Doesn't compile on ROS Noetic with Gazebo 10.

[varadVaidya]

It seems that the codebase hasn't been migrated to Gazebo 9 causing migrations issues.
Errors << aerial_manipulation:make /home/varad/aerial_manip_ws/logs/aerial_manipulation/build.make.001.log /usr/bin/ld: cannot find -lgazebo_math collect2: error: ld returned 1 exit status make[2]: *** [CMakeFiles/kinova_tele.dir/build.make:115: /home/varad/aerial_manip_ws/devel/.private/aerial_manipulation/lib/aerial_manipulation/kinova_tele] Error 1 make[1]: *** [CMakeFiles/Makefile2:1839: CMakeFiles/kinova_tele.dir/all] Error 2 make[1]: *** Waiting for unfinished jobs.... /home/varad/aerial_manip_ws/src/Aerial-Manipulator-Gazebo/src/gear_joint_sensor.cpp: In member function ‘void gazebo::JointStateSensor::onUpdate()’: /home/varad/aerial_manip_ws/src/Aerial-Manipulator-Gazebo/src/gear_joint_sensor.cpp:80:26: error: ‘class gazebo::physics::Joint’ has no member named ‘GetAngle’ 80 | double angle = joint->GetAngle(0).Radian() ; | ^~~~~~~~ /home/varad/aerial_manip_ws/src/Aerial-Manipulator-Gazebo/src/controller.cpp:249:33: error: ‘gazebo::math’ has not been declared 249 | public: double my_norm( gazebo::math::Quaternion& quat ) | ^~~~ /home/varad/aerial_manip_ws/src/Aerial-Manipulator-Gazebo/src/controller.cpp: In member function ‘void gazebo::UASControlPlugin::onUpdate()’: /home/varad/aerial_manip_ws/src/Aerial-Manipulator-Gazebo/src/controller.cpp:134:17: error: ‘class gazebo::physics::World’ has no member named ‘GetSimTime’; did you mean ‘SetSimTime’? 134 | time = world->GetSimTime().Double(); | ^~~~~~~~~~ | SetSimTime /home/varad/aerial_manip_ws/src/Aerial-Manipulator-Gazebo/src/controller.cpp:156:25: error: ‘class gazebo::physics::Joint’ has no member named ‘GetAngle’ 156 | double q = joint_i->GetAngle(0).Radian(); | ^~~~~~~~ /home/varad/aerial_manip_ws/src/Aerial-Manipulator-Gazebo/src/controller.cpp:164:26: error: ‘class gazebo::physics::Joint’ has no member named ‘GetAngle’ 164 | double q = finger_i->GetAngle(0).Radian(); | ^~~~~~~~ /home/varad/aerial_manip_ws/src/Aerial-Manipulator-Gazebo/src/controller.cpp:169:26: error: ‘class gazebo::physics::Joint’ has no member named ‘GetAngle’ 169 | double q = finger_i->GetAngle(0).Radian(); | ^~~~~~~~ /home/varad/aerial_manip_ws/src/Aerial-Manipulator-Gazebo/src/controller.cpp:176:11: error: ‘gazebo::math’ has not been declared 176 | gazebo::math::Pose pose = quad->GetWorldPose(); | ^~~~ /home/varad/aerial_manip_ws/src/Aerial-Manipulator-Gazebo/src/controller.cpp:177:11: error: ‘gazebo::math’ has not been declared 177 | gazebo::math::Vector3 ang_vel = quad->GetRelativeAngularVel(); | ^~~~ /home/varad/aerial_manip_ws/src/Aerial-Manipulator-Gazebo/src/controller.cpp:178:11: error: ‘gazebo::math’ has not been declared 178 | gazebo::math::Vector3 lin_vel = quad->GetRelativeLinearVel(); | ^~~~ /home/varad/aerial_manip_ws/src/Aerial-Manipulator-Gazebo/src/controller.cpp:179:11: error: ‘gazebo::math’ has not been declared 179 | gazebo::math::Vector3 position = pose.pos; | ^~~~ /home/varad/aerial_manip_ws/src/Aerial-Manipulator-Gazebo/src/controller.cpp:180:11: error: ‘gazebo::math’ has not been declared 180 | gazebo::math::Quaternion quatern = pose.rot; | ^~~~ /home/varad/aerial_manip_ws/src/Aerial-Manipulator-Gazebo/src/controller.cpp:190:40: error: ‘position’ was not declared in this scope 190 | foundpose.position = Eigen::Vector3d(position.x , position.y , position.z); | ^~~~~~~~ /home/varad/aerial_manip_ws/src/Aerial-Manipulator-Gazebo/src/controller.cpp:192:28: error: ‘quatern’ was not declared in this scope; did you mean ‘quat1’? 192 | Eigen::Quaterniond quat1(quatern.w, quatern.x, quatern.y, quatern.z); | ^~~~~~~ | quat1 /home/varad/aerial_manip_ws/src/Aerial-Manipulator-Gazebo/src/controller.cpp:205:11: error: ‘gazebo::math’ has not been declared 205 | gazebo::math::Vector3 rpy = quatern.GetAsEuler(); // we need both versions of the quaternion (Eigen::Quaterniond and gazebo::math::Quaternion) and we need them normalized | ^~~~ /home/varad/aerial_manip_ws/src/Aerial-Manipulator-Gazebo/src/controller.cpp:207:28: error: ‘rpy’ was not declared in this scope 207 | foundpose.orientation << rpy.x , rpy.y , rpy.z ; // found the RPY orientation | ^~~ /home/varad/aerial_manip_ws/src/Aerial-Manipulator-Gazebo/src/controller.cpp:209:40: error: ‘lin_vel’ was not declared in this scope 209 | foundpose.velocity = Eigen::Vector3d(lin_vel.x, lin_vel.y, lin_vel.z); // found the linear velocity | ^~~~~~~ /home/varad/aerial_manip_ws/src/Aerial-Manipulator-Gazebo/src/controller.cpp:211:44: error: ‘ang_vel’ was not declared in this scope 211 | foundpose.angular_rate = Eigen::Vector3d(ang_vel.x, ang_vel.y, ang_vel.z); // found the angular velocity | ^~~~~~~ /home/varad/aerial_manip_ws/src/Aerial-Manipulator-Gazebo/src/controller.cpp: In member function ‘double gazebo::UASControlPlugin::my_norm(int&)’: /home/varad/aerial_manip_ws/src/Aerial-Manipulator-Gazebo/src/controller.cpp:251:19: error: request for member ‘w’ in ‘quat’, which is of non-class type ‘int’ 251 | double w = quat.w; double x = quat.x; double y = quat.y; double z = quat.z; | ^ /home/varad/aerial_manip_ws/src/Aerial-Manipulator-Gazebo/src/controller.cpp:251:38: error: request for member ‘x’ in ‘quat’, which is of non-class type ‘int’ 251 | double w = quat.w; double x = quat.x; double y = quat.y; double z = quat.z; | ^ /home/varad/aerial_manip_ws/src/Aerial-Manipulator-Gazebo/src/controller.cpp:251:57: error: request for member ‘y’ in ‘quat’, which is of non-class type ‘int’ 251 | double w = quat.w; double x = quat.x; double y = quat.y; double z = quat.z; | ^ /home/varad/aerial_manip_ws/src/Aerial-Manipulator-Gazebo/src/controller.cpp:251:76: error: request for member ‘z’ in ‘quat’, which is of non-class type ‘int’ 251 | double w = quat.w; double x = quat.x; double y = quat.y; double z = quat.z; | ^ make[2]: *** [CMakeFiles/gear_pub.dir/build.make:63: CMakeFiles/gear_pub.dir/src/gear_joint_sensor.cpp.o] Error 1 make[1]: *** [CMakeFiles/Makefile2:219: CMakeFiles/gear_pub.dir/all] Error 2 make[2]: *** [CMakeFiles/control_plugin.dir/build.make:63: CMakeFiles/control_plugin.dir/src/controller.cpp.o] Error 1 make[1]: *** [CMakeFiles/Makefile2:246: CMakeFiles/control_plugin.dir/all] Error 2 make: *** [Makefile:141: all] Error 2