace systems;
@@ -91,7 +89,7 @@ class LaserRotatePlugin : public System, public ISystemConfigure, public ISystem
       }
     }
 
-    auto& jointPosition = ComponentDefault<components::JointPosition>(_ecm, this->joint)->Data().at(0);
+    auto& jointPosition = _ecm.ComponentDefault<components::JointPosition>(this->joint)->Data().at(0);
 
     if (this->rotationVelocitySigned == 0.0)
     {