class gazebo::physics::World’ has no member named ‘GetSimTime’

[beltransen]

Please, provide details of the error you are experiencing and the versions of the software (e.g. ROS, Gazebo) you are using so that we are able to understand what's going on.

[linClubs]

Hello，thank your answer. i run catkin_make error. My versions of the software ros:noetic ,Gazebo version 11.11.0 and ros:melodic,Gazebo version 9.0.0，both versions is the same error.

Consolidate compiler generated dependencies of target gazebo_ros_velodyne_laser [ 50%] Building CXX object velo2cam_gazebo/gazebo_plugins/velodyne_gazebo_plugin/CMakeFiles/gazebo_ros_velodyne_laser.dir/src/GazeboRosVelodyneLaser.cpp.o /home/lin/ros_code/test_ws/src/velo2cam_gazebo/gazebo_plugins/velodyne_gazebo_plugin/src/GazeboRosVelodyneLaser.cpp: In member function ‘void gazebo::GazeboRosVelodyneLaser::putLaserData(gazebo::common::Time&)’: /home/lin/ros_code/test_ws/src/velo2cam_gazebo/gazebo_plugins/velodyne_gazebo_plugin/src/GazeboRosVelodyneLaser.cpp:240:3: error: ‘math’ has not been declared 240 | math::Angle maxAngle = parent_raysensor->AngleMax(); | ^~~~ /home/lin/ros_code/test_ws/src/velo2cam_gazebo/gazebo_plugins/velodyne_gazebo_plugin/src/GazeboRosVelodyneLaser.cpp:241:3: error: ‘math’ has not been declared 241 | math::Angle minAngle = parent_raysensor->AngleMin(); | ^~~~ /home/lin/ros_code/test_ws/src/velo2cam_gazebo/gazebo_plugins/velodyne_gazebo_plugin/src/GazeboRosVelodyneLaser.cpp:251:3: error: ‘math’ has not been declared 251 | math::Angle verticalMaxAngle = parent_raysensor->VerticalAngleMax(); | ^~~~ /home/lin/ros_code/test_ws/src/velo2cam_gazebo/gazebo_plugins/velodyne_gazebo_plugin/src/GazeboRosVelodyneLaser.cpp:252:3: error: ‘math’ has not been declared 252 | math::Angle verticalMinAngle = parent_raysensor->VerticalAngleMin(); | ^~~~ /home/lin/ros_code/test_ws/src/velo2cam_gazebo/gazebo_plugins/velodyne_gazebo_plugin/src/GazeboRosVelodyneLaser.cpp:269:18: error: ‘maxAngle’ was not declared in this scope 269 | double yDiff = maxAngle.Radian() - minAngle.Radian(); | ^~~~ /home/lin/ros_code/test_ws/src/velo2cam_gazebo/gazebo_plugins/velodyne_gazebo_plugin/src/GazeboRosVelodyneLaser.cpp:269:38: error: ‘minAngle’ was not declared in this scope 269 | double yDiff = maxAngle.Radian() - minAngle.Radian(); | ^~~~ /home/lin/ros_code/test_ws/src/velo2cam_gazebo/gazebo_plugins/velodyne_gazebo_plugin/src/GazeboRosVelodyneLaser.cpp:270:18: error: ‘verticalMaxAngle’ was not declared in this scope 270 | double pDiff = verticalMaxAngle.Radian() - verticalMinAngle.Radian(); | ^~~~ /home/lin/ros_code/test_ws/src/velo2cam_gazebo/gazebo_plugins/velodyne_gazebo_plugin/src/GazeboRosVelodyneLaser.cpp:270:46: error: ‘verticalMinAngle’ was not declared in this scope 270 | double pDiff = verticalMaxAngle.Radian() - verticalMinAngle.Radian(); | ^~~~ /home/lin/ros_code/test_ws/src/velo2cam_gazebo/gazebo_plugins/velodyne_gazebo_plugin/src/GazeboRosVelodyneLaser.cpp: In member function ‘void gazebo::GazeboRosVelodyneLaser::onStats(const boost::shared_ptr&)’: /home/lin/ros_code/test_ws/src/velo2cam_gazebo/gazebo_plugins/velodyne_gazebo_plugin/src/GazeboRosVelodyneLaser.cpp:425:3: error: ‘math’ has not been declared 425 | math::Pose pose; | ^~~~ /home/lin/ros_code/test_ws/src/velo2cam_gazebo/gazebo_plugins/velodyne_gazebo_plugin/src/GazeboRosVelodyneLaser.cpp:426:3: error: ‘pose’ was not declared in this scope 426 | pose.pos.x = 0.5sin(0.01simtime.Double()); | ^~~~ make[2]: [velo2cam_gazebo/gazebo_plugins/velodyne_gazebo_plugin/CMakeFiles/gazebo_ros_velodyne_laser.dir/build.make:76: velo2cam_gazebo/gazebo_plugins/velodyne_gazebo_plugin/CMakeFiles/gazebo_ros_velodyne_laser.dir/src/GazeboRosVelodyneLaser.cpp.o] Error 1 make[1]: [CMakeFiles/Makefile2:500: velo2cam_gazebo/gazebo_plugins/velodyne_gazebo_plugin/CMakeFiles/gazebo_ros_velodyne_laser.dir/all] Error 2 make: *** [Makefile:146: all] Error 2 Invoking "make -j20 -l20" failed

[beltransen]

Please check #13. I think you are facing the same issue.

[oscarkfpang]

I managed to compile it successfully based on the suggestion and the forum in the reply

Please check #13. I think you are facing the same issue.

My environment is ROS melodic with Gazebo 9. I made the following changes:

add this #include <ignition/math/Vector3.hh>

change any math to ignition::math as in this example (about line 239-240, and other similar places in the file) ignition::math::Angle maxAngle = parent_ray_sensor_->AngleMax();

change the last function at the end of the file to this: ignition::math::Pose3d pose; pose.Pos().X() = 0.5*sin(0.01*sim_time_.Double()); gzdbg << "plugin simTime [" << sim_time_.Double() << "] update pose [" << pose.Pos().X() << "]\n";

[beltransen]

Thank you @oscarkfpang for sharing your experience. It may be useful for other users.