Achtung, it's gaitManager rather than mGaitManager ^^

Please resolve the compilation issues before pushing.
Testing robotStadium seems also important. The robots should stand up as long as possible.
The 2 main differences between your samples and robotstadium are that the controllers runs asynchonously (cf: reference manual, Robot::synchronization) and the simulation basic time step is 40 (which is very high, provocating some instabilities to solve).