The end of the if-else condition for GAZEBO_MAJOR_VERSION >= 8

[tmihiret]

The if-else condition for evaluating expressions based on the Gazebo version ended before including the expression that needs to be conditioned based on the Gazebo version in the gazebo_ros_model_velocity.cpp file. The #endif on line 390 should be added after the expression that uses the math::Vector3 class. Below is the code snippet from the file.

...
#if (GAZEBO_MAJOR_VERSION >= 8)
      ignition::math::Pose3d pose = parent_->RelativePose();
      double yaw = pose.Rot().Yaw();
#else
      math::Pose pose = parent_->GetRelativePose();
      double yaw = pose.rot.GetYaw();
#endif
      double x_vel_cmd = cmd.linear.x * cos(yaw) + cmd.linear.y * sin(yaw);
      double y_vel_cmd = cmd.linear.x * sin(yaw) - cmd.linear.y * cos(yaw);

      parent_->SetLinearVel(math::Vector3(x_vel_cmd, y_vel_cmd, 0.0));
      parent_->SetAngularVel(math::Vector3(0.0, 0.0, cmd.angular.z));

      output_vel_pub_.publish(cmd);
      last_velocity_update_time_ = tnow;
    }
...