Tick-tock ignition:type

Signed-off-by: methylDragon <[email protected]>

Migration.md

@@ -10,7 +10,10 @@ release will remove the deprecated code.
 1. The `ignition` namespace is deprecated and will be removed in future versions.  Use `gz` instead.
 
 1. Header files under `ignition/...` are deprecated and will be removed in future versions.
-  Use `gz/...` instead.
+     Use `gz/...` instead.
+
+1. The `ignition:type` SDF attribute is deprecated and will be removed.
+     Please use `gz:type` instead.
 
 ## Gazebo Sensors 6.0.1 to 6.1.0
 

examples/loop_sensor/sensors.sdf

@@ -22,7 +22,7 @@
             </vertical_velocity>
           </altimeter>
         </sensor>
-        <sensor name="custom_odometer" type="custom" ignition:type="odometer">
+        <sensor name="custom_odometer" type="custom" gz:type="odometer">
           <always_on>1</always_on>
           <update_rate>30</update_rate>
           <topic>odometer</topic>

include/gz/sensors/Util.hh

@@ -36,12 +36,12 @@ inline namespace GZ_SENSORS_VERSION_NAMESPACE {
 ///
 /// Given an SDF tag as follows:
 ///
-///     <sensor name="sensor_name" type="custom" ignition:type="sensor_type">
+///     <sensor name="sensor_name" type="custom" gz:type="sensor_type">
 ///
 /// This function returns `sensor_type`.
 ///
 /// It will return an empty string if the element is malformed. For example,
-/// if it misses the `ignition:type` attribute or is not of `type="custom"`.
+/// if it misses the `gz:type` attribute or is not of `type="custom"`.
 ///
 /// \param[in] _sdf Sensor SDF object.
 /// \return _sensorType Name of sensor type.
@@ -51,12 +51,12 @@ std::string GZ_SENSORS_VISIBLE customType(const sdf::Sensor &_sdf); // NOLINT
 ///
 /// Given an SDF tag as follows:
 ///
-///     <sensor name="sensor_name" type="custom" ignition:type="sensor_type">
+///     <sensor name="sensor_name" type="custom" gz:type="sensor_type">
 ///
 /// This function returns `sensor_type`.
 ///
 /// It will return an empty string if the element is malformed. For example,
-/// if it misses the `ignition:type` attribute or is not of `type="custom"`.
+/// if it misses the `gz:type` attribute or is not of `type="custom"`.
 ///
 /// \param[in] _sdf Sensor SDF object.
 /// \return _sensorType Name of sensor type.

src/Util.cc

@@ -47,11 +47,22 @@ std::string gz::sensors::customType(sdf::ElementPtr _sdf)
     return std::string();
   }
 
-  if (!_sdf->HasAttribute("ignition:type"))
+  if (!_sdf->HasAttribute("gz:type"))
   {
-    gzerr << "Custom sensor missing `ignition:type` attribute." << std::endl;
-    return std::string();
+    // TODO(CH3): Deprecated. Remove on tock.
+    // Try deprecated ignition:type attribute if gz:type attribute is missing
+    if (_sdf->HasAttribute("ignition:type"))
+    {
+      gzwarn << "The `ignition:type` attribute is deprecated. Please use "
+             << "`gz:type` instead." << std::endl;
+      return _sdf->Get<std::string>("ignition:type");
+    }
+    else
+    {
+      gzerr << "Custom sensor missing `gz:type` attribute." << std::endl;
+      return std::string();
+    }
   }
 
-  return _sdf->Get<std::string>("ignition:type");
+  return _sdf->Get<std::string>("gz:type");
 }

test/sdf/custom_sensors.sdf

@@ -3,10 +3,10 @@
   <world name="my_world">
     <model name="my_model">
       <link name="my_link">
-        <sensor name="complete" type="custom" ignition:type="sensor_type">
+        <sensor name="complete" type="custom" gz:type="sensor_type">
           <ignition:sensor_type/>
         </sensor>
-        <sensor name="wrong_type" type="imu" ignition:type="sensor_type">
+        <sensor name="wrong_type" type="imu" gz:type="sensor_type">
           <ignition:sensor_type/>
         </sensor>
         <sensor name="missing_ignition_type" type="custom">

tutorials/custom_sensors.md

@@ -57,15 +57,15 @@ type. Seismometer? Breathalyzer? Just adapt the logic to your needs.
 Custom sensors follow these rules to be loaded from SDFormat:
 
 * Use `type="custom"` inside the `<sensor>` tag
-* Add an extra `ignition:type="odometer"` attribute, where `odometer`
+* Add an extra `gz:type="odometer"` attribute, where `odometer`
   is a string that uniquely identifies the sensor type.
 * Optionally, add an `<ignition:odometer/>` element with configuration
   specific to that sensor.
 
 With that in mind, here's what the sensor tag would look like:
 
 ```xml
-<sensor name="the_odometer" type="custom" ignition:type="odometer">
+<sensor name="the_odometer" type="custom" gz:type="odometer">
   <always_on>1</always_on>
   <update_rate>30</update_rate>
   <topic>odom</topic>