ign -> gz Upstream Macro Migration : gz-launch

Migration.md

@@ -16,11 +16,13 @@ release will remove the deprecated code.
 - Migrate `IGN_LAUNCH_PLUGIN_PATH` environment variable to `GZ_LAUNCH_PLUGIN_PATH` for finding
   plugin.
   With tick-tock.
-  
+
 - Migrate `IGN_LAUNCH_CONFIG_PATH` environment variable to `GZ_LAUNCH_CONFIG_PATH` for finding
   configs.
   With tick-tock.
-
+
+- The default config file path has been hard-tocked to `~/.gz/launch/gui.config`.
+  `~/.ignition/launch/gui.config` will no longer work.
 
 ## Gazebo Launch 2.2.2
 

plugins/gazebo_factory/GazeboFactory.cc

@@ -165,7 +165,7 @@ bool GazeboFactory::Load(const tinyxml2::XMLElement *_elem)
       gzdbg << "Factory service call succeeded.\n";
       if (!this->worldPerformers[msg.first].empty())
       {
-        IGN_SLEEP_S(2);
+        GZ_SLEEP_S(2);
         topic = std::string("/world/") + msg.first + "/level/set_performer";
 
         for (const auto &perf : this->worldPerformers[msg.first])

plugins/gazebo_factory/GazeboFactory.hh

@@ -90,6 +90,6 @@ namespace gz
 }
 
 // Register the plugin
-IGNITION_ADD_PLUGIN(gz::launch::GazeboFactory, gz::launch::Plugin)
+GZ_ADD_PLUGIN(gz::launch::GazeboFactory, gz::launch::Plugin)
 
 #endif

plugins/gazebo_gui/GazeboGui.cc

@@ -47,15 +47,15 @@ bool GazeboGui::Load(const tinyxml2::XMLElement *_elem)
 
   // Set default config file for Launch
   std::string defaultConfigPath;
-  gz::common::env(IGN_HOMEDIR, defaultConfigPath);
+  gz::common::env(GZ_HOMEDIR, defaultConfigPath);
   defaultConfigPath = gz::common::joinPaths(defaultConfigPath,
-      ".ignition", "launch");
+      ".gz", "launch");
 
   auto defaultConfigFile = gz::common::joinPaths(defaultConfigPath,
       "gui.config");
 
   // Check if there's a default config file under
-  // ~/.ignition/launch and use that. If there isn't, create it
+  // ~/.gz/launch and use that. If there isn't, create it
   if (!gz::common::exists(defaultConfigFile))
   {
     gz::common::createDirectories(defaultConfigPath);
@@ -64,39 +64,39 @@ bool GazeboGui::Load(const tinyxml2::XMLElement *_elem)
     if (configFile.is_open())
     {
       configFile <<
-        "<window>\n" <<
-        "  <width>1000</width>\n" <<
-        "  <height>845</height>\n" <<
-        "  <style\n" <<
-        "    material_theme='Light'\n" <<
-        "    material_primary='DeepOrange'\n" <<
-        "    material_accent='LightBlue'\n" <<
-        "    toolbar_color_light='#f3f3f3'\n" <<
-        "    toolbar_text_color_light='#111111'\n" <<
-        "    toolbar_color_dark='#414141'\n" <<
-        "    toolbar_text_color_dark='#f3f3f3'\n" <<
-        "    plugin_toolbar_color_light='#bbdefb'\n" <<
-        "    plugin_toolbar_text_color_light='#111111'\n" <<
-        "    plugin_toolbar_color_dark='#607d8b'\n" <<
-        "    plugin_toolbar_text_color_dark='#eeeeee'\n" <<
-        "  />\n" <<
-        "  <menus>\n" <<
-        "    <drawer default='false'>\n" <<
-        "    </drawer>\n" <<
-        "  </menus>\n" <<
-        "</window>\n";
+      "<window>\n" <<
+      "  <width>1000</width>\n" <<
+      "  <height>845</height>\n" <<
+      "  <style\n" <<
+      "    material_theme='Light'\n" <<
+      "    material_primary='DeepOrange'\n" <<
+      "    material_accent='LightBlue'\n" <<
+      "    toolbar_color_light='#f3f3f3'\n" <<
+      "    toolbar_text_color_light='#111111'\n" <<
+      "    toolbar_color_dark='#414141'\n" <<
+      "    toolbar_text_color_dark='#f3f3f3'\n" <<
+      "    plugin_toolbar_color_light='#bbdefb'\n" <<
+      "    plugin_toolbar_text_color_light='#111111'\n" <<
+      "    plugin_toolbar_color_dark='#607d8b'\n" <<
+      "    plugin_toolbar_text_color_dark='#eeeeee'\n" <<
+      "  />\n" <<
+      "  <menus>\n" <<
+      "    <drawer default='false'>\n" <<
+      "    </drawer>\n" <<
+      "  </menus>\n" <<
+      "</window>\n";
       configFile.close();
       gzmsg << "Saved file [" << defaultConfigFile << "]" << std::endl;
     }
     else
     {
       gzerr << "Unable to open file [" << defaultConfigFile << "]"
-             << std::endl;
+      << std::endl;
     }
   }
 
   auto app = sim::gui::createGui(argc, argv, defaultConfigFile.c_str(),
-                                    defaultConfigFile.c_str(), false);
+                                 defaultConfigFile.c_str(), false);
 
   auto win = app->findChild<gz::gui::MainWindow *>()->QuickWindow();
 

plugins/gazebo_gui/GazeboGui.hh

@@ -29,8 +29,8 @@ namespace gz
     /// \brief Runs the Gazebo GUI.
     ///
     /// The plugin ignores GUI configuration coming from the SDF
-    /// world file or saved in ~/.ignition/gazebo/gui.config. Instead,
-    /// it loads a GUI config from ~/.ignition/launch/gui.config.
+    /// world file or saved in ~/.gz/sim/gui.config. Instead,
+    /// it loads a GUI config from ~/.gz/launch/gui.config.
     /// If that file doesn't exist, it will be created and populated
     /// with default values. Delete that file to restore default values.
     ///
@@ -49,7 +49,7 @@ namespace gz
     ///   <!-- Set window icon.
     ///        This can be a full path to a local file, or a path to a resource
     ///        file prefixed by ":".
-    ///        Defaults to the Ignition logo. -->
+    ///        Defaults to the Gazebo logo. -->
     ///   <window_icon>full/path/to/window/icon.png</window_icon>
     ///
     ///   <!-- Add Gazebo GUI plugins here -->
@@ -72,6 +72,6 @@ namespace gz
 }
 
 // Register the plugin
-IGNITION_ADD_PLUGIN(gz::launch::GazeboGui, gz::launch::Plugin)
+GZ_ADD_PLUGIN(gz::launch::GazeboGui, gz::launch::Plugin)
 
 #endif

plugins/gazebo_server/GazeboServer.hh

@@ -42,7 +42,7 @@ namespace gz
     ///           name="gz::sim::systems::v0::Physics">
     ///   </plugin>
     ///
-    ///   <!-- Specify any other ignition gazebo plugins here. -->
+    ///   <!-- Specify any other Gazebo sim plugins here. -->
     /// </plugin>
     class GazeboServer : public gz::launch::Plugin
     {
@@ -63,6 +63,6 @@ namespace gz
 }
 
 // Register the plugin
-IGNITION_ADD_PLUGIN(gz::launch::GazeboServer, gz::launch::Plugin)
+GZ_ADD_PLUGIN(gz::launch::GazeboServer, gz::launch::Plugin)
 
 #endif

plugins/joy_to_twist/JoyToTwist.hh

@@ -114,6 +114,6 @@ namespace gz
 }
 
 // Register the plugin
-IGNITION_ADD_PLUGIN(gz::launch::JoyToTwist, gz::launch::Plugin)
+GZ_ADD_PLUGIN(gz::launch::JoyToTwist, gz::launch::Plugin)
 
 #endif

plugins/joystick/Joystick.hh

@@ -80,6 +80,6 @@ namespace gz
 }
 
 // Register the plugin
-IGNITION_ADD_PLUGIN(gz::launch::Joystick, gz::launch::Plugin)
+GZ_ADD_PLUGIN(gz::launch::Joystick, gz::launch::Plugin)
 
 #endif

plugins/websocket_server/WebsocketServer.cc

@@ -626,7 +626,7 @@ void WebsocketServer::Run()
 void WebsocketServer::OnConnect(int _socketId)
 {
   std::unique_ptr<Connection> c(new Connection);
-  c->creationTime = IGN_SYSTEM_TIME();
+  c->creationTime = GZ_SYSTEM_TIME();
 
   // No authorization key means the server is publically accessible
   c->authorized = this->authorizationKey.empty() &&

plugins/websocket_server/WebsocketServer.hh

@@ -102,7 +102,7 @@ namespace gz
     ///     7. "unsub": Unsubscribe from the topic in the `topic_name` component
     ///
     /// The `topic_name` component is mandatory for the "sub", "pub", and
-    /// "unsub" operations. If present, it must be the name of an Ignition
+    /// "unsub" operations. If present, it must be the name of a Gazebo
     /// Transport topic.
     ///
     /// The `message_type` component is mandatory for the "pub" operation. If
@@ -239,7 +239,7 @@ namespace gz
       /// \brief All of the websocket connections.
       public: std::map<int, std::unique_ptr<Connection>> connections;
 
-      /// \brief All of the subscribed Ignition topics.
+      /// \brief All of the subscribed Gazebo topics.
       /// The key is the topic name, and the value is the set of websocket
       /// connections that have subscribed to the topic.
       public: std::map<std::string, std::set<int>> topicConnections;
@@ -317,6 +317,6 @@ namespace gz
 }
 
 // Register the plugin
-IGNITION_ADD_PLUGIN(gz::launch::WebsocketServer, gz::launch::Plugin)
+GZ_ADD_PLUGIN(gz::launch::WebsocketServer, gz::launch::Plugin)
 
 #endif

plugins/websocket_server/ign.js

@@ -25,7 +25,7 @@ function buildMsg(_frameParts) {
   return _frameParts.join(',');
 }
 
-/// \brief The main interface to the Ignition websocket server and 
+/// \brief The main interface to the Gazebo websocket server and
 /// data on Gazebo Transport.
 function Ignition(options) {
   options = options || {};
@@ -35,7 +35,7 @@ function Ignition(options) {
   this.worlds = [];
   this.isConnected = false;
 
-  // Start with a null root protobuf object. This object will be 
+  // Start with a null root protobuf object. This object will be
   // created when we get the set of protobuf definitions from the server.
   this.root = null;
 
@@ -69,9 +69,9 @@ Ignition.prototype.connect = function(url, key) {
     that.emit('error', event);
   }
 
-  /// \brief Parses message responses from ignition and sends to the
+  /// \brief Parses message responses from Gazebo and sends to the
   /// appropriate topic.
-  // \param message - the JSON message from the Ignition
+  // \param message - the JSON message from the Gazebo
   // httpserver.
   function onMessage(_message) {
     if (that.root === undefined || that.root === null) {
@@ -93,7 +93,7 @@ Ignition.prototype.connect = function(url, key) {
           that.socket.send(buildMsg(['topics','','','']));
 
           // Request the list of worlds on start.
-          // \todo Switch this to a service call when this issue is 
+          // \todo Switch this to a service call when this issue is
           // resolved:
           // https://github.com/gazebosim/gz-transport/issues/135
           that.socket.send(buildMsg(['worlds','','','']));
@@ -168,7 +168,7 @@ Ignition.prototype.sendMsg = function(_msg) {
 /// \brief Interface to Gazebo Transport topics.
 function Topic(options) {
   options = options || {};
-  this.ign = options.ign; 
+  this.ign = options.ign;
   this.name = options.name;
   this.messageType = options.messageType;
   this.isAdvertised = false;