Merge branch 'main' into feature/ign-gazebo7-metal-demo

.github/ISSUE_TEMPLATE/bug_report.md

@@ -14,10 +14,10 @@ http://answers.gazebosim.org instead.-->
   <!-- If source, which branch and what is the latest commit? -->
 * If this is a GUI or sensor rendering bug, describe your GPU and rendering system. Otherwise delete this section. <!-- If you do not know some values, leave them out. But please, at least give a try to finding them - they are really helpful when debugging rendering errors. -->
     - Rendering plugin: [ogre | ogre2]. <!-- You can find it in the logs of Gazebo it outputs to console when you launch it with `-v 3` or `-v 4` argument. -->
-      - [ ] Sensor rendering error. <!-- Search for message like "[Msg] Loading plugin [ignition-rendering-ogre]" (not starting with "[GUI]"). -->
-      - [ ] GUI rendering error. <!-- Search for message like "[GUI] [Msg] Loading plugin [ignition-rendering-ogre2] -->
+      - [ ] Sensor rendering error. <!-- Search for message like "[Msg] Loading plugin [gz-rendering-ogre]" (not starting with "[GUI]"). -->
+      - [ ] GUI rendering error. <!-- Search for message like "[GUI] [Msg] Loading plugin [gz-rendering-ogre2] -->
     - EGL headless mode:
-      - [ ] Running in EGL headless mode <!-- only available since Ignition Fortress, GPU display is specified as /dev/dri/card* instead of :0 -->
+      - [ ] Running in EGL headless mode <!-- only available since Gazebo Fortress, GPU display is specified as /dev/dri/card* instead of :0 -->
     - Generally, mention all circumstances that might affect rendering capabilities: <!-- remove lines that do not apply to keep the list short -->
       - [ ] running on a dual GPU machine (integrated GPU + discrete GPU)
       - [ ] running on a multi-GPU machine (it has multiple discrete GPUs)
@@ -47,9 +47,9 @@ http://answers.gazebosim.org instead.-->
       - On Mac OS, open a terminal and type `system_profiler SPDisplaysDataType`. Copy the output here.
         <!-- Please note that GUI rendering is not supported on macOS. -->
     - [ ] Please, attach the ogre.log or ogre2.log file from  `~/.ignition/rendering` <!-- Choose the relevant version based on what you checked in the "Rendering plugin" question. -->
-    
+
 <details>
-  
+
 ```
 # paste log here
 ```

CMakeLists.txt

@@ -14,10 +14,12 @@ find_package(gz-cmake3 REQUIRED)
 #============================================================================
 # Configure the project
 #============================================================================
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
 gz_configure_project(
   REPLACE_IGNITION_INCLUDE_PATH gz/sim
   VERSION_SUFFIX pre1)
-set (CMAKE_CXX_STANDARD 17)
 
 #============================================================================
 # Set project-specific options
@@ -205,10 +207,10 @@ else()
 endif()
 # Plugin install dirs
 set(GZ_SIM_PLUGIN_INSTALL_DIR
-  ${CMAKE_INSTALL_PREFIX}/${IGN_LIB_INSTALL_DIR}/ign-${IGN_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins
+  ${CMAKE_INSTALL_PREFIX}/${IGN_LIB_INSTALL_DIR}/gz-${IGN_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins
 )
 set(GZ_SIM_GUI_PLUGIN_INSTALL_DIR
-  ${CMAKE_INSTALL_PREFIX}/${IGN_LIB_INSTALL_DIR}/ign-${IGN_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins/gui
+  ${CMAKE_INSTALL_PREFIX}/${IGN_LIB_INSTALL_DIR}/gz-${IGN_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins/gui
 )
 
 #============================================================================

Changelog.md

@@ -584,7 +584,7 @@
     * [Pull request #856](https://github.com/gazebosim/gz-sim/pull/856)
     * [Pull request #1001](https://github.com/gazebosim/gz-sim/pull/1001)
 
-1. Upgrade ign-sensors and support custom sensors
+1. Upgrade gz-sensors and support custom sensors
     * [Pull request #617](https://github.com/gazebosim/gz-sim/pull/617)
 
 1. Fix entity creation console msg
@@ -644,7 +644,7 @@
 1. Remove deprecations: tock 🕑
     * [Pull request #875](https://github.com/gazebosim/gz-sim/pull/875)
 
-1. Removed and moved tape measure and grid config to ign-gui
+1. Removed and moved tape measure and grid config to gz-gui
     * [Pull request #870](https://github.com/gazebosim/gz-sim/pull/870)
 
 1. Update wireframe visualization to support nested models
@@ -845,7 +845,7 @@
 1. Support locked entities, and headless video recording using sim time
     * [Pull request #862](https://github.com/gazebosim/gz-sim/pull/862)
 
-1. Update ign-gazebo4 changelog
+1. Update gz-sim4 changelog
     * [Pull request #1031](https://github.com/gazebosim/gz-sim/pull/1031)
 
 1. bump version and update changelog
@@ -1060,7 +1060,7 @@
 1. Remove unused headers in video_recoder plugin
     * [Pull request #834](https://github.com/gazebosim/gz-sim/pull/834)
 
-1. Use moveToHelper from ign-rendering
+1. Use moveToHelper from gz-rendering
     * [Pull request #825](https://github.com/gazebosim/gz-sim/pull/825)
 
 1. Make halt motion act like a brake
@@ -1099,7 +1099,7 @@
 1. Contacts visualization
     * [Pull request #234](https://github.com/gazebosim/gz-sim/pull/234)
 
-1. Bump to ign-msgs 7.1 / sdformat 11.1, Windows fixes
+1. Bump to gz-msgs 7.1 / sdformat 11.1, Windows fixes
     * [Pull request #758](https://github.com/gazebosim/gz-sim/pull/758)
 
 1. Add functionalities for optical tactile plugin
@@ -1108,7 +1108,7 @@
 1. Fix documentation for EntityComponentManager::EachNew
     * [Pull request #795](https://github.com/gazebosim/gz-sim/pull/795)
 
-1. Bump ign-physics version to 3.2
+1. Bump gz-physics version to 3.2
     * [Pull request #792](https://github.com/gazebosim/gz-sim/pull/792)
 
 1. Prevent crash on Plotting plugin with mutex
@@ -1230,7 +1230,7 @@
 1. Deprecate TmpIface: it's leftover from prototyping
     * [Pull request #654](https://github.com/gazebosim/gz-sim/pull/654)
 
-1. Bump in edifice: ign-common4
+1. Bump in edifice: gz-common4
     * [Pull request #577](https://github.com/gazebosim/gz-sim/pull/577)
 
 1. Plugin to spawn lights
@@ -1246,7 +1246,7 @@
 1. Prepare GuiRunner to be made private
     * [Pull request #567](https://github.com/gazebosim/gz-sim/pull/567)
 
-1. Deprecate some sim::gui events in favor of ign-gui events
+1. Deprecate some sim::gui events in favor of gz-gui events
     * [Pull request #595](https://github.com/gazebosim/gz-sim/pull/595)
 
 1. Heightmap (rendering only)
@@ -1308,13 +1308,13 @@
 1. Fix visibility macro names when used by a different component (Windows)
     * [Pull request #564](https://github.com/gazebosim/gz-sim/pull/564)
 
-1. Bump edifice sdformat11 and ign-physics4
+1. Bump edifice sdformat11 and gz-physics4
     * [Pull request #549](https://github.com/gazebosim/gz-sim/pull/549)
 
 1. Use ComponentState::PeriodicChange in UpdateState to avoid forcing full scene update
     * [Pull request #486](https://github.com/gazebosim/gz-sim/pull/486)
 
-1. Bump in edifice: ign-msgs7
+1. Bump in edifice: gz-msgs7
     * [Pull request #546](https://github.com/gazebosim/gz-sim/pull/546)
 
 1. Add support for sky
@@ -1323,7 +1323,7 @@
 1. Infrastructure
     * [Pull request #423](https://github.com/gazebosim/gz-sim/pull/423)
 
-1. Bump in edifice: ign-rendering5
+1. Bump in edifice: gz-rendering5
     * [Pull request #430](https://github.com/gazebosim/gz-sim/pull/430)
 
 1. Add 25percent darker view angle icons
@@ -1459,7 +1459,7 @@
 1. Using math::SpeedLimiter on the ackermann_steering controller.
     * [Pull Request 837](https://github.com/gazebosim/gz-sim/pull/837)
 
-1. All changes merged forward from ign-gazebo3
+1. All changes merged forward from gz-sim3
     * [Pull Request 866](https://github.com/gazebosim/gz-sim/pull/866)
     * [Pull Request 916](https://github.com/gazebosim/gz-sim/pull/916)
     * [Pull Request 933](https://github.com/gazebosim/gz-sim/pull/933)
@@ -1757,7 +1757,7 @@
 1. Update Dockerfiles to use focal images
     * [pull request 388](https://github.com/gazebosim/gz-sim/pull/388)
 
-1. Updated source build instructions for ign-gazebo4
+1. Updated source build instructions for gz-sim4
     * [pull request 404](https://github.com/gazebosim/gz-sim/pull/404)
 
 1. Add tests for the AnimationTime component
@@ -1894,7 +1894,7 @@
 1. Support <actor><pose> and <actor><plugin>
     * [BitBucket pull request 542](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/542)
 
-1. Depend on ign-rendering4, ign-gui4, ign-sensors4
+1. Depend on gz-rendering4, gz-gui4, gz-sensors4
     * [BitBucket pull request 540](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/540)
 
 1. Axis-Aligned Bounding Boxes
@@ -1927,7 +1927,7 @@
 1. Fix generation of systems library symlinks in build directory
     * [Pull request #1160](https://github.com/gazebosim/gz-sim/pull/1160)
 
-1. Backport sim::Util::validTopic() from ign-gazebo4.
+1. Backport sim::Util::validTopic() from gz-sim4.
     * [Pull request #1153](https://github.com/gazebosim/gz-sim/pull/1153)
 
 1. Support setting the background color for sensors
@@ -2091,7 +2091,7 @@
 1. Enables confirmation dialog when closing Gazebo.
     * [Pull request #850](https://github.com/gazebosim/gz-sim/pull/850)
 
-1. Depend on ign-rendering 3.5
+1. Depend on gz-rendering 3.5
     * [Pull request #867](https://github.com/gazebosim/gz-sim/pull/867)
 
 1. Using math::SpeedLimiter on the diff_drive controller.
@@ -2115,7 +2115,7 @@
 1. Remove unused headers in video_recoder plugin
     * [Pull request #834](https://github.com/gazebosim/gz-sim/pull/834)
 
-1. Use moveToHelper from ign-rendering
+1. Use moveToHelper from gz-rendering
     * [Pull request #825](https://github.com/gazebosim/gz-sim/pull/825)
 
 1. Remove tools/code_check and update codecov
@@ -2428,7 +2428,7 @@
 1. Add search and sort for resource spawner.
     * [Pull Request 359](https://github.com/gazebosim/gz-sim/pull/359)
 
-1. Fix source build instructions for ign-gazebo3.
+1. Fix source build instructions for gz-sim3.
     * [Pull Request 395](https://github.com/gazebosim/gz-sim/pull/395)
 
 1. Added playback scrubber GUI
@@ -2503,7 +2503,7 @@
 
 ### Gazebo Sim 3.2.0 (2020-05-20)
 
-1. Merge ign-gazebo2 to ign-gazebo3
+1. Merge gz-sim2 to gz-sim3
     * [pull request 149](https://github.com/gazebosim/gz-sim/pull/149)
 
 ### Gazebo Sim 3.1.0 (2020-05-19)
@@ -2567,7 +2567,7 @@
 1. Move function definitions to their correct locations in EntityComponentManager
     * [BitBucket pull request 380](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/380)
 
-1. Depend on ign-rendering3, ign-gui3, ign-sensors3
+1. Depend on gz-rendering3, gz-gui3, gz-sensors3
     * [BitBucket pull request 411](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/411)
 
 1. Rendering and Animating Actors
@@ -2795,7 +2795,7 @@
 1. Fix seeking back in time in log playback
     * [BitBucket pull request 523](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/523)
 
-1. Fix the deprecated ign-gazebo command line
+1. Fix the deprecated gz-sim command line
     * [BitBucket pull request 499](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/499)
 
 1. Always use the latest render texture in scene3d
@@ -3104,7 +3104,7 @@
 1. Fix distributed sim documentation
     * [BitBucket pull request 318](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/318)
 
-1. Port Scene3D gui plugin from ign-gui. Renamed to GzScene3D.
+1. Port Scene3D gui plugin from gz-gui. Renamed to GzScene3D.
     * [BitBucket pull request 315](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/315)
 
 1. Entity tree UI
@@ -3215,16 +3215,16 @@
 1. Distributed sim deprecate envs
     * [BitBucket pull request 240](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/240)
 
-1. Use ign-sensors magnetometer sensor plugin
+1. Use gz-sensors magnetometer sensor plugin
     * [BitBucket pull request 221](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/221)
 
-1. Use ign-sensors altimeter sensor plugin
+1. Use gz-sensors altimeter sensor plugin
     * [BitBucket pull request 215](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/215)
 
-1. Use ign-sensors imu sensor plugin
+1. Use gz-sensors imu sensor plugin
     * [BitBucket pull request 219](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/219)
 
-1. Depend on ign-sensors rendering component
+1. Depend on gz-sensors rendering component
     * [BitBucket pull request 212](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/212)
 
 ## Gazebo Sim 1.x
@@ -3254,7 +3254,7 @@
 1. Added LiftDragPlugin (ported from Gazebo classic)
     * [BitBucket pull request 256](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/256)
 
-1. Logging refactor unique path functions to ign-common
+1. Logging refactor unique path functions to gz-common
     * [BitBucket pull request 270](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/270)
 
 1. Added test for log record and playback.
@@ -3263,7 +3263,7 @@
 1. Add ApplyJointForce system
     * [BitBucket pull request 254](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/254)
 
-1. More ign-msgs <-> SDF conversions: Inertial, Geometry, Material
+1. More gz-msgs <-> SDF conversions: Inertial, Geometry, Material
     * [BitBucket pull request 251](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/251)
 
 1. Logging command line support
@@ -3324,7 +3324,7 @@
 1. Example tunnel world
     * [BitBucket pull request 205](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/205)
 
-1. Conversion from chrono to ign-msgs
+1. Conversion from chrono to gz-msgs
     * [BitBucket pull request 223](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/223)
 
 1. Prevent error message when using levels
@@ -3386,7 +3386,7 @@
 1. Create EventManager and delegate System instantiation to SimulationRunner
     * [BitBucket pull request 79](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/79)
 
-1. Integrate ign-gui
+1. Integrate gz-gui
     * [BitBucket pull request 11](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/11)
 
 1. Remove some build dependencies.

Migration.md

@@ -34,6 +34,14 @@ release will remove the deprecated code.
 * The `gazebo` command line verb is deprecated.
   Use `sim` instead (e.g. `ign gazebo` -> `gz sim`).
 
+* **Breaking Changes**
+  * 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 Sim 6.1 to 6.2
 
 * If no `<namespace>` is given to the `Thruster` plugin, the namespace now
@@ -113,7 +121,7 @@ since pose information is being logged in the `changed_state` topic.
 
 ## Gazebo Sim 4.x to 5.x
 
-* Use `cli` component of `ignition-utils1`.
+* Use `cli` component of `gz-utils1`.
 
 * `gz::sim::RenderUtil::SelectedEntities()` now returns a
   `const std::vector<Entity> &` instead of forcing a copy. The calling code
@@ -174,7 +182,7 @@ in SDF by setting the `<visual><material><double_sided>` SDF element.
 
 ## Gazebo Sim 2.x to 3.x
 
-* Use ign-rendering3, ign-sensors3 and ign-gui3.
+* Use gz-rendering3, gz-sensors3 and gz-gui3.
 
 ## Gazebo Sim 1.x to 2.x
 
@@ -191,7 +199,7 @@ in SDF by setting the `<visual><material><double_sided>` SDF element.
 * The `-f`/`--file` command line argument has been deprecated. The SDF
   file can now be loaded without a flag.
 
-* The `ign-gazebo` command line tool is deprecated. The new tool is
+* The `gz-sim` command line tool is deprecated. The new tool is
   `gz sim`, which has all the same options, except for
   `--distributed` and `--file`/`-f`, which have been removed.
 

README.md

@@ -97,7 +97,7 @@ gz sim -h
 ## Known issue of command line tools
 
 In the event that the installation is a mix of Debian and from source, command
-line tools from `ign-tools` may not work correctly.
+line tools from `gz-tools` may not work correctly.
 
 A workaround for a single package is to define the environment variable
 `GZ_CONFIG_PATH` to point to the location of the Gazebo library installation,
@@ -138,12 +138,12 @@ See the [Writing Tests section of the contributor guide](https://github.com/gaze
 Refer to the following table for information about important directories and files in this repository.
 
 ```
-ign-gazebo
-├── examples                     Various examples that can be run against binary or source installs of ign-gazebo.
+gz-sim
+├── examples                     Various examples that can be run against binary or source installs of gz-sim.
 │   ├── plugin                   Example plugins.
-│   ├── standalone               Example standalone programs that use ign-gazebo as a library.
+│   ├── standalone               Example standalone programs that use gz-sim as a library.
 │   └── worlds                   Example SDF world files.
-├── include/ignition/gazebo      Header files that downstream users are expected to use.
+├── include/gz/sim               Header files that downstream users are expected to use.
 │   └── detail                   Header files that are not intended for downstream use, mainly template implementations.
 ├── src                          Source files and unit tests.
 │   ├── gui                      Graphical interface source code.

examples/plugin/command_actor/README.md

@@ -4,7 +4,7 @@ This example shows how to command actors in various ways from a plugin.
 
 ## Build
 
-From the root of the `ign-gazebo` repository, do the following to build the example:
+From the root of the `gz-sim` repository, do the following to build the example:
 
 ~~~
 cd examples/plugin/command_actor
@@ -28,4 +28,3 @@ export GZ_SIM_SYSTEM_PLUGIN_PATH=`pwd`/build
 Then run the demo world:
 
     gz sim -v 4 command_actor.sdf -r
-