Support ros_ign migration and implement shims

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 <[email protected]>
gazebosim · Jul 22, 2022 · a9c7e7b · a9c7e7b
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diff --git a/.github/workflows/build-and-test.sh b/.github/workflows/build-and-test.sh
@@ -11,12 +11,12 @@ apt update -qq
 apt install -qq -y lsb-release wget curl build-essential
 
 # Garden only has nightlies for now
-if [ "$IGNITION_VERSION" == "garden" ]; then
+if [ "$GZ_VERSION" == "garden" ]; then
   echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list
   echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-nightly `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-nightly.list
   wget https://packages.osrfoundation.org/gazebo.key -O - | apt-key add -
 
-  IGN_DEPS="libgz-sim7-dev"
+  GZ_DEPS="libgz-sim7-dev"
 fi
 
 # Fortress comes through rosdep for Focal and Jammy
@@ -25,7 +25,7 @@ fi
 echo "deb http://packages.ros.org/ros2-testing/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-testing.list
 curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
 apt-get update -qq
-apt-get install -y $IGN_DEPS \
+apt-get install -y $GZ_DEPS \
                        python3-colcon-common-extensions \
                        python3-rosdep
 

diff --git a/.github/workflows/ros2-ci.yml b/.github/workflows/ros2-ci.yml
@@ -3,21 +3,21 @@ name: ROS2 CI
 on: [push, pull_request]
 
 jobs:
-  ros_ign_ci:
-    name: ros_ign CI
+  ros_gz_ci:
+    name: ros_gz CI
     runs-on: ubuntu-latest
     strategy:
       fail-fast: false
       matrix:
         include:
           - docker-image: "ubuntu:22.04"
-            ignition-version: "fortress"
+            gz-version: "fortress"
             ros-distro: "humble"
           - docker-image: "ubuntu:22.04"
-            ignition-version: "fortress"
+            gz-version: "fortress"
             ros-distro: "rolling"
           - docker-image: "ubuntu:22.04"
-            ignition-version: "garden"
+            gz-version: "garden"
             ros-distro: "rolling"
     container:
       image: ${{ matrix.docker-image }}
@@ -28,5 +28,5 @@ jobs:
         run: .github/workflows/build-and-test.sh
         env:
           DOCKER_IMAGE: ${{ matrix.docker-image }}
-          IGNITION_VERSION: ${{ matrix.ignition-version  }}
+          GZ_VERSION: ${{ matrix.gz-version  }}
           ROS_DISTRO: ${{ matrix.ros-distro }}
diff --git a/README.md b/README.md
@@ -25,24 +25,24 @@ Rolling | Garden (not released) | [ros2](https://github.com/gazebosim/ros_gz/tre
 This repository holds packages that provide integration between
 [ROS](http://www.ros.org/) and [Gazebo](https://gazebosim.org):
 
-* [ros_ign](https://github.com/gazebosim/ros_gz/tree/ros2/ros_ign):
+* [ros_gz](https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz):
   Metapackage which provides all the other packages.
-* [ros_ign_image](https://github.com/gazebosim/ros_gz/tree/ros2/ros_ign_image):
+* [ros_gz_image](https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz_image):
   Unidirectional transport bridge for images from
   [Gazebo Transport](https://gazebosim.org/libs/transport)
   to ROS using
   [image_transport](http://wiki.ros.org/image_transport).
-* [ros_ign_bridge](https://github.com/gazebosim/ros_gz/tree/ros2/ros_ign_bridge):
+* [ros_gz_bridge](https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz_bridge):
   Bidirectional transport bridge between
   [Gazebo Transport](https://gazebosim.org/libs/transport)
   and ROS.
-* [ros_ign_gazebo](https://github.com/gazebosim/ros_gz/tree/ros2/ros_ign_gazebo):
+* [ros_gz_sim](https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz_sim):
   Convenient launch files and executables for using
   [Gazebo Sim](https://gazebosim.org/libs/gazebo)
   with ROS.
-* [ros_ign_gazebo_demos](https://github.com/gazebosim/ros_gz/tree/ros2/ros_ign_gazebo_demos):
+* [ros_gz_sim_demos](https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz_sim_demos):
   Demos using the ROS-Gazebo integration.
-* [ros_ign_point_cloud](https://github.com/gazebosim/ros_gz/tree/ros2/ros_ign_point_cloud):
+* [ros_gz_point_cloud](https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz_point_cloud):
   Plugins for publishing point clouds to ROS from
   [Gazebo Sim](https://gazebosim.org/libs/gazebo) simulations.
 
@@ -61,7 +61,7 @@ They are hosted at https://packages.ros.org.
         curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
         sudo apt-get update
 
-1. Install `ros_ign`
+1. Install `ros_gz`
 
         sudo apt install ros-rolling-ros-ign
 
@@ -77,14 +77,14 @@ Be sure you've installed
 
 Install either [Edifice, Fortress, or Garden](https://gazebosim.org/docs).
 
-Set the `IGNITION_VERSION` environment variable to the Gazebo version you'd
+Set the `GZ_VERSION` environment variable to the Gazebo version you'd
 like to compile against. For example:
 
-    export IGNITION_VERSION=edifice
+    export GZ_VERSION=edifice
 
 > You only need to set this variable when compiling, not when running.
 
-#### Compile ros_ign
+#### Compile ros_gz
 
 The following steps are for Linux and OSX.
 

diff --git a/RELEASING.md b/RELEASING.md
@@ -1,7 +1,7 @@
-# Release a new version of ros_ign
+# Release a new version of ros_gz
 
 Different branches of this repository support different combinations of
-ROS 1, ROS 2 and Ignition. Refer to the [README](README.md) to see what
+ROS 1, ROS 2 and Gazebo. Refer to the [README](README.md) to see what
 combinations are supported.
 
 We use 2 separate approaches for releasing ROS-enabled binaries:
@@ -12,9 +12,9 @@ We use 2 separate approaches for releasing ROS-enabled binaries:
   for ROS users.
 
 Releasing into ROS packages is ideal, but that's only possible if the necessary
-Ignition libraries are available either through official Ubuntu packages, or
+Gazebo libraries are available either through official Ubuntu packages, or
 directly from https://packages.ros.org. This situation varies according to the
-Ignition version:
+Gazebo version:
 
 * Citadel is available from:
     * https://packages.osrfoundation.org: all Ubuntu versions
@@ -24,22 +24,22 @@ Ignition version:
     * https://packages.osrfoundation.org: all Ubuntu versions
     * https://packages.ros.org: only Ubuntu Focal, once ROS 2 Galactic is out
 
-Another factor to take into consideration is which Ignition version is officially
+Another factor to take into consideration is which Gazebo version is officially
 supported for each ROS distro according to the following REPS:
 
 * ROS 1: [REP-0003](https://ros.org/reps/rep-0003.html)
 * ROS 2: [REP-2000](https://www.ros.org/reps/rep-2000.html)
 
-These factors determine which ROS + Ignition combinations are released into each
+These factors determine which ROS + Gazebo combinations are released into each
 repository.
 
 ## Versioning
 
-All `ros_ign` packages are under fast development and haven't reached version
+All `ros_gz` packages are under fast development and haven't reached version
 1.0 yet. The team will make an effort to keep changes backwards compatible
 within a ROS distribution, but API / ABI / behaviour may be broken if necessary.
 
-The versioning scheme uses the minor version to identify ROS and Ignition
+The versioning scheme uses the minor version to identify ROS and Gazebo
 versions:
 
 * 1st digit:
@@ -61,7 +61,7 @@ versions:
     * Fortress: 4
     * Garden: 5
 
-ROS | Ignition | Version
+ROS | Gazebo | Version
 -- | -- | --
 Melodic | Blueprint | 0.100.X
 Melodic | Citadel | 0.101.X
@@ -90,15 +90,15 @@ Foxy | Edifice | 0.223.X
     * `catkin_generate_changelog`
     * `catkin_prepare_release`
 
-1. Install `rosdep` for Ignition packages and run rosdep update
+1. Install `rosdep` for Gazebo packages and run rosdep update
     ```
     sudo bash -c 'echo "yaml https://github.com/osrf/osrf-rosdep/raw/master/ignition/ignition.yaml" >> /etc/ros/rosdep/sources.list.d/00-ignition.list'
     rosdep update
     ```
 
 1. Bloom it into a custom repository
     ```
-    BLOOM_RELEASE_REPO_BASE=https://github.com/osrf/ bloom-release --no-pull-request --rosdistro melodic --track melodic ros_ign
+    BLOOM_RELEASE_REPO_BASE=https://github.com/osrf/ bloom-release --no-pull-request --rosdistro melodic --track melodic ros_gz
     ```
 
     Will fail fedora: ignore and continue:
@@ -110,5 +110,5 @@ Foxy | Edifice | 0.223.X
 1. Use [release-tools](https://bitbucket.org/osrf/release-tools)'s script to launch jenkins jobs:
     ```
     cd release-tools/bloom
-    ./ros_ign_bridge-release.py.bash 0.8.0 https://github.com/osrf/ros_ign-release <ros_distro> <token> --ignition-version <version_name>
+    ./ros_gz_bridge-release.py.bash 0.8.0 https://github.com/gazebosim/ros_ign-release <ros_distro> <token> --gz-version <version_name>
     ```
diff --git a/ros_gz/CHANGELOG.rst b/ros_gz/CHANGELOG.rst
@@ -1,10 +1,10 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package ros_ign
+Changelog for package ros_gz
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 0.244.3 (2022-05-19)
 --------------------
-* [ros2] README updates (service bridge, Gazebo rename) (`#252 <https://github.com/osrf/ros_ign/issues/252>`_)
+* [ros2] README updates (service bridge, Gazebo rename) (`#252 <https://github.com/gazebosim/ros_gz/issues/252>`_)
 * Contributors: Louise Poubel
 
 0.244.2 (2022-04-25)
@@ -29,10 +29,10 @@ Changelog for package ros_ign
 
 0.221.0 (2020-07-23)
 --------------------
-* Added ros_ign_gazebo to ros_ign package.xml (`#81 <https://github.com/osrf/ros_ign/issues/81>`_)
-* Update Dashing docs (`#62 <https://github.com/osrf/ros_ign/issues/62>`_)
-* Port ign_ros_gazebo_demos to ROS2 (`#58 <https://github.com/osrf/ros_ign/issues/58>`_)
-* Enable ROS2 CI for Dashing branch (`#43 <https://github.com/osrf/ros_ign/issues/43>`_)
+* Added ros_gz_sim to ros_gz package.xml (`#81 <https://github.com/gazebosim/ros_gz/issues/81>`_)
+* Update Dashing docs (`#62 <https://github.com/gazebosim/ros_gz/issues/62>`_)
+* Port ign_ros_gazebo_demos to ROS2 (`#58 <https://github.com/gazebosim/ros_gz/issues/58>`_)
+* Enable ROS2 CI for Dashing branch (`#43 <https://github.com/gazebosim/ros_gz/issues/43>`_)
 * Rename packages and fix compilation + tests
 * Move files ros1 -> ros
 * Contributors: Alejandro Hernández Cordero, Jose Luis Rivero, Louise Poubel, chapulina
@@ -49,8 +49,8 @@ Changelog for package ros_ign
 0.6.1 (2019-08-04)
 ------------------
 * Merge pull request `#35 <https://github.com/osrf/ros1_ign_bridge/issues/35>`_ from osrf/image_meta
-  Add ros_ign_image to metapackage
-* Add ros_ign_image to metapackage
+  Add ros_gz_image to metapackage
+* Add ros_gz_image to metapackage
   Signed-off-by: chapulina <[email protected]>
   typo
   Signed-off-by: chapulina <[email protected]>

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/README.md b/ros_gz/README.md
@@ -1,4 +1,4 @@
 # ROS-Gazebo packages
 
-`ros_ign` is a metapackage that installs all packages integrating
+`ros_gz` is a metapackage that installs all packages integrating
 [ROS](http://www.ros.org/) and [Gazebo](https://gazebosim.org):
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://ignitionrobotics.org">Ignition</a> simulation.</description>
+  <description>Meta-package containing interfaces for using ROS 2 with <a href="https://gazebosim.org">Gazebo</a> simulation.</description>
   <maintainer email="[email protected]">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>
-  <!-- See https://github.com/osrf/ros_ign/issues/40 -->
-  <!--exec_depend>ros_ign_point_cloud</exec_depend-->
+  <exec_depend>ros_gz_bridge</exec_depend>
+  <exec_depend>ros_gz_sim</exec_depend>
+  <exec_depend>ros_gz_sim_demos</exec_depend>
+  <exec_depend>ros_gz_image</exec_depend>
+  <!-- See https://github.com/gazebosim/ros_gz/issues/40 -->
+  <!--exec_depend>ros_gz_point_cloud</exec_depend-->
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>