error in simple plugin for an AUV

edit

Hi, I am new to gazebo. I had written a Matlab code for nonlinear dynamics of an AUV , now I need to connect my simulink code to gazebo. I am not using the physics of gazebo as the physics is going to be controlled from simulink.

I create a model of the AUV in gazebo and setup the joints for the propeller, rudder and elevator.

However, I am having difficulty understanding the plugin tutorials.

I copy and modified the code from herelink text

I am trying to compile the plugin but I am having error:

[ 50%] Building CXX object CMakeFiles/remusbody.dir/remusbody.cc.o /home/wilmer/catkin_ws/src/plugins/remusbody.cc:5:33: fatal error: geometry_msgs/Twist.h: No such file or directory compilation terminated. CMakeFiles/remusbody.dir/build.make:62: recipe for target 'CMakeFiles/remusbody.dir/remusbody.cc.o' failed make[2]: * [CMakeFiles/remusbody.dir/remusbody.cc.o] Error 1 CMakeFiles/Makefile2:355: recipe for target 'CMakeFiles/remusbody.dir/all' failed make[1]: [CMakeFiles/remusbody.dir/all] Error 2 Makefile:138: recipe for target 'all' failed make: ** [all] Error 2

what I am doing wrong?

I attach this line to package.xml

<build_depend>geometry_msgs</build_depend>

My cmakelist is this

cmake_minimum_required(VERSION 2.8 FATAL_ERROR)

find_package(gazebo REQUIRED)

find_package(catkin REQUIRED COMPONENTS roscpp geometry_msgs)

 add_library(remusbody SHARED remusbody.cc)

 target_link_libraries(remusbody ${GAZEBO_LIBRARIES})

 include_directories(${GAZEBO_INCLUDE_DIRS})

 link_directories(${GAZEBO_LIBRARY_DIRS})

 list(APPEND CMAKE_CXX_FLAGS "${GAZEBO_CXX_FLAGS}")

My plugin code is attached down.

any help is welcome...

#include <stdio.h>

#include <geometry_msgs/Twist.h>
#include "geometry_msgs/PoseStamped.h"

#include "gazebo/gazebo.hh"
#include "gazebo/physics/physics.hh"
#include "gazebo/common/common.hh"
#include "math/Vector3.hh"
#include <math/gzmath.hh>

static float Vlin=0.0, Vang=0.0; // set as global 

namespace gazebo
{   
  class ROSModelPlugin : public ModelPlugin
  {   
    public: ROSModelPlugin()
    {
      // Start up ROS
      std::string name1 = "gz"; // this is what appears in the rostopics
      int argc = 0;
      ros::init(argc, NULL, name1);      
    }
    public: ~ROSModelPlugin()
    {
      delete this->nh;
    }

    public: void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/)
    {
      // Store the pointer to the model
      this->model = _parent;

      // ROS Nodehandle
      this->nh = new ros::NodeHandle("~");
      // ROS Subscriber
      this->subvel = this->nh->subscribe<geometry_msgs::Twist>("cmd_vel", 1000, &ROSModelPlugin::ROSCallback_Vel, this );


      this->nh = new ros::NodeHandle("~");
      this->pubpose = this->nh->advertise<geometry_msgs::PoseStamped>("pose",1000);

//***********************************************

      // Listen to the update event. This event is broadcast every
      // simulation iteration.
      // for gazebo 1.4 or lower it should be ConnectWorldUpdateStart
      this->updateConnection = event::Events::ConnectWorldUpdateBegin(
      boost::bind(&ROSModelPlugin::OnUpdate, this));
    }

    // Called by the world update start event
    public: void OnUpdate()
    {
      std::vector<double> rangesgz;
        static double qw,qx,qy,qz, Rrad, Prad, Yrad;

// ************* QUATERNION / POSE DATA ******************
      math::Vector3 p = model->GetWorldPose().pos;
      math::Quaternion r = model->GetWorldPose().rot;
      //from quaternion to Roll Pitch Yaw, in radianos
      qw=r.w;   qx=r.x;     qy=r.y;     qz=r.z;
      Rrad=atan2(  2*(qw*qx+qy*qz),  1-2*(qx*qx+qy*qy)  );  //Roll
      Prad=asin(2*(qw*qy-qz*qx));               //Pitch
      Yrad=atan2(  2*(qw*qz+qx*qy),  1-2*(qy*qy+qz*qz)  );  //Yaw

// ***************************************************
        ros::Time current_time ...