ign -> gz CLI Migration : gz-sim (#1533)

Signed-off-by: methylDragon <methylDragon@gmail.com>

Author: methylDragon

.github/ci/after_make.sh

@@ -8,7 +8,7 @@ make install
 export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:/usr/local/lib
 
 # For ign-tools
-export GZ_CONFIG_PATH=/usr/local/share/ignition
+export GZ_CONFIG_PATH=/usr/local/share/gz
 
 # For rendering / window tests
 Xvfb :1 -screen 0 1280x1024x24 &

Changelog.md

@@ -357,7 +357,7 @@
 1. Sensor systems work if loaded after sensors
     * [Pull request #1104](https://github.com/gazebosim/gz-sim/pull/1104)
 
-1. Support printing sensors using `ign model`
+1. Support printing sensors using `gz model`
     * [Pull request #1157](https://github.com/gazebosim/gz-sim/pull/1157)
 
 1. Set camera clipping plane distances from the GUI
@@ -956,7 +956,7 @@
 1. 3 to 4
     * [Pull request #933](https://github.com/gazebosim/gz-sim/pull/933)
 
-1. Model info CLI `ign model`
+1. Model info CLI `gz model`
     * [Pull request #893](https://github.com/gazebosim/gz-sim/pull/893)
 
 1. Support Bullet on Edifice
@@ -1729,7 +1729,7 @@
 1. Fix to handle multiple logical cameras.
     * [Pull Request 539](https://github.com/gazebosim/gz-sim/pull/539)
 
-1. Improve ign tool support on macOS.
+1. Improve gz tool support on macOS.
     * [Pull Request 477](https://github.com/gazebosim/gz-sim/pull/477)
 
 1. Add support for topic statistics on breadcrumb deployments.
@@ -2064,7 +2064,7 @@
 1. Hello world plugin added
     * [Pull request #699](https://github.com/gazebosim/gz-sim/pull/699)
 
-1. Model info CLI `ign model`
+1. Model info CLI `gz model`
     * [Pull request #893](https://github.com/gazebosim/gz-sim/pull/893)
 
 1. Don't create components for entities that don't exist
@@ -2166,7 +2166,7 @@
 1. Added screenshot to toolbar
     * [Pull request #588](https://github.com/gazebosim/gz-sim/pull/588)
 
-1. Improve ign tool support on macOS
+1. Improve gz tool support on macOS
     * [Pull request #477](https://github.com/gazebosim/gz-sim/pull/477)
 
 1. change nullptr to a int ptr for qt 5.15.2 bug
@@ -2444,7 +2444,7 @@
     * [Pull Request 351](https://github.com/gazebosim/gz-sim/pull/351)
     * [Pull Request 362](https://github.com/gazebosim/gz-sim/pull/362)
 
-1. Tests & Warnings: Qt 5.14, breadcrumbs, Gui, ign_TEST
+1. Tests & Warnings: Qt 5.14, breadcrumbs, Gui, gz_TEST
     * [Pull Request 327](https://github.com/gazebosim/gz-sim/pull/327)
 
 1. Added support for specifying topics to record.
@@ -2585,7 +2585,7 @@
 1. Enhanced log playback performance.
     * [Pull Request 351](https://github.com/gazebosim/gz-sim/pull/351)
 
-1. Tests & Warnings: Qt 5.14, breadcrumbs, Gui, ign_TEST
+1. Tests & Warnings: Qt 5.14, breadcrumbs, Gui, gz_TEST
     * [Pull Request 327](https://github.com/gazebosim/gz-sim/pull/327)
 
 1. Added support for specifying topics to record.

Migration.md

@@ -31,6 +31,8 @@ release will remove the deprecated code.
   * `IGN_GAZEBO_PLUGIN_INSTALL_DIR`
   * `IGN_GAZEBO_GUI_PLUGIN_INSTALL_DIR`
   * `IGN_GAZEBO_WORLD_INSTALL_DIR`
+* The `gazebo` command line verb is deprecated.
+  Use `sim` instead (e.g. `ign gazebo` -> `gz sim`).
 
 ## Gazebo Sim 6.1 to 6.2
 
@@ -190,7 +192,7 @@ in SDF by setting the `<visual><material><double_sided>` SDF element.
   file can now be loaded without a flag.
 
 * The `ign-gazebo` command line tool is deprecated. The new tool is
-  `ign gazebo`, which has all the same options, except for
+  `gz sim`, which has all the same options, except for
   `--distributed` and `--file`/`-f`, which have been removed.
 
 * The `entity_name` field in the messages published by the imu system is
@@ -211,5 +213,5 @@ added an SDF message to the start of log files.
 * The ignition-gazebo1-gui library has been changed to a `gui` component of
 ignition-gazebo. To use the gui component downstream, update the find package
 call in cmake to request for the component, e.g.
-`ign_find_package(ignition-gazebo1 REQUIRED COMPONENTS gui)`, and link to the
+`gz_find_package(ignition-gazebo1 REQUIRED COMPONENTS gui)`, and link to the
 `libignition-gazebo1::gui` target instead of `libignition-gazebo1-gui`

README.md

@@ -85,13 +85,13 @@ See the [installation tutorial](https://gazebosim.org/api/gazebo/6.1/install.htm
 Gazebo Sim can be run from the command line, once [installed](#install), using:
 
 ```
-ign gazebo
+gz sim
 ```
 
 For help, and command line options use:
 
 ```
-ign gazebo -h
+gz sim -h
 ```
 
 ## Known issue of command line tools
@@ -103,7 +103,7 @@ A workaround for a single package is to define the environment variable
 `GZ_CONFIG_PATH` to point to the location of the Gazebo library installation,
 where the YAML file for the package is found, such as
 ```
-export GZ_CONFIG_PATH=/usr/local/share/ignition
+export GZ_CONFIG_PATH=/usr/local/share/gz
 ```
 
 However, that environment variable only takes a single path, which means if the
@@ -114,9 +114,9 @@ line is using symbolic links to each library's YAML file.
 ```
 mkdir ~/.gz/tools/configs -p
 cd ~/.gz/tools/configs/
-ln -s /usr/local/share/ignition/fuel8.yaml .
-ln -s /usr/local/share/ignition/transport12.yaml .
-ln -s /usr/local/share/ignition/transportlog12.yaml .
+ln -s /usr/local/share/gz/fuel8.yaml .
+ln -s /usr/local/share/gz/transport12.yaml .
+ln -s /usr/local/share/gz/transportlog12.yaml .
 ...
 export GZ_CONFIG_PATH=$HOME/.gz/tools/configs
 ```

examples/plugin/command_actor/README.md

@@ -27,5 +27,5 @@ export GZ_SIM_SYSTEM_PLUGIN_PATH=`pwd`/build
 
 Then run the demo world:
 
-    ign gazebo -v 4 command_actor.sdf -r
+    gz sim -v 4 command_actor.sdf -r
 

examples/plugin/custom_component/README.md

@@ -29,5 +29,5 @@ export GZ_SIM_SYSTEM_PLUGIN_PATH=`pwd`/build
 
 Then run a world that loads the plugin as follows:
 
-    ign gazebo -s -v 4 custom_component.sdf
+    gz sim -s -v 4 custom_component.sdf
 

examples/plugin/custom_sensor_system/README.md

@@ -33,13 +33,13 @@ export GZ_SIM_SYSTEM_PLUGIN_PATH=`pwd`/build
 
 Then load the example world:
 
-    ign gazebo -r odometer.sdf
+    gz sim -r odometer.sdf
 
 You should see a box slowly moving in a straight line.
 
 Listen to the odometer data with:
 
 ```
-ign topic -e -t /world/odometer_world/model/model_with_sensor/link/link/sensor/an_odometer/odometer
+gz topic -e -t /world/odometer_world/model/model_with_sensor/link/link/sensor/an_odometer/odometer
 ```
 

examples/plugin/gui_system_plugin/README.md

@@ -34,7 +34,7 @@ export IGN_GUI_PLUGIN_PATH=`pwd`/build
 
 Then run a world, for example:
 
-    ign gazebo -v 4 shapes.sdf
+    gz sim -v 4 shapes.sdf
 
 From the GUI plugin menu on the top-right, choose "Gui System Plugin".
 

examples/plugin/hello_world/HelloWorld.cc

@@ -48,7 +48,7 @@ void HelloWorld::PostUpdate(const gz::sim::UpdateInfo &_info,
   msg += "paused.";
 
   // Messages printed with gzmsg only show when running with verbosity 3 or
-  // higher (i.e. ign gazebo -v 3)
+  // higher (i.e. gz sim -v 3)
   gzmsg << msg << std::endl;
 }
 

examples/plugin/hello_world/README.md

@@ -31,7 +31,7 @@ export GZ_SIM_SYSTEM_PLUGIN_PATH=`pwd`/build
 
 Then load the example world:
 
-    ign gazebo -v 3 hello_world_plugin.sdf
+    gz sim -v 3 hello_world_plugin.sdf
 
 You should see green messages on the terminal like:
 

examples/plugin/rendering_plugins/README.md

@@ -30,7 +30,7 @@ Run the example world
 
 ~~~
 cd examples/plugin/rendering_plugins
-ign gazebo -v 4 -r rendering_plugins.sdf
+gz sim -v 4 -r rendering_plugins.sdf
 ~~~
 
 The ambient light on the server scene, visible from the camera sensor, will change every 2 seconds.

examples/plugin/reset_plugin/README.md

@@ -27,8 +27,8 @@ export GZ_SIM_SYSTEM_PLUGIN_PATH=`pwd`/build
 
 Then run a world that loads the plugin as follows:
 
-    ign gazebo -r -v 4 joint_position_randomizer.sdf
+    gz sim -r -v 4 joint_position_randomizer.sdf
 
 In another terminal, run the following to reset the world.
 
-    ign service -s /world/default/control --reqtype gz.msgs.WorldControl --reptype gz.msgs.Boolean --timeout 3000 --req 'reset: {all: true}'
+    gz service -s /world/default/control --reqtype gz.msgs.WorldControl --reptype gz.msgs.Boolean --timeout 3000 --req 'reset: {all: true}'

examples/plugin/reset_plugin/joint_position_randomizer.sdf

@@ -3,7 +3,7 @@
 
     To reset the world, run:
 
-    ign service -s /world/default/control \-\-reqtype gz.msgs.WorldControl \-\-reptype gz.msgs.Boolean \-\-timeout 3000 \-\-req 'reset: {all: true}'
+    gz service -s /world/default/control \-\-reqtype gz.msgs.WorldControl \-\-reptype gz.msgs.Boolean \-\-timeout 3000 \-\-req 'reset: {all: true}'
   -->
 
   <world name="default">

examples/scripts/distributed/primary.sh

@@ -2,5 +2,5 @@
 
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
 
-ign gazebo -v 4 -z 100000000 --network-role primary --network-secondaries 3 $DIR/primary.sdf
+gz sim -v 4 -z 100000000 --network-role primary --network-secondaries 3 $DIR/primary.sdf
 

examples/scripts/distributed/secondary.sh

@@ -2,5 +2,5 @@
 
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
 
-ign gazebo -s -v 4 -z 100000000 --network-role secondary $DIR/secondary.sdf
+gz sim -s -v 4 -z 100000000 --network-role secondary $DIR/secondary.sdf
 

examples/scripts/distributed/standalone.sh

@@ -2,4 +2,4 @@
 
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
 
-ign gazebo -v 4 -z 100000000 $DIR/standalone.sdf
+gz sim -v 4 -z 100000000 $DIR/standalone.sdf

examples/scripts/distributed_levels/primary.sh

@@ -3,5 +3,5 @@
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
 
 # --levels is implied by --network-role
-ign gazebo -v 4 -z 100000000 --network-role primary --network-secondaries 2 $DIR/primary.sdf
+gz sim -v 4 -z 100000000 --network-role primary --network-secondaries 2 $DIR/primary.sdf
 

examples/scripts/distributed_levels/secondary.sh

@@ -3,5 +3,5 @@
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
 
 # --levels is implied by --network-role
-ign gazebo -s -v 4 -z 100000000 --network-role secondary $DIR/secondary.sdf
+gz sim -s -v 4 -z 100000000 --network-role secondary $DIR/secondary.sdf
 

examples/scripts/distributed_levels/standalone.sh

@@ -2,4 +2,4 @@
 
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
 
-ign gazebo -v 4 -z 100000000 --levels $DIR/standalone.sdf
+gz sim -v 4 -z 100000000 --levels $DIR/standalone.sdf

examples/scripts/log_video_recorder/README.md

@@ -10,7 +10,7 @@ box) where the entities are located at the start of the log.
 
 Run the `log_record_shapes.sdf` world to generate a state log of the simulation:
 
-    ign gazebo log_record_shapes.sdf
+    gz sim log_record_shapes.sdf
 
 Press Play and let the simulation run for 10 seconds of sim time. Stop and exit.
 You should now see a `state.tlog` generated in `/tmp/log` directory. Now, let's

examples/scripts/log_video_recorder/log_video_recorder.sdf

@@ -4,7 +4,7 @@
 
   This world is to be used with the log playback and log video recorder system.
   Change the log playback path to the directory containing state.tlog before
-  launching the world. Videos will be created in the directory where ign gazebo
+  launching the world. Videos will be created in the directory where gz sim
   is run. A string message will be published to /log_video_recorder/status when
   recording is finished.
 -->

examples/scripts/log_video_recorder/record_one_run.bash

@@ -32,7 +32,7 @@ ln -s $logDirPath $tmpDir
 echo "Starting log playback and video recording"
 
 sdfName="log_video_recorder"
-ign gazebo -v 4 $sdfName.sdf
+gz sim -v 4 $sdfName.sdf
 
 echo "Video recording ended. Shutting down playback"
 

examples/standalone/entity_creation/README.md

@@ -14,7 +14,7 @@ make
 This example only works if the world is called `empty`. Start an empty world with:
 
 ```
-ign gazebo empty.sdf
+gz sim empty.sdf
 ```
 
 Then run the create program to spawn entities into the world:

examples/standalone/external_ecm/README.md

@@ -21,7 +21,7 @@ This will generate the `external_ecm` executable under `build`.
 
 Start a simulation, for example:
 
-    ign gazebo shapes.sdf
+    gz sim shapes.sdf
 
 On another terminal, run the `external_ecm` executable, passing the name of the
 running world you want to inspect:

examples/standalone/joy_to_twist/README.md

@@ -50,11 +50,11 @@ that can be controlled using a joystick. You can run it as follows:
         cd examples/standalone/joy_to_twist
         ./joy_to_twist ../joy_to_twist.sdf
 
-1. Finally, on a 3rd terminal, run `ign gazebo` with the vehicle that will
+1. Finally, on a 3rd terminal, run `gz sim` with the vehicle that will
    consume the twist messages:
 
         cd examples/worlds
-        ign gazebo -v 4 diff_drive.sdf
+        gz sim -v 4 diff_drive.sdf
 
 1. Now hold your joystick's A button (or equivalent) and move the directional
    stick to control the vehicle.

examples/standalone/joystick/README.md

@@ -39,7 +39,7 @@ the SDF file's `<dev>` tag, which defaults to `/dev/input/js0`.
 If no errors are printed, you can check that the messages are being published by
 echoing the `/joy` topic:
 
-    ign topic echo -t /joy
+    gz topic echo -t /joy
 
 ## Demo example
 
@@ -59,11 +59,11 @@ that can be controlled using a joystick. You can run it as follows:
         cd examples/standalone/joy_to_twist
         ./joy_to_twist ../joy_to_twist.sdf
 
-1. Finally, on a 3rd terminal, run `ign gazebo` with the vehicle that will
+1. Finally, on a 3rd terminal, run `gz sim` with the vehicle that will
    consume the twist messages:
 
         cd examples/worlds
-        ign gazebo -v 4 diff_drive.sdf
+        gz sim -v 4 diff_drive.sdf
 
 1. Now hold your joystick's A button (or equivalent) and move the directional
    stick to control the vehicle.

examples/standalone/keyboard/README.md

@@ -33,11 +33,11 @@ that can be controlled using a keyboard. You can run it as follows:
         cd examples/standalone/keyboard/build
         ./keyboard ../keyboard.sdf
 
-1. On another terminal, run `ign gazebo` with the vehicle that will
+1. On another terminal, run `gz sim` with the vehicle that will
    consume the twist messages:
 
         cd examples/worlds
-        ign gazebo -v 4 diff_drive.sdf
+        gz sim -v 4 diff_drive.sdf
 
 1. Switch back to the first terminal. Use the arrow keys to control one vehicle,
    and ASDW to control the other.

examples/standalone/multi_lrauv_race/README.md

@@ -17,7 +17,7 @@ From this directory, run the following to compile:
 
 From the `build` directory, run Gazebo Sim and the example controller:
 
-    ign gazebo -r ../../../worlds/multi_lrauv_race.sdf
+    gz sim -r ../../../worlds/multi_lrauv_race.sdf
     ./multi_lrauv_race
 
 The example controller will output pseudorandom propeller and rudder commands

examples/worlds/ackermann_steering.sdf

@@ -4,11 +4,11 @@
 
   Try sending commands:
 
-    ign topic -t "/model/vehicle_blue/cmd_vel" -m gz.msgs.Twist -p "linear: {x: 0.5}, angular: {z: 0.1}"
+    gz topic -t "/model/vehicle_blue/cmd_vel" -m gz.msgs.Twist -p "linear: {x: 0.5}, angular: {z: 0.1}"
 
   Listen to odometry:
 
-    ign topic -e -t /model/vehicle_blue/odometry
+    gz topic -e -t /model/vehicle_blue/odometry
 
 -->
 <sdf version="1.6">

examples/worlds/apply_joint_force.sdf

@@ -5,10 +5,10 @@
   Try sending commands:
 
   This will apply a constant force on the joint
-    ign topic -t "/model/joint_force_example/joint/j1/cmd_force" -m gz.msgs.Double  -p "data: 0.001"
+    gz topic -t "/model/joint_force_example/joint/j1/cmd_force" -m gz.msgs.Double  -p "data: 0.001"
 
   This will stop applying the force. The joint may continue to rotate for some time before coming to a stop
-    ign topic -t "/model/joint_force_example/joint/j1/cmd_force" -m gz.msgs.Double  -p "data: 0.0"
+    gz topic -t "/model/joint_force_example/joint/j1/cmd_force" -m gz.msgs.Double  -p "data: 0.0"
 -->
 <sdf version="1.6">
   <world name="apply_joint_force">