Support ros_ign migration (#282)

Clean up shared libraries, and tick-tock RosGzPointCloud Tick-tock launch args Hard-tock ign_ in sources Migrate ign, ign_, IGN_ for sources, launch, and test files Migrate IGN_XXX_VER, IGN_T, header guards Migrate launchfile, launchfile args, and test source references Migrate ros_ign_XXX and gz_gazebo -> gz_sim Migrate ros_ign_XXX project names Migrate Ign, ign-, IGN_DEPS, ign-gazebo Migrate ignitionrobotics, ignitionrobotics/ros_ign, osrf/ros_ign Migrate ignition-version, IGNITION_VERSION, Ignition <LIB>, ros_ign_ci Signed-off-by: methylDragon <methylDragon@gmail.com>
gazebosim · Aug 17, 2022 · 07bca97 · 07bca97
1 parent ee51d08
commit 07bca97
Show file tree

Hide file tree

Showing 96 changed files with 702 additions and 658 deletions.
diff --git a/ros_gz/CMakeLists.txt b/ros_gz/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(ros_ign)
+project(ros_gz)
 find_package(ament_cmake REQUIRED)
 
 if(BUILD_TESTING)

diff --git a/ros_gz/package.xml b/ros_gz/package.xml
@@ -3,20 +3,20 @@
 <package format="2">
   <!-- TODO: Make this a metapackage, see
        https://github.com/ros2/ros2/issues/408 -->
-  <name>ros_ign</name>
+  <name>ros_gz</name>
   <version>0.244.3</version>
   <description>Meta-package containing interfaces for using ROS 2 with <a href="https://gazebosim.org">Gazebo</a> simulation.</description>
   <maintainer email="louise@openrobotics.org">Louise Poubel</maintainer>
   <license>Apache 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <exec_depend>ros_ign_bridge</exec_depend>
-  <exec_depend>ros_ign_gazebo</exec_depend>
-  <exec_depend>ros_ign_gazebo_demos</exec_depend>
-  <exec_depend>ros_ign_image</exec_depend>
+  <exec_depend>ros_gz_bridge</exec_depend>
+  <exec_depend>ros_gz_gazebo</exec_depend>
+  <exec_depend>ros_gz_gazebo_demos</exec_depend>
+  <exec_depend>ros_gz_image</exec_depend>
   <!-- See https://github.com/gazebosim/ros_gz/issues/40 -->
-  <!--exec_depend>ros_ign_point_cloud</exec_depend-->
+  <!--exec_depend>ros_gz_point_cloud</exec_depend-->
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

diff --git a/ros_gz_bridge/CMakeLists.txt b/ros_gz_bridge/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.5)
 
-project(ros_ign_bridge)
+project(ros_gz_bridge)
 
 # Default to C++14
 if(NOT CMAKE_CXX_STANDARD)
@@ -15,7 +15,7 @@ find_package(builtin_interfaces REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(nav_msgs REQUIRED)
 find_package(rclcpp REQUIRED)
-find_package(ros_ign_interfaces REQUIRED)
+find_package(ros_gz_interfaces REQUIRED)
 find_package(rosgraph_msgs REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
@@ -67,7 +67,7 @@ set(PACKAGES
   builtin_interfaces
   geometry_msgs
   nav_msgs
-  ros_ign_interfaces
+  ros_gz_interfaces
   rosgraph_msgs
   sensor_msgs
   std_msgs
@@ -114,14 +114,14 @@ set(bridge_executables
 )
 
 set(bridge_lib
-  ros_ign_bridge_lib
+  ros_gz_bridge_lib
 )
 
 add_library(${bridge_lib}
   SHARED
   src/factories.cpp
   src/factory_interface.cpp
-  src/service_factories/ros_ign_interfaces.cpp
+  src/service_factories/ros_gz_interfaces.cpp
 )
 
 target_include_directories(${bridge_lib}
@@ -173,7 +173,7 @@ if(BUILD_TESTING)
   ament_find_gtest()
 
   add_library(test_utils
-    test/utils/ign_test_msg.cpp
+    test/utils/gz_test_msg.cpp
     test/utils/ros_test_msg.cpp
   )
 
@@ -190,7 +190,7 @@ if(BUILD_TESTING)
     geometry_msgs
     nav_msgs
     rclcpp
-    ros_ign_interfaces
+    ros_gz_interfaces
     rosgraph_msgs
     sensor_msgs
     std_msgs
@@ -206,22 +206,22 @@ if(BUILD_TESTING)
         test/subscribers/ros_subscriber/builtin_interfaces_subscriber.cpp
         test/subscribers/ros_subscriber/geometry_msgs_subscriber.cpp
         test/subscribers/ros_subscriber/nav_msgs_subscriber.cpp
-        test/subscribers/ros_subscriber/ros_ign_interfaces_subscriber.cpp
+        test/subscribers/ros_subscriber/ros_gz_interfaces_subscriber.cpp
         test/subscribers/ros_subscriber/rosgraph_msgs_subscriber.cpp
         test/subscribers/ros_subscriber/sensor_msgs_subscriber.cpp
         test/subscribers/ros_subscriber/std_msgs_subscriber.cpp
         test/subscribers/ros_subscriber/trajectory_msgs_subscriber.cpp)
 
   target_link_libraries(test_ros_subscriber test_utils)
 
-  add_executable(test_ign_publisher test/publishers/ign_publisher.cpp)
-  target_link_libraries(test_ign_publisher test_utils)
+  add_executable(test_gz_publisher test/publishers/gz_publisher.cpp)
+  target_link_libraries(test_gz_publisher test_utils)
 
-  add_executable(test_ign_subscriber test/subscribers/ign_subscriber.cpp)
-  target_link_libraries(test_ign_subscriber test_utils)
+  add_executable(test_gz_subscriber test/subscribers/gz_subscriber.cpp)
+  target_link_libraries(test_gz_subscriber test_utils)
 
-  add_executable(test_ign_server test/serverclient/ign_server.cpp)
-  target_link_libraries(test_ign_server test_utils)
+  add_executable(test_gz_server test/serverclient/gz_server.cpp)
+  target_link_libraries(test_gz_server test_utils)
 
   add_executable(test_ros_client test/serverclient/ros_client.cpp)
   target_link_libraries(test_ros_client test_utils)
@@ -230,21 +230,21 @@ if(BUILD_TESTING)
     test_ros_client
     test_ros_publisher
     test_ros_subscriber
-    test_ign_publisher
-    test_ign_server
-    test_ign_subscriber
+    test_gz_publisher
+    test_gz_server
+    test_gz_subscriber
     DESTINATION lib/${PROJECT_NAME}
   )
 
   add_launch_test(test/launch/test_ros_subscriber.launch.py
     TIMEOUT 200
   )
 
-  add_launch_test(test/launch/test_ign_subscriber.launch.py
+  add_launch_test(test/launch/test_gz_subscriber.launch.py
     TIMEOUT 200
   )
 
-  add_launch_test(test/launch/test_ign_server.launch.py
+  add_launch_test(test/launch/test_gz_server.launch.py
     TIMEOUT 200
   )
 endif()

diff --git a/ros_gz_bridge/include/ros_gz_bridge/convert.hpp b/ros_gz_bridge/include/ros_gz_bridge/convert.hpp
@@ -12,16 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef ROS_IGN_BRIDGE__CONVERT_HPP_
-#define ROS_IGN_BRIDGE__CONVERT_HPP_
+#ifndef ROS_GZ_BRIDGE__CONVERT_HPP_
+#define ROS_GZ_BRIDGE__CONVERT_HPP_
 
-#include <ros_ign_bridge/convert/geometry_msgs.hpp>
-#include <ros_ign_bridge/convert/nav_msgs.hpp>
-#include <ros_ign_bridge/convert/ros_ign_interfaces.hpp>
-#include <ros_ign_bridge/convert/rosgraph_msgs.hpp>
-#include <ros_ign_bridge/convert/sensor_msgs.hpp>
-#include <ros_ign_bridge/convert/std_msgs.hpp>
-#include <ros_ign_bridge/convert/tf2_msgs.hpp>
-#include <ros_ign_bridge/convert/trajectory_msgs.hpp>
+#include <ros_gz_bridge/convert/geometry_msgs.hpp>
+#include <ros_gz_bridge/convert/nav_msgs.hpp>
+#include <ros_gz_bridge/convert/ros_gz_interfaces.hpp>
+#include <ros_gz_bridge/convert/rosgraph_msgs.hpp>
+#include <ros_gz_bridge/convert/sensor_msgs.hpp>
+#include <ros_gz_bridge/convert/std_msgs.hpp>
+#include <ros_gz_bridge/convert/tf2_msgs.hpp>
+#include <ros_gz_bridge/convert/trajectory_msgs.hpp>
 
-#endif  // ROS_IGN_BRIDGE__CONVERT_HPP_
+#endif  // ROS_GZ_BRIDGE__CONVERT_HPP_
diff --git a/ros_gz_bridge/include/ros_gz_bridge/convert/builtin_interfaces.hpp b/ros_gz_bridge/include/ros_gz_bridge/convert/builtin_interfaces.hpp
@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef ROS_IGN_BRIDGE__CONVERT__BUILTIN_INTERFACES_HPP_
-#define ROS_IGN_BRIDGE__CONVERT__BUILTIN_INTERFACES_HPP_
+#ifndef ROS_GZ_BRIDGE__CONVERT__BUILTIN_INTERFACES_HPP_
+#define ROS_GZ_BRIDGE__CONVERT__BUILTIN_INTERFACES_HPP_
 
 #include <ignition/msgs/time.pb.h>
 
 #include <builtin_interfaces/msg/time.hpp>
 
-#include "ros_ign_bridge/convert_decl.hpp"
+#include "ros_gz_bridge/convert_decl.hpp"
 
 namespace ros_gz_bridge
 {
@@ -38,4 +38,4 @@ convert_gz_to_ros(
 
 }  // namespace ros_gz_bridge
 
-#endif  // ROS_IGN_BRIDGE__CONVERT__BUILTIN_INTERFACES_HPP_
+#endif  // ROS_GZ_BRIDGE__CONVERT__BUILTIN_INTERFACES_HPP_
diff --git a/ros_gz_bridge/include/ros_gz_bridge/convert/geometry_msgs.hpp b/ros_gz_bridge/include/ros_gz_bridge/convert/geometry_msgs.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef ROS_IGN_BRIDGE__CONVERT__GEOMETRY_MSGS_HPP_
-#define ROS_IGN_BRIDGE__CONVERT__GEOMETRY_MSGS_HPP_
+#ifndef ROS_GZ_BRIDGE__CONVERT__GEOMETRY_MSGS_HPP_
+#define ROS_GZ_BRIDGE__CONVERT__GEOMETRY_MSGS_HPP_
 
 // Gazebo Msgs
 #include <ignition/msgs/quaternion.pb.h>
@@ -36,7 +36,7 @@
 #include <geometry_msgs/msg/twist_with_covariance.hpp>
 #include <geometry_msgs/msg/wrench.hpp>
 
-#include <ros_ign_bridge/convert_decl.hpp>
+#include <ros_gz_bridge/convert_decl.hpp>
 
 namespace ros_gz_bridge
 {
@@ -176,4 +176,4 @@ convert_gz_to_ros(
 
 }  // namespace ros_gz_bridge
 
-#endif  // ROS_IGN_BRIDGE__CONVERT__GEOMETRY_MSGS_HPP_
+#endif  // ROS_GZ_BRIDGE__CONVERT__GEOMETRY_MSGS_HPP_
diff --git a/ros_gz_bridge/include/ros_gz_bridge/convert/nav_msgs.hpp b/ros_gz_bridge/include/ros_gz_bridge/convert/nav_msgs.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef ROS_IGN_BRIDGE__CONVERT__NAV_MSGS_HPP_
-#define ROS_IGN_BRIDGE__CONVERT__NAV_MSGS_HPP_
+#ifndef ROS_GZ_BRIDGE__CONVERT__NAV_MSGS_HPP_
+#define ROS_GZ_BRIDGE__CONVERT__NAV_MSGS_HPP_
 
 // Gazebo Msgs
 #include <ignition/msgs/odometry.pb.h>
@@ -22,7 +22,7 @@
 // ROS 2 messages
 #include <nav_msgs/msg/odometry.hpp>
 
-#include <ros_ign_bridge/convert_decl.hpp>
+#include <ros_gz_bridge/convert_decl.hpp>
 
 namespace ros_gz_bridge
 {
@@ -53,4 +53,4 @@ convert_gz_to_ros(
 
 }  // namespace ros_gz_bridge
 
-#endif  // ROS_IGN_BRIDGE__CONVERT__NAV_MSGS_HPP_
+#endif  // ROS_GZ_BRIDGE__CONVERT__NAV_MSGS_HPP_