Renaming ign to gz

.github/workflows/ci.yml

@@ -1,32 +1,48 @@
-name: Ignition RViz CI
+name: Gazebo RViz CI
 
-on: [push, pull_request]
+on:
+  pull_request:
+  push:
+    branches: [ master ]
 
 jobs:
   build:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        ignition: ['fortress']
-        ros: ['rolling']
+        gazebo: ['fortress', 'garden']
+        ros: ['humble', 'rolling']
     container:
       image: osrf/ros:${{ matrix.ros }}-desktop
     env:
-      IGNITION_VERSION: ${{ matrix.ignition }}
+      GZ_VERSION: ${{ matrix.gazebo }}
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
     - name: Install Dependencies
+      id: configure
+      shell: bash
       run: |
+        export DEBIAN_FRONTEND=noninteractive
+        apt update -qq
+        apt install -qq -y lsb-release wget curl gnupg2 git
+        curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+        echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
+        wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
+        echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
         apt update -y
-        apt install -y wget
-        sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
-        wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
-        apt update -y
-        apt install -y libignition-common4-dev \
-                       libignition-math6-dev \
-                       libignition-rendering6-dev \
-                       libignition-gui6-dev
+        if [ "$GZ_VERSION" == "garden" ]; then
+          apt install -y libgz-common5-dev \
+                         libgz-math7-dev \
+                         libgz-rendering7-dev \
+                         libgz-gui7-dev
+        fi
 
+        if [ "$GZ_VERSION" == "fortress" ]; then
+          apt install -y libignition-common4-dev \
+                         libignition-math6-dev \
+                         libignition-rendering6-dev \
+                         libignition-gui6-dev
+        fi
     - name: Setup colcon workspace
       id: configure
       run: |

README.md

@@ -1,27 +1,27 @@
-# Ignition RViz
+# Gazebo RViz
 
 [RViz](http://wiki.ros.org/rviz) is a 3D visualization tool for robots using ROS.
 
-Ignition RViz offers functionality similar to RViz, and is developed using
-[Ignition](https://ignitionrobotics.org/) libraries.
+Gazebo RViz offers functionality similar to RViz, and is developed using
+[Gazebo](https://gazebosim.org/) libraries.
 
 ### Build Status
 
 * ROS versions: Rolling (Humble)
-* Ignition versions: Fortress
+* Gazebo versions: Fortress or Garden
 
-[![Ignition RViz CI](https://github.com/ignitionrobotics/ign-rviz/actions/workflows/ci.yml/badge.svg)](https://github.com/ignitionrobotics/ign-rviz/actions/workflows/ci.yml)
+[![Gazebo RViz CI](https://github.com/gazebosim/gz-rviz/actions/workflows/ci.yml/badge.svg)](https://github.com/gazebosim/gz-rviz/actions/workflows/ci.yml)
 
-Head over to the [wiki](https://github.com/ignitionrobotics/ign-rviz/wiki) to get detailed description of the project.
+Head over to the [wiki](https://github.com/gazebosim/gz-rviz/wiki) to get detailed description of the project.
 
 ### Requirements
 
-- [ROS 2 Foxy or Rolling](https://docs.ros.org/en/rolling/Releases.html)
-- [Ignition Fortress](https://ignitionrobotics.org/docs/)
-	- [Ignition Common](https://ignitionrobotics.org/libs/common)
-	- [Ignition GUI](https://ignitionrobotics.org/libs/gui)
-	- [Ignition Math](https://ignitionrobotics.org/libs/math)
-	- [Ignition Rendering](https://ignitionrobotics.org/libs/rendering)
+- [ROS 2](https://docs.ros.org/en/rolling/Releases.html)
+- [Gazebo](https://gazebosim.org/docs/)
+	- [Gazebo Common](https://gazebosim.org/libs/common)
+	- [Gazebo GUI](https://gazebosim.org/libs/gui)
+	- [Gazebo Math](https://gazebosim.org/libs/math)
+	- [Gazebo Rendering](https://gazebosim.org/libs/rendering)
 - [Qt5](https://www.qt.io/)
 - Additional QML modules required for GPS Plugin
   - [QtPositioning](https://doc.qt.io/qt-5/qtpositioning-index.html) (`qml-module-qtpositioning`)
@@ -39,20 +39,20 @@ cd ~/colcon_ws/src
 **Clone the repository**
 
 ```bash
-git clone https://github.com/ignitionrobotics/ign-rviz.git
+git clone https://github.com/gazebosim/gz-rviz.git
 ```
 
-**Choose an Ignition version**
+**Choose an Gazebo version**
 
 ```bash
-export IGNITION_VERSION=<ignition>
+export GZ_VERSION=<gazebo version>
 ```
 
-Where `<ignition>` should be `fortress`.
+Where `<gazebo>` should be `fortress` or `garden`.
 
 > You only need to set this variable when compiling, not when running.
 
-**Build ign-rviz**
+**Build gz-rviz**
 
 Go to the root of your colcon workspace
 
@@ -67,30 +67,30 @@ source /opt/ros/<distro>/setup.bash  # If using bash
 source /opt/ros/<distro>/setup.zsh   # If using zsh
 ```
 
-Build ign-rviz
+Build gz-rviz
 
 ```bash
 colcon build
 ```
 
-### Launch ign-rviz
+### Launch fz-rviz
 
-Ignition Rviz can be launched using the following command
+Gazebo Rviz can be launched using the following command
 
 ```bash
 # Source the workspace
 source install/setup.zsh
 
-# Launch ign-rviz
-ros2 launch ign_rviz rviz.launch.py
+# Launch gz-rviz
+ros2 launch gz_rviz rviz.launch.py
 ```
 
 ### Instruction to generate documentation
 
 Project documentation can be generated with the help of doxygen using the following commands.
 
 ```bash
-cd ~/colcon_ws/src/ign-rviz/docs/
+cd ~/colcon_ws/src/gz-rviz/docs/
 
 # Generate documentation
 doxygen rviz.doxyfile
@@ -106,5 +106,5 @@ firefox ./html/index.html
        # Source ROS2
        ros2 run image_tools cam2image
        ```
-    2. Launch ign-rviz as mentioned above
+    2. Launch gz-rviz as mentioned above
     3. Load an `ImageDisplay` plugin and select the published topic.

docs/rviz.doxyfile

@@ -1,15 +1,15 @@
 # Doxyfile 1.8.13
 
-PROJECT_NAME           = "Ignition RViz"
+PROJECT_NAME           = "Gazebo RViz"
 
 PROJECT_NUMBER         = 0.1
 
 PROJECT_BRIEF          = "RViz developed using ignition rendering"
 
 INPUT                  = ../README.md \
-                         ../ign_rviz_common/ \
-                         ../ign_rviz_plugins/ \
-                         ../ign_rviz/
+                         ../gz_rviz_common/ \
+                         ../gz_rviz_plugins/ \
+                         ../gz_rviz/
 
 RECURSIVE              = YES
 

ign_rviz/CMakeLists.txt → gz_rviz/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(ign_rviz)
+project(gz_rviz)
 
 # Default to C++14
 if(NOT CMAKE_CXX_STANDARD)
@@ -31,52 +31,54 @@ find_package(tf2_msgs REQUIRED)
 find_package(tf2_ros REQUIRED)
 find_package(visualization_msgs REQUIRED)
 
-# Ignition libraries
-find_package(ign_rviz_common REQUIRED)
-find_package(ign_rviz_plugins REQUIRED)
-find_package(ignition-math6 REQUIRED)
+# ition libraries
+find_package(gz_rviz_common REQUIRED)
+find_package(gz_rviz_plugins REQUIRED)
 
-# Default to Fortress
-find_package(ignition-gui6 REQUIRED)
-set(IGN_GUI_VER ${ignition-gui6_VERSION_MAJOR})
+# Gazebo Libraries
+if("$ENV{GZ_VERSION}" STREQUAL "fortress")
+  find_package(ignition-math6 REQUIRED)
+  set(GZ_MATH ignition-math6)
 
-find_package(ignition-common4 REQUIRED)
-set(IGN_COMMON_VER ${ignition-common4_VERSION_MAJOR})
+  find_package(ignition-gui6 REQUIRED)
+  set(GZ_GUI ignition-gui6)
 
-message(STATUS "Compiling against Ignition Fortress")
+  find_package(ignition-common4 REQUIRED)
+  set(GZ_COMMON ignition-common4)
 
-qt5_add_resources(resources_RCC include/ignition/rviz/rviz.qrc)
+  message(STATUS "Compiling against Gazebo Fortress")
 
-include_directories(SYSTEM
-  ${IGNITION-COMMON_INCLUDE_DIRS}
-  ${IGNITION-GUI_INCLUDE_DIRS}
-  ${Qt5Core_INCLUDE_DIRS}
-  ${Qt5Qml_INCLUDE_DIRS}
-  ${Qt5Quick_INCLUDE_DIRS}
-  ${Qt5QuickControls2_INCLUDE_DIRS}
-)
+else()
+  find_package(gz-math7 REQUIRED)
+  set(GZ_MATH gz-math7)
 
-link_directories(
-  ${IGNITION-COMMON_LIBRARY_DIRS}
-  ${IGNITION-GUI_LIBRARY_DIRS}
-  ${IGNITION-MATH_LIBRARY_DIRS}
-)
+  find_package(gz-gui7 REQUIRED)
+  set(GZ_GUI gz-gui7)
+
+  find_package(gz-common5 REQUIRED)
+  set(GZ_COMMON gz-common5)
+
+  message(STATUS "Compiling against Gazebo Garden")
+endif()
+
+qt5_add_resources(resources_RCC include/gz/rviz/rviz.qrc)
 
 include_directories(include)
 
-add_executable(ign_rviz
+add_executable(gz_rviz
   src/rviz/application.cpp
   src/rviz/rviz.cpp
-  include/ignition/rviz/rviz.hpp
+  include/gz/rviz/rviz.hpp
   ${resources_RCC}
 )
 
-ament_target_dependencies(ign_rviz
+ament_target_dependencies(gz_rviz
   ament_index_cpp
-  ign_rviz_common
-  ign_rviz_plugins
-  ignition-math6
-  ignition-gui${IGN_GUI_VER}
+  gz_rviz_common
+  gz_rviz_plugins
+  ${GZ_COMMON}
+  ${GZ_GUI}
+  ${GZ_MATH}
   geometry_msgs
   nav_msgs
   rclcpp
@@ -86,9 +88,9 @@ ament_target_dependencies(ign_rviz
   visualization_msgs
 )
 
-target_link_libraries(ign_rviz Qt5::Core Qt5::Qml Qt5::Quick Qt5::QuickControls2)
+target_link_libraries(gz_rviz Qt5::Core Qt5::Qml Qt5::Quick Qt5::QuickControls2)
 
-install(TARGETS ign_rviz
+install(TARGETS gz_rviz
         DESTINATION lib/${PROJECT_NAME})
 
 install(DIRECTORY launch

gz_rviz/README.md

@@ -0,0 +1,2 @@
+# Gazebo RViz
+ROS package for RViz developed using Gazebo Rendering Library.

ign_rviz/include/ignition/rviz/rviz.hpp → gz_rviz/include/gz/rviz/rviz.hpp

@@ -12,24 +12,32 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef IGNITION__RVIZ__RVIZ_HPP_
-#define IGNITION__RVIZ__RVIZ_HPP_
+#ifndef GZ__RVIZ__RVIZ_HPP_
+#define GZ__RVIZ__RVIZ_HPP_
 
 #include <iostream>
 #include <memory>
 #include <string>
 #include <vector>
 
+#ifdef GZ_HEADERS
+#ifndef Q_MOC_RUN
+  #include <gz/gui/qt.h>
+  #include <gz/gui/Application.hh>
+#endif
+using namespace gz;
+#else
 #ifndef Q_MOC_RUN
   #include <ignition/gui/qt.h>
   #include <ignition/gui/Application.hh>
 #endif
-
+using namespace ignition;
+#endif
 #include <rclcpp/rclcpp.hpp>
 
-#include <ignition/rviz/plugins/message_display_base.hpp>
+#include <gz/rviz/plugins/message_display_base.hpp>
 
-namespace ignition
+namespace gz
 {
 namespace rviz
 {
@@ -212,4 +220,4 @@ class RViz : public QObject
 }  // namespace rviz
 }  // namespace ignition
 
-#endif  // IGNITION__RVIZ__RVIZ_HPP_
+#endif  // GZ__RVIZ__RVIZ_HPP_

ign_rviz/launch/rviz.launch.py → gz_rviz/launch/rviz.launch.py

@@ -19,6 +19,6 @@
 def generate_launch_description():
     return LaunchDescription([
         launch_ros.actions.Node(
-            package='ign_rviz', executable='ign_rviz', output='screen'
+            package='gz_rviz', executable='gz_rviz', output='screen'
         ),
     ])

ign_rviz/package.xml → gz_rviz/package.xml

@@ -1,18 +1,17 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>ign_rviz</name>
+  <name>gz_rviz</name>
   <version>0.0.1</version>
-  <description>RViz developed using Ignition libraries</description>
-
-  <maintainer email="sarathkrishnan99@gmail.com">Sarathkrishnan Ramesh</maintainer>
+  <description>RViz developed using Gazebo libraries</description>
 
+  <maintainer email="alejandro@openrobotics.com">Alejandro Hernández</maintainer>
+  <author email="sarathkrishnan99@gmail.com">Sarathkrishnan Ramesh</author>
   <license>Apache License, Version 2.0</license>
 
   <depend>geometry_msgs</depend>
-  <depend>ign_rviz_common</depend>
-  <depend>ign_rviz_plugins</depend>
-  <depend>ignition-math6</depend>
+  <depend>gz_rviz_common</depend>
+  <depend>gz_rviz_plugins</depend>
   <depend>nav_msgs</depend>
   <depend>rclcpp</depend>
   <depend>sensor_msgs</depend>
@@ -22,9 +21,15 @@
   <depend>visualization_msgs</depend>
 
   <!-- Fortress (default) -->
+  <depend condition="$IGNITION_VERSION == 'fortress'">ignition-common4</depend>
   <depend condition="$IGNITION_VERSION == 'fortress'">ignition-gui6</depend>
+  <depend condition="$IGNITION_VERSION == 'fortress'">ignition-math6</depend>
+  <depend condition="$IGNITION_VERSION == 'garden'">gz-common5</depend>
+  <depend condition="$IGNITION_VERSION == 'garden'">gz-gui7</depend>
+  <depend condition="$IGNITION_VERSION == 'garden'">gz-math7</depend>
   <depend condition="$IGNITION_VERSION == ''">ignition-common4</depend>
   <depend condition="$IGNITION_VERSION == ''">ignition-gui6</depend>
+  <depend condition="$IGNITION_VERSION == ''">ignition-math6</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>