Remove no longer needed patch.

3 files changed, 5 insertions, 646 deletions

diff --git a/.SRCINFO b/.SRCINFO
index e6f7d05ecc27..d8e0b8e9973f 100644
--- a/.SRCINFO
+++ b/.SRCINFO
@@ -1,9 +1,9 @@
 # Generated by mksrcinfo v8
-# Sat Feb  2 03:36:58 UTC 2019
+# Sat Feb  2 04:28:57 UTC 2019
 pkgbase = ros-kinetic-gazebo-ros
 	pkgdesc = ROS - Provides ROS plugins that offer message and service publishers for interfacing with Gazebo through ROS.
 	pkgver = 2.5.18
-	pkgrel = 2
+	pkgrel = 3
 	url = http://gazebosim.org/tutorials?cat=connect_ros
 	arch = any
 	license = Apache 2.0
@@ -34,9 +34,7 @@ pkgbase = ros-kinetic-gazebo-ros
 	depends = ros-kinetic-roslib
 	depends = tinyxml
 	source = ros-kinetic-gazebo-ros-2.5.18-1.tar.gz::https://github.com/ros-gbp/gazebo_ros_pkgs-release/archive/release/kinetic/gazebo_ros/2.5.18-1.tar.gz
-	source = gazebo_9_fixes.patch
 	sha256sums = cd027c4cafa7dd8f2570af29c7782d19c33d8dca1251e96cc0cbcf2c4b9a63df
-	sha256sums = 2c45807037b7d4c5d3eff0352e37f0408d6d65f65fa85efb8e147b36ff957289
 
 pkgname = ros-kinetic-gazebo-ros
 
diff --git a/PKGBUILD b/PKGBUILD
index 8429945818aa..6dc08b299f60 100644
--- a/PKGBUILD
+++ b/PKGBUILD
@@ -7,7 +7,7 @@ pkgname='ros-kinetic-gazebo-ros'
 pkgver='2.5.18'
 _pkgver_patch=1
 arch=('any')
-pkgrel=2
+pkgrel=3
 license=('Apache 2.0')
 
 ros_makedepends=(ros-kinetic-gazebo-dev
@@ -47,15 +47,8 @@ depends=(${ros_depends[@]}
 
 # Tarball version (faster download)
 _dir="gazebo_ros_pkgs-release-release-kinetic-gazebo_ros-${pkgver}-${_pkgver_patch}"
-source=("${pkgname}-${pkgver}-${_pkgver_patch}.tar.gz"::"https://github.com/ros-gbp/gazebo_ros_pkgs-release/archive/release/kinetic/gazebo_ros/${pkgver}-${_pkgver_patch}.tar.gz"
-  gazebo_9_fixes.patch)
-sha256sums=('cd027c4cafa7dd8f2570af29c7782d19c33d8dca1251e96cc0cbcf2c4b9a63df'
-            '2c45807037b7d4c5d3eff0352e37f0408d6d65f65fa85efb8e147b36ff957289')
-
-prepare() {
-  cd ${srcdir}
-  patch -p1 < gazebo_9_fixes.patch
-}
+source=("${pkgname}-${pkgver}-${_pkgver_patch}.tar.gz"::"https://github.com/ros-gbp/gazebo_ros_pkgs-release/archive/release/kinetic/gazebo_ros/${pkgver}-${_pkgver_patch}.tar.gz")
+sha256sums=('cd027c4cafa7dd8f2570af29c7782d19c33d8dca1251e96cc0cbcf2c4b9a63df')
 
 build() {
   # Use ROS environment variables
diff --git a/gazebo_9_fixes.patch b/gazebo_9_fixes.patch
deleted file mode 100644
index 6d26a8a4bb52..000000000000
--- a/gazebo_9_fixes.patch
+++ /dev/null
@@ -1,632 +0,0 @@
---- sro/gazebo_ros_pkgs-release-release-kinetic-gazebo_ros-2.5.14-1/src/gazebo_ros_api_plugin.cpp	2018-03-26 21:41:10.599699612 -0700
-+++ src/gazebo_ros_pkgs-release-release-kinetic-gazebo_ros-2.5.14-1/src/gazebo_ros_api_plugin.cpp	2018-03-26 21:59:43.362330676 -0700
-@@ -505,7 +505,7 @@
- 
-   // todo: contemplate setting environment variable ROBOT=sim here???
-   nh_->getParam("pub_clock_frequency", pub_clock_frequency_);
--  last_pub_clock_time_ = world_->GetSimTime();
-+  last_pub_clock_time_ = world_->SimTime();
- }
- 
- void GazeboRosApiPlugin::onLinkStatesConnect()
-@@ -626,11 +626,11 @@
-   ignition::math::Quaterniond initial_q(req.initial_pose.orientation.w,req.initial_pose.orientation.x,req.initial_pose.orientation.y,req.initial_pose.orientation.z);
- 
-   // refernce frame for initial pose definition, modify initial pose if defined
--  gazebo::physics::LinkPtr frame = boost::dynamic_pointer_cast<gazebo::physics::Link>(world_->GetEntity(req.reference_frame));
-+  gazebo::physics::LinkPtr frame = boost::dynamic_pointer_cast<gazebo::physics::Link>(world_->EntityByName(req.reference_frame));
-   if (frame)
-   {
-     // convert to relative pose
--    ignition::math::Pose3d frame_pose = frame->GetWorldPose().Ign();
-+    ignition::math::Pose3d frame_pose = frame->WorldPose();
-     initial_xyz = frame_pose.Rot().RotateVector(initial_xyz);
-     initial_xyz += frame_pose.Pos();
-     initial_q *= frame_pose.Rot();
-@@ -721,7 +721,7 @@
-                                      gazebo_msgs::DeleteModel::Response &res)
- {
-   // clear forces, etc for the body in question
--  gazebo::physics::ModelPtr model = world_->GetModel(req.model_name);
-+  gazebo::physics::ModelPtr model = world_->ModelByName(req.model_name);
-   if (!model)
-   {
-     ROS_ERROR_NAMED("api_plugin", "DeleteModel: model [%s] does not exist",req.model_name.c_str());
-@@ -766,7 +766,7 @@
-     }
-     {
-       //boost::recursive_mutex::scoped_lock lock(*world->GetMRMutex());
--      if (!world_->GetModel(req.model_name)) break;
-+      if (!world_->ModelByName(req.model_name)) break;
-     }
-     ROS_DEBUG_NAMED("api_plugin", "Waiting for model deletion (%s)",req.model_name.c_str());
-     usleep(1000);
-@@ -781,7 +781,7 @@
- bool GazeboRosApiPlugin::deleteLight(gazebo_msgs::DeleteLight::Request &req,
-                                      gazebo_msgs::DeleteLight::Response &res)
- {
--  gazebo::physics::LightPtr phy_light = world_->Light(req.light_name);
-+  gazebo::physics::LightPtr phy_light = world_->LightByName(req.light_name);
- 
-   if (phy_light == NULL)
-   {
-@@ -797,7 +797,7 @@
- 
-     for (int i = 0; i < 100; i++)
-     {
--      phy_light = world_->Light(req.light_name);
-+      phy_light = world_->LightByName(req.light_name);
-       if (phy_light == NULL)
-       {
-         res.success = true;
-@@ -818,8 +818,8 @@
- bool GazeboRosApiPlugin::getModelState(gazebo_msgs::GetModelState::Request &req,
-                                        gazebo_msgs::GetModelState::Response &res)
- {
--  gazebo::physics::ModelPtr model = world_->GetModel(req.model_name);
--  gazebo::physics::LinkPtr frame = boost::dynamic_pointer_cast<gazebo::physics::Link>(world_->GetEntity(req.relative_entity_name));
-+  gazebo::physics::ModelPtr model = world_->ModelByName(req.model_name);
-+  gazebo::physics::LinkPtr frame = boost::dynamic_pointer_cast<gazebo::physics::Link>(world_->EntityByName(req.relative_entity_name));
-   if (!model)
-   {
-     ROS_ERROR_NAMED("api_plugin", "GetModelState: model [%s] does not exist",req.model_name.c_str());
-@@ -850,26 +850,26 @@
-       res.header.frame_id = req.relative_entity_name; /// @brief this is a redundant information
-     }
-     // get model pose
--    ignition::math::Pose3d      model_pose = model->GetWorldPose().Ign();
-+    ignition::math::Pose3d      model_pose = model->WorldPose();
-     ignition::math::Vector3d    model_pos = model_pose.Pos();
-     ignition::math::Quaterniond model_rot = model_pose.Rot();
- 
-     // get model twist
--    ignition::math::Vector3d model_linear_vel  = model->GetWorldLinearVel().Ign();
--    ignition::math::Vector3d model_angular_vel = model->GetWorldAngularVel().Ign();
-+    ignition::math::Vector3d model_linear_vel  = model->WorldLinearVel();
-+    ignition::math::Vector3d model_angular_vel = model->WorldAngularVel();
- 
- 
-     if (frame)
-     {
-       // convert to relative pose
--      ignition::math::Pose3d frame_pose = frame->GetWorldPose().Ign();
-+      ignition::math::Pose3d frame_pose = frame->WorldPose();
-       model_pos = model_pos - frame_pose.Pos();
-       model_pos = frame_pose.Rot().RotateVectorReverse(model_pos);
-       model_rot *= frame_pose.Rot().Inverse();
- 
-       // convert to relative rates
--      ignition::math::Vector3d frame_vpos = frame->GetWorldLinearVel().Ign(); // get velocity in gazebo frame
--      ignition::math::Vector3d frame_veul = frame->GetWorldAngularVel().Ign(); // get velocity in gazebo frame
-+      ignition::math::Vector3d frame_vpos = frame->WorldLinearVel(); // get velocity in gazebo frame
-+      ignition::math::Vector3d frame_veul = frame->WorldAngularVel(); // get velocity in gazebo frame
-       model_linear_vel = frame_pose.Rot().RotateVector(model_linear_vel - frame_vpos);
-       model_angular_vel = frame_pose.Rot().RotateVector(model_angular_vel - frame_veul);
-     }
-@@ -911,7 +911,7 @@
- bool GazeboRosApiPlugin::getModelProperties(gazebo_msgs::GetModelProperties::Request &req,
-                                             gazebo_msgs::GetModelProperties::Response &res)
- {
--  gazebo::physics::ModelPtr model = world_->GetModel(req.model_name);
-+  gazebo::physics::ModelPtr model = world_->ModelByName(req.model_name);
-   if (!model)
-   {
-     ROS_ERROR_NAMED("api_plugin", "GetModelProperties: model [%s] does not exist",req.model_name.c_str());
-@@ -973,10 +973,10 @@
- bool GazeboRosApiPlugin::getWorldProperties(gazebo_msgs::GetWorldProperties::Request &req,
-                                             gazebo_msgs::GetWorldProperties::Response &res)
- {
--  res.sim_time = world_->GetSimTime().Double();
-+  res.sim_time = world_->SimTime().Double();
-   res.model_names.clear();
--  for (unsigned int i = 0; i < world_->GetModelCount(); i ++)
--    res.model_names.push_back(world_->GetModel(i)->GetName());
-+  for (unsigned int i = 0; i < world_->ModelCount(); i ++)
-+    res.model_names.push_back(world_->ModelByIndex(i)->GetName());
-   gzerr << "disablign rendering has not been implemented, rendering is always enabled\n";
-   res.rendering_enabled = true; //world->GetRenderEngineEnabled();
-   res.success = true;
-@@ -988,9 +988,9 @@
-                                             gazebo_msgs::GetJointProperties::Response &res)
- {
-   gazebo::physics::JointPtr joint;
--  for (unsigned int i = 0; i < world_->GetModelCount(); i ++)
-+  for (unsigned int i = 0; i < world_->ModelCount(); i ++)
-   {
--    joint = world_->GetModel(i)->GetJoint(req.joint_name);
-+    joint = world_->ModelByIndex(i)->GetJoint(req.joint_name);
-     if (joint) break;
-   }
- 
-@@ -1009,7 +1009,7 @@
-     //res.damping.push_back(joint->GetDamping(0));
- 
-     res.position.clear(); // use GetAngle(i)
--    res.position.push_back(joint->GetAngle(0).Radian());
-+    res.position.push_back(joint->Position(0));
- 
-     res.rate.clear(); // use GetVelocity(i)
-     res.rate.push_back(joint->GetVelocity(0));
-@@ -1023,7 +1023,7 @@
- bool GazeboRosApiPlugin::getLinkProperties(gazebo_msgs::GetLinkProperties::Request &req,
-                                            gazebo_msgs::GetLinkProperties::Response &res)
- {
--  gazebo::physics::LinkPtr body = boost::dynamic_pointer_cast<gazebo::physics::Link>(world_->GetEntity(req.link_name));
-+  gazebo::physics::LinkPtr body = boost::dynamic_pointer_cast<gazebo::physics::Link>(world_->EntityByName(req.link_name));
-   if (!body)
-   {
-     res.success = false;
-@@ -1077,8 +1077,8 @@
- bool GazeboRosApiPlugin::getLinkState(gazebo_msgs::GetLinkState::Request &req,
-                                       gazebo_msgs::GetLinkState::Response &res)
- {
--  gazebo::physics::LinkPtr body = boost::dynamic_pointer_cast<gazebo::physics::Link>(world_->GetEntity(req.link_name));
--  gazebo::physics::LinkPtr frame = boost::dynamic_pointer_cast<gazebo::physics::Link>(world_->GetEntity(req.reference_frame));
-+  gazebo::physics::LinkPtr body = boost::dynamic_pointer_cast<gazebo::physics::Link>(world_->EntityByName(req.link_name));
-+  gazebo::physics::LinkPtr frame = boost::dynamic_pointer_cast<gazebo::physics::Link>(world_->EntityByName(req.reference_frame));
- 
-   if (!body)
-   {
-@@ -1088,22 +1088,22 @@
-   }
- 
-   // get body pose
--  ignition::math::Pose3d body_pose = body->GetWorldPose().Ign();
-+  ignition::math::Pose3d body_pose = body->WorldPose();
-   // Get inertial rates
--  ignition::math::Vector3d body_vpos = body->GetWorldLinearVel().Ign(); // get velocity in gazebo frame
--  ignition::math::Vector3d body_veul = body->GetWorldAngularVel().Ign(); // get velocity in gazebo frame
-+  ignition::math::Vector3d body_vpos = body->WorldLinearVel(); // get velocity in gazebo frame
-+  ignition::math::Vector3d body_veul = body->WorldAngularVel(); // get velocity in gazebo frame
- 
-   if (frame)
-   {
-     // convert to relative pose
--    ignition::math::Pose3d frame_pose = frame->GetWorldPose().Ign();
-+    ignition::math::Pose3d frame_pose = frame->WorldPose();
-     body_pose.Pos() = body_pose.Pos() - frame_pose.Pos();
-     body_pose.Pos() = frame_pose.Rot().RotateVectorReverse(body_pose.Pos());
-     body_pose.Rot() *= frame_pose.Rot().Inverse();
- 
-     // convert to relative rates
--    ignition::math::Vector3d frame_vpos = frame->GetWorldLinearVel().Ign(); // get velocity in gazebo frame
--    ignition::math::Vector3d frame_veul = frame->GetWorldAngularVel().Ign(); // get velocity in gazebo frame
-+    ignition::math::Vector3d frame_vpos = frame->WorldLinearVel(); // get velocity in gazebo frame
-+    ignition::math::Vector3d frame_veul = frame->WorldAngularVel(); // get velocity in gazebo frame
-     body_vpos = frame_pose.Rot().RotateVector(body_vpos - frame_vpos);
-     body_veul = frame_pose.Rot().RotateVector(body_veul - frame_veul);
-   }
-@@ -1143,7 +1143,7 @@
- bool GazeboRosApiPlugin::getLightProperties(gazebo_msgs::GetLightProperties::Request &req,
-                                                gazebo_msgs::GetLightProperties::Response &res)
- {
--  gazebo::physics::LightPtr phy_light = world_->Light(req.light_name);
-+  gazebo::physics::LightPtr phy_light = world_->LightByName(req.light_name);
- 
-   if (phy_light == NULL)
-   {
-@@ -1173,7 +1173,7 @@
- bool GazeboRosApiPlugin::setLightProperties(gazebo_msgs::SetLightProperties::Request &req,
-                                                gazebo_msgs::SetLightProperties::Response &res)
- {
--  gazebo::physics::LightPtr phy_light = world_->Light(req.light_name);
-+  gazebo::physics::LightPtr phy_light = world_->LightByName(req.light_name);
- 
-   if (phy_light == NULL)
-   {
-@@ -1206,7 +1206,7 @@
- bool GazeboRosApiPlugin::setLinkProperties(gazebo_msgs::SetLinkProperties::Request &req,
-                                            gazebo_msgs::SetLinkProperties::Response &res)
- {
--  gazebo::physics::LinkPtr body = boost::dynamic_pointer_cast<gazebo::physics::Link>(world_->GetEntity(req.link_name));
-+  gazebo::physics::LinkPtr body = boost::dynamic_pointer_cast<gazebo::physics::Link>(world_->EntityByName(req.link_name));
-   if (!body)
-   {
-     res.success = false;
-@@ -1238,11 +1238,11 @@
-   world_->SetGravity(ignition::math::Vector3d(req.gravity.x,req.gravity.y,req.gravity.z));
- 
-   // supported updates
--  gazebo::physics::PhysicsEnginePtr pe = (world_->GetPhysicsEngine());
-+  gazebo::physics::PhysicsEnginePtr pe = (world_->Physics());
-   pe->SetMaxStepSize(req.time_step);
-   pe->SetRealTimeUpdateRate(req.max_update_rate);
- 
--  if (world_->GetPhysicsEngine()->GetType() == "ode")
-+  if (world_->Physics()->GetType() == "ode")
-   {
-     // stuff only works in ODE right now
-     pe->SetAutoDisableFlag(req.ode_config.auto_disable_bodies);
-@@ -1265,9 +1265,9 @@
-   else
-   {
-     /// \TODO: add support for simbody, dart and bullet physics properties.
--    ROS_ERROR_NAMED("api_plugin", "ROS set_physics_properties service call does not yet support physics engine [%s].", world_->GetPhysicsEngine()->GetType().c_str());
-+    ROS_ERROR_NAMED("api_plugin", "ROS set_physics_properties service call does not yet support physics engine [%s].", world_->Physics()->GetType().c_str());
-     res.success = false;
--    res.status_message = "Physics engine [" + world_->GetPhysicsEngine()->GetType() + "]: set_physics_properties not supported.";
-+    res.status_message = "Physics engine [" + world_->Physics()->GetType() + "]: set_physics_properties not supported.";
-   }
-   return res.success;
- }
-@@ -1276,35 +1276,35 @@
-                                               gazebo_msgs::GetPhysicsProperties::Response &res)
- {
-   // supported updates
--  res.time_step = world_->GetPhysicsEngine()->GetMaxStepSize();
-+  res.time_step = world_->Physics()->GetMaxStepSize();
-   res.pause = world_->IsPaused();
--  res.max_update_rate = world_->GetPhysicsEngine()->GetRealTimeUpdateRate();
-+  res.max_update_rate = world_->Physics()->GetRealTimeUpdateRate();
-   ignition::math::Vector3d gravity = world_->Gravity();
-   res.gravity.x = gravity.X();
-   res.gravity.y = gravity.Y();
-   res.gravity.z = gravity.Z();
- 
-   // stuff only works in ODE right now
--  if (world_->GetPhysicsEngine()->GetType() == "ode")
-+  if (world_->Physics()->GetType() == "ode")
-   {
-     res.ode_config.auto_disable_bodies =
--      world_->GetPhysicsEngine()->GetAutoDisableFlag();
-+      world_->Physics()->GetAutoDisableFlag();
-     res.ode_config.sor_pgs_precon_iters = boost::any_cast<int>(
--      world_->GetPhysicsEngine()->GetParam("precon_iters"));
-+      world_->Physics()->GetParam("precon_iters"));
-     res.ode_config.sor_pgs_iters = boost::any_cast<int>(
--        world_->GetPhysicsEngine()->GetParam("iters"));
-+        world_->Physics()->GetParam("iters"));
-     res.ode_config.sor_pgs_w = boost::any_cast<double>(
--        world_->GetPhysicsEngine()->GetParam("sor"));
-+        world_->Physics()->GetParam("sor"));
-     res.ode_config.contact_surface_layer = boost::any_cast<double>(
--      world_->GetPhysicsEngine()->GetParam("contact_surface_layer"));
-+      world_->Physics()->GetParam("contact_surface_layer"));
-     res.ode_config.contact_max_correcting_vel = boost::any_cast<double>(
--      world_->GetPhysicsEngine()->GetParam("contact_max_correcting_vel"));
-+      world_->Physics()->GetParam("contact_max_correcting_vel"));
-     res.ode_config.cfm = boost::any_cast<double>(
--        world_->GetPhysicsEngine()->GetParam("cfm"));
-+        world_->Physics()->GetParam("cfm"));
-     res.ode_config.erp = boost::any_cast<double>(
--        world_->GetPhysicsEngine()->GetParam("erp"));
-+        world_->Physics()->GetParam("erp"));
-     res.ode_config.max_contacts = boost::any_cast<int>(
--      world_->GetPhysicsEngine()->GetParam("max_contacts"));
-+      world_->Physics()->GetParam("max_contacts"));
- 
-     res.success = true;
-     res.status_message = "GetPhysicsProperties: got properties";
-@@ -1312,9 +1312,9 @@
-   else
-   {
-     /// \TODO: add support for simbody, dart and bullet physics properties.
--    ROS_ERROR_NAMED("api_plugin", "ROS get_physics_properties service call does not yet support physics engine [%s].", world_->GetPhysicsEngine()->GetType().c_str());
-+    ROS_ERROR_NAMED("api_plugin", "ROS get_physics_properties service call does not yet support physics engine [%s].", world_->Physics()->GetType().c_str());
-     res.success = false;
--    res.status_message = "Physics engine [" + world_->GetPhysicsEngine()->GetType() + "]: get_physics_properties not supported.";
-+    res.status_message = "Physics engine [" + world_->Physics()->GetType() + "]: get_physics_properties not supported.";
-   }
-   return res.success;
- }
-@@ -1324,9 +1324,9 @@
- {
-   /// @todo: current settings only allows for setting of 1DOF joints (e.g. HingeJoint and SliderJoint) correctly.
-   gazebo::physics::JointPtr joint;
--  for (unsigned int i = 0; i < world_->GetModelCount(); i ++)
-+  for (unsigned int i = 0; i < world_->ModelCount(); i ++)
-   {
--    joint = world_->GetModel(i)->GetJoint(req.joint_name);
-+    joint = world_->ModelByIndex(i)->GetJoint(req.joint_name);
-     if (joint) break;
-   }
- 
-@@ -1375,7 +1375,7 @@
-   ignition::math::Vector3d target_pos_dot(req.model_state.twist.linear.x,req.model_state.twist.linear.y,req.model_state.twist.linear.z);
-   ignition::math::Vector3d target_rot_dot(req.model_state.twist.angular.x,req.model_state.twist.angular.y,req.model_state.twist.angular.z);
- 
--  gazebo::physics::ModelPtr model = world_->GetModel(req.model_state.model_name);
-+  gazebo::physics::ModelPtr model = world_->ModelByName(req.model_state.model_name);
-   if (!model)
-   {
-     ROS_ERROR_NAMED("api_plugin", "Updating ModelState: model [%s] does not exist",req.model_state.model_name.c_str());
-@@ -1385,16 +1385,16 @@
-   }
-   else
-   {
--    gazebo::physics::LinkPtr relative_entity = boost::dynamic_pointer_cast<gazebo::physics::Link>(world_->GetEntity(req.model_state.reference_frame));
-+    gazebo::physics::LinkPtr relative_entity = boost::dynamic_pointer_cast<gazebo::physics::Link>(world_->EntityByName(req.model_state.reference_frame));
-     if (relative_entity)
-     {
--      ignition::math::Pose3d  frame_pose = relative_entity->GetWorldPose().Ign(); // - myBody->GetCoMPose();
-+      ignition::math::Pose3d  frame_pose = relative_entity->WorldPose(); // - myBody->GetCoMPose();
-       ignition::math::Vector3d frame_pos = frame_pose.Pos();
-       ignition::math::Quaterniond frame_rot = frame_pose.Rot();
- 
-       //std::cout << " debug : " << relative_entity->GetName() << " : " << frame_pose << " : " << target_pose << std::endl;
-       //target_pose = frame_pose + target_pose; // seems buggy, use my own
--      target_pose.Pos() = model->GetWorldPose().Ign().Pos() + frame_rot.RotateVector(target_pos);
-+      target_pose.Pos() = model->WorldPose().Pos() + frame_rot.RotateVector(target_pos);
-       target_pose.Rot() = frame_rot * target_pose.Rot();
- 
-       // Velocities should be commanded in the requested reference
-@@ -1421,7 +1421,7 @@
-     world_->SetPaused(true);
-     model->SetWorldPose(target_pose);
-     world_->SetPaused(is_paused);
--    //ignition::math::Pose3d p3d = model->GetWorldPose().Ign();
-+    //ignition::math::Pose3d p3d = model->WorldPose();
-     //ROS_ERROR_NAMED("api_plugin", "model updated state: %f %f %f",p3d.Pos().X(),p3d.Pos().Y(),p3d.Pos().Z());
- 
-     // set model velocity
-@@ -1446,17 +1446,17 @@
-                                           gazebo_msgs::ApplyJointEffort::Response &res)
- {
-   gazebo::physics::JointPtr joint;
--  for (unsigned int i = 0; i < world_->GetModelCount(); i ++)
-+  for (unsigned int i = 0; i < world_->ModelCount(); i ++)
-   {
--    joint = world_->GetModel(i)->GetJoint(req.joint_name);
-+    joint = world_->ModelByIndex(i)->GetJoint(req.joint_name);
-     if (joint)
-     {
-       GazeboRosApiPlugin::ForceJointJob* fjj = new GazeboRosApiPlugin::ForceJointJob;
-       fjj->joint = joint;
-       fjj->force = req.effort;
-       fjj->start_time = req.start_time;
--      if (fjj->start_time < ros::Time(world_->GetSimTime().Double()))
--        fjj->start_time = ros::Time(world_->GetSimTime().Double());
-+      if (fjj->start_time < ros::Time(world_->SimTime().Double()))
-+        fjj->start_time = ros::Time(world_->SimTime().Double());
-       fjj->duration = req.duration;
-       lock_.lock();
-       force_joint_jobs_.push_back(fjj);
-@@ -1560,7 +1560,7 @@
-   std::string gazebo_model_name = req.model_name;
- 
-   // search for model with name
--  gazebo::physics::ModelPtr gazebo_model = world_->GetModel(req.model_name);
-+  gazebo::physics::ModelPtr gazebo_model = world_->ModelByName(req.model_name);
-   if (!gazebo_model)
-   {
-     ROS_ERROR_NAMED("api_plugin", "SetModelConfiguration: model [%s] does not exist",gazebo_model_name.c_str());
-@@ -1601,8 +1601,8 @@
- bool GazeboRosApiPlugin::setLinkState(gazebo_msgs::SetLinkState::Request &req,
-                                       gazebo_msgs::SetLinkState::Response &res)
- {
--  gazebo::physics::LinkPtr body = boost::dynamic_pointer_cast<gazebo::physics::Link>(world_->GetEntity(req.link_state.link_name));
--  gazebo::physics::LinkPtr frame = boost::dynamic_pointer_cast<gazebo::physics::Link>(world_->GetEntity(req.link_state.reference_frame));
-+  gazebo::physics::LinkPtr body = boost::dynamic_pointer_cast<gazebo::physics::Link>(world_->EntityByName(req.link_state.link_name));
-+  gazebo::physics::LinkPtr frame = boost::dynamic_pointer_cast<gazebo::physics::Link>(world_->EntityByName(req.link_state.reference_frame));
-   if (!body)
-   {
-     ROS_ERROR_NAMED("api_plugin", "Updating LinkState: link [%s] does not exist",req.link_state.link_name.c_str());
-@@ -1622,7 +1622,7 @@
- 
-   if (frame)
-   {
--    ignition::math::Pose3d  frame_pose = frame->GetWorldPose().Ign(); // - myBody->GetCoMPose();
-+    ignition::math::Pose3d  frame_pose = frame->WorldPose(); // - myBody->GetCoMPose();
-     ignition::math::Vector3d frame_pos = frame_pose.Pos();
-     ignition::math::Quaterniond frame_rot = frame_pose.Rot();
- 
-@@ -1631,8 +1631,8 @@
-     target_pose.Pos() = frame_pos + frame_rot.RotateVector(target_pos);
-     target_pose.Rot() = frame_rot * target_pose.Rot();
- 
--    ignition::math::Vector3d frame_linear_vel = frame->GetWorldLinearVel().Ign();
--    ignition::math::Vector3d frame_angular_vel = frame->GetWorldAngularVel().Ign();
-+    ignition::math::Vector3d frame_linear_vel = frame->WorldLinearVel();
-+    ignition::math::Vector3d frame_angular_vel = frame->WorldAngularVel();
-     target_linear_vel -= frame_linear_vel;
-     target_angular_vel -= frame_angular_vel;
-   }
-@@ -1690,8 +1690,8 @@
- bool GazeboRosApiPlugin::applyBodyWrench(gazebo_msgs::ApplyBodyWrench::Request &req,
-                                          gazebo_msgs::ApplyBodyWrench::Response &res)
- {
--  gazebo::physics::LinkPtr body = boost::dynamic_pointer_cast<gazebo::physics::Link>(world_->GetEntity(req.body_name));
--  gazebo::physics::LinkPtr frame = boost::dynamic_pointer_cast<gazebo::physics::Link>(world_->GetEntity(req.reference_frame));
-+  gazebo::physics::LinkPtr body = boost::dynamic_pointer_cast<gazebo::physics::Link>(world_->EntityByName(req.body_name));
-+  gazebo::physics::LinkPtr frame = boost::dynamic_pointer_cast<gazebo::physics::Link>(world_->EntityByName(req.reference_frame));
-   if (!body)
-   {
-     ROS_ERROR_NAMED("api_plugin", "ApplyBodyWrench: body [%s] does not exist",req.body_name.c_str());
-@@ -1721,20 +1721,20 @@
-     //        transform wrench from reference_point in reference_frame
-     //        into the reference frame of the body
-     //        first, translate by reference point to the body frame
--    ignition::math::Pose3d target_to_reference = frame->GetWorldPose().Ign() - body->GetWorldPose().Ign();
-+    ignition::math::Pose3d target_to_reference = frame->WorldPose() - body->WorldPose();
-     ROS_DEBUG_NAMED("api_plugin", "reference frame for applied wrench: [%f %f %f, %f %f %f]-[%f %f %f, %f %f %f]=[%f %f %f, %f %f %f]",
--              body->GetWorldPose().Ign().Pos().X(),
--              body->GetWorldPose().Ign().Pos().Y(),
--              body->GetWorldPose().Ign().Pos().Z(),
--              body->GetWorldPose().Ign().Rot().Euler().X(),
--              body->GetWorldPose().Ign().Rot().Euler().Y(),
--              body->GetWorldPose().Ign().Rot().Euler().Z(),
--              frame->GetWorldPose().Ign().Pos().X(),
--              frame->GetWorldPose().Ign().Pos().Y(),
--              frame->GetWorldPose().Ign().Pos().Z(),
--              frame->GetWorldPose().Ign().Rot().Euler().X(),
--              frame->GetWorldPose().Ign().Rot().Euler().Y(),
--              frame->GetWorldPose().Ign().Rot().Euler().Z(),
-+              body->WorldPose().Pos().X(),
-+              body->WorldPose().Pos().Y(),
-+              body->WorldPose().Pos().Z(),
-+              body->WorldPose().Rot().Euler().X(),
-+              body->WorldPose().Rot().Euler().Y(),
-+              body->WorldPose().Rot().Euler().Z(),
-+              frame->WorldPose().Pos().X(),
-+              frame->WorldPose().Pos().Y(),
-+              frame->WorldPose().Pos().Z(),
-+              frame->WorldPose().Rot().Euler().X(),
-+              frame->WorldPose().Rot().Euler().Y(),
-+              frame->WorldPose().Rot().Euler().Z(),
-               target_to_reference.Pos().X(),
-               target_to_reference.Pos().Y(),
-               target_to_reference.Pos().Z(),
-@@ -1765,7 +1765,7 @@
-   {
-     ROS_INFO_NAMED("api_plugin", "ApplyBodyWrench: reference_frame is empty/world/map, using inertial frame, transferring from body relative to inertial frame");
-     // FIXME: transfer to inertial frame
--    ignition::math::Pose3d target_to_reference = body->GetWorldPose().Ign();
-+    ignition::math::Pose3d target_to_reference = body->WorldPose();
-     target_force = reference_force;
-     target_torque = reference_torque;
- 
-@@ -1787,8 +1787,8 @@
-   wej->force = target_force;
-   wej->torque = target_torque;
-   wej->start_time = req.start_time;
--  if (wej->start_time < ros::Time(world_->GetSimTime().Double()))
--    wej->start_time = ros::Time(world_->GetSimTime().Double());
-+  if (wej->start_time < ros::Time(world_->SimTime().Double()))
-+    wej->start_time = ros::Time(world_->SimTime().Double());
-   wej->duration = req.duration;
-   lock_.lock();
-   wrench_body_jobs_.push_back(wej);
-@@ -1829,8 +1829,8 @@
-   for (std::vector<GazeboRosApiPlugin::WrenchBodyJob*>::iterator iter=wrench_body_jobs_.begin();iter!=wrench_body_jobs_.end();)
-   {
-     // check times and apply wrench if necessary
--    if (ros::Time(world_->GetSimTime().Double()) >= (*iter)->start_time)
--      if (ros::Time(world_->GetSimTime().Double()) <= (*iter)->start_time+(*iter)->duration ||
-+    if (ros::Time(world_->SimTime().Double()) >= (*iter)->start_time)
-+      if (ros::Time(world_->SimTime().Double()) <= (*iter)->start_time+(*iter)->duration ||
-           (*iter)->duration.toSec() < 0.0)
-       {
-         if ((*iter)->body) // if body exists
-@@ -1842,7 +1842,7 @@
-           (*iter)->duration.fromSec(0.0); // mark for delete
-       }
- 
--    if (ros::Time(world_->GetSimTime().Double()) > (*iter)->start_time+(*iter)->duration &&
-+    if (ros::Time(world_->SimTime().Double()) > (*iter)->start_time+(*iter)->duration &&
-         (*iter)->duration.toSec() >= 0.0)
-     {
-       // remove from queue once expires
-@@ -1863,8 +1863,8 @@
-   for (std::vector<GazeboRosApiPlugin::ForceJointJob*>::iterator iter=force_joint_jobs_.begin();iter!=force_joint_jobs_.end();)
-   {
-     // check times and apply force if necessary
--    if (ros::Time(world_->GetSimTime().Double()) >= (*iter)->start_time)
--      if (ros::Time(world_->GetSimTime().Double()) <= (*iter)->start_time+(*iter)->duration ||
-+    if (ros::Time(world_->SimTime().Double()) >= (*iter)->start_time)
-+      if (ros::Time(world_->SimTime().Double()) <= (*iter)->start_time+(*iter)->duration ||
-           (*iter)->duration.toSec() < 0.0)
-       {
-         if ((*iter)->joint) // if joint exists
-@@ -1873,7 +1873,7 @@
-           (*iter)->duration.fromSec(0.0); // mark for delete
-       }
- 
--    if (ros::Time(world_->GetSimTime().Double()) > (*iter)->start_time+(*iter)->duration &&
-+    if (ros::Time(world_->SimTime().Double()) > (*iter)->start_time+(*iter)->duration &&
-         (*iter)->duration.toSec() >= 0.0)
-     {
-       // remove from queue once expires
-@@ -1888,7 +1888,7 @@
- void GazeboRosApiPlugin::publishSimTime(const boost::shared_ptr<gazebo::msgs::WorldStatistics const> &msg)
- {
-   ROS_ERROR_NAMED("api_plugin", "CLOCK2");
--  gazebo::common::Time sim_time = world_->GetSimTime();
-+  gazebo::common::Time sim_time = world_->SimTime();
-   if (pub_clock_frequency_ > 0 && (sim_time - last_pub_clock_time_).Double() < 1.0/pub_clock_frequency_)
-     return;
- 
-@@ -1901,11 +1901,11 @@
- }
- void GazeboRosApiPlugin::publishSimTime()
- {
--  gazebo::common::Time sim_time = world_->GetSimTime();
-+  gazebo::common::Time sim_time = world_->SimTime();
-   if (pub_clock_frequency_ > 0 && (sim_time - last_pub_clock_time_).Double() < 1.0/pub_clock_frequency_)
-     return;
- 
--  gazebo::common::Time currentTime = world_->GetSimTime();
-+  gazebo::common::Time currentTime = world_->SimTime();
-   rosgraph_msgs::Clock ros_time_;
-   ros_time_.clock.fromSec(currentTime.Double());
-   //  publish time to ros
-@@ -1918,9 +1918,9 @@
-   gazebo_msgs::LinkStates link_states;
- 
-   // fill link_states
--  for (unsigned int i = 0; i < world_->GetModelCount(); i ++)
-+  for (unsigned int i = 0; i < world_->ModelCount(); i ++)
-   {
--    gazebo::physics::ModelPtr model = world_->GetModel(i);
-+    gazebo::physics::ModelPtr model = world_->ModelByIndex(i);
- 
-     for (unsigned int j = 0 ; j < model->GetChildCount(); j ++)
-     {
-@@ -1930,7 +1930,7 @@
-       {
-         link_states.name.push_back(body->GetScopedName());
-         geometry_msgs::Pose pose;
--        ignition::math::Pose3d  body_pose = body->GetWorldPose().Ign(); // - myBody->GetCoMPose();
-+        ignition::math::Pose3d  body_pose = body->WorldPose(); // - myBody->GetCoMPose();
-         ignition::math::Vector3d pos = body_pose.Pos();
-         ignition::math::Quaterniond rot = body_pose.Rot();
-         pose.position.x = pos.X();
-@@ -1941,8 +1941,8 @@
-         pose.orientation.y = rot.Y();
-         pose.orientation.z = rot.Z();
-         link_states.pose.push_back(pose);
--        ignition::math::Vector3d linear_vel  = body->GetWorldLinearVel().Ign();
--        ignition::math::Vector3d angular_vel = body->GetWorldAngularVel().Ign();
-+        ignition::math::Vector3d linear_vel  = body->WorldLinearVel();
-+        ignition::math::Vector3d angular_vel = body->WorldAngularVel();
-         geometry_msgs::Twist twist;
-         twist.linear.x = linear_vel.X();
-         twist.linear.y = linear_vel.Y();
-@@ -1963,12 +1963,12 @@
-   gazebo_msgs::ModelStates model_states;
- 
-   // fill model_states
--  for (unsigned int i = 0; i < world_->GetModelCount(); i ++)
-+  for (unsigned int i = 0; i < world_->ModelCount(); i ++)
-   {
--    gazebo::physics::ModelPtr model = world_->GetModel(i);
-+    gazebo::physics::ModelPtr model = world_->ModelByIndex(i);
-     model_states.name.push_back(model->GetName());
-     geometry_msgs::Pose pose;
--    ignition::math::Pose3d  model_pose = model->GetWorldPose().Ign(); // - myBody->GetCoMPose();
-+    ignition::math::Pose3d  model_pose = model->WorldPose(); // - myBody->GetCoMPose();
-     ignition::math::Vector3d pos = model_pose.Pos();
-     ignition::math::Quaterniond rot = model_pose.Rot();
-     pose.position.x = pos.X();
-@@ -1979,8 +1979,8 @@
-     pose.orientation.y = rot.Y();
-     pose.orientation.z = rot.Z();
-     model_states.pose.push_back(pose);
--    ignition::math::Vector3d linear_vel  = model->GetWorldLinearVel().Ign();
--    ignition::math::Vector3d angular_vel = model->GetWorldAngularVel().Ign();
-+    ignition::math::Vector3d linear_vel  = model->WorldLinearVel();
-+    ignition::math::Vector3d angular_vel = model->WorldAngularVel();
-     geometry_msgs::Twist twist;
-     twist.linear.x = linear_vel.X();
-     twist.linear.y = linear_vel.Y();
-@@ -2380,8 +2380,8 @@
-   request_pub_->Publish(*entity_info_msg,true);
-   // todo: should wait for response response_sub_, check to see that if _msg->response == "nonexistant"
- 
--  gazebo::physics::ModelPtr model = world_->GetModel(model_name);
--  gazebo::physics::LightPtr light = world_->Light(model_name);
-+  gazebo::physics::ModelPtr model = world_->ModelByName(model_name);
-+  gazebo::physics::LightPtr light = world_->LightByName(model_name);
-   if ((isLight && light != NULL) || (model != NULL))
-   {
-     ROS_ERROR_NAMED("api_plugin", "SpawnModel: Failure - model name %s already exist.",model_name.c_str());
-@@ -2423,8 +2423,8 @@
- 
-     {
-       //boost::recursive_mutex::scoped_lock lock(*world->GetMRMutex());
--      if ((isLight && world_->Light(model_name) != NULL)
--          || (world_->GetModel(model_name) != NULL))
-+      if ((isLight && world_->LightByName(model_name) != NULL)
-+          || (world_->ModelByName(model_name) != NULL))
-         break;
-     }
-