Partial cmake and source migrations

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

.github/ISSUE_TEMPLATE/bug_report.md

@@ -46,7 +46,7 @@ http://answers.gazebosim.org instead.-->
       - On Windows, run `dxdiag` and report the GPU-related information.
       - On Mac OS, open a terminal and type `system_profiler SPDisplaysDataType`. Copy the output here.
         <!-- Please note that GUI rendering is not supported on macOS. -->
-    - [ ] Please, attach the ogre.log or ogre2.log file from  `~/.ignition/rendering` <!-- Choose the relevant version based on what you checked in the "Rendering plugin" question. -->
+    - [ ] Please, attach the ogre.log or ogre2.log file from  `~/.gz/rendering` <!-- Choose the relevant version based on what you checked in the "Rendering plugin" question. -->
 
 <details>
 

.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

@@ -17,9 +17,7 @@ find_package(gz-cmake3 REQUIRED)
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-gz_configure_project(
-  REPLACE_IGNITION_INCLUDE_PATH gz/sim
-  VERSION_SUFFIX pre1)
+gz_configure_project(VERSION_SUFFIX pre1)
 
 #============================================================================
 # Set project-specific options
@@ -177,7 +175,7 @@ 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 +184,10 @@ 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 ${PYTHONLIBS_VERSION_STRING}.")
@@ -201,16 +199,16 @@ else()
   if (${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 +258,12 @@ 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)

Changelog.md

@@ -3145,7 +3145,7 @@
 1. Update docker nightly dependencies
     * [BitBucket pull request 310](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/310)
 
-1. Ign tool
+1. Gz tool
     * [BitBucket pull request 296](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/296)
     * [BitBucket pull request 336](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/336)
 

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

docker/README.md

@@ -73,21 +73,21 @@ distribution using debians.
    image of Gazebo Fortress:
 
     ```
-    ./build.bash ignition-garden ./Dockerfile.gz
+    ./build.bash gz-garden ./Dockerfile.gz
     ```
 
 2. Run the docker image using `run.bash`, and pass in the name of the docker
    image (first argument to the build.bash script).
 
     ```
-    ./run.bash ignition-garden
+    ./run.bash gz-garden
     ```
 
 3. You can pass arguments to Gazebo by appending them the
    `run.bash` command. For example, to load the shapes.sdf file:
 
     ```
-    ./run.bash ignition-garden -f shapes.sdf
+    ./run.bash gz-garden -f shapes.sdf
     ```
 
 ## Appendix

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)

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/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

python/CMakeLists.txt

@@ -21,19 +21,41 @@ if(USE_SYSTEM_PATHS_FOR_PYTHON_INSTALLATION)
   endif()
 
   if(USE_DIST_PACKAGES_FOR_PYTHON)
-    string(REPLACE "site-packages" "dist-packages" IGN_PYTHON_INSTALL_PATH ${Python3_SITEARCH})
+    string(REPLACE "site-packages" "dist-packages" GZ_PYTHON_INSTALL_PATH ${Python3_SITEARCH})
   endif()
 else()
   # If not a system installation, respect local paths
-  set(IGN_PYTHON_INSTALL_PATH ${IGN_LIB_INSTALL_DIR}/python)
+  set(GZ_PYTHON_INSTALL_PATH ${GZ_LIB_INSTALL_DIR}/python)
 endif()
 
 # Set the build location and install location for a CPython extension
 function(configure_build_install_location _library_name)
   # Install library for actual use
   install(TARGETS ${_library_name}
-    DESTINATION "${IGN_PYTHON_INSTALL_PATH}/ignition"
+    DESTINATION "${GZ_PYTHON_INSTALL_PATH}/gz"
   )
+
+  # TODO(CH3): Deprecated. Remove on tock.
+  # Install Python library symlinks
+  if(${GZ_PYTHON_INSTALL_PATH} MATCHES "gz$")
+    cmake_policy(SET CMP0087 NEW)  # Allow evaluation of generator expressions in install(CODE )
+
+    string(REGEX REPLACE "gz$" "ignition" IGN_PYTHON_INSTALL_PATH ${GZ_PYTHON_INSTALL_PATH})
+    if (WIN32)  # Windows requires copy instead of symlink
+      install(CODE "execute_process(COMMAND ${CMAKE_COMMAND} -E copy \
+          ${CMAKE_INSTALL_PREFIX}\/${GZ_PYTHON_INSTALL_PATH}\/$<TARGET_FILE_NAME:${_library_name}> \
+          ${PROJECT_BINARY_DIR}\/$<TARGET_FILE_NAME:${_library_name}>)")
+    else()
+      install(CODE "execute_process(COMMAND ${CMAKE_COMMAND} -E create_symlink \
+          ${CMAKE_INSTALL_PREFIX}\/${GZ_PYTHON_INSTALL_PATH}\/$<TARGET_FILE_NAME:${_library_name}> \
+          ${PROJECT_BINARY_DIR}\/$<TARGET_FILE_NAME:${_library_name}>)")
+    endif()
+
+    install(FILES ${PROJECT_BINARY_DIR}\/$<TARGET_FILE_NAME:${_library_name}>
+      DESTINATION "${IGN_PYTHON_INSTALL_PATH}/"
+    )
+  endif()
+
 endfunction()
 
 pybind11_add_module(gazebo SHARED
@@ -53,7 +75,7 @@ target_link_libraries(gazebo PRIVATE
   gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER}
 )
 
-# TODO(ahcorde): Move this module to ign-common
+# TODO(ahcorde): Move this module to gz-common
 pybind11_add_module(common SHARED
   src/gz/common/_gz_common_pybind11.cc
   src/gz/common/Console.cc

python/test/testFixture_TEST.py

@@ -15,9 +15,9 @@
 import os
 import unittest
 
-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
 
 post_iterations = 0
 iterations = 0