path: root/2.7.4.patch

diff -ura original/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/CHANGELOG.rst patched/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/CHANGELOG.rst
--- original/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/CHANGELOG.rst	2017-12-11 13:53:46.000000000 +0100
+++ patched/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/CHANGELOG.rst	2018-02-24 21:54:36.229427212 +0100
@@ -2,6 +2,17 @@
 Changelog for package gazebo_plugins
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.7.4 (2018-02-12)
+------------------
+* Adding velocity to joint state publisher gazebo plugin (`#671 <https://github.com/ros-simulation/gazebo_ros_pkgs/issues/671>`_)
+* Fix last gazebo8 warnings! (lunar-devel) (`#664 <https://github.com/ros-simulation/gazebo_ros_pkgs/issues/664>`_)
+* Fix gazebo8 warnings part 7: retry `#642 <https://github.com/ros-simulation/gazebo_ros_pkgs/issues/642>`_ on lunar (`#660 <https://github.com/ros-simulation/gazebo_ros_pkgs/issues/660>`_)
+* gazebo8 warnings: ifdefs for Get.*Vel() (`#655 <https://github.com/ros-simulation/gazebo_ros_pkgs/issues/655>`_)
+* Fix gazebo8 warnings part 8: ifdef's for GetWorldPose (lunar-devel) (`#652 <https://github.com/ros-simulation/gazebo_ros_pkgs/issues/652>`_)
+* for gazebo8+, call functions without Get (`#640 <https://github.com/ros-simulation/gazebo_ros_pkgs/issues/640>`_)
+* Fix conflict (`#647 <https://github.com/ros-simulation/gazebo_ros_pkgs/issues/647>`_)
+* Contributors: Jose Luis Rivero, Steven Peters
+
 2.7.3 (2017-12-11)
 ------------------
 * Fix gazebo8 warnings part 4: convert remaining local variables in plugins to ign-math (lunar-devel) (`#634 <https://github.com/ros-simulation/gazebo_ros_pkgs/issues/634>`_)
diff -ura original/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/package.xml patched/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/package.xml
--- original/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/package.xml	2017-12-11 13:53:46.000000000 +0100
+++ patched/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/package.xml	2018-02-24 21:54:36.229427212 +0100
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>gazebo_plugins</name>
-  <version>2.7.3</version>
+  <version>2.7.4</version>
   <description>
     Robot-independent Gazebo plugins for sensors, motors and dynamic reconfigurable components.
   </description>
diff -ura original/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_block_laser.cpp patched/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_block_laser.cpp
--- original/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_block_laser.cpp	2017-12-11 13:53:46.000000000 +0100
+++ patched/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_block_laser.cpp	2018-02-24 21:54:36.229427212 +0100
@@ -82,7 +82,11 @@
   std::string worldName = _parent->WorldName();
   this->world_ = physics::get_world(worldName);
 
+#if GAZEBO_MAJOR_VERSION >= 8
+  last_update_time_ = this->world_->SimTime();
+#else
   last_update_time_ = this->world_->GetSimTime();
+#endif
 
   this->node_ = transport::NodePtr(new transport::Node());
   this->node_->Init(worldName);
diff -ura original/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_bumper.cpp patched/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_bumper.cpp
--- original/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_bumper.cpp	2017-12-11 13:53:46.000000000 +0100
+++ patched/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_bumper.cpp	2018-02-24 21:54:36.229427212 +0100
@@ -157,7 +157,7 @@
       *Simulator::Instance()->GetMRMutex());
     // look through all models in the world, search for body
     // name that matches frameName
-    phyaics::Model_V all_models = World::Instance()->GetModels();
+    physics::Model_V all_models = World::Instance()->Models();
     for (physics::Model_V::iterator iter = all_models.begin();
       iter != all_models.end(); iter++)
     {
@@ -183,9 +183,9 @@
   /*
   if (myFrame)
   {
-    frame_pose = myFrame->GetWorldPose();  //-this->myBody->GetCoMPose();
-    frame_pos = frame_pose.pos;
-    frame_rot = frame_pose.rot;
+    frame_pose = myFrame->WorldPose();  //-this->myBody->GetCoMPose();
+    frame_pos = frame_pose.Pos();
+    frame_rot = frame_pose.Rot();
   }
   else
   */
diff -ura original/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_diff_drive.cpp patched/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_diff_drive.cpp
--- original/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_diff_drive.cpp	2017-12-11 13:53:46.000000000 +0100
+++ patched/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_diff_drive.cpp	2018-02-24 21:54:36.230427198 +0100
@@ -115,13 +115,8 @@
     joints_.resize ( 2 );
     joints_[LEFT] = gazebo_ros_->getJoint ( parent, "leftJoint", "left_joint" );
     joints_[RIGHT] = gazebo_ros_->getJoint ( parent, "rightJoint", "right_joint" );
-#if GAZEBO_MAJOR_VERSION > 2
     joints_[LEFT]->SetParam ( "fmax", 0, wheel_torque );
     joints_[RIGHT]->SetParam ( "fmax", 0, wheel_torque );
-#else
-    joints_[LEFT]->SetMaxForce ( 0, wheel_torque );
-    joints_[RIGHT]->SetMaxForce ( 0, wheel_torque );
-#endif
 
 
 
@@ -136,7 +131,11 @@
     // Initialize update rate stuff
     if ( this->update_rate_ > 0.0 ) this->update_period_ = 1.0 / this->update_rate_;
     else this->update_period_ = 0.0;
+#if GAZEBO_MAJOR_VERSION >= 8
+    last_update_time_ = parent->GetWorld()->SimTime();
+#else
     last_update_time_ = parent->GetWorld()->GetSimTime();
+#endif
 
     // Initialize velocity stuff
     wheel_speed_[RIGHT] = 0;
@@ -188,19 +187,18 @@
 
 void GazeboRosDiffDrive::Reset()
 {
+#if GAZEBO_MAJOR_VERSION >= 8
+  last_update_time_ = parent->GetWorld()->SimTime();
+#else
   last_update_time_ = parent->GetWorld()->GetSimTime();
+#endif
   pose_encoder_.x = 0;
   pose_encoder_.y = 0;
   pose_encoder_.theta = 0;
   x_ = 0;
   rot_ = 0;
-#if GAZEBO_MAJOR_VERSION > 2
   joints_[LEFT]->SetParam ( "fmax", 0, wheel_torque );
   joints_[RIGHT]->SetParam ( "fmax", 0, wheel_torque );
-#else
-  joints_[LEFT]->SetMaxForce ( 0, wheel_torque );
-  joints_[RIGHT]->SetMaxForce ( 0, wheel_torque );
-#endif
 }
 
 void GazeboRosDiffDrive::publishWheelJointState()
@@ -213,9 +211,13 @@
 
     for ( int i = 0; i < 2; i++ ) {
         physics::JointPtr joint = joints_[i];
-        ignition::math::Angle angle = joint->GetAngle ( 0 ).Ign();
+#if GAZEBO_MAJOR_VERSION >= 8
+        double position = joint->Position ( 0 );
+#else
+        double position = joint->GetAngle ( 0 ).Radian();
+#endif
         joint_state_.name[i] = joint->GetName();
-        joint_state_.position[i] = angle.Radian () ;
+        joint_state_.position[i] = position;
     }
     joint_state_publisher_.publish ( joint_state_ );
 }
@@ -228,7 +230,11 @@
         std::string wheel_frame = gazebo_ros_->resolveTF(joints_[i]->GetChild()->GetName ());
         std::string wheel_parent_frame = gazebo_ros_->resolveTF(joints_[i]->GetParent()->GetName ());
 
+#if GAZEBO_MAJOR_VERSION >= 8
+        ignition::math::Pose3d poseWheel = joints_[i]->GetChild()->RelativePose();
+#else
         ignition::math::Pose3d poseWheel = joints_[i]->GetChild()->GetRelativePose().Ign();
+#endif
 
         tf::Quaternion qt ( poseWheel.Rot().X(), poseWheel.Rot().Y(), poseWheel.Rot().Z(), poseWheel.Rot().W() );
         tf::Vector3 vt ( poseWheel.Pos().X(), poseWheel.Pos().Y(), poseWheel.Pos().Z() );
@@ -250,19 +256,18 @@
        (this seems to be solved in https://bitbucket.org/osrf/gazebo/commits/ec8801d8683160eccae22c74bf865d59fac81f1e)
     */
     for ( int i = 0; i < 2; i++ ) {
-#if GAZEBO_MAJOR_VERSION > 2
       if ( fabs(wheel_torque -joints_[i]->GetParam ( "fmax", 0 )) > 1e-6 ) {
         joints_[i]->SetParam ( "fmax", 0, wheel_torque );
-#else
-      if ( fabs(wheel_torque -joints_[i]->GetMaxForce ( 0 )) > 1e-6 ) {
-        joints_[i]->SetMaxForce ( 0, wheel_torque );
-#endif
       }
     }
 
 
     if ( odom_source_ == ENCODER ) UpdateOdometryEncoder();
+#if GAZEBO_MAJOR_VERSION >= 8
+    common::Time current_time = parent->GetWorld()->SimTime();
+#else
     common::Time current_time = parent->GetWorld()->GetSimTime();
+#endif
     double seconds_since_last_update = ( current_time - last_update_time_ ).Double();
 
     if ( seconds_since_last_update > update_period_ ) {
@@ -282,13 +287,8 @@
                 ( fabs ( wheel_speed_[LEFT] - current_speed[LEFT] ) < 0.01 ) ||
                 ( fabs ( wheel_speed_[RIGHT] - current_speed[RIGHT] ) < 0.01 ) ) {
             //if max_accel == 0, or target speed is reached
-#if GAZEBO_MAJOR_VERSION > 2
             joints_[LEFT]->SetParam ( "vel", 0, wheel_speed_[LEFT]/ ( wheel_diameter_ / 2.0 ) );
             joints_[RIGHT]->SetParam ( "vel", 0, wheel_speed_[RIGHT]/ ( wheel_diameter_ / 2.0 ) );
-#else
-            joints_[LEFT]->SetVelocity ( 0, wheel_speed_[LEFT]/ ( wheel_diameter_ / 2.0 ) );
-            joints_[RIGHT]->SetVelocity ( 0, wheel_speed_[RIGHT]/ ( wheel_diameter_ / 2.0 ) );
-#endif
         } else {
             if ( wheel_speed_[LEFT]>=current_speed[LEFT] )
                 wheel_speed_instr_[LEFT]+=fmin ( wheel_speed_[LEFT]-current_speed[LEFT],  wheel_accel * seconds_since_last_update );
@@ -303,13 +303,8 @@
             // ROS_INFO_NAMED("diff_drive", "actual wheel speed = %lf, issued wheel speed= %lf", current_speed[LEFT], wheel_speed_[LEFT]);
             // ROS_INFO_NAMED("diff_drive", "actual wheel speed = %lf, issued wheel speed= %lf", current_speed[RIGHT],wheel_speed_[RIGHT]);
 
-#if GAZEBO_MAJOR_VERSION > 2
             joints_[LEFT]->SetParam ( "vel", 0, wheel_speed_instr_[LEFT] / ( wheel_diameter_ / 2.0 ) );
             joints_[RIGHT]->SetParam ( "vel", 0, wheel_speed_instr_[RIGHT] / ( wheel_diameter_ / 2.0 ) );
-#else
-            joints_[LEFT]->SetVelocity ( 0,wheel_speed_instr_[LEFT] / ( wheel_diameter_ / 2.0 ) );
-            joints_[RIGHT]->SetVelocity ( 0,wheel_speed_instr_[RIGHT] / ( wheel_diameter_ / 2.0 ) );
-#endif
         }
         last_update_time_+= common::Time ( update_period_ );
     }
@@ -364,7 +359,11 @@
 {
     double vl = joints_[LEFT]->GetVelocity ( 0 );
     double vr = joints_[RIGHT]->GetVelocity ( 0 );
+#if GAZEBO_MAJOR_VERSION >= 8
+    common::Time current_time = parent->GetWorld()->SimTime();
+#else
     common::Time current_time = parent->GetWorld()->GetSimTime();
+#endif
     double seconds_since_last_update = ( current_time - last_odom_update_ ).Double();
     last_odom_update_ = current_time;
 
@@ -433,8 +432,12 @@
 
     }
     if ( odom_source_ == WORLD ) {
-        // getting data form gazebo world
+        // getting data from gazebo world
+#if GAZEBO_MAJOR_VERSION >= 8
+        ignition::math::Pose3d pose = parent->WorldPose();
+#else
         ignition::math::Pose3d pose = parent->GetWorldPose().Ign();
+#endif
         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() );
 
@@ -449,8 +452,13 @@
 
         // get velocity in /odom frame
         ignition::math::Vector3d linear;
+#if GAZEBO_MAJOR_VERSION >= 8
+        linear = parent->WorldLinearVel();
+        odom_.twist.twist.angular.z = parent->WorldAngularVel().Z();
+#else
         linear = parent->GetWorldLinearVel().Ign();
         odom_.twist.twist.angular.z = parent->GetWorldAngularVel().Ign().Z();
+#endif
 
         // convert velocity to child_frame_id (aka base_footprint)
         float yaw = pose.Rot().Yaw();
diff -ura original/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_f3d.cpp patched/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_f3d.cpp
--- original/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_f3d.cpp	2017-12-11 13:53:46.000000000 +0100
+++ patched/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_f3d.cpp	2018-02-24 21:54:36.230427198 +0100
@@ -152,17 +152,25 @@
   ignition::math::Vector3d torque;
   ignition::math::Vector3d force;
 
-  // get force on body
+  // get force and torque on body
+#if GAZEBO_MAJOR_VERSION >= 8
+  force = this->link_->WorldForce();
+  torque = this->link_->WorldTorque();
+#else
   force = this->link_->GetWorldForce().Ign();
-
-  // get torque on body
   torque = this->link_->GetWorldTorque().Ign();
+#endif
 
   this->lock_.lock();
   // copy data into wrench message
   this->wrench_msg_.header.frame_id = this->frame_name_;
+#if GAZEBO_MAJOR_VERSION >= 8
+  this->wrench_msg_.header.stamp.sec = (this->world_->SimTime()).sec;
+  this->wrench_msg_.header.stamp.nsec = (this->world_->SimTime()).nsec;
+#else
   this->wrench_msg_.header.stamp.sec = (this->world_->GetSimTime()).sec;
   this->wrench_msg_.header.stamp.nsec = (this->world_->GetSimTime()).nsec;
+#endif
 
   this->wrench_msg_.wrench.force.x    = force.X();
   this->wrench_msg_.wrench.force.y    = force.Y();
diff -ura original/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_ft_sensor.cpp patched/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_ft_sensor.cpp
--- original/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_ft_sensor.cpp	2017-12-11 13:53:46.000000000 +0100
+++ patched/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_ft_sensor.cpp	2018-02-24 21:54:36.230427198 +0100
@@ -157,7 +157,11 @@
 // Update the controller
 void GazeboRosFT::UpdateChild()
 {
+#if GAZEBO_MAJOR_VERSION >= 8
+  common::Time cur_time = this->world_->SimTime();
+#else
   common::Time cur_time = this->world_->GetSimTime();
+#endif
 
   // rate control
   if (this->update_rate_ > 0 &&
@@ -189,8 +193,13 @@
   this->lock_.lock();
   // copy data into wrench message
   this->wrench_msg_.header.frame_id = this->frame_name_;
+#if GAZEBO_MAJOR_VERSION >= 8
+  this->wrench_msg_.header.stamp.sec = (this->world_->SimTime()).sec;
+  this->wrench_msg_.header.stamp.nsec = (this->world_->SimTime()).nsec;
+#else
   this->wrench_msg_.header.stamp.sec = (this->world_->GetSimTime()).sec;
   this->wrench_msg_.header.stamp.nsec = (this->world_->GetSimTime()).nsec;
+#endif
 
   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_);
diff -ura original/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_hand_of_god.cpp patched/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_hand_of_god.cpp
--- original/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_hand_of_god.cpp	2017-12-11 13:53:46.000000000 +0100
+++ patched/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_hand_of_god.cpp	2018-02-24 21:54:36.230427198 +0100
@@ -115,8 +115,13 @@
       return;
     }
 
+#if GAZEBO_MAJOR_VERSION >= 8
+    cl_ = 2.0 * sqrt(kl_*floating_link_->GetInertial()->Mass());
+    ca_ = 2.0 * sqrt(ka_*floating_link_->GetInertial()->IXX());
+#else
     cl_ = 2.0 * sqrt(kl_*floating_link_->GetInertial()->GetMass());
     ca_ = 2.0 * sqrt(ka_*floating_link_->GetInertial()->GetIXX());
+#endif
 
     // Create the TF listener for the desired position of the hog
     tf_buffer_.reset(new tf2_ros::Buffer());
@@ -154,7 +159,15 @@
         ignition::math::Quaterniond(q.w, q.x, q.y, q.z));
 
     // Relative transform from actual to desired pose
+#if GAZEBO_MAJOR_VERSION >= 8
+    ignition::math::Pose3d world_pose = floating_link_->DirtyPose();
+    ignition::math::Vector3d worldLinearVel = floating_link_->WorldLinearVel();
+    ignition::math::Vector3d relativeAngularVel = floating_link_->RelativeAngularVel();
+#else
     ignition::math::Pose3d world_pose = floating_link_->GetDirtyPose().Ign();
+    ignition::math::Vector3d worldLinearVel = floating_link_->GetWorldLinearVel().Ign();
+    ignition::math::Vector3d relativeAngularVel = floating_link_->GetRelativeAngularVel().Ign();
+#endif
     ignition::math::Vector3d err_pos = hog_desired.Pos() - world_pose.Pos();
     // Get exponential coordinates for rotation
     ignition::math::Quaterniond err_rot =  (ignition::math::Matrix4d(world_pose.Rot()).Inverse()
@@ -162,11 +175,11 @@
     ignition::math::Quaterniond not_a_quaternion = err_rot.Log();
 
     floating_link_->AddForce(
-        kl_ * err_pos - cl_ * floating_link_->GetWorldLinearVel().Ign());
+        kl_ * err_pos - cl_ * worldLinearVel);
 
     floating_link_->AddRelativeTorque(
         ka_ * ignition::math::Vector3d(not_a_quaternion.X(), not_a_quaternion.Y(), not_a_quaternion.Z())
-      - ca_ * floating_link_->GetRelativeAngularVel().Ign());
+      - ca_ * relativeAngularVel);
 
     // Convert actual pose to TransformStamped message
     geometry_msgs::TransformStamped hog_actual_tform;
diff -ura original/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_imu.cpp patched/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_imu.cpp
--- original/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_imu.cpp	2017-12-11 13:53:46.000000000 +0100
+++ patched/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_imu.cpp	2018-02-24 21:54:36.230427198 +0100
@@ -147,7 +147,11 @@
 
   // assert that the body by link_name_ exists
   this->link = boost::dynamic_pointer_cast<physics::Link>(
+#if GAZEBO_MAJOR_VERSION >= 8
+    this->world_->EntityByName(this->link_name_));
+#else
     this->world_->GetEntity(this->link_name_));
+#endif
   if (!this->link)
   {
     ROS_FATAL_NAMED("imu", "gazebo_ros_imu plugin error: bodyName: %s does not exist\n",
@@ -171,11 +175,20 @@
   }
 
   // Initialize the controller
+#if GAZEBO_MAJOR_VERSION >= 8
+  this->last_time_ = this->world_->SimTime();
+#else
   this->last_time_ = this->world_->GetSimTime();
+#endif
 
   // this->initial_pose_ = this->link->GetPose();
+#if GAZEBO_MAJOR_VERSION >= 8
+  this->last_vpos_ = this->link->WorldLinearVel();
+  this->last_veul_ = this->link->WorldAngularVel();
+#else
   this->last_vpos_ = this->link->GetWorldLinearVel().Ign();
   this->last_veul_ = this->link->GetWorldAngularVel().Ign();
+#endif
   this->apos_ = 0;
   this->aeul_ = 0;
 
@@ -203,7 +216,11 @@
 // Update the controller
 void GazeboRosIMU::UpdateChild()
 {
+#if GAZEBO_MAJOR_VERSION >= 8
+  common::Time cur_time = this->world_->SimTime();
+#else
   common::Time cur_time = this->world_->GetSimTime();
+#endif
 
   // rate control
   if (this->update_rate_ > 0 &&
@@ -217,7 +234,11 @@
     ignition::math::Vector3d pos;
 
     // Get Pose/Orientation ///@todo: verify correctness
+#if GAZEBO_MAJOR_VERSION >= 8
+    pose = this->link->WorldPose();
+#else
     pose = this->link->GetWorldPose().Ign();
+#endif
     // apply xyz offsets and get position and rotation components
     pos = pose.Pos() + this->offset_.Pos();
     rot = pose.Rot();
@@ -227,8 +248,13 @@
     rot.Normalize();
 
     // get Rates
+#if GAZEBO_MAJOR_VERSION >= 8
+    ignition::math::Vector3d vpos = this->link->WorldLinearVel();
+    ignition::math::Vector3d veul = this->link->WorldAngularVel();
+#else
     ignition::math::Vector3d vpos = this->link->GetWorldLinearVel().Ign();
     ignition::math::Vector3d veul = this->link->GetWorldAngularVel().Ign();
+#endif
 
     // differentiate to get accelerations
     double tmp_dt = this->last_time_.Double() - cur_time.Double();
diff -ura original/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_joint_pose_trajectory.cpp patched/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_joint_pose_trajectory.cpp
--- original/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_joint_pose_trajectory.cpp	2017-12-11 13:53:46.000000000 +0100
+++ patched/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_joint_pose_trajectory.cpp	2018-02-24 21:54:36.230427198 +0100
@@ -143,7 +143,11 @@
   }
 #endif
 
+#if GAZEBO_MAJOR_VERSION >= 8
+  this->last_time_ = this->world_->SimTime();
+#else
   this->last_time_ = this->world_->GetSimTime();
+#endif
 
   // start custom queue for joint trajectory plugin ros topics
   this->callback_queue_thread_ =
@@ -171,7 +175,11 @@
       this->reference_link_name_ != "map")
   {
     physics::EntityPtr ent =
+#if GAZEBO_MAJOR_VERSION >= 8
+      this->world_->EntityByName(this->reference_link_name_);
+#else
       this->world_->GetEntity(this->reference_link_name_);
+#endif
     if (ent)
       this->reference_link_ = boost::dynamic_pointer_cast<physics::Link>(ent);
     if (!this->reference_link_)
@@ -211,7 +219,11 @@
   // trajectory start time
   this->trajectory_start = gazebo::common::Time(trajectory->header.stamp.sec,
                                                 trajectory->header.stamp.nsec);
+#if GAZEBO_MAJOR_VERSION >= 8
+  common::Time cur_time = this->world_->SimTime();
+#else
   common::Time cur_time = this->world_->GetSimTime();
+#endif
   if (this->trajectory_start < cur_time)
     this->trajectory_start = cur_time;
 
@@ -222,8 +234,13 @@
 
   if (this->disable_physics_updates_)
   {
+#if GAZEBO_MAJOR_VERSION >= 8
+    this->physics_engine_enabled_ = this->world_->PhysicsEnabled();
+    this->world_->SetPhysicsEnabled(false);
+#else
     this->physics_engine_enabled_ = this->world_->GetEnablePhysicsEngine();
     this->world_->EnablePhysicsEngine(false);
+#endif
   }
 }
 
@@ -245,7 +262,11 @@
       this->reference_link_name_ != "map")
   {
     physics::EntityPtr ent =
+#if GAZEBO_MAJOR_VERSION >= 8
+      this->world_->EntityByName(this->reference_link_name_);
+#else
       this->world_->GetEntity(this->reference_link_name_);
+#endif
     if (ent)
       this->reference_link_ = boost::dynamic_pointer_cast<physics::Link>(ent);
     if (!this->reference_link_)
@@ -262,7 +283,11 @@
                 " inertially", this->reference_link_->GetName().c_str());
   }
 
+#if GAZEBO_MAJOR_VERSION >= 8
+  this->model_ =  this->world_->ModelByName(req.model_name);
+#else
   this->model_ =  this->world_->GetModel(req.model_name);
+#endif
   if (!this->model_)  // look for it by frame_id name
   {
     this->model_ = this->reference_link_->GetParentModel();
@@ -295,8 +320,13 @@
   this->disable_physics_updates_ = req.disable_physics_updates;
   if (this->disable_physics_updates_)
   {
+#if GAZEBO_MAJOR_VERSION >= 8
+    this->physics_engine_enabled_ = this->world_->PhysicsEnabled();
+    this->world_->SetPhysicsEnabled(false);
+#else
     this->physics_engine_enabled_ = this->world_->GetEnablePhysicsEngine();
     this->world_->EnablePhysicsEngine(false);
+#endif
   }
 
   return true;
@@ -310,7 +340,11 @@
   boost::mutex::scoped_lock lock(this->update_mutex);
   if (this->has_trajectory_)
   {
+#if GAZEBO_MAJOR_VERSION >= 8
+    common::Time cur_time = this->world_->SimTime();
+#else
     common::Time cur_time = this->world_->GetSimTime();
+#endif
     // roll out trajectory via set model configuration
     // gzerr << "i[" << trajectory_index  << "] time "
     //       << trajectory_start << " now: " << cur_time << " : "<< "\n";
@@ -325,10 +359,18 @@
           cur_time.Double(), this->trajectory_index, this->points_.size());
 
         // get reference link pose before updates
+#if GAZEBO_MAJOR_VERSION >= 8
+        ignition::math::Pose3d reference_pose = this->model_->WorldPose();
+#else
         ignition::math::Pose3d reference_pose = this->model_->GetWorldPose().Ign();
+#endif
         if (this->reference_link_)
         {
+#if GAZEBO_MAJOR_VERSION >= 8
+          reference_pose = this->reference_link_->WorldPose();
+#else
           reference_pose = this->reference_link_->GetWorldPose().Ign();
+#endif
         }
 
         // trajectory roll-out based on time:
@@ -380,7 +422,13 @@
         this->reference_link_.reset();
         this->has_trajectory_ = false;
         if (this->disable_physics_updates_)
+        {
+#if GAZEBO_MAJOR_VERSION >= 8
+          this->world_->SetPhysicsEnabled(this->physics_engine_enabled_);
+#else
           this->world_->EnablePhysicsEngine(this->physics_engine_enabled_);
+#endif
+        }
       }
     }
   }
diff -ura original/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_joint_state_publisher.cpp patched/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_joint_state_publisher.cpp
--- original/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_joint_state_publisher.cpp	2017-12-11 13:53:46.000000000 +0100
+++ patched/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_joint_state_publisher.cpp	2018-02-24 21:54:36.231427186 +0100
@@ -78,7 +78,11 @@
     } else {
         this->update_period_ = 0.0;
     }
+#if GAZEBO_MAJOR_VERSION >= 8
+    last_update_time_ = this->world_->SimTime();
+#else
     last_update_time_ = this->world_->GetSimTime();
+#endif
 
     for ( unsigned int i = 0; i< joint_names_.size(); i++ ) {
         physics::JointPtr joint = this->parent_->GetJoint(joint_names_[i]);
@@ -94,7 +98,11 @@
     tf_prefix_ = tf::getPrefixParam ( *rosnode_ );
     joint_state_publisher_ = rosnode_->advertise<sensor_msgs::JointState> ( "joint_states",1000 );
 
+#if GAZEBO_MAJOR_VERSION >= 8
+    last_update_time_ = this->world_->SimTime();
+#else
     last_update_time_ = this->world_->GetSimTime();
+#endif
     // Listen to the update event. This event is broadcast every
     // simulation iteration.
     this->updateConnection = event::Events::ConnectWorldUpdateBegin (
@@ -103,7 +111,11 @@
 
 void GazeboRosJointStatePublisher::OnUpdate ( const common::UpdateInfo & _info ) {
     // Apply a small linear velocity to the model.
+#if GAZEBO_MAJOR_VERSION >= 8
+    common::Time current_time = this->world_->SimTime();
+#else
     common::Time current_time = this->world_->GetSimTime();
+#endif
     double seconds_since_last_update = ( current_time - last_update_time_ ).Double();
     if ( seconds_since_last_update > update_period_ ) {
 
@@ -121,12 +133,19 @@
     joint_state_.header.stamp = current_time;
     joint_state_.name.resize ( joints_.size() );
     joint_state_.position.resize ( joints_.size() );
+    joint_state_.velocity.resize ( joints_.size() );
 
     for ( int i = 0; i < joints_.size(); i++ ) {
         physics::JointPtr joint = joints_[i];
-        ignition::math::Angle angle = joint->GetAngle ( 0 ).Ign();
+        double velocity = joint->GetVelocity( 0 );
+#if GAZEBO_MAJOR_VERSION >= 8
+        double position = joint->Position ( 0 );
+#else
+        double position = joint->GetAngle ( 0 ).Radian();
+#endif
         joint_state_.name[i] = joint->GetName();
-        joint_state_.position[i] = angle.Radian () ;
+        joint_state_.position[i] = position;
+        joint_state_.velocity[i] = velocity;
     }
     joint_state_publisher_.publish ( joint_state_ );
 }
diff -ura original/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_joint_trajectory.cpp patched/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_joint_trajectory.cpp
--- original/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_joint_trajectory.cpp	2017-12-11 13:53:46.000000000 +0100
+++ patched/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_joint_trajectory.cpp	2018-02-24 21:54:36.231427186 +0100
@@ -145,7 +145,11 @@
   }
 #endif
 
+#if GAZEBO_MAJOR_VERSION >= 8
+  this->last_time_ = this->world_->SimTime();
+#else
   this->last_time_ = this->world_->GetSimTime();
+#endif
 
   // start custom queue for joint trajectory plugin ros topics
   this->callback_queue_thread_ =
@@ -173,7 +177,11 @@
       this->reference_link_name_ != "map")
   {
     physics::EntityPtr ent =
+#if GAZEBO_MAJOR_VERSION >= 8
+      this->world_->EntityByName(this->reference_link_name_);
+#else
       this->world_->GetEntity(this->reference_link_name_);
+#endif
     if (ent)
       this->reference_link_ = boost::dynamic_pointer_cast<physics::Link>(ent);
     if (!this->reference_link_)
@@ -213,7 +221,11 @@
   // trajectory start time
   this->trajectory_start = gazebo::common::Time(trajectory->header.stamp.sec,
                                                 trajectory->header.stamp.nsec);
+#if GAZEBO_MAJOR_VERSION >= 8
+  common::Time cur_time = this->world_->SimTime();
+#else
   common::Time cur_time = this->world_->GetSimTime();
+#endif
   if (this->trajectory_start < cur_time)
     this->trajectory_start = cur_time;
 
@@ -224,8 +236,13 @@
 
   if (this->disable_physics_updates_)
   {
+#if GAZEBO_MAJOR_VERSION >= 8
+    this->physics_engine_enabled_ = this->world_->PhysicsEnabled();
+    this->world_->SetPhysicsEnabled(false);
+#else
     this->physics_engine_enabled_ = this->world_->GetEnablePhysicsEngine();
     this->world_->EnablePhysicsEngine(false);
+#endif
   }
 }
 
@@ -247,7 +264,11 @@
       this->reference_link_name_ != "map")
   {
     physics::EntityPtr ent =
+#if GAZEBO_MAJOR_VERSION >= 8
+      this->world_->EntityByName(this->reference_link_name_);
+#else
       this->world_->GetEntity(this->reference_link_name_);
+#endif
     if (ent)
       this->reference_link_ = boost::shared_dynamic_cast<physics::Link>(ent);
     if (!this->reference_link_)
@@ -264,7 +285,11 @@
                 " inertially", this->reference_link_->GetName().c_str());
   }
 
+#if GAZEBO_MAJOR_VERSION >= 8
+  this->model_ =  this->world_->ModelByName(req.model_name);
+#else
   this->model_ =  this->world_->GetModel(req.model_name);
+#endif
   if (!this->model_)  // look for it by frame_id name
   {
     this->model_ = this->reference_link_->GetParentModel();
@@ -297,8 +322,13 @@
   this->disable_physics_updates_ = req.disable_physics_updates;
   if (this->disable_physics_updates_)
   {
+#if GAZEBO_MAJOR_VERSION >= 8
+    this->physics_engine_enabled_ = this->world_->PhysicsEnabled();
+    this->world_->SetPhysicsEnabled(false);
+#else
     this->physics_engine_enabled_ = this->world_->GetEnablePhysicsEngine();
     this->world_->EnablePhysicsEngine(false);
+#endif
   }
 
   return true;
@@ -312,7 +342,11 @@
   boost::mutex::scoped_lock lock(this->update_mutex);
   if (this->has_trajectory_)
   {
+#if GAZEBO_MAJOR_VERSION >= 8
+    common::Time cur_time = this->world_->SimTime();
+#else
     common::Time cur_time = this->world_->GetSimTime();
+#endif
     // roll out trajectory via set model configuration
     // gzerr << "i[" << trajectory_index  << "] time "
     //       << trajectory_start << " now: " << cur_time << " : "<< "\n";
@@ -327,10 +361,18 @@
           cur_time.Double(), this->trajectory_index, this->points_.size());
 
         // get reference link pose before updates
+#if GAZEBO_MAJOR_VERSION >= 8
+        ignition::math::Pose3d reference_pose = this->model_->WorldPose();
+#else
         ignition::math::Pose3d reference_pose = this->model_->GetWorldPose().Ign();
+#endif
         if (this->reference_link_)
         {
+#if GAZEBO_MAJOR_VERSION >= 8
+          reference_pose = this->reference_link_->WorldPose();
+#else
           reference_pose = this->reference_link_->GetWorldPose().Ign();
+#endif
         }
 
         // trajectory roll-out based on time:
@@ -382,7 +424,13 @@
         this->reference_link_.reset();
         this->has_trajectory_ = false;
         if (this->disable_physics_updates_)
+        {
+#if GAZEBO_MAJOR_VERSION >= 8
+          this->world_->SetPhysicsEnabled(this->physics_engine_enabled_);
+#else
           this->world_->EnablePhysicsEngine(this->physics_engine_enabled_);
+#endif
+        }
       }
     }
   }
diff -ura original/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_openni_kinect.cpp patched/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_openni_kinect.cpp
--- original/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_openni_kinect.cpp	2017-12-11 13:53:46.000000000 +0100
+++ patched/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_openni_kinect.cpp	2018-02-24 21:54:36.231427186 +0100
@@ -435,7 +435,11 @@
   if (this->depth_info_connect_count_ > 0)
   {
     this->sensor_update_time_ = this->parentSensor_->LastMeasurementTime();
+#if GAZEBO_MAJOR_VERSION >= 8
+    common::Time cur_time = this->world_->SimTime();
+#else
     common::Time cur_time = this->world_->GetSimTime();
+#endif
     if (this->sensor_update_time_ - this->last_depth_image_camera_info_update_time_ >= this->update_period_)
     {
       this->PublishCameraInfo(this->depth_image_camera_info_pub_);
diff -ura original/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_p3d.cpp patched/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_p3d.cpp
--- original/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_p3d.cpp	2017-12-11 13:53:46.000000000 +0100
+++ patched/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_p3d.cpp	2018-02-24 21:54:36.231427186 +0100
@@ -149,10 +149,19 @@
       this->rosnode_->advertise<nav_msgs::Odometry>(this->topic_name_, 1);
   }
 
+#if GAZEBO_MAJOR_VERSION >= 8
+  this->last_time_ = this->world_->SimTime();
+#else
   this->last_time_ = this->world_->GetSimTime();
+#endif
   // initialize body
+#if GAZEBO_MAJOR_VERSION >= 8
+  this->last_vpos_ = this->link_->WorldLinearVel();
+  this->last_veul_ = this->link_->WorldAngularVel();
+#else
   this->last_vpos_ = this->link_->GetWorldLinearVel().Ign();
   this->last_veul_ = this->link_->GetWorldAngularVel().Ign();
+#endif
   this->apos_ = 0;
   this->aeul_ = 0;
 
@@ -178,8 +187,13 @@
     ROS_DEBUG_NAMED("p3d", "got body %s", this->reference_link_->GetName().c_str());
     this->frame_apos_ = 0;
     this->frame_aeul_ = 0;
+#if GAZEBO_MAJOR_VERSION >= 8
+    this->last_frame_vpos_ = this->reference_link_->WorldLinearVel();
+    this->last_frame_veul_ = this->reference_link_->WorldAngularVel();
+#else
     this->last_frame_vpos_ = this->reference_link_->GetWorldLinearVel().Ign();
     this->last_frame_veul_ = this->reference_link_->GetWorldAngularVel().Ign();
+#endif
   }
 
 
@@ -201,7 +215,11 @@
   if (!this->link_)
     return;
 
+#if GAZEBO_MAJOR_VERSION >= 8
+  common::Time cur_time = this->world_->SimTime();
+#else
   common::Time cur_time = this->world_->GetSimTime();
+#endif
 
   // rate control
   if (this->update_rate_ > 0 &&
@@ -230,23 +248,36 @@
         ignition::math::Vector3d frame_veul;
 
         // get inertial Rates
+        // Get Pose/Orientation
+#if GAZEBO_MAJOR_VERSION >= 8
+        ignition::math::Vector3d vpos = this->link_->WorldLinearVel();
+        ignition::math::Vector3d veul = this->link_->WorldAngularVel();
+
+        pose = this->link_->WorldPose();
+#else
         ignition::math::Vector3d vpos = this->link_->GetWorldLinearVel().Ign();
         ignition::math::Vector3d veul = this->link_->GetWorldAngularVel().Ign();
 
-        // Get Pose/Orientation
         pose = this->link_->GetWorldPose().Ign();
+#endif
 
         // Apply Reference Frame
         if (this->reference_link_)
         {
-          // convert to relative pose
+          // convert to relative pose, rates
+#if GAZEBO_MAJOR_VERSION >= 8
+          frame_pose = this->reference_link_->WorldPose();
+          frame_vpos = this->reference_link_->WorldLinearVel();
+          frame_veul = this->reference_link_->WorldAngularVel();
+#else
           frame_pose = this->reference_link_->GetWorldPose().Ign();
+          frame_vpos = this->reference_link_->GetWorldLinearVel().Ign();
+          frame_veul = this->reference_link_->GetWorldAngularVel().Ign();
+#endif
           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();
+
           vpos = frame_pose.Rot().RotateVector(vpos - frame_vpos);
           veul = frame_pose.Rot().RotateVector(veul - frame_veul);
         }
diff -ura original/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_planar_move.cpp patched/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_planar_move.cpp
--- original/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_planar_move.cpp	2017-12-11 13:53:46.000000000 +0100
+++ patched/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_planar_move.cpp	2018-02-24 21:54:36.232427172 +0100
@@ -112,8 +112,16 @@
       odometry_rate_ = sdf->GetElement("odometryRate")->Get<double>();
     }
 
+#if GAZEBO_MAJOR_VERSION >= 8
+    last_odom_publish_time_ = parent_->GetWorld()->SimTime();
+#else
     last_odom_publish_time_ = parent_->GetWorld()->GetSimTime();
+#endif
+#if GAZEBO_MAJOR_VERSION >= 8
+    last_odom_pose_ = parent_->WorldPose();
+#else
     last_odom_pose_ = parent_->GetWorldPose().Ign();
+#endif
     x_ = 0;
     y_ = 0;
     rot_ = 0;
@@ -160,7 +168,11 @@
   void GazeboRosPlanarMove::UpdateChild()
   {
     boost::mutex::scoped_lock scoped_lock(lock);
+#if GAZEBO_MAJOR_VERSION >= 8
+    ignition::math::Pose3d pose = parent_->WorldPose();
+#else
     ignition::math::Pose3d pose = parent_->GetWorldPose().Ign();
+#endif
     float yaw = pose.Rot().Yaw();
     parent_->SetLinearVel(ignition::math::Vector3d(
           x_ * cosf(yaw) - y_ * sinf(yaw),
@@ -168,7 +180,11 @@
           0));
     parent_->SetAngularVel(ignition::math::Vector3d(0, 0, rot_));
     if (odometry_rate_ > 0.0) {
+#if GAZEBO_MAJOR_VERSION >= 8
+      common::Time current_time = parent_->GetWorld()->SimTime();
+#else
       common::Time current_time = parent_->GetWorld()->GetSimTime();
+#endif
       double seconds_since_last_update =
         (current_time - last_odom_publish_time_).Double();
       if (seconds_since_last_update > (1.0 / odometry_rate_)) {
@@ -214,7 +230,11 @@
       tf::resolve(tf_prefix_, robot_base_frame_);
 
     // getting data for base_footprint to odom transform
+#if GAZEBO_MAJOR_VERSION >= 8
+    ignition::math::Pose3d pose = this->parent_->WorldPose();
+#else
     ignition::math::Pose3d pose = this->parent_->GetWorldPose().Ign();
+#endif
 
     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());
diff -ura original/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_projector.cpp patched/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_projector.cpp
--- original/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_projector.cpp	2017-12-11 13:53:46.000000000 +0100
+++ patched/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_projector.cpp	2018-02-24 21:54:36.232427172 +0100
@@ -82,7 +82,11 @@
   // Create a new transport node for talking to the projector
   this->node_.reset(new transport::Node());
   // Initialize the node with the world name
+#if GAZEBO_MAJOR_VERSION >= 8
+  this->node_->Init(this->world_->Name());
+#else
   this->node_->Init(this->world_->GetName());
+#endif
   // Setting projector topic
   std::string name = std::string("~/") + _parent->GetName() + "/" +
                       _sdf->Get<std::string>("projector");
diff -ura original/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_range.cpp patched/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_range.cpp
--- original/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_range.cpp	2017-12-11 13:53:46.000000000 +0100
+++ patched/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_range.cpp	2018-02-24 21:54:36.232427172 +0100
@@ -243,7 +243,11 @@
 {
   if (this->topic_name_ != "")
   {
+#if GAZEBO_MAJOR_VERSION >= 8
+    common::Time cur_time = this->world_->SimTime();
+#else
     common::Time cur_time = this->world_->GetSimTime();
+#endif
     if (cur_time - this->last_update_time_ >= this->update_period_)
     {
       common::Time sensor_update_time =
diff -ura original/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_skid_steer_drive.cpp patched/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_skid_steer_drive.cpp
--- original/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_skid_steer_drive.cpp	2017-12-11 13:53:46.000000000 +0100
+++ patched/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_skid_steer_drive.cpp	2018-02-24 21:54:36.232427172 +0100
@@ -232,7 +232,11 @@
     } else {
       this->update_period_ = 0.0;
     }
+#if GAZEBO_MAJOR_VERSION >= 8
+    last_update_time_ = this->world->SimTime();
+#else
     last_update_time_ = this->world->GetSimTime();
+#endif
 
     // Initialize velocity stuff
     wheel_speed_[RIGHT_FRONT] = 0;
@@ -331,7 +335,11 @@
 
   // Update the controller
   void GazeboRosSkidSteerDrive::UpdateChild() {
+#if GAZEBO_MAJOR_VERSION >= 8
+    common::Time current_time = this->world->SimTime();
+#else
     common::Time current_time = this->world->GetSimTime();
+#endif
     double seconds_since_last_update =
       (current_time - last_update_time_).Double();
     if (seconds_since_last_update > update_period_) {
@@ -405,7 +413,11 @@
 
     // TODO create some non-perfect odometry!
     // getting data for base_footprint to odom transform
+#if GAZEBO_MAJOR_VERSION >= 8
+    ignition::math::Pose3d pose = this->parent->WorldPose();
+#else
     ignition::math::Pose3d pose = this->parent->GetWorldPose().Ign();
+#endif
 
     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 +448,13 @@
 
     // get velocity in /odom frame
     ignition::math::Vector3d linear;
+#if GAZEBO_MAJOR_VERSION >= 8
+    linear = this->parent->WorldLinearVel();
+    odom_.twist.twist.angular.z = this->parent->WorldAngularVel().Z();
+#else
     linear = this->parent->GetWorldLinearVel().Ign();
     odom_.twist.twist.angular.z = this->parent->GetWorldAngularVel().Ign().Z();
+#endif
 
     // convert velocity to child_frame_id (aka base_footprint)
     float yaw = pose.Rot().Yaw();
diff -ura original/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_tricycle_drive.cpp patched/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_tricycle_drive.cpp
--- original/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_tricycle_drive.cpp	2017-12-11 13:53:46.000000000 +0100
+++ patched/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_tricycle_drive.cpp	2018-02-24 21:54:36.232427172 +0100
@@ -116,7 +116,11 @@
     // Initialize update rate stuff
     if ( this->update_rate_ > 0.0 ) this->update_period_ = 1.0 / this->update_rate_;
     else this->update_period_ = 0.0;
+#if GAZEBO_MAJOR_VERSION >= 8
+    last_actuator_update_ = parent->GetWorld()->SimTime();
+#else
     last_actuator_update_ = parent->GetWorld()->GetSimTime();
+#endif
 
     // Initialize velocity stuff
     alive_ = true;
@@ -166,7 +170,11 @@
     joint_state_.effort.resize ( joints.size() );
     for ( std::size_t i = 0; i < joints.size(); i++ ) {
         joint_state_.name[i] = joints[i]->GetName();
+#if GAZEBO_MAJOR_VERSION >= 8
+        joint_state_.position[i] = joints[i]->Position ( 0 );
+#else
         joint_state_.position[i] = joints[i]->GetAngle ( 0 ).Radian();
+#endif
         joint_state_.velocity[i] = joints[i]->GetVelocity ( 0 );
         joint_state_.effort[i] = joints[i]->GetForce ( 0 );
     }
@@ -185,7 +193,11 @@
         std::string frame = gazebo_ros_->resolveTF ( joints[i]->GetName() );
         std::string parent_frame = gazebo_ros_->resolveTF ( joints[i]->GetParent()->GetName() );
 
+#if GAZEBO_MAJOR_VERSION >= 8
+        ignition::math::Pose3d pose = joints[i]->GetChild()->RelativePose();
+#else
         ignition::math::Pose3d pose = joints[i]->GetChild()->GetRelativePose().Ign();
+#endif
 
         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() );
@@ -199,7 +211,11 @@
 void GazeboRosTricycleDrive::UpdateChild()
 {
     if ( odom_source_ == ENCODER ) UpdateOdometryEncoder();
+#if GAZEBO_MAJOR_VERSION >= 8
+    common::Time current_time = parent->GetWorld()->SimTime();
+#else
     common::Time current_time = parent->GetWorld()->GetSimTime();
+#endif
     double seconds_since_last_update = ( current_time - last_actuator_update_ ).Double();
     if ( seconds_since_last_update > update_period_ ) {
 
@@ -246,7 +262,11 @@
     }
     joint_wheel_actuated_->SetParam ( "vel", 0, applied_speed );
 
+#if GAZEBO_MAJOR_VERSION >= 8
+    double current_angle = joint_steering_->Position ( 0 );
+#else
     double current_angle = joint_steering_->GetAngle ( 0 ).Radian();
+#endif
 
     // truncate target angle
     if (target_angle > +M_PI / 2.0)
@@ -333,7 +353,11 @@
 {
     double vl = joint_wheel_encoder_left_->GetVelocity ( 0 );
     double vr = joint_wheel_encoder_right_->GetVelocity ( 0 );
+#if GAZEBO_MAJOR_VERSION >= 8
+    common::Time current_time = parent->GetWorld()->SimTime();
+#else
     common::Time current_time = parent->GetWorld()->GetSimTime();
+#endif
     double seconds_since_last_update = ( current_time - last_odom_update_ ).Double();
     last_odom_update_ = current_time;
 
@@ -393,7 +417,11 @@
     }
     if ( odom_source_ == WORLD ) {
         // getting data form gazebo world
+#if GAZEBO_MAJOR_VERSION >= 8
+        ignition::math::Pose3d pose = parent->WorldPose();
+#else
         ignition::math::Pose3d pose = parent->GetWorldPose().Ign();
+#endif
         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() );
 
@@ -408,8 +436,13 @@
 
         // get velocity in /odom frame
         ignition::math::Vector3d linear;
+#if GAZEBO_MAJOR_VERSION >= 8
+        linear = parent->WorldLinearVel();
+        odom_.twist.twist.angular.z = parent->WorldAngularVel().Z();
+#else
         linear = parent->GetWorldLinearVel().Ign();
         odom_.twist.twist.angular.z = parent->GetWorldAngularVel().Ign().Z();
+#endif
 
         // convert velocity to child_frame_id (aka base_footprint)
         float yaw = pose.Rot().Yaw();
diff -ura original/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_vacuum_gripper.cpp patched/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_vacuum_gripper.cpp
--- original/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_vacuum_gripper.cpp	2017-12-11 13:53:46.000000000 +0100
+++ patched/gazebo_ros_pkgs-release-release-lunar-gazebo_plugins-2.7.3-0/src/gazebo_ros_vacuum_gripper.cpp	2018-02-24 21:54:36.232427172 +0100
@@ -179,8 +179,13 @@
   }
   // apply force
   lock_.lock();
+#if GAZEBO_MAJOR_VERSION >= 8
+  ignition::math::Pose3d parent_pose = link_->WorldPose();
+  physics::Model_V models = world_->Models();
+#else
   ignition::math::Pose3d parent_pose = link_->GetWorldPose().Ign();
   physics::Model_V models = world_->GetModels();
+#endif
   for (size_t i = 0; i < models.size(); i++) {
     if (models[i]->GetName() == link_->GetName() ||
         models[i]->GetName() == parent_->GetName())
@@ -189,14 +194,25 @@
     }
     physics::Link_V links = models[i]->GetLinks();
     for (size_t j = 0; j < links.size(); j++) {
+#if GAZEBO_MAJOR_VERSION >= 8
+      ignition::math::Pose3d link_pose = links[j]->WorldPose();
+#else
       ignition::math::Pose3d link_pose = links[j]->GetWorldPose().Ign();
+#endif
       ignition::math::Pose3d diff = parent_pose - link_pose;
       double norm = diff.Pos().Length();
       if (norm < 0.05) {
+#if GAZEBO_MAJOR_VERSION >= 8
+        links[j]->SetLinearAccel(link_->WorldLinearAccel());
+        links[j]->SetAngularAccel(link_->WorldAngularAccel());
+        links[j]->SetLinearVel(link_->WorldLinearVel());
+        links[j]->SetAngularVel(link_->WorldAngularVel());
+#else
         links[j]->SetLinearAccel(link_->GetWorldLinearAccel());
         links[j]->SetAngularAccel(link_->GetWorldAngularAccel());
         links[j]->SetLinearVel(link_->GetWorldLinearVel());
         links[j]->SetAngularVel(link_->GetWorldAngularVel());
+#endif
         double norm_force = 1 / norm;
         if (norm < 0.01) {
           // apply friction like force