i try to catkin_make with gazebo 9 but i got these errors

edit

Straight dump of the error message:

 /home/user/catkin_ws/src/robot_tutorial_1/plugins/wb_plugin.cc:98:7: error: ‘math’ does not name a type; did you mean ‘tanh’?
       math::Quaternion pRot;
       ^~~~
       tanh
/home/user/catkin_ws/src/robot_tutorial_1/plugins/wb_plugin.cc:99:7: error: ‘math’ does not name a type; did you mean ‘tanh’?
       math::Vector3d pPos;
       ^~~~
       tanh
/home/user/catkin_ws/src/robot_tutorial_1/plugins/wb_plugin.cc: In member function ‘void gazebo::WBPlugin::onCmd(geometry_msgs::Twist)’:
/home/user/catkin_ws/src/robot_tutorial_1/plugins/wb_plugin.cc:114:22: error: ‘class gazebo::physics::World’ has no member named ‘GetSimTime’; did you mean ‘SetSimTime’?
           lc_T = _w->GetSimTime();
                      ^~~~~~~~~~
                      SetSimTime
/home/user/catkin_ws/src/robot_tutorial_1/plugins/wb_plugin.cc: In member function ‘void gazebo::WBPlugin::onUpdate(const gazebo::common::UpdateInfo&)’:
/home/user/catkin_ws/src/robot_tutorial_1/plugins/wb_plugin.cc:125:38: error: ‘class gazebo::physics::World’ has no member named ‘GetSimTime’; did you mean ‘SetSimTime’?
          common::Time cSimTime = _w->GetSimTime();
                                      ^~~~~~~~~~
                                      SetSimTime
/home/user/catkin_ws/src/robot_tutorial_1/plugins/wb_plugin.cc:141:10: error: ‘math’ has not been declared
          math::Quaternion rot = _m->GetWorldPose().rot;
          ^~~~
/home/user/catkin_ws/src/robot_tutorial_1/plugins/wb_plugin.cc:142:10: error: ‘math’ has not been declared
          math::Vector3 pos = _m->GetWorldPose().pos;
          ^~~~
/home/user/catkin_ws/src/robot_tutorial_1/plugins/wb_plugin.cc:145:10: error: ‘math’ has not been declared
          math::Vector3 dist = pos - pPos;
          ^~~~
/home/user/catkin_ws/src/robot_tutorial_1/plugins/wb_plugin.cc:151:24: error: ‘rot’ was not declared in this scope
          double roll = rot.GetRoll();
                        ^~~
/home/user/catkin_ws/src/robot_tutorial_1/plugins/wb_plugin.cc:151:24: note: suggested alternative: ‘rint’
          double roll = rot.GetRoll();
                        ^~~
                        rint
/home/user/catkin_ws/src/robot_tutorial_1/plugins/wb_plugin.cc:156:30: error: ‘pRot’ was not declared in this scope
          double yawV = yaw - pRot.GetYaw();
                              ^~~~
/home/user/catkin_ws/src/robot_tutorial_1/plugins/wb_plugin.cc:156:30: note: suggested alternative: ‘pow’
          double yawV = yaw - pRot.GetYaw();
                              ^~~~
                              pow
/home/user/catkin_ws/src/robot_tutorial_1/plugins/wb_plugin.cc:162:32: error: ‘dist’ was not declared in this scope
          double velSign = SIGN(dist.x * cos(yaw) + dist.y * sin(yaw));
                                ^
/home/user/catkin_ws/src/robot_tutorial_1/plugins/wb_plugin.cc:17:18: note: in definition of macro ‘SIGN’
 #define SIGN(a) (a >= 0 ? 1.0 : -1.0)
                  ^
/home/user/catkin_ws/src/robot_tutorial_1/plugins/wb_plugin.cc:162:32: note: suggested alternative: ‘div’
          double velSign = SIGN(dist.x * cos(yaw) + dist.y * sin(yaw));
                                ^
/home/user/catkin_ws/src/robot_tutorial_1/plugins/wb_plugin.cc:17:18: note: in definition of macro ‘SIGN’
 #define SIGN(a) (a >= 0 ? 1.0 : -1.0)
                  ^
/home/user/catkin_ws/src/robot_tutorial_1/plugins/wb_plugin.cc:194:10: error: ‘pPos’ was not declared in this scope
          pPos = pos;
          ^~~~
/home/user/catkin_ws/src/robot_tutorial_1/plugins/wb_plugin.cc:194:10: note: suggested alternative: ‘puts’
          pPos = pos;
          ^~~~
          puts
/home/user/catkin_ws/src/robot_tutorial_1/plugins/wb_plugin.cc:194:17: error: ‘pos’ was not declared in this scope
          pPos = pos;
                 ^~~
/home/user/catkin_ws/src/robot_tutorial_1/plugins/wb_plugin.cc:194:17: note: suggested alternative: ‘pow’
          pPos = pos;
                 ^~~
                 pow
/home/user/catkin_ws/src/robot_tutorial_1/plugins/wb_plugin.cc: In member function ‘virtual void gazebo::WBPlugin::Load(gazebo::physics::ModelPtr, sdf::ElementPtr)’:
/home/user/catkin_ws/src ...