diff --git a/robotiq_control/package.xml b/robotiq_control/package.xml
index 4ccab84..b2ca7a1 100644
--- a/robotiq_control/package.xml
+++ b/robotiq_control/package.xml
@@ -13,7 +13,7 @@
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>rospy</build_depend>
   
-  <run_depend>python-pymodbus</run_depend>
+  <run_depend>python3-pymodbus</run_depend>
   <run_depend>robotiq_description</run_depend>
   <run_depend>robotiq_msgs</run_depend>
 </package>
diff --git a/robotiq_description/CMakeLists.txt b/robotiq_description/CMakeLists.txt
index a214fd9..108ed58 100644
--- a/robotiq_description/CMakeLists.txt
+++ b/robotiq_description/CMakeLists.txt
@@ -1,17 +1,9 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(robotiq_description)
 
-find_package(catkin REQUIRED COMPONENTS
-  openrave_catkin
-)
+find_package(catkin REQUIRED)
 
 catkin_package()
 
-install(DIRECTORY launch meshes urdf DESTINATION
-                                            ${CATKIN_PACKAGE_SHARE_DESTINATION})
-
-# Add the meshes to the OpenRAVE path
-install(DIRECTORY meshes
-                  DESTINATION ${OpenRAVE_DEVEL_DIR}/${OpenRAVE_DATA_DIR}/robots)
-install(DIRECTORY meshes
-                DESTINATION ${OpenRAVE_INSTALL_DIR}/${OpenRAVE_DATA_DIR}/robots)
+install(DIRECTORY meshes models urdf worlds
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/robotiq_description/package.xml b/robotiq_description/package.xml
index 4910067..440697b 100755
--- a/robotiq_description/package.xml
+++ b/robotiq_description/package.xml
@@ -13,7 +13,6 @@
 
   <buildtool_depend>catkin</buildtool_depend>
   <depend>rospy</depend>
-  <depend>openrave_catkin</depend>
 
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>urdf</exec_depend>
diff --git a/robotiq_gazebo/src/mimic_joint_plugin.cpp b/robotiq_gazebo/src/mimic_joint_plugin.cpp
index dc34a73..0298245 100644
--- a/robotiq_gazebo/src/mimic_joint_plugin.cpp
+++ b/robotiq_gazebo/src/mimic_joint_plugin.cpp
@@ -47,7 +47,7 @@ MimicJointPlugin::MimicJointPlugin()
 
 MimicJointPlugin::~MimicJointPlugin()
 {
-  event::Events::DisconnectWorldUpdateBegin(this->updateConnection);
+  this->updateConnection.reset();
 
   kill_sim = true;
 }
@@ -167,20 +167,20 @@ void MimicJointPlugin::Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf )
 
 void MimicJointPlugin::UpdateChild()
 {
-  static ros::Duration period(world_->GetPhysicsEngine()->GetMaxStepSize());
+  static ros::Duration period(world_->Physics()->GetMaxStepSize());
 
   // Set mimic joint's angle based on joint's angle
-  double angle = joint_->GetAngle(0).Radian()*multiplier_+offset_;
+  double angle = joint_->Position(0)*multiplier_+offset_;
   
-  if(abs(angle-mimic_joint_->GetAngle(0).Radian())>=sensitiveness_)
+  if(abs(angle-mimic_joint_->Position(0))>=sensitiveness_)
   {
     if(has_pid_)
     {
-      double a = mimic_joint_->GetAngle(0).Radian();
+      double a = mimic_joint_->Position(0);
       if(a!=a)
         a = angle;
       double error = angle-a;
-      double effort = gazebo::math::clamp(pid_.computeCommand(error, period), -max_effort_, max_effort_);
+      double effort = ignition::math::clamp(pid_.computeCommand(error, period), -max_effort_, max_effort_);
     }
     else
     {