Update to work with gazebo-9/ubuntu-18/ros-melodic

include/color_plugin.h

@@ -63,7 +63,7 @@
       std::string material1_name;
       std::string material2_name;
       bool trigger_state;
-      gazebo::common::Color color;
+      ignition::math::Color color;
   };
 //}
 

src/color_plugin.cc

@@ -23,9 +23,9 @@ GZ_REGISTER_VISUAL_PLUGIN(ColorPlugin)
 ColorPlugin::ColorPlugin()
 {
   this->nh = NULL;
-  this->material_name="Gazebo/RedGlow";
-  this->material1_name="Gazebo/RedGlow";
-  this->material2_name="Gazebo/GreenGlow";
+  this->material_name="Gazebo/Red";
+  this->material1_name="Gazebo/Red";
+  this->material2_name="Gazebo/Green";
   this->plugin_name="empty_plugin_name";
   this->color.Set(1, 0 , 0);
   this->new_material=false;
@@ -42,19 +42,19 @@ ColorPlugin::~ColorPlugin()
 void ColorPlugin::Load(gazebo::rendering::VisualPtr _parent, sdf::ElementPtr _sdf)
 {
   this->model = _parent;
-  
+
   this->plugin_name = this->GetHandle().c_str();
 
-  if(_sdf->GetElement("sdf")->HasElement("material"))
+  if(_sdf->HasElement("material"))
   {
-    this->material1_name =  _sdf->GetElement("sdf")->Get<std::string>("material");
+    this->material1_name =  _sdf->GetElement("material")->Get<std::string>();
     this->material_name= this->material1_name;
     this->new_material=true;
   }
-  
-  if(_sdf->GetElement("sdf")->HasElement("material2"))
+
+  if(_sdf->HasElement("material2"))
   {
-    this->material2_name =  _sdf->GetElement("sdf")->Get<std::string>("material2");
+    this->material2_name =  _sdf->GetElement("material2")->Get<std::string>();
     this->new_material=true;
   }
 
@@ -126,4 +126,4 @@ void ColorPlugin::OnUpdate()
     this->model->SetEmissive(this->color);
     this->new_color=false;
   }
-}
\ No newline at end of file
+}