diff --git a/gazebo_grasp_plugin/CMakeLists.txt b/gazebo_grasp_plugin/CMakeLists.txt
index c298aba82ac12667b7e7b5f2b482039056de1510..587e582d47d8d009e1417decb8c5154a02836ef3 100644
--- a/gazebo_grasp_plugin/CMakeLists.txt
+++ b/gazebo_grasp_plugin/CMakeLists.txt
@@ -55,6 +55,7 @@ endif()
 # include_directories(include)
 include_directories(
   include
+  /usr/include/ffmpeg
   ${catkin_INCLUDE_DIRS}
   ${GAZEBO_INCLUDE_DIRS}
 )
diff --git a/gazebo_state_plugins/CMakeLists.txt b/gazebo_state_plugins/CMakeLists.txt
index f20fc49c9f5805416df7fa90252e67026602ee39..bb381a4e02d4e1f88d6e466cef6cc4465078d418 100644
--- a/gazebo_state_plugins/CMakeLists.txt
+++ b/gazebo_state_plugins/CMakeLists.txt
@@ -64,6 +64,7 @@ endif()
 # include_directories(include)
 include_directories(
   include
+  /usr/include/ffmpeg
   ${catkin_INCLUDE_DIRS}
   ${GAZEBO_INCLUDE_DIRS}
 )
diff --git a/gazebo_state_plugins/src/GazeboObjectInfo.cpp b/gazebo_state_plugins/src/GazeboObjectInfo.cpp
index 30f38db71ffb96b2e7f4c8f1763b2b794e06d7f4..4699cfcb13281a913a1ee573d53ba1bb1681484f 100644
--- a/gazebo_state_plugins/src/GazeboObjectInfo.cpp
+++ b/gazebo_state_plugins/src/GazeboObjectInfo.cpp
@@ -157,7 +157,7 @@ shape_msgs::SolidPrimitive * GazeboObjectInfo::getSolidPrimitive(physics::Collis
     else
     {
         ROS_WARN("shape type %i of collision %s not supported. Using bounding box instead. ", c->GetShapeType(),c->GetName().c_str());
-        gz_math::Box box = GetBoundingBox(*c);
+        gz_math::AxisAlignedBox box = GetBoundingBox(*c);
         GzVector3 bb = GetBoundingBoxDimensions(box);
         if ((GetX(bb) < 1e-05) || (GetY(bb) < 1e-05) || (GetZ(bb) < 1e-05)){
             ROS_WARN_ONCE("Skipping coll %s because its bounding box is flat",c->GetName().c_str());
diff --git a/gazebo_version_helpers/CMakeLists.txt b/gazebo_version_helpers/CMakeLists.txt
index 7e25ed5b05de6e2a0542cf96e3e9fc9c81a8b604..bebef874c45f6a5030388b15b792d3df0711e3f5 100644
--- a/gazebo_version_helpers/CMakeLists.txt
+++ b/gazebo_version_helpers/CMakeLists.txt
@@ -50,6 +50,7 @@ endif()
 ## Your package locations should be listed before other locations
 include_directories(
   include
+  /usr/include/ffmpeg
   ${catkin_INCLUDE_DIRS}
   ${GAZEBO_INCLUDE_DIRS}
 )
diff --git a/gazebo_version_helpers/include/gazebo_version_helpers/GazeboVersionHelpers.h b/gazebo_version_helpers/include/gazebo_version_helpers/GazeboVersionHelpers.h
index 5a8f359ed67c3cb342f4a9bd167a99560a42d286..629a11692e6ffe8d30f9c71f63f2b1a3d271843c 100644
--- a/gazebo_version_helpers/include/gazebo_version_helpers/GazeboVersionHelpers.h
+++ b/gazebo_version_helpers/include/gazebo_version_helpers/GazeboVersionHelpers.h
@@ -116,7 +116,7 @@ std::string GetName(const T& t)
 
 ///////////////////////////////////////////////////////////////////////////////
 template<typename T>
-gz_math::Box GetBoundingBox(const T &t)
+gz_math::AxisAlignedBox GetBoundingBox(const T &t)
 {
 #if GAZEBO_MAJOR_VERSION >= 8
     return t.BoundingBox();
@@ -126,7 +126,7 @@ gz_math::Box GetBoundingBox(const T &t)
 }
 
 ///////////////////////////////////////////////////////////////////////////////
-GzVector3 GetBoundingBoxDimensions(const gz_math::Box &box);
+GzVector3 GetBoundingBoxDimensions(const gz_math::AxisAlignedBox &box);
 
 ///////////////////////////////////////////////////////////////////////////////
 template<typename T>
diff --git a/gazebo_version_helpers/src/GazeboVersionHelpers.cpp b/gazebo_version_helpers/src/GazeboVersionHelpers.cpp
index e0ef8984d3a93caae11d6c632df9c346e80e15a5..ac2c561a3ff612a49a588239238f2ef761463257 100644
--- a/gazebo_version_helpers/src/GazeboVersionHelpers.cpp
+++ b/gazebo_version_helpers/src/GazeboVersionHelpers.cpp
@@ -314,7 +314,7 @@ gazebo::physics::Model_V gazebo::GetModels(
 }
 
 ///////////////////////////////////////////////////////////////////////////////
-gazebo::GzVector3 gazebo::GetBoundingBoxDimensions(const gz_math::Box &box)
+gazebo::GzVector3 gazebo::GetBoundingBoxDimensions(const gz_math::AxisAlignedBox &box)
 {
 #if GAZEBO_MAJOR_VERSION >= 8
     GzVector3 bb(box.XLength(), box.YLength(), box.ZLength());
diff --git a/gazebo_world_plugin_loader/CMakeLists.txt b/gazebo_world_plugin_loader/CMakeLists.txt
index 962a331cf4d5338797bd0c58ace0bcbe6b77f802..0d2ea3a00197996531642a318dbd3ba3aff8a0be 100644
--- a/gazebo_world_plugin_loader/CMakeLists.txt
+++ b/gazebo_world_plugin_loader/CMakeLists.txt
@@ -55,6 +55,7 @@ endif()
 # include_directories(include)
 include_directories(
   include
+  /usr/include/ffmpeg
   ${catkin_INCLUDE_DIRS}
   ${GAZEBO_INCLUDE_DIRS}
 )