ign -> gz Shared Lib Migration : gz-launch (#170)

Changelog.md

@@ -280,7 +280,7 @@
 
 ### Gazebo Launch 1.2.0
 
-1. Support for custom random seed in the GazeboServer plugin.
+1. Support for custom random seed in the SimServer plugin.
     * [BitBucket pull request 33](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-launch/pull-requests/33)
 
 1. Allow specifying a custom window title
@@ -293,7 +293,7 @@
 
 ### Gazebo Launch 1.0.1 (2019-05-22)
 
-1. Fix GazeboFactory set performer topic
+1. Fix SimFactory set performer topic
     * [BitBucket pull request 26](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-launch/pull-requests/26)
 
 ### Gazebo Launch 1.0.0 (2019-05-21)

Migration.md

@@ -24,6 +24,9 @@ release will remove the deprecated code.
 - The default config file path has been hard-tocked to `~/.gz/launch/gui.config`.
   `~/.ignition/launch/gui.config` will no longer work.
 
+- The shared libraries have `gz` where there used to be `ignition`.
+  - Using the un-migrated version is still possible due to tick-tocks, but will be removed in future versions.
+
 ## Gazebo Launch 2.2.2
 
 - Environment variable `GZ_LAUNCH_CONFIG_PATH` started to be treated as a path

README.md

@@ -65,7 +65,7 @@ Sample launch configuration files are in the [examples directory](https://github
 1. Run a configuration that launches [Gazebo](https://gazebosim.org/libs/gazebo).
 
     ```
-    gz launch gazebo.ign
+    gz launch sim.ign
     ```
 
 ## Known issue of command line tools

examples/factory.ign

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
-<ignition version='1.0'>
-  <plugin name="gz::launch::GazeboFactory"
-    filename="ignition-launch-gazebo-factory">
+<gz version='1.0'>
+  <plugin name="gz::launch::SimFactory"
+    filename="gz-launch-sim-factory">
     <spawn>
       <name>x2</name>
       <allow_renaming>true</allow_renaming>
@@ -10,7 +10,7 @@
       <sdf version='1.6'>
         <include>
           <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/X2 UGV/1</uri>
-          <plugin filename="ignition-gazebo-diff-drive-system"
+          <plugin filename="gz-sim-diff-drive-system"
                   name="gz::sim::systems::DiffDrive">
             <left_joint>front_left_wheel_joint</left_joint>
             <left_joint>rear_left_wheel_joint</left_joint>
@@ -21,10 +21,10 @@
           </plugin>
 
           <!-- Publish robot joint state information -->
-          <plugin filename="ignition-gazebo-state-publisher-system"
+          <plugin filename="gz-sim-state-publisher-system"
                   name="gz::sim::systems::JointStatePublisher"></plugin>
         </include>
       </sdf>
     </spawn>
   </plugin>
-</ignition>
+</gz>

examples/ls.ign

@@ -1,6 +1,6 @@
 <?xml version='1.0'?>
-<ignition version='1.0'>
+<gz version='1.0'>
   <executable name='ls'>
     <command>ls</command>
   </executable>
-</ignition>
+</gz>

examples/multi_factory.ign

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
-<ignition version='1.0'>
-  <plugin name="gz::launch::GazeboFactory"
-    filename="ignition-launch-gazebo-factory">
+<gz version='1.0'>
+  <plugin name="gz::launch::SimFactory"
+    filename="gz-launch-sim-factory">
     <spawn>
       <name>x2</name>
       <allow_renaming>true</allow_renaming>
@@ -25,4 +25,4 @@
       </sdf>
     </spawn>
   </plugin>
-</ignition>
+</gz>

examples/plugins.ign

@@ -1,10 +1,10 @@
 <?xml version='1.0'?>
-<ignition version='1.0'>
+<gz version='1.0'>
 
   <!-- Load a joystick plugin that will read from a device and output to a
        topic -->
   <plugin name="gz::launch::Joystick"
-          filename="ignition-launch-joystick">
+          filename="gz-launch-joystick">
     <device>/dev/input/js0</device>
     <sticky_buttons>false</sticky_buttons>
     <dead_zone>0.05</dead_zone>
@@ -15,15 +15,15 @@
   <!-- Load a plugin that transforms a joystick message to a
        twist message -->
   <plugin name="gz::launch::JoyToTwist"
-          filename="ignition-launch-joytotwist">
+          filename="gz-launch-joytotwist">
     <input_topic>/joy</input_topic>
     <output_topic>/model/vehicle_green/cmd_vel</output_topic>
   </plugin>
 
   <!-- Load a plugin that transforms a joystick message to a
        twist message -->
   <plugin name="gz::launch::JoyToTwist"
-          filename="ignition-launch-joytotwist">
+          filename="gz-launch-joytotwist">
     <!-- Incoming topic that publishes gz::msgs::Joystick messages -->
     <input_topic>/joy</input_topic>
 
@@ -56,8 +56,8 @@
     <enable_turbo_button>4</enable_turbo_button>
   </plugin>
 
-  <executable name='gazebo'>
+  <executable name='sim'>
     <command>gz sim diff_drive.sdf</command>
   </executable>
 
-</ignition>
+</gz>

examples/gazebo.ign → examples/sim.ign

@@ -1,12 +1,12 @@
 <?xml version='1.0'?>
-<ignition version='1.0'>
-  <executable name='gazebo-server'>
+<gz version='1.0'>
+  <executable name='sim-server'>
     <command>gz sim -s</command>
   </executable>
 
-  <executable name='gazebo-client'>
+  <executable name='sim-client'>
     <command>gz sim -g</command>
     <auto_restart>true</auto_restart>
   </executable>
 
-</ignition>
+</gz>

examples/gazebo_plugins.ign → examples/sim_plugins.ign

@@ -16,11 +16,11 @@
 %>
 
 <!-- Requires gz-sim branch support_loading_plugins_programmatically -->
-<ignition version='1.0'>
+<gz version='1.0'>
   <!-- Load a joystick plugin that will read from a device and output to a
        topic -->
   <plugin name="gz::launch::Joystick"
-          filename="ignition-launch-joystick">
+          filename="gz-launch-joystick">
     <device>/dev/input/js0</device>
     <sticky_buttons>false</sticky_buttons>
     <dead_zone>0.05</dead_zone>
@@ -31,22 +31,22 @@
   <!-- Load a plugin that transforms a joystick message to a
        twist message -->
   <plugin name="gz::launch::JoyToTwist"
-          filename="ignition-launch-joytotwist">
+          filename="gz-launch-joytotwist">
     <input_topic>/joy</input_topic>
     <output_topic>/model/vehicle_green/cmd_vel</output_topic>
   </plugin>
 
   <!-- Load a plugin that transforms a joystick message to a
        twist message -->
   <plugin name="gz::launch::JoyToTwist"
-          filename="ignition-launch-joytotwist">
+          filename="gz-launch-joytotwist">
     <input_topic>/joy</input_topic>
     <output_topic>/model/vehicle_blue/cmd_vel</output_topic>
   </plugin>
 
   <!-- Run the gazebo server with a set of plugins -->
-  <plugin name="gz::launch::GazeboServer"
-          filename="ignition-launch-gazebo">
+  <plugin name="gz::launch::SimServer"
+          filename="gz-launch-sim">
     <world_file><%= worldName %>.sdf</world_file>
     <run>true</run>
     <!-- 3000 Hz == 300% RTF == 3x real time -->
@@ -78,18 +78,18 @@
          necessary plugin
     <plugin entity_name="<%= worldName %>"
             entity_type="world"
-            filename="ignition-gazebo1-physics-system"
+            filename="gz-sim-physics-system"
             name="gz::sim::systems::Physics">
     </plugin>
     <plugin entity_name="<%= worldName %>"
             entity_type="world"
-            filename="ignition-gazebo1-scene-broadcaster-system"
+            filename="gz-sim-scene-broadcaster-system"
             name="gz::sim::systems::SceneBroadcaster">
     </plugin>
 
     <plugin entity_name="vehicle_green"
             entity_type="model"
-            filename="ignition-gazebo1-diff-drive-system"
+            filename="gz-sim-diff-drive-system"
             name="gz::sim::systems::DiffDrive">
       <left_joint>left_wheel_joint</left_joint>
       <right_joint>right_wheel_joint</right_joint>
@@ -99,7 +99,7 @@
 
     <plugin entity_name="vehicle_blue"
             entity_type="model"
-            filename="ignition-gazebo1-diff-drive-system"
+            filename="gz-sim-diff-drive-system"
             name="gz::sim::systems::DiffDrive">
       <left_joint>left_wheel_joint</left_joint>
       <right_joint>right_wheel_joint</right_joint>
@@ -111,8 +111,8 @@
   </plugin>
 
   <executable_wrapper>
-    <plugin name="gz::launch::GazeboGui"
-          filename="ignition-launch-gazebogui">
+    <plugin name="gz::launch::SimGui"
+          filename="gz-launch-simgui">
 
       <!-- Override default window title (Gazebo) -->
       <window_title>Gazebo Launch</window_title>
@@ -194,4 +194,4 @@
     </plugin>
   </executable_wrapper>
 
-</ignition>
+</gz>

examples/websocket.ign

@@ -1,10 +1,10 @@
 <?xml version='1.0'?>
-<ignition version='1.0'>
+<gz version='1.0'>
 
   <!-- Load a websocket server that provides access to Gazebo Transport
        topics through websockets.-->
   <plugin name="gz::launch::WebsocketServer"
-          filename="ignition-launch-websocket-server">
+          filename="gz-launch-websocket-server">
     <publication_hz>30</publication_hz>
     <port>9002</port>
 
@@ -28,4 +28,4 @@
     </ssl> -->
   </plugin>
 
-</ignition>
+</gz>

plugins/CMakeLists.txt

@@ -1,8 +1,8 @@
 set (plugins
   joy_to_twist
-  gazebo_gui
-  gazebo_factory
-  gazebo_server
+  sim_gui
+  sim_factory
+  sim_server
   websocket_server
 )
 

plugins/gazebo_factory/CMakeLists.txt → plugins/sim_factory/CMakeLists.txt

@@ -1,5 +1,5 @@
-set (plugin gz-launch-gazebo-factory)
-set (sources GazeboFactory.cc)
+set (plugin gz-launch-sim-factory)
+set (sources SimFactory.cc)
 
 string (TOLOWER ${plugin} plugin_lower)
 

plugins/gazebo_factory/GazeboFactory.cc → plugins/sim_factory/SimFactory.cc

@@ -20,19 +20,19 @@
 
 #include <gz/common/Util.hh>
 #include <gz/common/Console.hh>
-#include "GazeboFactory.hh"
+#include "SimFactory.hh"
 
 using namespace gz;
 using namespace gz::launch;
 
 /////////////////////////////////////////////////
-GazeboFactory::GazeboFactory()
+SimFactory::SimFactory()
   : gz::launch::Plugin()
 {
 }
 
 /////////////////////////////////////////////////
-void GazeboFactory::ProcessSpawn(const tinyxml2::XMLElement *_elem)
+void SimFactory::ProcessSpawn(const tinyxml2::XMLElement *_elem)
 {
   const tinyxml2::XMLElement *elem;
 
@@ -132,7 +132,7 @@ void GazeboFactory::ProcessSpawn(const tinyxml2::XMLElement *_elem)
 }
 
 /////////////////////////////////////////////////
-bool GazeboFactory::Load(const tinyxml2::XMLElement *_elem)
+bool SimFactory::Load(const tinyxml2::XMLElement *_elem)
 {
   const tinyxml2::XMLElement *elem;
 

plugins/gazebo_factory/GazeboFactory.hh → plugins/sim_factory/SimFactory.hh

@@ -29,8 +29,8 @@ namespace gz
     /// \brief Spawns entities into simulation.
     ///
     /// # Example usage
-    ///  <plugin name="gz::launch::GazeboFactory"
-    ///          filename="gz-launch-gazebo-factory">
+    ///  <plugin name="gz::launch::SimFactory"
+    ///          filename="gz-launch-sim-factory">
     ///
     ///   <spawn>
     ///     <!-- Name to give the model -->
@@ -59,13 +59,13 @@ namespace gz
     ///   ...
     ///   </spawn>
     /// </plugin>
-    class GazeboFactory : public gz::launch::Plugin
+    class SimFactory : public gz::launch::Plugin
     {
       /// \brief Constructor.
-      public: GazeboFactory();
+      public: SimFactory();
 
       /// \brief Destructor.
-      public: virtual ~GazeboFactory() = default;
+      public: virtual ~SimFactory() = default;
 
       // Documentation inherited.
       public: virtual bool Load(
@@ -90,6 +90,6 @@ namespace gz
 }
 
 // Register the plugin
-GZ_ADD_PLUGIN(gz::launch::GazeboFactory, gz::launch::Plugin)
+GZ_ADD_PLUGIN(gz::launch::SimFactory, gz::launch::Plugin)
 
 #endif

plugins/gazebo_gui/CMakeLists.txt → plugins/sim_gui/CMakeLists.txt

@@ -1,5 +1,5 @@
-set (plugin gz-launch-gazebogui)
-set (sources GazeboGui.cc)
+set (plugin gz-launch-simgui)
+set (sources SimGui.cc)
 
 string (TOLOWER ${plugin} plugin_lower)