diff -rupN gazebo-10.1.0/gazebo/gui/plot/IncrementalPlot.cc gazebo-10.1.0-new/gazebo/gui/plot/IncrementalPlot.cc
--- gazebo-10.1.0/gazebo/gui/plot/IncrementalPlot.cc	2019-03-29 01:58:32.000000000 +0100
+++ gazebo-10.1.0-new/gazebo/gui/plot/IncrementalPlot.cc	2022-12-21 18:08:37.162024275 +0100
@@ -25,6 +25,8 @@
 
 #include <ignition/math/Helpers.hh>
 
+#include <qwt_scale_map.h>
+
 #include "gazebo/common/Console.hh"
 #include "gazebo/common/Time.hh"
 
diff -rupN gazebo-10.1.0/gazebo/gui/plot/PlotCurve.cc gazebo-10.1.0-new/gazebo/gui/plot/PlotCurve.cc
--- gazebo-10.1.0/gazebo/gui/plot/PlotCurve.cc	2019-03-29 01:58:32.000000000 +0100
+++ gazebo-10.1.0-new/gazebo/gui/plot/PlotCurve.cc	2022-12-22 10:41:46.139129727 +0100
@@ -62,71 +62,71 @@ namespace gazebo
       /// \return Bounding box of the sample.
       public: virtual QRectF boundingRect() const
               {
-                if (this->d_boundingRect.width() < 0.0)
-                  this->d_boundingRect = qwtBoundingRect(*this);
+                if (this->boundingRect().width() < 0.0)
+                  this->boundingRect() = qwtBoundingRect(*this);
 
                 // set a minimum bounding box height
                 // this prevents plot's auto scale to zoom in on near-zero
                 // floating point noise.
                 double minHeight = 1e-3;
-                double absHeight = std::fabs(this->d_boundingRect.height());
+                double absHeight = std::fabs(this->boundingRect().height());
                 if (absHeight < minHeight)
                 {
                   double halfMinHeight = minHeight * 0.5;
-                  double mid = this->d_boundingRect.top() +
+                  double mid = this->boundingRect().top() +
                       (absHeight * 0.5);
-                  this->d_boundingRect.setTop(mid - halfMinHeight);
-                  this->d_boundingRect.setBottom(mid + halfMinHeight);
+                  this->boundingRect().setTop(mid - halfMinHeight);
+                  this->boundingRect().setBottom(mid + halfMinHeight);
                 }
 
-                return this->d_boundingRect;
+                return this->boundingRect();
               }
 
       /// \brief Add a point to the sample.
       /// \param[in] _point Point to add.
       public: inline void Add(const QPointF &_point)
               {
-                this->d_samples += _point;
+                this->m_samples += _point;
 
-                if (this->d_samples.size() > maxSampleSize)
+                if (this->m_samples.size() > maxSampleSize)
                 {
                   // remove sample window
                   // update bounding rect?
-                  this->d_samples.remove(0, windowSize);
+                  this->m_samples.remove(0, windowSize);
                 }
 
-                if (this->d_samples.size() == 1)
+                if (this->m_samples.size() == 1)
                 {
                   // init bounding rect
-                  this->d_boundingRect.setTopLeft(_point);
-                  this->d_boundingRect.setBottomRight(_point);
+                  this->boundingRect().setTopLeft(_point);
+                  this->boundingRect().setBottomRight(_point);
                   return;
                 }
 
                 // expand bounding rect
-                if (_point.x() < this->d_boundingRect.left())
-                  this->d_boundingRect.setLeft(_point.x());
-                else if (_point.x() > this->d_boundingRect.right())
-                  this->d_boundingRect.setRight(_point.x());
-                if (_point.y() < this->d_boundingRect.top())
-                  this->d_boundingRect.setTop(_point.y());
-                else if (_point.y() > this->d_boundingRect.bottom())
-                  this->d_boundingRect.setBottom(_point.y());
+                if (_point.x() < this->boundingRect().left())
+                  this->boundingRect().setLeft(_point.x());
+                else if (_point.x() > this->boundingRect().right())
+                  this->boundingRect().setRight(_point.x());
+                if (_point.y() < this->boundingRect().top())
+                  this->boundingRect().setTop(_point.y());
+                else if (_point.y() > this->boundingRect().bottom())
+                  this->boundingRect().setBottom(_point.y());
               }
 
       /// \brief Clear the sample data.
       public: void Clear()
               {
-                this->d_samples.clear();
-                this->d_samples.squeeze();
-                this->d_boundingRect = QRectF(0.0, 0.0, -1.0, -1.0);
+                this->m_samples.clear();
+                this->m_samples.squeeze();
+                this->boundingRect() = QRectF(0.0, 0.0, -1.0, -1.0);
               }
 
       /// \brief Get the sample data.
       /// \return A vector of same points.
       public: QVector<QPointF> Samples() const
               {
-                return this->d_samples;
+                return this->m_samples;
               }
 
       /// \brief maxium sample size of this curve.