diff --git a/.github/ci/packages.apt b/.github/ci/packages.apt
index e7c92efa0..a8de89d3d 100644
--- a/.github/ci/packages.apt
+++ b/.github/ci/packages.apt
@@ -1,5 +1,5 @@
 libignition-cmake2-dev
-libignition-math6-dev
+libignition-math7-dev
 libignition-tools-dev
 libignition-utils1-dev
 libtinyxml2-dev
diff --git a/.github/workflows/macos.yml b/.github/workflows/macos.yml
index a48e42e96..7df08f33a 100644
--- a/.github/workflows/macos.yml
+++ b/.github/workflows/macos.yml
@@ -14,10 +14,26 @@ jobs:
       id: set-up-homebrew
       uses: Homebrew/actions/setup-homebrew@master
     - run: brew config
+    - run: brew list
 
     - name: Install base dependencies
       run: |
         brew tap osrf/simulation;
+        # check for ci_matching_branch
+        brew install wget
+        wget https://github.com/ignition-tooling/release-tools/raw/master/jenkins-scripts/tools/detect_ci_matching_branch.py
+        TRY_BRANCH="${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}"
+        if python3 detect_ci_matching_branch.py ${TRY_BRANCH}
+        then
+          echo "# BEGIN SECTION: trying to checkout branch ${TRY_BRANCH} from osrf/simulation"
+          pushd $(brew --repo osrf/simulation)
+          git fetch origin ${TRY_BRANCH} || true
+          git checkout ${TRY_BRANCH} || true
+          popd
+          echo '# END SECTION'
+        fi
+        # ignition-math7 has problems with swig, remove it for now
+        brew remove swig || true
         brew install --only-dependencies ${PACKAGE};
 
     - run: mkdir build
diff --git a/cmake/SearchForStuff.cmake b/cmake/SearchForStuff.cmake
index 54bcc61db..9f257decb 100644
--- a/cmake/SearchForStuff.cmake
+++ b/cmake/SearchForStuff.cmake
@@ -110,12 +110,12 @@ set(IGN_CMAKE_VER ${ignition-cmake2_VERSION_MAJOR})
 ########################################
 # Find ignition math
 # Set a variable for generating ProjectConfig.cmake
-find_package(ignition-math6 6.8 QUIET)
-if (NOT ignition-math6_FOUND)
-  message(STATUS "Looking for ignition-math6-config.cmake - not found")
-  BUILD_ERROR ("Missing: Ignition math (libignition-math6-dev)")
+find_package(ignition-math7 QUIET)
+if (NOT ignition-math7_FOUND)
+  message(STATUS "Looking for ignition-math7-config.cmake - not found")
+  BUILD_ERROR ("Missing: Ignition math (libignition-math7-dev)")
 else()
-  set(IGN_MATH_VER ${ignition-math6_VERSION_MAJOR})
+  set(IGN_MATH_VER ${ignition-math7_VERSION_MAJOR})
   message(STATUS "Looking for ignition-math${IGN_MATH_VER}-config.cmake - found")
 endif()
 
diff --git a/configure.bat b/configure.bat
index c009f39be..92b2bbad4 100644
--- a/configure.bat
+++ b/configure.bat
@@ -4,7 +4,7 @@
 
 
 :: Install dependencies
-call %win_lib% :install_ign_project ign-math ign-math6
+call %win_lib% :install_ign_project ign-math main
 
 :: Set configuration variables
 @set build_type=Release
diff --git a/src/Light.cc b/src/Light.cc
index 66b266db2..e2c8f6b0e 100644
--- a/src/Light.cc
+++ b/src/Light.cc
@@ -411,7 +411,7 @@ ignition::math::Angle Light::SpotInnerAngle() const
 /////////////////////////////////////////////////
 void Light::SetSpotInnerAngle(const ignition::math::Angle &_angle)
 {
-  this->dataPtr->spotInnerAngle.Radian(std::max(0.0, _angle.Radian()));
+  this->dataPtr->spotInnerAngle.SetRadian(std::max(0.0, _angle.Radian()));
 }
 
 /////////////////////////////////////////////////
@@ -423,7 +423,7 @@ ignition::math::Angle Light::SpotOuterAngle() const
 /////////////////////////////////////////////////
 void Light::SetSpotOuterAngle(const ignition::math::Angle &_angle)
 {
-  this->dataPtr->spotOuterAngle.Radian(std::max(0.0, _angle.Radian()));
+  this->dataPtr->spotOuterAngle.SetRadian(std::max(0.0, _angle.Radian()));
 }
 
 /////////////////////////////////////////////////
diff --git a/test/integration/nested_model_with_frames_expected.sdf b/test/integration/nested_model_with_frames_expected.sdf
index f0ff5ec4d..04cf0cf89 100644
--- a/test/integration/nested_model_with_frames_expected.sdf
+++ b/test/integration/nested_model_with_frames_expected.sdf
@@ -67,7 +67,7 @@
             <pose>1 0 0 0 0 0</pose>
           </link>
         </model>
-        <pose>10 0 0 0 -0 1.5708</pose>
+        <pose>10 0 0 0 0 1.5708</pose>
       </model>
     </model>
   </world>
diff --git a/test/integration/print_config.cc b/test/integration/print_config.cc
index ded642ab2..511b6b69e 100644
--- a/test/integration/print_config.cc
+++ b/test/integration/print_config.cc
@@ -193,7 +193,7 @@ R"(<model name="m2">
   const std::string expectedIncludeMerge =
 R"(<model name='m2'>
   <frame name='_merged__test_box2__model__' attached_to='link'>
-    <pose relative_to='__model__'>0 0 0.5 0 -0 0</pose>
+    <pose relative_to='__model__'>0 0 0.5 0 0 0</pose>
   </frame>
   <link name='link'>
     <collision name='collision'>
diff --git a/test/integration/two_level_nested_model_with_frames_expected.sdf b/test/integration/two_level_nested_model_with_frames_expected.sdf
index 8f5e32e99..34bc32674 100644
--- a/test/integration/two_level_nested_model_with_frames_expected.sdf
+++ b/test/integration/two_level_nested_model_with_frames_expected.sdf
@@ -70,7 +70,7 @@
           </model>
           <pose>0 10 0 1.570796326794895 0 0</pose>
         </model>
-        <pose>10 0 0 0 -0 1.5708</pose>
+        <pose>10 0 0 0 0 1.5708</pose>
       </model>
     </model>
   </world>