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Migration.md

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Note on deprecations

A tick-tock release cycle allows easy migration to new software versions. Obsolete code is marked as deprecated for one major release. Deprecated code produces compile-time warnings. These warning serve as notification to users that their code should be upgraded. The next major release will remove the deprecated code.

Gazebo Physics 8.X to 9.X

Deprecations

  • The macro GZ_PHYSICS_ENGINE_INSTALL_DIR has been removed. Use gz::physics::getEngineInstallDir() instead.

Gazebo Physics 5.X to 6.X

Deprecations

  1. The ignition namespace is deprecated and will be removed in future versions. Use gz instead.

  2. Header files under ignition/... are deprecated and will be removed in future versions. Use gz/... instead.

  3. The shared libraries have gz where there used to be ignition.

  4. Using the un-migrated version is still possible due to tick-tocks, but will be removed in future versions.

  5. The following IGN_ / IGNITION_ prefixed macros are deprecated and will be removed in future versions. Additionally, they will only be available when including the corresponding ignition/... header. Use the GZ_ prefix instead.

    1. IGN_PHYSICS_DECLARE_JOINT_TYPE, IGN_PHYSICS_DECLARE_SHAPE_TYPE
    2. IGN_PHYSICS_MAKE_ALL_TYPE_COMBOS
    3. IGN_PHYSICS_ADD_PLUGIN
    4. IGN_PLUGIN_REGISTER_MORE_TRANS_UNITS -> GZ_**PHYSICS**_REGISTER_MORE_TRANS_UNITS
    5. IGN_PHYSICS_REQUEST_FEATURES_MACRO
    6. IGN_PHYSICS_CREATE_SELECTOR
    7. IGNITION_PHYSICS_CONST_GET_ERROR (hard-tocked, inside detail header)
    8. IGNITION_UNITTEST_EXPECTDATA_ACCESS (hard-tocked, inside test and detail headers)
    9. IGNITION_PHYSICS_DEFINE_COORDINATE_SPACE (hard-tocked, inside detail header)

  6. The ignition:expressed_in SDF attribute is deprecated and will be removed. Please use gz:expressed_in instead.

Breaking Changes

  • The project name has been changed to use the gz- prefix, you must use the gz prefix!
    • This also means that any generated code that use the project name (e.g. CMake variables, in-source macros) would have to be migrated.
    • Some non-exhaustive examples of this include:
      • GZ_<PROJECT>_<VISIBLE/HIDDEN>
      • CMake -config files
      • Paths that depend on the project name

Gazebo Physics 4.X to 5.X

Modifications

  1. Depends on sdformat12.

Gazebo Physics 4.1 to 4.2

Additions

  1. Bullet: new plugin implementation.

  2. Heightmap: Feature defined and implemented in dartsim.

  3. TPE: Capsule and Ellipsoid shapes added.

Gazebo Physics 3.X to 4.X

Modifications

  1. Depends on gz-utils1.

  2. Depends on sdformat11.

  3. ignition::physics::FindFreeGroupFeature::Implementation::GetFreeGroupCanonicalLink has been replaced by ignition::physics::FindFreeGroupFeature::Implementation::GetFreeGroupRootLink.

Deprecations

  1. physics/FreeGroup.hh
    • Deprecation: Identity ignition::physics::FreeGroup::CanonicalLink(const Identity &_groupID)
    • Replacement: Identity ignition::physics::FreeGroup::RootLink(const Identity &_groupID)

Gazebo Physics 2.X to 3.X

Modifications

  1. Depends on sdformat10.

Gazebo Physics 1.X to 2.X

Modifications

  1. Depends on sdformat9.