ign to gz (#1630)

Signed-off-by: Louise Poubel <[email protected]>
gazebosim · Aug 5, 2022 · 021b3b0 · 021b3b0
1 parent 2297677
commit 021b3b0
Show file tree

Hide file tree

Showing 5 changed files with 42 additions and 45 deletions.
diff --git a/examples/worlds/boundingbox_camera.sdf b/examples/worlds/boundingbox_camera.sdf
@@ -5,32 +5,32 @@
 <sdf version="1.6">
   <world name="boundingbox_sensor">
     <plugin
-      filename="ignition-gazebo-physics-system"
-      name="ignition::gazebo::systems::Physics">
+      filename="gz-sim-physics-system"
+      name="gz::sim::systems::Physics">
     </plugin>
     <plugin
-      filename="ignition-gazebo-user-commands-system"
-      name="ignition::gazebo::systems::UserCommands">
+      filename="gz-sim-user-commands-system"
+      name="gz::sim::systems::UserCommands">
     </plugin>
     <plugin
-      filename="ignition-gazebo-scene-broadcaster-system"
-      name="ignition::gazebo::systems::SceneBroadcaster">
+      filename="gz-sim-scene-broadcaster-system"
+      name="gz::sim::systems::SceneBroadcaster">
     </plugin>
     <plugin
-      filename="ignition-gazebo-sensors-system"
-      name="ignition::gazebo::systems::Sensors">
+      filename="gz-sim-sensors-system"
+      name="gz::sim::systems::Sensors">
       <render_engine>ogre2</render_engine>
     </plugin>
 
     <gui fullscreen="0">
 
       <!-- 3D scene -->
       <plugin filename="MinimalScene" 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>
@@ -41,43 +41,43 @@
 
       <!-- Plugins that add functionality to the scene -->
       <plugin filename="EntityContextMenuPlugin" name="Entity context menu">
-        <ignition-gui>
+        <gz-gui>
           <property key="state" type="string">floating</property>
           <property key="width" type="double">5</property>
           <property key="height" type="double">5</property>
           <property key="showTitleBar" type="bool">false</property>
-        </ignition-gui>
+        </gz-gui>
       </plugin>
       <plugin filename="GzSceneManager" name="Scene Manager">
-        <ignition-gui>
+        <gz-gui>
           <property key="resizable" type="bool">false</property>
           <property key="width" type="double">5</property>
           <property key="height" type="double">5</property>
           <property key="state" type="string">floating</property>
           <property key="showTitleBar" type="bool">false</property>
-        </ignition-gui>
+        </gz-gui>
       </plugin>
       <plugin filename="InteractiveViewControl" name="Interactive view control">
-        <ignition-gui>
+        <gz-gui>
           <property key="resizable" type="bool">false</property>
           <property key="width" type="double">5</property>
           <property key="height" type="double">5</property>
           <property key="state" type="string">floating</property>
           <property key="showTitleBar" type="bool">false</property>
-        </ignition-gui>
+        </gz-gui>
       </plugin>
       <plugin filename="CameraTracking" name="Camera Tracking">
-        <ignition-gui>
+        <gz-gui>
           <property key="resizable" type="bool">false</property>
           <property key="width" type="double">5</property>
           <property key="height" type="double">5</property>
           <property key="state" type="string">floating</property>
           <property key="showTitleBar" type="bool">false</property>
-        </ignition-gui>
+        </gz-gui>
       </plugin>
       <!-- World control -->
       <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>
@@ -90,7 +90,7 @@
             <line own="left" target="left"/>
             <line own="bottom" target="bottom"/>
           </anchors>
-        </ignition-gui>
+        </gz-gui>
 
         <play_pause>true</play_pause>
         <step>true</step>
@@ -101,7 +101,7 @@
 
       <!-- World statistics -->
       <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>
@@ -114,7 +114,7 @@
             <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>
@@ -124,32 +124,32 @@
 
       <plugin filename="ImageDisplay" name="Full 2D">
         <topic>boxes_full_2d_image</topic>
-        <ignition-gui>
+        <gz-gui>
           <title>Full 2D</title>
           <property key="state" type="string">docked</property>
           <property type="double" key="height">400</property>
           <property type="double" key="width">600</property>
-        </ignition-gui>
+        </gz-gui>
       </plugin>
 
       <plugin filename="ImageDisplay" name="Visible 2D">
         <topic>boxes_visible_2d_image</topic>
-        <ignition-gui>
+        <gz-gui>
           <title>Visible 2D</title>
           <property key="state" type="string">docked</property>
           <property type="double" key="height">400</property>
           <property type="double" key="width">600</property>
-        </ignition-gui>
+        </gz-gui>
       </plugin>
 
       <plugin filename="ImageDisplay" name="3D">
         <topic>boxes_3d_image</topic>
-        <ignition-gui>
+        <gz-gui>
           <title>3D</title>
           <property key="state" type="string">docked</property>
           <property type="double" key="height">400</property>
           <property type="double" key="width">600</property>
-        </ignition-gui>
+        </gz-gui>
       </plugin>
 
     </gui>
@@ -228,15 +228,15 @@
             <diffuse>0 0 1 1</diffuse>
             <specular>0 0 0.3 1</specular>
           </material>
-          <plugin filename="ignition-gazebo-label-system" name="ignition::gazebo::systems::Label">
+          <plugin filename="gz-sim-label-system" name="gz::sim::systems::Label">
             <label>10</label>
           </plugin>
         </visual>
       </link>
     </model>
 
     <model name="box2">
-      <plugin filename="ignition-gazebo-label-system" name="ignition::gazebo::systems::Label">
+      <plugin filename="gz-sim-label-system" name="gz::sim::systems::Label">
         <label>10</label>
       </plugin>
       <pose>0 1 0.5 0 0 0</pose>
@@ -300,7 +300,7 @@
           <cast_shadows>false</cast_shadows>
         </visual>
       </link>
-      <plugin filename="ignition-gazebo-label-system" name="ignition::gazebo::systems::Label">
+      <plugin filename="gz-sim-label-system" name="gz::sim::systems::Label">
         <label>20</label>
       </plugin>
     </model>
@@ -405,7 +405,7 @@
       <uri>
       https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Construction Cone
       </uri>
-      <plugin filename="ignition-gazebo-label-system" name="ignition::gazebo::systems::Label">
+      <plugin filename="gz-sim-label-system" name="gz::sim::systems::Label">
         <label>30</label>
       </plugin>
     </include>

diff --git a/examples/worlds/multicopter_velocity_control.sdf b/examples/worlds/multicopter_velocity_control.sdf
@@ -18,7 +18,7 @@ You can use the velocity controller and command linear velocity and yaw angular
 
   Listen to poses:
 
-    ign topic -e -t "/model/x3/pose"
+    gz topic -e -t "/model/x3/pose"
 
 
   Send commands to the hexacopter to go straight up:

diff --git a/src/gz_TEST.cc b/src/gz_TEST.cc
@@ -171,15 +171,15 @@ TEST(CmdLine, GZ_UTILS_TEST_DISABLED_ON_WIN32(ResourcePath))
 TEST(CmdLine, GZ_UTILS_TEST_DISABLED_ON_WIN32(GazeboHelpVsCompletionFlags))
 {
   // Flags in help message
-  std::string helpOutput = customExecStr(kGzCommand + " gazebo --help");
+  std::string helpOutput = customExecStr(kGzCommand + " sim --help");
 
   // Call the output function in the bash completion script
   std::string scriptPath = gz::common::joinPaths(
     std::string(PROJECT_SOURCE_PATH),
-    "src", "cmd", "gazebo.bash_completion.sh");
+    "src", "cmd", "sim.bash_completion.sh");
 
   // Equivalent to:
-  // sh -c "bash -c \". /path/to/gazebo.bash_completion.sh; _gz_sim_flags\""
+  // sh -c "bash -c \". /path/to/sim.bash_completion.sh; _gz_sim_flags\""
   std::string cmd = "bash -c \". " + scriptPath + "; _gz_sim_flags\"";
   std::string scriptOutput = customExecStr(cmd);
 
@@ -193,7 +193,7 @@ TEST(CmdLine, GZ_UTILS_TEST_DISABLED_ON_WIN32(GazeboHelpVsCompletionFlags))
   // Match each flag in script output with help message
   for (const auto &flag : flags)
   {
-    EXPECT_NE(std::string::npos, helpOutput.find(flag)) << helpOutput;
+    EXPECT_NE(std::string::npos, helpOutput.find(flag)) << flag;
   }
 }
 

diff --git a/src/systems/odometry_publisher/OdometryPublisher.cc b/src/systems/odometry_publisher/OdometryPublisher.cc
@@ -233,7 +233,7 @@ void OdometryPublisher::Configure(const Entity &_entity,
   {
     this->dataPtr->odomPub = this->dataPtr->node.Advertise<msgs::Odometry>(
         odomTopicValid);
-    ignmsg << "OdometryPublisher publishing odometry on [" << odomTopicValid
+    gzmsg << "OdometryPublisher publishing odometry on [" << odomTopicValid
            << "]" << std::endl;
   }
 
@@ -248,25 +248,24 @@ void OdometryPublisher::Configure(const Entity &_entity,
   {
     this->dataPtr->odomCovPub = this->dataPtr->node.Advertise<
         msgs::OdometryWithCovariance>(odomCovTopicValid);
-    ignmsg << "OdometryPublisher publishing odometry with covariance on ["
+    gzmsg << "OdometryPublisher publishing odometry with covariance on ["
            << odomCovTopicValid << "]" << std::endl;
   }
 
-  std::string tfTopic{"/model/" + this->dataPtr->model.Name(_ecm) +
-    "/pose"};
+  std::string tfTopic{"/model/" + this->dataPtr->model.Name(_ecm) + "/pose"};
   if (_sdf->HasElement("tf_topic"))
     tfTopic = _sdf->Get<std::string>("tf_topic");
   std::string tfTopicValid {transport::TopicUtils::AsValidTopic(tfTopic)};
   if (tfTopicValid.empty())
   {
-    ignerr << "Failed to generate valid TF topic from [" << tfTopic << "]"
+    gzerr << "Failed to generate valid TF topic from [" << tfTopic << "]"
            << std::endl;
   }
   else
   {
     this->dataPtr->tfPub = this->dataPtr->node.Advertise<msgs::Pose_V>(
         tfTopicValid);
-    ignmsg << "OdometryPublisher publishing Pose_V (TF) on ["
+    gzmsg << "OdometryPublisher publishing Pose_V (TF) on ["
            << tfTopicValid << "]" << std::endl;
   }
 }

diff --git a/tutorials/resources.md b/tutorials/resources.md
@@ -111,9 +111,7 @@ Top-level entities such as models, lights and actors may be loaded through:
     * Path / URL to SDF file
     * (TODO) `gz::msgs::Model`, `gz::msgs::Light`
 * Within a system, using
-==== BASE ====
   [SdfEntityCreator](https://ignitionrobotics.org/api/gazebo/4.6/classignition_1_1gazebo_1_1SdfEntityCreator.html)
-==== BASE ====
   or directly creating components and entities.
 
 Gazebo will look for URIs (path / URL) in the following, in order: