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Hi @marco_chunab

With the new changes on Gazebo 9 you need to include the proper headers and declarations. That means, for instance if you want to declare a Vector3 variable you will need:

#include <ignition/math/Vector3.hh>
ignition::math::Vector3d pPos;

and for the quaternions:

#include <ignition/math/Quaternion.hh>
ignition::math::Quaterniond rot;

GetWorldPose() is WorldPose() and for the GetSimTime() is SimTime().

And so on. You will also need to check the proper function to get the Roll, Pitch, Yaw and Rot/Pos.

You can check this and this docs to know more about these changes.

Hope this can help you.

Regards.