ign -> gz Namespace Migration : gz-launch

Migration.md

@@ -12,4 +12,10 @@ release will remove the deprecated code.
   a single path could be set here, and setting a path list would break the whole
   launch file lookup functionality.
 
+- The `ignition` namespace is deprecated and will be removed in future versions.
+  Use `gz` instead.
+
+- Header files under `ignition/...` are deprecated and will be removed in future versions.
+  Use `gz/...` instead.
+
 ## Ignition Launch 0.X to N.M

examples/factory.ign

@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <ignition version='1.0'>
-  <plugin name="ignition::launch::GazeboFactory"
+  <plugin name="gz::launch::GazeboFactory"
     filename="ignition-launch-gazebo-factory">
     <spawn>
       <name>x2</name>
@@ -11,7 +11,7 @@
         <include>
           <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/X2 UGV/1</uri>
           <plugin filename="ignition-gazebo-diff-drive-system"
-                  name="ignition::gazebo::systems::DiffDrive">
+                  name="gz::sim::systems::DiffDrive">
             <left_joint>front_left_wheel_joint</left_joint>
             <left_joint>rear_left_wheel_joint</left_joint>
             <right_joint>front_right_wheel_joint</right_joint>
@@ -22,7 +22,7 @@
 
           <!-- Publish robot joint state information -->
           <plugin filename="ignition-gazebo-state-publisher-system"
-                  name="ignition::gazebo::systems::JointStatePublisher"></plugin>
+                  name="gz::sim::systems::JointStatePublisher"></plugin>
         </include>
       </sdf>
     </spawn>

examples/gazebo_plugins.ign

@@ -19,7 +19,7 @@
 <ignition version='1.0'>
   <!-- Load a joystick plugin that will read from a device and output to a
        topic -->
-  <plugin name="ignition::launch::Joystick"
+  <plugin name="gz::launch::Joystick"
           filename="ignition-launch-joystick">
     <device>/dev/input/js0</device>
     <sticky_buttons>false</sticky_buttons>
@@ -30,22 +30,22 @@
 
   <!-- Load a plugin that transforms a joystick message to a
        twist message -->
-  <plugin name="ignition::launch::JoyToTwist"
+  <plugin name="gz::launch::JoyToTwist"
           filename="ignition-launch-joytotwist">
     <input_topic>/joy</input_topic>
     <output_topic>/model/vehicle_green/cmd_vel</output_topic>
   </plugin>
 
   <!-- Load a plugin that transforms a joystick message to a
        twist message -->
-  <plugin name="ignition::launch::JoyToTwist"
+  <plugin name="gz::launch::JoyToTwist"
           filename="ignition-launch-joytotwist">
     <input_topic>/joy</input_topic>
     <output_topic>/model/vehicle_blue/cmd_vel</output_topic>
   </plugin>
 
   <!-- Run the gazebo server with a set of plugins -->
-  <plugin name="ignition::launch::GazeboServer"
+  <plugin name="gz::launch::GazeboServer"
           filename="ignition-launch-gazebo">
     <world_file><%= worldName %>.sdf</world_file>
     <run>true</run>
@@ -79,18 +79,18 @@
     <plugin entity_name="<%= worldName %>"
             entity_type="world"
             filename="ignition-gazebo1-physics-system"
-            name="ignition::gazebo::systems::Physics">
+            name="gz::sim::systems::Physics">
     </plugin>
     <plugin entity_name="<%= worldName %>"
             entity_type="world"
             filename="ignition-gazebo1-scene-broadcaster-system"
-            name="ignition::gazebo::systems::SceneBroadcaster">
+            name="gz::sim::systems::SceneBroadcaster">
     </plugin>
 
     <plugin entity_name="vehicle_green"
             entity_type="model"
             filename="ignition-gazebo1-diff-drive-system"
-            name="ignition::gazebo::systems::DiffDrive">
+            name="gz::sim::systems::DiffDrive">
       <left_joint>left_wheel_joint</left_joint>
       <right_joint>right_wheel_joint</right_joint>
       <wheel_separation>1.25</wheel_separation>
@@ -100,7 +100,7 @@
     <plugin entity_name="vehicle_blue"
             entity_type="model"
             filename="ignition-gazebo1-diff-drive-system"
-            name="ignition::gazebo::systems::DiffDrive">
+            name="gz::sim::systems::DiffDrive">
       <left_joint>left_wheel_joint</left_joint>
       <right_joint>right_wheel_joint</right_joint>
       <wheel_separation>1.25</wheel_separation>
@@ -111,7 +111,7 @@
   </plugin>
 
   <executable_wrapper>
-    <plugin name="ignition::launch::GazeboGui"
+    <plugin name="gz::launch::GazeboGui"
           filename="ignition-launch-gazebogui">
 
       <!-- Override default window title (Gazebo) -->

examples/multi_factory.ign

@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <ignition version='1.0'>
-  <plugin name="ignition::launch::GazeboFactory"
+  <plugin name="gz::launch::GazeboFactory"
     filename="ignition-launch-gazebo-factory">
     <spawn>
       <name>x2</name>

examples/plugins.ign

@@ -3,7 +3,7 @@
 
   <!-- Load a joystick plugin that will read from a device and output to a
        topic -->
-  <plugin name="ignition::launch::Joystick"
+  <plugin name="gz::launch::Joystick"
           filename="ignition-launch-joystick">
     <device>/dev/input/js0</device>
     <sticky_buttons>false</sticky_buttons>
@@ -14,20 +14,20 @@
 
   <!-- Load a plugin that transforms a joystick message to a
        twist message -->
-  <plugin name="ignition::launch::JoyToTwist"
+  <plugin name="gz::launch::JoyToTwist"
           filename="ignition-launch-joytotwist">
     <input_topic>/joy</input_topic>
     <output_topic>/model/vehicle_green/cmd_vel</output_topic>
   </plugin>
 
   <!-- Load a plugin that transforms a joystick message to a
        twist message -->
-  <plugin name="ignition::launch::JoyToTwist"
+  <plugin name="gz::launch::JoyToTwist"
           filename="ignition-launch-joytotwist">
-    <!-- Incoming topic that publishes ignition::msgs::Joystick messages -->
+    <!-- Incoming topic that publishes gz::msgs::Joystick messages -->
     <input_topic>/joy</input_topic>
 
-    <!-- Outgoing topic that publishes ignition::msgs::Twist messages -->
+    <!-- Outgoing topic that publishes gz::msgs::Twist messages -->
     <output_topic>/model/vehicle_blue/cmd_vel</output_topic>
 
     <!-- Button which must be pressed to enable publishing, defaults to 0 -->

examples/websocket.ign

@@ -3,7 +3,7 @@
 
   <!-- Load a websocket server that provides access to Ignition Transport
        topics through websockets.-->
-  <plugin name="ignition::launch::WebsocketServer"
+  <plugin name="gz::launch::WebsocketServer"
           filename="ignition-launch-websocket-server">
     <publication_hz>30</publication_hz>
     <port>9002</port>

include/gz/launch/Plugin.hh

@@ -21,12 +21,12 @@
 #include <gz/plugin/SpecializedPluginPtr.hh>
 #include <gz/launch/Export.hh>
 
-namespace ignition
+namespace gz
 {
   namespace launch
   {
     // Inline bracket to help doxygen filtering.
-    inline namespace IGNITION_LAUNCH_VERSION_NAMESPACE {
+    inline namespace GZ_LAUNCH_VERSION_NAMESPACE {
     /// \brief Base class for launch plugins.
     class Plugin
     {
@@ -38,8 +38,8 @@ namespace ignition
     };
 
     /// \brief Pointer to a launch plugin.
-    using PluginPtr = ignition::plugin::SpecializedPluginPtr<
-      ignition::launch::Plugin>;
+    using PluginPtr = gz::plugin::SpecializedPluginPtr<
+      gz::launch::Plugin>;
     }
   }
 }

include/gz/launch/config.hh.in

@@ -1,19 +1,41 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
 /* Config.hh. Generated by CMake for @PROJECT_NAME@. */
 
+#ifndef GZ_LAUNCH_CONFIG_HH_
+#define GZ_LAUNCH_CONFIG_HH_
+
 /* Version number */
-#define IGNITION_LAUNCH_MAJOR_VERSION ${PROJECT_VERSION_MAJOR}
-#define IGNITION_LAUNCH_MINOR_VERSION ${PROJECT_VERSION_MINOR}
-#define IGNITION_LAUNCH_PATCH_VERSION ${PROJECT_VERSION_PATCH}
+#define GZ_LAUNCH_MAJOR_VERSION ${PROJECT_VERSION_MAJOR}
+#define GZ_LAUNCH_MINOR_VERSION ${PROJECT_VERSION_MINOR}
+#define GZ_LAUNCH_PATCH_VERSION ${PROJECT_VERSION_PATCH}
 
-#define IGNITION_LAUNCH_VERSION "${PROJECT_VERSION}"
-#define IGNITION_LAUNCH_VERSION_FULL "${PROJECT_VERSION_FULL}"
+#define GZ_LAUNCH_VERSION "${PROJECT_VERSION}"
+#define GZ_LAUNCH_VERSION_FULL "${PROJECT_VERSION_FULL}"
 
-#define IGNITION_LAUNCH_VERSION_HEADER "${PROJECT_NAME_LOWER}, version ${PROJECT_VERSION_FULL}\nCopyright (C) 2019 Open Source Robotics Foundation.\nReleased under the Apache 2.0 License.\n\n"
+#define GZ_LAUNCH_VERSION_HEADER "Gz Launch, version ${PROJECT_VERSION_FULL}\nCopyright (C) 2019 Open Source Robotics Foundation.\nReleased under the Apache 2.0 License.\n\n"
 
-#define IGNITION_LAUNCH_INITIAL_CONFIG_PATH "${CMAKE_INSTALL_PREFIX}/${IGN_DATA_INSTALL_DIR}/configs"
+#define GZ_LAUNCH_INITIAL_CONFIG_PATH "${CMAKE_INSTALL_PREFIX}/${IGN_DATA_INSTALL_DIR}/configs"
 
-#define IGNITION_LAUNCH_PLUGIN_INSTALL_PATH "${IGN_LAUNCH_PLUGIN_INSTALL_PATH}"
+#define GZ_LAUNCH_PLUGIN_INSTALL_PATH "${IGN_LAUNCH_PLUGIN_INSTALL_PATH}"
 
 #cmakedefine BUILD_TYPE_PROFILE 1
 #cmakedefine BUILD_TYPE_DEBUG 1
 #cmakedefine BUILD_TYPE_RELEASE 1
+
+#endif

include/ignition/launch/Export.hh

@@ -16,3 +16,4 @@
  */
 
 #include <gz/launch/Export.hh>
+#include <ignition/launch/config.hh>

include/ignition/launch/Plugin.hh

@@ -16,3 +16,4 @@
  */
 
 #include <gz/launch/Plugin.hh>
+#include <ignition/launch/config.hh>

include/ignition/launch/config.hh

@@ -15,4 +15,30 @@
  *
  */
 
+#ifndef IGNITION_LAUNCH__CONFIG_HH_
+#define IGNITION_LAUNCH__CONFIG_HH_
+
 #include <gz/launch/config.hh>
+
+#define IGNITION_LAUNCH_MAJOR_VERSION GZ_LAUNCH_MAJOR_VERSION
+#define IGNITION_LAUNCH_MINOR_VERSION GZ_LAUNCH_MINOR_VERSION
+#define IGNITION_LAUNCH_PATCH_VERSION GZ_LAUNCH_PATCH_VERSION
+
+#define IGNITION_LAUNCH_VERSION GZ_LAUNCH_VERSION
+#define IGNITION_LAUNCH_VERSION_FULL GZ_LAUNCH_VERSION_FULL
+
+#define IGNITION_LAUNCH_VERSION_HEADER GZ_LAUNCH_VERSION_HEADER
+
+#define IGNITION_LAUNCH_PLUGIN_INITIAL_CONFIG_PATH GZ_LAUNCH_PLUGIN_INITIAL_CONFIG_PATH
+
+#define IGNITION_LAUNCH_PLUGIN_INSTALL_DIR GZ_LAUNCH_PLUGIN_INSTALL_DIR
+
+namespace ignition
+{
+  #ifndef SUPPRESS_IGNITION_HEADER_DEPRECATION
+    #pragma message("ignition namespace is deprecated! Use gz instead!")
+  #endif
+  using namespace gz;
+}
+
+#endif

plugins/gazebo_factory/GazeboFactory.cc

@@ -15,19 +15,19 @@
  *
 */
 
-#include <ignition/msgs/entity_factory.pb.h>
-#include <ignition/msgs/boolean.pb.h>
+#include <gz/msgs/entity_factory.pb.h>
+#include <gz/msgs/boolean.pb.h>
 
-#include <ignition/common/Util.hh>
-#include <ignition/common/Console.hh>
+#include <gz/common/Util.hh>
+#include <gz/common/Console.hh>
 #include "GazeboFactory.hh"
 
-using namespace ignition;
-using namespace ignition::launch;
+using namespace gz;
+using namespace gz::launch;
 
 /////////////////////////////////////////////////
 GazeboFactory::GazeboFactory()
-  : ignition::launch::Plugin()
+  : gz::launch::Plugin()
 {
 }
 
@@ -123,7 +123,7 @@ void GazeboFactory::ProcessSpawn(const tinyxml2::XMLElement *_elem)
   elem = _elem->FirstChildElement("pose");
   if (elem)
   {
-    ignition::math::Pose3d pose;
+    gz::math::Pose3d pose;
     std::stringstream stream;
     stream << elem->GetText();
     stream >> pose;

plugins/gazebo_factory/GazeboFactory.hh

@@ -14,22 +14,22 @@
  * limitations under the License.
  *
  */
-#ifndef IGNITION_LAUNCH_GAZEBOFACTORY_HH_
-#define IGNITION_LAUNCH_GAZEBOFACTORY_HH_
+#ifndef GZ_LAUNCH_GAZEBOFACTORY_HH_
+#define GZ_LAUNCH_GAZEBOFACTORY_HH_
 
 #include <memory>
-#include <ignition/plugin/Register.hh>
-#include <ignition/transport/Node.hh>
-#include "ignition/launch/Plugin.hh"
+#include <gz/plugin/Register.hh>
+#include <gz/transport/Node.hh>
+#include "gz/launch/Plugin.hh"
 
-namespace ignition
+namespace gz
 {
   namespace launch
   {
     /// \brief Spawns entities into simulation.
     ///
     /// # Example usage
-    ///  <plugin name="ignition::launch::GazeboFactory"
+    ///  <plugin name="gz::launch::GazeboFactory"
     ///          filename="ignition-launch-gazebo-factory">
     ///
     ///   <spawn>
@@ -50,7 +50,7 @@ namespace ignition
     ///         <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/X2 UGV/1</uri>
     ///         <!-- Publish robot state information -->
     ///         <plugin filename="ignition-gazebo-state-publisher-system"
-    ///              name="ignition::gazebo::systems::StatePublisher"></plugin>
+    ///              name="gz::sim::systems::StatePublisher"></plugin>
     ///       </include>
     ///     </sdf>
     ///   </spawn>
@@ -59,7 +59,7 @@ namespace ignition
     ///   ...
     ///   </spawn>
     /// </plugin>
-    class GazeboFactory : public ignition::launch::Plugin
+    class GazeboFactory : public gz::launch::Plugin
     {
       /// \brief Constructor.
       public: GazeboFactory();
@@ -90,6 +90,6 @@ namespace ignition
 }
 
 // Register the plugin
-IGNITION_ADD_PLUGIN(ignition::launch::GazeboFactory, ignition::launch::Plugin)
+IGNITION_ADD_PLUGIN(gz::launch::GazeboFactory, gz::launch::Plugin)
 
 #endif