A more minimal Ignition to Gazebo server rename effort

[nkoenig]

Signed-off-by: Nate Koenig nate@openrobotics.org

🎉 New feature

• Part of Rename Ignition to Gazebo gazebo-tooling/release-tools#698

Summary

For Citadel and Fortress users I'd like to achieve the following goals:

1. Assets that reference fuel.ignitionrobotics.org continue to work
2. Assets the reference fuel.gazebosim.org work
3. Assets installed in ~/.ignition/fuel

Test it

1. Clear your ~/.ignition/fuel directory.
2. Run this world file, which uses a fuel.gazebosim.org URI. The included model depends on another model whose URI uses fuel.ignitionrobotics.org.

<?xml version="1.0" ?>
<sdf version="1.6">
<world name="shapes">
  <plugin
    filename="ignition-gazebo-physics-system"
    name="ignition::gazebo::systems::Physics">
  </plugin>
  <plugin
    filename="ignition-gazebo-user-commands-system"
    name="ignition::gazebo::systems::UserCommands">
  </plugin>
  <plugin
    filename="ignition-gazebo-scene-broadcaster-system"
    name="ignition::gazebo::systems::SceneBroadcaster">
  </plugin>

  <scene>
  <ambient>1.0 1.0 1.0</ambient>
  <background>0.8 0.8 0.8</background>
  </scene>

  <include>
    <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Tunnel Tile 4</uri>
  </include>
</world>
</sdf>

4. You should see Tunnel Tile 4 in ~/.ignition/fuel/fuel.gazebosim.org/openrobotics, and tunnel tile 1 in ~/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics.

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[codecov]

Codecov Report

Merging #263 (e14504c) into ign-fuel-tools4 (dd94c11) will increase coverage by 0.05%.
The diff coverage is 90.90%.

❗ Current head e14504c differs from pull request most recent head 352f42d. Consider uploading reports for the commit 352f42d to get more accurate results

@@                 Coverage Diff                 @@
##           ign-fuel-tools4     #263      +/-   ##
===================================================
+ Coverage            76.15%   76.21%   +0.05%     
===================================================
  Files                   19       19              
  Lines                 2718     2724       +6     
===================================================
+ Hits                  2070     2076       +6     
  Misses                 648      648              

Impacted Files	Coverage Δ
src/LocalCache.cc	79.52% <ø> (-0.07%)	⬇️
src/FuelClient.cc	72.76% <80.00%> (+0.03%)	⬆️
src/ClientConfig.cc	85.02% <100.00%> (+0.26%)	⬆️
src/ModelIdentifier.cc	92.44% <100.00%> (+0.08%)	⬆️

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[chapulina]

Works as advertised

$ tree ~/.ignition/fuel/ -L 4
/home/chapulina/.ignition/fuel/
├── fuel.gazebosim.org
│   └── openrobotics
│       └── models
│           └── tunnel tile 4
└── fuel.ignitionrobotics.org
    └── openrobotics
        └── models
            └── tunnel tile 1

I just have some minor comments below, but nothing blocking.

[chapulina]

Is it valuable to also test the other way around, i.e. a ignitionrobotics URL that depends on a gazebosim URL?

[nkoenig]

The reverse also works. I've just added the ability to use both fuel.ignitionrobotics.org and 'fuel.gazebosim.org' at the same time. As long as both server configurations are present, then it'll work.

[chapulina]

Just for completeness, is there an advantage to hardcoding it here as opposed to there

gz-fuel-tools/conf/config.yaml

Lines 3 to 6 in b3c253c

	servers:
	-
	name: osrf
	url: https://fuel.ignitionrobotics.org

In theory, I think that hardcoding it here makes it difficult, if not impossible for users of other servers to disable gazebosim.org. Not sure if any users at all care about that, but it's a use case supported to an extent.

[nkoenig]

There are a couple problems associated with the yaml config file.

1. I don't think it's possible to use the yaml config file when running ign gazebo.
2. I believe the config file is only used with ign fuel if the --config option is specified.
3. If either fuel.ignitionrobotics.org or fuel.gazebosim.org are missing in the ClientConfig, then worlds/models that use both URIs will not load.

I don't see an easy way around this.