ign -> gz CMake, Python, Partial Source, and File Migrations : gz-sim (…

…gazebosim#1589)
liuyoupei · Jul 19, 2022 · 17bae14 · 17bae14
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diff --git a/.github/ISSUE_TEMPLATE/bug_report.md b/.github/ISSUE_TEMPLATE/bug_report.md
@@ -46,7  46,7 @@ http://answers.gazebosim.org instead.-->
       - On Windows, run `dxdiag` and report the GPU-related information.
       - On Mac OS, open a terminal and type `system_profiler SPDisplaysDataType`. Copy the output here.
         <!-- Please note that GUI rendering is not supported on macOS. -->
-    - [ ] Please, attach the ogre.log or ogre2.log file from  `~/.ignition/rendering` <!-- Choose the relevant version based on what you checked in the "Rendering plugin" question. -->
     - [ ] Please, attach the ogre.log or ogre2.log file from  `~/.gz/rendering` <!-- Choose the relevant version based on what you checked in the "Rendering plugin" question. -->
 
 <details>
 

diff --git a/.github/ci/after_make.sh b/.github/ci/after_make.sh
@@ -8,7  8,7 @@ make install
 export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:/usr/local/lib
 
 # For gz-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 &

diff --git a/.github/ci/packages.apt b/.github/ci/packages.apt
@@ -1,19  1,19 @@
 freeglut3-dev
 libfreeimage-dev
 libglew-dev
-libignition-cmake3-dev
-libignition-common5-dev
-libignition-gui7-dev
-libignition-fuel-tools8-dev
-libignition-math7-eigen3-dev
-libignition-msgs9-dev
-libignition-physics6-dev
-libignition-plugin2-dev
-libignition-rendering7-dev
-libignition-sensors7-dev
-libignition-tools2-dev
-libignition-transport12-dev
-libignition-utils2-cli-dev
 libgz-cmake3-dev
 libgz-common5-dev
 libgz-gui7-dev
 libgz-fuel-tools8-dev
 libgz-math7-eigen3-dev
 libgz-msgs9-dev
 libgz-physics6-dev
 libgz-plugin2-dev
 libgz-rendering7-dev
 libgz-sensors7-dev
 libgz-tools2-dev
 libgz-transport12-dev
 libgz-utils2-cli-dev
 libogre-1.9-dev
 libprotobuf-dev
 libprotoc-dev

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -11,7  11,7 @@ jobs:
         uses: actions/checkout@v2
       - name: Compile and test
         id: ci
-        uses: ignition-tooling/action-ignition-ci@focal
         uses: gazebo-tooling/action-gz-ci@focal
         with:
           codecov-enabled: true
           cppcheck-enabled: true
@@ -24,7  24,7 @@ jobs:
         uses: actions/checkout@v2
       - name: Compile and test
         id: ci
-        uses: ignition-tooling/action-ignition-ci@jammy
         uses: gazebo-tooling/action-gz-ci@jammy
         with:
           # per bug https://github.com/gazebosim/gz-sim/issues/1409
           cmake-args: '-DBUILD_DOCS=OFF'
diff --git a/.github/workflows/pr-collection-labeler.yml b/.github/workflows/pr-collection-labeler.yml
@@ -8,6  8,6 @@ jobs:
     steps:
     - name: Add collection labels
       if: github.event.action == 'opened'
-      uses: ignition-tooling/pr-collection-labeler@v1
       uses: gazebo-tooling/pr-collection-labeler@v1
       with:
         github-token: ${{ secrets.GITHUB_TOKEN }}
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -17,9  17,7 @@ find_package(gz-cmake3 REQUIRED)
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-gz_configure_project(
-  REPLACE_IGNITION_INCLUDE_PATH gz/sim
-  VERSION_SUFFIX pre1)
 gz_configure_project(VERSION_SUFFIX pre1)
 
 #============================================================================
 # Set project-specific options
@@ -177,7  175,7 @@ set(GZ_UTILS_VER ${gz-utils2_VERSION_MAJOR})
 #--------------------------------------
 # Find protobuf
 set(REQ_PROTOBUF_VER 3)
-gz_find_package(IgnProtobuf
 gz_find_package(GzProtobuf
                  VERSION ${REQ_PROTOBUF_VER}
                  REQUIRED
                  COMPONENTS all
@@ -186,10  184,10 @@ set(Protobuf_IMPORT_DIRS ${gz-msgs9_INCLUDE_DIRS})
 
 #--------------------------------------
 # Find python
-include(IgnPython)
 include(GzPython)
 find_package(PythonLibs QUIET)
 if (NOT PYTHONLIBS_FOUND)
-  IGN_BUILD_WARNING("Python is missing: Python interfaces are disabled.")
   GZ_BUILD_WARNING("Python is missing: Python interfaces are disabled.")
   message (STATUS "Searching for Python - not found.")
 else()
   message (STATUS "Searching for Python - found version ${PYTHONLIBS_VERSION_STRING}.")
@@ -201,16  199,16 @@ else()
   if (${pybind11_FOUND})
     message (STATUS "Searching for pybind11 - found version ${pybind11_VERSION}.")
 	else()
-		IGN_BUILD_WARNING("pybind11 is missing: Python interfaces are disabled.")
 		GZ_BUILD_WARNING("pybind11 is missing: Python interfaces are disabled.")
 		message (STATUS "Searching for pybind11 - not found.")
 	endif()
 endif()
 # Plugin install dirs
 set(GZ_SIM_PLUGIN_INSTALL_DIR
-  ${CMAKE_INSTALL_PREFIX}/${IGN_LIB_INSTALL_DIR}/gz-${IGN_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins
   ${CMAKE_INSTALL_PREFIX}/${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins
 )
 set(GZ_SIM_GUI_PLUGIN_INSTALL_DIR
-  ${CMAKE_INSTALL_PREFIX}/${IGN_LIB_INSTALL_DIR}/gz-${IGN_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins/gui
   ${CMAKE_INSTALL_PREFIX}/${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins/gui
 )
 
 #============================================================================
@@ -260,12  258,12 @@ if(TARGET doc)
   file(COPY ${CMAKE_SOURCE_DIR}/tutorials/files/ DESTINATION ${CMAKE_BINARY_DIR}/doxygen/html/files/)
 endif()
 
-# TICKTOCK MASTER HEADER (to bypass IGN_DESIGNATION)
 # TICKTOCK MASTER HEADER (to bypass GZ_DESIGNATION)
 # TODO(CH3): Deprecated. Remove on tock
 configure_file(
-  ${CMAKE_CURRENT_BINARY_DIR}/include/gz/${IGN_DESIGNATION}.hh
   ${CMAKE_CURRENT_BINARY_DIR}/include/gz/${GZ_DESIGNATION}.hh
   ${CMAKE_CURRENT_BINARY_DIR}/include/gz/sim.hh
   COPYONLY)
 install(
   FILES ${CMAKE_CURRENT_BINARY_DIR}/include/gz/sim.hh
-  DESTINATION ${IGN_INCLUDE_INSTALL_DIR_FULL}/gz)
   DESTINATION ${GZ_INCLUDE_INSTALL_DIR_FULL}/gz)
diff --git a/Changelog.md b/Changelog.md
@@ -3145,7  3145,7 @@
 1. Update docker nightly dependencies
     * [BitBucket pull request 310](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/310)
 
-1. Ign tool
 1. Gz tool
     * [BitBucket pull request 296](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/296)
     * [BitBucket pull request 336](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/336)
 

diff --git a/Migration.md b/Migration.md
@@ -44,6  44,7 @@ release will remove the deprecated code.
       * `GZ_<PROJECT>_<VISIBLE/HIDDEN>`
       * CMake `-config` files
       * Paths that depend on the project name
 * Python library `ignition` namespaces should be replaced with `gz`.
 
 ## Gazebo Sim 6.1 to 6.2
 
@@ -225,4  226,4 @@ added an SDF message to the start of log files.
 ignition-gazebo. To use the gui component downstream, update the find package
 call in cmake to request for the component, e.g.
 `gz_find_package(ignition-gazebo1 REQUIRED COMPONENTS gui)`, and link to the
-`libignition-gazebo1::gui` target instead of `libignition-gazebo1-gui`
 `libgz-sim1::gui` target instead of `libgz-sim1-gui`
diff --git a/api.md.in b/api.md.in
@@ -1,6  1,6 @@
-## Gazebo @IGN_DESIGNATION_CAP@
 ## Gazebo @GZ_DESIGNATION_CAP@
 
-Gazebo @IGN_DESIGNATION_CAP@ is a component in Gazebo, a set of libraries
 Gazebo @GZ_DESIGNATION_CAP@ is a component in Gazebo, a set of libraries
 designed to rapidly develop robot and simulation applications. 
 
 **Useful links**

diff --git a/docker/Dockerfile.nightly b/docker/Dockerfile.nightly
@@ -11,18  11,18 @@ RUN scripts/enable_nightly.sh
 
 RUN apt-get update \
  && apt-get install -y \
-    libignition-cmake3-dev \
-    libignition-common5-dev \
-    libignition-fuel-tools8-dev \
-    libignition-math7-eigen3-dev \
-    libignition-plugin2-dev \
-    libignition-physics6-dev \
-    libignition-rendering7-dev \
-    libignition-tools2-dev \
-    libignition-transport12-dev \
-    libignition-gui7-dev \
-    libignition-msgs9-dev \
-    libignition-sensors7-dev \
     libgz-cmake3-dev \
     libgz-common5-dev \
     libgz-fuel-tools8-dev \
     libgz-math7-eigen3-dev \
     libgz-plugin2-dev \
     libgz-physics6-dev \
     libgz-rendering7-dev \
     libgz-tools2-dev \
     libgz-transport12-dev \
     libgz-gui7-dev \
     libgz-msgs9-dev \
     libgz-sensors7-dev \
     libsdformat13-dev
 
 COPY . gz-sim

diff --git a/docker/README.md b/docker/README.md
@@ -73,21  73,21 @@ distribution using debians.
    image of Gazebo Fortress:
 
     ```
-    ./build.bash ignition-garden ./Dockerfile.gz
     ./build.bash gz-garden ./Dockerfile.gz
     ```
 
 2. Run the docker image using `run.bash`, and pass in the name of the docker
    image (first argument to the build.bash script).
 
     ```
-    ./run.bash ignition-garden
     ./run.bash gz-garden
     ```
 
 3. You can pass arguments to Gazebo by appending them the
    `run.bash` command. For example, to load the shapes.sdf file:
 
     ```
-    ./run.bash ignition-garden -f shapes.sdf
     ./run.bash gz-garden -f shapes.sdf
     ```
 
 ## Appendix

diff --git a/examples/plugin/custom_sensor_system/CMakeLists.txt b/examples/plugin/custom_sensor_system/CMakeLists.txt
@@ -13,7  13,7 @@ set(GZ_SIM_VER ${gz-sim7_VERSION_MAJOR})
 find_package(gz-sensors7 REQUIRED)
 set(GZ_SENSORS_VER ${gz-sensors7_VERSION_MAJOR})
 
-# Fetch the custom sensor example from ign-sensors
 # Fetch the custom sensor example from gz-sensors
 # Users won't commonly use this to fetch their sensors. The sensor may be part
 # of the system's CMake project, or installed from another project, etc...
 include(FetchContent)

diff --git a/examples/scripts/python_api/testFixture.py b/examples/scripts/python_api/testFixture.py
@@ -24,9  24,9 @@
 
 import os
 
-from ignition.common import set_verbosity
-from ignition.gazebo import TestFixture, World, world_entity
-from ignition.math import Vector3d
 from gz.common import set_verbosity
 from gz.sim import TestFixture, World, world_entity
 from gz.math import Vector3d
 
 set_verbosity(4)
 

diff --git a/examples/worlds/CMakeLists.txt b/examples/worlds/CMakeLists.txt
@@ -1,3  1,3 @@
 file(GLOB files "*.sdf")
 install(FILES ${files}
-  DESTINATION ${IGN_DATA_INSTALL_DIR}/worlds)
   DESTINATION ${GZ_DATA_INSTALL_DIR}/worlds)
diff --git a/include/CMakeLists.txt b/include/CMakeLists.txt
@@ -1,2  1,2 @@
 add_subdirectory(gz)
-install(DIRECTORY ignition DESTINATION ${IGN_INCLUDE_INSTALL_DIR_FULL})
 install(DIRECTORY ignition DESTINATION ${GZ_INCLUDE_INSTALL_DIR_FULL})
diff --git a/include/gz/sim/CMakeLists.txt b/include/gz/sim/CMakeLists.txt
@@ -2,4  2,4 @@ gz_install_all_headers()
 
 add_subdirectory(components)
 
-install (FILES server.config playback_server.config DESTINATION ${IGN_DATA_INSTALL_DIR})
 install (FILES server.config playback_server.config DESTINATION ${GZ_DATA_INSTALL_DIR})
diff --git a/include/gz/sim/ServerConfig.hh b/include/gz/sim/ServerConfig.hh
@@ -446,7  446,7 @@ namespace gz
     ///   * If GZ_SIM_SERVER_CONFIG_PATH is set but empty, no plugins
     ///     are loaded.
     /// 2. File at ${GZ_HOMEDIR}/.gz/sim/server.config
-    /// 3. File at ${IGN_DATA_INSTALL_DIR}/server.config
     /// 3. File at ${GZ_DATA_INSTALL_DIR}/server.config
     ///
     /// If any of the above files exist but are empty, resolution
     /// stops and the plugin list will be empty.

diff --git a/include/gz/sim/components/CMakeLists.txt b/include/gz/sim/components/CMakeLists.txt
@@ -13,5  13,5 @@ configure_file(
 
 install(
   FILES ${CMAKE_CURRENT_BINARY_DIR}/components.hh
-  DESTINATION ${IGN_INCLUDE_INSTALL_DIR_FULL}/gz/sim
   DESTINATION ${GZ_INCLUDE_INSTALL_DIR_FULL}/gz/sim
 )
diff --git a/include/gz/sim/components/Serialization.hh b/include/gz/sim/components/Serialization.hh
@@ -38,7  38,7 @@ namespace sim
 inline namespace GZ_SIM_VERSION_NAMESPACE {
 namespace traits
 {
-  /// \brief Type trait that determines if an gz::sim::convert from In
   /// \brief Type trait that determines if a gz::sim::convert from In
   /// to Out is defined.
   /// Usage:
   /// \code

diff --git a/include/gz/sim/config.hh.in b/include/gz/sim/config.hh.in
@@ -33,11  33,11 @@
 
 #define GZ_SIM_VERSION_HEADER "Gazebo Sim, version ${PROJECT_VERSION_FULL}\nCopyright (C) 2018 Open Source Robotics Foundation.\nReleased under the Apache 2.0 License.\n\n"
 
-#define GZ_SIM_GUI_CONFIG_PATH "${CMAKE_INSTALL_PREFIX}/${IGN_DATA_INSTALL_DIR}/gui"
-#define GZ_SIM_SYSTEM_CONFIG_PATH "${CMAKE_INSTALL_PREFIX}/${IGN_DATA_INSTALL_DIR}/systems"
-#define GZ_SIM_SERVER_CONFIG_PATH "${CMAKE_INSTALL_PREFIX}/${IGN_DATA_INSTALL_DIR}"
-#define GZ_SIM_PLUGIN_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/${IGN_LIB_INSTALL_DIR}/gz-${IGN_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins"
-#define GZ_SIM_GUI_PLUGIN_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/${IGN_LIB_INSTALL_DIR}/gz-${IGN_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins/gui"
-#define GZ_SIM_WORLD_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/${IGN_DATA_INSTALL_DIR}/worlds"
 #define GZ_SIM_GUI_CONFIG_PATH "${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}/gui"
 #define GZ_SIM_SYSTEM_CONFIG_PATH "${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}/systems"
 #define GZ_SIM_SERVER_CONFIG_PATH "${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}"
 #define GZ_SIM_PLUGIN_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins"
 #define GZ_SIM_GUI_PLUGIN_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins/gui"
 #define GZ_SIM_WORLD_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR}/worlds"
 
 #endif
diff --git a/include/gz/sim/gui/Gui.hh b/include/gz/sim/gui/Gui.hh
@@ -34,11  34,11 @@ namespace gui
 {
   /// \brief Run GUI application
   /// \param[in] _argc Number of command line arguments (Used when running
-  /// without ign-tools. Set to 1 if using ign-tools). Note: The object
   /// without gz-tools. Set to 1 if using gz-tools). Note: The object
   /// referenced by this variable must continue to exist for the lifetime of the
   /// application.
   /// \param[in] _argv Command line arguments (Used when running without
-  /// ign-tools. Set to the name of the application if using ign-tools)
   /// gz-tools. Set to the name of the application if using gz-tools)
   /// \param[in] _guiConfig The GUI configuration file. If nullptr, the default
   /// configuration from GZ_HOMEDIR/.gz/sim/gui.config will be used.
   /// \param[in] _renderEngineGui --render-engine-gui option
@@ -48,11  48,11 @@ namespace gui
 
   /// \brief Create a Gazebo GUI application
   /// \param[in] _argc Number of command line arguments (Used when running
-  /// without ign-tools. Set to 1 if using ign-tools). Note: The object
   /// without gz-tools. Set to 1 if using gz-tools). Note: The object
   /// referenced by this variable must continue to exist for the lifetime of the
   /// application.
   /// \param[in] _argv Command line arguments (Used when running without
-  /// ign-tools. Set to the name of the application if using ign-tools)
   /// gz-tools. Set to the name of the application if using gz-tools)
   /// \param[in] _guiConfig The GUI configuration file. If nullptr, the default
   /// configuration from GZ_HOMEDIR/.gz/sim/gui.config will be used.
   /// \param[in] _defaultGuiConfig The default GUI configuration file. If no
Original file line number	Diff line number	Diff line change
Expand Up		@@ -2,4 2,4 @@ gz_install_all_headers()

		add_subdirectory(components)

		install (FILES server.config playback_server.config DESTINATION ${IGN_DATA_INSTALL_DIR})
		install (FILES server.config playback_server.config DESTINATION ${GZ_DATA_INSTALL_DIR})