Version bump with untested patch for gazebo 9.

3 files changed, 609 insertions, 8 deletions

diff --git a/.SRCINFO b/.SRCINFO
index 9a8b78fedffc..bd20910a8d7c 100644
--- a/.SRCINFO
+++ b/.SRCINFO
@@ -1,8 +1,8 @@
 # Generated by mksrcinfo v8
-# Thu Sep 21 20:34:56 UTC 2017
+# Tue Mar 27 04:34:10 UTC 2018
 pkgbase = ros-kinetic-gazebo-plugins
 	pkgdesc = ROS - Robot-independent Gazebo plugins for sensors, motors and dynamic reconfigurable components.
-	pkgver = 2.5.13
+	pkgver = 2.5.14
 	pkgrel = 2
 	url = http://gazebosim.org/tutorials?cat=connect_ros
 	arch = any
@@ -58,8 +58,10 @@ pkgbase = ros-kinetic-gazebo-plugins
 	depends = ros-kinetic-polled-camera
 	depends = ros-kinetic-message-runtime
 	depends = ros-kinetic-roscpp
-	source = ros-kinetic-gazebo-plugins-2.5.13-0.tar.gz::https://github.com/ros-gbp/gazebo_ros_pkgs-release/archive/release/kinetic/gazebo_plugins/2.5.13-0.tar.gz
-	sha256sums = 44a0373d9bac70e54ea2421674de27481647c190f7e0c39136cd01077dc3f8d8
+	source = ros-kinetic-gazebo-plugins-2.5.14-1.tar.gz::https://github.com/ros-gbp/gazebo_ros_pkgs-release/archive/release/kinetic/gazebo_plugins/2.5.14-1.tar.gz
+	source = gazebo_9_fixes.patch
+	sha256sums = 4a36e2f8ddfde9671c23fdaf9d899224483f24dd05d66e5210d879bbee6ba22a
+	sha256sums = e5d1984874912db38418d3e37be9bc3d117c47a846fd4f42a108f2b60ccb00cf
 
 pkgname = ros-kinetic-gazebo-plugins
 
diff --git a/PKGBUILD b/PKGBUILD
index bbcfdad5d755..a785cec060fe 100644
--- a/PKGBUILD
+++ b/PKGBUILD
@@ -4,8 +4,8 @@ pkgdesc="ROS - Robot-independent Gazebo plugins for sensors, motors and dynamic
 url='http://gazebosim.org/tutorials?cat=connect_ros'
 
 pkgname='ros-kinetic-gazebo-plugins'
-pkgver='2.5.13'
-_pkgver_patch=0
+pkgver='2.5.14'
+_pkgver_patch=1
 arch=('any')
 pkgrel=2
 license=('BSD, Apache 2.0')
@@ -72,8 +72,15 @@ depends=(${ros_depends[@]})
 
 # Tarball version (faster download)
 _dir="gazebo_ros_pkgs-release-release-kinetic-gazebo_plugins-${pkgver}-${_pkgver_patch}"
-source=("${pkgname}-${pkgver}-${_pkgver_patch}.tar.gz"::"https://github.com/ros-gbp/gazebo_ros_pkgs-release/archive/release/kinetic/gazebo_plugins/${pkgver}-${_pkgver_patch}.tar.gz")
-sha256sums=('44a0373d9bac70e54ea2421674de27481647c190f7e0c39136cd01077dc3f8d8')
+source=("${pkgname}-${pkgver}-${_pkgver_patch}.tar.gz"::"https://github.com/ros-gbp/gazebo_ros_pkgs-release/archive/release/kinetic/gazebo_plugins/${pkgver}-${_pkgver_patch}.tar.gz"
+  gazebo_9_fixes.patch)
+sha256sums=('4a36e2f8ddfde9671c23fdaf9d899224483f24dd05d66e5210d879bbee6ba22a'
+            'e5d1984874912db38418d3e37be9bc3d117c47a846fd4f42a108f2b60ccb00cf')
+
+prepare() {
+  cd ${srcdir}
+  patch -p1 < gazebo_9_fixes.patch
+}
 
 build() {
   # Use ROS environment variables
diff --git a/gazebo_9_fixes.patch b/gazebo_9_fixes.patch
new file mode 100644
index 000000000000..d2178e0d4f80
--- /dev/null
+++ b/gazebo_9_fixes.patch
@@ -0,0 +1,592 @@
+--- sro/gazebo_ros_pkgs-release-release-kinetic-gazebo_plugins-2.5.14-1/src/gazebo_ros_block_laser.cpp	2017-12-21 14:56:25.000000000 -0800
++++ src/gazebo_ros_pkgs-release-release-kinetic-gazebo_plugins-2.5.14-1/src/gazebo_ros_block_laser.cpp	2018-03-26 21:13:04.299093024 -0700
+@@ -82,7 +82,7 @@
+   std::string worldName = _parent->WorldName();
+   this->world_ = physics::get_world(worldName);
+ 
+-  last_update_time_ = this->world_->GetSimTime();
++  last_update_time_ = this->world_->SimTime();
+ 
+   this->node_ = transport::NodePtr(new transport::Node());
+   this->node_->Init(worldName);
+--- sro/gazebo_ros_pkgs-release-release-kinetic-gazebo_plugins-2.5.14-1/src/gazebo_ros_diff_drive.cpp	2017-12-21 14:56:25.000000000 -0800
++++ src/gazebo_ros_pkgs-release-release-kinetic-gazebo_plugins-2.5.14-1/src/gazebo_ros_diff_drive.cpp	2018-03-26 21:19:46.343259780 -0700
+@@ -131,7 +131,7 @@
+     // Initialize update rate stuff
+     if ( this->update_rate_ > 0.0 ) this->update_period_ = 1.0 / this->update_rate_;
+     else this->update_period_ = 0.0;
+-    last_update_time_ = parent->GetWorld()->GetSimTime();
++    last_update_time_ = parent->GetWorld()->SimTime();
+ 
+     // Initialize velocity stuff
+     wheel_speed_[RIGHT] = 0;
+@@ -183,7 +183,7 @@
+ 
+ void GazeboRosDiffDrive::Reset()
+ {
+-  last_update_time_ = parent->GetWorld()->GetSimTime();
++  last_update_time_ = parent->GetWorld()->SimTime();
+   pose_encoder_.x = 0;
+   pose_encoder_.y = 0;
+   pose_encoder_.theta = 0;
+@@ -203,7 +203,7 @@
+ 
+     for ( int i = 0; i < 2; i++ ) {
+         physics::JointPtr joint = joints_[i];
+-        ignition::math::Angle angle = joint->GetAngle ( 0 ).Ign();
++        ignition::math::Angle angle = joint->Position ( 0 );
+         joint_state_.name[i] = joint->GetName();
+         joint_state_.position[i] = angle.Radian () ;
+     }
+@@ -251,7 +251,7 @@
+ 
+ 
+     if ( odom_source_ == ENCODER ) UpdateOdometryEncoder();
+-    common::Time current_time = parent->GetWorld()->GetSimTime();
++    common::Time current_time = parent->GetWorld()->SimTime();
+     double seconds_since_last_update = ( current_time - last_update_time_ ).Double();
+ 
+     if ( seconds_since_last_update > update_period_ ) {
+@@ -343,7 +343,7 @@
+ {
+     double vl = joints_[LEFT]->GetVelocity ( 0 );
+     double vr = joints_[RIGHT]->GetVelocity ( 0 );
+-    common::Time current_time = parent->GetWorld()->GetSimTime();
++    common::Time current_time = parent->GetWorld()->SimTime();
+     double seconds_since_last_update = ( current_time - last_odom_update_ ).Double();
+     last_odom_update_ = current_time;
+ 
+@@ -413,7 +413,7 @@
+     }
+     if ( odom_source_ == WORLD ) {
+         // getting data form gazebo world
+-        ignition::math::Pose3d pose = parent->GetWorldPose().Ign();
++        ignition::math::Pose3d pose = parent->WorldPose();
+         qt = tf::Quaternion ( pose.Rot().X(), pose.Rot().Y(), pose.Rot().Z(), pose.Rot().W() );
+         vt = tf::Vector3 ( pose.Pos().X(), pose.Pos().Y(), pose.Pos().Z() );
+ 
+@@ -428,8 +428,8 @@
+ 
+         // get velocity in /odom frame
+         ignition::math::Vector3d linear;
+-        linear = parent->GetWorldLinearVel().Ign();
+-        odom_.twist.twist.angular.z = parent->GetWorldAngularVel().Ign().Z();
++        linear = parent->WorldLinearVel();
++        odom_.twist.twist.angular.z = parent->WorldAngularVel().Z();
+ 
+         // convert velocity to child_frame_id (aka base_footprint)
+         float yaw = pose.Rot().Yaw();
+--- sro/gazebo_ros_pkgs-release-release-kinetic-gazebo_plugins-2.5.14-1/src/gazebo_ros_f3d.cpp	2017-12-21 14:56:25.000000000 -0800
++++ src/gazebo_ros_pkgs-release-release-kinetic-gazebo_plugins-2.5.14-1/src/gazebo_ros_f3d.cpp	2018-03-26 21:13:04.329092588 -0700
+@@ -164,8 +164,8 @@
+   this->lock_.lock();
+   // copy data into wrench message
+   this->wrench_msg_.header.frame_id = this->frame_name_;
+-  this->wrench_msg_.header.stamp.sec = (this->world_->GetSimTime()).sec;
+-  this->wrench_msg_.header.stamp.nsec = (this->world_->GetSimTime()).nsec;
++  this->wrench_msg_.header.stamp.sec = (this->world_->SimTime()).sec;
++  this->wrench_msg_.header.stamp.nsec = (this->world_->SimTime()).nsec;
+ 
+   this->wrench_msg_.wrench.force.x    = force.X();
+   this->wrench_msg_.wrench.force.y    = force.Y();
+--- sro/gazebo_ros_pkgs-release-release-kinetic-gazebo_plugins-2.5.14-1/src/gazebo_ros_ft_sensor.cpp	2017-12-21 14:56:25.000000000 -0800
++++ src/gazebo_ros_pkgs-release-release-kinetic-gazebo_plugins-2.5.14-1/src/gazebo_ros_ft_sensor.cpp	2018-03-26 21:13:04.335092501 -0700
+@@ -157,7 +157,7 @@
+ // Update the controller
+ void GazeboRosFT::UpdateChild()
+ {
+-  common::Time cur_time = this->world_->GetSimTime();
++  common::Time cur_time = this->world_->SimTime();
+ 
+   // rate control
+   if (this->update_rate_ > 0 &&
+@@ -189,8 +189,8 @@
+   this->lock_.lock();
+   // copy data into wrench message
+   this->wrench_msg_.header.frame_id = this->frame_name_;
+-  this->wrench_msg_.header.stamp.sec = (this->world_->GetSimTime()).sec;
+-  this->wrench_msg_.header.stamp.nsec = (this->world_->GetSimTime()).nsec;
++  this->wrench_msg_.header.stamp.sec = (this->world_->SimTime()).sec;
++  this->wrench_msg_.header.stamp.nsec = (this->world_->SimTime()).nsec;
+ 
+   this->wrench_msg_.wrench.force.x = force.X() + this->GaussianKernel(0, this->gaussian_noise_);
+   this->wrench_msg_.wrench.force.y = force.Y() + this->GaussianKernel(0, this->gaussian_noise_);
+--- sro/gazebo_ros_pkgs-release-release-kinetic-gazebo_plugins-2.5.14-1/src/gazebo_ros_hand_of_god.cpp	2017-12-21 14:56:25.000000000 -0800
++++ src/gazebo_ros_pkgs-release-release-kinetic-gazebo_plugins-2.5.14-1/src/gazebo_ros_hand_of_god.cpp	2018-03-26 21:13:04.341092414 -0700
+@@ -173,7 +173,7 @@
+     ignition::math::Quaterniond not_a_quaternion = err_rot.Log();
+ 
+     floating_link_->AddForce(
+-        kl_ * err_pos - cl_ * floating_link_->GetWorldLinearVel().Ign());
++        kl_ * err_pos - cl_ * floating_link_->WorldLinearVel());
+ 
+     floating_link_->AddRelativeTorque(
+         ka_ * ignition::math::Vector3d(not_a_quaternion.X(), not_a_quaternion.Y(), not_a_quaternion.Z())
+--- sro/gazebo_ros_pkgs-release-release-kinetic-gazebo_plugins-2.5.14-1/src/gazebo_ros_imu.cpp	2017-12-21 14:56:25.000000000 -0800
++++ src/gazebo_ros_pkgs-release-release-kinetic-gazebo_plugins-2.5.14-1/src/gazebo_ros_imu.cpp	2018-03-26 21:17:19.693386103 -0700
+@@ -147,7 +147,7 @@
+ 
+   // assert that the body by link_name_ exists
+   this->link = boost::dynamic_pointer_cast<physics::Link>(
+-    this->world_->GetEntity(this->link_name_));
++    this->world_->EntityByName(this->link_name_));
+   if (!this->link)
+   {
+     ROS_FATAL_NAMED("imu", "gazebo_ros_imu plugin error: bodyName: %s does not exist\n",
+@@ -171,11 +171,11 @@
+   }
+ 
+   // Initialize the controller
+-  this->last_time_ = this->world_->GetSimTime();
++  this->last_time_ = this->world_->SimTime();
+ 
+   // this->initial_pose_ = this->link->GetPose();
+-  this->last_vpos_ = this->link->GetWorldLinearVel().Ign();
+-  this->last_veul_ = this->link->GetWorldAngularVel().Ign();
++  this->last_vpos_ = this->link->WorldLinearVel();
++  this->last_veul_ = this->link->WorldAngularVel();
+   this->apos_ = 0;
+   this->aeul_ = 0;
+ 
+@@ -203,7 +203,7 @@
+ // Update the controller
+ void GazeboRosIMU::UpdateChild()
+ {
+-  common::Time cur_time = this->world_->GetSimTime();
++  common::Time cur_time = this->world_->SimTime();
+ 
+   // rate control
+   if (this->update_rate_ > 0 &&
+@@ -217,7 +217,7 @@
+     ignition::math::Vector3d pos;
+ 
+     // Get Pose/Orientation ///@todo: verify correctness
+-    pose = this->link->GetWorldPose().Ign();
++    pose = this->link->WorldPose();
+     // apply xyz offsets and get position and rotation components
+     pos = pose.Pos() + this->offset_.Pos();
+     rot = pose.Rot();
+@@ -227,8 +227,8 @@
+     rot.Normalize();
+ 
+     // get Rates
+-    ignition::math::Vector3d vpos = this->link->GetWorldLinearVel().Ign();
+-    ignition::math::Vector3d veul = this->link->GetWorldAngularVel().Ign();
++    ignition::math::Vector3d vpos = this->link->WorldLinearVel();
++    ignition::math::Vector3d veul = this->link->WorldAngularVel();
+ 
+     // differentiate to get accelerations
+     double tmp_dt = this->last_time_.Double() - cur_time.Double();
+--- sro/gazebo_ros_pkgs-release-release-kinetic-gazebo_plugins-2.5.14-1/src/gazebo_ros_joint_pose_trajectory.cpp	2017-12-21 14:56:25.000000000 -0800
++++ src/gazebo_ros_pkgs-release-release-kinetic-gazebo_plugins-2.5.14-1/src/gazebo_ros_joint_pose_trajectory.cpp	2018-03-26 21:18:25.228435694 -0700
+@@ -143,7 +143,7 @@
+   }
+ #endif
+ 
+-  this->last_time_ = this->world_->GetSimTime();
++  this->last_time_ = this->world_->SimTime();
+ 
+   // start custom queue for joint trajectory plugin ros topics
+   this->callback_queue_thread_ =
+@@ -171,7 +171,7 @@
+       this->reference_link_name_ != "map")
+   {
+     physics::EntityPtr ent =
+-      this->world_->GetEntity(this->reference_link_name_);
++      this->world_->EntityByName(this->reference_link_name_);
+     if (ent)
+       this->reference_link_ = boost::dynamic_pointer_cast<physics::Link>(ent);
+     if (!this->reference_link_)
+@@ -211,7 +211,7 @@
+   // trajectory start time
+   this->trajectory_start = gazebo::common::Time(trajectory->header.stamp.sec,
+                                                 trajectory->header.stamp.nsec);
+-  common::Time cur_time = this->world_->GetSimTime();
++  common::Time cur_time = this->world_->SimTime();
+   if (this->trajectory_start < cur_time)
+     this->trajectory_start = cur_time;
+ 
+@@ -250,7 +250,7 @@
+       this->reference_link_name_ != "map")
+   {
+     physics::EntityPtr ent =
+-      this->world_->GetEntity(this->reference_link_name_);
++      this->world_->EntityByName(this->reference_link_name_);
+     if (ent)
+       this->reference_link_ = boost::dynamic_pointer_cast<physics::Link>(ent);
+     if (!this->reference_link_)
+@@ -320,7 +320,7 @@
+   boost::mutex::scoped_lock lock(this->update_mutex);
+   if (this->has_trajectory_)
+   {
+-    common::Time cur_time = this->world_->GetSimTime();
++    common::Time cur_time = this->world_->SimTime();
+     // roll out trajectory via set model configuration
+     // gzerr << "i[" << trajectory_index  << "] time "
+     //       << trajectory_start << " now: " << cur_time << " : "<< "\n";
+@@ -335,10 +335,10 @@
+           cur_time.Double(), this->trajectory_index, this->points_.size());
+ 
+         // get reference link pose before updates
+-        ignition::math::Pose3d reference_pose = this->model_->GetWorldPose().Ign();
++        ignition::math::Pose3d reference_pose = this->model_->WorldPose();
+         if (this->reference_link_)
+         {
+-          reference_pose = this->reference_link_->GetWorldPose().Ign();
++          reference_pose = this->reference_link_->WorldPose();
+         }
+ 
+         // trajectory roll-out based on time:
+--- sro/gazebo_ros_pkgs-release-release-kinetic-gazebo_plugins-2.5.14-1/src/gazebo_ros_joint_state_publisher.cpp	2017-12-21 14:56:25.000000000 -0800
++++ src/gazebo_ros_pkgs-release-release-kinetic-gazebo_plugins-2.5.14-1/src/gazebo_ros_joint_state_publisher.cpp	2018-03-26 21:19:31.338477267 -0700
+@@ -78,7 +78,7 @@
+     } else {
+         this->update_period_ = 0.0;
+     }
+-    last_update_time_ = this->world_->GetSimTime();
++    last_update_time_ = this->world_->SimTime();
+ 
+     for ( unsigned int i = 0; i< joint_names_.size(); i++ ) {
+         joints_.push_back ( this->parent_->GetJoint ( joint_names_[i] ) );
+@@ -90,7 +90,7 @@
+     tf_prefix_ = tf::getPrefixParam ( *rosnode_ );
+     joint_state_publisher_ = rosnode_->advertise<sensor_msgs::JointState> ( "joint_states",1000 );
+ 
+-    last_update_time_ = this->world_->GetSimTime();
++    last_update_time_ = this->world_->SimTime();
+     // Listen to the update event. This event is broadcast every
+     // simulation iteration.
+     this->updateConnection = event::Events::ConnectWorldUpdateBegin (
+@@ -99,7 +99,7 @@
+ 
+ void GazeboRosJointStatePublisher::OnUpdate ( const common::UpdateInfo & _info ) {
+     // Apply a small linear velocity to the model.
+-    common::Time current_time = this->world_->GetSimTime();
++    common::Time current_time = this->world_->SimTime();
+     double seconds_since_last_update = ( current_time - last_update_time_ ).Double();
+     if ( seconds_since_last_update > update_period_ ) {
+ 
+@@ -120,7 +120,7 @@
+ 
+     for ( int i = 0; i < joints_.size(); i++ ) {
+         physics::JointPtr joint = joints_[i];
+-        ignition::math::Angle angle = joint->GetAngle ( 0 ).Ign();
++        ignition::math::Angle angle = joint->Position ( 0 );
+         joint_state_.name[i] = joint->GetName();
+         joint_state_.position[i] = angle.Radian () ;
+     }
+--- sro/gazebo_ros_pkgs-release-release-kinetic-gazebo_plugins-2.5.14-1/src/gazebo_ros_joint_trajectory.cpp	2017-12-21 14:56:25.000000000 -0800
++++ src/gazebo_ros_pkgs-release-release-kinetic-gazebo_plugins-2.5.14-1/src/gazebo_ros_joint_trajectory.cpp	2018-03-26 21:17:56.601850806 -0700
+@@ -145,7 +145,7 @@
+   }
+ #endif
+ 
+-  this->last_time_ = this->world_->GetSimTime();
++  this->last_time_ = this->world_->SimTime();
+ 
+   // start custom queue for joint trajectory plugin ros topics
+   this->callback_queue_thread_ =
+@@ -173,7 +173,7 @@
+       this->reference_link_name_ != "map")
+   {
+     physics::EntityPtr ent =
+-      this->world_->GetEntity(this->reference_link_name_);
++      this->world_->EntityByName(this->reference_link_name_);
+     if (ent)
+       this->reference_link_ = boost::dynamic_pointer_cast<physics::Link>(ent);
+     if (!this->reference_link_)
+@@ -213,7 +213,7 @@
+   // trajectory start time
+   this->trajectory_start = gazebo::common::Time(trajectory->header.stamp.sec,
+                                                 trajectory->header.stamp.nsec);
+-  common::Time cur_time = this->world_->GetSimTime();
++  common::Time cur_time = this->world_->SimTime();
+   if (this->trajectory_start < cur_time)
+     this->trajectory_start = cur_time;
+ 
+@@ -252,7 +252,7 @@
+       this->reference_link_name_ != "map")
+   {
+     physics::EntityPtr ent =
+-      this->world_->GetEntity(this->reference_link_name_);
++      this->world_->EntityByName(this->reference_link_name_);
+     if (ent)
+       this->reference_link_ = boost::shared_dynamic_cast<physics::Link>(ent);
+     if (!this->reference_link_)
+@@ -322,7 +322,7 @@
+   boost::mutex::scoped_lock lock(this->update_mutex);
+   if (this->has_trajectory_)
+   {
+-    common::Time cur_time = this->world_->GetSimTime();
++    common::Time cur_time = this->world_->SimTime();
+     // roll out trajectory via set model configuration
+     // gzerr << "i[" << trajectory_index  << "] time "
+     //       << trajectory_start << " now: " << cur_time << " : "<< "\n";
+@@ -337,10 +337,10 @@
+           cur_time.Double(), this->trajectory_index, this->points_.size());
+ 
+         // get reference link pose before updates
+-        ignition::math::Pose3d reference_pose = this->model_->GetWorldPose().Ign();
++        ignition::math::Pose3d reference_pose = this->model_->WorldPose();
+         if (this->reference_link_)
+         {
+-          reference_pose = this->reference_link_->GetWorldPose().Ign();
++          reference_pose = this->reference_link_->WorldPose();
+         }
+ 
+         // trajectory roll-out based on time:
+--- sro/gazebo_ros_pkgs-release-release-kinetic-gazebo_plugins-2.5.14-1/src/gazebo_ros_openni_kinect.cpp	2017-12-21 14:56:25.000000000 -0800
++++ src/gazebo_ros_pkgs-release-release-kinetic-gazebo_plugins-2.5.14-1/src/gazebo_ros_openni_kinect.cpp	2018-03-26 21:13:04.367092036 -0700
+@@ -435,7 +435,7 @@
+   if (this->depth_info_connect_count_ > 0)
+   {
+     this->sensor_update_time_ = this->parentSensor_->LastMeasurementTime();
+-    common::Time cur_time = this->world_->GetSimTime();
++    common::Time cur_time = this->world_->SimTime();
+     if (this->sensor_update_time_ - this->last_depth_image_camera_info_update_time_ >= this->update_period_)
+     {
+       this->PublishCameraInfo(this->depth_image_camera_info_pub_);
+--- sro/gazebo_ros_pkgs-release-release-kinetic-gazebo_plugins-2.5.14-1/src/gazebo_ros_p3d.cpp	2017-12-21 14:56:25.000000000 -0800
++++ src/gazebo_ros_pkgs-release-release-kinetic-gazebo_plugins-2.5.14-1/src/gazebo_ros_p3d.cpp	2018-03-26 21:13:04.371091978 -0700
+@@ -149,10 +149,10 @@
+       this->rosnode_->advertise<nav_msgs::Odometry>(this->topic_name_, 1);
+   }
+ 
+-  this->last_time_ = this->world_->GetSimTime();
++  this->last_time_ = this->world_->SimTime();
+   // initialize body
+-  this->last_vpos_ = this->link_->GetWorldLinearVel().Ign();
+-  this->last_veul_ = this->link_->GetWorldAngularVel().Ign();
++  this->last_vpos_ = this->link_->WorldLinearVel();
++  this->last_veul_ = this->link_->WorldAngularVel();
+   this->apos_ = 0;
+   this->aeul_ = 0;
+ 
+@@ -178,8 +178,8 @@
+     ROS_DEBUG_NAMED("p3d", "got body %s", this->reference_link_->GetName().c_str());
+     this->frame_apos_ = 0;
+     this->frame_aeul_ = 0;
+-    this->last_frame_vpos_ = this->reference_link_->GetWorldLinearVel().Ign();
+-    this->last_frame_veul_ = this->reference_link_->GetWorldAngularVel().Ign();
++    this->last_frame_vpos_ = this->reference_link_->WorldLinearVel();
++    this->last_frame_veul_ = this->reference_link_->WorldAngularVel();
+   }
+ 
+ 
+@@ -201,7 +201,7 @@
+   if (!this->link_)
+     return;
+ 
+-  common::Time cur_time = this->world_->GetSimTime();
++  common::Time cur_time = this->world_->SimTime();
+ 
+   // rate control
+   if (this->update_rate_ > 0 &&
+@@ -230,23 +230,23 @@
+         ignition::math::Vector3d frame_veul;
+ 
+         // get inertial Rates
+-        ignition::math::Vector3d vpos = this->link_->GetWorldLinearVel().Ign();
+-        ignition::math::Vector3d veul = this->link_->GetWorldAngularVel().Ign();
++        ignition::math::Vector3d vpos = this->link_->WorldLinearVel();
++        ignition::math::Vector3d veul = this->link_->WorldAngularVel();
+ 
+         // Get Pose/Orientation
+-        pose = this->link_->GetWorldPose().Ign();
++        pose = this->link_->WorldPose();
+ 
+         // Apply Reference Frame
+         if (this->reference_link_)
+         {
+           // convert to relative pose
+-          frame_pose = this->reference_link_->GetWorldPose().Ign();
++          frame_pose = this->reference_link_->WorldPose();
+           pose.Pos() = pose.Pos() - frame_pose.Pos();
+           pose.Pos() = frame_pose.Rot().RotateVectorReverse(pose.Pos());
+           pose.Rot() *= frame_pose.Rot().Inverse();
+           // convert to relative rates
+-          frame_vpos = this->reference_link_->GetWorldLinearVel().Ign();
+-          frame_veul = this->reference_link_->GetWorldAngularVel().Ign();
++          frame_vpos = this->reference_link_->WorldLinearVel();
++          frame_veul = this->reference_link_->WorldAngularVel();
+           vpos = frame_pose.Rot().RotateVector(vpos - frame_vpos);
+           veul = frame_pose.Rot().RotateVector(veul - frame_veul);
+         }
+--- sro/gazebo_ros_pkgs-release-release-kinetic-gazebo_plugins-2.5.14-1/src/gazebo_ros_planar_move.cpp	2017-12-21 14:56:25.000000000 -0800
++++ src/gazebo_ros_pkgs-release-release-kinetic-gazebo_plugins-2.5.14-1/src/gazebo_ros_planar_move.cpp	2018-03-26 21:13:04.374091935 -0700
+@@ -112,8 +112,8 @@
+       odometry_rate_ = sdf->GetElement("odometryRate")->Get<double>();
+     }
+ 
+-    last_odom_publish_time_ = parent_->GetWorld()->GetSimTime();
+-    last_odom_pose_ = parent_->GetWorldPose().Ign();
++    last_odom_publish_time_ = parent_->GetWorld()->SimTime();
++    last_odom_pose_ = parent_->WorldPose();
+     x_ = 0;
+     y_ = 0;
+     rot_ = 0;
+@@ -160,7 +160,7 @@
+   void GazeboRosPlanarMove::UpdateChild()
+   {
+     boost::mutex::scoped_lock scoped_lock(lock);
+-    ignition::math::Pose3d pose = parent_->GetWorldPose().Ign();
++    ignition::math::Pose3d pose = parent_->WorldPose();
+     float yaw = pose.Rot().Yaw();
+     parent_->SetLinearVel(ignition::math::Vector3d(
+           x_ * cosf(yaw) - y_ * sinf(yaw),
+@@ -168,7 +168,7 @@
+           0));
+     parent_->SetAngularVel(ignition::math::Vector3d(0, 0, rot_));
+     if (odometry_rate_ > 0.0) {
+-      common::Time current_time = parent_->GetWorld()->GetSimTime();
++      common::Time current_time = parent_->GetWorld()->SimTime();
+       double seconds_since_last_update =
+         (current_time - last_odom_publish_time_).Double();
+       if (seconds_since_last_update > (1.0 / odometry_rate_)) {
+@@ -214,7 +214,7 @@
+       tf::resolve(tf_prefix_, robot_base_frame_);
+ 
+     // getting data for base_footprint to odom transform
+-    ignition::math::Pose3d pose = this->parent_->GetWorldPose().Ign();
++    ignition::math::Pose3d pose = this->parent_->WorldPose();
+ 
+     tf::Quaternion qt(pose.Rot().X(), pose.Rot().Y(), pose.Rot().Z(), pose.Rot().W());
+     tf::Vector3    vt(pose.Pos().X(), pose.Pos().Y(), pose.Pos().Z());
+--- sro/gazebo_ros_pkgs-release-release-kinetic-gazebo_plugins-2.5.14-1/src/gazebo_ros_range.cpp	2017-12-21 14:56:25.000000000 -0800
++++ src/gazebo_ros_pkgs-release-release-kinetic-gazebo_plugins-2.5.14-1/src/gazebo_ros_range.cpp	2018-03-26 21:13:04.386091760 -0700
+@@ -243,7 +243,7 @@
+ {
+   if (this->topic_name_ != "")
+   {
+-    common::Time cur_time = this->world_->GetSimTime();
++    common::Time cur_time = this->world_->SimTime();
+     if (cur_time - this->last_update_time_ >= this->update_period_)
+     {
+       common::Time sensor_update_time =
+--- sro/gazebo_ros_pkgs-release-release-kinetic-gazebo_plugins-2.5.14-1/src/gazebo_ros_skid_steer_drive.cpp	2017-12-21 14:56:25.000000000 -0800
++++ src/gazebo_ros_pkgs-release-release-kinetic-gazebo_plugins-2.5.14-1/src/gazebo_ros_skid_steer_drive.cpp	2018-03-26 21:13:04.391091688 -0700
+@@ -232,7 +232,7 @@
+     } else {
+       this->update_period_ = 0.0;
+     }
+-    last_update_time_ = this->world->GetSimTime();
++    last_update_time_ = this->world->SimTime();
+ 
+     // Initialize velocity stuff
+     wheel_speed_[RIGHT_FRONT] = 0;
+@@ -331,7 +331,7 @@
+ 
+   // Update the controller
+   void GazeboRosSkidSteerDrive::UpdateChild() {
+-    common::Time current_time = this->world->GetSimTime();
++    common::Time current_time = this->world->SimTime();
+     double seconds_since_last_update =
+       (current_time - last_update_time_).Double();
+     if (seconds_since_last_update > update_period_) {
+@@ -405,7 +405,7 @@
+ 
+     // TODO create some non-perfect odometry!
+     // getting data for base_footprint to odom transform
+-    ignition::math::Pose3d pose = this->parent->GetWorldPose().Ign();
++    ignition::math::Pose3d pose = this->parent->WorldPose();
+ 
+     tf::Quaternion qt(pose.Rot().X(), pose.Rot().Y(), pose.Rot().Z(), pose.Rot().W());
+     tf::Vector3 vt(pose.Pos().X(), pose.Pos().Y(), pose.Pos().Z());
+@@ -436,8 +436,8 @@
+ 
+     // get velocity in /odom frame
+     ignition::math::Vector3d linear;
+-    linear = this->parent->GetWorldLinearVel().Ign();
+-    odom_.twist.twist.angular.z = this->parent->GetWorldAngularVel().Ign().Z();
++    linear = this->parent->WorldLinearVel();
++    odom_.twist.twist.angular.z = this->parent->WorldAngularVel().Z();
+ 
+     // convert velocity to child_frame_id (aka base_footprint)
+     float yaw = pose.Rot().Yaw();
+--- sro/gazebo_ros_pkgs-release-release-kinetic-gazebo_plugins-2.5.14-1/src/gazebo_ros_tricycle_drive.cpp	2017-12-21 14:56:25.000000000 -0800
++++ src/gazebo_ros_pkgs-release-release-kinetic-gazebo_plugins-2.5.14-1/src/gazebo_ros_tricycle_drive.cpp	2018-03-26 21:15:28.421000548 -0700
+@@ -116,7 +116,7 @@
+     // Initialize update rate stuff
+     if ( this->update_rate_ > 0.0 ) this->update_period_ = 1.0 / this->update_rate_;
+     else this->update_period_ = 0.0;
+-    last_actuator_update_ = parent->GetWorld()->GetSimTime();
++    last_actuator_update_ = parent->GetWorld()->SimTime();
+ 
+     // Initialize velocity stuff
+     alive_ = true;
+@@ -166,7 +166,7 @@
+     joint_state_.effort.resize ( joints.size() );
+     for ( std::size_t i = 0; i < joints.size(); i++ ) {
+         joint_state_.name[i] = joints[i]->GetName();
+-        joint_state_.position[i] = joints[i]->GetAngle ( 0 ).Radian();
++        joint_state_.position[i] = joints[i]->Position ( 0 );
+         joint_state_.velocity[i] = joints[i]->GetVelocity ( 0 );
+         joint_state_.effort[i] = joints[i]->GetForce ( 0 );
+     }
+@@ -203,7 +203,7 @@
+ void GazeboRosTricycleDrive::UpdateChild()
+ {
+     if ( odom_source_ == ENCODER ) UpdateOdometryEncoder();
+-    common::Time current_time = parent->GetWorld()->GetSimTime();
++    common::Time current_time = parent->GetWorld()->SimTime();
+     double seconds_since_last_update = ( current_time - last_actuator_update_ ).Double();
+     if ( seconds_since_last_update > update_period_ ) {
+ 
+@@ -250,7 +250,7 @@
+     }
+     joint_wheel_actuated_->SetParam ( "vel", 0, applied_speed );
+ 
+-    double current_angle = joint_steering_->GetAngle ( 0 ).Radian();
++    double current_angle = joint_steering_->Position ( 0 );
+ 
+     // truncate target angle
+     if (target_angle > +M_PI / 2.0)
+@@ -337,7 +337,7 @@
+ {
+     double vl = joint_wheel_encoder_left_->GetVelocity ( 0 );
+     double vr = joint_wheel_encoder_right_->GetVelocity ( 0 );
+-    common::Time current_time = parent->GetWorld()->GetSimTime();
++    common::Time current_time = parent->GetWorld()->SimTime();
+     double seconds_since_last_update = ( current_time - last_odom_update_ ).Double();
+     last_odom_update_ = current_time;
+ 
+@@ -397,7 +397,7 @@
+     }
+     if ( odom_source_ == WORLD ) {
+         // getting data form gazebo world
+-        ignition::math::Pose3d pose = parent->GetWorldPose().Ign();
++        ignition::math::Pose3d pose = parent->WorldPose();
+         qt = tf::Quaternion ( pose.Rot().X(), pose.Rot().Y(), pose.Rot().Z(), pose.Rot().W() );
+         vt = tf::Vector3 ( pose.Pos().X(), pose.Pos().Y(), pose.Pos().Z() );
+ 
+@@ -412,8 +412,8 @@
+ 
+         // get velocity in /odom frame
+         ignition::math::Vector3d linear;
+-        linear = parent->GetWorldLinearVel().Ign();
+-        odom_.twist.twist.angular.z = parent->GetWorldAngularVel().Ign().Z();
++        linear = parent->WorldLinearVel();
++        odom_.twist.twist.angular.z = parent->WorldAngularVel().Z();
+ 
+         // convert velocity to child_frame_id (aka base_footprint)
+         float yaw = pose.Rot().Yaw();
+--- sro/gazebo_ros_pkgs-release-release-kinetic-gazebo_plugins-2.5.14-1/src/gazebo_ros_vacuum_gripper.cpp	2017-12-21 14:56:25.000000000 -0800
++++ src/gazebo_ros_pkgs-release-release-kinetic-gazebo_plugins-2.5.14-1/src/gazebo_ros_vacuum_gripper.cpp	2018-03-26 21:13:04.410091412 -0700
+@@ -183,7 +183,7 @@
+   ignition::math::Pose3d parent_pose = link_->WorldPose();
+   physics::Model_V models = world_->Models();
+ #else
+-  ignition::math::Pose3d parent_pose = link_->GetWorldPose().Ign();
++  ignition::math::Pose3d parent_pose = link_->WorldPose();
+   physics::Model_V models = world_->GetModels();
+ #endif
+   for (size_t i = 0; i < models.size(); i++) {
+@@ -194,7 +194,7 @@
+     }
+     physics::Link_V links = models[i]->GetLinks();
+     for (size_t j = 0; j < links.size(); j++) {
+-      ignition::math::Pose3d link_pose = links[j]->GetWorldPose().Ign();
++      ignition::math::Pose3d link_pose = links[j]->WorldPose();
+       ignition::math::Pose3d diff = parent_pose - link_pose;
+       double norm = diff.Pos().Length();
+       if (norm < 0.05) {