Change package names from ignition_ to ign_ (#19)

* Change package names from ignition_ to ign_

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

.github/workflows/ci.yaml

@@ -47,11 +47,11 @@ jobs:
       run: |
         cd /home/ros2_ws/
         . /opt/ros/galactic/local_setup.sh
-        colcon build --packages-up-to ignition_ros2_control_demos
+        colcon build --packages-up-to ign_ros2_control_demos
     - name: Run tests
       id: test
       run: |
         cd /home/ros2_ws/
         . /opt/ros/galactic/local_setup.sh
-        colcon test --event-handlers console_direct+ --packages-select ignition_ros2_control ignition_ros2_control_demos
+        colcon test --event-handlers console_direct+ --packages-select ign_ros2_control ign_ros2_control_demos
         colcon test-result

Dockerfile/Dockerfile

@@ -33,4 +33,4 @@ RUN cd /home/ros2_ws/ \
 COPY entrypoint.sh /entrypoint.sh
 ENTRYPOINT ["/entrypoint.sh"]
 
-CMD ros2 launch ignition_ros2_control_demos cart_example_position.launch.py
+CMD ros2 launch ign_ros2_control_demos cart_example_position.launch.py

README.md

@@ -27,7 +27,7 @@ If you want to run this with `ROS 2 Foxy` please check the branch `foxy`.
 
 ```bash
 cd Dockerfile
-docker build -t ignition_ros2_control .
+docker build -t ign_ros2_control .
 ```
 
 ### To run the demo
@@ -37,7 +37,7 @@ docker build -t ignition_ros2_control .
 Docker allows us to run the demo without the GUI if configured properly. The following command runs the demo without the GUI:
 
 ```bash
-docker run -it --rm --name ignition_ros2_control_demo --net host ignition_ros2_control ros2 launch ignition_ros2_control_demos cart_example_position.launch.py gui:=false
+docker run -it --rm --name ignition_ros2_control_demo --net host ign_ros2_control ros2 launch ign_ros2_control_demos cart_example_position.launch.py gui:=false
 ```
 
 Then on your local machine, you can run the Gazebo client:
@@ -55,15 +55,15 @@ mounting file permissions. You can install this tool with the following [instruc
 The following command will launch Ignition:
 
 ```bash
-rocker --x11 --nvidia --name ignition_ros2_control_demo ignition_ros2_control:latest
+rocker --x11 --nvidia --name ignition_ros2_control_demo ign_ros2_control:latest
 ```
 
 The following commands allow the cart to be moved along the rail:
 
 ```bash
 docker exec -it ignition_ros2_control_demo bash
 source /home/ros2_ws/install/setup.bash
-ros2 run ignition_ros2_control_demos example_position
+ros2 run ign_ros2_control_demos example_position
 ```
 
 ## Add ros2_control tag to a URDF
@@ -78,7 +78,7 @@ include:
 ```xml
 <ros2_control name="IgnitionSystem" type="system">
   <hardware>
-    <plugin>ignition_ros2_control/IgnitionSystem</plugin>
+    <plugin>ign_ros2_control/IgnitionSystem</plugin>
   </hardware>
   <joint name="slider_to_cart">
     <command_interface name="effort">
@@ -92,56 +92,56 @@ include:
 </ros2_control>
 ```
 
-## Add the ignition_ros2_control plugin
+## Add the ign_ros2_control plugin
 
 In addition to the `ros2_control` tags, a Gazebo plugin needs to be added to your URDF that
 actually parses the `ros2_control` tags and loads the appropriate hardware interfaces and
-controller manager. By default the `ignition_ros2_control` plugin is very simple, though it is also
+controller manager. By default the `ign_ros2_control` plugin is very simple, though it is also
 extensible via an additional plugin architecture to allow power users to create their own custom
 robot hardware interfaces between `ros2_control` and Gazebo.
 
 ```xml
 <gazebo>
-    <plugin filename="libignition_ros2_control.so" name="ignition_ros2_control">
+    <plugin filename="libignition_ros2_control.so" name="ign_ros2_control">
       <robot_param>robot_description</robot_param>
       <robot_param_node>robot_state_publisher</robot_param_node>
-      <parameters>$(find ignition_ros2_control_demos)/config/cartpole_controller.yaml</parameters>
+      <parameters>$(find ign_ros2_control_demos)/config/cartpole_controller.yaml</parameters>
     </plugin>
 </gazebo>
 ```
 
-The `ignition_ros2_control` `<plugin>` tag also has the following optional child elements:
+The `ign_ros2_control` `<plugin>` tag also has the following optional child elements:
 
  - `<parameters>`: YAML file with the configuration of the controllers
 
-#### Default ignition_ros2_control Behavior
+#### Default ign_ros2_control Behavior
 
-By default, without a `<plugin>` tag, `ignition_ros2_control` will attempt to get all of the information it needs to interface with a ros2_control-based controller out of the URDF. This is sufficient for most cases, and good for at least getting started.
+By default, without a `<plugin>` tag, `ign_ros2_control` will attempt to get all of the information it needs to interface with a ros2_control-based controller out of the URDF. This is sufficient for most cases, and good for at least getting started.
 
 The default behavior provides the following ros2_control interfaces:
 
  - hardware_interface::JointStateInterface
  - hardware_interface::EffortJointInterface
  - hardware_interface::VelocityJointInterface
 
-#### Advanced: custom ignition_ros2_control Simulation Plugins
+#### Advanced: custom ign_ros2_control Simulation Plugins
 
-The `ignition_ros2_control` Gazebo plugin also provides a pluginlib-based interface to implement custom interfaces between Gazebo and `ros2_control` for simulating more complex mechanisms (nonlinear springs, linkages, etc).
+The `ign_ros2_control` Gazebo plugin also provides a pluginlib-based interface to implement custom interfaces between Gazebo and `ros2_control` for simulating more complex mechanisms (nonlinear springs, linkages, etc).
 
-These plugins must inherit the `ignition_ros2_control::IgnitionSystemInterface`, which implements a simulated `ros2_control`
+These plugins must inherit the `ign_ros2_control::IgnitionSystemInterface`, which implements a simulated `ros2_control`
 `hardware_interface::SystemInterface`. SystemInterface provides API-level access to read and command joint properties.
 
 The respective IgnitionSystemInterface sub-class is specified in a URDF model and is loaded when the
 robot model is loaded. For example, the following XML will load the default plugin:
 ```xml
 <ros2_control name="IgnitionSystem" type="system">
   <hardware>
-    <plugin>ignition_ros2_control/IgnitionSystem</plugin>
+    <plugin>ign_ros2_control/IgnitionSystem</plugin>
   </hardware>
   ...
 <ros2_control>
 <gazebo>
-  <plugin name="ignition_ros2_control" filename="libignition_ros2_control.so">
+  <plugin name="ign_ros2_control" filename="libignition_ros2_control.so">
     ...
   </plugin>
 </gazebo>
@@ -154,8 +154,8 @@ and use the tag `<controller_manager_prefix_node_name>` to set the controller ma
 
 ```xml
 <gazebo>
-  <plugin name="ignition_ros2_control" filename="libignition_ros2_control.so">
-    <parameters>$(find ignition_ros2_control_demos)/config/cartpole_controller.yaml</parameters>
+  <plugin name="ign_ros2_control" filename="libignition_ros2_control.so">
+    <parameters>$(find ign_ros2_control_demos)/config/cartpole_controller.yaml</parameters>
     <controller_manager_prefix_node_name>controller_manager</controller_manager_prefix_node_name>
   </plugin>
 <gazebo>
@@ -184,22 +184,22 @@ cart_pole_controller:
 ```
 #### Executing the examples
 
-There are some examples in the `ignition_ros2_control_demos` package. These examples allow to launch a cart in a 30 meter rail.
+There are some examples in the `ign_ros2_control_demos` package. These examples allow to launch a cart in a 30 meter rail.
 
 You can run some of the example configurations by running the following commands:
 
 ```bash
-ros2 launch ignition_ros2_control_demos cart_example_position.launch.py
-ros2 launch ignition_ros2_control_demos cart_example_velocity.launch.py
-ros2 launch ignition_ros2_control_demos cart_example_effort.launch.py
+ros2 launch ign_ros2_control_demos cart_example_position.launch.py
+ros2 launch ign_ros2_control_demos cart_example_velocity.launch.py
+ros2 launch ign_ros2_control_demos cart_example_effort.launch.py
 ```
 
 Send example commands:
 
 When the Gazebo world is launched, you can run some of the following commands to move the cart.
 
 ```bash
-ros2 run ignition_ros2_control_demos example_position
-ros2 run ignition_ros2_control_demos example_velocity
-ros2 run ignition_ros2_control_demos example_effort
+ros2 run ign_ros2_control_demos example_position
+ros2 run ign_ros2_control_demos example_velocity
+ros2 run ign_ros2_control_demos example_effort
 ```

ign_ros2_control/CHANGELOG.rst

@@ -0,0 +1,11 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package ign_ros2_control
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.1.0 (2022-05-01)
+------------------
+* Ignition ros2 control (`#1 <https://github.com/ignitionrobotics/ign_ros2_control/issues/1>`_)
+  Co-authored-by: ahcorde <ahcorde@gmail.com>
+  Co-authored-by: Louise Poubel <louise@openrobotics.org>
+  Co-authored-by: Vatan Aksoy Tezer <vatan@picknik.ai>
+* Contributors: Alejandro Hernández Cordero, Louise Poubel, Vatan Aksoy Tezer

ignition_ros2_control/CMakeLists.txt → ign_ros2_control/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(ignition_ros2_control)
+project(ign_ros2_control)
 
 # Default to C11
 if(NOT CMAKE_C_STANDARD)
@@ -52,7 +52,7 @@ set(IGN_PLUGIN_VER ${ignition-plugin1_VERSION_MAJOR})
 include_directories(include)
 
 add_library(${PROJECT_NAME}-system SHARED
-  src/ignition_ros2_control_plugin.cpp
+  src/ign_ros2_control_plugin.cpp
 )
 
 target_link_libraries(${PROJECT_NAME}-system
@@ -72,21 +72,21 @@ ament_target_dependencies(${PROJECT_NAME}-system
 
 #########
 
-add_library(ignition_hardware_plugins SHARED
-  src/ignition_system.cpp
+add_library(ign_hardware_plugins SHARED
+  src/ign_system.cpp
 )
-ament_target_dependencies(ignition_hardware_plugins
+ament_target_dependencies(ign_hardware_plugins
   rclcpp_lifecycle
   hardware_interface
   rclcpp
 )
-target_link_libraries(ignition_hardware_plugins
+target_link_libraries(ign_hardware_plugins
   ignition-gazebo${IGN_GAZEBO_VER}::core
 )
 
 ## Install
 install(TARGETS
-  ignition_hardware_plugins
+  ign_hardware_plugins
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin
@@ -99,14 +99,14 @@ if(BUILD_TESTING)
 endif()
 
 ament_export_include_directories(include)
-ament_export_libraries(${PROJECT_NAME} ignition_hardware_plugins)
+ament_export_libraries(${PROJECT_NAME} ign_hardware_plugins)
 
 # Install directories
 install(TARGETS ${PROJECT_NAME}-system
   DESTINATION lib
 )
 
-pluginlib_export_plugin_description_file(ignition_ros2_control ignition_hardware_plugins.xml)
+pluginlib_export_plugin_description_file(ign_ros2_control ign_hardware_plugins.xml)
 
 # Setup the project
 ament_package()

ign_ros2_control/ign_hardware_plugins.xml

@@ -0,0 +1,10 @@
+<library path="ign_hardware_plugins">
+  <class
+    name="ign_ros2_control/IgnitionSystem"
+    type="ign_ros2_control::IgnitionSystem"
+    base_class_type="ign_ros2_control::IgnitionSystemInterface">
+    <description>
+      GazeboPositionJoint
+    </description>
+  </class>
+</library>

ignition_ros2_control/include/ignition_ros2_control/ignition_ros2_control_plugin.hpp → ign_ros2_control/include/ign_ros2_control/ign_ros2_control_plugin.hpp

@@ -12,14 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef IGNITION_ROS2_CONTROL__IGNITION_ROS2_CONTROL_PLUGIN_HPP_
-#define IGNITION_ROS2_CONTROL__IGNITION_ROS2_CONTROL_PLUGIN_HPP_
+#ifndef IGN_ROS2_CONTROL__IGN_ROS2_CONTROL_PLUGIN_HPP_
+#define IGN_ROS2_CONTROL__IGN_ROS2_CONTROL_PLUGIN_HPP_
 
 #include <ignition/gazebo/System.hh>
 
 #include <memory>
 
-namespace ignition_ros2_control
+namespace ign_ros2_control
 {
 // Forward declarations.
 class IgnitionROS2ControlPluginPrivate;
@@ -57,6 +57,6 @@ class IgnitionROS2ControlPlugin
   /// \brief Private data pointer.
   std::unique_ptr<IgnitionROS2ControlPluginPrivate> dataPtr;
 };
-}  // namespace ignition_ros2_control
+}  // namespace ign_ros2_control
 
-#endif  // IGNITION_ROS2_CONTROL__IGNITION_ROS2_CONTROL_PLUGIN_HPP_
+#endif  // IGN_ROS2_CONTROL__IGN_ROS2_CONTROL_PLUGIN_HPP_

ignition_ros2_control/include/ignition_ros2_control/ignition_system.hpp → ign_ros2_control/include/ign_ros2_control/ign_system.hpp

@@ -13,24 +13,24 @@
 // limitations under the License.
 
 
-#ifndef IGNITION_ROS2_CONTROL__IGNITION_SYSTEM_HPP_
-#define IGNITION_ROS2_CONTROL__IGNITION_SYSTEM_HPP_
+#ifndef IGN_ROS2_CONTROL__IGN_SYSTEM_HPP_
+#define IGN_ROS2_CONTROL__IGN_SYSTEM_HPP_
 
 #include <map>
 #include <memory>
 #include <string>
 #include <vector>
 
-#include "ignition_ros2_control/ignition_system_interface.hpp"
+#include "ign_ros2_control/ign_system_interface.hpp"
 #include "rclcpp_lifecycle/state.hpp"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 
-namespace ignition_ros2_control
+namespace ign_ros2_control
 {
 // Forward declaration
 class IgnitionSystemPrivate;
 
-// These class must inherit `ignition_ros2_control::IgnitionSystemInterface` which implements a
+// These class must inherit `ign_ros2_control::IgnitionSystemInterface` which implements a
 // simulated `ros2_control` `hardware_interface::SystemInterface`.
 
 class IgnitionSystem : public IgnitionSystemInterface
@@ -78,6 +78,6 @@ class IgnitionSystem : public IgnitionSystemInterface
   std::unique_ptr<IgnitionSystemPrivate> dataPtr;
 };
 
-}  // namespace ignition_ros2_control
+}  // namespace ign_ros2_control
 
-#endif  // IGNITION_ROS2_CONTROL__IGNITION_SYSTEM_HPP_
+#endif  // IGN_ROS2_CONTROL__IGN_SYSTEM_HPP_

ignition_ros2_control/include/ignition_ros2_control/ignition_system_interface.hpp → ign_ros2_control/include/ign_ros2_control/ign_system_interface.hpp

@@ -13,8 +13,8 @@
 // limitations under the License.
 
 
-#ifndef IGNITION_ROS2_CONTROL__IGNITION_SYSTEM_INTERFACE_HPP_
-#define IGNITION_ROS2_CONTROL__IGNITION_SYSTEM_INTERFACE_HPP_
+#ifndef IGN_ROS2_CONTROL__IGN_SYSTEM_INTERFACE_HPP_
+#define IGN_ROS2_CONTROL__IGN_SYSTEM_INTERFACE_HPP_
 
 #include <ignition/gazebo/System.hh>
 
@@ -28,7 +28,7 @@
 #include <string>
 #include <vector>
 
-namespace ignition_ros2_control
+namespace ign_ros2_control
 {
 
 /// \brief This class allows us to handle flags easily, instead of using strings
@@ -102,6 +102,6 @@ class IgnitionSystemInterface
   rclcpp::Node::SharedPtr nh_;
 };
 
-}  // namespace ignition_ros2_control
+}  // namespace ign_ros2_control
 
-#endif  // IGNITION_ROS2_CONTROL__IGNITION_SYSTEM_INTERFACE_HPP_
+#endif  // IGN_ROS2_CONTROL__IGN_SYSTEM_INTERFACE_HPP_

ignition_ros2_control/package.xml → ign_ros2_control/package.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <package format="3">
-  <name>ignition_ros2_control</name>
+  <name>ign_ros2_control</name>
   <version>0.0.0</version>
   <description>Ignition ros2_control package allows to control simulated robots using ros2_control framework.</description>
   <maintainer email="alejandro@openrobotics.com">Alejandro Hernández</maintainer>
@@ -28,6 +28,6 @@
 
   <export>
       <build_type>ament_cmake</build_type>
-      <ignition_ros2_control plugin="${prefix}/ignition_hardware_plugins.xml"/>
+      <ign_ros2_control plugin="${prefix}/ign_hardware_plugins.xml"/>
   </export>
 </package>