Index: gazebo-11.10.1/gazebo/common/AudioDecoder.cc
===================================================================
--- gazebo-11.10.1.orig/gazebo/common/AudioDecoder.cc
+++ gazebo-11.10.1/gazebo/common/AudioDecoder.cc
@@ -113,8 +113,13 @@ bool AudioDecoder::Decode(uint8_t **_out
 # pragma GCC diagnostic push
 # pragma GCC diagnostic ignored "-Wdeprecated-declarations"
 #endif
-        bytesDecoded = avcodec_decode_audio4(this->codecCtx, decodedFrame,
-            &gotFrame, &packet1);
+	bytesDecoded = avcodec_send_packet(this->codecCtx, &packet1);
+	if (bytesDecoded >= 0 || bytesDecoded == AVERROR_EOF) {
+		bytesDecoded = avcodec_receive_frame(this->codecCtx, decodedFrame);
+		gotFrame = bytesDecoded >= 0;
+		if (bytesDecoded == AVERROR(EAGAIN) || bytesDecoded == AVERROR_EOF) bytesDecoded = 0;
+	}
+
 #ifndef _WIN32
 # pragma GCC diagnostic pop
 #endif
@@ -214,7 +219,7 @@ bool AudioDecoder::SetFile(const std::st
 # pragma GCC diagnostic push
 # pragma GCC diagnostic ignored "-Wdeprecated-declarations"
 #endif
-    if (this->formatCtx->streams[i]->codec->codec_type == AVMEDIA_TYPE_AUDIO)
+    if (this->formatCtx->streams[i]->codecpar->codec_type == AVMEDIA_TYPE_AUDIO)
 #ifndef _WIN32
 # pragma GCC diagnostic pop
 #endif
@@ -238,7 +243,9 @@ bool AudioDecoder::SetFile(const std::st
 # pragma GCC diagnostic push
 # pragma GCC diagnostic ignored "-Wdeprecated-declarations"
 #endif
-  this->codecCtx = this->formatCtx->streams[audioStream]->codec;
+  this->codecCtx = avcodec_alloc_context3(nullptr);
+  avcodec_parameters_to_context(this->codecCtx, this->formatCtx->streams[audioStream]->codecpar);
+
 #ifndef _WIN32
 # pragma GCC diagnostic pop
 #endif
Index: gazebo-11.10.1/gazebo/common/AudioDecoder.hh
===================================================================
--- gazebo-11.10.1.orig/gazebo/common/AudioDecoder.hh
+++ gazebo-11.10.1/gazebo/common/AudioDecoder.hh
@@ -75,7 +75,7 @@ namespace gazebo
       private: AVCodecContext *codecCtx;
 
       /// \brief libavcodec audio codec.
-      private: AVCodec *codec;
+      private: const AVCodec *codec;
 
       /// \brief Index of the audio stream.
       private: int audioStream;
Index: gazebo-11.10.1/gazebo/common/Video.cc
===================================================================
--- gazebo-11.10.1.orig/gazebo/common/Video.cc
+++ gazebo-11.10.1/gazebo/common/Video.cc
@@ -77,7 +77,7 @@ void Video::Cleanup()
 #ifdef HAVE_FFMPEG
 bool Video::Load(const std::string &_filename)
 {
-  AVCodec *codec = nullptr;
+  const AVCodec *codec = nullptr;
   this->videoStream = -1;
 
   if (this->formatCtx || this->avFrame || this->codecCtx)
@@ -107,7 +107,7 @@ bool Video::Load(const std::string &_fil
 # pragma GCC diagnostic push
 # pragma GCC diagnostic ignored "-Wdeprecated-declarations"
 #endif
-    if (this->formatCtx->streams[i]->codec->codec_type == AVMEDIA_TYPE_VIDEO)
+    if (this->formatCtx->streams[i]->codecpar->codec_type == AVMEDIA_TYPE_VIDEO)
 #ifndef _WIN32
 # pragma GCC diagnostic pop
 #endif
@@ -128,13 +128,14 @@ bool Video::Load(const std::string &_fil
 # pragma GCC diagnostic push
 # pragma GCC diagnostic ignored "-Wdeprecated-declarations"
 #endif
-  this->codecCtx = this->formatCtx->streams[this->videoStream]->codec;
+  this->codecCtx = avcodec_alloc_context3(nullptr);
+  avcodec_parameters_to_context(this->codecCtx, this->formatCtx->streams[this->videoStream]->codecpar);
 #ifndef _WIN32
 # pragma GCC diagnostic pop
 #endif
 
   // Find the decoder for the video stream
-  codec = avcodec_find_decoder(this->codecCtx->codec_id);
+  codec = avcodec_find_decoder(this->formatCtx->streams[this->videoStream]->codecpar->codec_id);
   if (codec == nullptr)
   {
     gzerr << "Codec not found\n";
@@ -231,15 +232,19 @@ bool Video::GetNextFrame(unsigned char *
 # pragma GCC diagnostic push
 # pragma GCC diagnostic ignored "-Wdeprecated-declarations"
 #endif
-      int processedLength = avcodec_decode_video2(this->codecCtx, this->avFrame,
-          &frameAvailable, &tmpPacket);
+      int processedLength = avcodec_send_packet(this->codecCtx, !tmpPacket.data && !tmpPacket.size ? nullptr : &tmpPacket);
 #ifndef _WIN32
 # pragma GCC diagnostic pop
 #endif
+      if (processedLength >= 0 || processedLength == AVERROR_EOF) {
+      	processedLength = avcodec_receive_frame(this->codecCtx, this->avFrame);
+	frameAvailable = processedLength >= 0;
+	if (processedLength == AVERROR(EAGAIN) || processedLength == AVERROR_EOF) processedLength = 0;
+      }
       if (processedLength < 0)
       {
         gzerr << "Error while processing the data\n";
-        break;
+        break; 
       }
 
       tmpPacket.data = tmpPacket.data + processedLength;
Index: gazebo-11.10.1/gazebo/common/VideoEncoder.cc
===================================================================
--- gazebo-11.10.1.orig/gazebo/common/VideoEncoder.cc
+++ gazebo-11.10.1/gazebo/common/VideoEncoder.cc
@@ -224,7 +224,7 @@ bool VideoEncoder::Start(const std::stri
 
   // The remainder of this function handles FFMPEG initialization of a video
   // stream
-  AVOutputFormat *outputFormat = nullptr;
+  const AVOutputFormat *outputFormat = nullptr;
 
   // This 'if' and 'free' are just for safety. We chech the value of formatCtx
   // below.
@@ -294,7 +294,7 @@ bool VideoEncoder::Start(const std::stri
   }
 
   // find the video encoder
-  AVCodec *encoder = avcodec_find_encoder(
+  const AVCodec *encoder = avcodec_find_encoder(
       this->dataPtr->formatCtx->oformat->video_codec);
   if (!encoder)
   {