Forward port 3 to 6

Signed-off-by: Nate Koenig <natekoenig@gmail.com>

CMakeLists.txt

@@ -15,7 +15,10 @@ find_package(ignition-cmake2 2.12.0 REQUIRED)
 #============================================================================
 # Configure the project
 #============================================================================
-ign_configure_project(VERSION_SUFFIX)
+ign_configure_project(
+  REPLACE_IGNITION_INCLUDE_PATH gz/sim
+  VERSION_SUFFIX
+)
 set (CMAKE_CXX_STANDARD 17)
 
 #============================================================================
@@ -97,7 +100,7 @@ set(IGN_FUEL_TOOLS_VER ${ignition-fuel_tools7_VERSION_MAJOR})
 
 #--------------------------------------
 # Find ignition-gui
-ign_find_package(ignition-gui6 REQUIRED VERSION 6.5)
+ign_find_package(ignition-gui6 REQUIRED VERSION 6.8)
 set(IGN_GUI_VER ${ignition-gui6_VERSION_MAJOR})
 ign_find_package (Qt5
   COMPONENTS

Changelog.md

@@ -2369,7 +2369,7 @@
 1. Fix generation of systems library symlinks in build directory
     * [Pull request #1160](https://github.com/gazebosim/gz-sim/pull/1160)
 
-1. Backport gazebo::Util::validTopic() from ign-gazebo4.
+1. Backport sim::Util::validTopic() from ign-gazebo4.
     * [Pull request #1153](https://github.com/gazebosim/gz-sim/pull/1153)
 
 1. Support setting the background color for sensors
@@ -2886,7 +2886,7 @@
     * [Pull Request 351](https://github.com/gazebosim/gz-sim/pull/351)
     * [Pull Request 362](https://github.com/gazebosim/gz-sim/pull/362)
 
-1. Tests & Warnings: Qt 5.14, breadcrumbs, Gui, ign_TEST
+1. Tests & Warnings: Qt 5.14, breadcrumbs, Gui, gz_TEST
     * [Pull Request 327](https://github.com/gazebosim/gz-sim/pull/327)
 
 1. Added support for specifying topics to record.
@@ -3031,7 +3031,7 @@
 1. Enhanced log playback performance.
     * [Pull Request 351](https://github.com/gazebosim/gz-sim/pull/351)
 
-1. Tests & Warnings: Qt 5.14, breadcrumbs, Gui, ign_TEST
+1. Tests & Warnings: Qt 5.14, breadcrumbs, Gui, gz_TEST
     * [Pull Request 327](https://github.com/gazebosim/gz-sim/pull/327)
 
 1. Added support for specifying topics to record.
@@ -3145,7 +3145,7 @@
 
 ### Ignition Gazebo 2.18.0 (2020-05-20)
 
-1. Added a `/world/<world_name>/create_multiple` service that parallels the current `/world/<world_name>/create` service. The `create_multiple` service can handle an `ignition::msgs::EntityFactory_V` message that may contain one or more entities to spawn.
+1. Added a `/world/<world_name>/create_multiple` service that parallels the current `/world/<world_name>/create` service. The `create_multiple` service can handle an `gz::msgs::EntityFactory_V` message that may contain one or more entities to spawn.
     * [Pull Request 146](https://github.com/gazebosim/gz-sim/pull/146)
 
 1. DetachableJoint system: Add option to suppress warning about missing child model
@@ -3562,7 +3562,7 @@
 1. Update Camera and DepthCamera components to use sdf::Sensor object instead of an sdf::ElementPtr.
     * [BitBucket pull request 299](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/299)
 
-1. Added system for ignition::sensors::AirPressureSensor.
+1. Added system for gz::sensors::AirPressureSensor.
     * [BitBucket pull request 300](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-gazebo/pull-requests/300)
 
 1. Support conversion and serialization of Imu components. IMU sensors are

api.md.in

@@ -5,10 +5,10 @@ designed to rapidly develop robot and simulation applications.
 
 **Useful links**
 
-1. ignition::gazebo::components : List of built-in Component types. Components represent data, such as position information, that can be added to an Entity.
-2. ignition::gazebo::systems : List of available Systems. A System operates on Entities that have a specific set of Components.
-3. ignition::gazebo::events : List of simulation events. See the
-   ignition::gazebo::EventManager for details about events and how to use them.
+1. gz::sim::components : List of built-in Component types. Components represent data, such as position information, that can be added to an Entity.
+2. gz::sim::systems : List of available Systems. A System operates on Entities that have a specific set of Components.
+3. gz::sim::events : List of simulation events. See the
+   gz::sim::EventManager for details about events and how to use them.
 
 ## License
 

examples/plugin/custom_component/CustomComponentPlugin.cc

@@ -16,9 +16,9 @@
 */
 #include "CustomComponentPlugin.hh"
 
-#include <ignition/plugin/Register.hh>
+#include <gz/plugin/Register.hh>
 
 IGNITION_ADD_PLUGIN(examples::CustomComponentPlugin,
-    ignition::gazebo::System,
+    gz::sim::System,
     examples::CustomComponentPlugin::ISystemConfigure)
 

examples/plugin/custom_component/CustomComponentPlugin.hh

@@ -18,36 +18,36 @@
 #define EXAMPLES_PLUGINS_CUSTOMCOMPONENTPLUGIN_HH_
 
 // This header provides components::Component
-#include <ignition/gazebo/components/Component.hh>
+#include <gz/sim/components/Component.hh>
 
 // This header provides the registration macro
-#include <ignition/gazebo/components/Factory.hh>
+#include <gz/sim/components/Factory.hh>
 
-#include <ignition/gazebo/System.hh>
-#include <ignition/gazebo/config.hh>
+#include <gz/sim/System.hh>
+#include <gz/sim/config.hh>
 
 namespace examples
 {
 // The most convenient way to create a component is to create a template alias
 // of `components::Component` where the first argument is the type being wrapped
 // (i.e. int) and the second is a unique name tag.
 using CustomComponent =
-    ignition::gazebo::components::Component<int, class CustomComponentTag>;
+    gz::sim::components::Component<int, class CustomComponentTag>;
 
 // Use this macro to register a component. Give it a unique name across the
 // entire simulation.
 IGN_GAZEBO_REGISTER_COMPONENT("examples::CustomComponent", CustomComponent)
 
 class CustomComponentPlugin :
-  public ignition::gazebo::System,
-  public ignition::gazebo::ISystemConfigure
+  public gz::sim::System,
+  public gz::sim::ISystemConfigure
 {
   public: CustomComponentPlugin() = default;
 
-  public: void Configure(const ignition::gazebo::Entity &_entity,
+  public: void Configure(const gz::sim::Entity &_entity,
                          const std::shared_ptr<const sdf::Element> &,
-                         ignition::gazebo::EntityComponentManager &_ecm,
-                         ignition::gazebo::EventManager &) override
+                         gz::sim::EntityComponentManager &_ecm,
+                         gz::sim::EventManager &) override
   {
     // You can create the custom component as you would create any other
     igndbg << "Creating component" << std::endl;
@@ -56,7 +56,7 @@ class CustomComponentPlugin :
     // You can use the ECM's API, such as Each, to query for the
     // component:
     _ecm.Each<CustomComponent>(
-        [&](const ignition::gazebo::Entity &_entityEach,
+        [&](const gz::sim::Entity &_entityEach,
             const CustomComponent *_comp) -> bool
     {
       igndbg << "Entity: " << _entityEach << std::endl;

examples/plugin/gui_system_plugin/GuiSystemPlugin.cc

@@ -15,11 +15,11 @@
  *
 */
 
-#include <ignition/plugin/Register.hh>
-#include <ignition/gazebo/components/Name.hh>
-#include <ignition/gazebo/components/World.hh>
-#include <ignition/gazebo/EntityComponentManager.hh>
-#include <ignition/gazebo/gui/GuiEvents.hh>
+#include <gz/plugin/Register.hh>
+#include <gz/sim/components/Name.hh>
+#include <gz/sim/components/World.hh>
+#include <gz/sim/EntityComponentManager.hh>
+#include <gz/sim/gui/GuiEvents.hh>
 
 #include "GuiSystemPlugin.hh"
 
@@ -39,16 +39,16 @@ void GuiSystemPlugin::LoadConfig(const tinyxml2::XMLElement * /*_pluginElem*/)
 }
 
 //////////////////////////////////////////////////
-void GuiSystemPlugin::Update(const ignition::gazebo::UpdateInfo & /*_info*/,
-    ignition::gazebo::EntityComponentManager &_ecm)
+void GuiSystemPlugin::Update(const gz::sim::UpdateInfo & /*_info*/,
+    gz::sim::EntityComponentManager &_ecm)
 {
   // In the update loop, you can for example get the name of the world and set
   // it as a property that can be read from the QML.
-  _ecm.Each<ignition::gazebo::components::Name,
-            ignition::gazebo::components::World>(
-    [&](const ignition::gazebo::Entity &_entity,
-        const ignition::gazebo::components::Name *_name,
-        const ignition::gazebo::components::World *)->bool
+  _ecm.Each<gz::sim::components::Name,
+            gz::sim::components::World>(
+    [&](const gz::sim::Entity &_entity,
+        const gz::sim::components::Name *_name,
+        const gz::sim::components::World *)->bool
   {
     this->SetCustomProperty(QString::fromStdString(_name->Data()));
     return true;
@@ -70,4 +70,4 @@ void GuiSystemPlugin::SetCustomProperty(const QString &_customProperty)
 
 // Register this plugin
 IGNITION_ADD_PLUGIN(GuiSystemPlugin,
-                    ignition::gui::Plugin)
+                    gz::gui::Plugin)

examples/plugin/gui_system_plugin/GuiSystemPlugin.hh

@@ -15,13 +15,13 @@
  *
 */
 
-#ifndef IGNITION_GAZEBO_GUISYSTEMPLUGIN_HH_
-#define IGNITION_GAZEBO_GUISYSTEMPLUGIN_HH_
+#ifndef GZ_GAZEBO_GUISYSTEMPLUGIN_HH_
+#define GZ_GAZEBO_GUISYSTEMPLUGIN_HH_
 
-#include <ignition/gazebo/gui/GuiSystem.hh>
+#include <gz/sim/gui/GuiSystem.hh>
 
 /// \brief Example of a GUI plugin that has access to entities and components.
-class GuiSystemPlugin : public ignition::gazebo::GuiSystem
+class GuiSystemPlugin : public gz::sim::GuiSystem
 {
   Q_OBJECT
 
@@ -40,7 +40,7 @@ class GuiSystemPlugin : public ignition::gazebo::GuiSystem
   /// \brief Destructor
   public: ~GuiSystemPlugin() override;
 
-  /// \brief `ignition::gui::Plugin`s can overload this function to
+  /// \brief `gz::gui::Plugin`s can overload this function to
   /// receive custom configuration from an XML file. Here, it comes from the
   /// SDF.
   ///
@@ -59,8 +59,8 @@ class GuiSystemPlugin : public ignition::gazebo::GuiSystem
   /// \param[in] _info Simulation information such as time.
   /// \param[in] _ecm Entity component manager, which can be used to get the
   /// latest information about entities and components.
-  public: void Update(const ignition::gazebo::UpdateInfo &_info,
-      ignition::gazebo::EntityComponentManager &_ecm) override;
+  public: void Update(const gz::sim::UpdateInfo &_info,
+      gz::sim::EntityComponentManager &_ecm) override;
 
   /// \brief Get the custom property as a string.
   /// \return Custom property

examples/plugin/gui_system_plugin/README.md

@@ -3,7 +3,7 @@
 This example shows how to create a GUI system plugin.
 
 Ignition Gazebo supports any kind of Ignition GUI plugin
-(`ignition::gui::Plugin`). Gazebo GUI plugins are a special type of Ignition
+(`gz::gui::Plugin`). Gazebo GUI plugins are a special type of Ignition
 GUI plugin which also have access to entity and component updates coming from
 the server.
 

examples/plugin/hello_world/HelloWorld.cc

@@ -18,11 +18,11 @@
 // We'll use a string and the ignmsg command below for a brief example.
 // Remove these includes if your plugin doesn't need them.
 #include <string>
-#include <ignition/common/Console.hh>
+#include <gz/common/Console.hh>
 
 // This header is required to register plugins. It's good practice to place it
 // in the cc file, like it's done here.
-#include <ignition/plugin/Register.hh>
+#include <gz/plugin/Register.hh>
 
 // Don't forget to include the plugin's header.
 #include "HelloWorld.hh"
@@ -31,15 +31,15 @@
 // what's in the header.
 IGNITION_ADD_PLUGIN(
     hello_world::HelloWorld,
-    ignition::gazebo::System,
+    gz::sim::System,
     hello_world::HelloWorld::ISystemPostUpdate)
 
 using namespace hello_world;
 
 // Here we implement the PostUpdate function, which is called at every
 // iteration.
-void HelloWorld::PostUpdate(const ignition::gazebo::UpdateInfo &_info,
-    const ignition::gazebo::EntityComponentManager &/*_ecm*/)
+void HelloWorld::PostUpdate(const gz::sim::UpdateInfo &_info,
+    const gz::sim::EntityComponentManager &/*_ecm*/)
 {
   // This is a simple example of how to get information from UpdateInfo.
   std::string msg = "Hello, world! Simulation is ";

examples/plugin/hello_world/HelloWorld.hh

@@ -20,7 +20,7 @@
 
 // The only required include in the header is this one.
 // All others will depend on what your plugin does.
-#include <ignition/gazebo/System.hh>
+#include <gz/sim/System.hh>
 
 // It's good practice to use a custom namespace for your project.
 namespace hello_world
@@ -31,16 +31,16 @@ namespace hello_world
   // physics runs. The opposite of that, `ISystemPreUpdate`, would be used by
   // plugins that want to send commands.
   class HelloWorld:
-    public ignition::gazebo::System,
-    public ignition::gazebo::ISystemPostUpdate
+    public gz::sim::System,
+    public gz::sim::ISystemPostUpdate
   {
     // Plugins inheriting ISystemPostUpdate must implement the PostUpdate
     // callback. This is called at every simulation iteration after the physics
     // updates the world. The _info variable provides information such as time,
     // while the _ecm provides an interface to all entities and components in
     // simulation.
-    public: void PostUpdate(const ignition::gazebo::UpdateInfo &_info,
-                const ignition::gazebo::EntityComponentManager &_ecm) override;
+    public: void PostUpdate(const gz::sim::UpdateInfo &_info,
+                const gz::sim::EntityComponentManager &_ecm) override;
   };
 }
 #endif

examples/plugin/rendering_plugins/RenderingGuiPlugin.cc

@@ -15,16 +15,16 @@
  *
 */
 
-#include <ignition/gui/Application.hh>
+#include <gz/gui/Application.hh>
 //! [includeGuiEvents]
-#include <ignition/gui/GuiEvents.hh>
+#include <gz/gui/GuiEvents.hh>
 //! [includeGuiEvents]
-#include <ignition/gui/MainWindow.hh>
-#include <ignition/math/Rand.hh>
-#include <ignition/plugin/Register.hh>
-#include <ignition/rendering/RenderEngine.hh>
-#include <ignition/rendering/RenderingIface.hh>
-#include <ignition/rendering/Scene.hh>
+#include <gz/gui/MainWindow.hh>
+#include <gz/math/Rand.hh>
+#include <gz/plugin/Register.hh>
+#include <gz/rendering/RenderEngine.hh>
+#include <gz/rendering/RenderingIface.hh>
+#include <gz/rendering/Scene.hh>
 
 #include "RenderingGuiPlugin.hh"
 
@@ -33,8 +33,8 @@ void RenderingGuiPlugin::LoadConfig(const tinyxml2::XMLElement * /*_pluginElem*/
 {
   // This is necessary to receive the Render event on eventFilter
 //! [connectToGuiEvent]
-  ignition::gui::App()->findChild<
-      ignition::gui::MainWindow *>()->installEventFilter(this);
+  gz::gui::App()->findChild<
+      gz::gui::MainWindow *>()->installEventFilter(this);
 //! [connectToGuiEvent]
 }
 
@@ -48,7 +48,7 @@ void RenderingGuiPlugin::RandomColor()
 //! [eventFilter]
 bool RenderingGuiPlugin::eventFilter(QObject *_obj, QEvent *_event)
 {
-  if (_event->type() == ignition::gui::events::Render::kType)
+  if (_event->type() == gz::gui::events::Render::kType)
   {
     // This event is called in the render thread, so it's safe to make
     // rendering calls here
@@ -78,9 +78,9 @@ void RenderingGuiPlugin::PerformRenderingOperations()
     return;
 
   this->scene->SetAmbientLight({
-      static_cast<float>(ignition::math::Rand::DblUniform(0.0, 1.0)),
-      static_cast<float>(ignition::math::Rand::DblUniform(0.0, 1.0)),
-      static_cast<float>(ignition::math::Rand::DblUniform(0.0, 1.0)),
+      static_cast<float>(gz::math::Rand::DblUniform(0.0, 1.0)),
+      static_cast<float>(gz::math::Rand::DblUniform(0.0, 1.0)),
+      static_cast<float>(gz::math::Rand::DblUniform(0.0, 1.0)),
       1.0});
 
   this->dirty = false;
@@ -90,7 +90,7 @@ void RenderingGuiPlugin::PerformRenderingOperations()
 /////////////////////////////////////////////////
 void RenderingGuiPlugin::FindScene()
 {
-  auto loadedEngNames = ignition::rendering::loadedEngines();
+  auto loadedEngNames = gz::rendering::loadedEngines();
   if (loadedEngNames.empty())
   {
     igndbg << "No rendering engine is loaded yet" << std::endl;
@@ -104,7 +104,7 @@ void RenderingGuiPlugin::FindScene()
     igndbg << "More than one engine is available. "
       << "Using engine [" << engineName << "]" << std::endl;
   }
-  auto engine = ignition::rendering::engine(engineName);
+  auto engine = gz::rendering::engine(engineName);
   if (!engine)
   {
     ignerr << "Internal error: failed to load engine [" << engineName
@@ -142,4 +142,4 @@ void RenderingGuiPlugin::FindScene()
 
 // Register this plugin
 IGNITION_ADD_PLUGIN(RenderingGuiPlugin,
-                    ignition::gui::Plugin)
+                    gz::gui::Plugin)