commit 04855dc0fd2d82d6fe72c0b54ae66a5f86c5ceb4
Author: Steven Peters <scpeters@osrfoundation.org>
Date:   Tue Jan 12 17:36:06 2016 -0800

    Fix gazebo6 deprecation warnings
    
    Several RaySensor functions are deprecated in gazebo6
    and are removed in gazebo7.
    The return type is changed to use ignition math
    and the function name is changed.
    This adds ifdef's to handle the changes.

diff --git a/gazebo_plugins/src/gazebo_ros_block_laser.cpp b/gazebo_plugins/src/gazebo_ros_block_laser.cpp
index d8f40bc..76e0206 100644
--- a/gazebo_plugins/src/gazebo_ros_block_laser.cpp
+++ b/gazebo_plugins/src/gazebo_ros_block_laser.cpp
@@ -230,8 +230,13 @@ void GazeboRosBlockLaser::PutLaserData(common::Time &_updateTime)
 
   this->parent_ray_sensor_->SetActive(false);
 
+#if GAZEBO_MAJOR_VERSION >= 6
+  auto maxAngle = this->parent_ray_sensor_->AngleMax();
+  auto minAngle = this->parent_ray_sensor_->AngleMin();
+#else
   math::Angle maxAngle = this->parent_ray_sensor_->GetAngleMax();
   math::Angle minAngle = this->parent_ray_sensor_->GetAngleMin();
+#endif
 
   double maxRange = this->parent_ray_sensor_->GetRangeMax();
   double minRange = this->parent_ray_sensor_->GetRangeMin();
@@ -240,8 +245,13 @@ void GazeboRosBlockLaser::PutLaserData(common::Time &_updateTime)
 
   int verticalRayCount = this->parent_ray_sensor_->GetVerticalRayCount();
   int verticalRangeCount = this->parent_ray_sensor_->GetVerticalRangeCount();
+#if GAZEBO_MAJOR_VERSION >= 6
+  auto verticalMaxAngle = this->parent_ray_sensor_->VerticalAngleMax();
+  auto verticalMinAngle = this->parent_ray_sensor_->VerticalAngleMin();
+#else
   math::Angle verticalMaxAngle = this->parent_ray_sensor_->GetVerticalAngleMax();
   math::Angle verticalMinAngle = this->parent_ray_sensor_->GetVerticalAngleMin();
+#endif
 
   double yDiff = maxAngle.Radian() - minAngle.Radian();
   double pDiff = verticalMaxAngle.Radian() - verticalMinAngle.Radian();