# Install freebuoyancy\_gazebo plugin problem **URL:** \ **Category:** BlueROV2\ **Tags:** sitl, simulate\ **Created:** [May 6, 2021, 6:18pm UTC](https://discuss.bluerobotics.com/t/install-freebuoyancy-gazebo-plugin-problem/9620 "2021-05-06T18:18:40Z")\ **Posts on this page:** 4\ **Page:** 1
**Author:** ![mohammad](https://avatars.discourse-cdn.com/v4/letter/m/e274bd/32.png) [@mohammad](https://discuss.bluerobotics.com/u/mohammad)\ **Post date:** [May 6, 2021, 6:18pm UTC](https://discuss.bluerobotics.com/t/install-freebuoyancy-gazebo-plugin-problem/9620/1 "2021-05-06T18:18:40Z")
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; iModelCount(); ++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; iModelCount(); ++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 ``` ---
**Author:** ![patrickelectric](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/patrickelectric/32/2162_2.png) [@patrickelectric](https://discuss.bluerobotics.com/u/patrickelectric)\ **Post date:** [May 7, 2021, 12:41pm UTC](https://discuss.bluerobotics.com/t/install-freebuoyancy-gazebo-plugin-problem/9620/2 "2021-05-07T12:41:47Z")
Hi @mohammad, You need to use the following repository, branch and instructions: > **[GitHub - patrickelectric/ardupilot\_gazebo at add\_link](https://github.com/patrickelectric/ardupilot_gazebo/tree/add_link)** > > add\_link ---
**Author:** ![mohammad](https://avatars.discourse-cdn.com/v4/letter/m/e274bd/32.png) [@mohammad](https://discuss.bluerobotics.com/u/mohammad)\ **Post date:** [May 7, 2021, 7:53pm UTC](https://discuss.bluerobotics.com/t/install-freebuoyancy-gazebo-plugin-problem/9620/3 "2021-05-07T19:53:04Z")
currently i used gazebo 8 and i dont have error with gazebo but when running sitl i have link 1 down error. farhad@farhad:~/ardupilot/ArduSub$ sim\_vehicle.py -f gazebo-bluerov2 -L RATBeach --out=udp:0.0.0.0:14550 --console SIM\_VEHICLE: Start SIM\_VEHICLE: Killing tasks SIM\_VEHICLE: Starting up at 33.810313,-118.393867,0,270 (RATBeach) SIM\_VEHICLE: WAF build SIM\_VEHICLE: Configure waf SIM\_VEHICLE: “/home/farhad/ardupilot/modules/waf/waf-light” “configure” “–board” “sitl” Setting top to : /home/farhad/ardupilot Setting out to : /home/farhad/ardupilot/build Autoconfiguration : enabled Setting board to : sitl Using toolchain : native Checking for ‘g++’ (C++ compiler) : /usr/lib/ccache/g++ Checking for ‘gcc’ (C compiler) : /usr/lib/ccache/gcc Checking for c flags ‘-MMD’ : yes Checking for cxx flags ‘-MMD’ : yes Checking for need to link with librt : not necessary Checking for feenableexcept : yes Checking for HAVE\_CMATH\_ISFINITE : yes Checking for HAVE\_CMATH\_ISINF : yes Checking for HAVE\_CMATH\_ISNAN : yes Checking for NEED\_CMATH\_ISFINITE\_STD\_NAMESPACE : yes Checking for NEED\_CMATH\_ISINF\_STD\_NAMESPACE : yes Checking for NEED\_CMATH\_ISNAN\_STD\_NAMESPACE : yes Checking for header endian.h : yes Checking for header byteswap.h : yes Checking for HAVE\_MEMRCHR : yes Checking for program ‘python’ : /usr/bin/python Checking for python version \>= 2.7.0 : 2.7.12 Checking for program ‘python’ : /usr/bin/python Checking for python version \>= 2.7.0 : 2.7.12 Source is git repository : yes Update submodules : yes Checking for program ‘git’ : /usr/bin/git Checking for program ‘size’ : /usr/bin/size Benchmarks : disabled Unit tests : enabled Scripting : enabled Scripting runtime checks : enabled Checking for program ‘rsync’ : /usr/bin/rsync ‘configure’ finished successfully (5.765s) SIM\_VEHICLE: Building SIM\_VEHICLE: “/home/farhad/ardupilot/modules/waf/waf-light” “build” “–target” “bin/ardusub” Waf: Entering directory `/home/farhad/ardupilot/build/sitl' Embedding file sandbox.lua:libraries/AP_Scripting/scripts/sandbox.lua Waf: Leaving directory `/home/farhad/ardupilot/build/sitl’ ## BUILD SUMMARY Build directory: /home/farhad/ardupilot/build/sitl Target Text Data BSS Total bin/ardusub 1935763 2912 65312 2003987 Build commands will be stored in build/sitl/compile\_commands.json ‘build’ finished successfully (6.146s) SIM\_VEHICLE: Using defaults from (/home/farhad/ardupilot/Tools/autotest/default\_params/sub.parm) SIM\_VEHICLE: Run ArduSub SIM\_VEHICLE: “/home/farhad/ardupilot/Tools/autotest/run\_in\_terminal\_window.sh” “ArduSub” “/home/farhad/ardupilot/build/sitl/bin/ardusub” “-S” “-I0” “–home” “33.810313,-118.393867,0,270” “–model” “gazebo-bluerov2” “–speedup” “1” “–defaults” “/home/farhad/ardupilot/Tools/autotest/default\_params/sub.parm” SIM\_VEHICLE: Run MavProxy SIM\_VEHICLE: “mavproxy.py” “–master” “tcp:127.0.0.1:5760” “–sitl” “127.0.0.1:5501” “–out” “127.0.0.1:14550” “–out” “127.0.0.1:14551” “–out” “udp:0.0.0.0:14550” “–console” RiTW: Starting ArduSub : /home/farhad/ardupilot/build/sitl/bin/ardusub -S -I0 --home 33.810313,-118.393867,0,270 --model gazebo-bluerov2 --speedup 1 --defaults /home/farhad/ardupilot/Tools/autotest/default\_params/sub.parm Connect tcp:127.0.0.1:5760 source\_system=255 Loaded module console Log Directory: Telemetry log: mav.tlog Waiting for heartbeat from tcp:127.0.0.1:5760 MAV\> ---
**Author:** ![patrickelectric](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/patrickelectric/32/2162_2.png) [@patrickelectric](https://discuss.bluerobotics.com/u/patrickelectric)\ **Post date:** [May 7, 2021, 10:45pm UTC](https://discuss.bluerobotics.com/t/install-freebuoyancy-gazebo-plugin-problem/9620/4 "2021-05-07T22:45:09Z")
You need to click in the play button on gazebo.