From ce45d0a3ebba26997acd763b96101f14177f5234 Mon Sep 17 00:00:00 2001
From: Jaeyoung Lim <jalim@ethz.ch>
Date: Tue, 20 Aug 2024 18:20:00 +0200
Subject: [PATCH] Fix gz airspeed sensor

---
 src/modules/simulation/gz_bridge/GZBridge.cpp | 2 +-
 src/modules/simulation/gz_bridge/GZBridge.hpp | 3 ++-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/modules/simulation/gz_bridge/GZBridge.cpp b/src/modules/simulation/gz_bridge/GZBridge.cpp
index 6b4042da8b..7a7047b60b 100644
--- a/src/modules/simulation/gz_bridge/GZBridge.cpp
+++ b/src/modules/simulation/gz_bridge/GZBridge.cpp
@@ -424,7 +424,7 @@ void GZBridge::barometerCallback(const gz::msgs::FluidPressure &air_pressure)
 	pthread_mutex_unlock(&_node_mutex);
 }
 
-void GZBridge::airspeedCallback(const gz::msgs::AirSpeed &air_speed)
+void GZBridge::airspeedCallback(const gz::msgs::AirSpeedSensor &air_speed)
 {
 	if (hrt_absolute_time() == 0) {
 		return;
diff --git a/src/modules/simulation/gz_bridge/GZBridge.hpp b/src/modules/simulation/gz_bridge/GZBridge.hpp
index 824c7d4716..aa96a879e6 100644
--- a/src/modules/simulation/gz_bridge/GZBridge.hpp
+++ b/src/modules/simulation/gz_bridge/GZBridge.hpp
@@ -69,6 +69,7 @@
 #include <gz/msgs/model.pb.h>
 #include <gz/msgs/odometry_with_covariance.pb.h>
 #include <gz/msgs/laserscan.pb.h>
+#include <gz/msgs9/gz/msgs/air_speed_sensor.pb.h>
 
 using namespace time_literals;
 
@@ -102,7 +103,7 @@ private:
 
 	void clockCallback(const gz::msgs::Clock &clock);
 
-	void airspeedCallback(const gz::msgs::AirSpeed &air_speed);
+	void airspeedCallback(const gz::msgs::AirSpeedSensor &air_speed);
 	void barometerCallback(const gz::msgs::FluidPressure &air_pressure);
 	void imuCallback(const gz::msgs::IMU &imu);
 	void poseInfoCallback(const gz::msgs::Pose_V &pose);