Skip to content

Latest commit

 

History

History
113 lines (107 loc) · 6.29 KB

Migration.md

File metadata and controls

113 lines (107 loc) · 6.29 KB

Gazebo 1.9 to 2.0

New Deprecations

  1. gazebo/gazebo.hh
    • Deprecation void fini()
    • Deprecation void stop()
    • Replacement bool shutdown()
    • Note Replace fini and stop with shutdown
    • Deprecation bool load()
    • Deprecation bool init()
    • Deprecation bool run()
    • Replacement bool setupClient()
      • Use this function to setup gazebo for use as a client
    • Replacement bool setupServer()
      • Use this function to setup gazebo for use as a server
    • Note Replace load+init+run with setupClient/setupServer
    • Deprecation std::string find_file(const std::string &_file)
    • Replacement std::string common::find_file(const std::string &_file)
    • Deprecation void add_plugin(const std::string &_filename)
    • Replacement void addPlugin(const std::string &_filename)
    • Deprecation void print_version()
    • Replacement void printVersion()
  2. gazebo/sensors/SensorsIface.hh
    • Deprecation std::string sensors::create_sensor(sdf::ElementPtr _elem, const std::string &_worldName,const std::string &_parentName)
    • Replacement std::string sensors::create_sensor(sdf::ElementPtr _elem, const std::string &_worldName, const std::string &_parentName, uint32_t _parentId);
  3. gazebo/sensors/Sensor.hh
    • Deprecation void Sensor::SetParent(const std::string &_name)
    • Replacement void Sensor::SetParent(const std::string &_name, uint32_t _id)
  4. gazebo/sensors/SensorManager.hh
    • Deprecation std::string CreateSensor(sdf::ElementPtr _elem, const std::string &_worldName, const std::string &_parentName)
    • Replacement std::string CreateSensor(sdf::ElementPtr _elem, const std::string &_worldName, const std::string &_parentName, uint32_t _parentId)
  5. gazebo/sensors/Collision.hh
    • Deprecation void Collision::SetContactsEnabled(bool _enable)
    • Replacement Use ContactManager.
    • Deprecation bool Colliion::GetContactsEnabled() const
    • Replacement Use ContactManager.
    • Deprecation void AddContact(const Contact &_contact)
    • Replacement Use ContactManager.

Modifications

  1. File rename: gazebo/common/Common.hh to gazebo/common/CommonIface.hh
  2. File rename: gazebo/physics/Physics.hh to gazebo/physics/PhysicsIface.hh
  3. File rename: gazebo/rendering/Rendering.hh to gazebo/rendering/RenderingIface.hh
  4. File rename: gazebo/sensors/Sensors.hh to gazebo/sensors/SensorsIface.hh
  5. File rename: gazebo/transport/Transport.hh to gazebo/transport/TransportIface.hh
  6. File rename: gazebo/gui/Gui.hh to gazebo/gui/GuiIface.hh
  7. File rename: <model>/manifest.xml to <model>/model.config
  8. File rename: <model_database>/manifest.xml to <model_database>/database.config
  9. gazebo/msgs/physics.proto
    • Removed optional double dt
    • Replacement optional double min_step_size
    • Removed optional double update_rate
    • Replacement optional double real_time_update_rate
  10. gazebo/physics/ModelState.hh
    • Removed LinkState ModelState::GetLinkState(int _index) API change
    • Replacement LinkState ModelState::GetLinkState(const std::string &_linkName) const
  11. gazebo/physics/PhyscisEngine.hh
    • Removed void PhysicsEngine::SetUpdateRate(double _value) API change
    • Replacement void PhyscisEngine::SetRealTimeUpdateRate(double _rate)
    • Removed double PhysicsEngine::GetUpdateRate() API change
    • Replacement double PhysicsEngine::GetRealTimeUpdateRate() const
    • Removed void PhysicsEngine::SetStepTime(double _value) API change
    • Replacement void PhysicsEngine::SetMaxStepSize(double _stepSize)
    • Removed double PhysicsEngine::GetStepTime() API change
    • Replacement double PhysicsEngine::GetMaxStepSize() const
  12. gazebo/physics/Joint.hh
    • Removed: Joint::Load(LinkPtr _parent, LinkPtr _child, const math::Vector3 &_pos) API chance
    • Replacement: Joint::Load(LinkPtr _parent, LinkPtr _child, const math::Pose &_pose)
  13. gazebo/common/Events.hh
    • Removed: Events::ConnectWorldUpdateStart(T _subscriber) API change
    • Replacement ConnectionPtr Events::ConnectWorldUpdateBegin(T _subscriber)
    • Removed: Events::DisconnectWorldUpdateStart(T _subscriber) API change
    • Replacement ConnectionPtr Events::DiconnectWorldUpdateBegin(T _subscriber)
  14. gazebo/physics/Link.hh
    • Removed void Link::RemoveChildJoint(JointPtr _joint) API change
    • Replacement void Link::RemoveChildJoint(const std::string &_jointName)
    • Removed void Link::RemoveParentJoint(const std::string &_jointName) API change
    • Replacement void Link::RemoveParentJoint(const std::string &_jointName)
  15. gazebo/physics/MeshShape.hh
    • Removed std::string MeshShape::GetFilename() const API change
    • Replacement std::string MeshShape::GetURI() const;
    • Removed void MeshShape::SetFilename() const API change
    • Replacement std::string MeshShape::SetMesh(const std::string &_uri, const std::string &_submesh = "", bool _center = false) const;
  16. gazebo/common/Time.hh
    • Removed static Time::NSleep(Time _time) API change
    • Replacement static Time NSleep(unsigned int _ns)

Deletions

  1. gazebo/physics/Collision.hh
    • template event::ConnectionPtr ConnectContact(T _subscriber)
    • template event::ConnectionPtr DisconnectContact(T _subscriber)
    • Note: The ContactManager::CreateFilter functions can be used to create a gazebo topic with contact messages filtered by the name(s) of collision shapes. The topic can then be subscribed with a callback to replicate this removed functionality. See gazebo pull request #713 for an example migration.