From e9a80322ddf7aa4dc6c583257cad9bfc27f80576 Mon Sep 17 00:00:00 2001
From: methylDragon <methylDragon@gmail.com>
Date: Mon, 13 Jun 2022 17:04:58 -0700
Subject: [PATCH] Migrate shared lib references

Signed-off-by: methylDragon <methylDragon@gmail.com>
---
 test/integration/model/pr2.sdf     |  2 +-
 usd/src/usd_parser/USDWorld.cc     | 10 +++++-----
 usd/src/usd_parser/usd2sdf_TEST.cc |  8 ++++----
 3 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/test/integration/model/pr2.sdf b/test/integration/model/pr2.sdf
index 7a5ad8253..5647a9db9 100644
--- a/test/integration/model/pr2.sdf
+++ b/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>
diff --git a/usd/src/usd_parser/USDWorld.cc b/usd/src/usd_parser/USDWorld.cc
index 78d8e8cba..4776cb74b 100644
--- a/usd/src/usd_parser/USDWorld.cc
+++ b/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);
     }
 
diff --git a/usd/src/usd_parser/usd2sdf_TEST.cc b/usd/src/usd_parser/usd2sdf_TEST.cc
index 4f375281d..c92f339e1 100644
--- a/usd/src/usd_parser/usd2sdf_TEST.cc
+++ b/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;