Removing ignition (gazebosim#2055)

Signed-off-by: Nate Koenig <[email protected]> Signed-off-by: Michael Carroll <[email protected]> Signed-off-by: Ian Chen <[email protected]> Co-authored-by: Michael Carroll <[email protected]> Co-authored-by: Ian Chen <[email protected]>
rudislabs · Aug 31, 2023 · 6c9c899 · 6c9c899
1 parent 92158db
commit 6c9c899
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Showing 29 changed files with 146 additions and 297 deletions.
diff --git a/docker/build.bash b/docker/build.bash
@@ -7,7 +7,7 @@
 if [ $# -eq 0 ]
 then
     echo "Usage: $0 <Gazebo meta-package name> <dockerfile>"
-    echo "Example: $0 ignition-blueprint ./Dockerfile.gz"
+    echo "Example: $0 gz-garden ./Dockerfile.gz"
     exit 1
 fi
 

diff --git a/examples/worlds/deprecated_ignition.sdf b/examples/worlds/deprecated_ignition.sdf
diff --git a/include/gz/sim/System.hh b/include/gz/sim/System.hh
@@ -102,7 +102,7 @@ namespace gz
                   EventManager &_eventMgr) = 0;
     };
 
-    /// \class ISystemConfigureParameters ISystem.hh ignition/gazebo/System.hh
+    /// \class ISystemConfigureParameters ISystem.hh gz/sim/System.hh
     /// \brief Interface for a system that declares parameters.
     ///
     /// ISystemConfigureParameters::ConfigureParameters is called after

diff --git a/include/gz/sim/Util.hh b/include/gz/sim/Util.hh
@@ -234,7 +234,7 @@ namespace gz
     ///    2. "../shapes.sdf" - This is referencing a relative world file.
     ///    3. "/home/user/shapes.sdf" - This is reference an absolute world
     ///       file.
-    ///    4. "https://fuel.ignitionrobotics.org/1.0/openrobotics/worlds/shapes.sdf"
+    ///    4. "https://fuel.gazebosim.org/1.0/openrobotics/worlds/shapes.sdf"
     /// This is referencing a Fuel URI. This will download the world file.
     /// \param[in] _fuelResourceCache Path to a Fuel resource cache, if
     /// known.

diff --git a/include/gz/sim/components/Model.hh b/include/gz/sim/components/Model.hh
@@ -58,8 +58,8 @@ namespace serializers
         {
           // Skip serializing models with //pose/@relative_to attribute
           // since deserialization will fail. This could be a nested model.
-          // see https://github.com/ignitionrobotics/ign-gazebo/issues/1071
-          // Once https://github.com/ignitionrobotics/sdformat/issues/820 is
+          // see https://github.com/gazebosim/gz-sim/issues/1071
+          // Once https://github.com/gazebosim/sdformat/issues/820 is
           // resolved, there should be an API that returns sdf::Errors objects
           // instead of printing console msgs so it would be easier to ignore
           // specific errors in Deserialize.

diff --git a/src/ServerConfig.cc b/src/ServerConfig.cc
@@ -546,17 +546,7 @@ const std::string &ServerConfig::RenderEngineServer() const
 /////////////////////////////////////////////////
 void ServerConfig::SetRenderEngineServer(const std::string &_engine)
 {
-  // Deprecated: accept ignition-prefixed engines
-    std::string deprecatedPrefix{"ignition"};
-  auto engine = _engine;
-  auto pos = engine.find(deprecatedPrefix);
-  if (pos != std::string::npos)
-  {
-    engine.replace(pos, deprecatedPrefix.size(), "gz");
-    gzwarn << "Trying to load deprecated engine [" << _engine
-           << "] for the server. Use [" << engine << "] instead." << std::endl;
-  }
-  this->dataPtr->renderEngineServer = engine;
+  this->dataPtr->renderEngineServer = _engine;
 }
 
 /////////////////////////////////////////////////
@@ -593,17 +583,7 @@ const std::string &ServerConfig::RenderEngineGui() const
 /////////////////////////////////////////////////
 void ServerConfig::SetRenderEngineGui(const std::string &_engine)
 {
-  // Deprecated: accept ignition-prefixed engines
-    std::string deprecatedPrefix{"ignition"};
-  auto engine = _engine;
-  auto pos = engine.find(deprecatedPrefix);
-  if (pos != std::string::npos)
-  {
-    engine.replace(pos, deprecatedPrefix.size(), "gz");
-    gzwarn << "Trying to load deprecated engine [" << _engine
-           << "] for the GUI. Use [" << engine << "] instead." << std::endl;
-  }
-  this->dataPtr->renderEngineGui = engine;
+  this->dataPtr->renderEngineGui = _engine;
 }
 
 /////////////////////////////////////////////////

diff --git a/src/ServerPrivate.cc b/src/ServerPrivate.cc
@@ -45,7 +45,7 @@ struct LoggingPlugin
   public: static std::string &LoggingPluginFileName()
   {
     static std::string recordPluginFileName =
-      std::string("ignition-gazebo") +
+      std::string("gz-sim") +
       GZ_SIM_MAJOR_VERSION_STR + "-log-system";
     return recordPluginFileName;
   }

diff --git a/src/SystemLoader.cc b/src/SystemLoader.cc
@@ -64,7 +64,8 @@ class gz::sim::SystemLoaderPrivate
   public: bool InstantiateSystemPlugin(const sdf::Plugin &_sdfPlugin,
               gz::plugin::PluginPtr &_gzPlugin)
   {
-    // Deprecated: accept ignition-gazebo-prefixed systems
+    // Deprecated: accept ignition-gazebo-prefixed systems. Remove this on
+    // gz-sim9
     std::string deprecatedPrefix{"ignition-gazebo"};
     auto filename = _sdfPlugin.Filename();
     auto pos = filename.find(deprecatedPrefix);
@@ -124,6 +125,7 @@ class gz::sim::SystemLoaderPrivate
     std::string pluginToInstantiate = _sdfPlugin.Name().empty() ?
         pluginName : _sdfPlugin.Name();
 
+    // Deprecated: accept ignition plugins. Remove this on gz-sim9
     std::string deprecatedPluginNamePrefix{"ignition::gazebo"};
     pos = pluginToInstantiate.find(deprecatedPluginNamePrefix);
     if (pos != std::string::npos)

diff --git a/src/Util_TEST.cc b/src/Util_TEST.cc
@@ -974,11 +974,11 @@ TEST_F(UtilTest, ResolveSdfWorldFile)
 
   // URI to a Fuel world.
   std::string fuelUri =
-    "https://fuel.ignitionrobotics.org/1.0/openrobotics/worlds/test world";
+    "https://fuel.gazebosim.org/1.0/openrobotics/worlds/test world";
 
   // The expect path for the local Fuel world.
   std::string expectedPath = common::joinPaths(
-      config.CacheLocation(), "fuel.ignitionrobotics.org",
+      config.CacheLocation(), "fuel.gazebosim.org",
       "openrobotics", "worlds", "test world");
 
   // Get the Fuel world.

diff --git a/src/gui/plugins/banana_for_scale/BananaForScale.cc b/src/gui/plugins/banana_for_scale/BananaForScale.cc
@@ -44,10 +44,10 @@ namespace gz::sim
 }
 
 const char kBanana[] =
-  "https://fuel.ignitionrobotics.org/1.0/mjcarroll/models/banana for scale";
+  "https://fuel.gazebosim.org/1.0/mjcarroll/models/banana for scale";
 
 const char kBigBanana[] =
-  "https://fuel.ignitionrobotics.org/1.0/mjcarroll/models/big banana for scale";
+  "https://fuel.gazebosim.org/1.0/mjcarroll/models/big banana for scale";
 
 using namespace gz;
 using namespace sim;

diff --git a/src/gui/plugins/component_inspector/ComponentInspector.cc b/src/gui/plugins/component_inspector/ComponentInspector.cc
@@ -1257,8 +1257,8 @@ void ComponentInspector::QuerySystems()
 
     // Remove common prefixes and suffixes
     auto humanReadable = plugin.filename();
-    removePrefix("ignition-gazebo-", humanReadable);
-    removePrefix("ignition-gazebo" +
+    removePrefix("gz-sim-", humanReadable);
+    removePrefix("gz-sim" +
         std::string(GZ_SIM_MAJOR_VERSION_STR) + "-", humanReadable);
     removeSuffix("-system", humanReadable);
     removeSuffix("system", humanReadable);

diff --git a/src/gui/plugins/resource_spawner/ResourceSpawner.cc b/src/gui/plugins/resource_spawner/ResourceSpawner.cc
@@ -552,27 +552,6 @@ void ResourceSpawner::LoadConfig(const tinyxml2::XMLElement *)
   }
 
   auto servers = this->dataPtr->fuelClient->Config().Servers();
-  // Since the ign->gz rename, `servers` here returns two items for the
-  // canonical Fuel server: fuel.ignitionrobotics.org and fuel.gazebosim.org.
-  // For the purposes of the ResourceSpawner, these will be treated as the same
-  // and we will remove the ignitionrobotics server here.
-  auto urlIs = [](const std::string &_url)
-  {
-    return [_url](const fuel_tools::ServerConfig &_server)
-    { return _server.Url().Str() == _url; };
-  };
-
-  auto ignIt = std::find_if(servers.begin(), servers.end(),
-                            urlIs("https://fuel.ignitionrobotics.org"));
-  if (ignIt != servers.end())
-  {
-    auto gzsimIt = std::find_if(servers.begin(), servers.end(),
-                                urlIs("https://fuel.gazebosim.org"));
-    if (gzsimIt != servers.end())
-    {
-      servers.erase(ignIt);
-    }
-  }
 
   gzmsg << "Please wait... Loading models from Fuel.\n";
 

diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc
@@ -2797,17 +2797,7 @@ void RenderUtil::ShowGrid()
 /////////////////////////////////////////////////
 void RenderUtil::SetEngineName(const std::string &_name)
 {
-  // Deprecated: accept ignition-prefixed engines
-  std::string deprecatedPrefix{"ignition"};
-  auto name = _name;
-  auto pos = name.find(deprecatedPrefix);
-  if (pos != std::string::npos)
-  {
-    name.replace(pos, deprecatedPrefix.size(), "gz");
-    gzwarn << "Trying to load deprecated engine [" << _name
-           << "] for the server. Use [" << name << "] instead." << std::endl;
-  }
-  this->dataPtr->engineName = name;
+  this->dataPtr->engineName = _name;
 }
 
 /////////////////////////////////////////////////

diff --git a/src/systems/hydrodynamics/Hydrodynamics.cc b/src/systems/hydrodynamics/Hydrodynamics.cc
@@ -293,16 +293,7 @@ void Hydrodynamics::Configure(
   gz::sim::EventManager &/*_eventMgr*/
 )
 {
-  if (_sdf->HasElement("waterDensity"))
-  {
-    gzwarn <<
-      "<waterDensity> parameter is deprecated and will be removed Ignition G.\n"
-      << "\tPlease update your SDF to use <water_density> instead.";
-  }
-
-  this->dataPtr->waterDensity = SdfParamDouble(_sdf, "waterDensity",
-                                  SdfParamDouble(_sdf, "water_density", 998)
-                                );
+  this->dataPtr->waterDensity = SdfParamDouble(_sdf, "water_density", 998);
   // Load stability derivatives
   // Use SNAME 1950 convention to load the coeffecients.
   const auto snameConventionVel = "UVWPQR";

diff --git a/src/systems/log/LogPlayback.cc b/src/systems/log/LogPlayback.cc
@@ -510,8 +510,7 @@ void LogPlayback::Update(const UpdateInfo &_info, EntityComponentManager &_ecm)
   {
     auto msgType = iter->Type();
 
-    // Support ignition.msgs for backwards compatibility, don't remove on tock
-    // so users can use logs across versions
+    // Support ignition.msgs for backwards compatibility. Remove on gz-sim9
     std::string deprecatedPrefix{"ignition.msgs"};
     auto pos = msgType.find(deprecatedPrefix);
     if (pos != std::string::npos)

diff --git a/src/systems/physics/Physics.cc b/src/systems/physics/Physics.cc
@@ -781,16 +781,6 @@ void Physics::Configure(const Entity &_entity,
     pluginLib = "gz-physics-dartsim-plugin";
   }
 
-  // Deprecated: accept ignition-prefixed engines
-  std::string deprecatedPrefix{"ignition"};
-  auto pos = pluginLib.find(deprecatedPrefix);
-  if (pos != std::string::npos)
-  {
-    auto msg = "Trying to load deprecated plugin [" + pluginLib + "]. Use [";
-    pluginLib.replace(pos, deprecatedPrefix.size(), "gz");
-    gzwarn << msg << pluginLib << "] instead." << std::endl;
-  }
-
   // Update component
   if (!engineComp)
   {

diff --git a/src/systems/triggered_publisher/TriggeredPublisher.hh b/src/systems/triggered_publisher/TriggeredPublisher.hh
@@ -86,8 +86,8 @@ namespace systems
   ///   * Attributes:
   ///     * `name`: Service name (eg. `/world/triggered_publisher/set_pose`)
   ///     * `timeout`: Service timeout
-  ///     * `reqType`: Service request message type (eg. ignition.msgs.Pose)
-  ///     * `repType`: Service response message type (eg. ignition.msgs.Empty)
+  ///     * `reqType`: Service request message type (eg. gz.msgs.Pose)
+  ///     * `repType`: Service response message type (eg. gz.msgs.Empty)
   ///     * `reqMsg`: String used to construct the service protobuf message.
   ///
   /// Examples:

diff --git a/test/integration/battery_plugin.cc b/test/integration/battery_plugin.cc
@@ -292,7 +292,7 @@ TEST_F(BatteryPluginTest,
       // the LinearBatteryPlugin is not zero when created. If
       // components::BatterySoC is zero on start, then the Physics plugin
       // can disable a joint. This in turn can prevent the joint from
-      // rotating. See https://github.com/ignitionrobotics/ign-gazebo/issues/55
+      // rotating. See https://github.com/gazebosim/gz-sim/issues/55
       EXPECT_GT(batComp->Data(), 0);
       EXPECT_GT(batComp2->Data(), 0);
     };
@@ -333,7 +333,7 @@ TEST_F(BatteryPluginTest,
 
 /////////////////////////////////////////////////
 // Battery with power draining topics
-// See https://github.com/ignitionrobotics/ign-gazebo/issues/1175
+// See https://github.com/gazebosim/gz-sim/issues/1175
 TEST_F(BatteryPluginTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(PowerDrainTopic))
 {
   const auto sdfPath = common::joinPaths(std::string(PROJECT_SOURCE_PATH),