ign -> gz: namespaces, .gz directory (#1496)

Signed-off-by: methylDragon <methylDragon@gmail.com>
Signed-off-by: Louise Poubel <louise@openrobotics.org>

Co-authored-by: Louise Poubel <louise@openrobotics.org>

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 IGN_CONFIG_PATH=/usr/local/share/ignition
+export GZ_CONFIG_PATH=/usr/local/share/ignition
 
 # For rendering / window tests
 Xvfb :1 -screen 0 1280x1024x24 &

.github/workflows/ci.yml

@@ -26,5 +26,5 @@ jobs:
         id: ci
         uses: ignition-tooling/action-ignition-ci@jammy
         with:
-          # per bug https://github.com/ignitionrobotics/ign-gazebo/issues/1409
+          # per bug https://github.com/gazebosim/gz-sim/issues/1409
           cmake-args: '-DBUILD_DOCS=OFF'

CMakeLists.txt

@@ -23,7 +23,7 @@ set (CMAKE_CXX_STANDARD 17)
 # Set project-specific options
 #============================================================================
 
-option(ENABLE_PROFILER "Enable Ignition Profiler" FALSE)
+option(ENABLE_PROFILER "Enable Gazebo Profiler" FALSE)
 
 if(ENABLE_PROFILER)
   add_definitions("-DIGN_PROFILER_ENABLE=1")
@@ -201,10 +201,10 @@ else()
 	endif()
 endif()
 # Plugin install dirs
-set(IGNITION_GAZEBO_PLUGIN_INSTALL_DIR
+set(GZ_SIM_PLUGIN_INSTALL_DIR
   ${CMAKE_INSTALL_PREFIX}/${IGN_LIB_INSTALL_DIR}/ign-${IGN_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins
 )
-set(IGNITION_GAZEBO_GUI_PLUGIN_INSTALL_DIR
+set(GZ_SIM_GUI_PLUGIN_INSTALL_DIR
   ${CMAKE_INSTALL_PREFIX}/${IGN_LIB_INSTALL_DIR}/ign-${IGN_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins/gui
 )
 
@@ -233,7 +233,7 @@ configure_file(${CMAKE_SOURCE_DIR}/tools/desktop/ignition-gazebo.svg.in ${CMAKE_
 
 # disable doxygen on macOS due to issues with doxygen 1.9.0
 # there is an unreleased fix; revert this when 1.9.1 is released
-# https://github.com/ignitionrobotics/ign-gazebo/issues/520
+# https://github.com/gazebosim/gz-sim/issues/520
 if (NOT APPLE)
   ign_create_docs(
     API_MAINPAGE_MD "${CMAKE_BINARY_DIR}/api.md"
@@ -256,7 +256,7 @@ if(TARGET doc)
 endif()
 
 # TICKTOCK MASTER HEADER (to bypass IGN_DESIGNATION)
-# TODO(CH3): Remove on tock
+# TODO(CH3): Deprecated. Remove on tock
 configure_file(
   ${CMAKE_CURRENT_BINARY_DIR}/include/gz/${IGN_DESIGNATION}.hh
   ${CMAKE_CURRENT_BINARY_DIR}/include/gz/sim.hh

CODE_OF_CONDUCT.md

@@ -56,7 +56,7 @@ further defined and clarified by project maintainers.
 ## Enforcement
 
 Instances of abusive, harassing, or otherwise unacceptable behavior may be
-reported by contacting the project team at [https://ignitionrobotics.org/support](https://ignitionrobotics.org/support). All
+reported by contacting the project team at [https://gazebosim.org/support](https://gazebosim.org/support). All
 complaints will be reviewed and investigated and will result in a response that
 is deemed necessary and appropriate to the circumstances. The project team is
 obligated to maintain confidentiality with regard to the reporter of an incident.

CONTRIBUTING.md

@@ -1 +1 @@
-See the [Ignition Robotics contributing guide](https://ignitionrobotics.org/docs/all/contributing).
+See the [Gazebo contributing guide](https://gazebosim.org/docs/all/contributing).

Changelog.md

@@ -5,26 +5,32 @@ 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.
 
-## Ignition Gazebo 6.x to 7.0 
+## Gazebo Sim 6.x to 7.0
 
 * **Deprecated**
   + The `ParticleEmitter2` system was renamed to `ParticleEmitter`. The
   `ParticleEmitter2` system is now deprecated. Please use the
-  `ParticleEmitter` system. 
+  `ParticleEmitter` system.
+* The `ignition::gazebo` namespace is deprecated and will be removed in future versions.
+  Use `gz::sim` instead.
+* Header files under `ignition/...` are deprecated and will be removed in future versions.
+  Use `gz/...` instead.
+* Configuration and log files are stored under `$HOME/.gz/sim` instead of
+  `$HOME/.ignition/gazebo`
 
-## Ignition Gazebo 6.1 to 6.2
+## Gazebo Sim 6.1 to 6.2
 
 * If no `<namespace>` is given to the `Thruster` plugin, the namespace now
   defaults to the model name, instead of an empty string.
 
-## Ignition Gazebo 5.x to 6.x
+## Gazebo Sim 5.x to 6.x
 
 * The ParticleEmitter system is deprecated. Please use the ParticleEmitter2
 system.
 
-* Marker example has been moved to Ignition GUI.
+* Marker example has been moved to Gazebo GUI.
 
-* Some GUI plugins have been moved to Ignition GUI. Gazebo users don't need to
+* Some GUI plugins have been moved to Gazebo GUI. Gazebo Sim users don't need to
   change their configuration files, the plugins will be loaded the same way.
     * Grid Config
     * Tape Measure
@@ -80,20 +86,20 @@ since pose information is being logged in the `changed_state` topic.
 * The `gui.config` and `server.config` files are now located in a versioned
   folder inside `$HOME/.ignition/gazebo`, i.e. `$HOME/.ignition/gazebo/6/gui.config`.
 
-* The `Component::Clone` method has been marked `const` to reflect that it 
+* The `Component::Clone` method has been marked `const` to reflect that it
   should not mutate internal component state. Component implementations that
   overrode the `Clone` method must also be marked `const`.
 
-## Ignition Gazebo 5.2 to 5.3
+## Gazebo Sim 5.2 to 5.3
 
 * If no `<namespace>` is given to the `Thruster` plugin, the namespace now
   defaults to the model name, instead of an empty string.
 
-## Ignition Gazebo 4.x to 5.x
+## Gazebo Sim 4.x to 5.x
 
 * Use `cli` component of `ignition-utils1`.
 
-* `ignition::gazebo::RenderUtil::SelectedEntities()` now returns a
+* `gz::sim::RenderUtil::SelectedEntities()` now returns a
   `const std::vector<Entity> &` instead of forcing a copy. The calling code
   should create a copy if it needs to modify the vector in some way.
 
@@ -104,30 +110,30 @@ since pose information is being logged in the `changed_state` topic.
     * `/<prefix>/<sensor_name>` -> `/<prefix>/<sensor_name>/image`
     * `/<prefix>/camera_info` -> `/<prefix>/<sensor_name>/camera_info`
 
-* Various `GuiEvent`s were deprecated in favor of their Ignition GUI
+* Various `GuiEvent`s were deprecated in favor of their Gazebo GUI
   equivalents.
-  * **Deprecated** `ignition::gazebo::gui::SnapIntervals`
-  * **Replacement** `ignition::gui::SnapIntervals`
-  * **Deprecated** `ignition::gazebo::gui::Render`
-  * **Replacement** `ignition::gui::Render`
-  * **Deprecated** `ignition::gazebo::gui::SpawnPreviewModel`
-  * **Replacement** `ignition::gui::SpawnFromDescription`
-  * **Deprecated** `ignition::gazebo::gui::SnapPreviewPath`
-  * **Replacement** `ignition::gui::SnapFromPath`
+  * **Deprecated** `gz::sim::gui::SnapIntervals`
+  * **Replacement** `gz::gui::SnapIntervals`
+  * **Deprecated** `gz::sim::gui::Render`
+  * **Replacement** `gz::gui::Render`
+  * **Deprecated** `gz::sim::gui::SpawnPreviewModel`
+  * **Replacement** `gz::gui::SpawnFromDescription`
+  * **Deprecated** `gz::sim::gui::SnapPreviewPath`
+  * **Replacement** `gz::gui::SnapFromPath`
 
 * The `<direction>` tag of spot lights was previously not parsed by the
   scene, so all spot lights shone in the direction corresponding to the
   default `0 0 -1`. Since 5.x, the `<direction>` tag is correctly
   processed.
 
-## Ignition Gazebo 4.0.0 to 4.X.X
+## Gazebo Sim 4.0.0 to 4.X.X
 
-* Ignition Gazebo 4.0.0 enabled double sided material by default but this
+* Gazebo Sim 4.0.0 enabled double sided material by default but this
 caused shadow artifacts to appear on some meshes. Double sided material is
 now disabled and made an opt-in feature. Users can configure this property
 in SDF by setting the `<visual><material><double_sided>` SDF element.
 
-## Ignition Gazebo 3.x to 4.x
+## Gazebo Sim 3.x to 4.x
 
 * The `RenderUtil::SetEnabledSensors` callback in gazebo rendering has a new
   required function argument for the Entity of the sensor.
@@ -136,7 +142,7 @@ in SDF by setting the `<visual><material><double_sided>` SDF element.
           std::string(const sdf::Sensor &, const std::string &)>)`
     * ***Replacement***
       `public: void SetEnableSensors(bool, std::function<
-          std::string(const gazebo::Entity &,
+          std::string(const sim::Entity &,
           const sdf::Sensor &, const std::string &)>)`
 
 * Log playback using `<path>` SDF parameter is removed. Use --playback command
@@ -146,15 +152,15 @@ in SDF by setting the `<visual><material><double_sided>` SDF element.
     * **Deprecated**: `Entity EntityFromNode(const rendering::NodePtr &_node) const;`
     * **Replacement**: `Entity entity = std::get<int>(visual->UserData("gazebo-entity"));`
 
-## Ignition Gazebo 3.12.0 to 3.X.X
+## Gazebo Sim 3.12.0 to 3.X.X
 
 * Some sensors will only have the `SensorTopic` component after the 1st iteration.
 
-## Ignition Gazebo 2.x to 3.x
+## Gazebo Sim 2.x to 3.x
 
 * Use ign-rendering3, ign-sensors3 and ign-gui3.
 
-## Ignition Gazebo 1.x to 2.x
+## Gazebo Sim 1.x to 2.x
 
 * Changed component data types:
     * `Altimeter` now uses `sdf::Sensor`
@@ -176,15 +182,15 @@ in SDF by setting the `<visual><material><double_sided>` SDF element.
 * The `entity_name` field in the messages published by the imu system is
 updated to report its scoped name.
 
-* Log files generated from Ignition Gazebo 1.X are no longer compatible with
-Gazebo 2+ for playback. [BitBucket pull request
+* Log files generated from Gazebo Sim 1.X are no longer compatible with
+Gazebo Sim 2+ for playback. [BitBucket pull request
 #257](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/257)
 added an SDF message to the start of log files.
 
 * Log playback using `<path>` SDF parameter is deprecated. Use `--playback`
   command line argument instead.
 
-## Ignition Gazebo 1.0.2 to 1.1.0
+## Gazebo Sim 1.0.2 to 1.1.0
 
 * All headers in `gazebo/network` are no longer installed.
 

Migration.md

@@ -1 +1 @@
-http://ignitionrobotics.org
+http://gazebosim.org

NEWS

@@ -1,22 +1,22 @@
-# Ignition Gazebo : A Robotic Simulator
+# Gazebo Sim : A Robotic Simulator
 
 **Maintainer:** louise AT openrobotics DOT org
 
-[![GitHub open issues](https://img.shields.io/github/issues-raw/ignitionrobotics/ign-gazebo.svg)](https://github.com/ignitionrobotics/ign-gazebo/issues)
-[![GitHub open pull requests](https://img.shields.io/github/issues-pr-raw/ignitionrobotics/ign-gazebo.svg)](https://github.com/ignitionrobotics/ign-gazebo/pulls)
+[![GitHub open issues](https://img.shields.io/github/issues-raw/gazebosim/gz-sim.svg)](https://github.com/gazebosim/gz-sim/issues)
+[![GitHub open pull requests](https://img.shields.io/github/issues-pr-raw/gazebosim/gz-sim.svg)](https://github.com/gazebosim/gz-sim/pulls)
 [![Discourse topics](https://img.shields.io/discourse/https/community.gazebosim.org/topics.svg)](https://community.gazebosim.org)
 [![Hex.pm](https://img.shields.io/hexpm/l/plug.svg)](https://www.apache.org/licenses/LICENSE-2.0)
 
 Build | Status
 -- | --
-Test coverage | [![codecov](https://codecov.io/gh/ignitionrobotics/ign-gazebo/branch/main/graph/badge.svg)](https://codecov.io/gh/ignitionrobotics/ign-gazebo)
+Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-sim/branch/main/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-sim)
 Ubuntu Focal | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_gazebo-ci-main-focal-amd64)](https://build.osrfoundation.org/job/ignition_gazebo-ci-main-focal-amd64)
 Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_gazebo-ci-main-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_gazebo-ci-main-homebrew-amd64)
 Windows       | [![Build Status](https://build.osrfoundation.org/job/ign_gazebo-ci-win/badge/icon)](https://build.osrfoundation.org/job/ign_gazebo-ci-win/)
 
-Ignition Gazebo is an open source robotics simulator. Through Ignition Gazebo, users have access to high fidelity physics, rendering, and sensor models. Additionally, users and developers have multiple points of entry to simulation including a graphical user interface, plugins, and asynchronous message passing and services.
+Gazebo Sim is an open source robotics simulator. Through Gazebo, users have access to high fidelity physics, rendering, and sensor models. Additionally, users and developers have multiple points of entry to simulation including a graphical user interface, plugins, and asynchronous message passing and services.
 
-Ignition Gazebo is derived from [Gazebo](http://gazebosim.org) and represents over 16 years of development and experience in robotics and simulation. This library is part of the [Ignition Robotics](https://ignitionrobotics.org) project.
+Gazebo Sim is derived from [Gazebo Classic](http://classic.gazebosim.org) and represents over 16 years of development and experience in robotics and simulation. This library is part of the [Gazebo](https://gazebosim.org) project.
 
 # Table of Contents
 
@@ -44,45 +44,45 @@ Ignition Gazebo is derived from [Gazebo](http://gazebosim.org) and represents ov
 
 * **Dynamics simulation**: Access multiple high-performance physics engines
 through
-[Ignition Physics](https://github.com/ignitionrobotics/ign-physics).
+[Gazebo Physics](https://github.com/gazebosim/gz-physics).
 
 * **Advanced 3D graphics**: Through
-[Ignition Rendering](https://github.com/ignitionrobotics/ign-rendering),
+[Gazebo Rendering](https://github.com/gazebosim/gz-rendering),
 it's possible to use rendering engines such as OGRE v2 for realistic rendering
 of environments with high-quality lighting, shadows, and textures.
 
 * **Sensors and noise models**: Generate sensor data, optionally with noise,
 from laser range finders, 2D/3D cameras, Kinect style sensors, contact sensors,
 force-torque, IMU, GPS, and more, all powered by
-[Ignition Sensors](https://github.com/ignitionrobotics/ign-sensors)
+[Gazebo Sensors](https://github.com/gazebosim/gz-sensors)
 
 * **Plugins**: Develop custom plugins for robot, sensor, and
 environment control.
 
 * **Graphical interface**: Create, instrospect and interact with your simulations
 through plugin-based graphical interfaces powered by
-[Ignition GUI](https://github.com/ignitionrobotics/ign-gui).
+[Gazebo GUI](https://github.com/gazebosim/gz-gui).
 
 * **Simulation models**: Access numerous robots including PR2, Pioneer2 DX,
 iRobot Create, and TurtleBot, and construct environments using other physically
 accurate models available through
-[Ignition Fuel](https://app.ignitionrobotics.org/fuel). You can also build a
+[Gazebo Fuel](https://app.gazebosim.org/fuel). You can also build a
 new model using [SDF](http://sdformat.org).
 
 * **TCP/IP Transport**: Run simulation on remote servers and interface to Ignition
-Gazebo through socket-based message passing using
-[Ignition Transport](https://github.com/ignitionrobotics/ign-transport).
+Gazebo Sim through socket-based message passing using
+[Gazebo Transport](https://github.com/gazebosim/gz-transport).
 
 * **Command line tools**: Extensive command line tools for increased simulation
 introspection and control.
 
 # Install
 
-See the [installation tutorial](https://ignitionrobotics.org/api/gazebo/6.1/install.html).
+See the [installation tutorial](https://gazebosim.org/api/gazebo/6.1/install.html).
 
 # Usage
 
-Gazebo can be run from the command line, once [installed](#install), using:
+Gazebo Sim can be run from the command line, once [installed](#install), using:
 
 ```
 ign gazebo
@@ -100,10 +100,10 @@ In the event that the installation is a mix of Debian and from source, command
 line tools from `ign-tools` may not work correctly.
 
 A workaround for a single package is to define the environment variable
-`IGN_CONFIG_PATH` to point to the location of the Ignition library installation,
+`GZ_CONFIG_PATH` to point to the location of the Ignition library installation,
 where the YAML file for the package is found, such as
 ```
-export IGN_CONFIG_PATH=/usr/local/share/ignition
+export GZ_CONFIG_PATH=/usr/local/share/ignition
 ```
 
 However, that environment variable only takes a single path, which means if the
@@ -112,26 +112,26 @@ installations from source are in different locations, only one can be specified.
 Another workaround for working with multiple Ignition libraries on the command
 line is using symbolic links to each library's YAML file.
 ```
-mkdir ~/.ignition/tools/configs -p
-cd ~/.ignition/tools/configs/
+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 .
 ...
-export IGN_CONFIG_PATH=$HOME/.ignition/tools/configs
+export GZ_CONFIG_PATH=$HOME/.gz/tools/configs
 ```
 
-This issue is tracked [here](https://github.com/ignitionrobotics/ign-tools/issues/8).
+This issue is tracked [here](https://github.com/gazebosim/gz-tools/issues/8).
 
 # Documentation
 
-See the [installation tutorial](https://ignitionrobotics.org/api/gazebo/6.1/install.html).
+See the [installation tutorial](https://gazebosim.org/api/gazebo/6.1/install.html).
 
 # Testing
 
-See the [installation tutorial](https://ignitionrobotics.org/api/gazebo/6.1/install.html).
+See the [installation tutorial](https://gazebosim.org/api/gazebo/6.1/install.html).
 
-See the [Writing Tests section of the contributor guide](https://github.com/ignitionrobotics/ign-gazebo/blob/main/CONTRIBUTING.md#writing-tests) for help creating or modifying tests.
+See the [Writing Tests section of the contributor guide](https://github.com/gazebosim/gz-sim/blob/main/CONTRIBUTING.md#writing-tests) for help creating or modifying tests.
 
 # Folder Structure
 
@@ -163,17 +163,17 @@ ign-gazebo
 # Contributing
 
 Please see
-[CONTRIBUTING.md](https://github.com/ignitionrobotics/ign-gazebo/blob/main/CONTRIBUTING.md).
+[CONTRIBUTING.md](https://github.com/gazebosim/gz-sim/blob/main/CONTRIBUTING.md).
 
 # Code of Conduct
 
 Please see
-[CODE_OF_CONDUCT.md](https://github.com/ignitionrobotics/ign-gazebo/blob/main/CODE_OF_CONDUCT.md).
+[CODE_OF_CONDUCT.md](https://github.com/gazebosim/gz-sim/blob/main/CODE_OF_CONDUCT.md).
 
 # Versioning
 
-This library uses [Semantic Versioning](https://semver.org/). Additionally, this library is part of the [Ignition Robotics project](https://ignitionrobotics.org) which periodically releases a versioned set of compatible and complimentary libraries. See the [Ignition Robotics website](https://ignitionrobotics.org) for version and release information.
+This library uses [Semantic Versioning](https://semver.org/). Additionally, this library is part of the [Gazebo project](https://gazebosim.org) which periodically releases a versioned set of compatible and complimentary libraries. See the [Gazebo website](https://gazebosim.org) for version and release information.
 
 # License
 
-This library is licensed under [Apache 2.0](https://www.apache.org/licenses/LICENSE-2.0). See also the [LICENSE](https://github.com/ignitionrobotics/ign-gazebo/blob/main/LICENSE) file.
+This library is licensed under [Apache 2.0](https://www.apache.org/licenses/LICENSE-2.0). See also the [LICENSE](https://github.com/gazebosim/gz-sim/blob/main/LICENSE) file.

README.md

@@ -1,14 +1,14 @@
 ## Ignition @IGN_DESIGNATION_CAP@
 
-Ignition @IGN_DESIGNATION_CAP@ is a component in Ignition Robotics, a set of libraries
+Ignition @IGN_DESIGNATION_CAP@ is a component in Gazebo, a set of libraries
 designed to rapidly develop robot and simulation applications. 
 
 **Useful links**
 
-1. ignition::gazebo::components : List of built-in Component types. Components represent data, such as position information, that can be added to an Entity.
-2. ignition::gazebo::systems : List of available Systems. A System operates on Entities that have a specific set of Components.
-3. ignition::gazebo::events : List of simulation events. See the
-   ignition::gazebo::EventManager for details about events and how to use them.
+1. gz::sim::components : List of built-in Component types. Components represent data, such as position information, that can be added to an Entity.
+2. gz::sim::systems : List of available Systems. A System operates on Entities that have a specific set of Components.
+3. gz::sim::events : List of simulation events. See the
+   gz::sim::EventManager for details about events and how to use them.
 
 ## License