From 484c408cfdf44404997190007f2cc7d27b48117f Mon Sep 17 00:00:00 2001
From: methylDragon <methylDragon@gmail.com>
Date: Tue, 28 Jun 2022 13:27:42 -0700
Subject: [PATCH] ign -> gz Partial Docs Migration and Project Name Followups :
 gz-sensors (#240)

---
 Changelog.md                     | 30 +++++++++++++++---------------
 Migration.md                     |  7 +++++++
 README.md                        |  4 ++--
 api.md.in                        |  4 ++--
 examples/save_image/main.cc      |  2 +-
 src/RgbdCameraSensor.cc          |  2 +-
 tutorials.md.in                  |  4 ++--
 tutorials/custom_sensors.md      | 13 ++++++-------
 tutorials/install.md             | 24 ++++++++++++------------
 tutorials/intro.md               |  4 ++--
 tutorials/segmentation_camera.md | 10 +++++-----
 tutorials/thermal_camera.md      |  8 ++++----
 12 files changed, 59 insertions(+), 53 deletions(-)

diff --git a/Changelog.md b/Changelog.md
index 0bead0bb..1873ae7f 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -84,7 +84,7 @@
 1. Trivial tutorial typo correction in Custom Sensors tutorial
     * [Pull request #160](https://github.com/gazebosim/gz-sensors/pull/160)
 
-1. Bumps in fortress: ign-sensors6
+1. Bumps in fortress: gz-sensors6
     * [Pull request #120](https://github.com/gazebosim/gz-sensors/pull/120)
 
 1. Port codecov to new configuration
@@ -114,7 +114,7 @@
 
 ### Gazebo Sensors 5.1.0 (2021-10-15)
 
-1. Depend on ign-msgs 7.2 and libSDFormat 11.3
+1. Depend on gz-msgs 7.2 and libSDFormat 11.3
     * [Pull request #154](https://github.com/gazebosim/gz-sensors/pull/154)
 
 1. 👩‍🌾 Print debug messages when sensors advertise topics
@@ -143,16 +143,16 @@
 
 ### Gazebo Sensors 5.0.0 (2021-03-30)
 
-1. Bump in edifice: ign-common4
+1. Bump in edifice: gz-common4
     * [Pull request #85](https://github.com/gazebosim/gz-sensors/pull/85)
 
 1. Bump in edifice: sdformat11
     * [Pull request #78](https://github.com/gazebosim/gz-sensors/pull/78)
 
-1. Bump in edifice: ign-msgs7
+1. Bump in edifice: gz-msgs7
     * [Pull request #75](https://github.com/gazebosim/gz-sensors/pull/75)
 
-1. Bump in edifice: ign-rendering5
+1. Bump in edifice: gz-rendering5
     * [Pull request #55](https://github.com/gazebosim/gz-sensors/pull/55)
 
 1. Documentation updates
@@ -218,13 +218,13 @@
 1. Move installation instructions from README.md to Installation tutorial
     * [Pull request 50](https://github.com/gazebosim/gz-sensors/pull/50)
 
-1. Bump ign-math to 6.6
+1. Bump gz-math to 6.6
     * [Pull request 48](https://github.com/gazebosim/gz-sensors/pull/48)
 
 1. Replaced common::Time with std::chrono
     * [Pull request 41](https://github.com/gazebosim/gz-sensors/pull/41)
 
-1. Depend on ign-msgs6, ign-transport9, sdf10
+1. Depend on gz-msgs6, gz-transport9, sdf10
     * [Pull request 31](https://github.com/gazebosim/gz-sensors/pull/31)
 
 1. GitHub migration
@@ -235,7 +235,7 @@
 1. Set camera sensor visibility mask
     * [BitBucket pull request 115](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-sensors/pull-requests/115)
 
-1. Depend on ign-rendering4
+1. Depend on gz-rendering4
     * [BitBucket pull request 111](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-sensors/pull-requests/111)
 
 ## Gazebo Sensors 3
@@ -309,13 +309,13 @@
 1. Add support for sdformat frame semantics
     * [BitBucket pull request 104](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-sensors/pull-requests/104)
 
-1. Remove deprecations in ign-sensors3
+1. Remove deprecations in gz-sensors3
     * [BitBucket pull request 103](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-sensors/pull-requests/103)
 
 1. Break out image noise classes
     * [BitBucket pull request 102](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-sensors/pull-requests/102)
 
-1. Depend on ign-transport8, ign-msgs5, sdformat9
+1. Depend on gz-transport8, gz-msgs5, sdformat9
     * [BitBucket pull request 101](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-sensors/pull-requests/101)
     * [BitBucket pull request 105](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-sensors/pull-requests/105)
 
@@ -328,7 +328,7 @@
 1. Removed deprecations from Manager.
     * [BitBucket pull request 99](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-sensors/pull-requests/99)
 
-1. Depend on ign-rendering3
+1. Depend on gz-rendering3
     * [BitBucket pull request 88](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-sensors/pull-requests/88)
 
 ## Gazebo Sensors 2
@@ -361,7 +361,7 @@
 
 ### Gazebo Sensors 2.6.0 (2019-08-27)
 
-1. Update depth and rgbd camera sensor to output point cloud data generated by ign-rendering DepthCamera
+1. Update depth and rgbd camera sensor to output point cloud data generated by gz-rendering DepthCamera
     * [BitBucket pull request 91](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-sensors/pull-requests/91)
 
 ### Gazebo Sensors 2.5.1 (2019-08-12)
@@ -371,7 +371,7 @@
 
 ### Gazebo Sensors 2.5.0
 
-1. Add `GZ_PROFILER_ENABLE` cmake option for enabling the ign-common profiler.
+1. Add `GZ_PROFILER_ENABLE` cmake option for enabling the gz-common profiler.
     * [BitBucket pull request 82](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-sensors/pull-requests/82)
 
 1. Deduplicate `frame_ids` from sensor message headers
@@ -459,10 +459,10 @@
 1. Create component for rendering sensor classes
     * [BitBucket pull request 42](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-sensors/pull-requests/42)
 
-1. Upgrade to ignition-rendering2
+1. Upgrade to gz-rendering2
     * [BitBucket pull request 45](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-sensors/pull-requests/45)
 
-1. Upgrade to ignition-msgs4 and ignition-transport7
+1. Upgrade to gz-msgs4 and gz-transport7
     * [BitBucket pull request 51](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-sensors/pull-requests/51)
 
 ### Gazebo Sensors 1.X.X (2019-XX-XX)
diff --git a/Migration.md b/Migration.md
index bd8c69f9..bfd17021 100644
--- a/Migration.md
+++ b/Migration.md
@@ -17,6 +17,13 @@ release will remove the deprecated code.
 
 1. **CameraSensor**: the default anti-aliasing value has changed from `2` to `4`.
 
+* The project name has been changed to use the `gz-` prefix, you **must** use the `gz` prefix!
+  * This also means that any generated code that use the project name (e.g. CMake variables, in-source macros) would have to be migrated.
+  * Some non-exhaustive examples of this include:
+    * `GZ_<PROJECT>_<VISIBLE/HIDDEN>`
+    * CMake `-config` files
+    * Paths that depend on the project name
+
 ## Gazebo Sensors 6.0.1 to 6.1.0
 
 ### Modifications
diff --git a/README.md b/README.md
index ac928ced..c8daa62c 100644
--- a/README.md
+++ b/README.md
@@ -14,8 +14,8 @@ Ubuntu Focal | [![Build Status](https://build.osrfoundation.org/buildStatus/icon
 Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_sensors-ci-main-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_sensors-ci-main-homebrew-amd64)
 Windows       | [![Build Status](https://build.osrfoundation.org/job/ign_sensors-ci-win/badge/icon)](https://build.osrfoundation.org/job/ign_sensors-ci-win/)
 
-Gazebo Sensors, a component of [Ignition
-Robotics](https://gazebosim.org), provides numerous sensor models
+Gazebo Sensors, a component of [Gazebo](https://gazebosim.org),
+provides numerous sensor models
 designed to generate realistic data from simulation environments. Gazebo Sensors is used in conjunction with [Gazebo Libraries](https://gazebosim/libs), and especially relies on the rendering capabilities from [Gazebo Rendering](https://gazebosim.org/libs/rendering) and physics simulation from [Gazebo Physics](https://gazebosim.org/libs/physics).
 
 # Table of Contents
diff --git a/api.md.in b/api.md.in
index e73693e3..218f6857 100644
--- a/api.md.in
+++ b/api.md.in
@@ -1,6 +1,6 @@
-## Ignition @IGN_DESIGNATION_CAP@
+## Gazebo @IGN_DESIGNATION_CAP@
 
-Ignition @IGN_DESIGNATION_CAP@ is a component in Gazebo, a set of libraries
+Gazebo @IGN_DESIGNATION_CAP@ is a component in Gazebo, a set of libraries
 designed to rapidly develop robot and simulation applications. 
 
 ## License
diff --git a/examples/save_image/main.cc b/examples/save_image/main.cc
index 53af2274..e405bfad 100644
--- a/examples/save_image/main.cc
+++ b/examples/save_image/main.cc
@@ -133,7 +133,7 @@ int main()
   return 0;
 }
 
-// Copy/paste from an ignition-rendering example
+// Copy/paste from an gz-rendering example
 void BuildScene(gz::rendering::ScenePtr _scene)
 {
   // initialize _scene
diff --git a/src/RgbdCameraSensor.cc b/src/RgbdCameraSensor.cc
index 0cccda8b..959a07f4 100644
--- a/src/RgbdCameraSensor.cc
+++ b/src/RgbdCameraSensor.cc
@@ -481,7 +481,7 @@ bool RgbdCameraSensor::Update(const std::chrono::steady_clock::duration &_now)
 
     std::lock_guard<std::mutex> lock(this->dataPtr->mutex);
 
-    // The following code is a work around since ign-rendering's depth camera
+    // The following code is a work around since gz-rendering's depth camera
     // does not support 2 different clipping distances. An assumption is made
     // that the depth clipping distances are within bounds of the rgb clipping
     // distances, if not, the rgb clipping values will take priority.
diff --git a/tutorials.md.in b/tutorials.md.in
index 54bee3cc..fc40cc53 100644
--- a/tutorials.md.in
+++ b/tutorials.md.in
@@ -1,8 +1,8 @@
 \page tutorials Tutorials
 
-Welcome to the Ignition @IGN_DESIGNATION_CAP@ tutorials. These tutorials
+Welcome to the Gazebo @IGN_DESIGNATION_CAP@ tutorials. These tutorials
 will guide you through the process of understanding the capabilities of the
-Ignition @IGN_DESIGNATION_CAP@ library and how to use the library effectively.
+Gazebo @IGN_DESIGNATION_CAP@ library and how to use the library effectively.
 
 **The tutorials**
 
diff --git a/tutorials/custom_sensors.md b/tutorials/custom_sensors.md
index d3dcec20..c6418a19 100644
--- a/tutorials/custom_sensors.md
+++ b/tutorials/custom_sensors.md
@@ -24,12 +24,12 @@ implement proprietary sensors that can't be shared publicly.
 
 A simulated sensor consists of code that can be used to extract specific data
 from a running simulation. A camera extracts pixels, an IMU extracts
-accelerations, etc. This doesn't necessarily need to be done though Ignition
+accelerations, etc. This doesn't necessarily need to be done though Gazebo
 Sensors. On Gazebo, for example, it's possible to implement
 functionality similar to a sensor just using a system plugin without any
 connection to Gazebo Sensors.
 
-With that in mind, it's worth going over some of the features that Ignition
+With that in mind, it's worth going over some of the features that Gazebo
 Sensors provides that make it easier to implement sensors, instead of writing
 everything from scratch:
 
@@ -45,9 +45,9 @@ Let's go over the creation of a custom
 the total distance travelled by a robot.
 
 This example is located at
-[ign-sensors/examples/custom_sensor](https://github.com/gazebosim/gz-sensors/tree/main/examples/custom_sensor),
+[gz-sensors/examples/custom_sensor](https://github.com/gazebosim/gz-sensors/tree/main/examples/custom_sensor),
 and the integration with Gazebo is at
-[ign-gazebo/examples/plugins/custom_sensor_system](https://github.com/gazebosim/gz-sim/tree/main/examples/plugin/custom_sensor_system).
+[gz-sim/examples/plugins/custom_sensor_system](https://github.com/gazebosim/gz-sim/tree/main/examples/plugin/custom_sensor_system).
 
 Wherever "odometer" is used, that can be substituted for any other custom sensor
 type. Seismometer? Breathalyzer? Just adapt the logic to your needs.
@@ -84,7 +84,7 @@ The sensor consists of a class, `Odometer`, which inherits from
 `gz::sensors::Sensor`.
 
 Take a look at
-[ign-sensors/examples/custom_sensor](https://github.com/gazebosim/gz-sensors/tree/main/examples/custom_sensor)
+[gz-sensors/examples/custom_sensor](https://github.com/gazebosim/gz-sensors/tree/main/examples/custom_sensor)
 for the full code. Here are some important pointers:
 
 * Be sure to link your sensor to Gazebo Sensors
@@ -103,7 +103,7 @@ plugin that instantiates the sensor and updates it periodically with data from
 simulation.
 
 Take a look at
-[ign-gazebo/examples/plugins/custom_sensor_system](https://github.com/gazebosim/gz-sim/tree/main/examples/plugin/custom_sensor_system).
+[gz-sim/examples/plugins/custom_sensor_system](https://github.com/gazebosim/gz-sim/tree/main/examples/plugin/custom_sensor_system).
 for the full code. Here are some important pointers:
 
 * Check for new entities that have `gz::sim::components::CustomSensor`
@@ -114,4 +114,3 @@ for the full code. Here are some important pointers:
 * During `PostUpdate`, update all sensors with new data coming from simulation.
 * Also during `PostUpdate`, delete any sensors that have been removed from
   simulation.
-
diff --git a/tutorials/install.md b/tutorials/install.md
index d7b461d8..dc3f72e8 100644
--- a/tutorials/install.md
+++ b/tutorials/install.md
@@ -41,7 +41,7 @@ which version you need.
 
 ### Windows
 
-Binary install is pending `ignition-rendering` and `ignition-sensors` being added to conda-forge.
+Binary install is pending `gz-rendering` and `gz-sensors` being added to conda-forge.
 
 ## Source Install
 
@@ -74,7 +74,7 @@ Gazebo Sensors requires:
 
 4. Configure and build
   ```
-  cd ign-sensors; mkdir build; cd build; cmake ..;  make
+  cd gz-sensors; mkdir build; cd build; cmake ..;  make
   ```
 
 5. Optionally, install the library
@@ -100,7 +100,7 @@ Gazebo Sensors requires:
 
 3. Configure and build
   ```
-  cd ign-sensors
+  cd gz-sensors
   mkdir build
   cd build
   cmake ..
@@ -116,30 +116,30 @@ Gazebo Sensors requires:
 
 #### Install Prerequisites
 
-First, follow the [ign-cmake](https://github.com/gazebosim/gz-cmake) tutorial for installing Conda, Visual Studio, CMake, etc., prerequisites, and creating a Conda environment.
+First, follow the [gz-cmake](https://github.com/gazebosim/gz-cmake) tutorial for installing Conda, Visual Studio, CMake, etc., prerequisites, and creating a Conda environment.
 
 Navigate to `condabin` if necessary to use the `conda` command (i.e., if Conda is not in your `PATH` environment variable. You can find the location of `condabin` in Anaconda Prompt, `where conda`).
 
 Create if necessary, and activate a Conda environment:
 
 ```
-conda create -n ign-ws
-conda activate ign-ws
+conda create -n gz-ws
+conda activate gz-ws
 ```
 
-Install Ignition dependencies, replacing `<#>` with the desired versions:
+Install Gazebo dependencies, replacing `<#>` with the desired versions:
 
 ```
 conda install libignition-cmake<#> libignition-common<#> libignition-math<#> libignition-transport<#> libignition-msgs<#> --channel conda-forge
 ```
 
-Before [ign-rendering](https://github.com/gazebosim/gz-rendering) becomes available on conda-forge, follow its tutorial to build it from source.
+Before [gz-rendering](https://github.com/gazebosim/gz-rendering) becomes available on conda-forge, follow its tutorial to build it from source.
 
 #### Build from source
 
 1. Activate the Conda environment created in the prerequisites:
   ```
-  conda activate ign-ws
+  conda activate gz-ws
   ```
 
 1. Navigate to where you would like to build the library, and clone the repository.
@@ -150,12 +150,12 @@ Before [ign-rendering](https://github.com/gazebosim/gz-rendering) becomes availa
 
 1. Configure and build
   ```
-  cd ign-sensors
+  cd gz-sensors
   mkdir build
   cd build
   ```
 
-    Before `ign-rendering` becomes available on conda-forge, we need to build it from source and specify the path containing `ignition-rendering-config.cmake` in `CMAKE_PREFIX_PATH`, for cmake to find `ign-rendering`. That path could be `ign-rendering-install-path\lib\cmake\ignition-rendering4`, for example.
+    Before `gz-rendering` becomes available on conda-forge, we need to build it from source and specify the path containing `gz-rendering-config.cmake` in `CMAKE_PREFIX_PATH`, for cmake to find `gz-rendering`. That path could be `gz-rendering-install-path\lib\cmake\gz-rendering4`, for example.
   ```
   cmake .. -DBUILD_TESTING=OFF -DCMAKE_PREFIX_PATH=path\containing\ignition-rendering-config  # Optionally, -DCMAKE_INSTALL_PREFIX=path\to\install
   cmake --build . --config Release
@@ -184,7 +184,7 @@ You can also generate the documentation from a clone of this repository by follo
 
 3. Configure and build the documentation.
   ```
-  cd ign-sensors; mkdir build; cd build; cmake ../; make doc
+  cd gz-sensors; mkdir build; cd build; cmake ../; make doc
   ```
 
 4. View the documentation by running the following command from the build directory.
diff --git a/tutorials/intro.md b/tutorials/intro.md
index 29c379fd..ee7e9d7b 100644
--- a/tutorials/intro.md
+++ b/tutorials/intro.md
@@ -4,8 +4,8 @@ Next Tutorial: \ref installation
 
 ## What is Gazebo Sensors?
 
-Ignition Senors is an open source library that provides a set of sensor and
-noise models accessible through a C++ interface. The goal of Ignition
+Gazebo Sensors is an open source library that provides a set of sensor and
+noise models accessible through a C++ interface. The goal of Gazebo
 Sensors is to generate realistic sensor data suitable for use in robotic
 applications and simulation. The code behind Gazebo Sensors was originally
 developed as a suite of sensor models internal to
diff --git a/tutorials/segmentation_camera.md b/tutorials/segmentation_camera.md
index 53105d98..f7687db7 100644
--- a/tutorials/segmentation_camera.md
+++ b/tutorials/segmentation_camera.md
@@ -4,8 +4,8 @@ In this tutorial, we will discuss how to use a segmentation camera sensor in Gaz
 
 ## Requirements
 
-Since this tutorial will show how to use a segmentation camera sensor in Gazebo, you'll need to have Gazebo installed. We recommend installing all Ignition libraries, using version Fortress or newer (the segmentation camera is not available in Ignition versions prior to Fortress).
-If you need to install Ignition, [pick the version you'd like to use](https://gazebosim.org/docs) and then follow the installation instructions.
+Since this tutorial will show how to use a segmentation camera sensor in Gazebo, you'll need to have Gazebo installed. We recommend installing all Gazebo libraries, using version Fortress or newer (the segmentation camera is not available in Gazebo versions prior to Fortress).
+If you need to install Gazebo, [pick the version you'd like to use](https://gazebosim.org/docs) and then follow the installation instructions.
 
 ## Setting up the segmentation camera
 Here's an example of how to attach a segmentation camera sensor to a model in a SDF file:
@@ -191,7 +191,7 @@ If you're including a model from a place like [Gazebo Fuel](https://app.gazebosi
 Now that we've discussed how a segmentation camera and models with labels can be specified, let's run an example world that uses the segmentation camera.
 Run the following command:
 ```
-ign gazebo segmentation_camera.sdf
+gz sim segmentation_camera.sdf
 ```
 
 You should see something similar to this:
@@ -375,7 +375,7 @@ For panoptic/instance segmentation, to parse the `labels_map`, click on any pixe
 
 
 ## Processing the segmentation sensor via ign-transport
-It's possible to process the segmentation data in real time via `ign-transport`.
+It's possible to process the segmentation data in real time via `gz-transport`.
 You will need to which topics to subscribe to in order to receive this information.
 
 Consider the following SDF snippet from the segmentation camera:
@@ -457,4 +457,4 @@ int main(int argc, char **argv)
 ```
 
 If you'd like to gain a better understanding of how the subscriber code works,
-you can go through the [ign-transport tutorials](https://gazebosim.org/api/transport/11.0/tutorials.html).
+you can go through the [gz-transport tutorials](https://gazebosim.org/api/transport/11.0/tutorials.html).
diff --git a/tutorials/thermal_camera.md b/tutorials/thermal_camera.md
index 91ba7e3c..3cc26f46 100644
--- a/tutorials/thermal_camera.md
+++ b/tutorials/thermal_camera.md
@@ -7,13 +7,13 @@ There are currently a few limitations with the thermal camera, which will be men
 ## Requirements
 
 Since this tutorial will show how to use a thermal camera sensor in Gazebo, you'll need to have Gazebo installed.
-We recommend installing all Ignition libraries, using version Citadel or newer (the thermal camera is not available in Ignition versions prior to Citadel).
+We recommend installing all Gazebo libraries, using version Citadel or newer (the thermal camera is not available in Gazebo versions prior to Citadel).
 
 The following thermal camera capabilities are available starting from Gazebo Dome:
 * Heat signature capabilities (supports objects with a variable surface temperature)
 * 8-bit thermal camera image format (the default thermal camera image format is 16-bit)
 
-If you need to install Ignition, [pick the version you'd like to use](https://gazebosim.org/docs) and then follow the installation instructions.
+If you need to install Gazebo, [pick the version you'd like to use](https://gazebosim.org/docs) and then follow the installation instructions.
 
 ## Setting up the thermal camera
 
@@ -244,7 +244,7 @@ Now that we've discussed how a thermal camera and models with temperature can be
 Run the following command:
 
 ```
-ign gazebo -r thermal_camera.sdf
+gz sim -r thermal_camera.sdf
 ```
 
 You should see something similar to this:
@@ -267,7 +267,7 @@ An easy way to move objects in the world is by using `Transform Control`:
 @image html files/thermal_camera/thermal_camera_demo_2.png
 
 Another thing that you can do is modify the temperature ranges for objects with a heat signature.
-For example, if you go to the fuel cache on your machine (located at `~/.ignition/fuel/` by default) and then modify Rescue Randy's `model.sdf` to have `min_temp` be `200`, and `max_temp` be `500`, you should see output similar to this (be sure to re-start the simulator by killing the current simulator (`ctrl-c` will do) and then re-running `ign gazebo -r thermal_camera.sdf`):
+For example, if you go to the fuel cache on your machine (located at `~/.ignition/fuel/` by default) and then modify Rescue Randy's `model.sdf` to have `min_temp` be `200`, and `max_temp` be `500`, you should see output similar to this (be sure to re-start the simulator by killing the current simulator (`ctrl-c` will do) and then re-running `gz sim -r thermal_camera.sdf`):
 
 @image html files/thermal_camera/thermal_camera_demo_3.png