ign -> gz Provisional Finale: Source Migration : gz-launch

.github/ci/packages.apt

@@ -1,19 +1,19 @@
 binutils-dev
 libgflags-dev
-libignition-cmake3-dev
-libignition-common5-dev
-libignition-fuel-tools8-dev
-libignition-gazebo7-dev
-libignition-gui7-dev
-libignition-math7-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
+libgz-cmake3-dev
+libgz-common5-dev
+libgz-fuel-tools8-dev
+libgz-sim7-dev
+libgz-gui7-dev
+libgz-math7-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
 libsdformat13-dev
 libtinyxml2-dev
 libwebsockets-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
@@ -24,4 +24,4 @@ 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

.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

@@ -17,15 +17,13 @@ set(GZ_CMAKE_VER ${gz-cmake3_VERSION_MAJOR})
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-gz_configure_project(
-  REPLACE_IGNITION_INCLUDE_PATH gz/launch
-  VERSION_SUFFIX)
+gz_configure_project(VERSION_SUFFIX pre1)
 
 #============================================================================
 # Set project-specific options
 #============================================================================
 
-set(GZ_LAUNCH_PLUGIN_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/${IGN_LIB_INSTALL_DIR}/gz-${IGN_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins/")
+set(GZ_LAUNCH_PLUGIN_INSTALL_PATH "${CMAKE_INSTALL_PREFIX}/${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins/")
 
 #============================================================================
 # Search for project-specific dependencies
@@ -112,7 +110,7 @@ add_subdirectory(plugins)
 gz_configure_build(QUIT_IF_BUILD_ERRORS)
 
 #============================================================================
-# install example .ign files
+# install example .gzlaunch files
 #============================================================================
 add_subdirectory(examples)
 

Changelog.md

@@ -187,7 +187,7 @@
 1. Add PKGCONFIG information to gz-tools gz_find_package
    * [Pull Request 44](https://github.com/gazebosim/gz-launch/pull/44)
 
-1. Fix factory.gz launch file
+1. Fix factory.gzlaunch launch file
    * [Pull Request 55](https://github.com/gazebosim/gz-launch/pull/55)
 
 1. Use random name for manager semaphore
@@ -254,7 +254,7 @@
 
 ### Gazebo Launch 1.3.0 (2019-11-13)
 
-1. Add filepath to ERB so that constants like `__FILE__` in `.ign` files work as expected
+1. Add filepath to ERB so that constants like `__FILE__` in `.gzlaunch` files work as expected
     * [BitBucket pull request 48](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-launch/pull-requests/48)
 
 1.  Add backward support to gz-launch to capture backtraces.

Migration.md

@@ -26,6 +26,7 @@ release will remove the deprecated code.
 
 - The shared libraries have `gz` where there used to be `ignition`.
   - Using the un-migrated version is still possible due to tick-tocks, but will be removed in future versions.
+- Launch files have been hard-tocked to the `.gzlaunch` extension instead of `.ign`.
 
 ## Gazebo Launch 2.2.2
 

README.md

@@ -65,7 +65,7 @@ Sample launch configuration files are in the [examples directory](https://github
 1. Run a configuration that launches [Gazebo](https://gazebosim.org/libs/gazebo).
 
     ```
-    gz launch sim.ign
+    gz launch sim.gzlaunch
     ```
 
 ## Known issue of command line tools
@@ -108,7 +108,7 @@ Refer to the following table for information about important directories and fil
 ```
 gz-launch
 ├── examples                 Example launch configurations.
-├── include/ignition/launch  Header files.
+├── include/gz/launch  Header files.
 ├── plugins                  Launch plugins, one per subdirectory.
 ├── src                      Source files and unit tests.
 ├── test

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. 
 
 ## License

examples/CMakeLists.txt

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

examples/sim_plugins.ign → examples/sim_plugins.gzlaunch

@@ -1,12 +1,12 @@
 <?xml version='1.0'?>
-<!-- Usage: gz launch gazebo_plugins.ign [worldName:=<worldName>]
+<!-- Usage: gz launch sim_plugins.gzlaunch [worldName:=<worldName>]
 
      The [worldName] command line argument is optional. If left blank, or not
      specified, then "diff_drive" is used for the world name.
 
     Example that loads the shapes.sdf world instead of diff_drive:
 
-      gz launch gazebo_plugins.ign worldName:=shapes
+      gz launch sim_plugins.gzlaunch worldName:=shapes
 -->
 <%
   # Check if worldName is not defined or is empty/nil
@@ -56,8 +56,8 @@
       <enabled>true</enabled>
       <!-- Use the <path> element to specify where to create the log file on
            disk. Leaving this empty will cause Gazebo to log into the default
-           location of ~/.ignition/gazebo/log -->
-      <path>/tmp/ign-launch-demo</path>
+           location of ~/.gz/sim/log -->
+      <path>/tmp/gz-launch-demo</path>
 
       <!-- Use the <overwrite> element to overwrite <path> in case it already
            exists. Otherwise, logs will be recorded to a new path that has a
@@ -121,11 +121,11 @@
            In this example, setting to a resource file shipped with Gazebo GUI -->
       <window_icon>:/qml/images/drawer.png</window_icon>
       <plugin filename="GzScene3D" name="3D View">
-        <ignition-gui>
+        <gz-gui>
           <title>3D View</title>
           <property type="bool" key="showTitleBar">false</property>
           <property type="string" key="state">docked</property>
-        </ignition-gui>
+        </gz-gui>
 
         <engine>ogre2</engine>
         <scene>scene</scene>
@@ -134,7 +134,7 @@
         <camera_pose>-6 0 6 0 0.5 0</camera_pose>
       </plugin>
       <plugin filename="WorldControl" name="World control">
-        <ignition-gui>
+        <gz-gui>
           <title>World control</title>
           <property type="bool" key="showTitleBar">false</property>
           <property type="bool" key="resizable">false</property>
@@ -147,7 +147,7 @@
             <line own="left" target="left"/>
             <line own="bottom" target="bottom"/>
           </anchors>
-        </ignition-gui>
+        </gz-gui>
 
         <play_pause>true</play_pause>
         <step>true</step>
@@ -158,7 +158,7 @@
       </plugin>
 
       <plugin filename="WorldStats" name="World stats">
-        <ignition-gui>
+        <gz-gui>
           <title>World stats</title>
           <property type="bool" key="showTitleBar">false</property>
           <property type="bool" key="resizable">false</property>
@@ -171,7 +171,7 @@
             <line own="right" target="right"/>
             <line own="bottom" target="bottom"/>
           </anchors>
-        </ignition-gui>
+        </gz-gui>
 
         <sim_time>true</sim_time>
         <real_time>true</real_time>
@@ -182,9 +182,9 @@
 
       <!-- Entity tree -->
       <plugin filename="EntityTree" name="Entity tree">
-        <ignition-gui>
+        <gz-gui>
           <title>Entity tree</title>
-        </ignition-gui>
+        </gz-gui>
       </plugin>
 
       <!-- Transform Control -->

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/launch/config.hh.in

@@ -30,7 +30,7 @@
 
 #define GZ_LAUNCH_VERSION_HEADER "Gazebo Launch, version ${PROJECT_VERSION_FULL}\nCopyright (C) 2019 Open Source Robotics Foundation.\nReleased under the Apache 2.0 License.\n\n"
 
-#define GZ_LAUNCH_INITIAL_CONFIG_PATH "${CMAKE_INSTALL_PREFIX}/${IGN_DATA_INSTALL_DIR}/configs"
+#define GZ_LAUNCH_INITIAL_CONFIG_PATH "${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}/configs"
 
 #define GZ_LAUNCH_PLUGIN_INSTALL_PATH "${GZ_LAUNCH_PLUGIN_INSTALL_PATH}"
 

plugins/sim_gui/SimGui.hh

@@ -41,7 +41,7 @@ namespace gz
     ///   <plugin name="gz::launch::SimGui"
     ///           filename="gz-launch-simgui">
     ///
-    ///   <!-- Elements parsed by ign-launch -->
+    ///   <!-- Elements parsed by gz-launch -->
     ///
     ///   <!-- Set window title. Defaults to "Gazebo" -->
     ///   <window_title>Custom window title</window_title>

plugins/websocket_server/README.md

@@ -24,7 +24,7 @@ gz sim -v 4
    source tree.
 
 ```
-gz launch -f examples/websocket.ign -v 4
+gz launch -f examples/websocket.gzlaunch -v 4
 ```
 
 5. Open the `plugins/websocket_server/index.html` in a web browser.

plugins/websocket_server/WebsocketServer.cc

@@ -806,7 +806,7 @@ void WebsocketServer::OnMessage(int _socketId, const std::string &_msg)
     bool result;
     unsigned int timeout = 2000;
 
-    bool executed = this->node.Request("/gazebo/worlds",
+    bool executed = this->node.Request("/sim/worlds",
         req, timeout, rep, result);
 
     std::string data = BUILD_MSG(this->operations[PUBLISH], frameParts[0],

plugins/websocket_server/WebsocketServer.hh

@@ -128,7 +128,7 @@ namespace gz
     /// ## Websocket Server
     ///
     /// 1. Define a launch file by copying the following contents to a file
-    ///    called `websocket.ign`.
+    ///    called `websocket.gzlaunch`.
     ///
     /// <!-- Inform gz::Launch about the JoyToTwist plugin -->
     ///  <plugin name="gz::launch::WebsocketServer"
@@ -140,7 +140,7 @@ namespace gz
     ///
     /// 2. Run the launch file
     ///
-    /// `gz launch -v 4 websocket.ign`
+    /// `gz launch -v 4 websocket.gzlaunch`
     ///
     /// 3. Open the [index.html](https://github.com/gazebosim/gz-launch/blob/main/plugins/websocket_server/index.html) webpage.
     ///

plugins/websocket_server/ign.js → plugins/websocket_server/gz.js

@@ -27,7 +27,7 @@ function buildMsg(_frameParts) {
 
 /// \brief The main interface to the Gazebo websocket server and
 /// data on Gazebo Transport.
-function Ignition(options) {
+function Gazebo(options) {
   options = options || {};
 
   this.socket = null;
@@ -43,11 +43,11 @@ function Ignition(options) {
     this.connect(options.url, options.key);
   }
 }
-Ignition.prototype.__proto__ = EventEmitter2.prototype;
+Gazebo.prototype.__proto__ = EventEmitter2.prototype;
 
 /// \brief Connect to the specified WebSocket.
 /// \param url - WebSocket URL for Gazebo HTTPServer
-Ignition.prototype.connect = function(url, key) {
+Gazebo.prototype.connect = function(url, key) {
   var that = this;
 
   /// \brief Emits a 'connection' event on WebSocket connection.
@@ -148,7 +148,7 @@ Ignition.prototype.connect = function(url, key) {
 
 /// \brief Send a message to the websocket server
 /// \param[in] _msg Message to send
-Ignition.prototype.sendMsg = function(_msg) {
+Gazebo.prototype.sendMsg = function(_msg) {
   var that = this;
 
   var emitter = function(msg){
@@ -168,7 +168,7 @@ Ignition.prototype.sendMsg = function(_msg) {
 /// \brief Interface to Gazebo Transport topics.
 function Topic(options) {
   options = options || {};
-  this.ign = options.ign;
+  this.gz = options.gz;
   this.name = options.name;
   this.messageType = options.messageType;
   this.isAdvertised = false;
@@ -189,14 +189,14 @@ Topic.prototype.subscribe = function(_callback) {
 
   var emitter = function(_cb) {
     // Register the callback with the topic name
-    that.ign.on(that.name, _cb);
+    that.gz.on(that.name, _cb);
 
     // Send the subscription message over the websocket.
-    that.ign.sendMsg(buildMsg(['sub', that.name, '', '']));
+    that.gz.sendMsg(buildMsg(['sub', that.name, '', '']));
   }
 
-  if (!this.ign.isConnected) {
-    this.ign.on('connection', function() {
+  if (!this.gz.isConnected) {
+    this.gz.on('connection', function() {
       emitter(_callback);
     });
   } else {