IGN -> GZ #27

ahcorde · 2022-06-23T18:32:46Z

Build on top of this other PR #26

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

khancyr · 2022-06-23T20:10:35Z

@ahcorde this is specific to only garden, right ? forteress isn't impact ?

srmainwaring · 2022-06-23T22:48:50Z

@khancyr yes that's right - Garden only.

@ahcorde I've been making similar changes for another Gazebo plugin (my marine ocean one), wondering if it is worth waiting until the Gazebo Garden interface is finalised before merging this change as I've been through a few iterations catching up as the namespace migration progresses; on the other hand the namespace changes may be breaking for Garden.

ahcorde · 2022-06-24T07:57:34Z

we are still migrating ign -> gz,

I openned this PR just in case someone want to try this with Garden. I will try to keep it updated

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

srmainwaring · 2022-06-27T10:58:24Z

@ahcorde is the reset functionality required by the ign -> gz migration or is it optional? If it's optional we should split that into a separate PR.

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

ahcorde · 2022-06-27T23:03:42Z

@srmainwaring for now it's not optional, If I'm able to make it optional I will open another PR

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

ahcorde · 2022-07-28T11:50:19Z

Hi @srmainwaring @khancyr,

this is ready for a review

srmainwaring

Hi @ahcorde, thanks for the ign -> gz migration changes. I've made similar changes to my local branch and they seem to be in line.

The one feature I have not checked is the reset interface - so I'll need to run your branch to check that. Otherwise it's just a few minor changes here and there - mainly using the library short form in the plugins and switching the message ostream to the gz version.

srmainwaring · 2022-07-28T12:54:50Z

README.md

 It replaces the old Gazebo plugin to bring support of the next gen Gazebo simulator.
 It also brings support for more features :
 - more flexible data exchange between SITL and Ignition with JSON data sharing.
 - more sensors supported.
 - true Simulation lockstepping. It is now possible to use GDB to stop the Ignition time for debugging.
 - Better 3D rendering

-The project is composed of an Ignition plugin to connect to ArduPilot SITL (Software In The Loop) and some example models and worlds.
+The project is composed of an Gazebo plugin to connect to ArduPilot SITL (Software In The Loop) and some example models and worlds.


minor gram. chg. an Gazebo to a Gazebo

srmainwaring · 2022-07-28T12:54:57Z

README.md


-Follow the instructions for a [binary install of ignition fortress](https://ignitionrobotics.org/docs/fortress/install) and verify that ignition gazebo is running correctly.
+Follow the instructions for a [binary install of ignition fortress](https://ignitionrobotics.org/docs/garden/install) and verify that ignition gazebo is running correctly.


Link is to garden, comment is for fortress. Suggest change comment to garden as well.

srmainwaring · 2022-07-28T12:55:01Z

models/iris_with_standoffs/model.sdf

@@ -538,11 +538,11 @@
    <static>0</static>

    <!-- plugins -->
-    <plugin filename="libignition-gazebo-joint-state-publisher-system.so"
-      name="ignition::gazebo::systems::JointStatePublisher">
+    <plugin filename="libgz-sim-joint-state-publisher-system.so"


We can drop the lib prefix and .so suffix on the library names, so

libgz-sim-joint-state-publisher-system.so to gz-sim-joint-state-publisher-system, etc.

srmainwaring · 2022-07-28T12:55:16Z

src/ArduPilotPlugin.cc

@@ -1032,7 +1076,7 @@ void ignition::gazebo::systems::ArduPilotPlugin::ApplyMotorForces(
      else if (this->dataPtr->controls[i].type == "POSITION")
      {
        //TODO: figure out whether position control matters, and if so, how to use it.
-        ignwarn << "Failed to do position control on joint " << i << 
+        ignwarn << "Failed to do position control on joint " << i <<


Change ignwarn to gzwarn and similarly for ignmsg?

src/ArduPilotPlugin.cc

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

srmainwaring

@ahcorde this LGTM, thanks!

Have tested iris_arducopter_runway.world on latest pull of gz-sim (d90fab) against ArduPilot master on macOS Monterey Version 12.5, Xcode 13.2.1 and it's working well.

* ign -> gz: namespaces * IGN to GZ Signed-off-by: ahcorde <ahcorde@gmail.com> * update README.md Signed-off-by: ahcorde <ahcorde@gmail.com> * Added reset Signed-off-by: ahcorde <ahcorde@gmail.com> * Update Signed-off-by: ahcorde <ahcorde@gmail.com> * more updates Signed-off-by: ahcorde <ahcorde@gmail.com> * clean worlds Signed-off-by: ahcorde <ahcorde@gmail.com> * more ign to gz Signed-off-by: ahcorde <ahcorde@gmail.com> Signed-off-by: ahcorde <ahcorde@gmail.com> Co-authored-by: Gustavo <g.rezendesilva@tudelft.nl>

* Forward port to support ignition garden: ignition-gazebo5 to ignition-gazebo7 - Use new interface on EntityComponentManager::CreateComponent - Remove unused package dependencies from CMakeLists.txt - Update dependency to ignition-gazebo7 * Remove unused includes * Update comment for Ignition Gazebo * Fix: use copied imuMsg * Readme: re init readme * IrlockPluging: fix port as per khancyr/ardupilot_gazebo#48 * Add COMMAND control type (#18) * Add RELAY control type * Rename new control type from RELAY to COMMAND - Minor updates to parameter documentation - Rename new control type to COMMAND - Add dependency on World utility and use it to fully scope command topic names - Remove work-around for ArduSub as the initialisation issue should be fixed upstream Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> Co-authored-by: Clyde McQueen <clyde@mcqueen.net> * IGN -> GZ (#27) * ign -> gz: namespaces * IGN to GZ Signed-off-by: ahcorde <ahcorde@gmail.com> * update README.md Signed-off-by: ahcorde <ahcorde@gmail.com> * Added reset Signed-off-by: ahcorde <ahcorde@gmail.com> * Update Signed-off-by: ahcorde <ahcorde@gmail.com> * more updates Signed-off-by: ahcorde <ahcorde@gmail.com> * clean worlds Signed-off-by: ahcorde <ahcorde@gmail.com> * more ign to gz Signed-off-by: ahcorde <ahcorde@gmail.com> Signed-off-by: ahcorde <ahcorde@gmail.com> Co-authored-by: Gustavo <g.rezendesilva@tudelft.nl> * Merge Garden -> Main - Update installation notes for running with Gazebo Garden and add links to previous version. - Minor formatting and style changes to README. - Update Github CI build script for Ubuntu Focal / Garden. - Add build status badge to README. Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> Signed-off-by: ahcorde <ahcorde@gmail.com> Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> Co-authored-by: Clyde McQueen <clyde@mcqueen.net> Co-authored-by: Pierre Kancir <pierre.kancir@manna.aero> Co-authored-by: Pierre Kancir <pierre.kancir.emn@gmail.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Co-authored-by: Gustavo <g.rezendesilva@tudelft.nl>

Rezenders and others added 2 commits June 2, 2022 15:38

ign -> gz: namespaces

ec17233

IGN to GZ

1b3f98f

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

ahcorde added 2 commits June 24, 2022 10:01

update README.md

3a111bd

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

Added reset

0541c3c

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

ahcorde added 2 commits June 27, 2022 14:33

Update

00427b7

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

more updates

3152be5

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

ahcorde mentioned this pull request Jun 28, 2022

[Garden] Download models in the background gazebosim/gz-sim#1484

Closed

9 tasks

clean worlds

806e9d9

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

srmainwaring requested changes Jul 28, 2022

View reviewed changes

more ign to gz

0b8d3ea

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

ahcorde requested a review from srmainwaring July 29, 2022 08:14

srmainwaring approved these changes Aug 16, 2022

View reviewed changes

srmainwaring merged commit 65dded5 into ArduPilot:ignition-garden Aug 16, 2022

srmainwaring mentioned this pull request Aug 16, 2022

ign -> gz: namespaces #26

Closed

metaphaz mentioned this pull request Dec 22, 2023

[GUI] [Dbg] [Application.cc:242] Terminating application. #71

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IGN -> GZ #27

IGN -> GZ #27

ahcorde commented Jun 23, 2022

khancyr commented Jun 23, 2022

srmainwaring commented Jun 23, 2022

ahcorde commented Jun 24, 2022

srmainwaring commented Jun 27, 2022

ahcorde commented Jun 27, 2022

ahcorde commented Jul 28, 2022

srmainwaring left a comment •

edited

srmainwaring Jul 28, 2022

srmainwaring Jul 28, 2022

srmainwaring Jul 28, 2022

srmainwaring Jul 28, 2022

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		Follow the instructions for a [binary install of ignition fortress](https://ignitionrobotics.org/docs/fortress/install) and verify that ignition gazebo is running correctly.
		Follow the instructions for a [binary install of ignition fortress](https://ignitionrobotics.org/docs/garden/install) and verify that ignition gazebo is running correctly.

IGN -> GZ #27

IGN -> GZ #27

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ahcorde commented Jun 23, 2022

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srmainwaring commented Jun 23, 2022

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