diff --git a/kobuki_gazebo_plugins/CMakeLists.txt b/kobuki_gazebo_plugins/CMakeLists.txt
index c3917f2..b4bf0d0 100644
--- a/kobuki_gazebo_plugins/CMakeLists.txt
+++ b/kobuki_gazebo_plugins/CMakeLists.txt
@@ -3,6 +3,7 @@ project(kobuki_gazebo_plugins)
 
 find_package(gazebo REQUIRED)
 
+
 find_package(catkin REQUIRED COMPONENTS gazebo_ros
                                         gazebo_plugins
                                         geometry_msgs
@@ -25,6 +26,8 @@ catkin_package(INCLUDE_DIRS include
                               std_msgs
                               tf)
 
+set(CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS} " -std=c++11")
+
 link_directories(${GAZEBO_LIBRARY_DIRS})
 include_directories(include
                     ${catkin_INCLUDE_DIRS}
diff --git a/kobuki_gazebo_plugins/src/gazebo_ros_kobuki_loads.cpp b/kobuki_gazebo_plugins/src/gazebo_ros_kobuki_loads.cpp
index 045d6b7..3b6948b 100644
--- a/kobuki_gazebo_plugins/src/gazebo_ros_kobuki_loads.cpp
+++ b/kobuki_gazebo_plugins/src/gazebo_ros_kobuki_loads.cpp
@@ -212,11 +212,11 @@ bool GazeboRosKobuki::prepareCliffSensor()
                      << " Did you specify it?" << " [" << node_name_ <<"]");
     return false;
   }
-  cliff_sensor_left_ = boost::dynamic_pointer_cast<sensors::RaySensor>(
+  cliff_sensor_left_ = std::dynamic_pointer_cast<sensors::RaySensor>(
                        sensors::SensorManager::Instance()->GetSensor(cliff_sensor_left_name));
-  cliff_sensor_center_ = boost::dynamic_pointer_cast<sensors::RaySensor>(
+  cliff_sensor_center_ = std::dynamic_pointer_cast<sensors::RaySensor>(
                         sensors::SensorManager::Instance()->GetSensor(cliff_sensor_center_name));
-  cliff_sensor_right_ = boost::dynamic_pointer_cast<sensors::RaySensor>(
+  cliff_sensor_right_ = std::dynamic_pointer_cast<sensors::RaySensor>(
                         sensors::SensorManager::Instance()->GetSensor(cliff_sensor_right_name));
   if (!cliff_sensor_left_)
   {
@@ -267,7 +267,7 @@ bool GazeboRosKobuki::prepareBumper()
                      << " Did you specify it?" << " [" << node_name_ <<"]");
     return false;
   }
-  bumper_ = boost::dynamic_pointer_cast<sensors::ContactSensor>(
+  bumper_ = std::dynamic_pointer_cast<sensors::ContactSensor>(
             sensors::SensorManager::Instance()->GetSensor(bumper_name));
   if (!bumper_)
   {
@@ -294,7 +294,7 @@ bool GazeboRosKobuki::prepareIMU()
                      << " Did you specify it?" << " [" << node_name_ <<"]");
     return false;
   }
-  imu_ = boost::dynamic_pointer_cast<sensors::ImuSensor>(
+  imu_ = std::dynamic_pointer_cast<sensors::ImuSensor>(
             sensors::get_sensor(world_->GetName()+"::"+node_name_+"::base_footprint::"+imu_name));
   if (!imu_)
   {
diff --git a/kobuki_gazebo_plugins/src/gazebo_ros_kobuki_updates.cpp b/kobuki_gazebo_plugins/src/gazebo_ros_kobuki_updates.cpp
index 81340fc..103853c 100644
--- a/kobuki_gazebo_plugins/src/gazebo_ros_kobuki_updates.cpp
+++ b/kobuki_gazebo_plugins/src/gazebo_ros_kobuki_updates.cpp
@@ -73,13 +73,13 @@ void GazeboRosKobuki::updateOdometry(common::Time& step_time)
   d1 = step_time.Double() * (wheel_diam_ / 2) * joints_[LEFT]->GetVelocity(0);
   d2 = step_time.Double() * (wheel_diam_ / 2) * joints_[RIGHT]->GetVelocity(0);
   // Can see NaN values here, just zero them out if needed
-  if (isnan(d1))
+  if (std::isnan(d1))
   {
     ROS_WARN_STREAM_THROTTLE(0.1, "Gazebo ROS Kobuki plugin: NaN in d1. Step time: " << step_time.Double()
                              << ", WD: " << wheel_diam_ << ", velocity: " << joints_[LEFT]->GetVelocity(0));
     d1 = 0;
   }
-  if (isnan(d2))
+  if (std::isnan(d2))
   {
     ROS_WARN_STREAM_THROTTLE(0.1, "Gazebo ROS Kobuki plugin: NaN in d2. Step time: " << step_time.Double()
                              << ", WD: " << wheel_diam_ << ", velocity: " << joints_[RIGHT]->GetVelocity(0));
@@ -89,7 +89,7 @@ void GazeboRosKobuki::updateOdometry(common::Time& step_time)
   da = (d2 - d1) / wheel_sep_; // ignored
 
   // Just as in the Kobuki driver, the angular velocity is taken directly from the IMU
-  vel_angular_ = imu_->GetAngularVelocity();
+  vel_angular_ = imu_->AngularVelocity();
 
   // Compute odometric pose
   odom_pose_[0] += dr * cos( odom_pose_[2] );
@@ -144,7 +144,7 @@ void GazeboRosKobuki::updateOdometry(common::Time& step_time)
 void GazeboRosKobuki::updateIMU()
 {
   imu_msg_.header = joint_state_.header;
-  math::Quaternion quat = imu_->GetOrientation();
+  math::Quaternion quat = imu_->Orientation();
   imu_msg_.orientation.x = quat.x;
   imu_msg_.orientation.y = quat.y;
   imu_msg_.orientation.z = quat.z;
@@ -158,7 +158,7 @@ void GazeboRosKobuki::updateIMU()
   imu_msg_.angular_velocity_covariance[0] = 1e6;
   imu_msg_.angular_velocity_covariance[4] = 1e6;
   imu_msg_.angular_velocity_covariance[8] = 0.05;
-  math::Vector3 lin_acc = imu_->GetLinearAcceleration();
+  math::Vector3 lin_acc = imu_->LinearAcceleration();
   imu_msg_.linear_acceleration.x = lin_acc.x;
   imu_msg_.linear_acceleration.y = lin_acc.y;
   imu_msg_.linear_acceleration.z = lin_acc.z;
@@ -178,8 +178,6 @@ void GazeboRosKobuki::propagateVelocityCommands()
   }
   joints_[LEFT]->SetVelocity(0, wheel_speed_cmd_[LEFT] / (wheel_diam_ / 2.0));
   joints_[RIGHT]->SetVelocity(0, wheel_speed_cmd_[RIGHT] / (wheel_diam_ / 2.0));
-  joints_[LEFT]->SetMaxForce(0, torque_);
-  joints_[RIGHT]->SetMaxForce(0, torque_);
 }
 
 /*