Migrate more namespaces

Signed-off-by: methylDragon <[email protected]>

Migration.md

@@ -26,9 +26,9 @@ release will remove the deprecated code.
    link to the library of the sensor they're interested in, and instantiate
    new sensors knowing their type. For example:
 
-    * `auto camera = std::make_unique<ignition::sensors::CameraSensor>();`
-    * `auto camera = sensorFactory.CreateSensor<ignition::sensors::CameraSensor>(_sdf);`
-    * `auto camera = manager.CreateSensor<ignition::sensors::CameraSensor>(_sdf);`
+    * `auto camera = std::make_unique<gz::sensors::CameraSensor>();`
+    * `auto camera = sensorFactory.CreateSensor<gz::sensors::CameraSensor>(_sdf);`
+    * `auto camera = manager.CreateSensor<gz::sensors::CameraSensor>(_sdf);`
 
 1. **include/sensors/SensorFactory.hh**
    + ***Deprecation*** SensorPlugin
@@ -55,19 +55,19 @@ release will remove the deprecated code.
 ## Ignition Sensors 3.X to 4.X
 
 1. **include/sensors/Sensor.hh**
-   + ***Deprecation*** virtual bool Update(const ignition::common::Time &)
+   + ***Deprecation*** virtual bool Update(const gz::common::Time &)
    + ***Replacement*** virtual bool Update(const std::chrono::steady_clock::duration &)
-   + ***Deprecation*** virtual bool Update(const ignition::common::Time &, const bool)
+   + ***Deprecation*** virtual bool Update(const gz::common::Time &, const bool)
    + ***Replacement*** virtual bool Update(const std::chrono::steady_clock::duration &, const bool)
-   + ***Deprecation*** ignition::common::Time NextUpdateTime() const
+   + ***Deprecation*** gz::common::Time NextUpdateTime() const
    + ***Replacement*** std::chrono::steady_clock::duration NextDataUpdateTime() const
 
 1. **include/sensors/Manager.hh**
-   + ***Deprecation*** void RunOnce(const ignition::common::Time &, bool);
+   + ***Deprecation*** void RunOnce(const gz::common::Time &, bool);
    + ***Replacement*** void RunOnce(const std::chrono::steady_clock::duration &, bool)
 
 1. **include/sensors/Lidar.hh**
-   + ***Deprecation*** virtual bool PublishLidarScan(const ignition::common::Time &)
+   + ***Deprecation*** virtual bool PublishLidarScan(const gz::common::Time &)
    + ***Replacement*** virtual bool PublishLidarScan(const std::chrono::steady_clock::duration &)
 
 ## Ignition Sensors 2.X to 3.X
@@ -107,16 +107,16 @@ 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**

include/gz/sensors/GpuLidarSensor.hh

@@ -134,7 +134,7 @@ namespace gz
                   const std::string &/*_format*/)> _subscriber) override;
 
       /// \brief Connect function pointer to internal GpuRays callback
-      /// \return ignition::common::Connection pointer
+      /// \return gz::common::Connection pointer
       private: void OnNewLidarFrame(const float *_scan, unsigned int _width,
                   unsigned int _heighti, unsigned int _channels,
                   const std::string &_format);

src/CameraSensor.cc

@@ -215,7 +215,7 @@ bool CameraSensor::CreateCamera()
       this->dataPtr->camera->SetImageFormat(gz::rendering::PF_R8G8B8);
       break;
     case sdf::PixelFormatType::L_INT8:
-      this->dataPtr->camera->SetImageFormat(ignition::rendering::PF_L8);
+      this->dataPtr->camera->SetImageFormat(gz::rendering::PF_L8);
       break;
     default:
       ignerr << "Unsupported pixel format ["
@@ -440,8 +440,8 @@ bool CameraSensor::Update(const std::chrono::steady_clock::duration &_now)
       format = gz::common::Image::RGB_INT8;
       msgsPixelFormat = msgs::PixelFormatType::RGB_INT8;
       break;
-    case ignition::rendering::PF_L8:
-      format = ignition::common::Image::L_INT8;
+    case gz::rendering::PF_L8:
+      format = gz::common::Image::L_INT8;
       msgsPixelFormat = msgs::PixelFormatType::L_INT8;
       break;
     default:

src/GpuLidarSensor.cc

@@ -50,7 +50,7 @@ class gz::sensors::GpuLidarSensorPrivate
 
   /// \brief Event that is used to trigger callbacks when a new
   /// lidar frame is available
-  public: ignition::common::EventT<
+  public: gz::common::EventT<
           void(const float *_scan, unsigned int _width,
                unsigned int _height, unsigned int _channels,
                const std::string &_format)> lidarEvent;
@@ -61,7 +61,7 @@ class gz::sensors::GpuLidarSensorPrivate
                const std::string &_format);
 
   /// \brief Connection to gpuRays new lidar frame event
-  public: ignition::common::ConnectionPtr lidarFrameConnection;
+  public: gz::common::ConnectionPtr lidarFrameConnection;
 
   /// \brief The point cloud message.
   public: msgs::PointCloudPacked pointMsg;

test/integration/camera.cc

@@ -51,10 +51,10 @@
 std::mutex g_mutex;
 unsigned int g_imgCounter = 0;
 
-void OnGrayscaleImage(const ignition::msgs::Image &_msg)
+void OnGrayscaleImage(const gz::msgs::Image &_msg)
 {
   std::lock_guard<std::mutex> lock(g_mutex);
-  EXPECT_EQ(ignition::msgs::PixelFormatType::L_INT8, _msg.pixel_format_type());
+  EXPECT_EQ(gz::msgs::PixelFormatType::L_INT8, _msg.pixel_format_type());
   EXPECT_EQ(256u, _msg.width());
   EXPECT_EQ(256u, _msg.height());
   g_imgCounter++;
@@ -172,7 +172,7 @@ TEST_P(CameraSensorTest, ImagesWithBuiltinSDF)
 void CameraSensorTest::ImageFormatLInt8(const std::string &_renderEngine)
 {
   // get the darn test data
-  std::string path = ignition::common::joinPaths(PROJECT_SOURCE_PATH, "test",
+  std::string path = gz::common::joinPaths(PROJECT_SOURCE_PATH, "test",
       "sdf", "camera_sensor_l8_builtin.sdf");
   sdf::SDFPtr doc(new sdf::SDF());
   sdf::init(doc);
@@ -186,21 +186,21 @@ void CameraSensorTest::ImageFormatLInt8(const std::string &_renderEngine)
   auto sensorPtr = linkPtr->GetElement("sensor");
 
   // Setup ign-rendering with an empty scene
-  auto *engine = ignition::rendering::engine(_renderEngine);
+  auto *engine = gz::rendering::engine(_renderEngine);
   if (!engine)
   {
     igndbg << "Engine '" << _renderEngine
               << "' is not supported" << std::endl;
     return;
   }
 
-  ignition::rendering::ScenePtr scene = engine->CreateScene("scene");
+  gz::rendering::ScenePtr scene = engine->CreateScene("scene");
 
   // do the test
-  ignition::sensors::Manager mgr;
+  gz::sensors::Manager mgr;
 
-  ignition::sensors::CameraSensor *sensor =
-      mgr.CreateSensor<ignition::sensors::CameraSensor>(sensorPtr);
+  gz::sensors::CameraSensor *sensor =
+      mgr.CreateSensor<gz::sensors::CameraSensor>(sensorPtr);
   ASSERT_NE(sensor, nullptr);
   sensor->SetScene(scene);
 
@@ -210,15 +210,15 @@ void CameraSensorTest::ImageFormatLInt8(const std::string &_renderEngine)
   EXPECT_EQ(256u, sensor->ImageHeight());
 
   std::string topic = "/images_l8";
-  WaitForMessageTestHelper<ignition::msgs::Image> helper(topic);
+  WaitForMessageTestHelper<gz::msgs::Image> helper(topic);
 
   // Update once to create image
   mgr.RunOnce(std::chrono::steady_clock::duration::zero());
 
   EXPECT_TRUE(helper.WaitForMessage()) << helper;
 
   // subscribe to the camera topic
-  ignition::transport::Node node;
+  gz::transport::Node node;
   node.Subscribe(topic, &OnGrayscaleImage);
 
   // wait for a few camera frames
@@ -249,7 +249,7 @@ void CameraSensorTest::ImageFormatLInt8(const std::string &_renderEngine)
 
   // Clean up
   engine->DestroyScene(scene);
-  ignition::rendering::unloadEngine(engine->Name());
+  gz::rendering::unloadEngine(engine->Name());
 }
 
 //////////////////////////////////////////////////

test/integration/deprecated_TEST.cc

@@ -26,7 +26,7 @@
 // Make sure the ignition namespace still works
 TEST(Deprecated, IgnitionNamespace)
 {
-  ignition::sensors::Lidar lidar;
+  gz::sensors::Lidar lidar;
 }
 
 #undef SUPPRESS_IGNITION_HEADER_DEPRECATION

test/integration/logical_camera.cc

@@ -238,7 +238,7 @@ TEST_F(LogicalCameraSensorTest, DetectBox)
   EXPECT_EQ(0, img.model().size());
 
   // verify connection count and msg published to topic
-  WaitForMessageTestHelper<ignition::msgs::LogicalCameraImage> helper(topic);
+  WaitForMessageTestHelper<gz::msgs::LogicalCameraImage> helper(topic);
   EXPECT_TRUE(sensor->HasConnections());
   sensor->Update(std::chrono::steady_clock::duration::zero());
   EXPECT_TRUE(helper.WaitForMessage()) << helper;

test/integration/triggered_camera.cc

@@ -158,7 +158,7 @@ TEST_P(TriggeredCameraTest, ImagesWithBuiltinSDF)
   ImagesWithBuiltinSDF(GetParam());
 }
 
-INSTANTIATE_TEST_CASE_P(CameraSensor, CameraSensorTest,
+INSTANTIATE_TEST_CASE_P(CameraSensor, TriggeredCameraTest,
     RENDER_ENGINE_VALUES, gz::rendering::PrintToStringParam());
 
 //////////////////////////////////////////////////

tutorials/custom_sensors.md

@@ -106,7 +106,7 @@ Take a look at
 [ign-gazebo/examples/plugins/custom_sensor_system](https://github.com/ignitionrobotics/ign-gazebo/tree/main/examples/plugin/custom_sensor_system).
 for the full code. Here are some important pointers:
 
-* Check for new entities that have `gz::gazebo::components::CustomSensor`
+* Check for new entities that have `gz::sim::components::CustomSensor`
   during the `PreUpdate` callback and instantiate new sensors as they appear
   in simulation.
 * Don't assume all `CustomSensors` are of the type you need, be sure to check

tutorials/segmentation_camera.md

@@ -139,7 +139,7 @@ To assign a label to a model we use the label plugin in the SDF file:
             <diffuse>0 0 1 1</diffuse>
             <specular>0 0 0.3 1</specular>
           </material>
-          <plugin filename="ignition-gazebo-label-system" name="gz::gazebo::systems::Label">
+          <plugin filename="gz-sim-label-system" name="gz::sim::systems::Label">
             <label>10</label>
           </plugin>
         </visual>
@@ -150,7 +150,7 @@ To assign a label to a model we use the label plugin in the SDF file:
 Lets zoom in the label plugin:
 
 ```xml
-          <plugin filename="ignition-gazebo-label-system" name="gz::gazebo::systems::Label">
+          <plugin filename="gz-sim-label-system" name="gz::sim::systems::Label">
             <label>10</label>
           </plugin>
 ```
@@ -167,7 +167,7 @@ You can also attach this plugin to the model's `<model>` tag:
       <link name="sphere_link">
       ...
       </link>
-      <plugin filename="ignition-gazebo-label-system" name="gz::gazebo::systems::Label">
+      <plugin filename="gz-sim-label-system" name="gz::sim::systems::Label">
         <label>20</label>
       </plugin>
     </model>
@@ -181,7 +181,7 @@ If you're including a model from a place like [ignition fuel](https://app.igniti
       <uri>
       https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Construction Cone
       </uri>
-      <plugin filename="ignition-gazebo-label-system" name="gz::gazebo::systems::Label">
+      <plugin filename="gz-sim-label-system" name="gz::sim::systems::Label">
         <label>30</label>
       </plugin>
     </include>

tutorials/thermal_camera.md

@@ -57,7 +57,7 @@ Here's an example of how to attach a thermal camera sensor to a model in a [SDF]
       <topic>thermal_camera_8bit/image</topic>
       <plugin
         filename="ignition-gazebo-thermal-sensor-system"
-        name="gz::gazebo::systems::ThermalSensor">
+        name="gz::sim::systems::ThermalSensor">
         <min_temp>253.15</min_temp>
         <max_temp>673.15</max_temp>
         <resolution>3.0</resolution>
@@ -90,7 +90,7 @@ Let's take a closer look at the portion of the code above that focuses on the th
   <topic>thermal_camera_8bit/image</topic>
   <plugin
     filename="ignition-gazebo-thermal-sensor-system"
-    name="gz::gazebo::systems::ThermalSensor">
+    name="gz::sim::systems::ThermalSensor">
     <min_temp>253.15</min_temp>
     <max_temp>673.15</max_temp>
     <resolution>3.0</resolution>
@@ -191,7 +191,7 @@ Here's an example of a box model that has a uniform temperature assigned to it:
       </material>
       <plugin
         filename="ignition-gazebo-thermal-system"
-        name="gz::gazebo::systems::Thermal">
+        name="gz::sim::systems::Thermal">
         <temperature>285.0</temperature>
       </plugin>
     </visual>
@@ -204,7 +204,7 @@ Most of the code above is for the model - here's the key piece for temperature a
 ```xml
 <plugin
   filename="ignition-gazebo-thermal-system"
-  name="gz::gazebo::systems::Thermal">
+  name="gz::sim::systems::Thermal">
   <temperature>285.0</temperature>
 </plugin>
 ```
@@ -222,7 +222,7 @@ If we take a look at Rescue Randy's `model.sdf`, we can see that it incorporates
 ```xml
 <plugin
   filename="ignition-gazebo-thermal-system"
-  name="gz::gazebo::systems::Thermal">
+  name="gz::sim::systems::Thermal">
   <heat_signature>materials/textures/RescueRandy_Thermal.png</heat_signature>
   <max_temp>310</max_temp>
 </plugin>