Merge branch 'ahcorde/root/worldname' of https://github.com/osrf/sdfo…

…rmat into ahcorde/root/worldname

Migration.md

@@ -39,6 +39,10 @@ but with improved human-readability..
    + ***Deprecation:*** bool checkJointParentChildLinkNames(const sdf::Root \*)
    + ***Replacement:*** bool checkJointParentChildNames(const sdf::Root \*)
 
+- **sdf/SDFImpl.hh**:
+   + ***Deprecation:*** void Root(sdf::ElementPtr)
+   + ***Replacement:*** void SetRoot(sdf::ElementPtr)
+
 ## libsdformat 11.x to 12.0
 
 An error is now emitted instead of a warning for a file containing more than

include/sdf/SDFImpl.hh

@@ -146,7 +146,12 @@ namespace sdf
 
     /// \brief Set the root pointer
     /// \param[in] _root Root element
-    public: void Root(const ElementPtr _root);
+    public: void SetRoot(const ElementPtr _root);
+
+    /// \brief Set the root pointer
+    /// \param[in] _root Root element
+    /// \deprecated Use SetRoot
+    public: GZ_DEPRECATED(13) void Root(const ElementPtr _root);
 
     /// \brief Get the path to the SDF document on disk.
     /// \return The full path to the SDF document.

sdf/1.3/root.sdf

@@ -2,7 +2,15 @@
   <description>SDFormat base element.</description>
 
   <attribute name="version" type="string" default="1.3" required="1">
-    <description>Version number of the SDFormat specification.</description>
+    <description>
+        Version number of the SDFormat specification, consisting of major
+        and minor versions delimited by a `.` character.
+        A major version bump is required if older versions cannot be
+        automatically converted to this version.
+        A minor version bump is required when there are breaking changes that
+        can be handled by the automatic conversion functionality encoded in the
+        `*.convert` files.
+    </description>
   </attribute>
 
   <include filename="world.sdf" required="*"/>

sdf/1.4/root.sdf

@@ -2,7 +2,15 @@
   <description>SDFormat base element.</description>
 
   <attribute name="version" type="string" default="1.4" required="1">
-    <description>Version number of the SDFormat specification.</description>
+    <description>
+        Version number of the SDFormat specification, consisting of major
+        and minor versions delimited by a `.` character.
+        A major version bump is required if older versions cannot be
+        automatically converted to this version.
+        A minor version bump is required when there are breaking changes that
+        can be handled by the automatic conversion functionality encoded in the
+        `*.convert` files.
+    </description>
   </attribute>
 
   <include filename="world.sdf" required="*"/>

sdf/1.5/root.sdf

@@ -2,7 +2,15 @@
   <description>SDFormat base element.</description>
 
   <attribute name="version" type="string" default="1.5" required="1">
-    <description>Version number of the SDFormat specification.</description>
+    <description>
+        Version number of the SDFormat specification, consisting of major
+        and minor versions delimited by a `.` character.
+        A major version bump is required if older versions cannot be
+        automatically converted to this version.
+        A minor version bump is required when there are breaking changes that
+        can be handled by the automatic conversion functionality encoded in the
+        `*.convert` files.
+    </description>
   </attribute>
 
   <include filename="world.sdf" required="*"/>

sdf/1.6/root.sdf

@@ -2,7 +2,15 @@
   <description>SDFormat base element that can include 0-N models, actors, lights, and/or worlds. A user of multiple worlds could run parallel instances of simulation, or offer selection of a world at runtime.</description>
 
   <attribute name="version" type="string" default="1.6" required="1">
-    <description>Version number of the SDFormat specification.</description>
+    <description>
+        Version number of the SDFormat specification, consisting of major
+        and minor versions delimited by a `.` character.
+        A major version bump is required if older versions cannot be
+        automatically converted to this version.
+        A minor version bump is required when there are breaking changes that
+        can be handled by the automatic conversion functionality encoded in the
+        `*.convert` files.
+    </description>
   </attribute>
 
   <include filename="world.sdf" required="*"/>

sdf/1.7/root.sdf

@@ -2,7 +2,15 @@
   <description>SDFormat base element that can include 0-N models, actors, lights, and/or worlds. A user of multiple worlds could run parallel instances of simulation, or offer selection of a world at runtime.</description>
 
   <attribute name="version" type="string" default="1.7" required="1">
-    <description>Version number of the SDFormat specification.</description>
+    <description>
+        Version number of the SDFormat specification, consisting of major
+        and minor versions delimited by a `.` character.
+        A major version bump is required if older versions cannot be
+        automatically converted to this version.
+        A minor version bump is required when there are breaking changes that
+        can be handled by the automatic conversion functionality encoded in the
+        `*.convert` files.
+    </description>
   </attribute>
 
   <include filename="world.sdf" required="*"/>

sdf/1.8/root.sdf

@@ -2,7 +2,15 @@
   <description>SDFormat base element that can include one model, actor, light, or worlds. A user of multiple worlds could run parallel instances of simulation, or offer selection of a world at runtime.</description>
 
   <attribute name="version" type="string" default="1.8" required="1">
-    <description>Version number of the SDFormat specification.</description>
+    <description>
+        Version number of the SDFormat specification, consisting of major
+        and minor versions delimited by a `.` character.
+        A major version bump is required if older versions cannot be
+        automatically converted to this version.
+        A minor version bump is required when there are breaking changes that
+        can be handled by the automatic conversion functionality encoded in the
+        `*.convert` files.
+    </description>
   </attribute>
 
   <include filename="world.sdf" required="*"/>

sdf/1.9/root.sdf

@@ -2,7 +2,15 @@
   <description>SDFormat base element that can include one model, actor, light, or worlds. A user of multiple worlds could run parallel instances of simulation, or offer selection of a world at runtime.</description>
 
   <attribute name="version" type="string" default="1.9" required="1">
-    <description>Version number of the SDFormat specification.</description>
+    <description>
+        Version number of the SDFormat specification, consisting of major
+        and minor versions delimited by a `.` character.
+        A major version bump is required if older versions cannot be
+        automatically converted to this version.
+        A minor version bump is required when there are breaking changes that
+        can be handled by the automatic conversion functionality encoded in the
+        `*.convert` files.
+    </description>
   </attribute>
 
   <include filename="world.sdf" required="*"/>

src/SDF.cc

@@ -367,11 +367,17 @@ ElementPtr SDF::Root() const
 }
 
 /////////////////////////////////////////////////
-void SDF::Root(const ElementPtr _root)
+void SDF::SetRoot(const ElementPtr _root)
 {
   this->dataPtr->root = _root;
 }
 
+/////////////////////////////////////////////////
+void SDF::Root(const ElementPtr _root)
+{
+  this->SetRoot(_root);
+}
+
 /////////////////////////////////////////////////
 std::string SDF::FilePath() const
 {

src/SDF_TEST.cc

@@ -19,6 +19,7 @@
 #include <any>
 #include <gz/math.hh>
 #include <gz/utils/Environment.hh>
+#include <gz/utils/SuppressWarning.hh>
 
 #include "sdf/sdf.hh"
 
@@ -273,6 +274,26 @@ TEST(SDF, ElementRemoveChild)
   EXPECT_FALSE(elem);
 }
 
+////////////////////////////////////////////////////
+TEST(SDF, SetRoot)
+{
+  sdf::SDF s;
+
+  sdf::ElementPtr elem;
+  elem.reset(new sdf::Element());
+  elem->AddValue("bool", "true", "0", "description");
+  s.SetRoot(elem);
+  EXPECT_EQ(elem, s.Root());
+
+  // Test deprecated setter, remove in libsdformat14
+  s.SetRoot(nullptr);
+  EXPECT_EQ(nullptr, s.Root());
+  GZ_UTILS_WARN_IGNORE__DEPRECATED_DECLARATION
+  s.Root(elem);
+  GZ_UTILS_WARN_RESUME__DEPRECATED_DECLARATION
+  EXPECT_EQ(elem, s.Root());
+}
+
 ////////////////////////////////////////////////////
 /// Ensure that getting empty values with empty keys returns correct values.
 TEST(SDF, EmptyValues)

src/parser.cc

@@ -1601,7 +1601,7 @@ bool readXml(tinyxml2::XMLElement *_xml, ElementPtr _sdf,
             init(includeSDFTemplate, _config);
           }
           SDFPtr includeSDF(new SDF);
-          includeSDF->Root(includeSDFTemplate->Root()->Clone());
+          includeSDF->SetRoot(includeSDFTemplate->Root()->Clone());
 
           if (!readFile(filename, _config, includeSDF, _errors))
           {

test/integration/deprecated_specs.cc

@@ -51,7 +51,7 @@ TEST(DeprecatedElements, CanEmitErrors)
   elem->SetRequired("-1");
   elem->SetName("testElem");
   // Change the root of sdf so we can test "testElem" in isolation
-  sdf->Root(elem);
+  sdf->SetRoot(elem);
   auto config = sdf::ParserConfig::GlobalConfig();
   config.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);
   sdf::Errors errors;
@@ -89,7 +89,7 @@ TEST(DeprecatedElements, CanEmitWarningWithErrorEnforcmentPolicy)
   elem->SetRequired("-1");
   elem->SetName("testElem");
   // Change the root of sdf so we can test "testElem" in isolation
-  sdf->Root(elem);
+  sdf->SetRoot(elem);
   {
     auto config = sdf::ParserConfig::GlobalConfig();
     config.SetWarningsPolicy(sdf::EnforcementPolicy::ERR);

test/integration/model/pr2.sdf

@@ -69,7 +69,7 @@
           <collision>base_footprint_geom_base_link</collision>
           <topic>__default_topic__</topic>
         </contact>
-        <plugin name='gazebo_contact' filename='libContactPlugin.so'/>
+        <plugin name='sim_contact' filename='libContactPlugin.so'/>
       </sensor>
       <sensor name='base_laser' type='ray'>
         <always_on>1</always_on>

usd/src/usd_parser/USDWorld.cc

@@ -210,7 +210,7 @@ namespace usd
 
         sdf::Plugin diffDrivePlugin;
         diffDrivePlugin.SetName("gz::sim::systems::DiffDrive");
-        diffDrivePlugin.SetFilename("ignition-gazebo-diff-drive-system");
+        diffDrivePlugin.SetFilename("gz-sim-diff-drive-system");
 
         std::string leftWheelName;
         std::string rightWheelName;
@@ -408,24 +408,24 @@ namespace usd
       // Add some plugins to run the Gazebo Sim simulation
       sdf::Plugin physicsPlugin;
       physicsPlugin.SetName("gz::sim::systems::Physics");
-      physicsPlugin.SetFilename("ignition-gazebo-physics-system");
+      physicsPlugin.SetFilename("gz-sim-physics-system");
       _world.AddPlugin(physicsPlugin);
 
       sdf::Plugin sensorsPlugin;
       sensorsPlugin.SetName("gz::sim::systems::Sensors");
-      sensorsPlugin.SetFilename("ignition-gazebo-sensors-system");
+      sensorsPlugin.SetFilename("gz-sim-sensors-system");
       _world.AddPlugin(sensorsPlugin);
 
       sdf::Plugin userCommandsPlugin;
       userCommandsPlugin.SetName("gz::sim::systems::UserCommands");
-      userCommandsPlugin.SetFilename("ignition-gazebo-user-commands-system");
+      userCommandsPlugin.SetFilename("gz-sim-user-commands-system");
       _world.AddPlugin(userCommandsPlugin);
 
       sdf::Plugin sceneBroadcasterPlugin;
       sceneBroadcasterPlugin.SetName(
         "gz::sim::systems::SceneBroadcaster");
       sceneBroadcasterPlugin.SetFilename(
-        "ignition-gazebo-scene-broadcaster-system");
+        "gz-sim-scene-broadcaster-system");
       _world.AddPlugin(sceneBroadcasterPlugin);
     }
 

usd/src/usd_parser/usd2sdf_TEST.cc

@@ -111,17 +111,17 @@ TEST(check_cmd, GZ_UTILS_TEST_DISABLED_ON_WIN32(SDF))
     auto plugins = world->Plugins();
     EXPECT_EQ(4u, plugins.size());
     EXPECT_EQ("gz::sim::systems::Physics", plugins[0].Name());
-    EXPECT_EQ("ignition-gazebo-physics-system", plugins[0].Filename());
+    EXPECT_EQ("gz-sim-physics-system", plugins[0].Filename());
 
     EXPECT_EQ("gz::sim::systems::Sensors", plugins[1].Name());
-    EXPECT_EQ("ignition-gazebo-sensors-system", plugins[1].Filename());
+    EXPECT_EQ("gz-sim-sensors-system", plugins[1].Filename());
 
     EXPECT_EQ("gz::sim::systems::UserCommands", plugins[2].Name());
-    EXPECT_EQ("ignition-gazebo-user-commands-system", plugins[2].Filename());
+    EXPECT_EQ("gz-sim-user-commands-system", plugins[2].Filename());
 
     EXPECT_EQ("gz::sim::systems::SceneBroadcaster", plugins[3].Name());
     EXPECT_EQ(
-      "ignition-gazebo-scene-broadcaster-system", plugins[3].Filename());
+      "gz-sim-scene-broadcaster-system", plugins[3].Filename());
 
     // the world should have lights attached to it
     std::set<std::string> savedLightNames;