rename 'gazebo' simulation to 'gazebo-classic' (PX4#20936)

 - use `gazebo-classic` everywhere consistently referring to the original Gazebo (eg version 9,10,11)
   - additional `gazebo_*` helper targets added for compatibility, but warn about deprecation and tell you the new target naming
 - use `gz` everywhere when referring to Gazebo (aka Ignition Gazebo or new Gazebo)

.github/workflows/mavros_mission_tests.yml

@@ -59,13 +59,13 @@ jobs:
       run: |
           export
           ulimit -a
-    - name: Build PX4 and sitl_gazebo
+    - name: Build PX4 and sitl_gazebo-classic
       env:
         PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
       run: |
         ccache -z
         make px4_sitl_default
-        make px4_sitl_default sitl_gazebo
+        make px4_sitl_default sitl_gazebo-classic
         ccache -s
 
     - name: Core dump settings

.github/workflows/mavros_offboard_tests.yml

@@ -54,13 +54,13 @@ jobs:
       run: |
           export
           ulimit -a
-    - name: Build PX4 and sitl_gazebo
+    - name: Build PX4 and sitl_gazebo-classic
       env:
         PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
       run: |
         ccache -z
         make px4_sitl_default
-        make px4_sitl_default sitl_gazebo
+        make px4_sitl_default sitl_gazebo-classic
         ccache -s
 
     - name: Core dump settings

.github/workflows/sitl_tests.yml

@@ -74,14 +74,14 @@ jobs:
     - name: Build SITL Gazebo
       env:
         PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: make px4_sitl_default sitl_gazebo
-    - name: ccache post-run sitl_gazebo
+      run: make px4_sitl_default sitl_gazebo-classic
+    - name: ccache post-run sitl_gazebo-classic
       run: ccache -s
     - name: Build MAVSDK tests
       env:
         PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
         DONT_RUN: 1
-      run: make px4_sitl_default sitl_gazebo mavsdk_tests
+      run: make px4_sitl_default sitl_gazebo-classic mavsdk_tests
     - name: ccache post-run mavsdk_tests
       run: ccache -s
 

.gitmodules

@@ -10,9 +10,9 @@
 	path = Tools/simulation/jmavsim/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
 	branch = main
-[submodule "Tools/simulation/gazebo/sitl_gazebo"]
-	path = Tools/simulation/gazebo/sitl_gazebo
-	url = https://github.com/PX4/PX4-SITL_gazebo.git
+[submodule "Tools/simulation/gazebo-classic/sitl_gazebo-classic"]
+	path = Tools/simulation/gazebo-classic/sitl_gazebo-classic
+	url = https://github.com/PX4/PX4-SITL_gazebo-classic.git
 	branch = main
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices

.vscode/tasks.json

@@ -67,9 +67,9 @@
             "dependsOn":["px4_sitl_cleanup"]
         },
         {
-            "label": "gazebo build",
+            "label": "gazebo-classic build",
             "type": "shell",
-            "command": "make px4_sitl_default sitl_gazebo",
+            "command": "make px4_sitl_default sitl_gazebo-classic",
             "options": {
                 "cwd": "${workspaceFolder}"
             },
@@ -86,18 +86,18 @@
             "problemMatcher": [],
         },
         {
-            "label": "gazebo start",
+            "label": "gazebo-classic start",
             "type": "shell",
-            "dependsOn": "gazebo build",
+            "dependsOn": "gazebo-classic build",
             "options": {
                 "cwd": "${workspaceFolder}",
                 "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models",
+                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo-classic",
+                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models",
                     "PX4_SIM_SPEED_FACTOR": "1"
                 }
             },
-            "command": "gzserver --verbose ${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/worlds/empty.world",
+            "command": "gzserver --verbose ${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/empty.world",
             "isBackground": true,
             "presentation": {
                 "echo": true,
@@ -128,18 +128,18 @@
             ]
         },
         {
-            "label": "gazebo",
+            "label": "gazebo-classic",
             "type": "shell",
-            "dependsOn": "gazebo start",
+            "dependsOn": "gazebo-classic start",
             "options": {
                 "cwd": "${workspaceFolder}",
                 "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models",
+                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo-classic",
+                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models",
                     "PX4_SIM_SPEED_FACTOR": "1"
                 }
             },
-            "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models/iris/iris.sdf --model-name=iris -x 1.01 -y 0.98 -z 0.83",
+            "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/iris/iris.sdf --model-name=iris -x 1.01 -y 0.98 -z 0.83",
             "isBackground": false,
             "presentation": {
                 "echo": true,
@@ -194,7 +194,7 @@
             "dependsOn":["ign gazebo kill"]
         },
         {
-            "label": "gazebo kill",
+            "label": "gazebo-classic kill",
             "type": "shell",
             "command": "pkill -9 -f gzserver || true",
             "presentation": {

Makefile

@@ -388,17 +388,17 @@ tests_coverage:
 
 
 rostest: px4_sitl_default
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
 
 tests_integration: px4_sitl_default
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
 	@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
 	@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json
 
 tests_integration_coverage:
 	@$(MAKE) clean
 	@$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
 	@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
 	@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json
 	@mkdir -p coverage
@@ -408,13 +408,13 @@ tests_mission: rostest
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_missions.test
 
 rostest_run: px4_sitl_default
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh $(TEST_FILE) mission:=$(TEST_MISSION) vehicle:=$(TEST_VEHICLE)
 
 tests_mission_coverage:
 	@$(MAKE) clean
 	@$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
-	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo PX4_CMAKE_BUILD_TYPE=Coverage
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic PX4_CMAKE_BUILD_TYPE=Coverage
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=VTOL_mission_1 vehicle:=standard_vtol
 	@$(MAKE) --no-print-directory px4_sitl_default generate_coverage
 
@@ -489,7 +489,7 @@ validate_module_configs:
 
 # Cleanup
 # --------------------------------------------------------------------
-.PHONY: clean submodulesclean submodulesupdate gazeboclean distclean
+.PHONY: clean submodulesclean submodulesupdate distclean
 
 clean:
 	@[ ! -d "$(SRC_DIR)/build" ] || find "$(SRC_DIR)/build" -mindepth 1 -maxdepth 1 -type d -exec sh -c "echo {}; cmake --build {} -- clean || rm -rf {}" \; # use generated build system to clean, wipe build directory if it fails
@@ -507,10 +507,7 @@ submodulesupdate:
 	@git submodule update --init --recursive --jobs 4
 	@git fetch --all --tags --recurse-submodules=yes --jobs=4
 
-gazeboclean:
-	@rm -rf ~/.gazebo/*
-
-distclean: gazeboclean
+distclean:
 	@git submodule deinit --force $(SRC_DIR)
 	@rm -rf "$(SRC_DIR)/build"
 	@git clean --force -X "$(SRC_DIR)/msg/" "$(SRC_DIR)/platforms/" "$(SRC_DIR)/posix-configs/" "$(SRC_DIR)/ROMFS/" "$(SRC_DIR)/src/" "$(SRC_DIR)/test/" "$(SRC_DIR)/Tools/"

ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt

@@ -33,54 +33,54 @@
 
 px4_add_romfs_files(
 
-	1010_gazebo_iris_opt_flow
-	1010_gazebo_iris_opt_flow.post
-	1011_gazebo_iris_irlock
-	1012_gazebo_iris_rplidar
-	1013_gazebo_iris_vision
-	1013_gazebo_iris_vision.post
-	1015_gazebo_iris_obs_avoid
-	1015_gazebo_iris_obs_avoid.post
-	1017_gazebo_iris_opt_flow_mockup
-	1019_gazebo_iris_dual_gps
-	1021_gazebo_uuv_hippocampus
-	1022_gazebo_uuv_bluerov2_heavy
-	1030_gazebo_plane
-	1031_gazebo_plane_cam
-	1032_gazebo_plane_catapult
+	1010_gazebo-classic_iris_opt_flow
+	1010_gazebo-classic_iris_opt_flow.post
+	1011_gazebo-classic_iris_irlock
+	1012_gazebo-classic_iris_rplidar
+	1013_gazebo-classic_iris_vision
+	1013_gazebo-classic_iris_vision.post
+	1015_gazebo-classic_iris_obs_avoid
+	1015_gazebo-classic_iris_obs_avoid.post
+	1017_gazebo-classic_iris_opt_flow_mockup
+	1019_gazebo-classic_iris_dual_gps
+	1021_gazebo-classic_uuv_hippocampus
+	1022_gazebo-classic_uuv_bluerov2_heavy
+	1030_gazebo-classic_plane
+	1031_gazebo-classic_plane_cam
+	1032_gazebo-classic_plane_catapult
 	1033_jsbsim_rascal
 	1034_flightgear_rascal-electric
-	1035_gazebo_techpod
+	1035_gazebo-classic_techpod
 	1036_jsbsim_malolo
-	1037_gazebo_believer
-	1038_gazebo_glider
-	1039_gazebo_advanced_plane
-	1040_gazebo_standard_vtol
-	1041_gazebo_tailsitter
-	1042_gazebo_tiltrotor
-	1043_gazebo_standard_vtol_drop
-	1044_gazebo_plane_lidar
-	1060_gazebo_rover
-	1061_gazebo_r1_rover
+	1037_gazebo-classic_believer
+	1038_gazebo-classic_glider
+	1039_gazebo-classic_advanced_plane
+	1040_gazebo-classic_standard_vtol
+	1041_gazebo-classic_tailsitter
+	1042_gazebo-classic_tiltrotor
+	1043_gazebo-classic_standard_vtol_drop
+	1044_gazebo-classic_plane_lidar
+	1060_gazebo-classic_rover
+	1061_gazebo-classic_r1_rover
 	1062_flightgear_tf-r1
-	1070_gazebo_boat
+	1070_gazebo-classic_boat
 
-	2507_gazebo_cloudship
+	2507_gazebo-classic_cloudship
 
 	3010_jsbsim_quadrotor_x
 	3011_jsbsim_hexarotor_x
 
 	4001_gz_x500
 	4002_gz_x500_depth
 
-	6011_gazebo_typhoon_h480
-	6011_gazebo_typhoon_h480.post
+	6011_gazebo-classic_typhoon_h480
+	6011_gazebo-classic_typhoon_h480.post
 
-	10016_gazebo_iris
+	10016_gazebo-classic_iris
 	10017_jmavsim_iris
-	10018_gazebo_iris_foggy_lidar
-	10019_gazebo_omnicopter
-	10030_gazebo_px4vision
+	10018_gazebo-classic_iris_foggy_lidar
+	10019_gazebo-classic_omnicopter
+	10030_gazebo-classic_px4vision
 
 	10040_sihsim_quadx
 	10041_sihsim_airplane

Tools/simulation/gazebo/setup_gazebo.bash → Tools/simulation/gazebo-classic/setup_gazebo.bash

@@ -16,9 +16,9 @@ SRC_DIR=$1
 BUILD_DIR=$2
 
 # setup Gazebo env and update package path
-export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:${BUILD_DIR}/build_gazebo
-export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${SRC_DIR}/Tools/simulation/gazebo/sitl_gazebo/models
-export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${BUILD_DIR}/build_gazebo
+export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:${BUILD_DIR}/build_gazebo-classic
+export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${SRC_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models
+export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${BUILD_DIR}/build_gazebo-classic
 
 echo -e "GAZEBO_PLUGIN_PATH $GAZEBO_PLUGIN_PATH"
 echo -e "GAZEBO_MODEL_PATH $GAZEBO_MODEL_PATH"

Tools/simulation/gazebo/sitl_multiple_run.sh → Tools/simulation/gazebo-classic/sitl_multiple_run.sh

@@ -1,10 +1,10 @@
 #!/bin/bash
 # run multiple instances of the 'px4' binary, with the gazebo SITL simulation
-# It assumes px4 is already built, with 'make px4_sitl_default sitl_gazebo'
+# It assumes px4 is already built, with 'make px4_sitl_default sitl_gazebo-classic'
 
 # The simulator is expected to send to TCP port 4560+i for i in [0, N-1]
 # For example gazebo can be run like this:
-#./Tools/simulation/gazebo/sitl_multiple_run.sh -n 10 -m iris
+#./Tools/simulation/gazebo-classic/sitl_multiple_run.sh -n 10 -m iris
 
 function cleanup() {
 	pkill -x px4
@@ -35,7 +35,7 @@ function spawn_model() {
 	pushd "$working_dir" &>/dev/null
 	echo "starting instance $N in $(pwd)"
 	$build_path/bin/px4 -i $N -d "$build_path/etc" >out.log 2>err.log &
-	python3 ${src_path}/Tools/simulation/gazebo/sitl_gazebo/scripts/jinja_gen.py ${src_path}/Tools/simulation/gazebo/sitl_gazebo/models/${MODEL}/${MODEL}.sdf.jinja ${src_path}/Tools/simulation/gazebo/sitl_gazebo --mavlink_tcp_port $((4560+${N})) --mavlink_udp_port $((14560+${N})) --mavlink_id $((1+${N})) --gst_udp_port $((5600+${N})) --video_uri $((5600+${N})) --mavlink_cam_udp_port $((14530+${N})) --output-file /tmp/${MODEL}_${N}.sdf
+	python3 ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/scripts/jinja_gen.py ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/${MODEL}/${MODEL}.sdf.jinja ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic --mavlink_tcp_port $((4560+${N})) --mavlink_udp_port $((14560+${N})) --mavlink_id $((1+${N})) --gst_udp_port $((5600+${N})) --video_uri $((5600+${N})) --mavlink_cam_udp_port $((14530+${N})) --output-file /tmp/${MODEL}_${N}.sdf
 
 	echo "Spawning ${MODEL}_${N} at ${X} ${Y}"
 
@@ -69,7 +69,7 @@ num_vehicles=${NUM_VEHICLES:=3}
 world=${WORLD:=empty}
 target=${TARGET:=px4_sitl_default}
 vehicle_model=${VEHICLE_MODEL:="iris"}
-export PX4_SIM_MODEL=gazebo_${vehicle_model}
+export PX4_SIM_MODEL=gazebo-classic_${vehicle_model}
 
 echo ${SCRIPT}
 SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
@@ -84,7 +84,7 @@ pkill -x px4 || true
 
 sleep 1
 
-source ${src_path}/Tools/simulation/gazebo/setup_gazebo.bash ${src_path} ${src_path}/build/${target}
+source ${src_path}/Tools/simulation/gazebo-classic/setup_gazebo.bash ${src_path} ${src_path}/build/${target}
 
 # To use gazebo_ros ROS2 plugins
 if [[ -n "$ROS_VERSION" ]] && [ "$ROS_VERSION" == "2" ]; then
@@ -94,7 +94,7 @@ else
 fi
 
 echo "Starting gazebo"
-gzserver ${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${world}.world --verbose $ros_args &
+gzserver ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${world}.world --verbose $ros_args &
 sleep 5
 
 n=0
@@ -126,7 +126,7 @@ else
 
 		m=0
 		while [ $m -lt ${target_number} ]; do
-			export PX4_SIM_MODEL=gazebo_${target_vehicle}
+			export PX4_SIM_MODEL=gazebo-classic_${target_vehicle}
 			spawn_model ${target_vehicle}${LABEL} $n $target_x $target_y
 			m=$(($m + 1))
 			n=$(($n + 1))

Tools/simulation/gazebo/sitl_run.sh → Tools/simulation/gazebo-classic/sitl_run.sh

@@ -67,7 +67,7 @@ fi
 # be running from last time
 pkill -x gazebo || true
 
-export PX4_SIM_MODEL=gazebo_${model}
+export PX4_SIM_MODEL=gazebo-classic_${model}
 export PX4_SIM_WORLD=${world}
 
 SIM_PID=0
@@ -77,25 +77,25 @@ if [ -x "$(command -v gazebo)" ]; then
 	model_name="${model}"
 
 	# Set the plugin path so Gazebo finds our model and sim
-	source "$src_path/Tools/simulation/gazebo/setup_gazebo.bash" "${src_path}" "${build_path}"
+	source "$src_path/Tools/simulation/gazebo-classic/setup_gazebo.bash" "${src_path}" "${build_path}"
 	if [ -z $PX4_SITL_WORLD ]; then
 		#Spawn predefined world
 		if [ "$world" == "none" ]; then
-			if [ -f ${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${model}.world ]; then
+			if [ -f ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${model}.world ]; then
 				echo "empty world, default world ${model}.world for model found"
-				world_path="${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${model}.world"
+				world_path="${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${model}.world"
 			else
 				echo "empty world, setting empty.world as default"
-				world_path="${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/empty.world"
+				world_path="${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/empty.world"
 			fi
 		else
 			#Spawn empty world if world with model name doesn't exist
-			world_path="${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${world}.world"
+			world_path="${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${world}.world"
 		fi
 	else
-		if [ -f ${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${PX4_SITL_WORLD}.world ]; then
+		if [ -f ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${PX4_SITL_WORLD}.world ]; then
 			# Spawn world by name if exists in the worlds directory from environment variable
-			world_path="${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${PX4_SITL_WORLD}.world"
+			world_path="${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${PX4_SITL_WORLD}.world"
 		else
 			# Spawn world from environment variable with absolute path
 			world_path="$PX4_SITL_WORLD"