ign -> gz Upstream Macro Migration : gz-sensors (#232)

CMakeLists.txt

@@ -25,9 +25,9 @@ set (DRI_TESTS TRUE CACHE BOOL "True to enable DRI tests")
 option(ENABLE_PROFILER "Enable Gazebo Profiler" FALSE)
 
 if(ENABLE_PROFILER)
-  add_definitions("-DIGN_PROFILER_ENABLE=1")
+  add_definitions("-DGZ_PROFILER_ENABLE=1")
 else()
-  add_definitions("-DIGN_PROFILER_ENABLE=0")
+  add_definitions("-DGZ_PROFILER_ENABLE=0")
 endif()
 
 #============================================================================

Changelog.md

@@ -371,7 +371,7 @@
 
 ### Gazebo Sensors 2.5.0
 
-1. Add `IGN_PROFILER_ENABLE` cmake option for enabling the ign-common profiler.
+1. Add `GZ_PROFILER_ENABLE` cmake option for enabling the ign-common profiler.
     * [BitBucket pull request 82](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-sensors/pull-requests/82)
 
 1. Deduplicate `frame_ids` from sensor message headers

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.
 
 1. **CameraSensor**: the default anti-aliasing value has changed from `2` to `4`.
 

examples/imu_noise/main.cc

@@ -34,13 +34,13 @@ static constexpr double kNumSamples = 6 * 3600 * kSampleFrequency;
 // These values come from the Rotors default values:
 // https://github.com/ethz-asl/rotors_simulator/blob/513bb92da0c1a0c968bdc679dffc8fe7d77de918/rotors_gazebo_plugins/include/rotors_gazebo_plugins/gazebo_imu_plugin.h#L40
 static constexpr double kDefaultAdisGyroscopeNoiseDensity =
-    2.0 * 35.0 / 3600.0 / 180.0 * IGN_PI;
+    2.0 * 35.0 / 3600.0 / 180.0 * GZ_PI;
 static constexpr double kDefaultAdisGyroscopeRandomWalk =
-    2.0 * 4.0 / 3600.0 / 180.0 * IGN_PI;
+    2.0 * 4.0 / 3600.0 / 180.0 * GZ_PI;
 static constexpr double kDefaultAdisGyroscopeBiasCorrelationTime =
     1.0e+3;
 static constexpr double kDefaultAdisGyroscopeTurnOnBiasSigma =
-    0.5 / 180.0 * IGN_PI;
+    0.5 / 180.0 * GZ_PI;
 static constexpr double kDefaultAdisAccelerometerNoiseDensity =
     2.0 * 2.0e-3;
 static constexpr double kDefaultAdisAccelerometerRandomWalk =

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>

examples/save_image/main.cc

@@ -86,7 +86,7 @@ int main()
   const double hz = 30;
   const std::size_t width = 480;
   const std::size_t height = 320;
-  const std::size_t hfov = IGN_DTOR(60);
+  const std::size_t hfov = GZ_DTOR(60);
   const double near = 0.1;
   const double far = 100;
   const auto format = sdf::PixelFormatType::RGB_INT8;
@@ -202,7 +202,7 @@ void BuildScene(gz::rendering::ScenePtr _scene)
   box->AddGeometry(_scene->CreateBox());
   box->SetOrigin(0.0, 0.5, 0.0);
   box->SetLocalPosition(3, 0, 0);
-  box->SetLocalRotation(IGN_PI / 4, 0, IGN_PI / 3);
+  box->SetLocalRotation(GZ_PI / 4, 0, GZ_PI / 3);
   box->SetLocalScale(1, 2.5, 1);
   box->SetMaterial(blue);
   root->AddChild(box);

include/gz/sensors/AirPressureSensor.hh

@@ -85,11 +85,11 @@ namespace gz
       /// \todo(iche033) Make this function virtual on Garden
       public: bool HasConnections() const;
 
-      IGN_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
+      GZ_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
       /// \brief Data pointer for private data
       /// \internal
       private: std::unique_ptr<AirPressureSensorPrivate> dataPtr;
-      IGN_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
+      GZ_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
     };
     }
   }

include/gz/sensors/AltimeterSensor.hh

@@ -102,11 +102,11 @@ namespace gz
       /// \todo(iche033) Make this function virtual on Garden
       public: bool HasConnections() const;
 
-      IGN_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
+      GZ_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
       /// \brief Data pointer for private data
       /// \internal
       private: std::unique_ptr<AltimeterSensorPrivate> dataPtr;
-      IGN_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
+      GZ_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
     };
     }
   }

include/gz/sensors/BrownDistortionModel.hh

@@ -78,7 +78,7 @@ namespace gz
       public: virtual void Print(std::ostream &_out) const override;
 
       /// \brief Private data pointer.
-      IGN_UTILS_IMPL_PTR(dataPtr)
+      GZ_UTILS_IMPL_PTR(dataPtr)
     };
   }
   }

include/gz/sensors/CameraSensor.hh

@@ -63,7 +63,7 @@ namespace gz
 
     /// \brief Camera Sensor Class
     ///
-    ///   This class creates images from an ignition rendering scene. The scene
+    ///   This class creates images from a Gazebo Rendering scene. The scene
     ///   must be created in advance and given to Manager::Init().
     ///   It offers both an ignition-transport interface and a direct C++ API
     ///   to access the image data. The API works by setting a callback to be
@@ -175,11 +175,11 @@ namespace gz
       /// \param[in] _scene Pointer to the new scene.
       private: void OnSceneChange(gz::rendering::ScenePtr /*_scene*/);
 
-      IGN_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
+      GZ_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
       /// \brief Data pointer for private data
       /// \internal
       private: std::unique_ptr<CameraSensorPrivate> dataPtr;
-      IGN_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
+      GZ_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
     };
     }
   }

include/gz/sensors/DepthCameraSensor.hh

@@ -63,7 +63,7 @@ namespace gz
 
     /// \brief Depth camera sensor class.
     ///
-    /// This class creates depth image from an ignition rendering scene.
+    /// This class creates depth image from a Gazebo Rendering scene.
     /// The scene  must be created in advance and given to Manager::Init().
     /// It offers both an ignition-transport interface and a direct C++ API
     /// to access the image data. The API works by setting a callback to be
@@ -171,11 +171,11 @@ namespace gz
       private: void OnSceneChange(gz::rendering::ScenePtr /*_scene*/)
               { }
 
-      IGN_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
+      GZ_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
       /// \brief Data pointer for private data
       /// \internal
       private: std::unique_ptr<DepthCameraSensorPrivate> dataPtr;
-      IGN_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
+      GZ_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
     };
     }
   }

include/gz/sensors/Distortion.hh

@@ -100,7 +100,7 @@ namespace gz
       public: virtual void Print(std::ostream &_out) const;
 
       /// \brief Private data pointer
-      IGN_UTILS_IMPL_PTR(dataPtr)
+      GZ_UTILS_IMPL_PTR(dataPtr)
     };
     }
   }

include/gz/sensors/ForceTorqueSensor.hh

@@ -120,11 +120,11 @@ namespace gz
       /// \todo(iche033) Make this function virtual on Garden
       public: bool HasConnections() const;
 
-      IGN_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
+      GZ_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
       /// \brief Data pointer for private data
       /// \internal
       private: std::unique_ptr<ForceTorqueSensorPrivate> dataPtr;
-      IGN_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
+      GZ_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
     };
     }
   }

include/gz/sensors/GpuLidarSensor.hh

@@ -139,11 +139,11 @@ namespace gz
                   unsigned int _heighti, unsigned int _channels,
                   const std::string &_format);
 
-      IGN_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
+      GZ_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
       /// \brief Data pointer for private data
       /// \internal
       private: std::unique_ptr<GpuLidarSensorPrivate> dataPtr;
-      IGN_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
+      GZ_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
     };
     }
   }

include/gz/sensors/ImuSensor.hh

@@ -171,11 +171,11 @@ namespace gz
       /// \todo(iche033) Make this function virtual on Garden
       public: bool HasConnections() const;
 
-      IGN_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
+      GZ_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
       /// \brief Data pointer for private data
       /// \internal
       private: std::unique_ptr<ImuSensorPrivate> dataPtr;
-      IGN_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
+      GZ_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
     };
     }
   }

include/gz/sensors/Lidar.hh

@@ -245,10 +245,10 @@ namespace gz
       /// \return Visibility mask
       public: uint32_t VisibilityMask() const;
 
-      IGN_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
+      GZ_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
       /// \brief Just a mutex for thread safety
       public: mutable std::mutex lidarMutex;
-      IGN_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
+      GZ_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
 
       /// \brief Raw buffer of laser data.
       public: float *laserBuffer = nullptr;
@@ -268,11 +268,11 @@ namespace gz
                   unsigned int _heighti, unsigned int _channels,
                   const std::string &/*_format*/)> _subscriber);
 
-      IGN_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
+      GZ_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
       /// \brief Data pointer for private data
       /// \internal
       private: std::unique_ptr<LidarPrivate> dataPtr;
-      IGN_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
+      GZ_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
     };
     }
   }

include/gz/sensors/LogicalCameraSensor.hh

@@ -118,11 +118,11 @@ namespace gz
       /// \return List of detected models.
       public: msgs::LogicalCameraImage Image() const;
 
-      IGN_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
+      GZ_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
       /// \brief Data pointer for private data
       /// \internal
       private: std::unique_ptr<LogicalCameraSensorPrivate> dataPtr;
-      IGN_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
+      GZ_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
     };
     }
   }

include/gz/sensors/MagnetometerSensor.hh

@@ -98,11 +98,11 @@ namespace gz
       /// \todo(iche033) Make this function virtual on Garden
       public: bool HasConnections() const;
 
-      IGN_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
+      GZ_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
       /// \brief Data pointer for private data
       /// \internal
       private: std::unique_ptr<MagnetometerSensorPrivate> dataPtr;
-      IGN_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
+      GZ_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
     };
     }
   }

include/gz/sensors/Manager.hh

@@ -139,10 +139,10 @@ namespace gz
       /// \brief Adds colon delimited paths sensor plugins may be
       public: void GZ_DEPRECATED(6) AddPluginPaths(const std::string &_path);
 
-      IGN_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
+      GZ_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
       /// \brief private data pointer
       private: std::unique_ptr<ManagerPrivate> dataPtr;
-      IGN_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
+      GZ_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
     };
     }
   }

include/gz/sensors/NavSatSensor.hh

@@ -120,11 +120,11 @@ namespace gz
       public: void SetPosition(const math::Angle &_latitude,
           const math::Angle &_longitude, double _altitude = 0.0);
 
-      IGN_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
+      GZ_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
       /// \brief Data pointer for private data
       /// \internal
       private: std::unique_ptr<NavSatPrivate> dataPtr;
-      IGN_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
+      GZ_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
     };
     }
   }

include/gz/sensors/RenderingEvents.hh

@@ -55,12 +55,12 @@ namespace gz
                   std::function<void(const gz::rendering::ScenePtr &)>
                   _callback);
 
-      IGN_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
+      GZ_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
       /// \brief Event that is used to trigger callbacks when the scene
       /// is changed
       public: static gz::common::EventT<
               void(const gz::rendering::ScenePtr &)> sceneEvent;
-      IGN_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
+      GZ_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
     };
     }
   }

include/gz/sensors/RenderingSensor.hh

@@ -48,7 +48,7 @@ namespace gz
     /// \brief a rendering sensor class
     ///
     ///   This class is a base for all rendering sensor classes. It provides
-    /// interface to ignition rendering objects
+    /// interface to Gazebo Rendering objects
     class GZ_SENSORS_RENDERING_VISIBLE RenderingSensor
         : public Sensor
     {
@@ -86,11 +86,11 @@ namespace gz
       /// \param[in] _sensor Sensor to add.
       protected: void AddSensor(rendering::SensorPtr _sensor);
 
-      IGN_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
+      GZ_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
       /// \internal
       /// \brief Data pointer for private data
       private: std::unique_ptr<RenderingSensorPrivate> dataPtr;
-      IGN_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
+      GZ_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
     };
     }
   }

include/gz/sensors/RgbdCameraSensor.hh

@@ -39,8 +39,8 @@ namespace gz
 
     /// \brief RGBD camera sensor class.
     ///
-    /// This class creates a few types of sensor data from an ignition
-    /// rendering scene:
+    /// This class creates a few types of sensor data from a Gazebo
+    /// Rendering scene:
     /// * RGB image (same as CameraSensor)
     /// * Depth image (same as DepthCamera)
     /// * (future / todo) Color point cloud
@@ -99,11 +99,11 @@ namespace gz
       /// \return True on success.
       private: bool CreateCameras();
 
-      IGN_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
+      GZ_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
       /// \brief Data pointer for private data
       /// \internal
       private: std::unique_ptr<RgbdCameraSensorPrivate> dataPtr;
-      IGN_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
+      GZ_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
     };
     }
   }

include/gz/sensors/SegmentationCameraSensor.hh

@@ -45,7 +45,7 @@ namespace gz
 
     /// \brief Segmentation camera sensor class.
     ///
-    /// This class creates segmentation images from an ignition rendering scene.
+    /// This class creates segmentation images from a Gazebo Rendering scene.
     /// The scene must be created in advance and given to Manager::Init().
     /// It offers both an ignition-transport interface and a direct C++ API
     /// to access the image data. The API works by setting a callback to be
@@ -126,11 +126,11 @@ namespace gz
       /// \return True on success.
       private: bool CreateCamera();
 
-      IGN_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
+      GZ_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
       /// \brief Data pointer for private data
       /// \internal
       private: std::unique_ptr<SegmentationCameraSensorPrivate> dataPtr;
-      IGN_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
+      GZ_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
     };
     }
   }

include/gz/sensors/Sensor.hh

@@ -227,11 +227,11 @@ namespace gz
       /// \sa IsActive
       public: void SetActive(bool _active);
 
-      IGN_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
+      GZ_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
       /// \internal
       /// \brief Data pointer for private data
       private: std::unique_ptr<SensorPrivate> dataPtr;
-      IGN_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
+      GZ_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
     };
     }
   }