Merge pull request #367 from traversaro/fix/yarp3

YARP 3 and Gazebo 9 cleanup
robotology · Jun 11, 2018 · dc448fd · dc448fd
2 parents 60f3aed + bb6ef7b
commit dc448fd
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Showing 40 changed files with 65 additions and 52 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -17,7 +17,7 @@ set(${PROJECT_NAME}_VERSION
 include(GNUInstallDirs)
 
 # Finding dependencies
-find_package(YARP 2.3.73.4 REQUIRED)
+find_package(YARP 2.3.73.5 REQUIRED)
 find_package(Boost REQUIRED serialization system)
 find_package(Protobuf REQUIRED)
 find_package(Gazebo REQUIRED)

diff --git a/libraries/singleton/CMakeLists.txt b/libraries/singleton/CMakeLists.txt
@@ -10,7 +10,7 @@ include(AddGazeboYarpPluginTarget)
 
 add_gazebo_yarp_plugin_target(LIBRARY_NAME singleton
                               INCLUDE_DIRS include/GazeboYarpPlugins
-                              SYSTEM_INCLUDE_DIRS ${YARP_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS} ${SDFORMAT_INCLUDE_DIRS} ${PROTOBUF_INCLUDE_DIRS}
+                              SYSTEM_INCLUDE_DIRS ${Boost_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS} ${SDFORMAT_INCLUDE_DIRS} ${PROTOBUF_INCLUDE_DIRS}
                               LINKED_LIBRARIES ${YARP_LIBRARIES} ${SDFORMAT_LIBRARIES} ${GAZEBO_LIBRARIES} ${PROTOBUF_LIBRARIES} ${Boost_LIBRARIES}
                               HEADERS include/GazeboYarpPlugins/Handler.hh
                                       include/GazeboYarpPlugins/ConfHelpers.hh

diff --git a/plugins/basestate/CMakeLists.txt b/plugins/basestate/CMakeLists.txt
@@ -18,7 +18,7 @@ add_gazebo_yarp_plugin_target(LIBRARY_NAME basestate
                               INSTALL_DESTINATION ${CMAKE_INSTALL_LIBDIR}
                               INCLUDE_DIRS include/gazebo 
                                            include/yarp/dev
-                              SYSTEM_INCLUDE_DIRS ${GAZEBO_YARP_COMMON_HEADERS} ${YARP_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS} ${SDFORMAT_INCLUDE_DIRS} ${PROTOBUF_INCLUDE_DIRS}
+                              SYSTEM_INCLUDE_DIRS ${GAZEBO_YARP_COMMON_HEADERS} ${Boost_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS} ${SDFORMAT_INCLUDE_DIRS} ${PROTOBUF_INCLUDE_DIRS}
                               LINKED_LIBRARIES ${LIB_COMMON_NAME} gazebo_yarp_singleton ${YARP_LIBRARIES} ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES} ${SDFORMAT_LIBRARIES}
                               HEADERS include/gazebo/BaseState.hh
                                       include/yarp/dev/BaseStateDriver.h

diff --git a/plugins/camera/CMakeLists.txt b/plugins/camera/CMakeLists.txt
@@ -16,7 +16,7 @@ endif()
 
 add_gazebo_yarp_plugin_target(LIBRARY_NAME camera
                               INCLUDE_DIRS include/gazebo include/yarp/dev
-                              SYSTEM_INCLUDE_DIRS ${GAZEBO_YARP_COMMON_HEADERS} ${YARP_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS}  ${SDFORMAT_INCLUDE_DIRS} ${PROTOBUF_INCLUDE_DIRS} ${OGRE_INCLUDE_DIRS}
+                              SYSTEM_INCLUDE_DIRS ${GAZEBO_YARP_COMMON_HEADERS} ${Boost_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS}  ${SDFORMAT_INCLUDE_DIRS} ${PROTOBUF_INCLUDE_DIRS} ${OGRE_INCLUDE_DIRS}
                               LINKED_LIBRARIES ${LIB_COMMON_NAME} gazebo_yarp_singleton ${YARP_LIBRARIES} ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES} CameraPlugin
                               HEADERS include/gazebo/Camera.hh
                                       include/yarp/dev/CameraDriver.h

diff --git a/plugins/clock/CMakeLists.txt b/plugins/clock/CMakeLists.txt
@@ -16,7 +16,7 @@ endif()
 
 add_gazebo_yarp_plugin_target(LIBRARY_NAME clock
                               INCLUDE_DIRS include/gazebo include/GazeboYarpPlugins
-                              SYSTEM_INCLUDE_DIRS ${GAZEBO_YARP_COMMON_HEADERS} ${YARP_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS}  ${SDFORMAT_INCLUDE_DIRS} ${PROTOBUF_INCLUDE_DIRS}
+                              SYSTEM_INCLUDE_DIRS ${GAZEBO_YARP_COMMON_HEADERS} ${Boost_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS}  ${SDFORMAT_INCLUDE_DIRS} ${PROTOBUF_INCLUDE_DIRS}
                               LINKED_LIBRARIES gazebo_yarp_rpc_clock ${LIB_COMMON_NAME} ${YARP_LIBRARIES} ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES}
                               HEADERS include/gazebo/Clock.hh 
                                       include/GazeboYarpPlugins/ClockServerImpl.h

diff --git a/plugins/contactloadcellarray/CMakeLists.txt b/plugins/contactloadcellarray/CMakeLists.txt
@@ -15,7 +15,7 @@ endif()
 add_gazebo_yarp_plugin_target(LIBRARY_NAME contactloadcellarray
 			      INSTALL_DESTINATION ${CMAKE_INSTALL_LIBDIR}
 			      INCLUDE_DIRS include/gazebo include/yarp/dev
-			      SYSTEM_INCLUDE_DIRS ${GAZEBO_YARP_COMMON_HEADERS} ${YARP_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS} ${SDFORMAT_INCLUDE_DIRS} ${PROTOBUF_INCLUDE_DIRS}
+			      SYSTEM_INCLUDE_DIRS ${GAZEBO_YARP_COMMON_HEADERS} ${Boost_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS} ${SDFORMAT_INCLUDE_DIRS} ${PROTOBUF_INCLUDE_DIRS}
 			      LINKED_LIBRARIES ${LIB_COMMON_NAME} gazebo_yarp_singleton ${YARP_LIBRARIES} ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES} ${SDFORMAT_LIBRARIES}
 			      HEADERS include/gazebo/ContactLoadCellArray.hh
 				      include/yarp/dev/ContactLoadCellArrayDriver.h

diff --git a/plugins/controlboard/CMakeLists.txt b/plugins/controlboard/CMakeLists.txt
@@ -52,7 +52,7 @@ endif()
 
 add_gazebo_yarp_plugin_target(LIBRARY_NAME controlboard
                               INCLUDE_DIRS include/gazebo include/yarp/dev
-                              SYSTEM_INCLUDE_DIRS ${GAZEBO_YARP_COMMON_HEADERS} ${YARP_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS}  ${SDFORMAT_INCLUDE_DIRS} ${PROTOBUF_INCLUDE_DIRS}
+                              SYSTEM_INCLUDE_DIRS ${GAZEBO_YARP_COMMON_HEADERS} ${Boost_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS}  ${SDFORMAT_INCLUDE_DIRS} ${PROTOBUF_INCLUDE_DIRS}
                               LINKED_LIBRARIES ${LIB_COMMON_NAME} gazebo_yarp_singleton ${YARP_LIBRARIES} ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES}
                               HEADERS ${controlBoard_headers}
                               SOURCES ${controlBoard_source})
diff --git a/plugins/controlboard/include/yarp/dev/ControlBoardDriver.h b/plugins/controlboard/include/yarp/dev/ControlBoardDriver.h
@@ -127,7 +127,7 @@ class yarp::dev::GazeboYarpControlBoardDriver:
      */
 
     // AXIS IAxisInfo
-    virtual bool getAxisName(int axis, yarp::os::ConstString& name);
+    virtual bool getAxisName(int axis, std::string& name);
     virtual bool getJointType(int axis, yarp::dev::JointTypeEnum& type);
 
     //DEVICE DRIVER
@@ -311,8 +311,8 @@ class yarp::dev::GazeboYarpControlBoardDriver:
      */
 
     // RemoteVariables Interface
-    virtual bool getRemoteVariable(yarp::os::ConstString key, yarp::os::Bottle& val);
-    virtual bool setRemoteVariable(yarp::os::ConstString key, const yarp::os::Bottle& val);
+    virtual bool getRemoteVariable(std::string key, yarp::os::Bottle& val);
+    virtual bool setRemoteVariable(std::string key, const yarp::os::Bottle& val);
     virtual bool getRemoteVariablesList(yarp::os::Bottle* listOfKeys);
 
     // CONTROL LIMITS2 (inside comanOthers.cpp)

diff --git a/plugins/controlboard/src/ControlBoard.cc b/plugins/controlboard/src/ControlBoard.cc
@@ -92,8 +92,8 @@ GZ_REGISTER_MODEL_PLUGIN(GazeboYarpControlBoard)
 
                 if(m_parameters.check("ROS"))
                 {
-                    yarp::os::ConstString ROS;
-                    ROS = yarp::os::ConstString ("(") + m_parameters.findGroup("ROS").toString() + yarp::os::ConstString (")");
+                    std::string ROS;
+                    ROS = std::string ("(") + m_parameters.findGroup("ROS").toString() + std::string (")");
                     wrapper_group.append(yarp::os::Bottle(ROS));
                 }
 

diff --git a/plugins/controlboard/src/ControlBoardDriverOthers.cpp b/plugins/controlboard/src/ControlBoardDriverOthers.cpp
@@ -8,7 +8,7 @@
 
 using namespace yarp::dev;
 
-bool GazeboYarpControlBoardDriver::getAxisName(int axis, yarp::os::ConstString& name)
+bool GazeboYarpControlBoardDriver::getAxisName(int axis, std::string& name)
 {
     if (axis < 0 || static_cast<size_t>(axis) >= m_numberOfJoints) return false;
 
@@ -23,7 +23,7 @@ bool GazeboYarpControlBoardDriver::getAxisName(int axis, yarp::os::ConstString&
             }
         }
     }
-    name = yarp::os::ConstString(controlboard_joint_names.at(axis));
+    name = std::string(controlboard_joint_names.at(axis));
     return true;
 }
 
@@ -38,7 +38,7 @@ bool GazeboYarpControlBoardDriver::getJointType(int axis, yarp::dev::JointTypeEn
         type = yarp::dev::VOCAB_JOINTTYPE_UNKNOWN;
     }
 
-    yarp::os::ConstString(controlboard_joint_names.at(axis));
+    std::string(controlboard_joint_names.at(axis));
     return true;
 }
 

diff --git a/plugins/controlboard/src/ControlBoardDriverRemoteVariables.cpp b/plugins/controlboard/src/ControlBoardDriverRemoteVariables.cpp
@@ -34,7 +34,7 @@ bool GazeboYarpControlBoardDriver::getRemoteVariablesList(yarp::os::Bottle* list
     return true;
 }
 
-bool GazeboYarpControlBoardDriver::getRemoteVariable(yarp::os::ConstString key, yarp::os::Bottle& val)
+bool GazeboYarpControlBoardDriver::getRemoteVariable(std::string key, yarp::os::Bottle& val)
 {
     val.clear();
     if (key == "hardwareDamping")
@@ -130,7 +130,7 @@ bool GazeboYarpControlBoardDriver::getRemoteVariable(yarp::os::ConstString key,
     return false;
 }
 
-bool GazeboYarpControlBoardDriver::setRemoteVariable(yarp::os::ConstString key, const yarp::os::Bottle& val)
+bool GazeboYarpControlBoardDriver::setRemoteVariable(std::string key, const yarp::os::Bottle& val)
 {
     std::string s1 = val.toString();
     yarp::os::Bottle* bval = val.get(0).asList();

diff --git a/plugins/depthCamera/CMakeLists.txt b/plugins/depthCamera/CMakeLists.txt
@@ -16,7 +16,7 @@ endif()
 
 add_gazebo_yarp_plugin_target(LIBRARY_NAME depthCamera
                               INCLUDE_DIRS include/gazebo include/yarp/dev
-                              SYSTEM_INCLUDE_DIRS ${GAZEBO_YARP_COMMON_HEADERS} ${YARP_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS}  ${SDFORMAT_INCLUDE_DIRS} ${PROTOBUF_INCLUDE_DIRS} ${OGRE_INCLUDE_DIRS}
+                              SYSTEM_INCLUDE_DIRS ${GAZEBO_YARP_COMMON_HEADERS} ${Boost_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS}  ${SDFORMAT_INCLUDE_DIRS} ${PROTOBUF_INCLUDE_DIRS} ${OGRE_INCLUDE_DIRS}
                               LINKED_LIBRARIES ${LIB_COMMON_NAME} gazebo_yarp_singleton ${YARP_LIBRARIES} ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES} DepthCameraPlugin
                               HEADERS include/gazebo/DepthCamera.hh
                                       include/yarp/dev/DepthCameraDriver.h

diff --git a/plugins/depthCamera/include/yarp/dev/DepthCameraDriver.h b/plugins/depthCamera/include/yarp/dev/DepthCameraDriver.h
@@ -88,7 +88,7 @@ class yarp::dev::GazeboYarpDepthCameraDriver:   public yarp::dev::DeviceDriver,
     virtual bool                  getExtrinsicParam(sig::Matrix &extrinsic);
     virtual bool                  getImages(FlexImage& colorFrame, depthImageType& depthFrame, Stamp* colorStamp=NULL, Stamp* depthStamp=NULL);
     virtual RGBDSensor_status     getSensorStatus();
-    virtual yarp::os::ConstString getLastErrorMsg(Stamp* timeStamp = NULL);
+    virtual std::string getLastErrorMsg(Stamp* timeStamp = NULL);
     /*
      * INTERFACE TOWARD GAZEBO SIMULATOR CORE
      * Get the image from the simulator and store it internally

diff --git a/plugins/depthCamera/src/DepthCameraDriver.cpp b/plugins/depthCamera/src/DepthCameraDriver.cpp
@@ -431,7 +431,7 @@ IRGBDSensor::RGBDSensor_status GazeboYarpDepthCameraDriver::getSensorStatus()
 {
     return m_depthCameraSensorPtr->IsActive() ? RGBD_SENSOR_OK_IN_USE : RGBD_SENSOR_NOT_READY;
 }
-yarp::os::ConstString GazeboYarpDepthCameraDriver::getLastErrorMsg(Stamp* timeStamp)
+std::string GazeboYarpDepthCameraDriver::getLastErrorMsg(Stamp* timeStamp)
 {
     if(timeStamp)
     {

diff --git a/plugins/externalwrench/CMakeLists.txt b/plugins/externalwrench/CMakeLists.txt
@@ -10,7 +10,7 @@ include(AddGazeboYarpPluginTarget)
 
 add_gazebo_yarp_plugin_target(LIBRARY_NAME externalwrench
                               INCLUDE_DIRS include/gazebo
-                              SYSTEM_INCLUDE_DIRS ${YARP_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS}  ${SDFORMAT_INCLUDE_DIRS} ${PROTOBUF_INCLUDE_DIRS}
+                              SYSTEM_INCLUDE_DIRS ${Boost_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS}  ${SDFORMAT_INCLUDE_DIRS} ${PROTOBUF_INCLUDE_DIRS}
                               LINKED_LIBRARIES ${YARP_LIBRARIES} ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES}
                               HEADERS include/gazebo/ApplyExternalWrench.hh
                               SOURCES src/ApplyExternalWrench.cc

diff --git a/plugins/externalwrench/src/ApplyExternalWrench.cc b/plugins/externalwrench/src/ApplyExternalWrench.cc
@@ -124,7 +124,13 @@ void ApplyExternalWrench::UpdateChild()
 #else
         msgs::Set ( m_visualMsg.mutable_pose(), linkCoGPose );
 #endif
-        msgs::Set ( m_visualMsg.mutable_material()->mutable_ambient(),common::Color ( 1,0,0,0.3 ) );
+        double red = 1;
+        double alpha = 0.3;
+#if GAZEBO_MAJOR_VERSION >= 9
+        msgs::Set(m_visualMsg.mutable_material()->mutable_ambient(), ignition::math::Color(red,0,0,alpha));
+#else
+        msgs::Set(m_visualMsg.mutable_material()->mutable_ambient(), common::Color(red,0,0,alpha));
+#endif
         m_visualMsg.set_visible ( 1 );
         m_visPub->Publish ( m_visualMsg );
     }

diff --git a/plugins/fakecontrolboard/CMakeLists.txt b/plugins/fakecontrolboard/CMakeLists.txt
@@ -29,7 +29,7 @@ endif()
 
 add_gazebo_yarp_plugin_target(LIBRARY_NAME fakecontrolboard
                               INCLUDE_DIRS include/gazebo include/yarp/dev
-                              SYSTEM_INCLUDE_DIRS ${GAZEBO_YARP_COMMON_HEADERS} ${YARP_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS}  ${SDFORMAT_INCLUDE_DIRS} ${PROTOBUF_INCLUDE_DIRS}
+                              SYSTEM_INCLUDE_DIRS ${GAZEBO_YARP_COMMON_HEADERS} ${Boost_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS}  ${SDFORMAT_INCLUDE_DIRS} ${PROTOBUF_INCLUDE_DIRS}
                               LINKED_LIBRARIES ${LIB_COMMON_NAME} gazebo_yarp_singleton ${YARP_LIBRARIES} ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES}
                               HEADERS ${plugin_headers}
                               SOURCES ${plugin_source}

diff --git a/plugins/fakecontrolboard/include/yarp/dev/FakeControlBoardDriver.h b/plugins/fakecontrolboard/include/yarp/dev/FakeControlBoardDriver.h
@@ -107,7 +107,7 @@ class yarp::dev::GazeboYarpFakeControlBoardDriver:
      */
 
     // AXIS IAxisInfo
-    virtual bool getAxisName(int axis, yarp::os::ConstString& name);
+    virtual bool getAxisName(int axis, std::string& name);
     virtual bool getJointType(int axis, yarp::dev::JointTypeEnum& type);
 
     //DEVICE DRIVER
@@ -290,8 +290,8 @@ class yarp::dev::GazeboYarpFakeControlBoardDriver:
      */
 
     // RemoteVariables Interface
-    virtual bool getRemoteVariable(yarp::os::ConstString key, yarp::os::Bottle& val);
-    virtual bool setRemoteVariable(yarp::os::ConstString key, const yarp::os::Bottle& val);
+    virtual bool getRemoteVariable(std::string key, yarp::os::Bottle& val);
+    virtual bool setRemoteVariable(std::string key, const yarp::os::Bottle& val);
     virtual bool getRemoteVariablesList(yarp::os::Bottle* listOfKeys);
 
     // CONTROL LIMITS2 (inside comanOthers.cpp)

diff --git a/plugins/fakecontrolboard/src/FakeControlBoard.cc b/plugins/fakecontrolboard/src/FakeControlBoard.cc
@@ -92,8 +92,8 @@ GZ_REGISTER_MODEL_PLUGIN(GazeboYarpFakeControlBoard)
 
                 if(m_pluginParameters.check("ROS"))
                 {
-                    yarp::os::ConstString ROS;
-                    ROS = yarp::os::ConstString ("(") + m_pluginParameters.findGroup("ROS").toString() + yarp::os::ConstString (")");
+                    std::string ROS;
+                    ROS = std::string ("(") + m_pluginParameters.findGroup("ROS").toString() + std::string (")");
                     wrapper_group.append(yarp::os::Bottle(ROS));
                 }
 

diff --git a/plugins/fakecontrolboard/src/FakeControlBoardDriverOthers.cpp b/plugins/fakecontrolboard/src/FakeControlBoardDriverOthers.cpp
@@ -8,10 +8,10 @@
 
 using namespace yarp::dev;
 
-bool GazeboYarpFakeControlBoardDriver::getAxisName(int axis, yarp::os::ConstString& name)
+bool GazeboYarpFakeControlBoardDriver::getAxisName(int axis, std::string& name)
 {
     if (axis < 0 || axis >= (int)m_numberOfJoints) return false;
-    name = yarp::os::ConstString(m_jointNames.at(axis));
+    name = std::string(m_jointNames.at(axis));
     return true;
 }
 

diff --git a/plugins/fakecontrolboard/src/FakeControlBoardDriverRemoteVariables.cpp b/plugins/fakecontrolboard/src/FakeControlBoardDriverRemoteVariables.cpp
@@ -15,14 +15,14 @@ bool GazeboYarpFakeControlBoardDriver::getRemoteVariablesList(yarp::os::Bottle*
     return true;
 }
 
-bool GazeboYarpFakeControlBoardDriver::getRemoteVariable(yarp::os::ConstString key, yarp::os::Bottle& val)
+bool GazeboYarpFakeControlBoardDriver::getRemoteVariable(std::string key, yarp::os::Bottle& val)
 {
     val.clear();
     yWarning("getRemoteVariable(): Unknown variable %s", key.c_str());
     return false;
 }
 
-bool GazeboYarpFakeControlBoardDriver::setRemoteVariable(yarp::os::ConstString key, const yarp::os::Bottle& val)
+bool GazeboYarpFakeControlBoardDriver::setRemoteVariable(std::string key, const yarp::os::Bottle& val)
 {
     yWarning("setRemoteVariable(): Unknown variable %s", key.c_str());
     return false;

diff --git a/plugins/forcetorque/CMakeLists.txt b/plugins/forcetorque/CMakeLists.txt
@@ -16,7 +16,7 @@ endif()
 
 add_gazebo_yarp_plugin_target(LIBRARY_NAME forcetorque
                               INCLUDE_DIRS include/gazebo include/yarp/dev
-                              SYSTEM_INCLUDE_DIRS ${GAZEBO_YARP_COMMON_HEADERS} ${YARP_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS}  ${SDFORMAT_INCLUDE_DIRS} ${PROTOBUF_INCLUDE_DIRS}
+                              SYSTEM_INCLUDE_DIRS ${GAZEBO_YARP_COMMON_HEADERS} ${Boost_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS}  ${SDFORMAT_INCLUDE_DIRS} ${PROTOBUF_INCLUDE_DIRS}
                               LINKED_LIBRARIES ${LIB_COMMON_NAME} gazebo_yarp_singleton ${YARP_LIBRARIES} ${GAZEBO_LIBRARIES} ForceTorquePlugin  ${Boost_LIBRARIES}
                               HEADERS include/gazebo/ForceTorque.hh
                                       include/yarp/dev/ForceTorqueDriver.h

diff --git a/plugins/imu/CMakeLists.txt b/plugins/imu/CMakeLists.txt
@@ -16,7 +16,7 @@ endif()
 
 add_gazebo_yarp_plugin_target(LIBRARY_NAME imu
                               INCLUDE_DIRS include/gazebo include/yarp/dev
-                              SYSTEM_INCLUDE_DIRS ${GAZEBO_YARP_COMMON_HEADERS} ${YARP_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS}  ${SDFORMAT_INCLUDE_DIRS} ${PROTOBUF_INCLUDE_DIRS}
+                              SYSTEM_INCLUDE_DIRS ${GAZEBO_YARP_COMMON_HEADERS} ${Boost_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS}  ${SDFORMAT_INCLUDE_DIRS} ${PROTOBUF_INCLUDE_DIRS}
                               LINKED_LIBRARIES ${LIB_COMMON_NAME} gazebo_yarp_singleton ${YARP_LIBRARIES} ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES}
                               HEADERS include/gazebo/IMU.hh
                                       include/yarp/dev/IMUDriver.h

diff --git a/plugins/inertialmtb/CMakeLists.txt b/plugins/inertialmtb/CMakeLists.txt
@@ -17,7 +17,7 @@ endif()
 add_gazebo_yarp_plugin_target(LIBRARY_NAME inertial
                               INSTALL_DESTINATION ${CMAKE_INSTALL_LIBDIR}
                               INCLUDE_DIRS include/gazebo include/yarp/dev
-                              SYSTEM_INCLUDE_DIRS ${GAZEBO_YARP_COMMON_HEADERS} ${YARP_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS}  ${SDFORMAT_INCLUDE_DIRS} ${PROTOBUF_INCLUDE_DIRS}
+                              SYSTEM_INCLUDE_DIRS ${GAZEBO_YARP_COMMON_HEADERS} ${Boost_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS}  ${SDFORMAT_INCLUDE_DIRS} ${PROTOBUF_INCLUDE_DIRS}
                               LINKED_LIBRARIES ${LIB_COMMON_NAME} gazebo_yarp_singleton ${YARP_LIBRARIES} ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES}
                               HEADERS include/gazebo/inertialMTB.hh
                               SOURCES src/inertialMTB.cc

diff --git a/plugins/inertialmtbPart/CMakeLists.txt b/plugins/inertialmtbPart/CMakeLists.txt
@@ -17,7 +17,7 @@ endif()
 add_gazebo_yarp_plugin_target(LIBRARY_NAME distributedinertials
                               INSTALL_DESTINATION ${CMAKE_INSTALL_LIBDIR}
                               INCLUDE_DIRS include/gazebo include/yarp/dev
-                              SYSTEM_INCLUDE_DIRS ${GAZEBO_YARP_COMMON_HEADERS} ${YARP_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS}  ${SDFORMAT_INCLUDE_DIRS} ${PROTOBUF_INCLUDE_DIRS}
+                              SYSTEM_INCLUDE_DIRS ${GAZEBO_YARP_COMMON_HEADERS} ${Boost_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS}  ${SDFORMAT_INCLUDE_DIRS} ${PROTOBUF_INCLUDE_DIRS}
                               LINKED_LIBRARIES ${LIB_COMMON_NAME} gazebo_yarp_singleton ${YARP_LIBRARIES} ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES}
                               HEADERS include/gazebo/inertialMTBPart.hh
                                       include/yarp/dev/inertialMTBPartDriver.h

diff --git a/plugins/jointsensors/CMakeLists.txt b/plugins/jointsensors/CMakeLists.txt
@@ -16,7 +16,7 @@ endif()
 
 add_gazebo_yarp_plugin_target(LIBRARY_NAME jointsensors
                               INCLUDE_DIRS include/gazebo include/yarp/dev
-                              SYSTEM_INCLUDE_DIRS ${GAZEBO_YARP_COMMON_HEADERS} ${YARP_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS}  ${SDFORMAT_INCLUDE_DIRS} ${PROTOBUF_INCLUDE_DIRS}
+                              SYSTEM_INCLUDE_DIRS ${GAZEBO_YARP_COMMON_HEADERS} ${Boost_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS}  ${SDFORMAT_INCLUDE_DIRS} ${PROTOBUF_INCLUDE_DIRS}
                               LINKED_LIBRARIES ${LIB_COMMON_NAME} gazebo_yarp_singleton ${YARP_LIBRARIES} ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES}
                               HEADERS include/gazebo/JointSensors.hh
                                       include/yarp/dev/JointSensorsDriver.h

diff --git a/plugins/lasersensor/CMakeLists.txt b/plugins/lasersensor/CMakeLists.txt
@@ -16,7 +16,7 @@ endif()
 
 add_gazebo_yarp_plugin_target(LIBRARY_NAME lasersensor
                               INCLUDE_DIRS include/gazebo include/yarp/dev
-                              SYSTEM_INCLUDE_DIRS ${GAZEBO_YARP_COMMON_HEADERS} ${YARP_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS}  ${SDFORMAT_INCLUDE_DIRS} ${PROTOBUF_INCLUDE_DIRS}
+                              SYSTEM_INCLUDE_DIRS ${GAZEBO_YARP_COMMON_HEADERS} ${Boost_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS}  ${SDFORMAT_INCLUDE_DIRS} ${PROTOBUF_INCLUDE_DIRS}
                               LINKED_LIBRARIES ${LIB_COMMON_NAME} gazebo_yarp_singleton ${YARP_LIBRARIES} ${GAZEBO_LIBRARIES} RayPlugin  ${Boost_LIBRARIES}
                               HEADERS include/gazebo/LaserSensor.hh
                                       include/yarp/dev/LaserSensorDriver.h