Hi
i have installed gazebo 7 and i cloned ardupilot code in ubuntu 16.04 64 bit.
i receive this error when installing freebuoyancy_gazebo plugin.
farhad@farhad:~/freebuoyancy_gazebo/build$ make
Scanning dependencies of target freebuoyancy_gazebo
[ 50%] Building CXX object CMakeFiles/freebuoyancy_gazebo.dir/src/freebuoyancy.cpp.o
/home/farhad/freebuoyancy_gazebo/src/freebuoyancy.cpp: In member function ‘virtual void gazebo::FreeBuoyancyPlugin::OnUpdate()’:
/home/farhad/freebuoyancy_gazebo/src/freebuoyancy.cpp:74:25: error: ‘class gazebo::physics::World’ has no member named ‘ModelCount’
for (i=0; i<world_->ModelCount(); ++i) {
^
/home/farhad/freebuoyancy_gazebo/src/freebuoyancy.cpp:77:25: error: ‘class gazebo::physics::World’ has no member named ‘ModelByIndex’
if (world_->ModelByIndex(i)->GetName() == model_it->name)
^
/home/farhad/freebuoyancy_gazebo/src/freebuoyancy.cpp:80:33: error: ‘class gazebo::physics::World’ has no member named ‘ModelByIndex’
if (!found && !(world_->ModelByIndex(i)->IsStatic())) // model not in listand not static, parse it for potential buoyancy flags
^
/home/farhad/freebuoyancy_gazebo/src/freebuoyancy.cpp:81:35: error: ‘class gazebo::physics::World’ has no member named ‘ModelByIndex’
ParseNewModel(world_->ModelByIndex(i));
^
/home/farhad/freebuoyancy_gazebo/src/freebuoyancy.cpp:88:29: error: ‘class gazebo::physics::World’ has no member named ‘ModelCount’
for (i=0; i<world_->ModelCount(); ++i) {
^
/home/farhad/freebuoyancy_gazebo/src/freebuoyancy.cpp:89:25: error: ‘class gazebo::physics::World’ has no member named ‘ModelByIndex’
if (world_->ModelByIndex(i)->GetName() == model_it->name)
^
/home/farhad/freebuoyancy_gazebo/src/freebuoyancy.cpp:103:39: error: ‘class gazebo::physics::Link’ has no member named ‘WorldPose’
cob_position = link_it->link->WorldPose().Pos() + link_it->link->WorldPose().Rot().RotateVector(link_it->buoyancy_center);
^
/home/farhad/freebuoyancy_gazebo/src/freebuoyancy.cpp:103:74: error: ‘class gazebo::physics::Link’ has no member named ‘WorldPose’
cob_position = link_it->link->WorldPose().Pos() + link_it->link->WorldPose().Rot().RotateVector(link_it->buoyancy_center);
^
/home/farhad/freebuoyancy_gazebo/src/freebuoyancy.cpp:124:46: error: ‘class gazebo::physics::Link’ has no member named ‘WorldPose’
velocity_difference = link_it->link->WorldPose().Rot().RotateVectorReverse(link_it->link->WorldLinearVel() - fluid_velocity_);
^
/home/farhad/freebuoyancy_gazebo/src/freebuoyancy.cpp:124:99: error: ‘class gazebo::physics::Link’ has no member named ‘WorldLinearVel’
velocity_difference = link_it->link->WorldPose().Rot().RotateVectorReverse(link_it->link->WorldLinearVel() - fluid_velocity_);
^
/home/farhad/freebuoyancy_gazebo/src/freebuoyancy.cpp:130:40: error: ‘class gazebo::physics::Link’ has no member named ‘WorldPose’
actual_force -= link_it->link->WorldPose().Rot().RotateVector(link_it->linear_damping * velocity_difference);
^
/home/farhad/freebuoyancy_gazebo/src/freebuoyancy.cpp:135:46: error: ‘class gazebo::physics::Link’ has no member named ‘RelativeAngularVel’
velocity_difference = link_it->link->RelativeAngularVel();
^
/home/farhad/freebuoyancy_gazebo/src/freebuoyancy.cpp: In member function ‘void gazebo::FreeBuoyancyPlugin::ParseNewModel(const ModelPtr&)’:
/home/farhad/freebuoyancy_gazebo/src/freebuoyancy.cpp:197:78: error: ‘class gazebo::physics::Inertial’ has no member named ‘CoG’
new_buoy_link.buoyancy_center = sdf_link->GetInertial()->CoG();
^
/home/farhad/freebuoyancy_gazebo/src/freebuoyancy.cpp:198:145: error: ‘class gazebo::physics::Inertial’ has no member named ‘Mass’
new_buoy_link.linear_damping = new_buoy_link.angular_damping = 5 * ignition::math::Vector3d::One * sdf_link->GetInertial()->Mass();
^
/home/farhad/freebuoyancy_gazebo/src/freebuoyancy.cpp:210:92: error: ‘class gazebo::physics::Inertial’ has no member named ‘Mass’
new_buoy_link.buoyant_force = -compensation * sdf_link->GetInertial()->Mass() * WORLD_GRAVITY;
^
/home/farhad/freebuoyancy_gazebo/src/freebuoyancy.cpp:234:78: error: ‘class gazebo::physics::Inertial’ has no member named ‘CoG’
new_buoy_link.buoyancy_center = sdf_link->GetInertial()->CoG();
^
/home/farhad/freebuoyancy_gazebo/src/freebuoyancy.cpp:235:145: error: ‘class gazebo::physics::Inertial’ has no member named ‘Mass’
new_buoy_link.linear_damping = new_buoy_link.angular_damping = 5 * ignition::math::Vector3d::One * sdf_link->GetInertial()->Mass();
^
/home/farhad/freebuoyancy_gazebo/src/freebuoyancy.cpp:259:92: error: ‘class gazebo::physics::Inertial’ has no member named ‘Mass’
new_buoy_link.buoyant_force = -compensation * sdf_link->GetInertial()->Mass() * WORLD_GRAVITY;
^
CMakeFiles/freebuoyancy_gazebo.dir/build.make:62: recipe for target 'CMakeFiles/freebuoyancy_gazebo.dir/src/freebuoyancy.cpp.o' failed
make[2]: *** [CMakeFiles/freebuoyancy_gazebo.dir/src/freebuoyancy.cpp.o] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/freebuoyancy_gazebo.dir/all' failed
make[1]: *** [CMakeFiles/freebuoyancy_gazebo.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2