Skip to content

Commit 6c9c899

Browse files
nkoenigmjcarrolliche033
authored
Removing ignition (#2055)
Signed-off-by: Nate Koenig <natekoenig@gmail.com> Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai> Signed-off-by: Ian Chen <ichen@openrobotics.org> Co-authored-by: Michael Carroll <mjcarroll@intrinsic.ai> Co-authored-by: Ian Chen <ichen@openrobotics.org>
1 parent 92158db commit 6c9c899

29 files changed

+146
-297
lines changed

‎docker/build.bash

+1-1
Original file line numberDiff line numberDiff line change
@@ -7,7 +7,7 @@
77
if [ $# -eq 0 ]
88
then
99
echo "Usage: $0 <Gazebo meta-package name> <dockerfile>"
10-
echo "Example: $0 ignition-blueprint ./Dockerfile.gz"
10+
echo "Example: $0 gz-garden ./Dockerfile.gz"
1111
exit 1
1212
fi
1313

‎examples/worlds/deprecated_ignition.sdf

-82
This file was deleted.

‎include/gz/sim/System.hh

+1-1
Original file line numberDiff line numberDiff line change
@@ -102,7 +102,7 @@ namespace gz
102102
EventManager &_eventMgr) = 0;
103103
};
104104

105-
/// \class ISystemConfigureParameters ISystem.hh ignition/gazebo/System.hh
105+
/// \class ISystemConfigureParameters ISystem.hh gz/sim/System.hh
106106
/// \brief Interface for a system that declares parameters.
107107
///
108108
/// ISystemConfigureParameters::ConfigureParameters is called after

‎include/gz/sim/Util.hh

+1-1
Original file line numberDiff line numberDiff line change
@@ -234,7 +234,7 @@ namespace gz
234234
/// 2. "../shapes.sdf" - This is referencing a relative world file.
235235
/// 3. "/home/user/shapes.sdf" - This is reference an absolute world
236236
/// file.
237-
/// 4. "https://fuel.ignitionrobotics.org/1.0/openrobotics/worlds/shapes.sdf"
237+
/// 4. "https://fuel.gazebosim.org/1.0/openrobotics/worlds/shapes.sdf"
238238
/// This is referencing a Fuel URI. This will download the world file.
239239
/// \param[in] _fuelResourceCache Path to a Fuel resource cache, if
240240
/// known.

‎include/gz/sim/components/Model.hh

+2-2
Original file line numberDiff line numberDiff line change
@@ -58,8 +58,8 @@ namespace serializers
5858
{
5959
// Skip serializing models with //pose/@relative_to attribute
6060
// since deserialization will fail. This could be a nested model.
61-
// see https://github.com/ignitionrobotics/ign-gazebo/issues/1071
62-
// Once https://github.com/ignitionrobotics/sdformat/issues/820 is
61+
// see https://github.com/gazebosim/gz-sim/issues/1071
62+
// Once https://github.com/gazebosim/sdformat/issues/820 is
6363
// resolved, there should be an API that returns sdf::Errors objects
6464
// instead of printing console msgs so it would be easier to ignore
6565
// specific errors in Deserialize.

‎src/ServerConfig.cc

+2-22
Original file line numberDiff line numberDiff line change
@@ -546,17 +546,7 @@ const std::string &ServerConfig::RenderEngineServer() const
546546
/////////////////////////////////////////////////
547547
void ServerConfig::SetRenderEngineServer(const std::string &_engine)
548548
{
549-
// Deprecated: accept ignition-prefixed engines
550-
std::string deprecatedPrefix{"ignition"};
551-
auto engine = _engine;
552-
auto pos = engine.find(deprecatedPrefix);
553-
if (pos != std::string::npos)
554-
{
555-
engine.replace(pos, deprecatedPrefix.size(), "gz");
556-
gzwarn << "Trying to load deprecated engine [" << _engine
557-
<< "] for the server. Use [" << engine << "] instead." << std::endl;
558-
}
559-
this->dataPtr->renderEngineServer = engine;
549+
this->dataPtr->renderEngineServer = _engine;
560550
}
561551

562552
/////////////////////////////////////////////////
@@ -593,17 +583,7 @@ const std::string &ServerConfig::RenderEngineGui() const
593583
/////////////////////////////////////////////////
594584
void ServerConfig::SetRenderEngineGui(const std::string &_engine)
595585
{
596-
// Deprecated: accept ignition-prefixed engines
597-
std::string deprecatedPrefix{"ignition"};
598-
auto engine = _engine;
599-
auto pos = engine.find(deprecatedPrefix);
600-
if (pos != std::string::npos)
601-
{
602-
engine.replace(pos, deprecatedPrefix.size(), "gz");
603-
gzwarn << "Trying to load deprecated engine [" << _engine
604-
<< "] for the GUI. Use [" << engine << "] instead." << std::endl;
605-
}
606-
this->dataPtr->renderEngineGui = engine;
586+
this->dataPtr->renderEngineGui = _engine;
607587
}
608588

609589
/////////////////////////////////////////////////

‎src/ServerPrivate.cc

+1-1
Original file line numberDiff line numberDiff line change
@@ -45,7 +45,7 @@ struct LoggingPlugin
4545
public: static std::string &LoggingPluginFileName()
4646
{
4747
static std::string recordPluginFileName =
48-
std::string("ignition-gazebo") +
48+
std::string("gz-sim") +
4949
GZ_SIM_MAJOR_VERSION_STR + "-log-system";
5050
return recordPluginFileName;
5151
}

‎src/SystemLoader.cc

+3-1
Original file line numberDiff line numberDiff line change
@@ -64,7 +64,8 @@ class gz::sim::SystemLoaderPrivate
6464
public: bool InstantiateSystemPlugin(const sdf::Plugin &_sdfPlugin,
6565
gz::plugin::PluginPtr &_gzPlugin)
6666
{
67-
// Deprecated: accept ignition-gazebo-prefixed systems
67+
// Deprecated: accept ignition-gazebo-prefixed systems. Remove this on
68+
// gz-sim9
6869
std::string deprecatedPrefix{"ignition-gazebo"};
6970
auto filename = _sdfPlugin.Filename();
7071
auto pos = filename.find(deprecatedPrefix);
@@ -124,6 +125,7 @@ class gz::sim::SystemLoaderPrivate
124125
std::string pluginToInstantiate = _sdfPlugin.Name().empty() ?
125126
pluginName : _sdfPlugin.Name();
126127

128+
// Deprecated: accept ignition plugins. Remove this on gz-sim9
127129
std::string deprecatedPluginNamePrefix{"ignition::gazebo"};
128130
pos = pluginToInstantiate.find(deprecatedPluginNamePrefix);
129131
if (pos != std::string::npos)

‎src/Util_TEST.cc

+2-2
Original file line numberDiff line numberDiff line change
@@ -974,11 +974,11 @@ TEST_F(UtilTest, ResolveSdfWorldFile)
974974

975975
// URI to a Fuel world.
976976
std::string fuelUri =
977-
"https://fuel.ignitionrobotics.org/1.0/openrobotics/worlds/test world";
977+
"https://fuel.gazebosim.org/1.0/openrobotics/worlds/test world";
978978

979979
// The expect path for the local Fuel world.
980980
std::string expectedPath = common::joinPaths(
981-
config.CacheLocation(), "fuel.ignitionrobotics.org",
981+
config.CacheLocation(), "fuel.gazebosim.org",
982982
"openrobotics", "worlds", "test world");
983983

984984
// Get the Fuel world.

‎src/gui/plugins/banana_for_scale/BananaForScale.cc

+2-2
Original file line numberDiff line numberDiff line change
@@ -44,10 +44,10 @@ namespace gz::sim
4444
}
4545

4646
const char kBanana[] =
47-
"https://fuel.ignitionrobotics.org/1.0/mjcarroll/models/banana for scale";
47+
"https://fuel.gazebosim.org/1.0/mjcarroll/models/banana for scale";
4848

4949
const char kBigBanana[] =
50-
"https://fuel.ignitionrobotics.org/1.0/mjcarroll/models/big banana for scale";
50+
"https://fuel.gazebosim.org/1.0/mjcarroll/models/big banana for scale";
5151

5252
using namespace gz;
5353
using namespace sim;

‎src/gui/plugins/component_inspector/ComponentInspector.cc

+2-2
Original file line numberDiff line numberDiff line change
@@ -1257,8 +1257,8 @@ void ComponentInspector::QuerySystems()
12571257

12581258
// Remove common prefixes and suffixes
12591259
auto humanReadable = plugin.filename();
1260-
removePrefix("ignition-gazebo-", humanReadable);
1261-
removePrefix("ignition-gazebo" +
1260+
removePrefix("gz-sim-", humanReadable);
1261+
removePrefix("gz-sim" +
12621262
std::string(GZ_SIM_MAJOR_VERSION_STR) + "-", humanReadable);
12631263
removeSuffix("-system", humanReadable);
12641264
removeSuffix("system", humanReadable);

‎src/gui/plugins/resource_spawner/ResourceSpawner.cc

-21
Original file line numberDiff line numberDiff line change
@@ -552,27 +552,6 @@ void ResourceSpawner::LoadConfig(const tinyxml2::XMLElement *)
552552
}
553553

554554
auto servers = this->dataPtr->fuelClient->Config().Servers();
555-
// Since the ign->gz rename, `servers` here returns two items for the
556-
// canonical Fuel server: fuel.ignitionrobotics.org and fuel.gazebosim.org.
557-
// For the purposes of the ResourceSpawner, these will be treated as the same
558-
// and we will remove the ignitionrobotics server here.
559-
auto urlIs = [](const std::string &_url)
560-
{
561-
return [_url](const fuel_tools::ServerConfig &_server)
562-
{ return _server.Url().Str() == _url; };
563-
};
564-
565-
auto ignIt = std::find_if(servers.begin(), servers.end(),
566-
urlIs("https://fuel.ignitionrobotics.org"));
567-
if (ignIt != servers.end())
568-
{
569-
auto gzsimIt = std::find_if(servers.begin(), servers.end(),
570-
urlIs("https://fuel.gazebosim.org"));
571-
if (gzsimIt != servers.end())
572-
{
573-
servers.erase(ignIt);
574-
}
575-
}
576555

577556
gzmsg << "Please wait... Loading models from Fuel.\n";
578557

‎src/rendering/RenderUtil.cc

+1-11
Original file line numberDiff line numberDiff line change
@@ -2797,17 +2797,7 @@ void RenderUtil::ShowGrid()
27972797
/////////////////////////////////////////////////
27982798
void RenderUtil::SetEngineName(const std::string &_name)
27992799
{
2800-
// Deprecated: accept ignition-prefixed engines
2801-
std::string deprecatedPrefix{"ignition"};
2802-
auto name = _name;
2803-
auto pos = name.find(deprecatedPrefix);
2804-
if (pos != std::string::npos)
2805-
{
2806-
name.replace(pos, deprecatedPrefix.size(), "gz");
2807-
gzwarn << "Trying to load deprecated engine [" << _name
2808-
<< "] for the server. Use [" << name << "] instead." << std::endl;
2809-
}
2810-
this->dataPtr->engineName = name;
2800+
this->dataPtr->engineName = _name;
28112801
}
28122802

28132803
/////////////////////////////////////////////////

‎src/systems/hydrodynamics/Hydrodynamics.cc

+1-10
Original file line numberDiff line numberDiff line change
@@ -293,16 +293,7 @@ void Hydrodynamics::Configure(
293293
gz::sim::EventManager &/*_eventMgr*/
294294
)
295295
{
296-
if (_sdf->HasElement("waterDensity"))
297-
{
298-
gzwarn <<
299-
"<waterDensity> parameter is deprecated and will be removed Ignition G.\n"
300-
<< "\tPlease update your SDF to use <water_density> instead.";
301-
}
302-
303-
this->dataPtr->waterDensity = SdfParamDouble(_sdf, "waterDensity",
304-
SdfParamDouble(_sdf, "water_density", 998)
305-
);
296+
this->dataPtr->waterDensity = SdfParamDouble(_sdf, "water_density", 998);
306297
// Load stability derivatives
307298
// Use SNAME 1950 convention to load the coeffecients.
308299
const auto snameConventionVel = "UVWPQR";

‎src/systems/log/LogPlayback.cc

+1-2
Original file line numberDiff line numberDiff line change
@@ -510,8 +510,7 @@ void LogPlayback::Update(const UpdateInfo &_info, EntityComponentManager &_ecm)
510510
{
511511
auto msgType = iter->Type();
512512

513-
// Support ignition.msgs for backwards compatibility, don't remove on tock
514-
// so users can use logs across versions
513+
// Support ignition.msgs for backwards compatibility. Remove on gz-sim9
515514
std::string deprecatedPrefix{"ignition.msgs"};
516515
auto pos = msgType.find(deprecatedPrefix);
517516
if (pos != std::string::npos)

‎src/systems/physics/Physics.cc

-10
Original file line numberDiff line numberDiff line change
@@ -781,16 +781,6 @@ void Physics::Configure(const Entity &_entity,
781781
pluginLib = "gz-physics-dartsim-plugin";
782782
}
783783

784-
// Deprecated: accept ignition-prefixed engines
785-
std::string deprecatedPrefix{"ignition"};
786-
auto pos = pluginLib.find(deprecatedPrefix);
787-
if (pos != std::string::npos)
788-
{
789-
auto msg = "Trying to load deprecated plugin [" + pluginLib + "]. Use [";
790-
pluginLib.replace(pos, deprecatedPrefix.size(), "gz");
791-
gzwarn << msg << pluginLib << "] instead." << std::endl;
792-
}
793-
794784
// Update component
795785
if (!engineComp)
796786
{

‎src/systems/triggered_publisher/TriggeredPublisher.hh

+2-2
Original file line numberDiff line numberDiff line change
@@ -86,8 +86,8 @@ namespace systems
8686
/// * Attributes:
8787
/// * `name`: Service name (eg. `/world/triggered_publisher/set_pose`)
8888
/// * `timeout`: Service timeout
89-
/// * `reqType`: Service request message type (eg. ignition.msgs.Pose)
90-
/// * `repType`: Service response message type (eg. ignition.msgs.Empty)
89+
/// * `reqType`: Service request message type (eg. gz.msgs.Pose)
90+
/// * `repType`: Service response message type (eg. gz.msgs.Empty)
9191
/// * `reqMsg`: String used to construct the service protobuf message.
9292
///
9393
/// Examples:

‎test/integration/battery_plugin.cc

+2-2
Original file line numberDiff line numberDiff line change
@@ -292,7 +292,7 @@ TEST_F(BatteryPluginTest,
292292
// the LinearBatteryPlugin is not zero when created. If
293293
// components::BatterySoC is zero on start, then the Physics plugin
294294
// can disable a joint. This in turn can prevent the joint from
295-
// rotating. See https://github.com/ignitionrobotics/ign-gazebo/issues/55
295+
// rotating. See https://github.com/gazebosim/gz-sim/issues/55
296296
EXPECT_GT(batComp->Data(), 0);
297297
EXPECT_GT(batComp2->Data(), 0);
298298
};
@@ -333,7 +333,7 @@ TEST_F(BatteryPluginTest,
333333

334334
/////////////////////////////////////////////////
335335
// Battery with power draining topics
336-
// See https://github.com/ignitionrobotics/ign-gazebo/issues/1175
336+
// See https://github.com/gazebosim/gz-sim/issues/1175
337337
TEST_F(BatteryPluginTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(PowerDrainTopic))
338338
{
339339
const auto sdfPath = common::joinPaths(std::string(PROJECT_SOURCE_PATH),

0 commit comments

Comments
 (0)