2.5.14 -> 2.5.18

4 files changed, 44 insertions, 604 deletions

diff --git a/.SRCINFO b/.SRCINFO
index bd20910a8d7c..0360440e5609 100644
--- a/.SRCINFO
+++ b/.SRCINFO
@@ -1,8 +1,8 @@
 # Generated by mksrcinfo v8
-# Tue Mar 27 04:34:10 UTC 2018
+# Sat Feb  2 05:16:29 UTC 2019
 pkgbase = ros-kinetic-gazebo-plugins
 	pkgdesc = ROS - Robot-independent Gazebo plugins for sensors, motors and dynamic reconfigurable components.
-	pkgver = 2.5.14
+	pkgver = 2.5.18
 	pkgrel = 2
 	url = http://gazebosim.org/tutorials?cat=connect_ros
 	arch = any
@@ -22,6 +22,7 @@ pkgbase = ros-kinetic-gazebo-plugins
 	makedepends = ros-kinetic-diagnostic-updater
 	makedepends = ros-kinetic-std-msgs
 	makedepends = ros-kinetic-dynamic-reconfigure
+	makedepends = ros-kinetic-rostest
 	makedepends = ros-kinetic-rosgraph-msgs
 	makedepends = ros-kinetic-image-transport
 	makedepends = ros-kinetic-nav-msgs
@@ -58,10 +59,10 @@ pkgbase = ros-kinetic-gazebo-plugins
 	depends = ros-kinetic-polled-camera
 	depends = ros-kinetic-message-runtime
 	depends = ros-kinetic-roscpp
-	source = ros-kinetic-gazebo-plugins-2.5.14-1.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
+	source = ros-kinetic-gazebo-plugins-2.5.18-1.tar.gz::https://github.com/ros-gbp/gazebo_ros_pkgs-release/archive/release/kinetic/gazebo_plugins/2.5.18-1.tar.gz
+	source = opencv-header.patch
+	sha256sums = e5552128bf39a1db90a01d7163507a5557e58d8cf4e9fe70dc5f503aabe557d3
+	sha256sums = 5c6f119ad0bbfd5f4f747a292bbbe2eb7b858f49c31c41ef0bb5f7b27cb7906e
 
 pkgname = ros-kinetic-gazebo-plugins
 
diff --git a/PKGBUILD b/PKGBUILD
index a785cec060fe..fc8db15c26be 100644
--- a/PKGBUILD
+++ b/PKGBUILD
@@ -4,7 +4,7 @@ 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='2.5.14'
+pkgver='2.5.18'
 _pkgver_patch=1
 arch=('any')
 pkgrel=2
@@ -23,6 +23,7 @@ ros_makedepends=(ros-kinetic-trajectory-msgs
   ros-kinetic-diagnostic-updater
   ros-kinetic-std-msgs
   ros-kinetic-dynamic-reconfigure
+  ros-kinetic-rostest
   ros-kinetic-rosgraph-msgs
   ros-kinetic-image-transport
   ros-kinetic-nav-msgs
@@ -73,13 +74,13 @@ 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"
-  gazebo_9_fixes.patch)
-sha256sums=('4a36e2f8ddfde9671c23fdaf9d899224483f24dd05d66e5210d879bbee6ba22a'
-            'e5d1984874912db38418d3e37be9bc3d117c47a846fd4f42a108f2b60ccb00cf')
+        opencv-header.patch)
+sha256sums=('e5552128bf39a1db90a01d7163507a5557e58d8cf4e9fe70dc5f503aabe557d3'
+            '5c6f119ad0bbfd5f4f747a292bbbe2eb7b858f49c31c41ef0bb5f7b27cb7906e')
 
 prepare() {
-  cd ${srcdir}
-  patch -p1 < gazebo_9_fixes.patch
+  cd "${srcdir}/${_dir}"
+  patch -p2 -i "${srcdir}/opencv-header.patch"
 }
 
 build() {
@@ -94,6 +95,8 @@ build() {
   # Fix Python2/Python3 conflicts
   /usr/share/ros-build-tools/fix-python-scripts.sh -v 2 ${srcdir}/${_dir}
 
+  export PKG_CONFIG_PATH="/opt/OGRE-1.9/lib/pkgconfig"
+
   # Build project
   cmake ${srcdir}/${_dir} \
         -DCMAKE_BUILD_TYPE=Release \
diff --git a/gazebo_9_fixes.patch b/gazebo_9_fixes.patch
deleted file mode 100644
index d2178e0d4f80..000000000000
--- a/gazebo_9_fixes.patch
+++ /dev/null
@@ -1,592 +0,0 @@
---- 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) {
diff --git a/opencv-header.patch b/opencv-header.patch
new file mode 100644
index 000000000000..816432c36411
--- /dev/null
+++ b/opencv-header.patch
@@ -0,0 +1,28 @@
+From 3819c073c74667996359e6a4ac9d8e8f477fedc1 Mon Sep 17 00:00:00 2001
+From: Ben Wolsieffer <benwolsieffer@gmail.com>
+Date: Sat, 2 Feb 2019 00:09:45 -0500
+Subject: [PATCH] Remove old OpenCV header.
+
+---
+ gazebo_plugins/src/gazebo_ros_prosilica.cpp | 5 +----
+ 1 file changed, 1 insertion(+), 4 deletions(-)
+
+diff --git a/gazebo_plugins/src/gazebo_ros_prosilica.cpp b/gazebo_plugins/src/gazebo_ros_prosilica.cpp
+index cb25c41..9fee4b3 100644
+--- a/gazebo_plugins/src/gazebo_ros_prosilica.cpp
++++ b/gazebo_plugins/src/gazebo_ros_prosilica.cpp
+@@ -44,10 +44,7 @@
+ #include <diagnostic_updater/diagnostic_updater.h>
+ #include <sensor_msgs/RegionOfInterest.h>
+ 
+-#include <opencv/cv.h>
+-#include <opencv/highgui.h>
+-
+-#include <opencv/cvwimage.h>
++#include <opencv2/opencv.hpp>
+ 
+ #include <boost/scoped_ptr.hpp>
+ #include <boost/bind.hpp>
+-- 
+2.20.1
+