Merge pull request #313 from gazebosim/nkoenig/3-to-6-20230130

Forward port 3 to 6

CMakeLists.txt

@@ -13,14 +13,17 @@ find_package(ignition-cmake2 2.13 REQUIRED)
 #============================================================================
 # Configure the project
 #============================================================================
-ign_configure_project(VERSION_SUFFIX)
+ign_configure_project(
+  REPLACE_IGNITION_INCLUDE_PATH gz/sensors
+  VERSION_SUFFIX
+)
 
 #============================================================================
 # Set project-specific options
 #============================================================================
 set (DRI_TESTS TRUE CACHE BOOL "True to enable DRI tests")
 
-option(ENABLE_PROFILER "Enable Ignition Profiler" FALSE)
+option(ENABLE_PROFILER "Enable Gazebo Profiler" FALSE)
 
 if(ENABLE_PROFILER)
   add_definitions("-DIGN_PROFILER_ENABLE=1")

CONTRIBUTING.md

@@ -1 +1 @@
-See the [Ignition Robotics contributing guide](https://ignitionrobotics.org/docs/all/contributing).
+See the [Gazebo contributing guide](https://gazebosim.org/docs/all/contributing).

Migration.md

@@ -63,7 +63,7 @@ release will remove the deprecated code.
    + ***Deprecation*** virtual bool PublishLidarScan(const ignition::common::Time &)
    + ***Replacement*** virtual bool PublishLidarScan(const std::chrono::steady_clock::duration &)
 
-## Ignition Sensors 2.X to 3.X
+## Gazebo Sensors 2.X to 3.X
 
 ### Additions
 
@@ -81,7 +81,7 @@ and header files. Similarly, noise models for rendering sensors need be created
 using the new ImageNoiseFactory class instead of NoiseFactory by including
 ImageNoise.hh.
 
-## Ignition Sensors 1.X to 2.X
+## Gazebo Sensors 1.X to 2.X
 
 ### Additions
 
@@ -100,16 +100,16 @@ ImageNoise.hh.
    + ***Replacement*** virtual void Load(const sdf::Noise &_sdf)
 
 1. **include/sensors/Events.hh**
-    + ***Deprecation:*** public: static ignition::common::ConnectionPtr ConnectSceneChangeCallback(std::function<void(const ignition::rendering::ScenePtr &)>)
+    + ***Deprecation:*** public: static gz::common::ConnectionPtr ConnectSceneChangeCallback(std::function<void(const gz::rendering::ScenePtr &)>)
     + ***Replacement:*** RenderingEvents::ConnectSceneChangeCallback
 
 1. **include/sensors/Manager.hh**
-    + ***Deprecation:*** public: bool Init(ignition::rendering::ScenePtr);
+    + ***Deprecation:*** public: bool Init(gz::rendering::ScenePtr);
     + ***Replacement:***  RenderingSensor::SetScene
-    + ***Deprecation:*** public: void SetRenderingScene(ignition::rendering::ScenePtr
+    + ***Deprecation:*** public: void SetRenderingScene(gz::rendering::ScenePtr
     + ***Replacement:***  RenderingSensor::SetScene
 
-    + ***Deprecation:*** public: ignition::rendering::ScenePtr RenderingScene() const
+    + ***Deprecation:*** public: gz::rendering::ScenePtr RenderingScene() const
     + ***Replacement:*** RenderingSensor::Scene()
 
 1. **include/sensors/Noise.hh**

NEWS

@@ -1 +1 @@
-http://ignitionrobotics.org
+http://gazebosim.org

api.md.in

@@ -1,6 +1,6 @@
-## Ignition @GZ_DESIGNATION_CAP@
+## Gazebo @GZ_DESIGNATION_CAP@
 
-Ignition @GZ_DESIGNATION_CAP@ is a component in Ignition Robotics, a set of libraries
+Gazebo @GZ_DESIGNATION_CAP@ is a component in Gazebo Robotics, a set of libraries
 designed to rapidly develop robot and simulation applications. 
 
 ## License

examples/imu_noise/CMakeLists.txt

@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.5 FATAL_ERROR)
 project(ignition-sensors-noise-demo)
 
-# Find the Ignition Libraries used directly by the example
+# Find the Gazebo Libraries used directly by the example
 find_package(ignition-sensors6 REQUIRED)
 
 add_executable(sensor_noise main.cc)

examples/imu_noise/main.cc

@@ -20,9 +20,9 @@
 
 #include <sdf/sdf.hh>
 
-#include <ignition/sensors/Noise.hh>
-#include <ignition/sensors/GaussianNoiseModel.hh>
-#include <ignition/sensors/SensorFactory.hh>
+#include <gz/sensors/Noise.hh>
+#include <gz/sensors/GaussianNoiseModel.hh>
+#include <gz/sensors/SensorFactory.hh>
 
 static constexpr double kSampleFrequency = 100.0;
 // 16-bit ADC
@@ -115,7 +115,7 @@ generateSamples(size_t _nSamples, const NoiseParameters& _params)
   noise.SetDynamicBiasCorrelationTime(_params.dynamicBiasCorrelationTime);
 
   const double dt = 1.0 / _params.sampleFreq;
-  auto model = ignition::sensors::NoiseFactory::NewNoiseModel(noise);
+  auto model = gz::sensors::NoiseFactory::NewNoiseModel(noise);
   for (size_t ii = 0; ii < _nSamples ; ++ii) {
     samples.push_back(model->Apply(0.0, dt));
   }

examples/save_image/CMakeLists.txt

@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.5 FATAL_ERROR)
 project(ignition-sensors-camera-demo)
 
-# Find the Ignition Libraries used directly by the example
+# Find the Gazebo Libraries used directly by the example
 find_package(ignition-rendering6 REQUIRED OPTIONAL_COMPONENTS ogre ogre2)
 find_package(ignition-sensors6 REQUIRED COMPONENTS rendering camera)
 

examples/save_image/main.cc

@@ -21,49 +21,49 @@
 #include <sdf/Noise.hh>
 #include <sdf/Sensor.hh>
 
-#include <ignition/common/Image.hh>
-#include <ignition/common/Console.hh>
-#include <ignition/math/Helpers.hh>
+#include <gz/common/Image.hh>
+#include <gz/common/Console.hh>
+#include <gz/math/Helpers.hh>
 
 // TODO(louise) Remove these pragmas once ign-rendering is disabling the
 // warnings
 #ifdef _WIN32
 #pragma warning(push)
 #pragma warning(disable: 4251)
 #endif
-#include <ignition/rendering/Material.hh>
-#include <ignition/rendering/RenderEngine.hh>
-#include <ignition/rendering/RenderingIface.hh>
-#include <ignition/rendering/Scene.hh>
-#include <ignition/rendering/Visual.hh>
+#include <gz/rendering/Material.hh>
+#include <gz/rendering/RenderEngine.hh>
+#include <gz/rendering/RenderingIface.hh>
+#include <gz/rendering/Scene.hh>
+#include <gz/rendering/Visual.hh>
 #ifdef _WIN32
 #pragma warning(pop)
 #endif
 
-#include <ignition/sensors.hh>
+#include <gz/sensors.hh>
 
-void OnImageFrame(const ignition::msgs::Image &_image)
+void OnImageFrame(const gz::msgs::Image &_image)
 {
   const unsigned char *data = reinterpret_cast<const unsigned char*>(
       _image.data().c_str());
-  auto format = static_cast<ignition::common::Image::PixelFormatType>(
+  auto format = static_cast<gz::common::Image::PixelFormatType>(
       _image.pixel_format_type());
-  ignition::common::Image image;
+  gz::common::Image image;
   image.SetFromData(data, _image.width(), _image.height(), format);
   std::cout << "Saving image.png\n";
   image.SavePNG("image.png");
 }
 
-void BuildScene(ignition::rendering::ScenePtr _scene);
+void BuildScene(gz::rendering::ScenePtr _scene);
 
 int main()
 {
   // Setup ign-rendering with a scene
 #ifdef WITH_OGRE
-  auto engine = ignition::rendering::engine("ogre");
+  auto engine = gz::rendering::engine("ogre");
 #else
 #ifdef WITH_OGRE2
-  auto engine = ignition::rendering::engine("ogre2");
+  auto engine = gz::rendering::engine("ogre2");
 #endif
 #endif
 
@@ -72,13 +72,13 @@ int main()
     std::cerr << "Failed to load ogre\n";
     return 1;
   }
-  ignition::rendering::ScenePtr scene = engine->CreateScene("scene");
+  gz::rendering::ScenePtr scene = engine->CreateScene("scene");
 
   // Add stuff to take a picture of
   BuildScene(scene);
 
   // Create a sensor manager
-  ignition::sensors::Manager mgr;
+  gz::sensors::Manager mgr;
 
   // Create SDF describing a camera sensor
   const std::string name = "ExampleCamera";
@@ -113,7 +113,7 @@ int main()
   sensorSdf.SetCameraSensor(cameraSdf);
 
   // Create a CameraSensor
-  auto cameraSensor = mgr.CreateSensor<ignition::sensors::CameraSensor>(
+  auto cameraSensor = mgr.CreateSensor<gz::sensors::CameraSensor>(
       sensorSdf);
 
   if (!cameraSensor)
@@ -124,7 +124,7 @@ int main()
   cameraSensor->SetScene(scene);
 
   // Set a callback on the camera sensor to get a camera frame
-  ignition::common::ConnectionPtr connection =
+  gz::common::ConnectionPtr connection =
     cameraSensor->ConnectImageCallback(&OnImageFrame);
 
   // Force the camera to generate an image
@@ -134,53 +134,53 @@ int main()
 }
 
 // Copy/paste from an ignition-rendering example
-void BuildScene(ignition::rendering::ScenePtr _scene)
+void BuildScene(gz::rendering::ScenePtr _scene)
 {
   // initialize _scene
   _scene->SetAmbientLight(0.3, 0.3, 0.3);
-  ignition::rendering::VisualPtr root = _scene->RootVisual();
+  gz::rendering::VisualPtr root = _scene->RootVisual();
 
   // create directional light
-  ignition::rendering::DirectionalLightPtr light0 =
+  gz::rendering::DirectionalLightPtr light0 =
     _scene->CreateDirectionalLight();
   light0->SetDirection(-0.5, 0.5, -1);
   light0->SetDiffuseColor(0.5, 0.5, 0.5);
   light0->SetSpecularColor(0.5, 0.5, 0.5);
   root->AddChild(light0);
 
   // create point light
-  ignition::rendering::PointLightPtr light2 = _scene->CreatePointLight();
+  gz::rendering::PointLightPtr light2 = _scene->CreatePointLight();
   light2->SetDiffuseColor(0.5, 0.5, 0.5);
   light2->SetSpecularColor(0.5, 0.5, 0.5);
   light2->SetLocalPosition(3, 5, 5);
   root->AddChild(light2);
 
   // create green material
-  ignition::rendering::MaterialPtr green = _scene->CreateMaterial();
+  gz::rendering::MaterialPtr green = _scene->CreateMaterial();
   green->SetAmbient(0.0, 0.5, 0.0);
   green->SetDiffuse(0.0, 0.7, 0.0);
   green->SetSpecular(0.5, 0.5, 0.5);
   green->SetShininess(50);
   green->SetReflectivity(0);
 
   // create center visual
-  ignition::rendering::VisualPtr center = _scene->CreateVisual();
+  gz::rendering::VisualPtr center = _scene->CreateVisual();
   center->AddGeometry(_scene->CreateSphere());
   center->SetLocalPosition(3, 0, 0);
   center->SetLocalScale(0.1, 0.1, 0.1);
   center->SetMaterial(green);
   root->AddChild(center);
 
   // create red material
-  ignition::rendering::MaterialPtr red = _scene->CreateMaterial();
+  gz::rendering::MaterialPtr red = _scene->CreateMaterial();
   red->SetAmbient(0.5, 0.0, 0.0);
   red->SetDiffuse(1.0, 0.0, 0.0);
   red->SetSpecular(0.5, 0.5, 0.5);
   red->SetShininess(50);
   red->SetReflectivity(0);
 
   // create sphere visual
-  ignition::rendering::VisualPtr sphere = _scene->CreateVisual();
+  gz::rendering::VisualPtr sphere = _scene->CreateVisual();
   sphere->AddGeometry(_scene->CreateSphere());
   sphere->SetOrigin(0.0, -0.5, 0.0);
   sphere->SetLocalPosition(3, 0, 0);
@@ -190,15 +190,15 @@ void BuildScene(ignition::rendering::ScenePtr _scene)
   root->AddChild(sphere);
 
   // create blue material
-  ignition::rendering::MaterialPtr blue = _scene->CreateMaterial();
+  gz::rendering::MaterialPtr blue = _scene->CreateMaterial();
   blue->SetAmbient(0.0, 0.0, 0.3);
   blue->SetDiffuse(0.0, 0.0, 0.8);
   blue->SetSpecular(0.5, 0.5, 0.5);
   blue->SetShininess(50);
   blue->SetReflectivity(0);
 
   // create box visual
-  ignition::rendering::VisualPtr box = _scene->CreateVisual();
+  gz::rendering::VisualPtr box = _scene->CreateVisual();
   box->AddGeometry(_scene->CreateBox());
   box->SetOrigin(0.0, 0.5, 0.0);
   box->SetLocalPosition(3, 0, 0);
@@ -208,14 +208,14 @@ void BuildScene(ignition::rendering::ScenePtr _scene)
   root->AddChild(box);
 
   // create white material
-  ignition::rendering::MaterialPtr white = _scene->CreateMaterial();
+  gz::rendering::MaterialPtr white = _scene->CreateMaterial();
   white->SetAmbient(0.5, 0.5, 0.5);
   white->SetDiffuse(0.8, 0.8, 0.8);
   white->SetReceiveShadows(true);
   white->SetReflectivity(0);
 
   // create sphere visual
-  ignition::rendering::VisualPtr plane = _scene->CreateVisual();
+  gz::rendering::VisualPtr plane = _scene->CreateVisual();
   plane->AddGeometry(_scene->CreatePlane());
   plane->SetLocalScale(5, 8, 1);
   plane->SetLocalPosition(3, 0, -0.5);

include/CMakeLists.txt

@@ -1 +1,2 @@
-add_subdirectory(ignition)
+add_subdirectory(gz)
+install(DIRECTORY ignition DESTINATION ${IGN_INCLUDE_INSTALL_DIR_FULL})