What are the proper versions of ROS and Gazebo for a successfull build?

[pvonmoradi]

Hi,
I tried building your project on Ubuntu 18.04 and ROS Melodic (hence Gazebo 9).
I got this error:

mantis_gazebo/include/rotors/gazebo_motor_model.hpp:34:10: fatal error: gazebo/math/Vector3.hh: No such file or directory
 #include "gazebo/math/Vector3.hh"

This is due to the deprecation of Gazebo math in Gazebo 8 and newer. So the Gazebo version should be 7 or older. Am I right?

So I continued on on a VBox running Ubuntu 16.04, ROS Kinetic (hence Gazebo 7).
However, the project has dependencies on qfs_base and qfs_fc. The former builds fine unlike qfc_fc.
I got two errors when building robin. One about an unclosed ifdef compilation guard and the other an unincluded "drivers/posix_common/runtime.h" for posix_reset.

I am not familiar with the codebase but I tried a fix. Here is the diff:

diff --git a/src/drivers/posix_ros/drv_system.cpp b/src/drivers/posix_ros/drv_system.cpp
index fb4f9a4..57a79c6 100644
--- a/src/drivers/posix_ros/drv_system.cpp
+++ b/src/drivers/posix_ros/drv_system.cpp
@@ -16,6 +16,7 @@
 #include <uuid/uuid.h>
 
 #include "drivers/drv_system.h"
+#include "drivers/posix_common/runtime.h"
 
 static uint16_t vid;
 static uint16_t pid;
diff --git a/src/drivers/posix_ros/robin_node.cpp b/src/drivers/posix_ros/robin_node.cpp
index 5ee6fd6..5dc6cfa 100644
--- a/src/drivers/posix_ros/robin_node.cpp
+++ b/src/drivers/posix_ros/robin_node.cpp
@@ -1,6 +1,8 @@
 #include <ros/ros.h>
 
-extern "C" {
+#ifdef __cplusplus
+ extern "C" {
+#endif
 
 #include "run.h"
 #include "drivers/posix_common/drv_cmd_args.h"
@@ -34,3 +36,7 @@ int main(int argc, char **argv) {
 
        return 0;
 }
+
+#ifdef __cplusplus
+}
+#endif

Anyway, the main problem is with robin_gazebo as it's calling an API that is not available on Gazebo 7.

Building CXX object robin_gazebo/CMakeFiles/robin_gazebo_plugin.dir/src/robin_gazebo/rg_plugin.cpp.o
/home/pooya-xenial/catkin_ws/src/robin_gazebo/src/robin_gazebo/rg_plugin.cpp: In member function ‘void gazebo::RobinGazeboPlugin::callback_odom(const ros::TimerEvent&)’:
/home/pooya-xenial/catkin_ws/src/robin_gazebo/src/robin_gazebo/rg_plugin.cpp:107:45: error: ‘class gazebo::physics::Model’ has no member named ‘WorldPose’
    msg_odom_.pose.pose.position.x = model_->WorldPose().Pos().X();
                                             ^
/home/pooya-xenial/catkin_ws/src/robin_gazebo/src/robin_gazebo/rg_plugin.cpp:108:45: error: ‘class gazebo::physics::Model’ has no member named ‘WorldPose’
    msg_odom_.pose.pose.position.y = model_->WorldPose().Pos().Y();
                                             ^
/home/pooya-xenial/catkin_ws/src/robin_gazebo/src/robin_gazebo/rg_plugin.cpp:109:45: error: ‘class gazebo::physics::Model’ has no member named ‘WorldPose’
    msg_odom_.pose.pose.position.z = model_->WorldPose().Pos().Z();
                                             ^
/home/pooya-xenial/catkin_ws/src/robin_gazebo/src/robin_gazebo/rg_plugin.cpp:110:48: error: ‘class gazebo::physics::Model’ has no member named ‘WorldPose’
    msg_odom_.pose.pose.orientation.w = model_->WorldPose().Rot().W();
                                                ^
/home/pooya-xenial/catkin_ws/src/robin_gazebo/src/robin_gazebo/rg_plugin.cpp:111:48: error: ‘class gazebo::physics::Model’ has no member named ‘WorldPose’
    msg_odom_.pose.pose.orientation.x = model_->WorldPose().Rot().X();
                                                ^
/home/pooya-xenial/catkin_ws/src/robin_gazebo/src/robin_gazebo/rg_plugin.cpp:112:48: error: ‘class gazebo::physics::Model’ has no member named ‘WorldPose’
    msg_odom_.pose.pose.orientation.y = model_->WorldPose().Rot().Y();
                                                ^
/home/pooya-xenial/catkin_ws/src/robin_gazebo/src/robin_gazebo/rg_plugin.cpp:113:48: error: ‘class gazebo::physics::Model’ has no member named ‘WorldPose’
    msg_odom_.pose.pose.orientation.z = model_->WorldPose().Rot().Z();
                                                ^
/home/pooya-xenial/catkin_ws/src/robin_gazebo/src/robin_gazebo/rg_plugin.cpp:115:45: error: ‘class gazebo::physics::Model’ has no member named ‘RelativeLinearVel’
    msg_odom_.twist.twist.linear.x = model_->RelativeLinearVel().X();
                                             ^
/home/pooya-xenial/catkin_ws/src/robin_gazebo/src/robin_gazebo/rg_plugin.cpp:116:45: error: ‘class gazebo::physics::Model’ has no member named ‘RelativeLinearVel’
    msg_odom_.twist.twist.linear.y = model_->RelativeLinearVel().Y();
                                             ^
/home/pooya-xenial/catkin_ws/src/robin_gazebo/src/robin_gazebo/rg_plugin.cpp:117:45: error: ‘class gazebo::physics::Model’ has no member named ‘RelativeLinearVel’
    msg_odom_.twist.twist.linear.z = model_->RelativeLinearVel().Z();
                                             ^
/home/pooya-xenial/catkin_ws/src/robin_gazebo/src/robin_gazebo/rg_plugin.cpp:118:46: error: ‘class gazebo::physics::Model’ has no member named ‘RelativeAngularVel’
    msg_odom_.twist.twist.angular.x = model_->RelativeAngularVel().X();
                                              ^
/home/pooya-xenial/catkin_ws/src/robin_gazebo/src/robin_gazebo/rg_plugin.cpp:119:46: error: ‘class gazebo::physics::Model’ has no member named ‘RelativeAngularVel’
    msg_odom_.twist.twist.angular.y = model_->RelativeAngularVel().Y();
                                              ^
/home/pooya-xenial/catkin_ws/src/robin_gazebo/src/robin_gazebo/rg_plugin.cpp:120:46: error: ‘class gazebo::physics::Model’ has no member named ‘RelativeAngularVel’
    msg_odom_.twist.twist.angular.z = model_->RelativeAngularVel().Z();
                                              ^
robin_gazebo/CMakeFiles/robin_gazebo_plugin.dir/build.make:62: recipe for target 'robin_gazebo/CMakeFiles/robin_gazebo_plugin.dir/src/robin_gazebo/rg_plugin.cpp.o' failed
make[2]: *** [robin_gazebo/CMakeFiles/robin_gazebo_plugin.dir/src/robin_gazebo/rg_plugin.cpp.o] Error 1
CMakeFiles/Makefile2:13703: recipe for target 'robin_gazebo/CMakeFiles/robin_gazebo_plugin.dir/all' failed
make[1]: *** [robin_gazebo/CMakeFiles/robin_gazebo_plugin.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j1 -l1" failed

So, for only gazebo simulation purposes of the control of an aerial manipulator, what components should be compiled on what version of Ubuntu, ROS and Gazebo?

Thanks