diff --git a/docker/build.bash b/docker/build.bash index 0f7db5cc07..b3ee429514 100755 --- a/docker/build.bash +++ b/docker/build.bash @@ -7,7 +7,7 @@ if [ $# -eq 0 ] then echo "Usage: $0 " - 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 deleted file mode 100644 index 50dfe997a1..0000000000 --- a/examples/worlds/deprecated_ignition.sdf +++ /dev/null @@ -1,82 +0,0 @@ - - - - - - - - - - - - - - - 3D View - false - docked - - - ogre2 - scene - 0.4 0.4 0.4 - 0.8 0.8 0.8 - -6 0 6 0 0.5 0 - - - - - true - 0 0 10 0 0 0 - 0.8 0.8 0.8 1 - 0.2 0.2 0.2 1 - - 1000 - 0.9 - 0.01 - 0.001 - - -0.5 0.1 -0.9 - - - - true - - - - - 0 0 1 - 100 100 - - - - - - - 0 0 1 - 100 100 - - - - 0.8 0.8 0.8 1 - 0.8 0.8 0.8 1 - 0.8 0.8 0.8 1 - - - - - - - diff --git a/include/gz/sim/System.hh b/include/gz/sim/System.hh index c5ef4ef965..cc0139161e 100644 --- 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 index e918cb7fb8..e8e4bed0e0 100644 --- 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 index 8b68028786..decd6776ed 100644 --- 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 index 97a99ae791..b8a33fd965 100644 --- 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 index 97b3930c55..80df07819e 100644 --- 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 index 1807819674..582ebbbabf 100644 --- 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 index 889234a9d0..6be8d27903 100644 --- 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 index 6bfe427b8d..54b12621b1 100644 --- 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 index 5c2a39f71e..5b5cd794e7 100644 --- 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 index e268d5f05b..bbf4d78a95 100644 --- 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 index 475e099903..0c833a60ca 100644 --- 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 index 8e53087ab7..171ca8f021 100644 --- 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 << - " parameter is deprecated and will be removed Ignition G.\n" - << "\tPlease update your SDF to use 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 index b8813f6bf8..df759ae79f 100644 --- 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 index fb3837934d..047e209db9 100644 --- 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 index f503c48b11..776b86c76f 100644 --- 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 index 6873341208..7f31376af4 100644 --- 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), diff --git a/test/worlds/battery_thruster_consumer.sdf b/test/worlds/battery_thruster_consumer.sdf index 58afe3720c..05329ab3e6 100644 --- a/test/worlds/battery_thruster_consumer.sdf +++ b/test/worlds/battery_thruster_consumer.sdf @@ -11,12 +11,12 @@ 0 0 0 + filename="gz-sim-physics-system" + name="gz::sim::systems::Physics"> + filename="gz-sim-scene-broadcaster-system" + name="gz::sim::systems::SceneBroadcaster"> @@ -95,8 +95,8 @@ + filename="gz-sim-thruster-system" + name="gz::sim::systems::Thruster"> lowbattery propeller_joint 0.005 @@ -108,8 +108,8 @@ thrust - + linear_battery 12.592 12.694 @@ -186,8 +186,8 @@ + filename="gz-sim-thruster-system" + name="gz::sim::systems::Thruster"> lowbattery propeller_joint 0.005 @@ -201,8 +201,8 @@ linear_battery2 - + linear_battery2 12.592 12.694 diff --git a/test/worlds/hydrodynamics.sdf.in b/test/worlds/hydrodynamics.sdf.in index 7e86144be7..627d6589b1 100644 --- a/test/worlds/hydrodynamics.sdf.in +++ b/test/worlds/hydrodynamics.sdf.in @@ -27,7 +27,7 @@ diff --git a/tutorials/erb_template.md b/tutorials/erb_template.md index e38f5cd1d4..d6dbbe350e 100644 --- a/tutorials/erb_template.md +++ b/tutorials/erb_template.md @@ -116,11 +116,11 @@ Instead of simple shapes, you can also use a nested loop to generate 100 actors - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor/tip/files/meshes/talk_b.dae + https://fuel.gazebosim.org/1.0/Mingfei/models/actor/tip/files/meshes/talk_b.dae 1.0 - https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor/tip/files/meshes/talk_b.dae + https://fuel.gazebosim.org/1.0/Mingfei/models/actor/tip/files/meshes/talk_b.dae 0.055 true diff --git a/tutorials/migration_actor_api.md b/tutorials/migration_actor_api.md index d1aacda04f..065a0b19d8 100644 --- a/tutorials/migration_actor_api.md +++ b/tutorials/migration_actor_api.md @@ -34,10 +34,10 @@ can be divided in these categories: You'll find the Gazebo APIs below on the following headers: -* [ignition/gazebo/Actor.hh](https://gazebosim.org/api/gazebo/7/Actor_8hh.html) -* [ignition/gazebo/Util.hh](https://gazebosim.org/api/gazebo/7/Util_8hh.html) -* [ignition/gazebo/SdfEntityCreator.hh](https://gazebosim.org/api/gazebo/7/SdfEntityCreator_8hh.html) -* [ignition/gazebo/EntityComponentManager.hh](https://gazebosim.org/api/gazebo/7/classignition_1_1gazebo_1_1EntityComponentManager.html) +* [gz/sim/Actor.hh](https://gazebosim.org/api/gazebo/7/Actor_8hh.html) +* [gz/sim/Util.hh](https://gazebosim.org/api/gazebo/7/Util_8hh.html) +* [gz/sim/SdfEntityCreator.hh](https://gazebosim.org/api/gazebo/7/SdfEntityCreator_8hh.html) +* [gz/sim/EntityComponentManager.hh](https://gazebosim.org/api/gazebo/7/classignition_1_1gazebo_1_1EntityComponentManager.html) It's worth remembering that most of this functionality can be performed using the @@ -75,15 +75,15 @@ CustomTrajectory | see `SetCustomTrajectory` DirtyPose | Not supported FillMsg | TODO GetAutoDisable | TODO -GetId | `ignition::gazebo::Model::Entity` -GetName | `ignition::gazebo::Actor::Name` +GetId | `gz::sim::Model::Entity` +GetName | `gz::sim::Actor::Name` GetPluginCount | TODO GetSaveable | Not supported -GetScopedName | `ignition::gazebo::scopedName` +GetScopedName | `gz::sim::scopedName` GetSDF | TODO GetSDFDom | TODO GetSelfCollide | TODO -GetType | `ignition::gazebo::entityType` +GetType | `gz::sim::entityType` GetWorldEnergy | TODO GetWorldEnergyKinetic | TODO GetWorldEnergyPotential | TODO @@ -102,17 +102,17 @@ RelativeAngularAccel | TODO RelativeAngularVel | TODO RelativeLinearAccel | TODO RelativeLinearVel | TODO -RelativePose | `ignition::gazebo::Actor::Pose` +RelativePose | `gz::sim::Actor::Pose` Scale | TODO -ScriptTime | `ignition::gazebo::Actor::AnimationTime` -SDFPoseRelativeToParent | `ignition::gazebo::Actor::Pose` -SDFSemanticPose | `ignition::gazebo::Actor::Pose` +ScriptTime | `gz::sim::Actor::AnimationTime` +SDFPoseRelativeToParent | `gz::sim::Actor::Pose` +SDFSemanticPose | `gz::sim::Actor::Pose` SensorScopedName | TODO SetAngularVel | TODO -SetAnimation | use `ignition::gazebo::Actor::SetTrajectoryPose` +SetAnimation | use `gz::sim::Actor::SetTrajectoryPose` SetAutoDisable | TODO SetCollideMode | TODO -SetCustomTrajectory | use `ignition::gazebo::Actor::SetTrajectoryPose`, `SetAnimationTime`, and `SetAnimationName` to achieve similar result. +SetCustomTrajectory | use `gz::sim::Actor::SetTrajectoryPose`, `SetAnimationTime`, and `SetAnimationName` to achieve similar result. SetEnabled | TODO SetGravityMode | TODO SetInitialRelativePose | TODO @@ -126,7 +126,7 @@ SetName | TODO SetRelativePose | TODO SetSaveable | Not supported SetScale | TODO -SetScriptTime | `ignition::gazebo::Actor::SetAnimationTime` +SetScriptTime | `gz::sim::Actor::SetAnimationTime` SetSelected | Selection is client-specific, not porting SetSelfCollide | TODO SetState | TODO @@ -136,8 +136,8 @@ SetWorldPose | TODO SetWorldTwist | TODO SkeletonAnimations | TODO Stop | TODO -StopAnimation | use `ignition::gazebo::Actor::SetTrajectoryPose` -TypeStr | `ignition::gazebo::entityTypeStr` +StopAnimation | use `gz::sim::Actor::SetTrajectoryPose` +TypeStr | `gz::sim::entityTypeStr` UnscaledSDF | TODO UpdateParamenters | TODO URI | TODO @@ -146,7 +146,7 @@ WorldAngularAccel | TODO WorldAngularVel | TODO WorldLinearAccel | TODO WorldLinearVel | TODO -WorldPose | `ignition::gazebo::Actor::WorldPose` +WorldPose | `gz::sim::Actor::WorldPose` --- @@ -175,11 +175,11 @@ GetJointCount | Not supported GetJoints | Not supported GetLink | TODO GetLinks | TODO -GetParent | `ignition::gazebo::EntiyComponentManager::ParentEntity` -GetParentId | `ignition::gazebo::EntiyComponentManager::ParentEntity` -GetParentModel | `ignition::gazebo::EntiyComponentManager::ParentEntity` +GetParent | `gz::sim::EntiyComponentManager::ParentEntity` +GetParentId | `gz::sim::EntiyComponentManager::ParentEntity` +GetParentModel | `gz::sim::EntiyComponentManager::ParentEntity` GetSensorCount | TODO -GetWorld | const `ignition::gazebo::worldEntity` +GetWorld | const `gz::sim::worldEntity` NestedModel | TODO NestedModels | TODO @@ -219,8 +219,8 @@ Classic | Gazebo -- | -- Fini | N/A Init | N/A -Load | `ignition::gazebo::SdfEntityCreator::CreateEntities` -LoadJoints | `ignition::gazebo::SdfEntityCreator::CreateEntities` +Load | `gz::sim::SdfEntityCreator::CreateEntities` +LoadJoints | `gz::sim::SdfEntityCreator::CreateEntities` LoadPlugins | TODO Reset | TODO ResetCustomTrajectory | TODO @@ -239,7 +239,7 @@ logic that should be performed from within a system. Classic | Gazebo -- | -- -GetJointController | Use this system: `ignition::gazebo::systems::JointController` +GetJointController | Use this system: `gz::sim::systems::JointController` GetNearestEntityBelow | Requires a system PlaceOnEntity | Requires a system PlaceOnNearestEntityBelow | Requires a system diff --git a/tutorials/migration_joint_api.md b/tutorials/migration_joint_api.md index 54179c31c3..8e33acd5e7 100644 --- a/tutorials/migration_joint_api.md +++ b/tutorials/migration_joint_api.md @@ -32,10 +32,10 @@ can be divided in these categories: You'll find the Gazebo APIs below on the following headers: -* [ignition/gazebo/Joint.hh](https://gazebosim.org/api/gazebo/7/Joint_8hh.html) -* [ignition/gazebo/Util.hh](https://gazebosim.org/api/gazebo/7/Util_8hh.html) -* [ignition/gazebo/SdfEntityCreator.hh](https://gazebosim.org/api/gazebo/7/SdfEntityCreator_8hh.html) -* [ignition/gazebo/EntityComponentManager.hh](https://gazebosim.org/api/gazebo/7/classignition_1_1gazebo_1_1EntityComponentManager.html) +* [gz/sim/Joint.hh](https://gazebosim.org/api/gazebo/7/Joint_8hh.html) +* [gz/sim/Util.hh](https://gazebosim.org/api/gazebo/7/Util_8hh.html) +* [gz/sim/SdfEntityCreator.hh](https://gazebosim.org/api/gazebo/7/SdfEntityCreator_8hh.html) +* [gz/sim/EntityComponentManager.hh](https://gazebosim.org/api/gazebo/7/classignition_1_1gazebo_1_1EntityComponentManager.html) It's worth remembering that most of this functionality can be performed using the @@ -76,24 +76,24 @@ DOF | TODO FillMsg | TODO GetDamping | TODO GetEffortLimit | TODO -GetForce | `ignition::gazebo::Joint::TransmittedWrench` -GetForceTorque | `ignition::gazebo::Joint::TransmittedWrench` -GetId | `ignition::gazebo::Joint::Entity` +GetForce | `gz::sim::Joint::TransmittedWrench` +GetForceTorque | `gz::sim::Joint::TransmittedWrench` +GetId | `gz::sim::Joint::Entity` GetInertiaRatio | TODO -GetJointLink | use `ignition::gazebo::Joint::*LinkName` +GetJointLink | use `gz::sim::Joint::*LinkName` GetMsgType | TODO -GetName | `ignition::gazebo::Joint::Name` +GetName | `gz::sim::Joint::Name` GetParam | TODO GetSaveable | Not supported -GetScopedName | `ignition::gazebo::scopedName` +GetScopedName | `gz::sim::scopedName` GetSDF | TODO GetSDFDom | TODO GetSpringReferencePosition | TODO GetStiffness | TODO GetStopDissipation | TODO GetStopStiffness | TODO -GetType | `ignition::gazebo::Joint::Type` -GetVelocity | `ignition::gazebo::Joint::Velocity` +GetType | `gz::sim::Joint::Type` +GetVelocity | `gz::sim::Joint::Velocity` GetVelocityLimit | TODO GetWorldEnergyPotentialSpring | TODO GlobalAxis | TODO @@ -103,24 +103,24 @@ InitialAnchorPose | TODO IsSelected | Selection is client-specific, not porting LinkForce | TODO LinkTorque | TODO -LocalAxis | `ignition::gazebo::Joint::Axis` +LocalAxis | `gz::sim::Joint::Axis` LowerLimit | TODO ParentWorldPose | TODO -Position | `ignition::gazebo::Joint::Position` +Position | `gz::sim::Joint::Position` Print | TODO ResolveAxisXyz | TODO -SDFPoseRelativeToParent | `ignition::gazebo::Joint::Pose` -SDFSemanticPose | `ignition::gazebo::Joint::Pose` +SDFPoseRelativeToParent | `gz::sim::Joint::Pose` +SDFSemanticPose | `gz::sim::Joint::Pose` SetAnchor | TODO SetAxis | TODO SetDamping | TODO -SetEffortLimit | `ignition::gazebo::Joint::SetEffortLimits` -SetForce | `ignition::gazebo::Joint::SetForce` -SetLowerLimit | `ignition::gazebo::Joint::SetPositionLimits` +SetEffortLimit | `gz::sim::Joint::SetEffortLimits` +SetForce | `gz::sim::Joint::SetForce` +SetLowerLimit | `gz::sim::Joint::SetPositionLimits` SetName | TODO SeParam | TODO -SetPosition | `ignition::gazebo::Joint::ResetPosition` -SetProvideFeedback | `ignition::gazebo::Joint::EnableTransmittedWrenchCheck` +SetPosition | `gz::sim::Joint::ResetPosition` +SetProvideFeedback | `gz::sim::Joint::EnableTransmittedWrenchCheck` SetSaveable | Not supported SetSelected | Selection is client-specific, not porting SetState | TODO @@ -128,10 +128,10 @@ SetStiffness | TODO SetStiffnessDamping | TODO SetStopDissipation | TODO SetStopStiffness | TODO -SetUpperLimit | `ignition::gazebo::Joint::SetPositionLimits` -SetVelocity | `ignition::gazebo::Joint::SetVelocity` -SetVelocityLimit | `ignition::gazebo::Joint::SetVelocityLimits` -TypeStr | `ignition::gazebo::Joint::Type` +SetUpperLimit | `gz::sim::Joint::SetPositionLimits` +SetVelocity | `gz::sim::Joint::SetVelocity` +SetVelocityLimit | `gz::sim::Joint::SetVelocityLimits` +TypeStr | `gz::sim::Joint::Type` UpdateParameters | TODO UpperLimit | TODO URI | TODO @@ -152,14 +152,14 @@ they deal with entity IDs. Classic | Gazebo -- | -- -GetByName | Use type-specific `ignition::gazebo::Joint::*ByName` -GetChild | Use type-specific `ignition::gazebo::Joint::*ByName` -GetChild (Child link) | `ignition::gazebo::Joint::ChildLinkName` -GetChildCount | Use type-specific `ignition::gazebo::Joint::*Count` -GetParent | `ignition::gazebo::Joint::ParentModel` -GetParent (Parent link) | `ignition::gazebo::Joint::ParentLinkName` -GetParentId | `ignition::gazebo::EntiyComponentManager::ParentEntity` -GetWorld | `ignition::gazebo::worldEntity` +GetByName | Use type-specific `gz::sim::Joint::*ByName` +GetChild | Use type-specific `gz::sim::Joint::*ByName` +GetChild (Child link) | `gz::sim::Joint::ChildLinkName` +GetChildCount | Use type-specific `gz::sim::Joint::*Count` +GetParent | `gz::sim::Joint::ParentModel` +GetParent (Parent link) | `gz::sim::Joint::ParentLinkName` +GetParentId | `gz::sim::EntiyComponentManager::ParentEntity` +GetWorld | `gz::sim::worldEntity` --- @@ -196,8 +196,8 @@ Classic | Gazebo ConnectJointUpdate | TODO Fini | N/A Init | N/A -Load | `ignition::gazebo::SdfEntityCreator::CreateEntities` -Reset | `ignition::gazebo::Joint::ResetPosition` / `ignition::gazebo::Joint::ResetVelocity` +Load | `gz::sim::SdfEntityCreator::CreateEntities` +Reset | `gz::sim::Joint::ResetPosition` / `gz::sim::Joint::ResetVelocity` Update | Entities are updated by systems --- diff --git a/tutorials/migration_light_api.md b/tutorials/migration_light_api.md index 79ea920ddd..86f1f508c6 100644 --- a/tutorials/migration_light_api.md +++ b/tutorials/migration_light_api.md @@ -29,10 +29,10 @@ In Gazebo, the light APIs has been consolidated into a single Light class with some of generic functions available through other utility / core classes. You'll find the APIs below on the following headers: -* [ignition/gazebo/Light.hh](https://gazebosim.org/api/gazebo/7/Light_8hh.html) -* [ignition/gazebo/Util.hh](https://gazebosim.org/api/gazebo/7/Util_8hh.html) -* [ignition/gazebo/SdfEntityCreator.hh](https://gazebosim.org/api/gazebo/7/SdfEntityCreator_8hh.html) -* [ignition/gazebo/EntityComponentManager.hh](https://gazebosim.org/api/gazebo/7/classignition_1_1gazebo_1_1EntityComponentManager.html) +* [gz/sim/Light.hh](https://gazebosim.org/api/gazebo/7/Light_8hh.html) +* [gz/sim/Util.hh](https://gazebosim.org/api/gazebo/7/Util_8hh.html) +* [gz/sim/SdfEntityCreator.hh](https://gazebosim.org/api/gazebo/7/SdfEntityCreator_8hh.html) +* [gz/sim/EntityComponentManager.hh](https://gazebosim.org/api/gazebo/7/classignition_1_1gazebo_1_1EntityComponentManager.html) It's worth remembering that most of this functionality can be performed using the @@ -62,35 +62,35 @@ This section focuses on migrating from APIs provided through the Classic | Gazebo -- | -- -CastShadows | `ignition::gazebo::Light::CastShadows` +CastShadows | `gz::sim::Light::CastShadows` Clone | TODO -DiffuseColor | `ignition::gazebo::Light::DiffuseColor` -Direction | `ignition::gazebo::Light::Direction` +DiffuseColor | `gz::sim::Light::DiffuseColor` +Direction | `gz::sim::Light::Direction` FillMsg | TODO -Id | `ignition::gazebo::Light::Entity` -LightType | `ignition::gazebo::Light::Type` -Name | `ignition::gazebo::Light::Name` -Position | `ignition::gazebo::Light::Pose` -Rotation | `ignition::gazebo::Light::Pose` -SetAttenuation | use `ignition::gazebo::Light::SetAttenuation*` -SetCastShadows | `ignition::gazebo::Light::SetCastShadows` -SetDiffuseColor | `ignition::gazebo::Light::SetDiffuseColor` -SetDirection | `ignition::gazebo::Light::SetDirection` +Id | `gz::sim::Light::Entity` +LightType | `gz::sim::Light::Type` +Name | `gz::sim::Light::Name` +Position | `gz::sim::Light::Pose` +Rotation | `gz::sim::Light::Pose` +SetAttenuation | use `gz::sim::Light::SetAttenuation*` +SetCastShadows | `gz::sim::Light::SetCastShadows` +SetDiffuseColor | `gz::sim::Light::SetDiffuseColor` +SetDirection | `gz::sim::Light::SetDirection` SetLightType | TODO SetName | TODO SetPosition | TODO -SetRange | `ignition::gazebo::Light::SetAttenuationRange` +SetRange | `gz::sim::Light::SetAttenuationRange` SetRotation | TODO SetSelected | Selection is client-specific, not porting -SetSpecularColor | `ignition::gazebo::Light::SetSpecularColor` -SetSpotFalloff | `ignition::gazebo::Light::SetSpotFalloff` -SetSpotInnerAngle | `ignition::gazebo::Light::SetSpotInnerAngle` -SetSpotOuterAngle | `ignition::gazebo::Light::SetSpotOuterAngle` +SetSpecularColor | `gz::sim::Light::SetSpecularColor` +SetSpotFalloff | `gz::sim::Light::SetSpotFalloff` +SetSpotInnerAngle | `gz::sim::Light::SetSpotInnerAngle` +SetSpotOuterAngle | `gz::sim::Light::SetSpotOuterAngle` SetVisible | TODO ShowVisual | TODO -SpecularColor | `ignition::gazebo::Light::SetSpecularColor` +SpecularColor | `gz::sim::Light::SetSpecularColor` ToggleShowVisual | TODO -Type | `ignition::gazebo::Light::Type` +Type | `gz::sim::Light::Type` Visible | TODO WorldPose | TODO --- @@ -112,9 +112,9 @@ they deal with entity IDs. Classic | Gazebo -- | -- -GetParent | `ignition::gazebo::Light::Parent` -GetParentId | `ignition::gazebo::Light::Parent` -GetWorld | `ignition::gazebo::worldEntity` +GetParent | `gz::sim::Light::Parent` +GetParentId | `gz::sim::Light::Parent` +GetWorld | `gz::sim::worldEntity` --- @@ -148,8 +148,8 @@ its properties. Classic | Gazebo -- | -- -Load | `ignition::gazebo::SdfEntityCreator::CreateEntities` -LoadFromMsg | `ignition::gazebo::SdfEntityCreator::CreateEntities` +Load | `gz::sim::SdfEntityCreator::CreateEntities` +LoadFromMsg | `gz::sim::SdfEntityCreator::CreateEntities` UpdateFromMsg | TODO --- diff --git a/tutorials/model_photo_shoot.md b/tutorials/model_photo_shoot.md index 0c90ef1ec6..7d7209d0f8 100644 --- a/tutorials/model_photo_shoot.md +++ b/tutorials/model_photo_shoot.md @@ -53,7 +53,7 @@ plugin will also affect the final resulting background color on the images. ``` - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Robonaut + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Robonaut diff --git a/tutorials/move_camera_to_model.md b/tutorials/move_camera_to_model.md index fb008afb3b..25f014c404 100644 --- a/tutorials/move_camera_to_model.md +++ b/tutorials/move_camera_to_model.md @@ -5,12 +5,12 @@ This tutorial gives an introduction to Gazebo's service `/gui/move_to/model`. Th ## How to move the camera to a model 1. Load the **View Angle** plugin. This service is only available when the **View Angle** plugin is loaded. -2. Call the service using the request message type `ignition.msgs.GUICamera` and the response message type `ignition.msgs.Boolean`. The distance to the object is defined as the z coordinate, and the direction of the camera with a quaternion. It's possible to select the projection type. +2. Call the service using the request message type `gz.msgs.GUICamera` and the response message type `gz.msgs.Boolean`. The distance to the object is defined as the z coordinate, and the direction of the camera with a quaternion. It's possible to select the projection type. For example, Let's move the camera to the `box` model looking down from 5 meters away. ```bash -ign service -s /gui/move_to/model --reqtype ignition.msgs.GUICamera --reptype ignition.msgs.Boolean -r 'name: "box", pose: {position: {z:5}, orientation: {x:0, y:0, z: -1, w:0}}, projection_type: "orbit"' --timeout 5000 +ign service -s /gui/move_to/model --reqtype gz.msgs.GUICamera --reptype gz.msgs.Boolean -r 'name: "box", pose: {position: {z:5}, orientation: {x:0, y:0, z: -1, w:0}}, projection_type: "orbit"' --timeout 5000 ``` @image html files/move_camera_to_model/box_5.gif @@ -18,7 +18,7 @@ ign service -s /gui/move_to/model --reqtype ignition.msgs.GUICamera --reptype The camera can also be placed far away, for example 20 meters: ```bash -ign service -s /gui/move_to/model --reqtype ignition.msgs.GUICamera --reptype ignition.msgs.Boolean -r 'name: "box", pose: {position: {z:20}, orientation: {x:0, y:0, z: -1, w:0}}, projection_type: "orbit"' --timeout 5000 +ign service -s /gui/move_to/model --reqtype gz.msgs.GUICamera --reptype gz.msgs.Boolean -r 'name: "box", pose: {position: {z:20}, orientation: {x:0, y:0, z: -1, w:0}}, projection_type: "orbit"' --timeout 5000 ``` @image html files/move_camera_to_model/box_20.gif diff --git a/tutorials/particle_tutorial.md b/tutorials/particle_tutorial.md index e310e41c42..b676d204de 100644 --- a/tutorials/particle_tutorial.md +++ b/tutorials/particle_tutorial.md @@ -20,11 +20,11 @@ Next, we can start adding particle emitter models into the world. In our example ```xml - https://fuel.ignitionrobotics.org/1.0/openrobotics/models/fog generator + https://fuel.gazebosim.org/1.0/openrobotics/models/fog generator ``` -Here is the content of the Fog Generator [model.sdf](https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Fog%20Generator/1/files/model.sdf) file. +Here is the content of the Fog Generator [model.sdf](https://fuel.gazebosim.org/1.0/OpenRobotics/models/Fog%20Generator/1/files/model.sdf) file. ```xml diff --git a/tutorials/resources.md b/tutorials/resources.md index 9ae4b7d07d..d1af43a991 100644 --- a/tutorials/resources.md +++ b/tutorials/resources.md @@ -120,7 +120,7 @@ Gazebo will look for URIs (path / URL) in the following, in order: path is URI, scheme is stripped) 2. Current running path / absolute path 3. [Gazebo Fuel](https://app.gazebosim.org/fuel/models) - 1. Cache (i.e. `$HOME/.ignition/fuel`) + 1. Cache (i.e. `$HOME/.gz/fuel`) 2. Web server \* The `SDF_PATH` environment variable also works in some scenarios, but diff --git a/tutorials/triggered_publisher.md b/tutorials/triggered_publisher.md index 0e5bfafae0..4ce930b9e1 100644 --- a/tutorials/triggered_publisher.md +++ b/tutorials/triggered_publisher.md @@ -275,16 +275,16 @@ metadata to invoke a service call to `/world/triggered_publisher/set_pose`. The Multiple `` tags can be used as well as with the `` tag. ```xml - - - + + + linear: {x: 0} @@ -299,16 +299,16 @@ metadata to invoke a service call to `/world/triggered_publisher/set_pose`. The Multiple `` tags can be used as well as with the `` tag. ```xml - - - + + + linear: {x: 0}