Merged in pchorak/gazebo/joint_control_menu_read_current_values (pull…

… request #2730)

Joint control menu read current values

Approved-by: Steven Peters <scpeters@osrfoundation.org>
Approved-by: Louise Poubel <lupoubel@hotmail.com>

Changelog.md

@@ -2,6 +2,10 @@
 
 ## Gazebo 8.x.x (2017-xx-xx)
 
+1. Added and improved communications between the JointControlWidget and JointController
+    * [Pull request #2730](https://bitbucket.org/osrf/gazebo/pull-request/2730)
+    * [Issue #295](https://bitbucket.org/osrf/gazebo/issues/295)
+
 1. Add the option --gui-client-plugin to load GUI plugins. Leave -g to load System Plugins.
     * [Pull request #2716](https://bitbucket.org/osrf/gazebo/pull-requests/2716)
     * [Issue 2279](https://bitbucket.org/osrf/gazebo/issues/2279)

Migration.md

@@ -14,6 +14,18 @@ release will remove the deprecated code.
    plugins. The `--gui-client-plugin` argument introduced in gazebo 8.2 load GUI
    plugins and will remain the exactly the same.   
 
+### Modifications
+
+1. **gazebo/gui/JointControlWidget.hh**
+    + ***Removed:*** gazebo::transport::Publisher for topic(s) `~/.../joint_cmd`
+    + ***Replacement:*** ignition::transport::Publisher for topic(s) `/.../joint_cmd`
+
+### Deprecations
+
+1. **gazebo/physics/JointController.hh**
+    + ***Deprecation:*** private: void OnJointCmd(ConstJointCmdPtr &_msg);
+    + ***Replacement:*** private: void OnJointCommand(const ignition::msgs::JointCmd &_msg);
+
 ## Gazebo 7.X to 8.X
 
 ### Build system

gazebo/gui/GuiIface.cc

@@ -84,6 +84,10 @@ Q_DECLARE_METATYPE(std::string)
 // qRegisterMetaType is also required, see below.
 Q_DECLARE_METATYPE(std::set<std::string>)
 
+// This makes it possible to use ignition::msgs::JointCmd in signals and slots.
+// qRegisterMetaType is also required, see below.
+Q_DECLARE_METATYPE(ignition::msgs::JointCmd)
+
 //////////////////////////////////////////////////
 // QT message handler that pipes qt messages into gazebo's console system.
 #if QT_VERSION >= QT_VERSION_CHECK(5, 0, 0)
@@ -471,6 +475,10 @@ bool gui::register_metatypes()
   // slots. Q_DECLARE_METATYPE is also required, see above.
   qRegisterMetaType< std::set<std::string> >();
 
+  // Register ignition::msgs::JointCmd as a type that can be used in signals and
+  // slots. Q_DECLARE_METATYPE is also required, see above.
+  qRegisterMetaType<ignition::msgs::JointCmd>();
+
   return true;
 }