ign -> gz Shared Lib Migration : gz-sim

Migration.md

@@ -34,6 +34,9 @@ release will remove the deprecated code.
 * The `gazebo` command line verb is deprecated.
   Use `sim` instead (e.g. `ign gazebo` -> `gz sim`).
 
+* 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.
+
 * **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.

examples/plugin/custom_sensor_system/odometer.sdf

@@ -90,12 +90,12 @@
           <always_on>1</always_on>
           <update_rate>30</update_rate>
           <visualize>true</visualize>
-          <ignition:odometer>
+          <gz:odometer>
             <noise type="gaussian">
               <mean>0.00001</mean>
               <stddev>0.00001</stddev>
             </noise>
-          </ignition:odometer>
+          </gz:odometer>
         </sensor>
       </link>
 

examples/scripts/log_video_recorder/log_video_recorder.sdf

@@ -10,15 +10,15 @@
 -->
 <sdf version='1.6'>
   <world name='default'>
-    <plugin filename='ignition-gazebo-scene-broadcaster-system'
+    <plugin filename='gz-sim-scene-broadcaster-system'
             name='gz::sim::systems::SceneBroadcaster'>
     </plugin>
     <plugin
-      filename='ignition-gazebo-log-system'
+      filename='gz-sim-log-system'
       name='gz::sim::systems::LogPlayback'>
       <path>tmp_record</path>
     </plugin>
-    <plugin filename='ignition-gazebo-log-video-recorder-system'
+    <plugin filename='gz-sim-log-video-recorder-system'
             name='gz::sim::systems::LogVideoRecorder'>
       <region>
         <min>-5 -5 0.001</min>

examples/worlds/buoyancy_engine.sdf

@@ -132,7 +132,7 @@ gz topic -t  /model/buoyant_box/buoyancy_engine/current_volume -e
         </collision>
       </link>
       <plugin
-        filename="libignition-gazebo-buoyancy-engine-system.so"
+        filename="gz-sim-buoyancy-engine-system"
         name="gz::sim::systems::BuoyancyEngine">
         <link_name>body</link_name>
         <namespace>buoyant_box</namespace>
@@ -172,7 +172,7 @@ gz topic -t  /model/buoyant_box/buoyancy_engine/current_volume -e
         </collision>
       </link>
       <plugin
-        filename="libignition-gazebo-buoyancy-engine-system.so"
+        filename="gz-sim-buoyancy-engine-system"
         name="gz::sim::systems::BuoyancyEngine">
         <link_name>body</link_name>
         <namespace>buoyant_box</namespace>

examples/worlds/conveyor.sdf

@@ -144,14 +144,14 @@
                 <kinematic>0</kinematic>
             </link>
 
-            <plugin filename="libignition-gazebo-track-controller-system.so"
+            <plugin filename="gz-sim-track-controller-system"
                     name="gz::sim::systems::TrackController">
                 <link>base_link</link>
                 <!--debug>true</debug-->
             </plugin>
 
             <!-- Moving Forward: W -->
-            <plugin filename="libignition-gazebo-triggered-publisher-system.so"
+            <plugin filename="gz-sim-triggered-publisher-system"
                     name="gz::sim::systems::TriggeredPublisher">
                 <input type="gz.msgs.Int32" topic="/keyboard/keypress">
                     <match field="data">87</match>
@@ -162,7 +162,7 @@
             </plugin>
 
             <!-- Moving Backward: X -->
-            <plugin filename="libignition-gazebo-triggered-publisher-system.so"
+            <plugin filename="gz-sim-triggered-publisher-system"
                     name="gz::sim::systems::TriggeredPublisher">
                 <input type="gz.msgs.Int32" topic="/keyboard/keypress">
                     <match field="data">88</match>
@@ -173,7 +173,7 @@
             </plugin>
 
             <!-- Stop: S -->
-            <plugin filename="libignition-gazebo-triggered-publisher-system.so"
+            <plugin filename="gz-sim-triggered-publisher-system"
                     name="gz::sim::systems::TriggeredPublisher">
                 <input type="gz.msgs.Int32" topic="/keyboard/keypress">
                     <match field="data">83</match>

examples/worlds/joint_trajectory_controller.sdf

@@ -333,7 +333,7 @@
       </joint>
       <!-- Controller -->
       <plugin
-        filename="libignition-gazebo-joint-trajectory-controller-system.so"
+        filename="gz-sim-joint-trajectory-controller-system"
         name="gz::sim::systems::JointTrajectoryController">
         <joint_name>RR_position_control_joint1</joint_name>
         <initial_position>0.7854</initial_position>
@@ -497,7 +497,7 @@
       </joint>
       <!-- Controller -->
       <plugin
-        filename="libignition-gazebo-joint-trajectory-controller-system.so"
+        filename="gz-sim-joint-trajectory-controller-system"
         name="gz::sim::systems::JointTrajectoryController">
         <!-- Note: If joint names are omitted, their respective order from model will be preserved
              when applying other parameters during configuration -->
@@ -653,7 +653,7 @@
       </joint>
       <!-- Controller -->
       <plugin
-        filename="libignition-gazebo-joint-trajectory-controller-system.so"
+        filename="gz-sim-joint-trajectory-controller-system"
         name="gz::sim::systems::JointTrajectoryController">
         <!-- Note: You can also specify a custom topic for the joint trajectory commands -->
         <topic>custom_topic_effort_control</topic>

examples/worlds/mecanum_drive.sdf

@@ -155,7 +155,7 @@
               <ode>
                 <mu>1.0</mu>
                 <mu2>0.0</mu2>
-                <fdir1 ignition:expressed_in="chassis">1 -1 0</fdir1>
+                <fdir1 gz:expressed_in="chassis">1 -1 0</fdir1>
               </ode>
             </friction>
           </surface>
@@ -199,7 +199,7 @@
               <ode>
                 <mu>1.0</mu>
                 <mu2>0.0</mu2>
-                <fdir1 ignition:expressed_in="chassis">1 1 0</fdir1>
+                <fdir1 gz:expressed_in="chassis">1 1 0</fdir1>
               </ode>
             </friction>
           </surface>
@@ -243,7 +243,7 @@
               <ode>
                 <mu>1.0</mu>
                 <mu2>0.0</mu2>
-                <fdir1 ignition:expressed_in="chassis">1 1 0</fdir1>
+                <fdir1 gz:expressed_in="chassis">1 1 0</fdir1>
               </ode>
             </friction>
           </surface>
@@ -287,7 +287,7 @@
               <ode>
                 <mu>1.0</mu>
                 <mu2>0.0</mu2>
-                <fdir1 ignition:expressed_in="chassis">1 -1 0</fdir1>
+                <fdir1 gz:expressed_in="chassis">1 -1 0</fdir1>
               </ode>
             </friction>
           </surface>

examples/worlds/nested_model.sdf

@@ -6,16 +6,16 @@
       <real_time_factor>1.0</real_time_factor>
     </physics>
     <plugin
-      filename="libignition-gazebo-physics-system.so"
+      filename="gz-sim-physics-system"
       name="gz::sim::systems::Physics">
-      <engine><filename>libignition-physics-tpe-plugin.so</filename></engine>
+      <engine><filename>gz-physics-tpe-plugin</filename></engine>
     </plugin>
     <plugin
-      filename="libignition-gazebo-user-commands-system.so"
+      filename="gz-sim-user-commands-system"
       name="gz::sim::systems::UserCommands">
     </plugin>
     <plugin
-      filename="libignition-gazebo-scene-broadcaster-system.so"
+      filename="gz-sim-scene-broadcaster-system"
       name="gz::sim::systems::SceneBroadcaster">
     </plugin>
 

examples/worlds/optical_tactile_sensor_plugin.sdf

@@ -16,23 +16,23 @@
 <sdf version="1.7">
   <world name="optical_tactile_plugin">
     <plugin
-      filename="libignition-gazebo-physics-system.so"
+      filename="gz-sim-physics-system"
       name="gz::sim::systems::Physics">
     </plugin>
     <plugin
-      filename="libignition-gazebo-contact-system.so"
+      filename="gz-sim-contact-system"
       name="gz::sim::systems::Contact">
     </plugin>
     <plugin
-      filename="libignition-gazebo-user-commands-system.so"
+      filename="gz-sim-user-commands-system"
       name="gz::sim::systems::UserCommands">
     </plugin>
     <plugin
-      filename="libignition-gazebo-scene-broadcaster-system.so"
+      filename="gz-sim-scene-broadcaster-system"
       name="gz::sim::systems::SceneBroadcaster">
     </plugin>
     <plugin
-      filename="libignition-gazebo-sensors-system.so"
+      filename="gz-sim-sensors-system"
       name="gz::sim::systems::Sensors">
       <render_engine>ogre2</render_engine>
     </plugin>
@@ -242,7 +242,7 @@
       </link>
       <static>false</static>
       <plugin
-        filename="libignition-gazebo-opticaltactileplugin-system.so"
+        filename="gz-sim-opticaltactileplugin-system"
         name="gz::sim::systems::OpticalTactilePlugin">
         <enabled>true</enabled>
         <namespace>optical_tactile_plugin</namespace>

examples/worlds/particle_emitter.sdf

@@ -31,7 +31,7 @@
       filename="gz-sim-physics-system"
       name="gz::sim::systems::Physics">
       <!-- Use TPE in order to use nested models -->
-      <engine><filename>libignition-physics-tpe-plugin.so</filename></engine>
+      <engine><filename>gz-physics-tpe-plugin</filename></engine>
     </plugin>
     <plugin
       filename="gz-sim-user-commands-system"

examples/worlds/pendulum_links.sdf

@@ -16,15 +16,15 @@
       <real_time_factor>1.0</real_time_factor>
     </physics>
     <plugin
-       filename="libignition-gazebo-physics-system.so"
+       filename="gz-sim-physics-system"
         name="gz::sim::systems::Physics">
     </plugin>
     <plugin
-        filename="libignition-gazebo-user-commands-system.so"
+        filename="gz-sim-user-commands-system"
         name="gz::sim::systems::UserCommands">
     </plugin>
     <plugin
-        filename="libignition-gazebo-scene-broadcaster-system.so"
+        filename="gz-sim-scene-broadcaster-system"
         name="gz::sim::systems::SceneBroadcaster">
     </plugin>
 

examples/worlds/plane_propeller_demo.sdf

@@ -25,7 +25,7 @@
       name="gz::sim::systems::SceneBroadcaster">
     </plugin>
     <plugin
-      filename='ignition-gazebo-sensors-system'
+      filename='gz-sim-sensors-system'
       name='gz::sim::systems::Sensors'>
     </plugin>
 

examples/worlds/skid_steer_mecanum.sdf

@@ -157,7 +157,7 @@
               <ode>
                 <mu>1.0</mu>
                 <mu2>0.0</mu2>
-                <fdir1 ignition:expressed_in="chassis">1 -1 0</fdir1>
+                <fdir1 gz:expressed_in="chassis">1 -1 0</fdir1>
               </ode>
             </friction>
           </surface>
@@ -201,7 +201,7 @@
               <ode>
                 <mu>1.0</mu>
                 <mu2>0.0</mu2>
-                <fdir1 ignition:expressed_in="chassis">1 1 0</fdir1>
+                <fdir1 gz:expressed_in="chassis">1 1 0</fdir1>
               </ode>
             </friction>
           </surface>
@@ -245,7 +245,7 @@
               <ode>
                 <mu>1.0</mu>
                 <mu2>0.0</mu2>
-                <fdir1 ignition:expressed_in="chassis">1 1 0</fdir1>
+                <fdir1 gz:expressed_in="chassis">1 1 0</fdir1>
               </ode>
             </friction>
           </surface>
@@ -289,7 +289,7 @@
               <ode>
                 <mu>1.0</mu>
                 <mu2>0.0</mu2>
-                <fdir1 ignition:expressed_in="chassis">1 -1 0</fdir1>
+                <fdir1 gz:expressed_in="chassis">1 -1 0</fdir1>
               </ode>
             </friction>
           </surface>