fix build

Signed-off-by: Alberto Soragna <[email protected]>

irobot_create_common/irobot_create_description/urdf/create3.urdf.xacro

@@ -134,7 +134,7 @@
 
   <xacro:if value="${'$(arg gazebo)' == 'ignition'}">
     <gazebo>
-      <plugin filename="libign_ros2_control-system.so" name="ign_ros2_control::IgnitionROS2ControlPlugin">
+      <plugin filename="libgz_ros2_control-system.so" name="gz_ros2_control::IgnitionROS2ControlPlugin">
         <parameters>$(find irobot_create_control)/config/control.yaml</parameters>
         <ros>
           <remapping>~/odom:=odom</remapping>

irobot_create_common/irobot_create_description/urdf/wheel.urdf.xacro

@@ -60,7 +60,7 @@
   <xacro:if value="${gazebo == 'ignition'}">
     <ros2_control name="${wheel_link_name}_controller" type="system">
       <hardware>
-        <plugin>ign_ros2_control/IgnitionSystem</plugin>
+        <plugin>gz_ros2_control/IgnitionSystem</plugin>
       </hardware>
       <joint name="${wheel_joint_name}">
         <state_interface name="velocity" />

irobot_create_common/irobot_create_toolbox/CMakeLists.txt

@@ -11,13 +11,13 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 find_package(ament_cmake REQUIRED)
-find_package(ignition-math6 REQUIRED)
+find_package(gz-math7 REQUIRED)
 find_package(rclcpp REQUIRED)
 
 #### Libraries
 
 set(dependencies
-  ignition-math6
+  gz-math7
   rclcpp
 )
 

irobot_create_common/irobot_create_toolbox/include/irobot_create_toolbox/polar_coordinates.hpp

@@ -4,7 +4,7 @@
 #ifndef IROBOT_CREATE_TOOLBOX__POLAR_COORDINATES_HPP_
 #define IROBOT_CREATE_TOOLBOX__POLAR_COORDINATES_HPP_
 
-#include "ignition/math/Vector2.hh"
+#include "gz/math/Vector2.hh"
 
 namespace irobot_create_toolbox
 {
@@ -16,9 +16,9 @@ struct PolarCoordinate
   double azimuth;
 };
 
-PolarCoordinate toPolar(const ignition::math::Vector2d & cartesian);
+PolarCoordinate toPolar(const gz::math::Vector2d & cartesian);
 
-ignition::math::Vector2d fromPolar(const PolarCoordinate & polar);
+gz::math::Vector2d fromPolar(const PolarCoordinate & polar);
 
 }  // namespace irobot_create_toolbox
 

irobot_create_common/irobot_create_toolbox/package.xml

@@ -10,7 +10,6 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>rclcpp</depend>
-  <depend>ignition-math6</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_cmake_cppcheck</test_depend>

irobot_create_common/irobot_create_toolbox/src/polar_coordinates.cpp

@@ -3,20 +3,20 @@
 
 #include <cmath>
 
-#include "ignition/math/Vector2.hh"
+#include "gz/math/Vector2.hh"
 #include "irobot_create_toolbox/polar_coordinates.hpp"
 
 namespace irobot_create_toolbox
 {
 
-PolarCoordinate toPolar(const ignition::math::Vector2d & cartesian)
+PolarCoordinate toPolar(const gz::math::Vector2d & cartesian)
 {
   return PolarCoordinate{cartesian.Length(), atan2(cartesian.Y(), cartesian.X())};
 }
 
-ignition::math::Vector2d fromPolar(const PolarCoordinate & polar)
+gz::math::Vector2d fromPolar(const PolarCoordinate & polar)
 {
-  ignition::math::Vector2d cartesian{
+  gz::math::Vector2d cartesian{
     polar.radius * cos(polar.azimuth), polar.radius * sin(polar.azimuth)};
   return cartesian;
 }

irobot_create_ignition/irobot_create_ignition_bringup/CMakeLists.txt

@@ -7,10 +7,10 @@ endif()
 
 # find dependencies
 find_package(ament_cmake REQUIRED)
-find_package(ros_ign_interfaces QUIET)
+find_package(ros_gz_interfaces QUIET)
 
-if(NOT ros_ign_interfaces_FOUND)
-  message(WARNING "ros_ign_interfaces not found. Skipping ${PROJECT_NAME} package.")
+if(NOT ros_gz_interfaces_FOUND)
+  message(WARNING "ros_gz_interfaces not found. Skipping ${PROJECT_NAME} package.")
   ament_package()
   return()
 endif()

irobot_create_ignition/irobot_create_ignition_bringup/gui/create3/gui.config

@@ -2,11 +2,11 @@
 
 <!-- 3D scene -->
 <plugin filename="GzScene3D" name="3D View">
-  <ignition-gui>
+  <gz-gui>
     <title>3D View</title>
     <property type="bool" key="showTitleBar">false</property>
     <property type="string" key="state">docked</property>
-  </ignition-gui>
+  </gz-gui>
 
   <engine>ogre2</engine>
   <scene>scene</scene>
@@ -15,7 +15,7 @@
 
 <!-- Play / pause / step -->
 <plugin filename="WorldControl" name="World control">
-  <ignition-gui>
+  <gz-gui>
     <title>World control</title>
     <property type="bool" key="showTitleBar">false</property>
     <property type="bool" key="resizable">false</property>
@@ -28,7 +28,7 @@
       <line own="left" target="left"/>
       <line own="bottom" target="bottom"/>
     </anchors>
-  </ignition-gui>
+  </gz-gui>
 
   <play_pause>true</play_pause>
   <step>true</step>
@@ -37,7 +37,7 @@
 
 <!-- Time / RTF -->
 <plugin filename="WorldStats" name="World stats">
-  <ignition-gui>
+  <gz-gui>
     <title>World stats</title>
     <property type="bool" key="showTitleBar">false</property>
     <property type="bool" key="resizable">false</property>
@@ -50,7 +50,7 @@
       <line own="right" target="right"/>
       <line own="bottom" target="bottom"/>
     </anchors>
-  </ignition-gui>
+  </gz-gui>
 
   <sim_time>true</sim_time>
   <real_time>true</real_time>
@@ -60,7 +60,7 @@
 
 <!-- Translate / rotate -->
 <plugin filename="TransformControl" name="Transform control">
-  <ignition-gui>
+  <gz-gui>
     <title>Transform control</title>
     <anchors target="3D View">
       <line own="left" target="left"/>
@@ -72,12 +72,12 @@
     <property key="state" type="string">floating</property>
     <property key="showTitleBar" type="bool">false</property>
     <property key="cardBackground" type="string">#03a9f4</property>
-  </ignition-gui>
+  </gz-gui>
 </plugin>
 
 <!-- Insert simple shapes -->
 <plugin filename="Shapes" name="Shapes">
-  <ignition-gui>
+  <gz-gui>
     <anchors target="Transform control">
       <line own="left" target="right"/>
       <line own="top" target="top"/>
@@ -88,25 +88,25 @@
     <property key="state" type="string">floating</property>
     <property key="showTitleBar" type="bool">false</property>
     <property key="cardBackground" type="string">#03a9f4</property>
-  </ignition-gui>
+  </gz-gui>
 </plugin>
 
 <!-- HMI -->
 <plugin filename="Create3Hmi" name="Create3Hmi">
-  <ignition-gui>
+  <gz-gui>
     <property type="bool" key="showTitleBar">true</property>
     <property type="string" key="state">docked</property>
     <property type="double" key="height">200</property>
     <property key="resizable" type="bool">true</property>
-  </ignition-gui>
+  </gz-gui>
 </plugin>
 
 <!-- Teleop -->
 <plugin filename="Teleop">
   <topic>/cmd_vel</topic>
-  <ignition-gui>
+  <gz-gui>
     <property type="bool" key="showTitleBar">true</property>
     <property type="string" key="state">docked</property>
     <property key="resizable" type="bool">true</property>
-  </ignition-gui>
+  </gz-gui>
 </plugin>

irobot_create_ignition/irobot_create_ignition_bringup/launch/create3_spawn.launch.py

@@ -18,7 +18,7 @@
 ARGUMENTS = [
     DeclareLaunchArgument('bridge', default_value='true',
                           choices=['true', 'false'],
-                          description='Use ros_ign_bridge'),
+                          description='Use ros_gz_bridge'),
     DeclareLaunchArgument('use_sim_time', default_value='true',
                           choices=['true', 'false'],
                           description='use_sim_time'),
@@ -47,7 +47,7 @@ def generate_launch_description():
         'irobot_create_ignition_bringup')
 
     # Paths
-    ros_ign_bridge_launch = PathJoinSubstitution(
+    ros_gz_bridge_launch = PathJoinSubstitution(
         [pkg_irobot_create_ignition_bringup, 'launch', 'create3_ros_ignition_bridge.launch.py'])
     create3_nodes_launch = PathJoinSubstitution(
         [pkg_irobot_create_common_bringup, 'launch', 'create3_nodes.launch.py'])
@@ -96,7 +96,7 @@ def generate_launch_description():
 
         # Spawn Create 3
         Node(
-            package='ros_ign_gazebo',
+            package='ros_gz_sim',
             executable='create',
             arguments=['-name', robot_name,
                        '-x', x,
@@ -109,7 +109,7 @@ def generate_launch_description():
 
         # Spawn dock
         Node(
-            package='ros_ign_gazebo',
+            package='ros_gz_sim',
             executable='create',
             arguments=['-name', dock_name,
                        '-x', x_dock,
@@ -123,7 +123,7 @@ def generate_launch_description():
 
         # ROS Ign Bridge
         IncludeLaunchDescription(
-            PythonLaunchDescriptionSource([ros_ign_bridge_launch]),
+            PythonLaunchDescriptionSource([ros_gz_bridge_launch]),
             launch_arguments=[
                 ('world', LaunchConfiguration('world')),
                 ('robot_name', robot_name),

irobot_create_ignition/irobot_create_ignition_bringup/launch/ignition.launch.py

@@ -33,8 +33,8 @@ def generate_launch_description():
         'irobot_create_ignition_plugins')
     pkg_irobot_create_description = get_package_share_directory(
         'irobot_create_description')
-    pkg_ros_ign_gazebo = get_package_share_directory(
-        'ros_ign_gazebo')
+    pkg_ros_gz_sim = get_package_share_directory(
+        'ros_gz_sim')
 
     # Set Ignition resource path
     ign_resource_path = SetEnvironmentVariable(name='IGN_GAZEBO_RESOURCE_PATH',
@@ -52,7 +52,7 @@ def generate_launch_description():
 
     # Paths
     ign_gazebo_launch = PathJoinSubstitution(
-        [pkg_ros_ign_gazebo, 'launch', 'ign_gazebo.launch.py'])
+        [pkg_ros_gz_sim, 'launch', 'ign_gazebo.launch.py'])
 
     # Ignition gazebo
     ignition_gazebo = IncludeLaunchDescription(

irobot_create_ignition/irobot_create_ignition_bringup/package.xml

@@ -9,7 +9,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <depend>ros_ign_interfaces</depend>
+  <depend>ros_gz_interfaces</depend>
 
   <!-- Create3 -->
   <exec_depend>irobot_create_description</exec_depend>
@@ -18,9 +18,9 @@
   <exec_depend>irobot_create_ignition_plugins</exec_depend>
 
   <!-- ROS IGN -->
-  <exec_depend>ign_ros2_control</exec_depend>
-  <exec_depend>ros_ign_gazebo</exec_depend>
-  <exec_depend>ros_ign_bridge</exec_depend>
+  <exec_depend>gz_ros2_control</exec_depend>
+  <exec_depend>ros_gz_sim</exec_depend>
+  <exec_depend>ros_gz_bridge</exec_depend>
 
   <!-- Messages -->
   <exec_depend>std_msgs</exec_depend>

irobot_create_ignition/irobot_create_ignition_plugins/CMakeLists.txt

@@ -11,16 +11,7 @@ find_package(ament_cmake REQUIRED)
 set(OpenGL_GL_PREFERENCE LEGACY)
 
 # Find the Ignition gui library
-find_package(ignition-common4 QUIET)
-find_package(ignition-gazebo6 QUIET)
-find_package(ignition-plugin1 QUIET)
-
-if(NOT ignition-gazebo6_FOUND OR NOT ignition-common4_FOUND OR NOT ignition-plugin1_FOUND)
-  message(WARNING "Ignition not found. Skipping ${PROJECT_NAME} package.")
-  ament_package()
-  return()
-endif()
-
+find_package(gz-gui8)
 add_subdirectory(Create3Hmi)
 
 if(BUILD_TESTING)

irobot_create_ignition/irobot_create_ignition_plugins/Create3Hmi/CMakeLists.txt

@@ -39,9 +39,7 @@ target_link_libraries(
 )
 ament_target_dependencies(
   Create3Hmi
-    ignition-common4
-    ignition-gazebo6
-    ignition-plugin1
+    gz-gui8
 )
 
 install(

irobot_create_ignition/irobot_create_ignition_plugins/Create3Hmi/Create3Hmi.cc

@@ -5,16 +5,16 @@
 
 #include "Create3Hmi.hh"
 
-#include <ignition/msgs/int32.pb.h>
+#include <gz/msgs/int32.pb.h>
 
 #include <iostream>
 
-#include <ignition/plugin/Register.hh>
-#include <ignition/gui/Application.hh>
-#include <ignition/gui/MainWindow.hh>
+#include <gz/plugin/Register.hh>
+#include <gz/gui/Application.hh>
+#include <gz/gui/MainWindow.hh>
 
 
-namespace ignition
+namespace gz
 {
 
 namespace gui
@@ -23,9 +23,9 @@ namespace gui
 Create3Hmi::Create3Hmi()
   : Plugin()
 {
-  this->create3_button_pub_ = ignition::transport::Node::Publisher();
+  this->create3_button_pub_ = gz::transport::Node::Publisher();
   this->create3_button_pub_ =
-    this->node_.Advertise < ignition::msgs::Int32 > (this->create3_button_topic_);
+    this->node_.Advertise < gz::msgs::Int32 > (this->create3_button_topic_);
 }
 
 Create3Hmi::~Create3Hmi()
@@ -52,12 +52,12 @@ void Create3Hmi::LoadConfig(const tinyxml2::XMLElement * _pluginElem)
 
 void Create3Hmi::OnCreate3Button(const int button)
 {
-  ignition::msgs::Int32 button_msg;
+  gz::msgs::Int32 button_msg;
 
   button_msg.set_data(button);
 
   if (!this->create3_button_pub_.Publish(button_msg)) {
-    ignerr << "ignition::msgs::Int32 message couldn't be published at topic: " <<
+    ignerr << "gz::msgs::Int32 message couldn't be published at topic: " <<
       this->create3_button_topic_ << std::endl;
   }
 }
@@ -76,9 +76,9 @@ void Create3Hmi::SetNamespace(const QString &_name)
       this->create3_button_topic_ << " ' " <<std::endl;
 
   // Update publisher with new topic.
-  this->create3_button_pub_ = ignition::transport::Node::Publisher();
+  this->create3_button_pub_ = gz::transport::Node::Publisher();
   this->create3_button_pub_ =
-      this->node_.Advertise< ignition::msgs::Int32 >
+      this->node_.Advertise< gz::msgs::Int32 >
       (this->create3_button_topic_);
   if (!this->create3_button_pub_)
   {
@@ -97,9 +97,9 @@ void Create3Hmi::SetNamespace(const QString &_name)
 
 }  // namespace gui
 
-}  // namespace ignition
+}  // namespace gz
 
 // Register this plugin
-IGNITION_ADD_PLUGIN(
-  ignition::gui::Create3Hmi,
-  ignition::gui::Plugin)
+GZ_ADD_PLUGIN(
+  gz::gui::Create3Hmi,
+  gz::gui::Plugin)