Migrate SDF params

Signed-off-by: methylDragon <methylDragon@gmail.com>
gazebosim · Jun 27, 2022 · 1d8028c · 1d8028c
1 parent b80e954
commit 1d8028c
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Showing 4 changed files with 19 additions and 3 deletions.
diff --git a/Migration.md b/Migration.md
@@ -26,6 +26,8 @@ release will remove the deprecated code.
    1. `IGNITION_PHYSICS_CONST_GET_ERROR` (hard-tocked, inside detail header)
    1. `IGNITION_UNITTEST_EXPECTDATA_ACCESS` (hard-tocked, inside test and detail headers)
    1. `IGNITION_PHYSICS_DEFINE_COORDINATE_SPACE` (hard-tocked, inside detail header)
+1. The `ignition:expressed_in` SDF attribute is deprecated and will be removed.
+   Please use `gz:expressed_in` instead.
 
 
 ## Gazebo Physics 4.X to 5.X

diff --git a/dartsim/src/SDFFeatures.cc b/dartsim/src/SDFFeatures.cc
@@ -829,7 +829,21 @@ Identity SDFFeatures::ConstructSdfCollision(
       math::Vector3d fdir1 = frictionDirectionElem->Get<math::Vector3d>();
       aspect->setFirstFrictionDirection(math::eigen3::convert(fdir1));
 
-      const std::string kExpressedIn = "ignition:expressed_in";
+      std::string kExpressedIn = "gz:expressed_in";
+
+      // TODO(CH3): Deprecated. Remove on tock.
+      // Try deprecated ignition:expressed_in attribute
+      // if gz:expressed_in attribute is missing
+      if (!frictionDirectionElem->HasAttribute("gz:expressed_in"))
+      {
+        if (frictionDirectionElem->HasAttribute("ignition:expressed_in"))
+        {
+          gzwarn << "The `ignition:expressed_in` attribute is deprecated. "
+                 << "Please use `gz:expressed_in` instead." << std::endl;
+          kExpressedIn = "ignition:expressed_in";
+        }
+      }
+
       if (frictionDirectionElem->HasAttribute(kExpressedIn))
       {
         auto skeleton = bn->getSkeleton();

diff --git a/dartsim/worlds/falling.world b/dartsim/worlds/falling.world
@@ -3,7 +3,7 @@
   <world name="default">
     <plugin
       filename="gz-sim-physics-system"
-      name="gz::gazebo::systems::v0::Physics">
+      name="gz::sim::systems::v0::Physics">
     </plugin>
     <model name="sphere">
       <pose>0 0 2 0 0.78539816339 0</pose>

diff --git a/tutorials/04-switching-physics-engines.md b/tutorials/04-switching-physics-engines.md
@@ -86,7 +86,7 @@ ign gazebo --physics-engine CustomEngine
 ### From C++ API
 
 All features available through the command line are also available through
-[gz::gazebo::ServerConfig](https://gazebosim.org/api/gazebo/4.0/classignition_1_1gazebo_1_1ServerConfig.html).
+[gz::sim::ServerConfig](https://gazebosim.org/api/gazebo/4.0/classignition_1_1gazebo_1_1ServerConfig.html).
 When instantiating a server programmatically, a physics engine can be passed to
 the constructor, for example: