ign -> gz Namespace Migration : gz-sensors

CMakeLists.txt

@@ -22,7 +22,7 @@ ign_configure_project(
 #============================================================================
 set (DRI_TESTS TRUE CACHE BOOL "True to enable DRI tests")
 
-option(ENABLE_PROFILER "Enable Ignition Profiler" FALSE)
+option(ENABLE_PROFILER "Enable Gazebo Profiler" FALSE)
 
 if(ENABLE_PROFILER)
   add_definitions("-DIGN_PROFILER_ENABLE=1")
@@ -91,8 +91,6 @@ set(IGN_MSGS_VER ${ignition-msgs9_VERSION_MAJOR})
 ign_find_package(sdformat13 REQUIRED)
 set(SDF_VER ${sdformat13_VERSION_MAJOR})
 
-set(IGN_SENSORS_PLUGIN_PATH ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR})
-
 #============================================================================
 # Configure the build
 #============================================================================

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).

Migration.md

@@ -5,23 +5,30 @@ 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 Sensors 6.0.1 to 6.1.0
+## Gazebo Sensors 6.X to 7.X
+
+1. The `ignition` namespace is deprecated and will be removed in future versions.  Use `gz` instead.
+
+1. Header files under `ignition/...` are deprecated and will be removed in future versions.
+  Use `gz/...` instead.
+
+## Gazebo Sensors 6.0.1 to 6.1.0
 
 ### Modifications
 
 1. Point Cloud Density flag (**is_dense** from GpuLidarSensor) is set to **false**
    if invalid points (NaN or +/-INF) are found, and **true** otherwise.
 
 
-## Ignition Sensors 5.X to 6.X
+## Gazebo Sensors 5.X to 6.X
 
 1. Sensors aren't loaded as plugins anymore. Instead, downstream libraries must
    link to the library of the sensor they're interested in, and instantiate
    new sensors knowing their type. For example:
 
-    * `auto camera = std::make_unique<ignition::sensors::CameraSensor>();`
-    * `auto camera = sensorFactory.CreateSensor<ignition::sensors::CameraSensor>(_sdf);`
-    * `auto camera = manager.CreateSensor<ignition::sensors::CameraSensor>(_sdf);`
+    * `auto camera = std::make_unique<gz::sensors::CameraSensor>();`
+    * `auto camera = sensorFactory.CreateSensor<gz::sensors::CameraSensor>(_sdf);`
+    * `auto camera = manager.CreateSensor<gz::sensors::CameraSensor>(_sdf);`
 
 1. **include/sensors/SensorFactory.hh**
    + ***Deprecation*** SensorPlugin
@@ -45,25 +52,25 @@ release will remove the deprecated code.
    + ***Deprecation*** void AddPluginPaths(const std::string &)
    + ***Replacement*** None; see above.
 
-## Ignition Sensors 3.X to 4.X
+## Gazebo Sensors 3.X to 4.X
 
 1. **include/sensors/Sensor.hh**
-   + ***Deprecation*** virtual bool Update(const ignition::common::Time &)
+   + ***Deprecation*** virtual bool Update(const gz::common::Time &)
    + ***Replacement*** virtual bool Update(const std::chrono::steady_clock::duration &)
-   + ***Deprecation*** virtual bool Update(const ignition::common::Time &, const bool)
+   + ***Deprecation*** virtual bool Update(const gz::common::Time &, const bool)
    + ***Replacement*** virtual bool Update(const std::chrono::steady_clock::duration &, const bool)
-   + ***Deprecation*** ignition::common::Time NextUpdateTime() const
+   + ***Deprecation*** gz::common::Time NextUpdateTime() const
    + ***Replacement*** std::chrono::steady_clock::duration NextDataUpdateTime() const
 
 1. **include/sensors/Manager.hh**
-   + ***Deprecation*** void RunOnce(const ignition::common::Time &, bool);
+   + ***Deprecation*** void RunOnce(const gz::common::Time &, bool);
    + ***Replacement*** void RunOnce(const std::chrono::steady_clock::duration &, bool)
 
 1. **include/sensors/Lidar.hh**
-   + ***Deprecation*** virtual bool PublishLidarScan(const ignition::common::Time &)
+   + ***Deprecation*** virtual bool PublishLidarScan(const gz::common::Time &)
    + ***Replacement*** virtual bool PublishLidarScan(const std::chrono::steady_clock::duration &)
 
-## Ignition Sensors 2.X to 3.X
+## Gazebo Sensors 2.X to 3.X
 
 ### Additions
 
@@ -81,7 +88,7 @@ and header files. Similarly, noise models for rendering sensors need be created
 using the new ImageNoiseFactory class instead of NoiseFactory by including
 ImageNoise.hh.
 
-## Ignition Sensors 1.X to 2.X
+## Gazebo Sensors 1.X to 2.X
 
 ### Additions
 
@@ -100,20 +107,18 @@ ImageNoise.hh.
    + ***Replacement*** virtual void Load(const sdf::Noise &_sdf)
 
 1. **include/sensors/Events.hh**
-    + ***Deprecation:*** public: static ignition::common::ConnectionPtr ConnectSceneChangeCallback(std::function<void(const ignition::rendering::ScenePtr &)>)
+    + ***Deprecation:*** public: static gz::common::ConnectionPtr ConnectSceneChangeCallback(std::function<void(const gz::rendering::ScenePtr &)>)
     + ***Replacement:*** RenderingEvents::ConnectSceneChangeCallback
 
 1. **include/sensors/Manager.hh**
-    + ***Deprecation:*** public: bool Init(ignition::rendering::ScenePtr);
+    + ***Deprecation:*** public: bool Init(gz::rendering::ScenePtr);
     + ***Replacement:***  RenderingSensor::SetScene
-    + ***Deprecation:*** public: void SetRenderingScene(ignition::rendering::ScenePtr
+    + ***Deprecation:*** public: void SetRenderingScene(gz::rendering::ScenePtr
     + ***Replacement:***  RenderingSensor::SetScene
 
-    + ***Deprecation:*** public: ignition::rendering::ScenePtr RenderingScene() const
+    + ***Deprecation:*** public: gz::rendering::ScenePtr RenderingScene() const
     + ***Replacement:*** RenderingSensor::Scene()
 
 1. **include/sensors/Noise.hh**
     + ***Deprecation:*** public: virtual void SetCamera(rendering::CameraPtr)
     + ***Replacement:***  TODO (to be implemented in ImageGaussianNoiseModel)
-
-

NEWS

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

README.md

@@ -1,22 +1,22 @@
-# Ignition Sensors : Sensor models for simulation
+# Gazebo Sensors : Sensor models for simulation
 
 **Maintainer:** ichen AT openrobotics DOT org
 
-[![GitHub open issues](https://img.shields.io/github/issues-raw/ignitionrobotics/ign-sensors.svg)](https://github.com/ignitionrobotics/ign-sensors/issues)
-[![GitHub open pull requests](https://img.shields.io/github/issues-pr-raw/ignitionrobotics/ign-sensors.svg)](https://github.com/ignitionrobotics/ign-sensors/pulls)
+[![GitHub open issues](https://img.shields.io/github/issues-raw/gazebosim/gz-sensors.svg)](https://github.com/gazebosim/gz-sensors/issues)
+[![GitHub open pull requests](https://img.shields.io/github/issues-pr-raw/gazebosim/gz-sensors.svg)](https://github.com/gazebosim/gz-sensors/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-sensors/branch/main/graph/badge.svg)](https://codecov.io/gh/ignitionrobotics/ign-sensors)
+Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-sensors/branch/main/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-sensors)
 Ubuntu Focal | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_sensors-ci-main-focal-amd64)](https://build.osrfoundation.org/job/ignition_sensors-ci-main-focal-amd64)
 Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_sensors-ci-main-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_sensors-ci-main-homebrew-amd64)
 Windows       | [![Build Status](https://build.osrfoundation.org/job/ign_sensors-ci-win/badge/icon)](https://build.osrfoundation.org/job/ign_sensors-ci-win/)
 
-Ignition Sensors, a component of [Ignition
-Robotics](https://ignitionrobotics.org), provides numerous sensor models
-designed to generate realistic data from simulation environments. Ignition Sensors is used in conjunction with [Ignition Libraries](https://ignitionrobotics/libs), and especially relies on the rendering capabilities from [Ignition Rendering](https://ignitionrobotics.org/libs/rendering) and physics simulation from [Ignition Physics](https://ignitionrobotics.org/libs/physics).
+Gazebo Sensors, a component of [Ignition
+Robotics](https://gazebosim.org), provides numerous sensor models
+designed to generate realistic data from simulation environments. Gazebo Sensors is used in conjunction with [Gazebo Libraries](https://gazebosim/libs), and especially relies on the rendering capabilities from [Gazebo Rendering](https://gazebosim.org/libs/rendering) and physics simulation from [Gazebo Physics](https://gazebosim.org/libs/physics).
 
 # Table of Contents
 
@@ -46,18 +46,18 @@ designed to generate realistic data from simulation environments. Ignition Senso
 
 # Features
 
-Ignition Sensors provides a set of sensors models that can be
+Gazebo Sensors provides a set of sensors models that can be
 configured at run time to mimic specific real-world sensors. A noise model
 is also provided that can be used to introduce Gaussian or custom noise
 models into sensor streams.
 
 # Install
 
-See the [installation tutorial](https://ignitionrobotics.org/api/sensors/5.0/installation.html).
+See the [installation tutorial](https://gazebosim.org/api/sensors/5.0/installation.html).
 
 # Usage
 
-Please refer to the [examples directory](https://github.com/ignitionrobotics/ign-sensors/raw/main/examples/).
+Please refer to the [examples directory](https://github.com/gazebosim/gz-sensors/raw/main/examples/).
 
 # Folder Structure
 
@@ -79,17 +79,17 @@ Refer to the following table for information about important directories and fil
 
 # Contributing
 
-Please see the [contribution guide](https://ignitionrobotics.org/docs/all/contributing).
+Please see the [contribution guide](https://gazebosim.org/docs/all/contributing).
 
 # 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-sensors/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-sensors/blob/main/LICENSE) file.

api.md.in

@@ -1,6 +1,6 @@
 ## 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. 
 
 ## License

examples/custom_sensor/Odometer.cc

@@ -30,23 +30,23 @@ using namespace custom;
 //////////////////////////////////////////////////
 bool Odometer::Load(const sdf::Sensor &_sdf)
 {
-  auto type = ignition::sensors::customType(_sdf);
+  auto type = gz::sensors::customType(_sdf);
   if ("odometer" != type)
   {
-    ignerr << "Trying to load [odometer] sensor, but got type ["
+    gzerr << "Trying to load [odometer] sensor, but got type ["
            << type << "] instead." << std::endl;
     return false;
   }
 
   // Load common sensor params
-  ignition::sensors::Sensor::Load(_sdf);
+  gz::sensors::Sensor::Load(_sdf);
 
   // Advertise topic where data will be published
-  this->pub = this->node.Advertise<ignition::msgs::Double>(this->Topic());
+  this->pub = this->node.Advertise<gz::msgs::Double>(this->Topic());
 
   if (!_sdf.Element()->HasElement("ignition:odometer"))
   {
-    igndbg << "No custom configuration for [" << this->Topic() << "]"
+    gzdbg << "No custom configuration for [" << this->Topic() << "]"
            << std::endl;
     return true;
   }
@@ -56,16 +56,16 @@ bool Odometer::Load(const sdf::Sensor &_sdf)
 
   if (!customElem->HasElement("noise"))
   {
-    igndbg << "No noise for [" << this->Topic() << "]" << std::endl;
+    gzdbg << "No noise for [" << this->Topic() << "]" << std::endl;
     return true;
   }
 
   sdf::Noise noiseSdf;
   noiseSdf.Load(customElem->GetElement("noise"));
-  this->noise = ignition::sensors::NoiseFactory::NewNoiseModel(noiseSdf);
+  this->noise = gz::sensors::NoiseFactory::NewNoiseModel(noiseSdf);
   if (nullptr == this->noise)
   {
-    ignerr << "Failed to load noise." << std::endl;
+    gzerr << "Failed to load noise." << std::endl;
     return false;
   }
 
@@ -75,8 +75,8 @@ bool Odometer::Load(const sdf::Sensor &_sdf)
 //////////////////////////////////////////////////
 bool Odometer::Update(const std::chrono::steady_clock::duration &_now)
 {
-  ignition::msgs::Double msg;
-  *msg.mutable_header()->mutable_stamp() = ignition::msgs::Convert(_now);
+  gz::msgs::Double msg;
+  *msg.mutable_header()->mutable_stamp() = gz::msgs::Convert(_now);
   auto frame = msg.mutable_header()->add_data();
   frame->set_key("frame_id");
   frame->add_value(this->Name());
@@ -92,7 +92,7 @@ bool Odometer::Update(const std::chrono::steady_clock::duration &_now)
 }
 
 //////////////////////////////////////////////////
-void Odometer::NewPosition(const ignition::math::Vector3d &_pos)
+void Odometer::NewPosition(const gz::math::Vector3d &_pos)
 {
   if (!isnan(this->prevPos.X()))
   {
@@ -102,7 +102,7 @@ void Odometer::NewPosition(const ignition::math::Vector3d &_pos)
 }
 
 //////////////////////////////////////////////////
-const ignition::math::Vector3d &Odometer::Position() const
+const gz::math::Vector3d &Odometer::Position() const
 {
   return this->prevPos;
 }

examples/custom_sensor/Odometer.hh

@@ -25,7 +25,7 @@ namespace custom
 {
   /// \brief Example sensor that publishes the total distance travelled by a
   /// robot, with noise.
-  class Odometer : public ignition::sensors::Sensor
+  class Odometer : public gz::sensors::Sensor
   {
     /// \brief Load the sensor with SDF parameters.
     /// \param[in] _sdf SDF Sensor parameters.
@@ -41,27 +41,27 @@ namespace custom
     /// \brief Set the current postiion of the robot, so the odometer can
     /// calculate the distance travelled.
     /// \param[in] _pos Current position in world coordinates.
-    public: void NewPosition(const ignition::math::Vector3d &_pos);
+    public: void NewPosition(const gz::math::Vector3d &_pos);
 
     /// \brief Get the latest world postiion of the robot.
     /// \return The latest position given to the odometer.
-    public: const ignition::math::Vector3d &Position() const;
+    public: const gz::math::Vector3d &Position() const;
 
     /// \brief Previous position of the robot.
-    private: ignition::math::Vector3d prevPos{std::nan(""), std::nan(""),
+    private: gz::math::Vector3d prevPos{std::nan(""), std::nan(""),
         std::nan("")};
 
     /// \brief Latest total distance.
     private: double totalDistance{0.0};
 
     /// \brief Noise that will be applied to the sensor data
-    private: ignition::sensors::NoisePtr noise{nullptr};
+    private: gz::sensors::NoisePtr noise{nullptr};
 
     /// \brief Node for communication
-    private: ignition::transport::Node node;
+    private: gz::transport::Node node;
 
     /// \brief Publishes sensor data
-    private: ignition::transport::Node::Publisher pub;
+    private: gz::transport::Node::Publisher pub;
   };
 }
 

examples/custom_sensor/README.md

@@ -19,8 +19,8 @@ This will generate a shared library with the sensor called `libodometer`.
 
 ## Use
 
-This sensor can be used with Ignition Gazebo, or with any downstream
-application that uses the Ignition Sensors API. Listed here are two ways of
+This sensor can be used with Gazebo, or with any downstream
+application that uses the Gazebo Sensors API. Listed here are two ways of
 testing this sensor, one with Gazebo and one with a custom program.
 
 ### With a custom program
@@ -29,10 +29,10 @@ The [loop_sensor](../loop_sensor) example can be used to load an SDF file with
 configuration for this sensor and run it in a loop. See that example's
 instructions.
 
-### With Ignition Gazebo
+### With Gazebo
 
 The
-[custom_sensor_system](https://github.com/ignitionrobotics/ign-gazebo/tree/main/examples/plugin/custom_sensor_system)
+[custom_sensor_system](https://github.com/gazebosim/gz-sim/tree/main/examples/plugin/custom_sensor_system)
 example can be used to load this sensor into Gazebo and update it during the
 simulation.
 

examples/imu_noise/CMakeLists.txt

@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.5 FATAL_ERROR)
 project(ignition-sensors-noise-demo)
 
-# Find the Ignition Libraries used directly by the example
+# Find the Gazebo Libraries used directly by the example
 find_package(ignition-sensors7 REQUIRED)
 
 add_executable(sensor_noise main.cc)

examples/imu_noise/main.cc

@@ -115,7 +115,7 @@ generateSamples(size_t _nSamples, const NoiseParameters& _params)
   noise.SetDynamicBiasCorrelationTime(_params.dynamicBiasCorrelationTime);
 
   const double dt = 1.0 / _params.sampleFreq;
-  auto model = ignition::sensors::NoiseFactory::NewNoiseModel(noise);
+  auto model = gz::sensors::NoiseFactory::NewNoiseModel(noise);
   for (size_t ii = 0; ii < _nSamples ; ++ii) {
     samples.push_back(model->Apply(0.0, dt));
   }