libvolumetric_map_base.so: undefined reference to `cv::Mat::updateContinuityFlag()'

Hi, I followed your tutorial, made a gbplanner_ws workspace & tried to complie it (with and without octomapping). However, in both cases, the commands seem like having a mismatch in opencv version or something similar.
I follwed the following path:
git clone https://github.com/unr-arl/gbplanner_ws
cd gbplanner_ws
wstool init
wstool merge packages_https.rosinstall
wstool update
catkin config -DCMAKE_BUILD_TYPE=Release
catkin build

I am using Ubuntu 18.04 with ROS melodic running and an opencv version of 3.4.8. Here is the log file:
build.make.003.log.
Error displayed on command prompt:
arghya@arghya-Erazer-X7849-MD60379:~/gbplanner_ws$ catkin build -DCMAKE_BUILD_TYPE=Release gbplanner_ros
-------------------------------------------------------------------------------------------------------
Profile:                     default
Extending:          [cached] /home/arghya/catkin_ws/devel:/home/arghya/ws_moveit/devel:/opt/ros/melodic
Workspace:                   /home/arghya/gbplanner_ws
-------------------------------------------------------------------------------------------------------
Build Space:        [exists] /home/arghya/gbplanner_ws/build
Devel Space:        [exists] /home/arghya/gbplanner_ws/devel
Install Space:      [unused] /home/arghya/gbplanner_ws/install
Log Space:          [exists] /home/arghya/gbplanner_ws/logs
Source Space:       [exists] /home/arghya/gbplanner_ws/src
DESTDIR:            [unused] None
-------------------------------------------------------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
-------------------------------------------------------------------------------------------------------
Additional CMake Args:       -DCMAKE_BUILD_TYPE=Release -DCMAKE_BUILD_TYPE=Release -DUSE_OCTOMAP=1
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
-------------------------------------------------------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
-------------------------------------------------------------------------------------------------------
Workspace configuration appears valid.

NOTE: Forcing CMake to run for each package.
-------------------------------------------------------------------------------------------------------
[build] Found '41' packages in 0.0 seconds.
[build] Package table is up to date.
Starting  >>> catkin_simple
Starting  >>> planner_gazebo_sim
Starting  >>> planner_msgs
Finished  <<< planner_gazebo_sim                       [ 0.9 seconds ]
Finished  <<< catkin_simple                            [ 1.0 seconds ]
Starting  >>> eigen_catkin
Starting  >>> gflags_catkin
Starting  >>> kdtree
Starting  >>> volumetric_msgs
Starting  >>> voxblox_msgs
Finished  <<< kdtree                                   [ 1.2 seconds ]
Finished  <<< gflags_catkin                            [ 1.2 seconds ]
Finished  <<< eigen_catkin                             [ 1.2 seconds ]
Starting  >>> glog_catkin
Finished  <<< planner_msgs                             [ 2.6 seconds ]
Starting  >>> planner_control_interface
Finished  <<< voxblox_msgs                             [ 1.8 seconds ]
Finished  <<< volumetric_msgs                          [ 1.8 seconds ]
Finished  <<< glog_catkin                              [ 1.0 seconds ]
Starting  >>> eigen_checks
Finished  <<< planner_control_interface                [ 1.5 seconds ]
Finished  <<< eigen_checks                             [ 1.0 seconds ]
Starting  >>> minkindr
Finished  <<< minkindr                                 [ 0.7 seconds ]
Starting  >>> minkindr_conversions
Starting  >>> volumetric_map_base
Starting  >>> voxblox
________________________________________________________________________________________________________________________________________________________
Warnings   << voxblox:cmake /home/arghya/gbplanner_ws/logs/voxblox/build.cmake.003.log
INSTALL TARGETS - target voxblox_proto has PUBLIC_HEADER files but no PUBLIC_HEADER DESTINATION.
CMake Warning at /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:418 (message):
  catkin_package() include dir '/home/arghya/gbplanner_ws/build/voxblox'
  should be placed in the devel space instead of the build space
Call Stack (most recent call first):
  /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
  /home/arghya/gbplanner_ws/devel/share/catkin_simple/cmake/catkin_simple-extras.cmake:214 (catkin_package)
  CMakeLists.txt:173 (cs_export)

cd /home/arghya/gbplanner_ws/build/voxblox; catkin build --get-env voxblox | catkin env -si  /usr/bin/cmake /home/arghya/gbplanner_ws/src/mapping/voxblox/voxblox --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/arghya/gbplanner_ws/devel/.private/voxblox -DCMAKE_INSTALL_PREFIX=/home/arghya/gbplanner_ws/install -DCMAKE_BUILD_TYPE=Release -DCMAKE_BUILD_TYPE=Release -DUSE_OCTOMAP=1; cd -
........................................................................................................................................................
Finished  <<< minkindr_conversions                     [ 1.1 seconds ]
Finished  <<< voxblox                                  [ 1.2 seconds ]
Starting  >>> voxblox_rviz_plugin
Finished  <<< volumetric_map_base                      [ 2.7 seconds ]
Starting  >>> octomap_world
Finished  <<< voxblox_rviz_plugin                      [ 1.9 seconds ]
Starting  >>> voxblox_ros
Finished  <<< voxblox_ros                              [ 3.5 seconds ]
________________________________________________________________________________________________________________________________________________________
Errors     << octomap_world:make /home/arghya/gbplanner_ws/logs/octomap_world/build.make.003.log
/home/arghya/gbplanner_ws/devel/.private/volumetric_map_base/lib/libvolumetric_map_base.so: undefined reference to `cv::Mat::updateContinuityFlag()'
collect2: error: ld returned 1 exit status
make[2]: *** [/home/arghya/gbplanner_ws/devel/.private/octomap_world/lib/octomap_world/octomap_manager] Error 1
make[1]: *** [CMakeFiles/octomap_manager.dir/all] Error 2
make: *** [all] Error 2
cd /home/arghya/gbplanner_ws/build/octomap_world; catkin build --get-env octomap_world | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
........................................................................................................................................................
Failed     << octomap_world:make                       [ Exited with code 2 ]
Failed    <<< octomap_world                            [ 4.7 seconds ]
Abandoned <<< gbplanner                                [ Unrelated job failed ]
Abandoned <<< gbplanner_ros                            [ Unrelated job failed ]
[build] Summary: 17 of 20 packages succeeded.
[build]   Ignored:   21 packages were skipped or are blacklisted.
[build]   Warnings:  1 packages succeeded with warnings.
[build]   Abandoned: 2 packages were abandoned.
[build]   Failed:    1 packages failed.
[build] Runtime: 13.2 seconds total.

Hi, sorry for the late reply. I've prepared a branch for Melodic here.
If you could please try the configuration setting in that branch first. Then if the problem still exists (which is very likely), I would suggest you use this package to install OpenCV3.2 in the workspace, which is the officially supported version in Melodic.

Hi @tungdanganh , thanks for responding. The issue seem to be resolved. However, it seems that there is a gazebo version mismatch:
arghya@arghya-Erazer-X7849-MD60379:~/gbplanner_ws$ catkin build
--------------------------------------------------------------------------
Profile:                     default
Extending:          [cached] /home/arghya/ws_moveit/devel:/opt/ros/melodic
Workspace:                   /home/arghya/gbplanner_ws
--------------------------------------------------------------------------
Build Space:        [exists] /home/arghya/gbplanner_ws/build
Devel Space:        [exists] /home/arghya/gbplanner_ws/devel
Install Space:      [unused] /home/arghya/gbplanner_ws/install
Log Space:          [exists] /home/arghya/gbplanner_ws/logs
Source Space:       [exists] /home/arghya/gbplanner_ws/src
DESTDIR:            [unused] None
--------------------------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
--------------------------------------------------------------------------
Additional CMake Args:       -DCMAKE_BUILD_TYPE=Release
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
--------------------------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
--------------------------------------------------------------------------
Workspace configuration appears valid.
--------------------------------------------------------------------------
[build] Found '41' packages in 0.0 seconds.
[build] Package table is up to date.
Starting  >>> catkin_simple
Starting  >>> lidar_description
Starting  >>> lidar_gazebo_plugins
Starting  >>> mav_msgs
Starting  >>> mav_state_machine_msgs
Starting  >>> mav_system_msgs
Starting  >>> planner_gazebo_sim
Starting  >>> planner_msgs
Finished  <<< catkin_simple                            [ 0.1 seconds ]
Finished  <<< mav_state_machine_msgs                   [ 0.3 seconds ]
Finished  <<< lidar_description                        [ 0.2 seconds ]
Finished  <<< mav_system_msgs                          [ 0.3 seconds ]
Finished  <<< mav_msgs                                 [ 0.5 seconds ]
Finished  <<< lidar_gazebo_plugins                     [ 0.2 seconds ]
Starting  >>> rotors_comm
Finished  <<< planner_gazebo_sim                       [ 0.2 seconds ]
Starting  >>> rotors_description
Starting  >>> rotors_evaluation
Finished  <<< planner_msgs                             [ 0.9 seconds ]
Finished  <<< rotors_comm                              [ 0.2 seconds ]
Starting  >>> rqt_rotors
Starting  >>> eigen_catkin
Starting  >>> gflags_catkin
Starting  >>> kdtree
Starting  >>> volumetric_msgs
Starting  >>> voxblox_msgs
Finished  <<< rotors_description                       [ 0.1 seconds ]
Starting  >>> yaml_cpp_catkin
Finished  <<< rotors_evaluation                        [ 0.1 seconds ]
Starting  >>> mav_planning_msgs
Finished  <<< kdtree                                   [ 0.1 seconds ]
Starting  >>> rotors_control
Finished  <<< eigen_catkin                             [ 0.1 seconds ]
Starting  >>> rotors_joy_interface
Finished  <<< gflags_catkin                            [ 0.1 seconds ]
Finished  <<< rqt_rotors                               [ 0.1 seconds ]
Finished  <<< volumetric_msgs                          [ 0.4 seconds ]
Starting  >>> gbplanner_ui
Starting  >>> planner_control_interface
Starting  >>> glog_catkin
Finished  <<< voxblox_msgs                             [ 0.4 seconds ]
Finished  <<< yaml_cpp_catkin                          [ 0.1 seconds ]
Finished  <<< glog_catkin                              [ 0.2 seconds ]
Starting  >>> eigen_checks
Finished  <<< mav_planning_msgs                        [ 0.6 seconds ]
Finished  <<< rotors_control                           [ 0.5 seconds ]
Starting  >>> rotors_gazebo_plugins
Finished  <<< rotors_joy_interface                     [ 0.4 seconds ]
Finished  <<< gbplanner_ui                             [ 0.2 seconds ]
Finished  <<< eigen_checks                             [ 0.2 seconds ]
Starting  >>> minkindr
Finished  <<< planner_control_interface                [ 0.3 seconds ]
Starting  >>> pci_mav
Finished  <<< minkindr                                 [ 0.1 seconds ]
Finished  <<< pci_mav                                  [ 1.1 seconds ]
Starting  >>> minkindr_conversions
Finished  <<< minkindr_conversions                     [ 0.2 seconds ]
Starting  >>> volumetric_map_base
Finished  <<< volumetric_map_base                      [ 1.2 seconds ]
Starting  >>> voxblox
Finished  <<< voxblox                                  [ 0.3 seconds ]
Starting  >>> octomap_world
Starting  >>> voxblox_rviz_plugin
________________________________________________________________________________________________________________
Errors     << rotors_gazebo_plugins:make /home/arghya/gbplanner_ws/logs/rotors_gazebo_plugins/build.make.001.log
In file included from /home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:26:0:
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/include/liftdrag_plugin/liftdrag_plugin.h:110:16: error: ‘math’ does not name a type; did you mean ‘tanh’?
     protected: math::Vector3 cp;
                ^~~~
                tanh
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/include/liftdrag_plugin/liftdrag_plugin.h:114:16: error: ‘math’ does not name a type; did you mean ‘tanh’?
     protected: math::Vector3 forward;
                ^~~~
                tanh
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/include/liftdrag_plugin/liftdrag_plugin.h:119:16: error: ‘math’ does not name a type; did you mean ‘tanh’?
     protected: math::Vector3 upward;
                ^~~~
                tanh
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/include/liftdrag_plugin/liftdrag_plugin.h:122:16: error: ‘math’ does not name a type; did you mean ‘tanh’?
     protected: math::Vector3 velSmooth;
                ^~~~
                tanh
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp: In constructor ‘gazebo::LiftDragPlugin::LiftDragPlugin()’:
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:35:9: error: ‘class gazebo::LiftDragPlugin’ has no member named ‘cp’
   this->cp = math::Vector3(0, 0, 0);
         ^~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:35:14: error: ‘math’ has not been declared
   this->cp = math::Vector3(0, 0, 0);
              ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:36:9: error: ‘class gazebo::LiftDragPlugin’ has no member named ‘forward’
   this->forward = math::Vector3(1, 0, 0);
         ^~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:36:19: error: ‘math’ has not been declared
   this->forward = math::Vector3(1, 0, 0);
                   ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:37:9: error: ‘class gazebo::LiftDragPlugin’ has no member named ‘upward’
   this->upward = math::Vector3(0, 0, 1);
         ^~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:37:18: error: ‘math’ has not been declared
   this->upward = math::Vector3(0, 0, 1);
                  ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp: In member function ‘virtual void gazebo::LiftDragPlugin::Load(gazebo::physics::ModelPtr, sdf::ElementPtr)’:
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:75:32: error: ‘class gazebo::physics::World’ has no member named ‘GetPhysicsEngine’; did you mean ‘SetPhysicsEnabled’?
   this->physics = this->world->GetPhysicsEngine();
                                ^~~~~~~~~~~~~~~~
                                SetPhysicsEnabled
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:108:11: error: ‘class gazebo::LiftDragPlugin’ has no member named ‘cp’
     this->cp = _sdf->Get<math::Vector3>("cp");
           ^~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:108:26: error: ‘math’ was not declared in this scope
     this->cp = _sdf->Get<math::Vector3>("cp");
                          ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:108:26: note: suggested alternatives:
In file included from /usr/include/ignition/math4/ignition/math/Color.hh:22:0,
                 from /usr/include/gazebo-9/gazebo/physics/Actor.hh:24,
                 from /usr/include/gazebo-9/gazebo/physics/physics.hh:2,
                 from /home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:22:
/usr/include/ignition/math4/ignition/math/Helpers.hh:211:13: note:   ‘ignition::math’
   namespace math
             ^~~~
In file included from /usr/include/boost/variant/variant.hpp:43:0,
                 from /usr/include/boost/variant.hpp:17,
                 from /usr/include/sdformat-6.0/sdf/Param.hh:24,
                 from /usr/include/sdformat-6.0/sdf/Element.hh:25,
                 from /usr/include/sdformat-6.0/sdf/sdf.hh:4,
                 from /usr/include/gazebo-9/gazebo/physics/State.hh:32,
                 from /usr/include/gazebo-9/gazebo/physics/ModelState.hh:28,
                 from /usr/include/gazebo-9/gazebo/physics/Model.hh:29,
                 from /usr/include/gazebo-9/gazebo/physics/Actor.hh:26,
                 from /usr/include/gazebo-9/gazebo/physics/physics.hh:2,
                 from /home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:22:
/usr/include/boost/math/common_factor_ct.hpp:17:11: note:   ‘boost::math’
 namespace math
           ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:108:22: error: parse error in template argument list
     this->cp = _sdf->Get<math::Vector3>("cp");
                      ^~~~~~~~~~~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:108:45: error: no matching function for call to ‘sdf::Element::Get<<expression error> >(const char [3])’
     this->cp = _sdf->Get<math::Vector3>("cp");
                                             ^
In file included from /usr/include/sdformat-6.0/sdf/sdf.hh:4:0,
                 from /usr/include/gazebo-9/gazebo/physics/State.hh:32,
                 from /usr/include/gazebo-9/gazebo/physics/ModelState.hh:28,
                 from /usr/include/gazebo-9/gazebo/physics/Model.hh:29,
                 from /usr/include/gazebo-9/gazebo/physics/Actor.hh:26,
                 from /usr/include/gazebo-9/gazebo/physics/physics.hh:2,
                 from /home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:22:
/usr/include/sdformat-6.0/sdf/Element.hh:425:5: note: candidate: template<class T> T sdf::Element::Get(const string&) const
   T Element::Get(const std::string &_key) const
     ^~~~~~~
/usr/include/sdformat-6.0/sdf/Element.hh:425:5: note:   template argument deduction/substitution failed:
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:108:45: error: template argument 1 is invalid
     this->cp = _sdf->Get<math::Vector3>("cp");
                                             ^
In file included from /usr/include/sdformat-6.0/sdf/sdf.hh:4:0,
                 from /usr/include/gazebo-9/gazebo/physics/State.hh:32,
                 from /usr/include/gazebo-9/gazebo/physics/ModelState.hh:28,
                 from /usr/include/gazebo-9/gazebo/physics/Model.hh:29,
                 from /usr/include/gazebo-9/gazebo/physics/Actor.hh:26,
                 from /usr/include/gazebo-9/gazebo/physics/physics.hh:2,
                 from /home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:22:
/usr/include/sdformat-6.0/sdf/Element.hh:247:32: note: candidate: template<class T> std::pair<T, bool> sdf::Element::Get(const string&, const T&) const
             std::pair<T, bool> Get(const std::string &_key,
                                ^~~
/usr/include/sdformat-6.0/sdf/Element.hh:247:32: note:   template argument deduction/substitution failed:
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:108:45: error: template argument 1 is invalid
     this->cp = _sdf->Get<math::Vector3>("cp");
                                             ^
In file included from /usr/include/sdformat-6.0/sdf/sdf.hh:4:0,
                 from /usr/include/gazebo-9/gazebo/physics/State.hh:32,
                 from /usr/include/gazebo-9/gazebo/physics/ModelState.hh:28,
                 from /usr/include/gazebo-9/gazebo/physics/Model.hh:29,
                 from /usr/include/gazebo-9/gazebo/physics/Actor.hh:26,
                 from /usr/include/gazebo-9/gazebo/physics/physics.hh:2,
                 from /home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:22:
/usr/include/sdformat-6.0/sdf/Element.hh:257:18: note: candidate: template<class T> bool sdf::Element::Get(const string&, T&, const T&) const
             bool Get(const std::string &_key,
                  ^~~
/usr/include/sdformat-6.0/sdf/Element.hh:257:18: note:   template argument deduction/substitution failed:
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:108:45: error: template argument 1 is invalid
     this->cp = _sdf->Get<math::Vector3>("cp");
                                             ^
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:112:11: error: ‘class gazebo::LiftDragPlugin’ has no member named ‘forward’
     this->forward = _sdf->Get<math::Vector3>("forward");
           ^~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:112:31: error: ‘math’ was not declared in this scope
     this->forward = _sdf->Get<math::Vector3>("forward");
                               ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:112:31: note: suggested alternatives:
In file included from /usr/include/ignition/math4/ignition/math/Color.hh:22:0,
                 from /usr/include/gazebo-9/gazebo/physics/Actor.hh:24,
                 from /usr/include/gazebo-9/gazebo/physics/physics.hh:2,
                 from /home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:22:
/usr/include/ignition/math4/ignition/math/Helpers.hh:211:13: note:   ‘ignition::math’
   namespace math
             ^~~~
In file included from /usr/include/boost/variant/variant.hpp:43:0,
                 from /usr/include/boost/variant.hpp:17,
                 from /usr/include/sdformat-6.0/sdf/Param.hh:24,
                 from /usr/include/sdformat-6.0/sdf/Element.hh:25,
                 from /usr/include/sdformat-6.0/sdf/sdf.hh:4,
                 from /usr/include/gazebo-9/gazebo/physics/State.hh:32,
                 from /usr/include/gazebo-9/gazebo/physics/ModelState.hh:28,
                 from /usr/include/gazebo-9/gazebo/physics/Model.hh:29,
                 from /usr/include/gazebo-9/gazebo/physics/Actor.hh:26,
                 from /usr/include/gazebo-9/gazebo/physics/physics.hh:2,
                 from /home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:22:
/usr/include/boost/math/common_factor_ct.hpp:17:11: note:   ‘boost::math’
 namespace math
           ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:112:27: error: parse error in template argument list
     this->forward = _sdf->Get<math::Vector3>("forward");
                           ^~~~~~~~~~~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:112:55: error: no matching function for call to ‘sdf::Element::Get<<expression error> >(const char [8])’
     this->forward = _sdf->Get<math::Vector3>("forward");
                                                       ^
In file included from /usr/include/sdformat-6.0/sdf/sdf.hh:4:0,
                 from /usr/include/gazebo-9/gazebo/physics/State.hh:32,
                 from /usr/include/gazebo-9/gazebo/physics/ModelState.hh:28,
                 from /usr/include/gazebo-9/gazebo/physics/Model.hh:29,
                 from /usr/include/gazebo-9/gazebo/physics/Actor.hh:26,
                 from /usr/include/gazebo-9/gazebo/physics/physics.hh:2,
                 from /home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:22:
/usr/include/sdformat-6.0/sdf/Element.hh:425:5: note: candidate: template<class T> T sdf::Element::Get(const string&) const
   T Element::Get(const std::string &_key) const
     ^~~~~~~
/usr/include/sdformat-6.0/sdf/Element.hh:425:5: note:   template argument deduction/substitution failed:
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:112:55: error: template argument 1 is invalid
     this->forward = _sdf->Get<math::Vector3>("forward");
                                                       ^
In file included from /usr/include/sdformat-6.0/sdf/sdf.hh:4:0,
                 from /usr/include/gazebo-9/gazebo/physics/State.hh:32,
                 from /usr/include/gazebo-9/gazebo/physics/ModelState.hh:28,
                 from /usr/include/gazebo-9/gazebo/physics/Model.hh:29,
                 from /usr/include/gazebo-9/gazebo/physics/Actor.hh:26,
                 from /usr/include/gazebo-9/gazebo/physics/physics.hh:2,
                 from /home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:22:
/usr/include/sdformat-6.0/sdf/Element.hh:247:32: note: candidate: template<class T> std::pair<T, bool> sdf::Element::Get(const string&, const T&) const
             std::pair<T, bool> Get(const std::string &_key,
                                ^~~
/usr/include/sdformat-6.0/sdf/Element.hh:247:32: note:   template argument deduction/substitution failed:
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:112:55: error: template argument 1 is invalid
     this->forward = _sdf->Get<math::Vector3>("forward");
                                                       ^
In file included from /usr/include/sdformat-6.0/sdf/sdf.hh:4:0,
                 from /usr/include/gazebo-9/gazebo/physics/State.hh:32,
                 from /usr/include/gazebo-9/gazebo/physics/ModelState.hh:28,
                 from /usr/include/gazebo-9/gazebo/physics/Model.hh:29,
                 from /usr/include/gazebo-9/gazebo/physics/Actor.hh:26,
                 from /usr/include/gazebo-9/gazebo/physics/physics.hh:2,
                 from /home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:22:
/usr/include/sdformat-6.0/sdf/Element.hh:257:18: note: candidate: template<class T> bool sdf::Element::Get(const string&, T&, const T&) const
             bool Get(const std::string &_key,
                  ^~~
/usr/include/sdformat-6.0/sdf/Element.hh:257:18: note:   template argument deduction/substitution failed:
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:112:55: error: template argument 1 is invalid
     this->forward = _sdf->Get<math::Vector3>("forward");
                                                       ^
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:113:9: error: ‘class gazebo::LiftDragPlugin’ has no member named ‘forward’
   this->forward.Normalize();
         ^~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:117:11: error: ‘class gazebo::LiftDragPlugin’ has no member named ‘upward’
     this->upward = _sdf->Get<math::Vector3>("upward");
           ^~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:117:30: error: ‘math’ was not declared in this scope
     this->upward = _sdf->Get<math::Vector3>("upward");
                              ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:117:30: note: suggested alternatives:
In file included from /usr/include/ignition/math4/ignition/math/Color.hh:22:0,
                 from /usr/include/gazebo-9/gazebo/physics/Actor.hh:24,
                 from /usr/include/gazebo-9/gazebo/physics/physics.hh:2,
                 from /home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:22:
/usr/include/ignition/math4/ignition/math/Helpers.hh:211:13: note:   ‘ignition::math’
   namespace math
             ^~~~
In file included from /usr/include/boost/variant/variant.hpp:43:0,
                 from /usr/include/boost/variant.hpp:17,
                 from /usr/include/sdformat-6.0/sdf/Param.hh:24,
                 from /usr/include/sdformat-6.0/sdf/Element.hh:25,
                 from /usr/include/sdformat-6.0/sdf/sdf.hh:4,
                 from /usr/include/gazebo-9/gazebo/physics/State.hh:32,
                 from /usr/include/gazebo-9/gazebo/physics/ModelState.hh:28,
                 from /usr/include/gazebo-9/gazebo/physics/Model.hh:29,
                 from /usr/include/gazebo-9/gazebo/physics/Actor.hh:26,
                 from /usr/include/gazebo-9/gazebo/physics/physics.hh:2,
                 from /home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:22:
/usr/include/boost/math/common_factor_ct.hpp:17:11: note:   ‘boost::math’
 namespace math
           ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:117:26: error: parse error in template argument list
     this->upward = _sdf->Get<math::Vector3>("upward");
                          ^~~~~~~~~~~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:117:53: error: no matching function for call to ‘sdf::Element::Get<<expression error> >(const char [7])’
     this->upward = _sdf->Get<math::Vector3>("upward");
                                                     ^
In file included from /usr/include/sdformat-6.0/sdf/sdf.hh:4:0,
                 from /usr/include/gazebo-9/gazebo/physics/State.hh:32,
                 from /usr/include/gazebo-9/gazebo/physics/ModelState.hh:28,
                 from /usr/include/gazebo-9/gazebo/physics/Model.hh:29,
                 from /usr/include/gazebo-9/gazebo/physics/Actor.hh:26,
                 from /usr/include/gazebo-9/gazebo/physics/physics.hh:2,
                 from /home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:22:
/usr/include/sdformat-6.0/sdf/Element.hh:425:5: note: candidate: template<class T> T sdf::Element::Get(const string&) const
   T Element::Get(const std::string &_key) const
     ^~~~~~~
/usr/include/sdformat-6.0/sdf/Element.hh:425:5: note:   template argument deduction/substitution failed:
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:117:53: error: template argument 1 is invalid
     this->upward = _sdf->Get<math::Vector3>("upward");
                                                     ^
In file included from /usr/include/sdformat-6.0/sdf/sdf.hh:4:0,
                 from /usr/include/gazebo-9/gazebo/physics/State.hh:32,
                 from /usr/include/gazebo-9/gazebo/physics/ModelState.hh:28,
                 from /usr/include/gazebo-9/gazebo/physics/Model.hh:29,
                 from /usr/include/gazebo-9/gazebo/physics/Actor.hh:26,
                 from /usr/include/gazebo-9/gazebo/physics/physics.hh:2,
                 from /home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:22:
/usr/include/sdformat-6.0/sdf/Element.hh:247:32: note: candidate: template<class T> std::pair<T, bool> sdf::Element::Get(const string&, const T&) const
             std::pair<T, bool> Get(const std::string &_key,
                                ^~~
/usr/include/sdformat-6.0/sdf/Element.hh:247:32: note:   template argument deduction/substitution failed:
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:117:53: error: template argument 1 is invalid
     this->upward = _sdf->Get<math::Vector3>("upward");
                                                     ^
In file included from /usr/include/sdformat-6.0/sdf/sdf.hh:4:0,
                 from /usr/include/gazebo-9/gazebo/physics/State.hh:32,
                 from /usr/include/gazebo-9/gazebo/physics/ModelState.hh:28,
                 from /usr/include/gazebo-9/gazebo/physics/Model.hh:29,
                 from /usr/include/gazebo-9/gazebo/physics/Actor.hh:26,
                 from /usr/include/gazebo-9/gazebo/physics/physics.hh:2,
                 from /home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:22:
/usr/include/sdformat-6.0/sdf/Element.hh:257:18: note: candidate: template<class T> bool sdf::Element::Get(const string&, T&, const T&) const
             bool Get(const std::string &_key,
                  ^~~
/usr/include/sdformat-6.0/sdf/Element.hh:257:18: note:   template argument deduction/substitution failed:
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:117:53: error: template argument 1 is invalid
     this->upward = _sdf->Get<math::Vector3>("upward");
                                                     ^
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:118:9: error: ‘class gazebo::LiftDragPlugin’ has no member named ‘upward’
   this->upward.Normalize();
         ^~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp: In member function ‘virtual void gazebo::LiftDragPlugin::OnUpdate()’:
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:165:3: error: ‘math’ has not been declared
   math::Vector3 vel = this->link->GetWorldLinearVel(this->cp);
   ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:166:3: error: ‘math’ has not been declared
   math::Vector3 velI = vel;
   ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:167:3: error: ‘velI’ was not declared in this scope
   velI.Normalize();
   ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:174:7: error: ‘vel’ was not declared in this scope
   if (vel.GetLength() <= 0.01)
       ^~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:178:3: error: ‘math’ has not been declared
   math::Pose pose = this->link->GetWorldPose();
   ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:181:3: error: ‘math’ has not been declared
   math::Vector3 forwardI = pose.rot.RotateVector(this->forward);
   ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:183:3: error: ‘math’ has not been declared
   math::Vector3 upwardI;
   ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:188:5: error: ‘math’ has not been declared
     math::Vector3 tmp = forwardI.Cross(velI);
     ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:189:5: error: ‘upwardI’ was not declared in this scope
     upwardI = forwardI.Cross(tmp).Normalize();
     ^~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:189:15: error: ‘forwardI’ was not declared in this scope
     upwardI = forwardI.Cross(tmp).Normalize();
               ^~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:189:15: note: suggested alternative: ‘fread’
     upwardI = forwardI.Cross(tmp).Normalize();
               ^~~~~~~~
               fread
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:189:30: error: ‘tmp’ was not declared in this scope
     upwardI = forwardI.Cross(tmp).Normalize();
                              ^~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:189:30: note: suggested alternative: ‘tm’
     upwardI = forwardI.Cross(tmp).Normalize();
                              ^~~
                              tm
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:193:5: error: ‘upwardI’ was not declared in this scope
     upwardI = pose.rot.RotateVector(this->upward);
     ^~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:193:15: error: ‘pose’ was not declared in this scope
     upwardI = pose.rot.RotateVector(this->upward);
               ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:193:15: note: suggested alternative: ‘poll’
     upwardI = pose.rot.RotateVector(this->upward);
               ^~~~
               poll
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:193:43: error: ‘class gazebo::LiftDragPlugin’ has no member named ‘upward’
     upwardI = pose.rot.RotateVector(this->upward);
                                           ^~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:197:3: error: ‘math’ has not been declared
   math::Vector3 spanwiseI = forwardI.Cross(upwardI).Normalize();
   ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:202:26: error: ‘math’ has not been declared
   double sinSweepAngle = math::clamp(
                          ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:203:7: error: ‘spanwiseI’ was not declared in this scope
       spanwiseI.Dot(velI), minRatio, maxRatio);
       ^~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:223:3: error: ‘math’ has not been declared
   math::Vector3 velInLDPlane = vel - vel.Dot(spanwiseI)*velI;
   ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:226:3: error: ‘math’ has not been declared
   math::Vector3 dragDirection = -velInLDPlane;
   ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:227:3: error: ‘dragDirection’ was not declared in this scope
   dragDirection.Normalize();
   ^~~~~~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:227:3: note: suggested alternative: ‘sa_sigaction’
   dragDirection.Normalize();
   ^~~~~~~~~~~~~
   sa_sigaction
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:230:3: error: ‘math’ has not been declared
   math::Vector3 liftI = spanwiseI.Cross(velInLDPlane);
   ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:231:3: error: ‘liftI’ was not declared in this scope
   liftI.Normalize();
   ^~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:231:3: note: suggested alternative: ‘listen’
   liftI.Normalize();
   ^~~~~
   listen
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:234:3: error: ‘math’ has not been declared
   math::Vector3 momentDirection = spanwiseI;
   ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:241:21: error: ‘math’ has not been declared
   double cosAlpha = math::clamp(liftI.Dot(upwardI), minRatio, maxRatio);
                     ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:241:43: error: ‘upwardI’ was not declared in this scope
   double cosAlpha = math::clamp(liftI.Dot(upwardI), minRatio, maxRatio);
                                           ^~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:247:17: error: ‘forwardI’ was not declared in this scope
   if (liftI.Dot(forwardI) >= 0.0)
                 ^~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:247:17: note: suggested alternative: ‘fread’
   if (liftI.Dot(forwardI) >= 0.0)
                 ^~~~~~~~
                 fread
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:258:27: error: ‘velInLDPlane’ was not declared in this scope
   double speedInLDPlane = velInLDPlane.GetLength();
                           ^~~~~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:258:27: note: suggested alternative: ‘speedInLDPlane’
   double speedInLDPlane = velInLDPlane.GetLength();
                           ^~~~~~~~~~~~
                           speedInLDPlane
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:285:47: error: ‘class gazebo::physics::Joint’ has no member named ‘GetAngle’; did you mean ‘GetForce’?
     double controlAngle = this->controlJoint->GetAngle(0).Radian();
                                               ^~~~~~~~
                                               GetForce
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:291:3: error: ‘math’ has not been declared
   math::Vector3 lift = cl * q * this->area * liftI;
   ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:314:3: error: ‘math’ has not been declared
   math::Vector3 drag = cd * q * this->area * dragDirection;
   ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:342:3: error: ‘math’ has not been declared
   math::Vector3 moment = cm * q * this->area * momentDirection;
   ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:345:3: error: ‘math’ has not been declared
   math::Vector3 momentArm = pose.rot.RotateVector(
   ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:350:3: error: ‘math’ has not been declared
   math::Vector3 force = lift + drag;
   ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:353:3: error: ‘math’ has not been declared
   math::Vector3 torque = moment;
   ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:367:29: error: ‘pose’ was not declared in this scope
           << "] pose: [" << pose
                             ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:367:29: note: suggested alternative: ‘poll’
           << "] pose: [" << pose
                             ^~~~
                             poll
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:369:26: error: ‘vel’ was not declared in this scope
     gzdbg << "spd: [" << vel.GetLength()
                          ^~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:373:40: error: ‘forwardI’ was not declared in this scope
     gzdbg << "forward (inertial): " << forwardI << "\n";
                                        ^~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:373:40: note: suggested alternative: ‘fread’
     gzdbg << "forward (inertial): " << forwardI << "\n";
                                        ^~~~~~~~
                                        fread
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:379:26: error: ‘lift’ was not declared in this scope
     gzdbg << "lift: " << lift << "\n";
                          ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:379:26: note: suggested alternative: ‘link’
     gzdbg << "lift: " << lift << "\n";
                          ^~~~
                          link
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:380:26: error: ‘drag’ was not declared in this scope
     gzdbg << "drag: " << drag << " cd: "
                          ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:380:26: note: suggested alternative: ‘drem’
     gzdbg << "drag: " << drag << " cd: "
                          ^~~~
                          drem
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:382:28: error: ‘moment’ was not declared in this scope
     gzdbg << "moment: " << moment << "\n";
                            ^~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:382:28: note: suggested alternative: ‘mode_t’
     gzdbg << "moment: " << moment << "\n";
                            ^~~~~~
                            mode_t
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:383:34: error: ‘momentArm’ was not declared in this scope
     gzdbg << "cp momentArm: " << momentArm << "\n";
                                  ^~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:384:27: error: ‘force’ was not declared in this scope
     gzdbg << "force: " << force << "\n";
                           ^~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:384:27: note: suggested alternative: ‘fork’
     gzdbg << "force: " << force << "\n";
                           ^~~~~
                           fork
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:385:28: error: ‘torque’ was not declared in this scope
     gzdbg << "torque: " << torque << "\n";
                            ^~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:389:3: error: ‘force’ was not declared in this scope
   force.Correct();
   ^~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:389:3: note: suggested alternative: ‘fork’
   force.Correct();
   ^~~~~
   fork
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:390:9: error: ‘class gazebo::LiftDragPlugin’ has no member named ‘cp’
   this->cp.Correct();
         ^~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:391:3: error: ‘torque’ was not declared in this scope
   torque.Correct();
   ^~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/liftdrag_plugin/liftdrag_plugin.cpp:394:55: error: ‘class gazebo::LiftDragPlugin’ has no member named ‘cp’
   this->link->AddForceAtRelativePosition(force, this->cp);
                                                       ^~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_pressure_plugin.cpp: In destructor ‘virtual gazebo::GazeboPressurePlugin::~GazeboPressurePlugin()’:
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_pressure_plugin.cpp:32:18: error: ‘DisconnectWorldUpdateBegin’ is not a member of ‘gazebo::event::Events’
   event::Events::DisconnectWorldUpdateBegin(updateConnection_);
                  ^~~~~~~~~~~~~~~~~~~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_pressure_plugin.cpp: In member function ‘void gazebo::GazeboPressurePlugin::OnUpdate(const gazebo::common::UpdateInfo&)’:
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_pressure_plugin.cpp:107:39: error: ‘class gazebo::physics::World’ has no member named ‘GetSimTime’; did you mean ‘SetSimTime’?
   common::Time current_time = world_->GetSimTime();
                                       ^~~~~~~~~~
                                       SetSimTime
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_pressure_plugin.cpp:110:50: error: ‘class gazebo::physics::Model’ has no member named ‘GetWorldPose’; did you mean ‘SetWorldPose’?
   double height_geometric_m = ref_alt_ + model_->GetWorldPose().pos.z;
                                                  ^~~~~~~~~~~~
                                                  SetWorldPose
In file included from /home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:22:0:
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/include/rotors_gazebo_plugins/gazebo_wind_plugin.h:57:14: error: ‘math’ does not name a type; did you mean ‘tanh’?
 static const math::Vector3 kDefaultWindDirection = math::Vector3(1, 0, 0);
              ^~~~
              tanh
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/include/rotors_gazebo_plugins/gazebo_wind_plugin.h:58:14: error: ‘math’ does not name a type; did you mean ‘tanh’?
 static const math::Vector3 kDefaultWindGustDirection = math::Vector3(0, 1, 0);
              ^~~~
              tanh
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/include/rotors_gazebo_plugins/gazebo_wind_plugin.h:134:3: error: ‘math’ does not name a type; did you mean ‘tanh’?
   math::Vector3 xyz_offset_;
   ^~~~
   tanh
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/include/rotors_gazebo_plugins/gazebo_wind_plugin.h:135:3: error: ‘math’ does not name a type; did you mean ‘tanh’?
   math::Vector3 wind_direction_;
   ^~~~
   tanh
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/include/rotors_gazebo_plugins/gazebo_wind_plugin.h:136:3: error: ‘math’ does not name a type; did you mean ‘tanh’?
   math::Vector3 wind_gust_direction_;
   ^~~~
   tanh
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/include/rotors_gazebo_plugins/gazebo_wind_plugin.h:168:3: error: ‘math’ does not name a type; did you mean ‘tanh’?
   math::Vector3 LinearInterpolation(double position, math::Vector3* values, double* points) const;
   ^~~~
   tanh
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/include/rotors_gazebo_plugins/gazebo_wind_plugin.h:179:3: error: ‘math’ does not name a type; did you mean ‘tanh’?
   math::Vector3 BilinearInterpolation(double* position, math::Vector3* values, double* points) const;
   ^~~~
   tanh
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/include/rotors_gazebo_plugins/gazebo_wind_plugin.h:190:3: error: ‘math’ does not name a type; did you mean ‘tanh’?
   math::Vector3 TrilinearInterpolation(math::Vector3 link_position, math::Vector3* values, double* points) const;
   ^~~~
   tanh
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/include/rotors_gazebo_plugins/gazebo_wind_plugin.h: In constructor ‘gazebo::GazeboWindPlugin::GazeboWindPlugin()’:
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/include/rotors_gazebo_plugins/gazebo_wind_plugin.h:80:9: error: class ‘gazebo::GazeboWindPlugin’ does not have any field named ‘wind_direction_’
         wind_direction_(kDefaultWindDirection),
         ^~~~~~~~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/include/rotors_gazebo_plugins/gazebo_wind_plugin.h:80:25: error: ‘kDefaultWindDirection’ was not declared in this scope
         wind_direction_(kDefaultWindDirection),
                         ^~~~~~~~~~~~~~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/include/rotors_gazebo_plugins/gazebo_wind_plugin.h:80:25: note: suggested alternative: ‘kDefaultWindSpeedMean’
         wind_direction_(kDefaultWindDirection),
                         ^~~~~~~~~~~~~~~~~~~~~
                         kDefaultWindSpeedMean
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/include/rotors_gazebo_plugins/gazebo_wind_plugin.h:81:9: error: class ‘gazebo::GazeboWindPlugin’ does not have any field named ‘wind_gust_direction_’
         wind_gust_direction_(kDefaultWindGustDirection),
         ^~~~~~~~~~~~~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/include/rotors_gazebo_plugins/gazebo_wind_plugin.h:81:30: error: ‘kDefaultWindGustDirection’ was not declared in this scope
         wind_gust_direction_(kDefaultWindGustDirection),
                              ^~~~~~~~~~~~~~~~~~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/include/rotors_gazebo_plugins/gazebo_wind_plugin.h:81:30: note: suggested alternative: ‘kDefaultWindGustDuration’
         wind_gust_direction_(kDefaultWindGustDirection),
                              ^~~~~~~~~~~~~~~~~~~~~~~~~
                              kDefaultWindGustDuration
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp: In destructor ‘virtual gazebo::GazeboWindPlugin::~GazeboWindPlugin()’:
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:32:18: error: ‘DisconnectWorldUpdateBegin’ is not a member of ‘gazebo::event::Events’
   event::Events::DisconnectWorldUpdateBegin(update_connection_);
                  ^~~~~~~~~~~~~~~~~~~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp: In member function ‘virtual void gazebo::GazeboWindPlugin::Load(gazebo::physics::ModelPtr, sdf::ElementPtr)’:
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:63:5: error: ‘xyz_offset_’ was not declared in this scope
     xyz_offset_ = _sdf->GetElement("xyzOffset")->Get<math::Vector3>();
     ^~~~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:63:54: error: ‘math’ was not declared in this scope
     xyz_offset_ = _sdf->GetElement("xyzOffset")->Get<math::Vector3>();
                                                      ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:63:54: note: suggested alternatives:
In file included from /usr/include/ignition/math4/ignition/math/Spline.hh:22:0,
                 from /usr/include/gazebo-9/gazebo/common/Animation.hh:22,
                 from /usr/include/gazebo-9/gazebo/common/common.hh:5,
                 from /home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/include/rotors_gazebo_plugins/gazebo_wind_plugin.h:28,
                 from /home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:22:
/usr/include/ignition/math4/ignition/math/Helpers.hh:211:13: note:   ‘ignition::math’
   namespace math
             ^~~~
In file included from /usr/include/boost/variant/variant.hpp:43:0,
                 from /usr/include/boost/variant.hpp:17,
                 from /usr/include/sdformat-6.0/sdf/Param.hh:24,
                 from /usr/include/sdformat-6.0/sdf/Element.hh:25,
                 from /usr/include/sdformat-6.0/sdf/sdf.hh:4,
                 from /usr/include/gazebo-9/gazebo/common/Battery.hh:25,
                 from /usr/include/gazebo-9/gazebo/common/common.hh:8,
                 from /home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/include/rotors_gazebo_plugins/gazebo_wind_plugin.h:28,
                 from /home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:22:
/usr/include/boost/math/common_factor_ct.hpp:17:11: note:   ‘boost::math’
 namespace math
           ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:63:50: error: parse error in template argument list
     xyz_offset_ = _sdf->GetElement("xyzOffset")->Get<math::Vector3>();
                                                  ^~~~~~~~~~~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:63:69: error: no matching function for call to ‘sdf::Element::Get<<expression error> >()’
     xyz_offset_ = _sdf->GetElement("xyzOffset")->Get<math::Vector3>();
                                                                     ^
In file included from /usr/include/sdformat-6.0/sdf/sdf.hh:4:0,
                 from /usr/include/gazebo-9/gazebo/common/Battery.hh:25,
                 from /usr/include/gazebo-9/gazebo/common/common.hh:8,
                 from /home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/include/rotors_gazebo_plugins/gazebo_wind_plugin.h:28,
                 from /home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:22:
/usr/include/sdformat-6.0/sdf/Element.hh:425:5: note: candidate: template<class T> T sdf::Element::Get(const string&) const
   T Element::Get(const std::string &_key) const
     ^~~~~~~
/usr/include/sdformat-6.0/sdf/Element.hh:425:5: note:   template argument deduction/substitution failed:
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:63:69: error: template argument 1 is invalid
     xyz_offset_ = _sdf->GetElement("xyzOffset")->Get<math::Vector3>();
                                                                     ^
In file included from /usr/include/sdformat-6.0/sdf/sdf.hh:4:0,
                 from /usr/include/gazebo-9/gazebo/common/Battery.hh:25,
                 from /usr/include/gazebo-9/gazebo/common/common.hh:8,
                 from /home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/include/rotors_gazebo_plugins/gazebo_wind_plugin.h:28,
                 from /home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:22:
/usr/include/sdformat-6.0/sdf/Element.hh:247:32: note: candidate: template<class T> std::pair<T, bool> sdf::Element::Get(const string&, const T&) const
             std::pair<T, bool> Get(const std::string &_key,
                                ^~~
/usr/include/sdformat-6.0/sdf/Element.hh:247:32: note:   template argument deduction/substitution failed:
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:63:69: error: template argument 1 is invalid
     xyz_offset_ = _sdf->GetElement("xyzOffset")->Get<math::Vector3>();
                                                                     ^
In file included from /usr/include/sdformat-6.0/sdf/sdf.hh:4:0,
                 from /usr/include/gazebo-9/gazebo/common/Battery.hh:25,
                 from /usr/include/gazebo-9/gazebo/common/common.hh:8,
                 from /home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/include/rotors_gazebo_plugins/gazebo_wind_plugin.h:28,
                 from /home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:22:
/usr/include/sdformat-6.0/sdf/Element.hh:257:18: note: candidate: template<class T> bool sdf::Element::Get(const string&, T&, const T&) const
             bool Get(const std::string &_key,
                  ^~~
/usr/include/sdformat-6.0/sdf/Element.hh:257:18: note:   template argument deduction/substitution failed:
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:63:69: error: template argument 1 is invalid
     xyz_offset_ = _sdf->GetElement("xyzOffset")->Get<math::Vector3>();
                                                                     ^
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:78:15: error: ‘math’ was not declared in this scope
   getSdfParam<math::Vector3>(_sdf, "windDirection", wind_direction_,
               ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:78:15: note: suggested alternatives:
In file included from /usr/include/ignition/math4/ignition/math/Spline.hh:22:0,
                 from /usr/include/gazebo-9/gazebo/common/Animation.hh:22,
                 from /usr/include/gazebo-9/gazebo/common/common.hh:5,
                 from /home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/include/rotors_gazebo_plugins/gazebo_wind_plugin.h:28,
                 from /home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:22:
/usr/include/ignition/math4/ignition/math/Helpers.hh:211:13: note:   ‘ignition::math’
   namespace math
             ^~~~
In file included from /usr/include/boost/variant/variant.hpp:43:0,
                 from /usr/include/boost/variant.hpp:17,
                 from /usr/include/sdformat-6.0/sdf/Param.hh:24,
                 from /usr/include/sdformat-6.0/sdf/Element.hh:25,
                 from /usr/include/sdformat-6.0/sdf/sdf.hh:4,
                 from /usr/include/gazebo-9/gazebo/common/Battery.hh:25,
                 from /usr/include/gazebo-9/gazebo/common/common.hh:8,
                 from /home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/include/rotors_gazebo_plugins/gazebo_wind_plugin.h:28,
                 from /home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:22:
/usr/include/boost/math/common_factor_ct.hpp:17:11: note:   ‘boost::math’
 namespace math
           ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:78:3: error: parse error in template argument list
   getSdfParam<math::Vector3>(_sdf, "windDirection", wind_direction_,
   ^~~~~~~~~~~~~~~~~~~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:78:53: error: ‘wind_direction_’ was not declared in this scope
   getSdfParam<math::Vector3>(_sdf, "windDirection", wind_direction_,
                                                     ^~~~~~~~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:78:53: note: suggested alternative: ‘wind_force_mean_’
   getSdfParam<math::Vector3>(_sdf, "windDirection", wind_direction_,
                                                     ^~~~~~~~~~~~~~~
                                                     wind_force_mean_
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:98:5: error: parse error in template argument list
     getSdfParam<math::Vector3>(_sdf, "windGustDirection", wind_gust_direction_,
     ^~~~~~~~~~~~~~~~~~~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:98:59: error: ‘wind_gust_direction_’ was not declared in this scope
     getSdfParam<math::Vector3>(_sdf, "windGustDirection", wind_gust_direction_,
                                                           ^~~~~~~~~~~~~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:98:59: note: suggested alternative: ‘wind_gust_duration’
     getSdfParam<math::Vector3>(_sdf, "windGustDirection", wind_gust_direction_,
                                                           ^~~~~~~~~~~~~~~~~~~~
                                                           wind_gust_duration
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp: In member function ‘void gazebo::GazeboWindPlugin::OnUpdate(const gazebo::common::UpdateInfo&)’:
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:137:30: error: ‘class gazebo::physics::World’ has no member named ‘GetSimTime’; did you mean ‘SetSimTime’?
   common::Time now = world_->GetSimTime();
                              ^~~~~~~~~~
                              SetSimTime
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:139:3: error: ‘math’ has not been declared
   math::Vector3 wind_velocity(0.0, 0.0, 0.0);
   ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:145:5: error: ‘math’ has not been declared
     math::Vector3 wind = wind_strength * wind_direction_;
     ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:147:39: error: ‘wind’ was not declared in this scope
     link_->AddForceAtRelativePosition(wind, xyz_offset_);
                                       ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:147:39: note: suggested alternative: ‘bind’
     link_->AddForceAtRelativePosition(wind, xyz_offset_);
                                       ^~~~
                                       bind
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:147:45: error: ‘xyz_offset_’ was not declared in this scope
     link_->AddForceAtRelativePosition(wind, xyz_offset_);
                                             ^~~~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:149:5: error: ‘math’ has not been declared
     math::Vector3 wind_gust(0.0, 0.0, 0.0);
     ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:153:7: error: ‘wind_gust’ was not declared in this scope
       wind_gust = wind_gust_strength * wind_gust_direction_;
       ^~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:153:7: note: suggested alternative: ‘wint_t’
       wind_gust = wind_gust_strength * wind_gust_direction_;
       ^~~~~~~~~
       wint_t
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:153:40: error: ‘wind_gust_direction_’ was not declared in this scope
       wind_gust = wind_gust_strength * wind_gust_direction_;
                                        ^~~~~~~~~~~~~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:153:40: note: suggested alternative: ‘wind_gust_force_mean_’
       wind_gust = wind_gust_strength * wind_gust_direction_;
                                        ^~~~~~~~~~~~~~~~~~~~
                                        wind_gust_force_mean_
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:163:66: error: ‘wind_gust’ was not declared in this scope
                                                                  wind_gust.x);
                                                                  ^~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:163:66: note: suggested alternative: ‘wint_t’
                                                                  wind_gust.x);
                                                                  ^~~~~~~~~
                                                                  wint_t
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:177:5: error: ‘wind_velocity’ was not declared in this scope
     wind_velocity = wind_speed_mean_ * wind_direction_;
     ^~~~~~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:177:40: error: ‘wind_direction_’ was not declared in this scope
     wind_velocity = wind_speed_mean_ * wind_direction_;
                                        ^~~~~~~~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:177:40: note: suggested alternative: ‘wind_force_mean_’
     wind_velocity = wind_speed_mean_ * wind_direction_;
                                        ^~~~~~~~~~~~~~~
                                        wind_force_mean_
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:180:5: error: ‘math’ has not been declared
     math::Vector3 link_position = link_->GetWorldPose().pos;
     ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:184:32: error: ‘link_position’ was not declared in this scope
     std::size_t x_inf = floor((link_position.x - min_x_) / res_x_);
                                ^~~~~~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:184:32: note: suggested alternative: ‘copyPosition’
     std::size_t x_inf = floor((link_position.x - min_x_) / res_x_);
                                ^~~~~~~~~~~~~
                                copyPosition
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:255:7: error: ‘math’ has not been declared
       math::Vector3 wind_at_vertices[n_vertices];
       ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:257:9: error: ‘wind_at_vertices’ was not declared in this scope
         wind_at_vertices[i].x = u_[idx_x[i] + idx_y[i] * n_x_ + idx_z[i] * n_x_ * n_y_];
         ^~~~~~~~~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:257:9: note: suggested alternative: ‘n_vertices’
         wind_at_vertices[i].x = u_[idx_x[i] + idx_y[i] * n_x_ + idx_z[i] * n_x_ * n_y_];
         ^~~~~~~~~~~~~~~~
         n_vertices
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:281:7: error: ‘wind_velocity’ was not declared in this scope
       wind_velocity = TrilinearInterpolation(
       ^~~~~~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:282:24: error: ‘wind_at_vertices’ was not declared in this scope
         link_position, wind_at_vertices, interpolation_points);
                        ^~~~~~~~~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/external/gazebo_lidar_plugin.cpp: In destructor ‘virtual gazebo::GazeboLidarPlugin::~GazeboLidarPlugin()’:
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/external/gazebo_lidar_plugin.cpp:56:37: error: ‘class gazebo::physics::MultiRayShape’ has no member named ‘DisconnectNewLaserScans’; did you mean ‘ConnectNewLaserScans’?
   this->parentSensor->LaserShape()->DisconnectNewLaserScans(
                                     ^~~~~~~~~~~~~~~~~~~~~~~
                                     ConnectNewLaserScans
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:282:24: note: suggested alternative: ‘n_vertices’
         link_position, wind_at_vertices, interpolation_points);
                        ^~~~~~~~~~~~~~~~
                        n_vertices
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:281:23: error: ‘TrilinearInterpolation’ was not declared in this scope
       wind_velocity = TrilinearInterpolation(
                       ^~~~~~~~~~~~~~~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:285:7: error: ‘wind_velocity’ was not declared in this scope
       wind_velocity = wind_speed_mean_ * wind_direction_;
       ^~~~~~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:285:42: error: ‘wind_direction_’ was not declared in this scope
       wind_velocity = wind_speed_mean_ * wind_direction_;
                                          ^~~~~~~~~~~~~~~
make[2]: *** [CMakeFiles/LiftDragPlugin.dir/src/liftdrag_plugin/liftdrag_plugin.cpp.o] Error 1
make[1]: *** [CMakeFiles/LiftDragPlugin.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:285:42: note: suggested alternative: ‘wind_force_mean_’
       wind_velocity = wind_speed_mean_ * wind_direction_;
                                          ^~~~~~~~~~~~~~~
                                          wind_force_mean_
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:293:45: error: ‘wind_velocity’ was not declared in this scope
   wind_speed_msg_.mutable_velocity()->set_x(wind_velocity.x);
                                             ^~~~~~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_gps_plugin.cpp: In destructor ‘virtual gazebo::GazeboGpsPlugin::~GazeboGpsPlugin()’:
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_gps_plugin.cpp:36:25: error: ‘using element_type = class gazebo::sensors::GpsSensor {aka class gazebo::sensors::GpsSensor}’ has no member named ‘DisconnectUpdated’; did you mean ‘ConnectUpdated’?
   this->parent_sensor_->DisconnectUpdated(this->updateConnection_);
                         ^~~~~~~~~~~~~~~~~
                         ConnectUpdated
In file included from /home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp:23:0:
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/include/rotors_gazebo_plugins/gazebo_odometry_plugin.h:130:20: error: field ‘pose_covariance_matrix_’ has incomplete type ‘gazebo::GazeboOdometryPlugin::CovarianceMatrix {aka boost::array<double, 36>}’
   CovarianceMatrix pose_covariance_matrix_;
                    ^~~~~~~~~~~~~~~~~~~~~~~
In file included from /usr/include/boost/asio/buffer.hpp:23:0,
                 from /usr/include/boost/asio/detail/reactive_socket_service.hpp:22,
                 from /usr/include/boost/asio/datagram_socket_service.hpp:30,
                 from /usr/include/boost/asio/basic_datagram_socket.hpp:21,
                 from /usr/include/boost/asio.hpp:21,
                 from /usr/include/gazebo-9/gazebo/transport/Connection.hh:23,
                 from /usr/include/gazebo-9/gazebo/transport/transport.hh:3,
                 from /usr/include/gazebo-9/gazebo/gazebo_core.hh:21,
                 from /usr/include/gazebo-9/gazebo/gazebo.hh:20,
                 from /home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/include/rotors_gazebo_plugins/gazebo_odometry_plugin.h:34,
                 from /home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp:23:
/usr/include/boost/asio/detail/array_fwd.hpp:23:7: note: declaration of ‘gazebo::GazeboOdometryPlugin::CovarianceMatrix {aka class boost::array<double, 36>}’
 class array;
       ^~~~~
In file included from /home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp:23:0:
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/include/rotors_gazebo_plugins/gazebo_odometry_plugin.h:131:20: error: field ‘twist_covariance_matrix_’ has incomplete type ‘gazebo::GazeboOdometryPlugin::CovarianceMatrix {aka boost::array<double, 36>}’
   CovarianceMatrix twist_covariance_matrix_;
                    ^~~~~~~~~~~~~~~~~~~~~~~~
In file included from /usr/include/boost/asio/buffer.hpp:23:0,
                 from /usr/include/boost/asio/detail/reactive_socket_service.hpp:22,
                 from /usr/include/boost/asio/datagram_socket_service.hpp:30,
                 from /usr/include/boost/asio/basic_datagram_socket.hpp:21,
                 from /usr/include/boost/asio.hpp:21,
                 from /usr/include/gazebo-9/gazebo/transport/Connection.hh:23,
                 from /usr/include/gazebo-9/gazebo/transport/transport.hh:3,
                 from /usr/include/gazebo-9/gazebo/gazebo_core.hh:21,
                 from /usr/include/gazebo-9/gazebo/gazebo.hh:20,
                 from /home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/include/rotors_gazebo_plugins/gazebo_odometry_plugin.h:34,
                 from /home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp:23:
/usr/include/boost/asio/detail/array_fwd.hpp:23:7: note: declaration of ‘gazebo::GazeboOdometryPlugin::CovarianceMatrix {aka class boost::array<double, 36>}’
 class array;
       ^~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_gps_plugin.cpp: In member function ‘virtual void gazebo::GazeboGpsPlugin::Load(gazebo::sensors::SensorPtr, sdf::ElementPtr)’:
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_gps_plugin.cpp:78:58: error: ‘class gazebo::physics::World’ has no member named ‘GetByName’; did you mean ‘BaseByName’?
       boost::dynamic_pointer_cast<physics::Link>(world_->GetByName(link_name));
                                                          ^~~~~~~~~
                                                          BaseByName
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp: At global scope:
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:409:1: error: ‘math’ does not name a type; did you mean ‘tanh’?
 math::Vector3 GazeboWindPlugin::LinearInterpolation(
 ^~~~
 tanh
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_gps_plugin.cpp: In member function ‘void gazebo::GazeboGpsPlugin::OnUpdate()’:
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_gps_plugin.cpp:175:3: error: ‘math’ has not been declared
   math::Vector3 W_ground_speed_W_L = link_->GetWorldLinearVel();
   ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_gps_plugin.cpp:178:3: error: ‘W_ground_speed_W_L’ was not declared in this scope
   W_ground_speed_W_L += math::Vector3(ground_speed_n_[0](random_generator_),
   ^~~~~~~~~~~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:416:1: error: ‘math’ does not name a type; did you mean ‘tanh’?
 math::Vector3 GazeboWindPlugin::BilinearInterpolation(
 ^~~~
 tanh
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_wind_plugin.cpp:427:1: error: ‘math’ does not name a type; did you mean ‘tanh’?
 math::Vector3 GazeboWindPlugin::TrilinearInterpolation(
 ^~~~
 tanh
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_gps_plugin.cpp:178:3: note: suggested alternative: ‘ground_speed_n_’
   W_ground_speed_W_L += math::Vector3(ground_speed_n_[0](random_generator_),
   ^~~~~~~~~~~~~~~~~~
   ground_speed_n_
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_gps_plugin.cpp:178:25: error: ‘math’ has not been declared
   W_ground_speed_W_L += math::Vector3(ground_speed_n_[0](random_generator_),
                         ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp: In destructor ‘virtual gazebo::GazeboOdometryPlugin::~GazeboOdometryPlugin()’:
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp:46:18: error: ‘DisconnectWorldUpdateBegin’ is not a member of ‘gazebo::event::Events’
   event::Events::DisconnectWorldUpdateBegin(updateConnection_);
                  ^~~~~~~~~~~~~~~~~~~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp: In member function ‘virtual void gazebo::GazeboOdometryPlugin::Load(gazebo::physics::ModelPtr, sdf::ElementPtr)’:
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp:147:26: error: ‘class gazebo::physics::World’ has no member named ‘GetEntity’
   parent_link_ = world_->GetEntity(parent_frame_id_);
                          ^~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp: In member function ‘void gazebo::GazeboOdometryPlugin::OnUpdate(const gazebo::common::UpdateInfo&)’:
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp:249:3: error: ‘math’ has not been declared
   math::Pose W_pose_W_C = link_->GetWorldCoGPose();
   ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp:250:3: error: ‘math’ has not been declared
   math::Vector3 C_linear_velocity_W_C = link_->GetRelativeLinearVel();
   ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp:251:3: error: ‘math’ has not been declared
   math::Vector3 C_angular_velocity_W_C = link_->GetRelativeAngularVel();
   ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp:253:3: error: ‘math’ has not been declared
   math::Vector3 gazebo_linear_velocity = C_linear_velocity_W_C;
   ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp:254:3: error: ‘math’ has not been declared
   math::Vector3 gazebo_angular_velocity = C_angular_velocity_W_C;
   ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp:255:3: error: ‘math’ has not been declared
   math::Pose gazebo_pose = W_pose_W_C;
   ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp:258:5: error: ‘math’ has not been declared
     math::Pose W_pose_W_P = parent_link_->GetWorldPose();
     ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp:259:5: error: ‘math’ has not been declared
     math::Vector3 P_linear_velocity_W_P = parent_link_->GetRelativeLinearVel();
     ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp:260:5: error: ‘math’ has not been declared
     math::Vector3 P_angular_velocity_W_P =
     ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp:262:5: error: ‘math’ has not been declared
     math::Pose C_pose_P_C_ = W_pose_W_C - W_pose_W_P;
     ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp:263:5: error: ‘math’ has not been declared
     math::Vector3 C_linear_velocity_P_C;
     ^~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp:268:5: error: ‘C_linear_velocity_P_C’ was not declared in this scope
     C_linear_velocity_P_C =
     ^~~~~~~~~~~~~~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp:268:5: note: suggested alternative: ‘linear_velocity_n_’
     C_linear_velocity_P_C =
     ^~~~~~~~~~~~~~~~~~~~~
     linear_velocity_n_
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp:269:10: error: ‘C_pose_P_C_’ was not declared in this scope
         -C_pose_P_C_.rot.GetInverse() *
          ^~~~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp:269:10: note: suggested alternative: ‘pose_pub_’
         -C_pose_P_C_.rot.GetInverse() *
          ^~~~~~~~~~~
          pose_pub_
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp:270:13: error: ‘P_angular_velocity_W_P’ was not declared in this scope
             P_angular_velocity_W_P.Cross(C_pose_P_C_.pos) +
             ^~~~~~~~~~~~~~~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp:270:13: note: suggested alternative: ‘angular_velocity_n_’
             P_angular_velocity_W_P.Cross(C_pose_P_C_.pos) +
             ^~~~~~~~~~~~~~~~~~~~~~
             angular_velocity_n_
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp:271:9: error: ‘C_linear_velocity_W_C’ was not declared in this scope
         C_linear_velocity_W_C -
         ^~~~~~~~~~~~~~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp:271:9: note: suggested alternative: ‘linear_velocity_n_’
         C_linear_velocity_W_C -
         ^~~~~~~~~~~~~~~~~~~~~
         linear_velocity_n_
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp:272:40: error: ‘P_linear_velocity_W_P’ was not declared in this scope
         C_pose_P_C_.rot.GetInverse() * P_linear_velocity_W_P;
                                        ^~~~~~~~~~~~~~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp:272:40: note: suggested alternative: ‘linear_velocity_n_’
         C_pose_P_C_.rot.GetInverse() * P_linear_velocity_W_P;
                                        ^~~~~~~~~~~~~~~~~~~~~
                                        linear_velocity_n_
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp:276:5: error: ‘gazebo_angular_velocity’ was not declared in this scope
     gazebo_angular_velocity =
     ^~~~~~~~~~~~~~~~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp:276:5: note: suggested alternative: ‘angular_velocity_n_’
     gazebo_angular_velocity =
     ^~~~~~~~~~~~~~~~~~~~~~~
     angular_velocity_n_
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp:277:9: error: ‘C_angular_velocity_W_C’ was not declared in this scope
         C_angular_velocity_W_C -
         ^~~~~~~~~~~~~~~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp:277:9: note: suggested alternative: ‘angular_velocity_n_’
         C_angular_velocity_W_C -
         ^~~~~~~~~~~~~~~~~~~~~~
         angular_velocity_n_
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp:279:5: error: ‘gazebo_linear_velocity’ was not declared in this scope
     gazebo_linear_velocity = C_linear_velocity_P_C;
     ^~~~~~~~~~~~~~~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp:279:5: note: suggested alternative: ‘linear_velocity_n_’
     gazebo_linear_velocity = C_linear_velocity_P_C;
     ^~~~~~~~~~~~~~~~~~~~~~
     linear_velocity_n_
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp:280:5: error: ‘gazebo_pose’ was not declared in this scope
     gazebo_pose = C_pose_P_C_;
     ^~~~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp:294:28: error: ‘gazebo_pose’ was not declared in this scope
                 std::floor(gazebo_pose.pos.x / covariance_image_scale_)) +
                            ^~~~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp:314:18: error: ‘class gazebo::physics::World’ has no member named ‘GetSimTime’; did you mean ‘SetSimTime’?
         (world_->GetSimTime()).sec + static_cast<int32_t>(unknown_delay_));
                  ^~~~~~~~~~
                  SetSimTime
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp:316:18: error: ‘class gazebo::physics::World’ has no member named ‘GetSimTime’; did you mean ‘SetSimTime’?
         (world_->GetSimTime()).nsec + static_cast<int32_t>(unknown_delay_));
                  ^~~~~~~~~~
                  SetSimTime
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp:320:9: error: ‘gazebo_pose’ was not declared in this scope
         gazebo_pose.pos.x);
         ^~~~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp:336:9: error: ‘gazebo_linear_velocity’ was not declared in this scope
         gazebo_linear_velocity.x);
         ^~~~~~~~~~~~~~~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp:336:9: note: suggested alternative: ‘linear_velocity_n_’
         gazebo_linear_velocity.x);
         ^~~~~~~~~~~~~~~~~~~~~~
         linear_velocity_n_
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp:343:9: error: ‘gazebo_angular_velocity’ was not declared in this scope
         gazebo_angular_velocity.x);
         ^~~~~~~~~~~~~~~~~~~~~~~
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_odometry_plugin.cpp:343:9: note: suggested alternative: ‘angular_velocity_n_’
         gazebo_angular_velocity.x);
         ^~~~~~~~~~~~~~~~~~~~~~~
         angular_velocity_n_
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_ros_interface_plugin.cpp: In destructor ‘virtual gazebo::GazeboRosInterfacePlugin::~GazeboRosInterfacePlugin()’:
/home/arghya/gbplanner_ws/src/sim/rotors_simulator/rotors_gazebo_plugins/src/gazebo_ros_interface_plugin.cpp:36:18: error: ‘DisconnectWorldUpdateBegin’ is not a member of ‘gazebo::event::Events’
   event::Events::DisconnectWorldUpdateBegin(updateConnection_);
                  ^~~~~~~~~~~~~~~~~~~~~~~~~~
make[2]: *** [CMakeFiles/rotors_gazebo_pressure_plugin.dir/src/gazebo_pressure_plugin.cpp.o] Error 1
make[1]: *** [CMakeFiles/rotors_gazebo_pressure_plugin.dir/all] Error 2
make[2]: *** [CMakeFiles/rotors_gazebo_lidar_plugin.dir/src/external/gazebo_lidar_plugin.cpp.o] Error 1
make[1]: *** [CMakeFiles/rotors_gazebo_lidar_plugin.dir/all] Error 2
make[2]: *** [CMakeFiles/rotors_gazebo_gps_plugin.dir/src/gazebo_gps_plugin.cpp.o] Error 1
make[1]: *** [CMakeFiles/rotors_gazebo_gps_plugin.dir/all] Error 2
make[2]: *** [CMakeFiles/rotors_gazebo_wind_plugin.dir/src/gazebo_wind_plugin.cpp.o] Error 1
make[1]: *** [CMakeFiles/rotors_gazebo_wind_plugin.dir/all] Error 2
make[2]: *** [CMakeFiles/rotors_gazebo_odometry_plugin.dir/src/gazebo_odometry_plugin.cpp.o] Error 1
make[1]: *** [CMakeFiles/rotors_gazebo_odometry_plugin.dir/all] Error 2
make[2]: *** [CMakeFiles/rotors_gazebo_ros_interface_plugin.dir/src/gazebo_ros_interface_plugin.cpp.o] Error 1
make[1]: *** [CMakeFiles/rotors_gazebo_ros_interface_plugin.dir/all] Error 2
make: *** [all] Error 2
cd /home/arghya/gbplanner_ws/build/rotors_gazebo_plugins; catkin build --get-env rotors_gazebo_plugins | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
................................................................................................................
Failed     << rotors_gazebo_plugins:make               [ Exited with code 2 ]
Failed    <<< rotors_gazebo_plugins                    [ 15.2 seconds ]
Abandoned <<< rotors_gazebo                            [ Unrelated job failed ]
Abandoned <<< voxblox_ros                              [ Unrelated job failed ]
Abandoned <<< gbplanner                                [ Unrelated job failed ]
Abandoned <<< gbplanner_ros                            [ Unrelated job failed ]
Finished  <<< voxblox_rviz_plugin                      [ 19.3 seconds ]
________________________________________________________________________________________________________________
Errors     << octomap_world:make /home/arghya/gbplanner_ws/logs/octomap_world/build.make.000.log
In file included from /opt/ros/melodic/include/ros/ros.h:40:0,
                 from /opt/ros/melodic/include/pcl_conversions/pcl_conversions.h:42,
                 from /home/arghya/gbplanner_ws/src/mapping/volumetric_mapping/octomap_world/include/octomap_world/octomap_world.h:42,
                 from /home/arghya/gbplanner_ws/src/mapping/volumetric_mapping/octomap_world/src/octomap_world.cc:30:
/home/arghya/gbplanner_ws/src/mapping/volumetric_mapping/octomap_world/src/octomap_world.cc: In member function ‘void volumetric_mapping::OctomapWorld::initFrustumToAugment()’:
/opt/ros/melodic/include/ros/console.h:348:176: warning: format ‘%d’ expects argument of type ‘int’, but argument 8 has type ‘std::vector<Eigen::Matrix<double, 3, 1> >::size_type {aka long unsigned int}’ [-Wformat=]
     ::ros::console::print(filter, __rosconsole_define_location__loc.logger_, __rosconsole_define_location__loc.level_, __FILE__, __LINE__, __ROSCONSOLE_FUNCTION__, __VA_ARGS__)
                                                                                ^
/opt/ros/melodic/include/ros/console.h:351:5: note: in expansion of macro ‘ROSCONSOLE_PRINT_AT_LOCATION_WITH_FILTER’
     ROSCONSOLE_PRINT_AT_LOCATION_WITH_FILTER(NULL, __VA_ARGS__)
     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/opt/ros/melodic/include/ros/console.h:387:7: note: in expansion of macro ‘ROSCONSOLE_PRINT_AT_LOCATION’
       ROSCONSOLE_PRINT_AT_LOCATION(__VA_ARGS__); \
       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/opt/ros/melodic/include/ros/console.h:572:35: note: in expansion of macro ‘ROS_LOG_COND’
 #define ROS_LOG(level, name, ...) ROS_LOG_COND(true, level, name, __VA_ARGS__)
                                   ^~~~~~~~~~~~
/opt/ros/melodic/include/rosconsole/macros_generated.h:110:23: note: in expansion of macro ‘ROS_LOG’
 #define ROS_INFO(...) ROS_LOG(::ros::console::levels::Info, ROSCONSOLE_DEFAULT_NAME, __VA_ARGS__)
                       ^~~~~~~
/home/arghya/gbplanner_ws/src/mapping/volumetric_mapping/octomap_world/src/octomap_world.cc:228:3: note: in expansion of macro ‘ROS_INFO’
   ROS_INFO("Computed multiray_endpoints for augmenting OCTOMAP: [%d] points.", multiray_endpoints_.size());
   ^
/home/arghya/gbplanner_ws/devel/.private/volumetric_map_base/lib/libvolumetric_map_base.so: undefined reference to `cv::Mat::updateContinuityFlag()'
collect2: error: ld returned 1 exit status
make[2]: *** [/home/arghya/gbplanner_ws/devel/.private/octomap_world/lib/octomap_world/octomap_manager] Error 1
make[1]: *** [CMakeFiles/octomap_manager.dir/all] Error 2
make: *** [all] Error 2
cd /home/arghya/gbplanner_ws/build/octomap_world; catkin build --get-env octomap_world | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
................................................................................................................
Failed     << octomap_world:make                       [ Exited with code 2 ]
Failed    <<< octomap_world                            [ 38.2 seconds ]
[build] Summary: 31 of 37 packages succeeded.
[build]   Ignored:   4 packages were skipped or are blacklisted.
[build]   Warnings:  None.
[build]   Abandoned: 4 packages were abandoned.
[build]   Failed:    2 packages failed.
[build] Runtime: 43.7 seconds total.
[build] Note: Workspace packages have changed, please re-source setup files to use them.

Hi @ArghyaChatterjee,
Thanks for the feedback, just to make sure we are on the same page, have you tried with the Melodic branch in the gbplanner_ws?
In that branch, I added another version of RotorS (Link ) that should work with gazebo9 in Melodic.

Hi @tungdanganh ,
I actually tried to follow the steps inside the readme file in the melodic branch of the original repository which is : https://github.com/unr-arl/gbplanner_ws/tree/melodic
I can see that you haven't updated the readme file of that particular branch. Here is what I did:
sudo apt-get install libgoogle-glog-dev
sudo apt-get install ros-melodic-octomap*
git clone https://github.com/unr-arl/gbplanner_ws
cd gbplanner_ws
wstool init
wstool merge packages_https.rosinstall
wstool update
catkin config -DCMAKE_BUILD_TYPE=Release
catkin build

So, I got the gazebo version mismatch error which I pointed before.
However, I tried to go with the steps mentioned in this website:
sudo apt-get install libgoogle-glog-dev
sudo apt-get install ros-melodic-octomap*
git clone https://github.com/unr-arl/gbplanner_ws
cd gbplanner_ws
git checkout melodic-devel
wstool init
wstool merge packages_https.rosinstall
wstool update
catkin config -DCMAKE_BUILD_TYPE=Release
catkin build

So when I initiate the command git checkout melodic-devel it shows another error:
arghya@arghya-Erazer-X7849-MD60379:~/gbplanner_ws$ git checkout melodic-devel
error: pathspec 'melodic-devel' did not match any file(s) known to git.

The branch is named melodic
Could you please try again with git checkout melodic?

I tried with git checkout melodic  and it did work but yielding the same issue libvolumetric_map_base.so: undefined reference to `cv::Mat::updateContinuityFlag(). Although 34/37 packages succeeded after initiating catkin build. Same is the case with 'mbplanner' package when I try to run on ROS melodic.
However, I have tried to build the package on a Ubuntu 16.04 machine with ROS kinetic running and everything went smooth. I was having the default version of opencv 3.2 which was automatically installed during ROS installation. I had made a series of video earlier on youtube on gbplanner.
So, this may be an issue regarding to opencv version mismatch which is in my case 3.4.8.

Thanks @ArghyaChatterjee.