Partial cmake and source migrations

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

.github/ci/after_make.sh

@@ -8,7 +8,7 @@ make install
 export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:/usr/local/lib
 
 # For gz-tools
-export GZ_CONFIG_PATH=/usr/local/share/ignition
+export GZ_CONFIG_PATH=/usr/local/share/gz
 
 # For rendering / window tests
 Xvfb :1 -screen 0 1280x1024x24 &

.github/ci/packages.apt

@@ -1,19 +1,19 @@
 freeglut3-dev
 libfreeimage-dev
 libglew-dev
-libignition-cmake3-dev
-libignition-common5-dev
-libignition-gui7-dev
-libignition-fuel-tools8-dev
-libignition-math7-eigen3-dev
-libignition-msgs9-dev
-libignition-physics6-dev
-libignition-plugin2-dev
-libignition-rendering7-dev
-libignition-sensors7-dev
-libignition-tools2-dev
-libignition-transport12-dev
-libignition-utils2-cli-dev
+libgz-cmake3-dev
+libgz-common5-dev
+libgz-gui7-dev
+libgz-fuel-tools8-dev
+libgz-math7-eigen3-dev
+libgz-msgs9-dev
+libgz-physics6-dev
+libgz-plugin2-dev
+libgz-rendering7-dev
+libgz-sensors7-dev
+libgz-tools2-dev
+libgz-transport12-dev
+libgz-utils2-cli-dev
 libogre-1.9-dev
 libprotobuf-dev
 libprotoc-dev

.github/workflows/ci.yml

@@ -11,7 +11,7 @@ jobs:
         uses: actions/checkout@v2
       - name: Compile and test
         id: ci
-        uses: ignition-tooling/action-ignition-ci@focal
+        uses: gazebo-tooling/action-gz-ci@focal
         with:
           codecov-enabled: true
           cppcheck-enabled: true
@@ -24,7 +24,7 @@ jobs:
         uses: actions/checkout@v2
       - name: Compile and test
         id: ci
-        uses: ignition-tooling/action-ignition-ci@jammy
+        uses: gazebo-tooling/action-gz-ci@jammy
         with:
           # per bug https://github.com/gazebosim/gz-sim/issues/1409
           cmake-args: '-DBUILD_DOCS=OFF'

.github/workflows/pr-collection-labeler.yml

@@ -8,6 +8,6 @@ jobs:
     steps:
     - name: Add collection labels
       if: github.event.action == 'opened'
-      uses: ignition-tooling/pr-collection-labeler@v1
+      uses: gazebo-tooling/pr-collection-labeler@v1
       with:
         github-token: ${{ secrets.GITHUB_TOKEN }}

CMakeLists.txt

@@ -18,7 +18,7 @@ set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
 gz_configure_project(
-  REPLACE_IGNITION_INCLUDE_PATH gz/sim
+  REPLACE_INCLUDE_PATH gz/sim
   VERSION_SUFFIX pre1)
 
 #============================================================================
@@ -177,7 +177,7 @@ set(GZ_UTILS_VER ${gz-utils2_VERSION_MAJOR})
 #--------------------------------------
 # Find protobuf
 set(REQ_PROTOBUF_VER 3)
-gz_find_package(IgnProtobuf
+gz_find_package(GzProtobuf
                  VERSION ${REQ_PROTOBUF_VER}
                  REQUIRED
                  COMPONENTS all
@@ -186,10 +186,10 @@ set(Protobuf_IMPORT_DIRS ${gz-msgs9_INCLUDE_DIRS})
 
 #--------------------------------------
 # Find python
-include(IgnPython)
+include(GzPython)
 find_package(PythonLibs QUIET)
 if (NOT PYTHONLIBS_FOUND)
-  IGN_BUILD_WARNING("Python is missing: Python interfaces are disabled.")
+  GZ_BUILD_WARNING("Python is missing: Python interfaces are disabled.")
   message (STATUS "Searching for Python - not found.")
 else()
   message (STATUS "Searching for Python - found version ${PYTHONLIBS_VERSION_STRING}.")
@@ -201,16 +201,16 @@ else()
   if (${pybind11_FOUND})
     message (STATUS "Searching for pybind11 - found version ${pybind11_VERSION}.")
 	else()
-		IGN_BUILD_WARNING("pybind11 is missing: Python interfaces are disabled.")
+		GZ_BUILD_WARNING("pybind11 is missing: Python interfaces are disabled.")
 		message (STATUS "Searching for pybind11 - not found.")
 	endif()
 endif()
 # Plugin install dirs
 set(GZ_SIM_PLUGIN_INSTALL_DIR
-  ${CMAKE_INSTALL_PREFIX}/${IGN_LIB_INSTALL_DIR}/gz-${IGN_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins
+  ${CMAKE_INSTALL_PREFIX}/${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins
 )
 set(GZ_SIM_GUI_PLUGIN_INSTALL_DIR
-  ${CMAKE_INSTALL_PREFIX}/${IGN_LIB_INSTALL_DIR}/gz-${IGN_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins/gui
+  ${CMAKE_INSTALL_PREFIX}/${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins/gui
 )
 
 #============================================================================
@@ -260,12 +260,12 @@ if(TARGET doc)
   file(COPY ${CMAKE_SOURCE_DIR}/tutorials/files/ DESTINATION ${CMAKE_BINARY_DIR}/doxygen/html/files/)
 endif()
 
-# TICKTOCK MASTER HEADER (to bypass IGN_DESIGNATION)
+# TICKTOCK MASTER HEADER (to bypass GZ_DESIGNATION)
 # TODO(CH3): Deprecated. Remove on tock
 configure_file(
-  ${CMAKE_CURRENT_BINARY_DIR}/include/gz/${IGN_DESIGNATION}.hh
+  ${CMAKE_CURRENT_BINARY_DIR}/include/gz/${GZ_DESIGNATION}.hh
   ${CMAKE_CURRENT_BINARY_DIR}/include/gz/sim.hh
   COPYONLY)
 install(
   FILES ${CMAKE_CURRENT_BINARY_DIR}/include/gz/sim.hh
-  DESTINATION ${IGN_INCLUDE_INSTALL_DIR_FULL}/gz)
+  DESTINATION ${GZ_INCLUDE_INSTALL_DIR_FULL}/gz)

Migration.md

@@ -44,6 +44,7 @@ release will remove the deprecated code.
       * `GZ_<PROJECT>_<VISIBLE/HIDDEN>`
       * CMake `-config` files
       * Paths that depend on the project name
+* Python library `ignition` namespaces should be replaced with `gz`.
 
 ## Gazebo Sim 6.1 to 6.2
 
@@ -225,4 +226,4 @@ added an SDF message to the start of log files.
 ignition-gazebo. To use the gui component downstream, update the find package
 call in cmake to request for the component, e.g.
 `gz_find_package(ignition-gazebo1 REQUIRED COMPONENTS gui)`, and link to the
-`libignition-gazebo1::gui` target instead of `libignition-gazebo1-gui`
+`libgz-sim1::gui` target instead of `libgz-sim1-gui`

api.md.in

@@ -1,6 +1,6 @@
-## Gazebo @IGN_DESIGNATION_CAP@
+## Gazebo @GZ_DESIGNATION_CAP@
 
-Gazebo @IGN_DESIGNATION_CAP@ is a component in Gazebo, a set of libraries
+Gazebo @GZ_DESIGNATION_CAP@ is a component in Gazebo, a set of libraries
 designed to rapidly develop robot and simulation applications. 
 
 **Useful links**

docker/Dockerfile.nightly

@@ -11,18 +11,18 @@ RUN scripts/enable_nightly.sh
 
 RUN apt-get update \
  && apt-get install -y \
-    libignition-cmake3-dev \
-    libignition-common5-dev \
-    libignition-fuel-tools8-dev \
-    libignition-math7-eigen3-dev \
-    libignition-plugin2-dev \
-    libignition-physics6-dev \
-    libignition-rendering7-dev \
-    libignition-tools2-dev \
-    libignition-transport12-dev \
-    libignition-gui7-dev \
-    libignition-msgs9-dev \
-    libignition-sensors7-dev \
+    libgz-cmake3-dev \
+    libgz-common5-dev \
+    libgz-fuel-tools8-dev \
+    libgz-math7-eigen3-dev \
+    libgz-plugin2-dev \
+    libgz-physics6-dev \
+    libgz-rendering7-dev \
+    libgz-tools2-dev \
+    libgz-transport12-dev \
+    libgz-gui7-dev \
+    libgz-msgs9-dev \
+    libgz-sensors7-dev \
     libsdformat13-dev
 
 COPY . gz-sim

examples/plugin/custom_sensor_system/CMakeLists.txt

@@ -13,7 +13,7 @@ set(GZ_SIM_VER ${gz-sim7_VERSION_MAJOR})
 find_package(gz-sensors7 REQUIRED)
 set(GZ_SENSORS_VER ${gz-sensors7_VERSION_MAJOR})
 
-# Fetch the custom sensor example from ign-sensors
+# Fetch the custom sensor example from gz-sensors
 # Users won't commonly use this to fetch their sensors. The sensor may be part
 # of the system's CMake project, or installed from another project, etc...
 include(FetchContent)

examples/scripts/python_api/testFixture.py

@@ -24,9 +24,9 @@
 
 import os
 
-from ignition.common import set_verbosity
-from ignition.gazebo import TestFixture, World, world_entity
-from ignition.math import Vector3d
+from gz.common import set_verbosity
+from gz.gazebo import TestFixture, World, world_entity
+from gz.math import Vector3d
 
 set_verbosity(4)
 

examples/worlds/CMakeLists.txt

@@ -1,3 +1,3 @@
 file(GLOB files "*.sdf")
 install(FILES ${files}
-  DESTINATION ${IGN_DATA_INSTALL_DIR}/worlds)
+  DESTINATION ${GZ_DATA_INSTALL_DIR}/worlds)

examples/worlds/lift_drag.sdf

@@ -2,7 +2,7 @@
 <!--
   Gazebo lift-drag system demo
 
-  This file was adapted from osrf/gazebo/worlds/single_rotor_demo.world
+  This file was adapted from osrf/sim/worlds/single_rotor_demo.world
 
   Try sending commands:
 

examples/worlds/lift_drag_battery.sdf

@@ -2,7 +2,7 @@
 <!--
   Gazebo lift-drag system with a battery plugin demo
 
-  This file was adapted from osrf/gazebo/worlds/single_rotor_demo.world
+  This file was adapted from osrf/sim/worlds/single_rotor_demo.world
 
   Try sending commands:
 

examples/worlds/lift_drag_nested.sdf

@@ -3,7 +3,7 @@
   This is the same example as lift_drag.sdf but modified to show that links in
   nested models can be references in the link_name parameter.
 
-  This file was adapted from osrf/gazebo/worlds/single_rotor_demo.world
+  This file was adapted from osrf/sim/worlds/single_rotor_demo.world
 
   Try sending commands:
 

examples/worlds/multicopter_velocity_control.sdf

@@ -6,11 +6,11 @@ You can use the velocity controller and command linear velocity and yaw angular
 
   Send commands to the quadcopter to go straight up:
 
-    gz topic -t "/X3/gazebo/command/twist" -m gz.msgs.Twist -p "linear: {x:0 y: 0 z: 0.1} angular {z: 0}"
+    gz topic -t "/X3/sim/command/twist" -m gz.msgs.Twist -p "linear: {x:0 y: 0 z: 0.1} angular {z: 0}"
 
   To hover
 
-    gz topic -t "/X3/gazebo/command/twist" -m gz.msgs.Twist -p " "
+    gz topic -t "/X3/sim/command/twist" -m gz.msgs.Twist -p " "
 
   Listen to odometry:
 

examples/worlds/plane_propeller_demo.sdf

@@ -2,7 +2,7 @@
 <!--
   Gazebo lift-drag system demo
 
-  This file was adapted from osrf/gazebo/worlds/propeller_plane_demo.world
+  This file was adapted from osrf/sim/worlds/propeller_plane_demo.world
 
   Try sending commands:
 

examples/worlds/quadcopter.sdf

@@ -4,11 +4,11 @@
 
   Send commands to go straight up:
 
-      gz topic -t /X3/gazebo/command/motor_speed --msgtype gz.msgs.Actuators -p 'velocity:[700, 700, 700, 700]'
+      gz topic -t /X3/sim/command/motor_speed --msgtype gz.msgs.Actuators -p 'velocity:[700, 700, 700, 700]'
 
   And to turn off propellers:
 
-      gz topic -t /X3/gazebo/command/motor_speed --msgtype gz.msgs.Actuators -p 'velocity:[0, 0, 0, 0]'
+      gz topic -t /X3/sim/command/motor_speed --msgtype gz.msgs.Actuators -p 'velocity:[0, 0, 0, 0]'
 
 -->
 <sdf version="1.6">

include/CMakeLists.txt

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

include/gz/sim/CMakeLists.txt

@@ -2,4 +2,4 @@ gz_install_all_headers()
 
 add_subdirectory(components)
 
-install (FILES server.config playback_server.config DESTINATION ${IGN_DATA_INSTALL_DIR})
+install (FILES server.config playback_server.config DESTINATION ${GZ_DATA_INSTALL_DIR})

include/gz/sim/Server.hh

@@ -83,10 +83,10 @@ namespace gz
     ///   1. `/world/<world_name>/scene/info(none)` : gz::msgs::Scene
     ///     + Returns the current scene information.
     ///
-    ///   2. `/gazebo/resource_paths/get` : gz::msgs::StringMsg_V
+    ///   2. `/sim/resource_paths/get` : gz::msgs::StringMsg_V
     ///     + Get list of resource paths.
     ///
-    ///   3. `/gazebo/resource_paths/add` : gz::msgs::Empty
+    ///   3. `/sim/resource_paths/add` : gz::msgs::Empty
     ///     + Add new resource paths.
     ///
     ///   4. `/server_control`(gz::msgs::ServerControl) :
@@ -106,7 +106,7 @@ namespace gz
     /// 2. `/world/<world_name>/stats` : gz::msgs::WorldStatistics
     ///   + This topic is throttled to 5Hz.
     ///
-    /// 3. `/gazebo/resource_paths` : gz::msgs::StringMsg_V
+    /// 3. `/sim/resource_paths` : gz::msgs::StringMsg_V
     ///   + Updated list of resource paths.
     ///
     class GZ_SIM_VISIBLE Server

include/gz/sim/ServerConfig.hh

@@ -446,7 +446,7 @@ namespace gz
     ///   * If GZ_SIM_SERVER_CONFIG_PATH is set but empty, no plugins
     ///     are loaded.
     /// 2. File at ${GZ_HOMEDIR}/.gz/sim/server.config
-    /// 3. File at ${IGN_DATA_INSTALL_DIR}/server.config
+    /// 3. File at ${GZ_DATA_INSTALL_DIR}/server.config
     ///
     /// If any of the above files exist but are empty, resolution
     /// stops and the plugin list will be empty.

include/gz/sim/components/CMakeLists.txt

@@ -13,5 +13,5 @@ configure_file(
 
 install(
   FILES ${CMAKE_CURRENT_BINARY_DIR}/components.hh
-  DESTINATION ${IGN_INCLUDE_INSTALL_DIR_FULL}/gz/sim
+  DESTINATION ${GZ_INCLUDE_INSTALL_DIR_FULL}/gz/sim
 )

include/gz/sim/config.hh.in

@@ -33,11 +33,11 @@
 
 #define GZ_SIM_VERSION_HEADER "Gazebo Sim, version ${PROJECT_VERSION_FULL}\nCopyright (C) 2018 Open Source Robotics Foundation.\nReleased under the Apache 2.0 License.\n\n"
 
-#define GZ_SIM_GUI_CONFIG_PATH "${CMAKE_INSTALL_PREFIX}/${IGN_DATA_INSTALL_DIR}/gui"
-#define GZ_SIM_SYSTEM_CONFIG_PATH "${CMAKE_INSTALL_PREFIX}/${IGN_DATA_INSTALL_DIR}/systems"
-#define GZ_SIM_SERVER_CONFIG_PATH "${CMAKE_INSTALL_PREFIX}/${IGN_DATA_INSTALL_DIR}"
-#define GZ_SIM_PLUGIN_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/${IGN_LIB_INSTALL_DIR}/gz-${IGN_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins"
-#define GZ_SIM_GUI_PLUGIN_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/${IGN_LIB_INSTALL_DIR}/gz-${IGN_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins/gui"
-#define GZ_SIM_WORLD_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/${IGN_DATA_INSTALL_DIR}/worlds"
+#define GZ_SIM_GUI_CONFIG_PATH "${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}/gui"
+#define GZ_SIM_SYSTEM_CONFIG_PATH "${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}/systems"
+#define GZ_SIM_SERVER_CONFIG_PATH "${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}"
+#define GZ_SIM_PLUGIN_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins"
+#define GZ_SIM_GUI_PLUGIN_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins/gui"
+#define GZ_SIM_WORLD_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}/worlds"
 
 #endif

include/gz/sim/gui/Gui.hh

@@ -34,11 +34,11 @@ namespace gui
 {
   /// \brief Run GUI application
   /// \param[in] _argc Number of command line arguments (Used when running
-  /// without ign-tools. Set to 1 if using ign-tools). Note: The object
+  /// without gz-tools. Set to 1 if using gz-tools). Note: The object
   /// referenced by this variable must continue to exist for the lifetime of the
   /// application.
   /// \param[in] _argv Command line arguments (Used when running without
-  /// ign-tools. Set to the name of the application if using ign-tools)
+  /// gz-tools. Set to the name of the application if using gz-tools)
   /// \param[in] _guiConfig The GUI configuration file. If nullptr, the default
   /// configuration from GZ_HOMEDIR/.gz/sim/gui.config will be used.
   /// \param[in] _renderEngineGui --render-engine-gui option
@@ -48,11 +48,11 @@ namespace gui
 
   /// \brief Create a Gazebo GUI application
   /// \param[in] _argc Number of command line arguments (Used when running
-  /// without ign-tools. Set to 1 if using ign-tools). Note: The object
+  /// without gz-tools. Set to 1 if using gz-tools). Note: The object
   /// referenced by this variable must continue to exist for the lifetime of the
   /// application.
   /// \param[in] _argv Command line arguments (Used when running without
-  /// ign-tools. Set to the name of the application if using ign-tools)
+  /// gz-tools. Set to the name of the application if using gz-tools)
   /// \param[in] _guiConfig The GUI configuration file. If nullptr, the default
   /// configuration from GZ_HOMEDIR/.gz/sim/gui.config will be used.
   /// \param[in] _defaultGuiConfig The default GUI configuration file. If no