ign -> gz Migrate Ignition Headers : gz-launch

CMakeLists.txt

@@ -14,7 +14,9 @@ set(IGN_CMAKE_VER ${ignition-cmake2_VERSION_MAJOR})
 #============================================================================
 # Configure the project
 #============================================================================
-ign_configure_project()
+ign_configure_project(
+  REPLACE_IGNITION_INCLUDE_PATH gz/launch
+)
 
 #============================================================================
 # Set project-specific options

examples/factory.ign

@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <ignition version='1.0'>
-  <plugin name="ignition::launch::GazeboFactory"
+  <plugin name="gz::launch::GazeboFactory"
     filename="ignition-launch-gazebo-factory">
     <spawn>
       <name>x2</name>
@@ -11,7 +11,7 @@
         <include>
           <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/X2 UGV/1</uri>
           <plugin filename="ignition-gazebo-diff-drive-system"
-                  name="ignition::gazebo::systems::DiffDrive">
+                  name="gz::sim::systems::DiffDrive">
             <left_joint>front_left_wheel_joint</left_joint>
             <left_joint>rear_left_wheel_joint</left_joint>
             <right_joint>front_right_wheel_joint</right_joint>
@@ -22,7 +22,7 @@
 
           <!-- Publish robot joint state information -->
           <plugin filename="ignition-gazebo-state-publisher-system"
-                  name="ignition::gazebo::systems::JointStatePublisher"></plugin>
+                  name="gz::sim::systems::JointStatePublisher"></plugin>
         </include>
       </sdf>
     </spawn>

examples/gazebo_plugins.ign

@@ -19,7 +19,7 @@
 <ignition version='1.0'>
   <!-- Load a joystick plugin that will read from a device and output to a
        topic -->
-  <plugin name="ignition::launch::Joystick"
+  <plugin name="gz::launch::Joystick"
           filename="ignition-launch-joystick">
     <device>/dev/input/js0</device>
     <sticky_buttons>false</sticky_buttons>
@@ -30,22 +30,22 @@
 
   <!-- Load a plugin that transforms a joystick message to a
        twist message -->
-  <plugin name="ignition::launch::JoyToTwist"
+  <plugin name="gz::launch::JoyToTwist"
           filename="ignition-launch-joytotwist">
     <input_topic>/joy</input_topic>
     <output_topic>/model/vehicle_green/cmd_vel</output_topic>
   </plugin>
 
   <!-- Load a plugin that transforms a joystick message to a
        twist message -->
-  <plugin name="ignition::launch::JoyToTwist"
+  <plugin name="gz::launch::JoyToTwist"
           filename="ignition-launch-joytotwist">
     <input_topic>/joy</input_topic>
     <output_topic>/model/vehicle_blue/cmd_vel</output_topic>
   </plugin>
 
   <!-- Run the gazebo server with a set of plugins -->
-  <plugin name="ignition::launch::GazeboServer"
+  <plugin name="gz::launch::GazeboServer"
           filename="ignition-launch-gazebo">
     <world_file><%= worldName %>.sdf</world_file>
     <run>true</run>
@@ -79,18 +79,18 @@
     <plugin entity_name="<%= worldName %>"
             entity_type="world"
             filename="ignition-gazebo1-physics-system"
-            name="ignition::gazebo::systems::Physics">
+            name="gz::sim::systems::Physics">
     </plugin>
     <plugin entity_name="<%= worldName %>"
             entity_type="world"
             filename="ignition-gazebo1-scene-broadcaster-system"
-            name="ignition::gazebo::systems::SceneBroadcaster">
+            name="gz::sim::systems::SceneBroadcaster">
     </plugin>
 
     <plugin entity_name="vehicle_green"
             entity_type="model"
             filename="ignition-gazebo1-diff-drive-system"
-            name="ignition::gazebo::systems::DiffDrive">
+            name="gz::sim::systems::DiffDrive">
       <left_joint>left_wheel_joint</left_joint>
       <right_joint>right_wheel_joint</right_joint>
       <wheel_separation>1.25</wheel_separation>
@@ -100,7 +100,7 @@
     <plugin entity_name="vehicle_blue"
             entity_type="model"
             filename="ignition-gazebo1-diff-drive-system"
-            name="ignition::gazebo::systems::DiffDrive">
+            name="gz::sim::systems::DiffDrive">
       <left_joint>left_wheel_joint</left_joint>
       <right_joint>right_wheel_joint</right_joint>
       <wheel_separation>1.25</wheel_separation>
@@ -111,7 +111,7 @@
   </plugin>
 
   <executable_wrapper>
-    <plugin name="ignition::launch::GazeboGui"
+    <plugin name="gz::launch::GazeboGui"
           filename="ignition-launch-gazebogui">
 
       <!-- Override default window title (Gazebo) -->

examples/multi_factory.ign

@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <ignition version='1.0'>
-  <plugin name="ignition::launch::GazeboFactory"
+  <plugin name="gz::launch::GazeboFactory"
     filename="ignition-launch-gazebo-factory">
     <spawn>
       <name>x2</name>

examples/plugins.ign

@@ -3,7 +3,7 @@
 
   <!-- Load a joystick plugin that will read from a device and output to a
        topic -->
-  <plugin name="ignition::launch::Joystick"
+  <plugin name="gz::launch::Joystick"
           filename="ignition-launch-joystick">
     <device>/dev/input/js0</device>
     <sticky_buttons>false</sticky_buttons>
@@ -14,20 +14,20 @@
 
   <!-- Load a plugin that transforms a joystick message to a
        twist message -->
-  <plugin name="ignition::launch::JoyToTwist"
+  <plugin name="gz::launch::JoyToTwist"
           filename="ignition-launch-joytotwist">
     <input_topic>/joy</input_topic>
     <output_topic>/model/vehicle_green/cmd_vel</output_topic>
   </plugin>
 
   <!-- Load a plugin that transforms a joystick message to a
        twist message -->
-  <plugin name="ignition::launch::JoyToTwist"
+  <plugin name="gz::launch::JoyToTwist"
           filename="ignition-launch-joytotwist">
-    <!-- Incoming topic that publishes ignition::msgs::Joystick messages -->
+    <!-- Incoming topic that publishes gz::msgs::Joystick messages -->
     <input_topic>/joy</input_topic>
 
-    <!-- Outgoing topic that publishes ignition::msgs::Twist messages -->
+    <!-- Outgoing topic that publishes gz::msgs::Twist messages -->
     <output_topic>/model/vehicle_blue/cmd_vel</output_topic>
 
     <!-- Button which must be pressed to enable publishing, defaults to 0 -->

examples/websocket.ign

@@ -3,7 +3,7 @@
 
   <!-- Load a websocket server that provides access to Ignition Transport
        topics through websockets.-->
-  <plugin name="ignition::launch::WebsocketServer"
+  <plugin name="gz::launch::WebsocketServer"
           filename="ignition-launch-websocket-server">
     <publication_hz>30</publication_hz>
     <port>9002</port>

include/CMakeLists.txt

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

include/gz/launch/Plugin.hh

@@ -0,0 +1,47 @@
+/*
+ * Copyright (C) 2019 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+#ifndef GZ_LAUNCH_PLUGIN_HH_
+#define GZ_LAUNCH_PLUGIN_HH_
+
+#include <tinyxml2.h>
+#include <gz/plugin/SpecializedPluginPtr.hh>
+#include <gz/launch/Export.hh>
+#include <gz/launch/config.hh>
+
+namespace ignition
+{
+  namespace launch
+  {
+    // Inline bracket to help doxygen filtering.
+    inline namespace IGNITION_LAUNCH_VERSION_NAMESPACE {
+    /// \brief Base class for launch plugins.
+    class Plugin
+    {
+      /// \brief Load function that each launch plugin must implement.
+      /// \param[in] _elem Pointer to the XML for this plugin.
+      /// \return True to keep the plugin alive. Return false to have the
+      /// plugin unloaded immediately.
+      public: virtual bool Load(const tinyxml2::XMLElement *_elem) = 0;
+    };
+
+    /// \brief Pointer to a launch plugin.
+    using PluginPtr = gz::plugin::SpecializedPluginPtr<
+      gz::launch::Plugin>;
+    }
+  }
+}
+#endif

include/ignition/launch/config.hh.in → include/gz/launch/config.hh.in

@@ -17,3 +17,12 @@
 #cmakedefine BUILD_TYPE_PROFILE 1
 #cmakedefine BUILD_TYPE_DEBUG 1
 #cmakedefine BUILD_TYPE_RELEASE 1
+
+namespace ignition
+{
+}
+
+namespace gz
+{
+  using namespace ignition;
+}

include/ignition/launch.hh

@@ -0,0 +1,19 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+#include <gz/launch.hh>
+#include <ignition/launch/config.hh>

include/ignition/launch/Export.hh

@@ -0,0 +1,19 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+#include <gz/launch/Export.hh>
+#include <ignition/launch/config.hh>

include/ignition/launch/Plugin.hh

@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2019 Open Source Robotics Foundation
+ * Copyright (C) 2022 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -14,36 +14,7 @@
  * limitations under the License.
  *
  */
-#ifndef IGNITION_LAUNCH_PLUGIN_HH_
-#define IGNITION_LAUNCH_PLUGIN_HH_
 
-#include <tinyxml2.h>
-#include <ignition/plugin/SpecializedPluginPtr.hh>
-#include <ignition/launch/Export.hh>
+#include <gz/launch/Plugin.hh>
+#include <ignition/launch/config.hh>
 
-namespace ignition
-{
-  namespace launch
-  {
-    // Inline bracket to help doxygen filtering.
-    inline namespace IGNITION_LAUNCH_VERSION_NAMESPACE {
-    /// \brief Base class for launch plugins.
-    class Plugin
-    {
-      // Default destructor
-      public: virtual ~Plugin() {}
-
-      /// \brief Load function that each launch plugin must implement.
-      /// \param[in] _elem Pointer to the XML for this plugin.
-      /// \return True to keep the plugin alive. Return false to have the
-      /// plugin unloaded immediately.
-      public: virtual bool Load(const tinyxml2::XMLElement *_elem) = 0;
-    };
-
-    /// \brief Pointer to a launch plugin.
-    using PluginPtr = ignition::plugin::SpecializedPluginPtr<
-      ignition::launch::Plugin>;
-    }
-  }
-}
-#endif

include/ignition/launch/config.hh

@@ -0,0 +1,41 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+#ifndef IGNITION_LAUNCH__CONFIG_HH_
+#define IGNITION_LAUNCH__CONFIG_HH_
+
+#include <gz/launch/config.hh>
+
+/* Version number */
+// #define IGNITION_LAUNCH_MAJOR_VERSION GZ_LAUNCH_MAJOR_VERSION
+// #define IGNITION_LAUNCH_MINOR_VERSION GZ_LAUNCH_MINOR_VERSION
+// #define IGNITION_LAUNCH_PATCH_VERSION GZ_LAUNCH_PATCH_VERSION
+
+// #define IGNITION_LAUNCH_VERSION GZ_LAUNCH_VERSION
+// #define IGNITION_LAUNCH_VERSION_FULL GZ_LAUNCH_VERSION_FULL
+
+// #define IGNITION_LAUNCH_VERSION_HEADER GZ_LAUNCH_VERSION_HEADER
+
+// #define IGNITION_LAUNCH_INITIAL_CONFIG_PATH GZ_LAUNCH_INITIAL_CONFIG_PATH
+
+// #define IGNITION_LAUNCH_PLUGIN_INSTALL_PATH GZ_LAUNCH_PLUGIN_INSTALL_PATH
+
+/* #undef BUILD_TYPE_PROFILE */
+/* #undef BUILD_TYPE_DEBUG */
+/* #undef BUILD_TYPE_RELEASE */
+
+#endif

plugins/gazebo_factory/GazeboFactory.cc

@@ -15,15 +15,15 @@
  *
 */
 
-#include <ignition/msgs/entity_factory.pb.h>
-#include <ignition/msgs/boolean.pb.h>
+#include <gz/msgs/entity_factory.pb.h>
+#include <gz/msgs/boolean.pb.h>
 
-#include <ignition/common/Util.hh>
-#include <ignition/common/Console.hh>
+#include <gz/common/Util.hh>
+#include <gz/common/Console.hh>
 #include "GazeboFactory.hh"
 
-using namespace ignition;
-using namespace ignition::launch;
+using namespace gz;
+using namespace gz::launch;
 
 /////////////////////////////////////////////////
 GazeboFactory::GazeboFactory()