diff --git a/gazebo_plugins/src/gazebo_ros_joint_pose_trajectory.cpp b/gazebo_plugins/src/gazebo_ros_joint_pose_trajectory.cpp
index aa0b8143d..e94b1e1d2 100644
--- a/gazebo_plugins/src/gazebo_ros_joint_pose_trajectory.cpp
+++ b/gazebo_plugins/src/gazebo_ros_joint_pose_trajectory.cpp
@@ -384,8 +384,13 @@ void GazeboRosJointPoseTrajectory::UpdateStates()
             // this is not the most efficient way to set things
             if (this->joints_[i])
             {
+#if GAZEBO_MAJOR_VERSION >= 9
+              this->joints_[i]->SetPosition(0,
+                this->points_[this->trajectory_index].positions[i], true);
+#else
               this->joints_[i]->SetPosition(0,
                 this->points_[this->trajectory_index].positions[i]);
+#endif
             }
           }
 
diff --git a/gazebo_plugins/src/gazebo_ros_joint_trajectory.cpp b/gazebo_plugins/src/gazebo_ros_joint_trajectory.cpp
index e468d5236..6d98803df 100644
--- a/gazebo_plugins/src/gazebo_ros_joint_trajectory.cpp
+++ b/gazebo_plugins/src/gazebo_ros_joint_trajectory.cpp
@@ -386,8 +386,13 @@ void GazeboRosJointTrajectory::UpdateStates()
             // this is not the most efficient way to set things
             if (this->joints_[i])
             {
+#if GAZEBO_MAJOR_VERSION >= 9
+              this->joints_[i]->SetPosition(0,
+                this->points_[this->trajectory_index].positions[i], true);
+#else
               this->joints_[i]->SetPosition(0,
                 this->points_[this->trajectory_index].positions[i]);
+#endif
             }
           }
 
diff --git a/gazebo_plugins/src/gazebo_ros_tricycle_drive.cpp b/gazebo_plugins/src/gazebo_ros_tricycle_drive.cpp
index 1cfd5f5b6..a2d37c365 100644
--- a/gazebo_plugins/src/gazebo_ros_tricycle_drive.cpp
+++ b/gazebo_plugins/src/gazebo_ros_tricycle_drive.cpp
@@ -317,7 +317,11 @@ void GazeboRosTricycleDrive::motorController ( double target_speed, double targe
       {
         applied_angle = target_angle;
       }
+#if GAZEBO_MAJOR_VERSION >= 9
+      joint_steering_->SetPosition(0, applied_angle, true);
+#else
       joint_steering_->SetPosition(0, applied_angle);
+#endif
     }
     //ROS_INFO_NAMED("tricycle_drive", "target: [%3.2f, %3.2f], current: [%3.2f, %3.2f], applied: [%3.2f, %3.2f/%3.2f] ",
     //            target_speed, target_angle, current_speed, current_angle, applied_speed, applied_angle, applied_steering_speed );
diff --git a/gazebo_ros_control/src/default_robot_hw_sim.cpp b/gazebo_ros_control/src/default_robot_hw_sim.cpp
index a295a3e12..46ff36e0d 100644
--- a/gazebo_ros_control/src/default_robot_hw_sim.cpp
+++ b/gazebo_ros_control/src/default_robot_hw_sim.cpp
@@ -306,10 +306,10 @@ void DefaultRobotHWSim::writeSim(ros::Time time, ros::Duration period)
         break;
 
       case POSITION:
-#if GAZEBO_MAJOR_VERSION >= 4
-        sim_joints_[j]->SetPosition(0, joint_position_command_[j]);
+#if GAZEBO_MAJOR_VERSION >= 9
+        sim_joints_[j]->SetPosition(0, joint_position_command_[j], true);
 #else
-        sim_joints_[j]->SetAngle(0, joint_position_command_[j]);
+        sim_joints_[j]->SetPosition(0, joint_position_command_[j]);
 #endif
         break;