ign -> gz Macro Migration : gz-sim

CMakeLists.txt

@@ -26,9 +26,9 @@ set (CMAKE_CXX_STANDARD 17)
 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()
 
 if (UNIX AND NOT APPLE)

Migration.md

@@ -17,15 +17,20 @@ release will remove the deprecated code.
   Use `gz/...` instead.
 * Configuration and log files are stored under `$HOME/.gz/sim` instead of
   `$HOME/.ignition/gazebo`
-* The following `IGN_` prefixed environment variables are deprecated and will be removed in future versions.
-  Use the `GZ_` prefixed versions instead!
+* The following `IGN_GAZEBO_` prefixed environment variables are deprecated and will be removed in future versions.
+  Use the `GZ_SIM_` prefixed versions instead!
   * `IGN_GAZEBO_RENDER_ENGINE_PATH` -> `GZ_SIM_RENDER_ENGINE_PATH`
   * `IGN_GAZEBO_PHYSICS_ENGINE_PATH` -> `GZ_SIM_PHYSICS_ENGINE_PATH`
   * `IGN_GAZEBO_SYSTEM_PLUGIN_PATH` -> `GZ_SIM_SYSTEM_PLUGIN_PATH`
   * `IGN_DEBUG_COMPONENT_FACTORY` -> `GZ_DEBUG_COMPONENT_FACTORY`
   * `IGN_GAZEBO_RESOURCE_PATH` -> `GZ_SIM_RESOURCE_PATH`
   * `IGN_GAZEBO_SERVER_CONFIG_PATH` -> `GZ_SIM_SERVER_CONFIG_PATH`
-
+* The following `IGN_GAZEBO_` prefixed macros variables are deprecated and will be removed in future versions.
+  Use the `GZ_SIM_` prefixed versions instead!
+  * `IGN_GAZEBO_REGISTER_COMPONENT`
+  * `IGN_GAZEBO_PLUGIN_INSTALL_DIR`
+  * `IGN_GAZEBO_GUI_PLUGIN_INSTALL_DIR`
+  * `IGN_GAZEBO_WORLD_INSTALL_DIR`
 
 ## Gazebo Sim 6.1 to 6.2
 

docker/Dockerfile.gz

@@ -1,7 +1,7 @@
 # Purpose
 #
 #   This docker file is used by build.bash and run.bash to build and run
-#   an Gazebo distribution based on binaries. See the README.md file.
+#   a Gazebo distribution based on binaries. See the README.md file.
 
 # Ubuntu 20.04 with nvidia opengl support
 FROM nvidia/opengl:1.2-glvnd-devel-ubuntu20.04

docker/README.md

@@ -57,7 +57,7 @@ use the Gazebo code found in the current source tree.
 
 ## Gazebo Using Debians In Docker
 
-This section describes how to build and run a docker image of an Gazebo
+This section describes how to build and run a docker image of a Gazebo
 distribution using debians.
 
 **Requirements**

docker/build.bash

@@ -1,7 +1,7 @@
 #!/usr/bin/env bash
 #
 # Purpose
-#   This script is designed to build a docker image of an Gazebo distribution.
+#   This script is designed to build a docker image of a Gazebo distribution.
 #   See README.md and run.bash for more information.
 
 if [ $# -eq 0 ]

examples/plugin/command_actor/CommandActor.cc

@@ -19,7 +19,7 @@
 #include <gz/sim/components/Pose.hh>
 #include <gz/plugin/Register.hh>
 
-IGNITION_ADD_PLUGIN(
+GZ_ADD_PLUGIN(
     command_actor::CommandActor,
     gz::sim::System,
     command_actor::CommandActor::ISystemConfigure,

examples/plugin/custom_component/CustomComponentPlugin.cc

@@ -18,7 +18,7 @@
 
 #include <gz/plugin/Register.hh>
 
-IGNITION_ADD_PLUGIN(examples::CustomComponentPlugin,
+GZ_ADD_PLUGIN(examples::CustomComponentPlugin,
     gz::sim::System,
     examples::CustomComponentPlugin::ISystemConfigure)
 

examples/plugin/custom_component/CustomComponentPlugin.hh

@@ -36,7 +36,7 @@ using CustomComponent =
 
 // Use this macro to register a component. Give it a unique name across the
 // entire simulation.
-IGN_GAZEBO_REGISTER_COMPONENT("examples::CustomComponent", CustomComponent)
+GZ_SIM_REGISTER_COMPONENT("examples::CustomComponent", CustomComponent)
 
 class CustomComponentPlugin :
   public gz::sim::System,

examples/plugin/custom_sensor_system/OdometerSystem.cc

@@ -124,9 +124,9 @@ void OdometerSystem::RemoveSensorEntities(
       });
 }
 
-IGNITION_ADD_PLUGIN(OdometerSystem, gz::sim::System,
+GZ_ADD_PLUGIN(OdometerSystem, gz::sim::System,
   OdometerSystem::ISystemPreUpdate,
   OdometerSystem::ISystemPostUpdate
 )
 
-IGNITION_ADD_PLUGIN_ALIAS(OdometerSystem, "custom::OdometerSystem")
+GZ_ADD_PLUGIN_ALIAS(OdometerSystem, "custom::OdometerSystem")

examples/plugin/custom_sensor_system/odometer.sdf

@@ -86,7 +86,7 @@
           </geometry>
         </visual>
         <!-- Here's our custom sensor -->
-        <sensor name="an_odometer" type="custom" ignition:type="odometer">
+        <sensor name="an_odometer" type="custom" gz:type="odometer">
           <always_on>1</always_on>
           <update_rate>30</update_rate>
           <visualize>true</visualize>

examples/plugin/gui_system_plugin/GuiSystemPlugin.cc

@@ -69,5 +69,5 @@ void GuiSystemPlugin::SetCustomProperty(const QString &_customProperty)
 }
 
 // Register this plugin
-IGNITION_ADD_PLUGIN(GuiSystemPlugin,
+GZ_ADD_PLUGIN(GuiSystemPlugin,
                     gz::gui::Plugin)

examples/plugin/hello_world/HelloWorld.cc

@@ -29,7 +29,7 @@
 
 // This is required to register the plugin. Make sure the interfaces match
 // what's in the header.
-IGNITION_ADD_PLUGIN(
+GZ_ADD_PLUGIN(
     hello_world::HelloWorld,
     gz::sim::System,
     hello_world::HelloWorld::ISystemPostUpdate)

examples/plugin/rendering_plugins/RenderingGuiPlugin.cc

@@ -141,5 +141,5 @@ void RenderingGuiPlugin::FindScene()
 }
 
 // Register this plugin
-IGNITION_ADD_PLUGIN(RenderingGuiPlugin,
+GZ_ADD_PLUGIN(RenderingGuiPlugin,
                     gz::gui::Plugin)

examples/plugin/rendering_plugins/RenderingServerPlugin.cc

@@ -127,7 +127,7 @@ void RenderingServerPlugin::PreUpdate(const gz::sim::UpdateInfo &_info,
   this->simTime = _info.simTime;
 }
 
-IGNITION_ADD_PLUGIN(
+GZ_ADD_PLUGIN(
   RenderingServerPlugin,
   gz::sim::System,
   RenderingServerPlugin::ISystemConfigure,

examples/plugin/rendering_plugins/rendering_plugins.sdf

@@ -18,11 +18,11 @@
 
       <!-- 3D scene -->
       <plugin filename="MinimalScene" name="3D View">
-        <ignition-gui>
+        <gz-gui>
           <title>3D View</title>
           <property type="bool" key="showTitleBar">false</property>
           <property type="string" key="state">docked</property>
-        </ignition-gui>
+        </gz-gui>
 
         <engine>ogre2</engine>
         <scene>scene</scene>
@@ -33,33 +33,33 @@
 
       <!-- Plugins that add functionality to the scene -->
       <plugin filename="EntityContextMenuPlugin" name="Entity context menu">
-        <ignition-gui>
+        <gz-gui>
           <property key="state" type="string">floating</property>
           <property key="width" type="double">5</property>
           <property key="height" type="double">5</property>
           <property key="showTitleBar" type="bool">false</property>
-        </ignition-gui>
+        </gz-gui>
       </plugin>
       <plugin filename="GzSceneManager" name="Scene Manager">
-        <ignition-gui>
+        <gz-gui>
           <property key="resizable" type="bool">false</property>
           <property key="width" type="double">5</property>
           <property key="height" type="double">5</property>
           <property key="state" type="string">floating</property>
           <property key="showTitleBar" type="bool">false</property>
-        </ignition-gui>
+        </gz-gui>
       </plugin>
       <plugin filename="InteractiveViewControl" name="Interactive view control">
-        <ignition-gui>
+        <gz-gui>
           <property key="resizable" type="bool">false</property>
           <property key="width" type="double">5</property>
           <property key="height" type="double">5</property>
           <property key="state" type="string">floating</property>
           <property key="showTitleBar" type="bool">false</property>
-        </ignition-gui>
+        </gz-gui>
       </plugin>
       <plugin filename="SelectEntities" name="Select Entities">
-        <ignition-gui>
+        <gz-gui>
           <anchors target="Select entities">
             <line own="right" target="right"/>
             <line own="top" target="top"/>
@@ -69,12 +69,12 @@
           <property key="height" type="double">5</property>
           <property key="state" type="string">floating</property>
           <property key="showTitleBar" type="bool">false</property>
-        </ignition-gui>
+        </gz-gui>
       </plugin>
 
       <!-- World control -->
       <plugin filename="WorldControl" name="World control">
-        <ignition-gui>
+        <gz-gui>
           <title>World control</title>
           <property type="bool" key="showTitleBar">false</property>
           <property type="bool" key="resizable">false</property>
@@ -87,7 +87,7 @@
             <line own="left" target="left"/>
             <line own="bottom" target="bottom"/>
           </anchors>
-        </ignition-gui>
+        </gz-gui>
 
         <play_pause>true</play_pause>
         <step>true</step>
@@ -98,7 +98,7 @@
 
       <!-- World statistics -->
       <plugin filename="WorldStats" name="World stats">
-        <ignition-gui>
+        <gz-gui>
           <title>World stats</title>
           <property type="bool" key="showTitleBar">false</property>
           <property type="bool" key="resizable">false</property>
@@ -111,7 +111,7 @@
             <line own="right" target="right"/>
             <line own="bottom" target="bottom"/>
           </anchors>
-        </ignition-gui>
+        </gz-gui>
 
         <sim_time>true</sim_time>
         <real_time>true</real_time>
@@ -120,24 +120,24 @@
       </plugin>
 
       <plugin filename="ImageDisplay" name="Image Display">
-        <ignition-gui>
+        <gz-gui>
           <title>Camera</title>
           <property key="state" type="string">floating</property>
           <property type="double" key="width">350</property>
           <property type="double" key="height">315</property>
-        </ignition-gui>
+        </gz-gui>
         <topic>camera</topic>
         <topic_picker>false</topic_picker>
       </plugin>
 
       <plugin filename="RenderingGuiPlugin" name="Rendering GUI Plugin">
-        <ignition-gui>
+        <gz-gui>
           <title>Rendering GUI Plugin</title>
           <property key="state" type="string">floating</property>
           <property type="double" key="width">350</property>
           <property type="double" key="height">100</property>
           <property type="double" key="y">500</property>
-        </ignition-gui>
+        </gz-gui>
       </plugin>
     </gui>
 

examples/plugin/reset_plugin/JointPositionRandomizer.cc

@@ -59,7 +59,7 @@ class JointPositionRandomizer : public System,
       } 
       else if (jointType->Data() == sdf::JointType::REVOLUTE)
       {
-        pos = math::Rand::DblUniform(0, IGN_PI);
+        pos = math::Rand::DblUniform(0, GZ_PI);
         std::cout << "revolute joint (" << joint 
           << ") pos: (" << pos << " rad)"<< std::endl;
       }
@@ -71,7 +71,7 @@ class JointPositionRandomizer : public System,
 };
 }  // namespace reset_plugin
 
-IGNITION_ADD_PLUGIN(reset_plugin::JointPositionRandomizer,
+GZ_ADD_PLUGIN(reset_plugin::JointPositionRandomizer,
                     gz::sim::System,
                     reset_plugin::JointPositionRandomizer::ISystemConfigure,
                     reset_plugin::JointPositionRandomizer::ISystemReset)

examples/plugin/system_plugin/SampleSystem.cc

@@ -4,7 +4,7 @@
 #include <gz/plugin/Register.hh>
 
 // Include a line in your source file for each interface implemented.
-IGNITION_ADD_PLUGIN(
+GZ_ADD_PLUGIN(
     sample_system::SampleSystem,
     gz::sim::System,
     sample_system::SampleSystem::ISystemPostUpdate)

examples/plugin/system_plugin/SampleSystem2.cc

@@ -3,7 +3,7 @@
 //! [registerSampleSystem2]
 #include <gz/plugin/RegisterMore.hh>
 
-IGNITION_ADD_PLUGIN(
+GZ_ADD_PLUGIN(
     sample_system::SampleSystem2,
     gz::sim::System,
     sample_system::SampleSystem2::ISystemPreUpdate,

examples/scripts/log_video_recorder/log_video_recorder.sdf

@@ -35,42 +35,42 @@
 
     <gui fullscreen='0'>
       <plugin filename='MinimalScene' name='3D View'>
-        <ignition-gui>
+        <gz-gui>
           <title>3D View</title>
           <property type='bool' key='showTitleBar'>false</property>
           <property type='string' key='state'>docked</property>
-        </ignition-gui>
+        </gz-gui>
         <engine>ogre2</engine>
         <scene>scene</scene>
         <ambient_light>0.4 0.4 0.4</ambient_light>
         <background_color>0.8 0.8 0.8</background_color>
         <camera_pose>-6 0 6 0 0.5 0</camera_pose>
       </plugin>
       <plugin filename="GzSceneManager" name="Scene Manager">
-        <ignition-gui>
+        <gz-gui>
           <property key="resizable" type="bool">false</property>
           <property key="width" type="double">5</property>
           <property key="height" type="double">5</property>
           <property key="state" type="string">floating</property>
           <property key="showTitleBar" type="bool">false</property>
-        </ignition-gui>
+        </gz-gui>
       </plugin>
       <plugin filename="CameraTracking" name="Camera Tracking">
-        <ignition-gui>
+        <gz-gui>
           <property key="resizable" type="bool">false</property>
           <property key="width" type="double">5</property>
           <property key="height" type="double">5</property>
           <property key="state" type="string">floating</property>
           <property key="showTitleBar" type="bool">false</property>
-        </ignition-gui>
+        </gz-gui>
         <camera_follow>
           <p_gain>0.01</p_gain>
           <world_frame>true</world_frame>
           <offset>-1.0 0 2.5</offset>
         </camera_follow>
       </plugin>
       <plugin filename='WorldControl' name='World control'>
-        <ignition-gui>
+        <gz-gui>
           <title>World control</title>
           <property type='bool' key='showTitleBar'>false</property>
           <property type='bool' key='resizable'>false</property>
@@ -82,7 +82,7 @@
             <line own='left' target='left'/>
             <line own='bottom' target='bottom'/>
           </anchors>
-        </ignition-gui>
+        </gz-gui>
         <play_pause>true</play_pause>
         <step>true</step>
         <start_paused>true</start_paused>
@@ -91,7 +91,7 @@
         <use_event>true</use_event>
       </plugin>
       <plugin filename='WorldStats' name='World stats'>
-        <ignition-gui>
+        <gz-gui>
           <title>World stats</title>
           <property type='bool' key='showTitleBar'>false</property>
           <property type='bool' key='resizable'>false</property>
@@ -103,7 +103,7 @@
             <line own='right' target='right'/>
             <line own='bottom' target='bottom'/>
           </anchors>
-        </ignition-gui>
+        </gz-gui>
         <sim_time>true</sim_time>
         <real_time>true</real_time>
         <real_time_factor>true</real_time_factor>
@@ -112,7 +112,7 @@
       </plugin>
       <!-- Video recorder -->
       <plugin filename="VideoRecorder" name="VideoRecorder">
-        <ignition-gui>
+        <gz-gui>
           <property key="resizable" type="bool">false</property>
           <property key="x" type="double">0</property>
           <property key="y" type="double">0</property>
@@ -121,7 +121,7 @@
           <property key="state" type="string">floating</property>
           <property key="showTitleBar" type="bool">false</property>
           <property key="cardBackground" type="string">#777777</property>
-        </ignition-gui>
+        </gz-gui>
 
         <record_video>
           <use_sim_time>true</use_sim_time>