diff --git a/README.md b/README.md index 22db47d0..ee0012d6 100644 --- a/README.md +++ b/README.md @@ -8,7 +8,7 @@ Stability is not guaranteed. Source files, models, and plugins relevant to a general audience are upstreamed on an irregular basis to Ignition libraries, the top-level library being -[ign-gazebo](https://github.com/ignitionrobotics/ign-gazebo/). +[ign-gazebo](https://github.com/gazebosim/ign-gazebo/). Upstreamed files may eventually be removed from this repository. Standalone, this repository contains the environment and plugins necessary to @@ -39,7 +39,7 @@ docker/join.sh mbari_lrauv ## To build To run the code in this repository natively without Docker, make sure you have -[Ignition Garden](https://ignitionrobotics.org/docs/garden) and +[Ignition Garden](https://gazebosim.org/docs/garden) and [colcon](https://colcon.readthedocs.io/en/released/), on Ubuntu Focal or higher. Install dependencies @@ -58,7 +58,7 @@ colcon build --cmake-args "-DBUILD_TESTING=ON" ``` > You can pass `--cmake-args ' -DENABLE_PROFILER=1'` to use the profiler. -> See more on [this tutorial](https://ignitionrobotics.org/api/common/4.4/profiler.html) +> See more on [this tutorial](https://gazebosim.org/api/common/4.4/profiler.html) ## To test simulation in Ignition standalone (without MBARI integration) @@ -492,11 +492,11 @@ for example: ## Levels -Some worlds support [levels](https://ignitionrobotics.org/api/gazebo/6.7/levels.html). +Some worlds support [levels](https://gazebosim.org/api/gazebo/6.7/levels.html). Levels are turned off by default, which means that all heightmap tiles will be loaded at all times. When levels are enabled, only the tiles containing vehicles (performers) spawned with `WorldCommPlugin` with an -[lrauv_init](https://github.com/osrf/lrauv/blob/main/lrauv_ignition_plugins/proto/lrauv_init.proto) +[lrauv_init](https://github.com/osrf/lrauv/blob/main/lrauv_gazebo_plugins/proto/lrauv_init.proto) message will be loaded. For example, loading without levels: @@ -529,7 +529,7 @@ On the MBARI Main Vehicle Application side, all values during the run are stored to disk. They can be retrieved after the run and plotted for debugging purposes. -See [`lrauv_ignition_plugins/plots/README.md`](https://github.com/osrf/lrauv/blob/main/lrauv_ignition_plugins/plots/README.md) +See [`lrauv_gazebo_plugins/plots/README.md`](https://github.com/osrf/lrauv/blob/main/lrauv_gazebo_plugins/plots/README.md) for instructions to unserialize and scripts for plotting. ## Science data diff --git a/docker/debug_integration/mux.yml b/docker/debug_integration/mux.yml index ba7be7b2..8c2ac5ed 100644 --- a/docker/debug_integration/mux.yml +++ b/docker/debug_integration/mux.yml @@ -17,5 +17,5 @@ windows: - logging: panes: - read -n 1 -p "Press any key to export logs:" mainmenuinput; - sudo /home/developer/lrauv_ws/src/lrauv/lrauv_ignition_plugins/plots/unserialize_for_plotting.sh; - sudo cp -r /home/developer/lrauv_ws/src/lrauv/lrauv_ignition_plugins/plots/missions/tmp /results/ + sudo /home/developer/lrauv_ws/src/lrauv/lrauv_gazebo_plugins/plots/unserialize_for_plotting.sh; + sudo cp -r /home/developer/lrauv_ws/src/lrauv/lrauv_gazebo_plugins/plots/missions/tmp /results/ diff --git a/lrauv_description/models/tethys_equipped/model.sdf b/lrauv_description/models/tethys_equipped/model.sdf index b20edd04..0cfb7085 100644 --- a/lrauv_description/models/tethys_equipped/model.sdf +++ b/lrauv_description/models/tethys_equipped/model.sdf @@ -19,64 +19,64 @@ action="add" name="salinity_sensor" type="custom" - ignition:type="salinity"> + gz:type="salinity"> 1 2 /model/tethys/salinity - + 0.00001 0.00001 - + + gz:type="temperature"> 1 2 /model/tethys/temperature - + 0.00001 0.00001 - + + gz:type="chlorophyll"> 1 2 /model/tethys/chlorophyll - + 0.00001 0.00001 - + + gz:type="current"> 1 2 /model/tethys/current - + 0.00001 0.00001 - + -0.60 0 -0.16 0 0 180 1 1 /tethys/dvl/velocity - + 2.1 @@ -128,7 +128,7 @@ 80. 0 0 0 0 0 -1.570796 - + - + 0 0 0 0 0 0 true diff --git a/lrauv_ignition_plugins/models/turbidity_generator/thumbnails/turbidity_generator.png b/lrauv_gazebo_plugins/models/turbidity_generator/thumbnails/turbidity_generator.png similarity index 100% rename from lrauv_ignition_plugins/models/turbidity_generator/thumbnails/turbidity_generator.png rename to lrauv_gazebo_plugins/models/turbidity_generator/thumbnails/turbidity_generator.png diff --git a/lrauv_ignition_plugins/plots/README.md b/lrauv_gazebo_plugins/plots/README.md similarity index 100% rename from lrauv_ignition_plugins/plots/README.md rename to lrauv_gazebo_plugins/plots/README.md diff --git a/lrauv_ignition_plugins/plots/missions/testDepthVBS/202108110212_202108110222.csv b/lrauv_gazebo_plugins/plots/missions/testDepthVBS/202108110212_202108110222.csv similarity index 100% rename from lrauv_ignition_plugins/plots/missions/testDepthVBS/202108110212_202108110222.csv rename to lrauv_gazebo_plugins/plots/missions/testDepthVBS/202108110212_202108110222.csv diff --git a/lrauv_ignition_plugins/plots/missions/testDepthVBS/202108110213_202108110223.csv b/lrauv_gazebo_plugins/plots/missions/testDepthVBS/202108110213_202108110223.csv similarity index 100% rename from lrauv_ignition_plugins/plots/missions/testDepthVBS/202108110213_202108110223.csv rename to lrauv_gazebo_plugins/plots/missions/testDepthVBS/202108110213_202108110223.csv diff --git a/lrauv_ignition_plugins/plots/missions/testDepthVBS/202108110214_202108110223.csv b/lrauv_gazebo_plugins/plots/missions/testDepthVBS/202108110214_202108110223.csv similarity index 100% rename from lrauv_ignition_plugins/plots/missions/testDepthVBS/202108110214_202108110223.csv rename to lrauv_gazebo_plugins/plots/missions/testDepthVBS/202108110214_202108110223.csv diff --git a/lrauv_ignition_plugins/plots/missions/testDepthVBS/202108110214_202108110224.csv b/lrauv_gazebo_plugins/plots/missions/testDepthVBS/202108110214_202108110224.csv similarity index 100% rename from lrauv_ignition_plugins/plots/missions/testDepthVBS/202108110214_202108110224.csv rename to lrauv_gazebo_plugins/plots/missions/testDepthVBS/202108110214_202108110224.csv diff --git a/lrauv_ignition_plugins/plots/missions/testDepthVBS/202108110216_202108110225.csv b/lrauv_gazebo_plugins/plots/missions/testDepthVBS/202108110216_202108110225.csv similarity index 100% rename from lrauv_ignition_plugins/plots/missions/testDepthVBS/202108110216_202108110225.csv rename to lrauv_gazebo_plugins/plots/missions/testDepthVBS/202108110216_202108110225.csv diff --git a/lrauv_ignition_plugins/plots/missions/testDepthVBS/20210811multiRuns_testDepthVBS_ref.png b/lrauv_gazebo_plugins/plots/missions/testDepthVBS/20210811multiRuns_testDepthVBS_ref.png similarity index 100% rename from lrauv_ignition_plugins/plots/missions/testDepthVBS/20210811multiRuns_testDepthVBS_ref.png rename to lrauv_gazebo_plugins/plots/missions/testDepthVBS/20210811multiRuns_testDepthVBS_ref.png diff --git a/lrauv_ignition_plugins/plots/missions/testDepthVBS/plot_input_ref.txt b/lrauv_gazebo_plugins/plots/missions/testDepthVBS/plot_input_ref.txt similarity index 100% rename from lrauv_ignition_plugins/plots/missions/testDepthVBS/plot_input_ref.txt rename to lrauv_gazebo_plugins/plots/missions/testDepthVBS/plot_input_ref.txt diff --git a/lrauv_ignition_plugins/plots/missions/testPitchMass/202108110141_202108110152.csv b/lrauv_gazebo_plugins/plots/missions/testPitchMass/202108110141_202108110152.csv similarity index 100% rename from lrauv_ignition_plugins/plots/missions/testPitchMass/202108110141_202108110152.csv rename to lrauv_gazebo_plugins/plots/missions/testPitchMass/202108110141_202108110152.csv diff --git a/lrauv_ignition_plugins/plots/missions/testPitchMass/202108110141_202108110152_testPitchMass_ref.png b/lrauv_gazebo_plugins/plots/missions/testPitchMass/202108110141_202108110152_testPitchMass_ref.png similarity index 100% rename from lrauv_ignition_plugins/plots/missions/testPitchMass/202108110141_202108110152_testPitchMass_ref.png rename to lrauv_gazebo_plugins/plots/missions/testPitchMass/202108110141_202108110152_testPitchMass_ref.png diff --git a/lrauv_ignition_plugins/plots/missions/testPitchMass/plot_input_ref.txt b/lrauv_gazebo_plugins/plots/missions/testPitchMass/plot_input_ref.txt similarity index 100% rename from lrauv_ignition_plugins/plots/missions/testPitchMass/plot_input_ref.txt rename to lrauv_gazebo_plugins/plots/missions/testPitchMass/plot_input_ref.txt diff --git a/lrauv_ignition_plugins/plots/missions/testYoYoCircle/202108110022_202108110032.csv b/lrauv_gazebo_plugins/plots/missions/testYoYoCircle/202108110022_202108110032.csv similarity index 100% rename from lrauv_ignition_plugins/plots/missions/testYoYoCircle/202108110022_202108110032.csv rename to lrauv_gazebo_plugins/plots/missions/testYoYoCircle/202108110022_202108110032.csv diff --git a/lrauv_ignition_plugins/plots/missions/testYoYoCircle/202108110104_202108110113.csv b/lrauv_gazebo_plugins/plots/missions/testYoYoCircle/202108110104_202108110113.csv similarity index 100% rename from lrauv_ignition_plugins/plots/missions/testYoYoCircle/202108110104_202108110113.csv rename to lrauv_gazebo_plugins/plots/missions/testYoYoCircle/202108110104_202108110113.csv diff --git a/lrauv_ignition_plugins/plots/missions/testYoYoCircle/202108110108_202108110118.csv b/lrauv_gazebo_plugins/plots/missions/testYoYoCircle/202108110108_202108110118.csv similarity index 100% rename from lrauv_ignition_plugins/plots/missions/testYoYoCircle/202108110108_202108110118.csv rename to lrauv_gazebo_plugins/plots/missions/testYoYoCircle/202108110108_202108110118.csv diff --git a/lrauv_ignition_plugins/plots/missions/testYoYoCircle/202108110113_202108110123.csv b/lrauv_gazebo_plugins/plots/missions/testYoYoCircle/202108110113_202108110123.csv similarity index 100% rename from lrauv_ignition_plugins/plots/missions/testYoYoCircle/202108110113_202108110123.csv rename to lrauv_gazebo_plugins/plots/missions/testYoYoCircle/202108110113_202108110123.csv diff --git a/lrauv_ignition_plugins/plots/missions/testYoYoCircle/202108110119_202108110128.csv b/lrauv_gazebo_plugins/plots/missions/testYoYoCircle/202108110119_202108110128.csv similarity index 100% rename from lrauv_ignition_plugins/plots/missions/testYoYoCircle/202108110119_202108110128.csv rename to lrauv_gazebo_plugins/plots/missions/testYoYoCircle/202108110119_202108110128.csv diff --git a/lrauv_ignition_plugins/plots/missions/testYoYoCircle/20210811multiRuns_testYoYoCircle_ref.png b/lrauv_gazebo_plugins/plots/missions/testYoYoCircle/20210811multiRuns_testYoYoCircle_ref.png similarity index 100% rename from lrauv_ignition_plugins/plots/missions/testYoYoCircle/20210811multiRuns_testYoYoCircle_ref.png rename to lrauv_gazebo_plugins/plots/missions/testYoYoCircle/20210811multiRuns_testYoYoCircle_ref.png diff --git a/lrauv_ignition_plugins/plots/missions/testYoYoCircle/plot_input_ref.txt b/lrauv_gazebo_plugins/plots/missions/testYoYoCircle/plot_input_ref.txt similarity index 100% rename from lrauv_ignition_plugins/plots/missions/testYoYoCircle/plot_input_ref.txt rename to lrauv_gazebo_plugins/plots/missions/testYoYoCircle/plot_input_ref.txt diff --git a/lrauv_ignition_plugins/plots/plot_missions.py b/lrauv_gazebo_plugins/plots/plot_missions.py similarity index 100% rename from lrauv_ignition_plugins/plots/plot_missions.py rename to lrauv_gazebo_plugins/plots/plot_missions.py diff --git a/lrauv_ignition_plugins/plots/unserialize_for_plotting.sh b/lrauv_gazebo_plugins/plots/unserialize_for_plotting.sh similarity index 100% rename from lrauv_ignition_plugins/plots/unserialize_for_plotting.sh rename to lrauv_gazebo_plugins/plots/unserialize_for_plotting.sh diff --git a/lrauv_ignition_plugins/proto/CMakeLists.txt b/lrauv_gazebo_plugins/proto/CMakeLists.txt similarity index 100% rename from lrauv_ignition_plugins/proto/CMakeLists.txt rename to lrauv_gazebo_plugins/proto/CMakeLists.txt diff --git a/lrauv_ignition_plugins/proto/lrauv_ignition_plugins/dvl_beam_state.proto b/lrauv_gazebo_plugins/proto/lrauv_gazebo_plugins/dvl_beam_state.proto similarity index 83% rename from lrauv_ignition_plugins/proto/lrauv_ignition_plugins/dvl_beam_state.proto rename to lrauv_gazebo_plugins/proto/lrauv_gazebo_plugins/dvl_beam_state.proto index 5625a431..fbf02a82 100644 --- a/lrauv_ignition_plugins/proto/lrauv_ignition_plugins/dvl_beam_state.proto +++ b/lrauv_gazebo_plugins/proto/lrauv_gazebo_plugins/dvl_beam_state.proto @@ -16,12 +16,12 @@ */ syntax = "proto3"; -package lrauv_ignition_plugins.msgs; -option java_package = "lrauv_ignition_plugins.msgs"; +package lrauv_gazebo_plugins.msgs; +option java_package = "lrauv_gazebo_plugins.msgs"; option java_outer_classname = "DVLProtos"; -import "lrauv_ignition_plugins/dvl_kinematic_estimate.proto"; -import "lrauv_ignition_plugins/dvl_range_estimate.proto"; +import "lrauv_gazebo_plugins/dvl_kinematic_estimate.proto"; +import "lrauv_gazebo_plugins/dvl_range_estimate.proto"; message DVLBeamState { diff --git a/lrauv_ignition_plugins/proto/lrauv_ignition_plugins/dvl_kinematic_estimate.proto b/lrauv_gazebo_plugins/proto/lrauv_gazebo_plugins/dvl_kinematic_estimate.proto similarity index 92% rename from lrauv_ignition_plugins/proto/lrauv_ignition_plugins/dvl_kinematic_estimate.proto rename to lrauv_gazebo_plugins/proto/lrauv_gazebo_plugins/dvl_kinematic_estimate.proto index 03740765..3c3885f9 100644 --- a/lrauv_ignition_plugins/proto/lrauv_ignition_plugins/dvl_kinematic_estimate.proto +++ b/lrauv_gazebo_plugins/proto/lrauv_gazebo_plugins/dvl_kinematic_estimate.proto @@ -16,8 +16,8 @@ */ syntax = "proto3"; -package lrauv_ignition_plugins.msgs; -option java_package = "lrauv_ignition_plugins.msgs"; +package lrauv_gazebo_plugins.msgs; +option java_package = "lrauv_gazebo_plugins.msgs"; option java_outer_classname = "DVLProtos"; import "gz/msgs/vector3d.proto"; diff --git a/lrauv_ignition_plugins/proto/lrauv_ignition_plugins/dvl_range_estimate.proto b/lrauv_gazebo_plugins/proto/lrauv_gazebo_plugins/dvl_range_estimate.proto similarity index 90% rename from lrauv_ignition_plugins/proto/lrauv_ignition_plugins/dvl_range_estimate.proto rename to lrauv_gazebo_plugins/proto/lrauv_gazebo_plugins/dvl_range_estimate.proto index 621cec8c..1a1cfcd4 100644 --- a/lrauv_ignition_plugins/proto/lrauv_ignition_plugins/dvl_range_estimate.proto +++ b/lrauv_gazebo_plugins/proto/lrauv_gazebo_plugins/dvl_range_estimate.proto @@ -16,8 +16,8 @@ */ syntax = "proto3"; -package lrauv_ignition_plugins.msgs; -option java_package = "lrauv_ignition_plugins.msgs"; +package lrauv_gazebo_plugins.msgs; +option java_package = "lrauv_gazebo_plugins.msgs"; option java_outer_classname = "DVLProtos"; message DVLRangeEstimate diff --git a/lrauv_ignition_plugins/proto/lrauv_ignition_plugins/dvl_tracking_target.proto b/lrauv_gazebo_plugins/proto/lrauv_gazebo_plugins/dvl_tracking_target.proto similarity index 83% rename from lrauv_ignition_plugins/proto/lrauv_ignition_plugins/dvl_tracking_target.proto rename to lrauv_gazebo_plugins/proto/lrauv_gazebo_plugins/dvl_tracking_target.proto index 115010a6..2bbc5bc4 100644 --- a/lrauv_ignition_plugins/proto/lrauv_ignition_plugins/dvl_tracking_target.proto +++ b/lrauv_gazebo_plugins/proto/lrauv_gazebo_plugins/dvl_tracking_target.proto @@ -16,12 +16,12 @@ */ syntax = "proto3"; -package lrauv_ignition_plugins.msgs; -option java_package = "lrauv_ignition_plugins.msgs"; +package lrauv_gazebo_plugins.msgs; +option java_package = "lrauv_gazebo_plugins.msgs"; option java_outer_classname = "DVLProtos"; -import "lrauv_ignition_plugins/dvl_kinematic_estimate.proto"; -import "lrauv_ignition_plugins/dvl_range_estimate.proto"; +import "lrauv_gazebo_plugins/dvl_kinematic_estimate.proto"; +import "lrauv_gazebo_plugins/dvl_range_estimate.proto"; message DVLTrackingTarget { diff --git a/lrauv_ignition_plugins/proto/lrauv_ignition_plugins/dvl_velocity_tracking.proto b/lrauv_gazebo_plugins/proto/lrauv_gazebo_plugins/dvl_velocity_tracking.proto similarity index 83% rename from lrauv_ignition_plugins/proto/lrauv_ignition_plugins/dvl_velocity_tracking.proto rename to lrauv_gazebo_plugins/proto/lrauv_gazebo_plugins/dvl_velocity_tracking.proto index c20941bf..31fc3d54 100644 --- a/lrauv_ignition_plugins/proto/lrauv_ignition_plugins/dvl_velocity_tracking.proto +++ b/lrauv_gazebo_plugins/proto/lrauv_gazebo_plugins/dvl_velocity_tracking.proto @@ -16,11 +16,11 @@ */ syntax = "proto3"; -package lrauv_ignition_plugins.msgs; -option java_package = "lrauv_ignition_plugins.msgs"; +package lrauv_gazebo_plugins.msgs; +option java_package = "lrauv_gazebo_plugins.msgs"; option java_outer_classname = "DVLProtos"; -/// \ingroup lrauv_ignition_plugins.msgs +/// \ingroup lrauv_gazebo_plugins.msgs /// \interface Doppler Velocity Log Tracking message /// \brief Velocity tracking message for a Doppler Velocity Log. Doppler velocity /// logs are used by the maritime community to track the velocity of a vessel. @@ -28,9 +28,9 @@ option java_outer_classname = "DVLProtos"; /// of the craft. import "gz/msgs/header.proto"; -import "lrauv_ignition_plugins/dvl_beam_state.proto"; -import "lrauv_ignition_plugins/dvl_tracking_target.proto"; -import "lrauv_ignition_plugins/dvl_kinematic_estimate.proto"; +import "lrauv_gazebo_plugins/dvl_beam_state.proto"; +import "lrauv_gazebo_plugins/dvl_tracking_target.proto"; +import "lrauv_gazebo_plugins/dvl_kinematic_estimate.proto"; message DVLVelocityTracking { diff --git a/lrauv_ignition_plugins/proto/lrauv_ignition_plugins/lrauv_acoustic_message.proto b/lrauv_gazebo_plugins/proto/lrauv_gazebo_plugins/lrauv_acoustic_message.proto similarity index 93% rename from lrauv_ignition_plugins/proto/lrauv_ignition_plugins/lrauv_acoustic_message.proto rename to lrauv_gazebo_plugins/proto/lrauv_gazebo_plugins/lrauv_acoustic_message.proto index 014801e3..eb56ce55 100644 --- a/lrauv_ignition_plugins/proto/lrauv_ignition_plugins/lrauv_acoustic_message.proto +++ b/lrauv_gazebo_plugins/proto/lrauv_gazebo_plugins/lrauv_acoustic_message.proto @@ -21,8 +21,8 @@ */ syntax = "proto3"; -package lrauv_ignition_plugins.msgs; -option java_package = "lrauv_ignition_plugins.msgs"; +package lrauv_gazebo_plugins.msgs; +option java_package = "lrauv_gazebo_plugins.msgs"; option java_outer_classname = "LRAUVAcousticMsg.Protos"; /// \ingroup lrauv_acoustic_message.msgs diff --git a/lrauv_ignition_plugins/proto/lrauv_ignition_plugins/lrauv_command.proto b/lrauv_gazebo_plugins/proto/lrauv_gazebo_plugins/lrauv_command.proto similarity index 96% rename from lrauv_ignition_plugins/proto/lrauv_ignition_plugins/lrauv_command.proto rename to lrauv_gazebo_plugins/proto/lrauv_gazebo_plugins/lrauv_command.proto index d0d163fe..9259c3be 100644 --- a/lrauv_ignition_plugins/proto/lrauv_ignition_plugins/lrauv_command.proto +++ b/lrauv_gazebo_plugins/proto/lrauv_gazebo_plugins/lrauv_command.proto @@ -21,11 +21,11 @@ */ syntax = "proto3"; -package lrauv_ignition_plugins.msgs; -option java_package = "lrauv_ignition_plugins.msgs"; +package lrauv_gazebo_plugins.msgs; +option java_package = "lrauv_gazebo_plugins.msgs"; option java_outer_classname = "LRAUVCommandProtos"; -/// \ingroup lrauv_ignition_plugins.msgs +/// \ingroup lrauv_gazebo_plugins.msgs /// \interface LRAUVCommand /// \brief Aggregated information about the LRAUV and the world diff --git a/lrauv_ignition_plugins/proto/lrauv_ignition_plugins/lrauv_init.proto b/lrauv_gazebo_plugins/proto/lrauv_gazebo_plugins/lrauv_init.proto similarity index 93% rename from lrauv_ignition_plugins/proto/lrauv_ignition_plugins/lrauv_init.proto rename to lrauv_gazebo_plugins/proto/lrauv_gazebo_plugins/lrauv_init.proto index 69497d6e..40e0d6f3 100644 --- a/lrauv_ignition_plugins/proto/lrauv_ignition_plugins/lrauv_init.proto +++ b/lrauv_gazebo_plugins/proto/lrauv_gazebo_plugins/lrauv_init.proto @@ -21,11 +21,11 @@ */ syntax = "proto3"; -package lrauv_ignition_plugins.msgs; -option java_package = "lrauv_ignition_plugins.msgs"; +package lrauv_gazebo_plugins.msgs; +option java_package = "lrauv_gazebo_plugins.msgs"; option java_outer_classname = "LRAUVInitProtos"; -/// \ingroup lrauv_ignition_plugins.msgs +/// \ingroup lrauv_gazebo_plugins.msgs /// \interface LRAUVInit /// \brief Initialization information for a vehicle diff --git a/lrauv_ignition_plugins/proto/lrauv_ignition_plugins/lrauv_internal_comms.proto b/lrauv_gazebo_plugins/proto/lrauv_gazebo_plugins/lrauv_internal_comms.proto similarity index 94% rename from lrauv_ignition_plugins/proto/lrauv_ignition_plugins/lrauv_internal_comms.proto rename to lrauv_gazebo_plugins/proto/lrauv_gazebo_plugins/lrauv_internal_comms.proto index 84423262..ea221f9f 100644 --- a/lrauv_ignition_plugins/proto/lrauv_ignition_plugins/lrauv_internal_comms.proto +++ b/lrauv_gazebo_plugins/proto/lrauv_gazebo_plugins/lrauv_internal_comms.proto @@ -21,8 +21,8 @@ */ syntax = "proto3"; -package lrauv_ignition_plugins.msgs; -option java_package = "lrauv_ignition_plugins.msgs"; +package lrauv_gazebo_plugins.msgs; +option java_package = "lrauv_gazebo_plugins.msgs"; option java_outer_classname = "LRAUVInternalCommsProtos"; /// \ingroup lrauv_internal_comms.msgs diff --git a/lrauv_ignition_plugins/proto/lrauv_ignition_plugins/lrauv_range_bearing_request.proto b/lrauv_gazebo_plugins/proto/lrauv_gazebo_plugins/lrauv_range_bearing_request.proto similarity index 91% rename from lrauv_ignition_plugins/proto/lrauv_ignition_plugins/lrauv_range_bearing_request.proto rename to lrauv_gazebo_plugins/proto/lrauv_gazebo_plugins/lrauv_range_bearing_request.proto index ae8e91c3..c5f06459 100644 --- a/lrauv_ignition_plugins/proto/lrauv_ignition_plugins/lrauv_range_bearing_request.proto +++ b/lrauv_gazebo_plugins/proto/lrauv_gazebo_plugins/lrauv_range_bearing_request.proto @@ -21,8 +21,8 @@ */ syntax = "proto3"; -package lrauv_ignition_plugins.msgs; -option java_package = "lrauv_ignition_plugins.msgs"; +package lrauv_gazebo_plugins.msgs; +option java_package = "lrauv_gazebo_plugins.msgs"; option java_outer_classname = "LRAUVRangeBearingRequest"; message LRAUVRangeBearingRequest diff --git a/lrauv_ignition_plugins/proto/lrauv_ignition_plugins/lrauv_range_bearing_response.proto b/lrauv_gazebo_plugins/proto/lrauv_gazebo_plugins/lrauv_range_bearing_response.proto similarity index 93% rename from lrauv_ignition_plugins/proto/lrauv_ignition_plugins/lrauv_range_bearing_response.proto rename to lrauv_gazebo_plugins/proto/lrauv_gazebo_plugins/lrauv_range_bearing_response.proto index 0c1ccdf7..29f50a8d 100644 --- a/lrauv_ignition_plugins/proto/lrauv_ignition_plugins/lrauv_range_bearing_response.proto +++ b/lrauv_gazebo_plugins/proto/lrauv_gazebo_plugins/lrauv_range_bearing_response.proto @@ -21,8 +21,8 @@ */ syntax = "proto3"; -package lrauv_ignition_plugins.msgs; -option java_package = "lrauv_ignition_plugins.msgs"; +package lrauv_gazebo_plugins.msgs; +option java_package = "lrauv_gazebo_plugins.msgs"; option java_outer_classname = "LRAUVRangeBearingResponse"; diff --git a/lrauv_ignition_plugins/proto/lrauv_ignition_plugins/lrauv_state.proto b/lrauv_gazebo_plugins/proto/lrauv_gazebo_plugins/lrauv_state.proto similarity index 97% rename from lrauv_ignition_plugins/proto/lrauv_ignition_plugins/lrauv_state.proto rename to lrauv_gazebo_plugins/proto/lrauv_gazebo_plugins/lrauv_state.proto index bfb967af..eea63031 100644 --- a/lrauv_ignition_plugins/proto/lrauv_ignition_plugins/lrauv_state.proto +++ b/lrauv_gazebo_plugins/proto/lrauv_gazebo_plugins/lrauv_state.proto @@ -21,11 +21,11 @@ */ syntax = "proto3"; -package lrauv_ignition_plugins.msgs; -option java_package = "lrauv_ignition_plugins.msgs"; +package lrauv_gazebo_plugins.msgs; +option java_package = "lrauv_gazebo_plugins.msgs"; option java_outer_classname = "LRAUVStateProtos"; -/// \ingroup lrauv_ignition_plugins.msgs +/// \ingroup lrauv_gazebo_plugins.msgs /// \interface LRAUVState /// \brief Aggregated information about the LRAUV and the world diff --git a/lrauv_gazebo_plugins/src/.DopplerVelocityLog.cc.kate-swp b/lrauv_gazebo_plugins/src/.DopplerVelocityLog.cc.kate-swp new file mode 100644 index 00000000..a4c7d0f8 Binary files /dev/null and b/lrauv_gazebo_plugins/src/.DopplerVelocityLog.cc.kate-swp differ diff --git a/lrauv_ignition_plugins/src/ControlPanelPlugin.cc b/lrauv_gazebo_plugins/src/ControlPanelPlugin.cc similarity index 84% rename from lrauv_ignition_plugins/src/ControlPanelPlugin.cc rename to lrauv_gazebo_plugins/src/ControlPanelPlugin.cc index 4c52d5a0..c64add31 100644 --- a/lrauv_ignition_plugins/src/ControlPanelPlugin.cc +++ b/lrauv_gazebo_plugins/src/ControlPanelPlugin.cc @@ -59,36 +59,36 @@ void ControlPanel::LoadConfig(const tinyxml2::XMLElement *_pluginElem) void ControlPanel::ReleaseDropWeight() { - igndbg << "release dropweight\n"; + gzdbg << "release dropweight\n"; lastCommand.set_dropweightstate_(0); this->pub.Publish(lastCommand); } void ControlPanel::SetVehicle(QString _name) { - igndbg << "Setting name as " << _name.toStdString() <<"\n"; - this->pub = node.Advertise( + gzdbg << "Setting name as " << _name.toStdString() <<"\n"; + this->pub = node.Advertise( "/" + _name.toStdString() + "/command_topic" ); } void ControlPanel::SetRudder(qreal _angle) { - igndbg << "Setting rudder angle to " << _angle << "\n"; + gzdbg << "Setting rudder angle to " << _angle << "\n"; lastCommand.set_rudderangleaction_(_angle); this->pub.Publish(lastCommand); } void ControlPanel::SetElevator(qreal _angle) { - igndbg << "Setting elevator angle to " << _angle << "\n"; + gzdbg << "Setting elevator angle to " << _angle << "\n"; lastCommand.set_elevatorangleaction_(_angle); this->pub.Publish(lastCommand); } void ControlPanel::SetPitchMass(qreal _massPosition) { - igndbg << "Setting mass position angle to " << _massPosition << "\n"; + gzdbg << "Setting mass position angle to " << _massPosition << "\n"; lastCommand.set_masspositionaction_(_massPosition); this->pub.Publish(lastCommand); } @@ -96,14 +96,14 @@ void ControlPanel::SetPitchMass(qreal _massPosition) void ControlPanel::SetThruster(qreal _thrust) { - igndbg << "Setting thruster angular velocity to " << _thrust << "\n"; + gzdbg << "Setting thruster angular velocity to " << _thrust << "\n"; lastCommand.set_propomegaaction_(_thrust); this->pub.Publish(lastCommand); } void ControlPanel::SetBuoyancyEngine(qreal _volume) { - igndbg << "Setting buoyancy engine to " << _volume << "\n"; + gzdbg << "Setting buoyancy engine to " << _volume << "\n"; lastCommand.set_buoyancyaction_(_volume); this->pub.Publish(lastCommand); } diff --git a/lrauv_ignition_plugins/src/ControlPanelPlugin.hh b/lrauv_gazebo_plugins/src/ControlPanelPlugin.hh similarity index 95% rename from lrauv_ignition_plugins/src/ControlPanelPlugin.hh rename to lrauv_gazebo_plugins/src/ControlPanelPlugin.hh index e2404ff7..a3bc62bb 100644 --- a/lrauv_ignition_plugins/src/ControlPanelPlugin.hh +++ b/lrauv_gazebo_plugins/src/ControlPanelPlugin.hh @@ -27,7 +27,7 @@ #include -#include "lrauv_ignition_plugins/lrauv_command.pb.h" +#include "lrauv_gazebo_plugins/lrauv_command.pb.h" namespace tethys { @@ -80,7 +80,7 @@ class ControlPanel : public gz::gui::Plugin private: gz::transport::Node::Publisher pub; /// \brief LRAUVCommand for the last state - private: lrauv_ignition_plugins::msgs::LRAUVCommand lastCommand; + private: lrauv_gazebo_plugins::msgs::LRAUVCommand lastCommand; }; } diff --git a/lrauv_ignition_plugins/src/ControlPanelPlugin.qml b/lrauv_gazebo_plugins/src/ControlPanelPlugin.qml similarity index 99% rename from lrauv_ignition_plugins/src/ControlPanelPlugin.qml rename to lrauv_gazebo_plugins/src/ControlPanelPlugin.qml index c52a5de1..5132bf0a 100644 --- a/lrauv_ignition_plugins/src/ControlPanelPlugin.qml +++ b/lrauv_gazebo_plugins/src/ControlPanelPlugin.qml @@ -25,7 +25,7 @@ import QtQuick 2.9 import QtQuick.Controls 2.1 import QtQuick.Controls.Material 2.1 import QtQuick.Layouts 1.3 -import ignition.gui 1.0 +import gz.gui 1.0 GridLayout { id: mainLayout diff --git a/lrauv_ignition_plugins/src/ControlPanelPlugin.qrc b/lrauv_gazebo_plugins/src/ControlPanelPlugin.qrc similarity index 100% rename from lrauv_ignition_plugins/src/ControlPanelPlugin.qrc rename to lrauv_gazebo_plugins/src/ControlPanelPlugin.qrc diff --git a/lrauv_ignition_plugins/src/DopplerVelocityLog.cc b/lrauv_gazebo_plugins/src/DopplerVelocityLog.cc similarity index 94% rename from lrauv_ignition_plugins/src/DopplerVelocityLog.cc rename to lrauv_gazebo_plugins/src/DopplerVelocityLog.cc index 3391c620..617ad8f6 100644 --- a/lrauv_ignition_plugins/src/DopplerVelocityLog.cc +++ b/lrauv_gazebo_plugins/src/DopplerVelocityLog.cc @@ -19,7 +19,7 @@ #include #include -// TODO(hidmic): implement SVD in ignition? +// TODO(hidmic): implement SVD in gazebo? #include #include @@ -50,11 +50,11 @@ #include -#include "lrauv_ignition_plugins/dvl_beam_state.pb.h" -#include "lrauv_ignition_plugins/dvl_kinematic_estimate.pb.h" -#include "lrauv_ignition_plugins/dvl_range_estimate.pb.h" -#include "lrauv_ignition_plugins/dvl_tracking_target.pb.h" -#include "lrauv_ignition_plugins/dvl_velocity_tracking.pb.h" +#include "lrauv_gazebo_plugins/dvl_beam_state.pb.h" +#include "lrauv_gazebo_plugins/dvl_kinematic_estimate.pb.h" +#include "lrauv_gazebo_plugins/dvl_range_estimate.pb.h" +#include "lrauv_gazebo_plugins/dvl_tracking_target.pb.h" +#include "lrauv_gazebo_plugins/dvl_velocity_tracking.pb.h" #include "DopplerVelocityLog.hh" @@ -257,7 +257,7 @@ struct Target } -using namespace lrauv_ignition_plugins::msgs; +using namespace lrauv_gazebo_plugins::msgs; /// \brief Private data for DopplerVelocityLog class DopplerVelocityLogPrivate @@ -376,43 +376,43 @@ bool DopplerVelocityLog::Load(const sdf::Sensor &_sdf) // Check if this sensor is of the right type if (_sdf.Type() != sdf::SensorType::CUSTOM) { - ignerr << "Expected [" << this->Name() << "] sensor to be " + gzerr << "Expected [" << this->Name() << "] sensor to be " << "a DVL but found a " << _sdf.TypeStr() << "." << std::endl; return false; } sdf::ElementPtr elem = _sdf.Element(); - if (!elem->HasAttribute("ignition:type")) + if (!elem->HasAttribute("gz:type")) { - ignerr << "Missing 'ignition:type' attribute " + gzerr << "Missing 'gz:type' attribute " << "for sensor [" << this->Name() << "]. " << "Aborting load." << std::endl; return false; } - const auto type = elem->Get("ignition:type"); + const auto type = elem->Get("gz:type"); if (type != "dvl") { - ignerr << "Expected sensor [" << this->Name() << "] to be a " + gzerr << "Expected sensor [" << this->Name() << "] to be a " << "DVL but it is of '" << type << "' type. Aborting load." << std::endl; return false; } - if (!elem->HasElement("ignition:dvl")) + if (!elem->HasElement("gz:dvl")) { - ignerr << "Missing 'ignition:dvl' configuration for " + gzerr << "Missing 'gz:dvl' configuration for " << "sensor [" << this->Name() << "]. " << "Aborting load." << std::endl; return false; } - this->dataPtr->sensorSdf = elem->GetElement("ignition:dvl"); + this->dataPtr->sensorSdf = elem->GetElement("gz:dvl"); // Instantiate interfaces this->dataPtr->pub = this->dataPtr->node.Advertise(this->Topic()); if (!this->dataPtr->pub) { - ignerr << "Unable to create publisher on topic " + gzerr << "Unable to create publisher on topic " << "[" << this->Topic() << "] for sensor " << "[" << this->Name() << "]" << std::endl; return false; @@ -423,14 +423,14 @@ bool DopplerVelocityLog::Load(const sdf::Sensor &_sdf) { if (!this->CreateRenderingSensors()) { - ignerr << "Failed to create sensors for " + gzerr << "Failed to create sensors for " << "[" << this->Name() << "] sensor. " << "Aborting load." << std::endl; return false; } } - ignmsg << "Loaded sensor [" << this->Name() << "] DVL sensor." << std::endl; + gzmsg << "Loaded sensor [" << this->Name() << "] DVL sensor." << std::endl; this->dataPtr->sceneChangeConnection = gz::sensors::RenderingEvents::ConnectSceneChangeCallback( std::bind(&DopplerVelocityLog::SetScene, this, std::placeholders::_1)); @@ -443,12 +443,12 @@ bool DopplerVelocityLog::Load(const sdf::Sensor &_sdf) ////////////////////////////////////////////////// bool DopplerVelocityLog::CreateRenderingSensors() { - ignmsg << "Initializing [" << this->Name() << "] sensor." << std::endl; + gzmsg << "Initializing [" << this->Name() << "] sensor." << std::endl; const auto dvlTypeName = this->dataPtr->sensorSdf->Get("type", "piston").first; if (this->dataPtr->knownDVLTypes.count(dvlTypeName) == 0) { - ignerr << "[" << this->Name() << "] specifies an unknown" + gzerr << "[" << this->Name() << "] specifies an unknown" << " DVL type '" << dvlTypeName << "'" << std::endl; return false; } @@ -462,7 +462,7 @@ bool DopplerVelocityLog::CreateRenderingSensors() this->dataPtr->sensorSdf->GetElement("arrangement"); if (!arrangementElement) { - ignerr << "No beam arrangement specified for " + gzerr << "No beam arrangement specified for " << "[" << this->Name() << "] sensor" << std::endl; return false; @@ -486,7 +486,7 @@ bool DopplerVelocityLog::CreateRenderingSensors() if (std::abs(beamTiltAngle.Radian()) >= std::abs(gz::math::Angle::HalfPi.Radian())) { - ignerr << "Invalid tilt angle for beam #" << beamId + gzerr << "Invalid tilt angle for beam #" << beamId << " of [" << this->Name() << "]" << " sensor: " << beamTiltAngle.Radian() << " rads " << "(" << beamTiltAngle.Degree() << " degrees) " @@ -499,7 +499,7 @@ bool DopplerVelocityLog::CreateRenderingSensors() beamId, beamApertureAngle, beamRotationAngle, beamTiltAngle}); - ignmsg << "Adding acoustic beam #" << beamId + gzmsg << "Adding acoustic beam #" << beamId << " to [" << this->Name() << "] sensor. " << "Beam has a " << beamApertureAngle.Radian() << " rads " << "(" << beamApertureAngle.Degree() << " degrees) aperture angle, " @@ -515,7 +515,7 @@ bool DopplerVelocityLog::CreateRenderingSensors() if (this->dataPtr->beams.size() < 3) { - ignerr << "Expected at least three (3) beams " + gzerr << "Expected at least three (3) beams " << "for [" << this->Name() << "] sensor." << std::endl; return false; @@ -527,7 +527,7 @@ bool DopplerVelocityLog::CreateRenderingSensors() this->Scene()->CreateGpuRays(this->Name() + "_depth_sensor"); if (!this->dataPtr->depthSensor) { - ignerr << "Failed to create depth sensor for " + gzerr << "Failed to create depth sensor for " << "for [" << this->Name() << "] sensor." << std::endl; return false; @@ -546,7 +546,7 @@ bool DopplerVelocityLog::CreateRenderingSensors() // with configured resolution this->dataPtr->resolution = arrangementElement->Get("resolution", 0.01).first; - ignmsg << "Setting beams' resolution to " << this->dataPtr->resolution + gzmsg << "Setting beams' resolution to " << this->dataPtr->resolution << " m at a 1 m distance for [" << this->Name() << "] sensor." << std::endl; @@ -585,13 +585,13 @@ bool DopplerVelocityLog::CreateRenderingSensors() const auto minimumRange = this->dataPtr->sensorSdf->Get("minimum_range", 0.1).first; - ignmsg << "Setting minimum range to " << minimumRange + gzmsg << "Setting minimum range to " << minimumRange << " m for [" << this->Name() << "] sensor." << std::endl; this->dataPtr->depthSensor->SetNearClipPlane(minimumRange); const auto maximumRange = this->dataPtr->sensorSdf->Get("maximum_range", 100.).first; - ignmsg << "Setting maximum range to " << maximumRange + gzmsg << "Setting maximum range to " << maximumRange << " m for [" << this->Name() << "] sensor." << std::endl; this->dataPtr->depthSensor->SetFarClipPlane(maximumRange); @@ -600,7 +600,7 @@ bool DopplerVelocityLog::CreateRenderingSensors() if (this->dataPtr->sensorSdf->HasElement("noise")) { - ignmsg << "Setting noise model for " + gzmsg << "Setting noise model for " << "[" << this->Name() << "] sensor." << std::endl; auto noiseElement = @@ -620,7 +620,7 @@ bool DopplerVelocityLog::CreateRenderingSensors() this->Scene()->CreateCamera(this->Name() + "_image_sensor"); if (!this->dataPtr->imageSensor) { - ignerr << "Failed to create image sensor for " + gzerr << "Failed to create image sensor for " << "for [" << this->Name() << "] sensor." << std::endl; return false; @@ -660,7 +660,7 @@ bool DopplerVelocityLog::CreateRenderingSensors() arrangementElement->Get("visualize", false).first; if (this->dataPtr->visualizeBeamLobes) { - ignmsg << "Enabling beam lobes' visual aids for " + gzmsg << "Enabling beam lobes' visual aids for " << "[" << this->Name() << "] sensor." << std::endl; for (const AcousticBeam & beam : this->dataPtr->beams) @@ -730,7 +730,7 @@ bool DopplerVelocityLog::CreateRenderingSensors() this->dataPtr->sensorSdf->Get("visualize", false).first; if (this->dataPtr->visualizeBeamReflections) { - ignmsg << "Enabling beam reflections' visual aids for " + gzmsg << "Enabling beam reflections' visual aids for " << "[" << this->Name() << "] sensor." << std::endl; for (const AcousticBeam & beam : this->dataPtr->beams) @@ -795,7 +795,7 @@ bool DopplerVelocityLog::CreateRenderingSensors() } } - ignmsg << "Initialized [" << this->Name() << "] sensor." << std::endl; + gzmsg << "Initialized [" << this->Name() << "] sensor." << std::endl; return true; } @@ -896,7 +896,7 @@ void DopplerVelocityLog::SetScene(gz::rendering::ScenePtr _scene) { if (!this->CreateRenderingSensors()) { - ignerr << "Failed to recreate rendering sensors for " + gzerr << "Failed to recreate rendering sensors for " << "[" << this->Name() << "]. Aborting load." << std::endl; } @@ -923,7 +923,7 @@ bool DopplerVelocityLog::Update(const std::chrono::steady_clock::duration &) if (!this->dataPtr->initialized || this->dataPtr->entityId == gz::sim::kNullEntity) { - ignerr << "Not initialized, update ignored.\n"; + gzerr << "Not initialized, update ignored.\n"; return false; } @@ -931,7 +931,7 @@ bool DopplerVelocityLog::Update(const std::chrono::steady_clock::duration &) { if (this->dataPtr->generatingData) { - igndbg << "Disabling data generation for sensor " + gzdbg << "Disabling data generation for sensor " << "[" << this->Name() << "] as no subscribers" << " were found." << std::endl; this->dataPtr->generatingData = false; @@ -943,7 +943,7 @@ bool DopplerVelocityLog::Update(const std::chrono::steady_clock::duration &) { if (!this->dataPtr->generatingData) { - igndbg << "Enabling data generation for sensor " + gzdbg << "Enabling data generation for sensor " << "[" << this->Name() << "] as some subscribers " << "were found." << std::endl; this->dataPtr->generatingData = true; @@ -1007,7 +1007,7 @@ void DopplerVelocityLog::PostUpdate(const std::chrono::steady_clock::duration &_ } else { - igndbg << "No entity associated to [" << visual->Name() << "] visual." + gzdbg << "No entity associated to [" << visual->Name() << "] visual." << " Assuming it is static w.r.t. the world." << std::endl; } } @@ -1182,9 +1182,9 @@ void DopplerVelocityLog::PostUpdate(const std::chrono::steady_clock::duration &_ timeout_ms, reply, result); if (!outcome || !result || !reply.data()) { - ignwarn << "Failed to render beam lobes' visual " - << "aids for [" << this->Name() << "] sensor." - << std::endl; + gzwarn << "Failed to render beam lobes' visual " + << "aids for [" << this->Name() << "] sensor." + << std::endl; } } @@ -1203,9 +1203,9 @@ void DopplerVelocityLog::PostUpdate(const std::chrono::steady_clock::duration &_ timeout_ms, reply, result); if (!outcome || !result || !reply.data()) { - ignwarn << "Failed to render beam reflections' visual " - << "aids for [" << this->Name() << "] sensor." - << std::endl; + gzwarn << "Failed to render beam reflections' visual " + << "aids for [" << this->Name() << "] sensor." + << std::endl; } } } diff --git a/lrauv_ignition_plugins/src/DopplerVelocityLog.hh b/lrauv_gazebo_plugins/src/DopplerVelocityLog.hh similarity index 98% rename from lrauv_ignition_plugins/src/DopplerVelocityLog.hh rename to lrauv_gazebo_plugins/src/DopplerVelocityLog.hh index 2cf04688..b8edb6c5 100644 --- a/lrauv_ignition_plugins/src/DopplerVelocityLog.hh +++ b/lrauv_gazebo_plugins/src/DopplerVelocityLog.hh @@ -54,8 +54,8 @@ class DopplerVelocityLogPrivate; /// beams' lobes are expected to face downwards. /// /// \verbatim -/// -/// +/// +/// /// /// /// @@ -72,7 +72,7 @@ class DopplerVelocityLogPrivate; /// /// /// -/// +/// /// /// \endverbatim /// diff --git a/lrauv_ignition_plugins/src/DopplerVelocityLogSystem.cc b/lrauv_gazebo_plugins/src/DopplerVelocityLogSystem.cc similarity index 96% rename from lrauv_ignition_plugins/src/DopplerVelocityLogSystem.cc rename to lrauv_gazebo_plugins/src/DopplerVelocityLogSystem.cc index 190268f4..cff94936 100644 --- a/lrauv_ignition_plugins/src/DopplerVelocityLogSystem.cc +++ b/lrauv_gazebo_plugins/src/DopplerVelocityLogSystem.cc @@ -232,21 +232,21 @@ void DopplerVelocityLogSystemPrivate::DoPreUpdate( // Check sensor's type before proceeding sdf::Sensor sdf = _custom->Data(); sdf::ElementPtr root = sdf.Element(); - if (!root->HasAttribute("ignition:type")) + if (!root->HasAttribute("gz:type")) { - ignmsg << "No 'igntion:type' attribute in custom sensor " + gzmsg << "No 'gz:type' attribute in custom sensor " << "[" << sensorScopedName << "]. Ignoring." << std::endl; return true; } - auto type = root->Get("ignition:type"); + auto type = root->Get("gz:type"); if (type != "dvl") { - igndbg << "Found custom sensor [" << sensorScopedName << "]" + gzdbg << "Found custom sensor [" << sensorScopedName << "]" << " of '" << type << "' type. Ignoring." << std::endl; return true; } - igndbg << "Found custom sensor [" << sensorScopedName << "]" + gzdbg << "Found custom sensor [" << sensorScopedName << "]" << " of '" << type << "' type!" << std::endl; sdf.SetName(sensorScopedName); @@ -366,7 +366,7 @@ void DopplerVelocityLogSystemPrivate::Handle( this->sensorManager.CreateSensor(_request.sdf); if (nullptr == sensor) { - ignerr << "Failed to create sensor " + gzerr << "Failed to create sensor " << "[" << _request.sdf.Name() << "]" << std::endl; return; @@ -383,11 +383,11 @@ void DopplerVelocityLogSystemPrivate::Handle( findEntityVisual(this->scene, _request.parent); if (!parentVisual) { - ignerr << "Failed to find parent visual for sensor " + gzerr << "Failed to find parent visual for sensor " << "[" << _request.sdf.Name() << "]" << std::endl; if (!this->sensorManager.Remove(sensor->Id())) { - ignerr << "Internal error, missing sensor " + gzerr << "Internal error, missing sensor " << "[" << _request.sdf.Name() << "]" << std::endl; } @@ -424,7 +424,7 @@ void DopplerVelocityLogSystemPrivate::Handle( } else { - ignerr << "Internal error, missing DVL sensor for entity " + gzerr << "Internal error, missing DVL sensor for entity " << "[" << _request.entity << "]" << std::endl; } this->sensorIdPerEntity.erase(it); @@ -537,7 +537,7 @@ void DopplerVelocityLogSystemPrivate::OnRenderTeardown() } else { - ignerr << "Internal error, missing DVL sensor for entity " + gzerr << "Internal error, missing DVL sensor for entity " << "[" << entityId << "]" << std::endl; } } diff --git a/lrauv_ignition_plugins/src/DopplerVelocityLogSystem.hh b/lrauv_gazebo_plugins/src/DopplerVelocityLogSystem.hh similarity index 100% rename from lrauv_ignition_plugins/src/DopplerVelocityLogSystem.hh rename to lrauv_gazebo_plugins/src/DopplerVelocityLogSystem.hh diff --git a/lrauv_ignition_plugins/src/HydrodynamicsPlugin.cc b/lrauv_gazebo_plugins/src/HydrodynamicsPlugin.cc similarity index 99% rename from lrauv_ignition_plugins/src/HydrodynamicsPlugin.cc rename to lrauv_gazebo_plugins/src/HydrodynamicsPlugin.cc index 444c9084..bf78b0c0 100644 --- a/lrauv_ignition_plugins/src/HydrodynamicsPlugin.cc +++ b/lrauv_gazebo_plugins/src/HydrodynamicsPlugin.cc @@ -214,7 +214,7 @@ void HydrodynamicsPlugin::Configure( if (gz::sim::kNullEntity == this->dataPtr->linkEntity) { - ignerr << "Failed to find link named [" << link_name << "] in model [" + gzerr << "Failed to find link named [" << link_name << "] in model [" << model.Name(_ecm) << "]. Plugin failed to initialize." << std::endl; return; } @@ -276,7 +276,7 @@ void HydrodynamicsPlugin::PreUpdate( if(!linearVelocity) { - ignerr <<"no linear vel" <<"\n"; + gzerr <<"no linear vel" <<"\n"; return; } diff --git a/lrauv_ignition_plugins/src/HydrodynamicsPlugin.hh b/lrauv_gazebo_plugins/src/HydrodynamicsPlugin.hh similarity index 100% rename from lrauv_ignition_plugins/src/HydrodynamicsPlugin.hh rename to lrauv_gazebo_plugins/src/HydrodynamicsPlugin.hh diff --git a/lrauv_ignition_plugins/src/LookupSensor.hh b/lrauv_gazebo_plugins/src/LookupSensor.hh similarity index 94% rename from lrauv_ignition_plugins/src/LookupSensor.hh rename to lrauv_gazebo_plugins/src/LookupSensor.hh index a7d4c433..60530e7f 100644 --- a/lrauv_ignition_plugins/src/LookupSensor.hh +++ b/lrauv_gazebo_plugins/src/LookupSensor.hh @@ -91,7 +91,7 @@ bool LookupSensor::Load(const sdf::Sensor &_sdf) auto type = gz::sensors::customType(_sdf); if (kTypeStr != type) { - ignerr << "Trying to load [" << kTypeStr << "] sensor, but got type [" + gzerr << "Trying to load [" << kTypeStr << "] sensor, but got type [" << type << "] instead." << std::endl; return false; } @@ -113,10 +113,10 @@ bool LookupSensor::Load(const sdf::Sensor &_sdf) this->pub = this->node.Advertise(this->Topic()); } - std::string elementStr("ignition:" + std::string(kTypeStr)); + std::string elementStr("gz:" + std::string(kTypeStr)); if (!_sdf.Element()->HasElement(elementStr)) { - igndbg << "No custom configuration for [" << this->Topic() << "]" + gzdbg << "No custom configuration for [" << this->Topic() << "]" << std::endl; return true; } @@ -126,7 +126,7 @@ bool LookupSensor::Load(const sdf::Sensor &_sdf) if (!customElem->HasElement("noise")) { - igndbg << "No noise for [" << this->Topic() << "]" << std::endl; + gzdbg << "No noise for [" << this->Topic() << "]" << std::endl; return true; } @@ -135,7 +135,7 @@ bool LookupSensor::Load(const sdf::Sensor &_sdf) this->noise = gz::sensors::NoiseFactory::NewNoiseModel(noiseSdf); if (nullptr == this->noise) { - ignerr << "Failed to load noise." << std::endl; + gzerr << "Failed to load noise." << std::endl; return false; } diff --git a/lrauv_ignition_plugins/src/RangeBearingPlugin.cc b/lrauv_gazebo_plugins/src/RangeBearingPlugin.cc similarity index 84% rename from lrauv_ignition_plugins/src/RangeBearingPlugin.cc rename to lrauv_gazebo_plugins/src/RangeBearingPlugin.cc index b25211d7..d77e3f86 100644 --- a/lrauv_ignition_plugins/src/RangeBearingPlugin.cc +++ b/lrauv_gazebo_plugins/src/RangeBearingPlugin.cc @@ -22,8 +22,8 @@ #include "RangeBearingPlugin.hh" -#include "lrauv_ignition_plugins/lrauv_range_bearing_request.pb.h" -#include "lrauv_ignition_plugins/lrauv_range_bearing_response.pb.h" +#include "lrauv_gazebo_plugins/lrauv_range_bearing_request.pb.h" +#include "lrauv_gazebo_plugins/lrauv_range_bearing_response.pb.h" #include @@ -35,7 +35,7 @@ #include #include -#include +#include namespace tethys { @@ -60,15 +60,15 @@ class RangeBearingPrivateData /// \brief Callback for CommsClient public: void OnReceiveCommsMsg( - const lrauv_ignition_plugins::msgs::LRAUVAcousticMessage& message); + const lrauv_gazebo_plugins::msgs::LRAUVAcousticMessage& message); /// \brief Callback for range requests public: void OnRangeRequest( - const lrauv_ignition_plugins::msgs::LRAUVRangeBearingRequest& req); + const lrauv_gazebo_plugins::msgs::LRAUVRangeBearingRequest& req); /// \brief Publish range-bearing response public: void PublishResponse( - const lrauv_ignition_plugins::msgs::LRAUVAcousticMessage& resp); + const lrauv_gazebo_plugins::msgs::LRAUVAcousticMessage& resp); /// \brief Queue which we need to respond to. public: std::queue messageQueue; @@ -119,12 +119,12 @@ void RangeBearingPrivateData::BindToAddress(const uint32_t address) //////////////////////////////////////////////// void RangeBearingPrivateData::OnReceiveCommsMsg( - const lrauv_ignition_plugins::msgs::LRAUVAcousticMessage& message) + const lrauv_gazebo_plugins::msgs::LRAUVAcousticMessage& message) { using MsgType = - lrauv_ignition_plugins::msgs::LRAUVAcousticMessage::MessageType; + lrauv_gazebo_plugins::msgs::LRAUVAcousticMessage::MessageType; - lrauv_ignition_plugins::msgs::LRAUVRangeBearingRequest req; + lrauv_gazebo_plugins::msgs::LRAUVRangeBearingRequest req; std::istringstream stream{message.data()}; req.ParseFromIstream(&stream); IncomingRangePing ping{message.from(), req.req_id(), this->timeNow}; @@ -140,15 +140,15 @@ void RangeBearingPrivateData::OnReceiveCommsMsg( this->PublishResponse(message); break; default: - ignwarn << "Unable to process message type\n"; + gzwarn << "Unable to process message type\n"; } } //////////////////////////////////////////////// void RangeBearingPrivateData::OnRangeRequest( - const lrauv_ignition_plugins::msgs::LRAUVRangeBearingRequest& req) + const lrauv_gazebo_plugins::msgs::LRAUVRangeBearingRequest& req) { - using Message = lrauv_ignition_plugins::msgs::LRAUVAcousticMessage; + using Message = lrauv_gazebo_plugins::msgs::LRAUVAcousticMessage; Message message; message.set_to(req.to()); message.set_from(this->address); @@ -165,9 +165,9 @@ void RangeBearingPrivateData::OnRangeRequest( //////////////////////////////////////////////// void RangeBearingPrivateData::PublishResponse( - const lrauv_ignition_plugins::msgs::LRAUVAcousticMessage& msg) + const lrauv_gazebo_plugins::msgs::LRAUVAcousticMessage& msg) { - lrauv_ignition_plugins::msgs::LRAUVRangeBearingResponse resp; + lrauv_gazebo_plugins::msgs::LRAUVRangeBearingResponse resp; std::istringstream stream{msg.data()}; resp.ParseFromIstream(&stream); @@ -185,9 +185,9 @@ void RangeBearingPrivateData::PublishResponse( // Transform pose of other vehicle to local frame auto poseInLocalFrame = poseOffset.Inverse() * otherVehiclesPos; - igndbg << "Current pose " << poseOffset.Pose().Pos() << "R: " << poseOffset.Pose().Rot().Euler() << "\n"; - igndbg << "Target pose (global frame)" << otherVehiclesPos << "\n"; - igndbg << "Target pose (local frame)" << poseInLocalFrame << "\n"; + gzdbg << "Current pose " << poseOffset.Pose().Pos() << "R: " << poseOffset.Pose().Rot().Euler() << "\n"; + gzdbg << "Target pose (global frame)" << otherVehiclesPos << "\n"; + gzdbg << "Target pose (local frame)" << poseInLocalFrame << "\n"; // Elevation is given as a function of angle from XY plane of the vehicle // with positive facing down. @@ -200,9 +200,9 @@ void RangeBearingPrivateData::PublishResponse( poseInLocalFrame.Y()); // TODO(arjo): This minus sign shouldn't be necessary. auto azimuth = (xyProj.Length() < 0.001) ? 0 : -atan2(xyProj.Y(), xyProj.X()); - igndbg << "Elevation " << elev << " Azimuth " << azimuth << "\n"; + gzdbg << "Elevation " << elev << " Azimuth " << azimuth << "\n"; - lrauv_ignition_plugins::msgs::LRAUVRangeBearingResponse finalAnswer; + lrauv_gazebo_plugins::msgs::LRAUVRangeBearingResponse finalAnswer; finalAnswer.set_range(range); finalAnswer.set_req_id(resp.req_id()); @@ -228,14 +228,14 @@ void RangeBearingPlugin::Configure( { if (!_sdf->HasElement("address")) { - ignerr << "
tag not found" << std::endl; + gzerr << "
tag not found" << std::endl; return; } this->dataPtr->BindToAddress(_sdf->Get("address")); if (!_sdf->HasElement("processing_delay")) { - ignerr << " not specified." << std::endl; + gzerr << " not specified." << std::endl; return; } this->dataPtr->processingDelay = @@ -244,14 +244,14 @@ void RangeBearingPlugin::Configure( if (!_sdf->HasElement("speed_of_sound")) { - ignerr << " not specified\n"; + gzerr << " not specified\n"; return; } this->dataPtr->speedOfSound = _sdf->Get("speed_of_sound"); if (!_sdf->HasElement("link_name")) { - ignerr << + gzerr << " - expected the link name of the receptor" << std::endl; return; } @@ -260,7 +260,7 @@ void RangeBearingPlugin::Configure( this->dataPtr->linkEntity = vehicleModel.LinkByName(_ecm, linkName); if(this->dataPtr->linkEntity == gz::sim::kNullEntity) { - ignerr << "Link " << linkName << " was not found in " + gzerr << "Link " << linkName << " was not found in " << vehicleModel.Name(_ecm) << std::endl; return; } @@ -280,7 +280,7 @@ void RangeBearingPlugin::Configure( ); this->dataPtr->pub = this->dataPtr->node.Advertise< - lrauv_ignition_plugins::msgs::LRAUVRangeBearingResponse>( + lrauv_gazebo_plugins::msgs::LRAUVRangeBearingResponse>( this->dataPtr->topicPrefix + "responses"); } @@ -290,7 +290,7 @@ void RangeBearingPlugin::PreUpdate( gz::sim::EntityComponentManager &_ecm) { using MsgType = - lrauv_ignition_plugins::msgs::LRAUVAcousticMessage::MessageType; + lrauv_gazebo_plugins::msgs::LRAUVAcousticMessage::MessageType; if(_info.paused) return; @@ -316,8 +316,8 @@ void RangeBearingPlugin::PreUpdate( { // Handles incoming messages auto ping = this->dataPtr->messageQueue.front(); - lrauv_ignition_plugins::msgs::LRAUVAcousticMessage message; - lrauv_ignition_plugins::msgs::LRAUVRangeBearingResponse resp; + lrauv_gazebo_plugins::msgs::LRAUVAcousticMessage message; + lrauv_gazebo_plugins::msgs::LRAUVRangeBearingResponse resp; message.set_to(ping.from); message.set_from(this->dataPtr->address); message.set_type(MsgType::LRAUVAcousticMessage_MessageType_RangeResponse); diff --git a/lrauv_ignition_plugins/src/RangeBearingPlugin.hh b/lrauv_gazebo_plugins/src/RangeBearingPlugin.hh similarity index 93% rename from lrauv_ignition_plugins/src/RangeBearingPlugin.hh rename to lrauv_gazebo_plugins/src/RangeBearingPlugin.hh index cdefc899..9ac8589d 100644 --- a/lrauv_ignition_plugins/src/RangeBearingPlugin.hh +++ b/lrauv_gazebo_plugins/src/RangeBearingPlugin.hh @@ -48,8 +48,8 @@ class RangeBearingPrivateData; /// /// The RangeBearingPlugin will listen on the /// `/{namespace}/range_bearing/requests` for incoming requests using the -/// `lrauv_ignition_plugins::msgs::LRAUVRangeBearingRequest` message and will -/// respond using the `lrauv_ignition_plugins::msgs::LRAUVRangeBearingResponse` +/// `lrauv_gazebo_plugins::msgs::LRAUVRangeBearingRequest` message and will +/// respond using the `lrauv_gazebo_plugins::msgs::LRAUVRangeBearingResponse` /// message on the `/{namespace}/range_bearing/responses` topic. /// class RangeBearingPlugin: diff --git a/lrauv_ignition_plugins/src/ReferenceAxis.cc b/lrauv_gazebo_plugins/src/ReferenceAxis.cc similarity index 97% rename from lrauv_ignition_plugins/src/ReferenceAxis.cc rename to lrauv_gazebo_plugins/src/ReferenceAxis.cc index f9298ea8..658d5e4a 100644 --- a/lrauv_ignition_plugins/src/ReferenceAxis.cc +++ b/lrauv_gazebo_plugins/src/ReferenceAxis.cc @@ -132,7 +132,7 @@ void ReferenceAxisPrivate::Initialize() std::get(cam->UserData("user-camera"))) { this->camera = cam; - igndbg << "Video Recorder plugin is recoding camera [" + gzdbg << "Video Recorder plugin is recoding camera [" << this->camera->Name() << "]" << std::endl; break; } @@ -140,7 +140,7 @@ void ReferenceAxisPrivate::Initialize() if (!this->camera) { - ignerr << "Camera is not available" << std::endl; + gzerr << "Camera is not available" << std::endl; } } @@ -164,7 +164,7 @@ void ReferenceAxisPrivate::OnPreRender() } // Calculate current HFOV because the API is always giving the initial value. - // https://github.com/ignitionrobotics/ign-rendering/issues/500 + // https://github.com/gazebosim/gz-rendering/issues/500 double hFOV = 2.0 * atan(tan(vFOV / 2.0) / aspectRatio); // TODO(chapulina) Let user choose distance from camera @@ -186,7 +186,7 @@ void ReferenceAxisPrivate::OnPreRender() this->enuVis->SetLocalScale(0.25, 0.25, 0.25); // Ogre2 doesn't support text yet - // https://github.com/ignitionrobotics/ign-rendering/issues/487 + // https://github.com/gazebosim/gz-rendering/issues/487 auto textGeom = this->scene->CreateText(); if (nullptr != textGeom) { diff --git a/lrauv_ignition_plugins/src/ReferenceAxis.hh b/lrauv_gazebo_plugins/src/ReferenceAxis.hh similarity index 100% rename from lrauv_ignition_plugins/src/ReferenceAxis.hh rename to lrauv_gazebo_plugins/src/ReferenceAxis.hh diff --git a/lrauv_ignition_plugins/src/ReferenceAxis.qml b/lrauv_gazebo_plugins/src/ReferenceAxis.qml similarity index 100% rename from lrauv_ignition_plugins/src/ReferenceAxis.qml rename to lrauv_gazebo_plugins/src/ReferenceAxis.qml diff --git a/lrauv_ignition_plugins/src/ReferenceAxis.qrc b/lrauv_gazebo_plugins/src/ReferenceAxis.qrc similarity index 100% rename from lrauv_ignition_plugins/src/ReferenceAxis.qrc rename to lrauv_gazebo_plugins/src/ReferenceAxis.qrc diff --git a/lrauv_ignition_plugins/src/ScienceSensorsSystem.cc b/lrauv_gazebo_plugins/src/ScienceSensorsSystem.cc similarity index 95% rename from lrauv_ignition_plugins/src/ScienceSensorsSystem.cc rename to lrauv_gazebo_plugins/src/ScienceSensorsSystem.cc index 959bf3d9..8102716a 100644 --- a/lrauv_ignition_plugins/src/ScienceSensorsSystem.cc +++ b/lrauv_gazebo_plugins/src/ScienceSensorsSystem.cc @@ -56,7 +56,7 @@ class tethys::ScienceSensorsSystemPrivate /// \param[in] _filepath Path to file to reload. public: void OnReloadData(const gz::msgs::StringMsg &_filepath) { - igndbg << "Reloading file " << _filepath.data() << "\n"; + gzdbg << "Reloading file " << _filepath.data() << "\n"; // Trigger reload and reread data std::lock_guard lock(this->dataMutex); @@ -294,7 +294,7 @@ void createSensor(ScienceSensorsSystem *_system, auto sensor = sensorFactory.CreateSensor(data); if (nullptr == sensor) { - ignerr << "Failed to create sensor [" << sensorScopedName << "]" + gzerr << "Failed to create sensor [" << sensorScopedName << "]" << std::endl; return; } @@ -312,7 +312,7 @@ void createSensor(ScienceSensorsSystem *_system, _system->entitySensorMap.insert(std::make_pair(_entity, std::move(sensor))); - igndbg << "Created sensor [" << sensorScopedName << "]" + gzdbg << "Created sensor [" << sensorScopedName << "]" << std::endl; } @@ -393,7 +393,7 @@ bool ScienceSensorsSystemPrivate::ReadData( if (!this->sphericalCoordinatesInitialized) { - ignerr << "Trying to read data before spherical coordinates were " + gzerr << "Trying to read data before spherical coordinates were " << "initialized." << std::endl; return false; } @@ -413,7 +413,7 @@ bool ScienceSensorsSystemPrivate::ReadData( if (!fs.is_open()) { - ignerr << "Failed to open file [" << this->dataPath << "]" << std::endl; + gzerr << "Failed to open file [" << this->dataPath << "]" << std::endl; return false; } @@ -466,13 +466,13 @@ bool ScienceSensorsSystemPrivate::ReadData( } catch (const std::invalid_argument &ia) { - ignerr << "Line [" << line << "] contains invalid word. Skipping. " + gzerr << "Line [" << line << "] contains invalid word. Skipping. " << ia.what() << std::endl; continue; } catch (const std::out_of_range &oor) { - ignerr << "Line [" << line << "] contains invalid word. Skipping. " + gzerr << "Line [" << line << "] contains invalid word. Skipping. " << oor.what() << std::endl; continue; } @@ -549,7 +549,7 @@ bool ScienceSensorsSystemPrivate::ReadData( } else { - ignerr << "Unrecognized science data field name [" << fieldnames[i] + gzerr << "Unrecognized science data field name [" << fieldnames[i] << "]. Skipping column." << std::endl; } @@ -560,7 +560,7 @@ bool ScienceSensorsSystemPrivate::ReadData( // If no timestamp was provided for this line, cannot index the datum. if (lineTimeIdx == -1) { - ignerr << "Line [" << line << "] timestamp invalid. Skipping." + gzerr << "Line [" << line << "] timestamp invalid. Skipping." << std::endl; continue; } @@ -589,7 +589,7 @@ bool ScienceSensorsSystemPrivate::ReadData( // If spatial coordinates invalid, cannot use to index this datum else { - ignerr << "Line [" << line << "] has invalid spatial coordinates " + gzerr << "Line [" << line << "] has invalid spatial coordinates " << "(latitude, longitude, and/or depth). Skipping." << std::endl; continue; } @@ -639,14 +639,14 @@ void ScienceSensorsSystem::Configure( std::string fullPath = sysPaths.FindFile(this->dataPtr->dataPath); if (fullPath.empty()) { - ignerr << "Data file [" << this->dataPtr->dataPath << "] not found." + gzerr << "Data file [" << this->dataPtr->dataPath << "] not found." << std::endl; return; } else { this->dataPtr->dataPath = fullPath; - ignmsg << "Loading science data from [" << this->dataPtr->dataPath << "]" + gzmsg << "Loading science data from [" << this->dataPtr->dataPath << "]" << std::endl; } @@ -731,8 +731,8 @@ void ScienceSensorsSystem::PostUpdate(const gz::sim::UpdateInfo &_info, else { // TODO(chapulina) Throttle if it becomes spammy - ignwarn << "Science sensor data won't be published because spherical " - << "coordinates are unknown." << std::endl; + gzwarn << "Science sensor data won't be published because spherical " + << "coordinates are unknown." << std::endl; return; } } @@ -822,7 +822,7 @@ void ScienceSensorsSystem::PostUpdate(const gz::sim::UpdateInfo &_info, } else { - ignerr << "Unsupported sensor type, failed to set data" << std::endl; + gzerr << "Unsupported sensor type, failed to set data" << std::endl; } // Update all the sensors @@ -843,14 +843,14 @@ void ScienceSensorsSystem::RemoveSensorEntities( auto sensorId = this->entitySensorMap.find(_entity); if (sensorId == this->entitySensorMap.end()) { - ignerr << "Internal error, missing sensor for entity [" + gzerr << "Internal error, missing sensor for entity [" << _entity << "]" << std::endl; return true; } this->entitySensorMap.erase(sensorId); - igndbg << "Removed sensor entity [" << _entity << "]" << std::endl; + gzdbg << "Removed sensor entity [" << _entity << "]" << std::endl; return true; }); @@ -897,7 +897,7 @@ gz::msgs::PointCloudPacked ScienceSensorsSystemPrivate::PointCloudMsg() if (this->timeIdx < 0 || this->timeIdx >= this->timestamps.size()) { - ignerr << "Invalid time index [" << this->timeIdx << "]." + gzerr << "Invalid time index [" << this->timeIdx << "]." << std::endl; return msg; } diff --git a/lrauv_ignition_plugins/src/ScienceSensorsSystem.hh b/lrauv_gazebo_plugins/src/ScienceSensorsSystem.hh similarity index 100% rename from lrauv_ignition_plugins/src/ScienceSensorsSystem.hh rename to lrauv_gazebo_plugins/src/ScienceSensorsSystem.hh diff --git a/lrauv_ignition_plugins/src/SpawnPanelPlugin.cc b/lrauv_gazebo_plugins/src/SpawnPanelPlugin.cc similarity index 89% rename from lrauv_ignition_plugins/src/SpawnPanelPlugin.cc rename to lrauv_gazebo_plugins/src/SpawnPanelPlugin.cc index d9160173..50871a03 100644 --- a/lrauv_ignition_plugins/src/SpawnPanelPlugin.cc +++ b/lrauv_gazebo_plugins/src/SpawnPanelPlugin.cc @@ -40,7 +40,7 @@ SpawnPanel::SpawnPanel() gz::gui::App()->Engine()->rootContext()->setContextProperty( "SpawnPanel", this); - this->pub = this->node.Advertise( + this->pub = this->node.Advertise( "/lrauv/init"); } @@ -63,18 +63,18 @@ void SpawnPanel::Spawn( { if (this->acousticIds.count(commsId) > 0) { - ignerr << "Comms ID [" << commsId << "] already exists.\n"; + gzerr << "Comms ID [" << commsId << "] already exists.\n"; return; } auto vehName = name.toStdString(); if (this->modelNames.count(vehName) > 0) { - ignerr << "Model name [" << vehName << "] already exists.\n"; + gzerr << "Model name [" << vehName << "] already exists.\n"; return; } - lrauv_ignition_plugins::msgs::LRAUVInit msg; + lrauv_gazebo_plugins::msgs::LRAUVInit msg; msg.set_initlat_(lattitude); msg.set_initlon_(longitude); msg.set_initz_(depth); diff --git a/lrauv_ignition_plugins/src/SpawnPanelPlugin.hh b/lrauv_gazebo_plugins/src/SpawnPanelPlugin.hh similarity index 97% rename from lrauv_ignition_plugins/src/SpawnPanelPlugin.hh rename to lrauv_gazebo_plugins/src/SpawnPanelPlugin.hh index d745d64c..a13cf66c 100644 --- a/lrauv_ignition_plugins/src/SpawnPanelPlugin.hh +++ b/lrauv_gazebo_plugins/src/SpawnPanelPlugin.hh @@ -29,7 +29,7 @@ #include -#include "lrauv_ignition_plugins/lrauv_init.pb.h" +#include "lrauv_gazebo_plugins/lrauv_init.pb.h" namespace tethys { diff --git a/lrauv_ignition_plugins/src/SpawnPanelPlugin.qml b/lrauv_gazebo_plugins/src/SpawnPanelPlugin.qml similarity index 98% rename from lrauv_ignition_plugins/src/SpawnPanelPlugin.qml rename to lrauv_gazebo_plugins/src/SpawnPanelPlugin.qml index aeccf33c..c4f46127 100644 --- a/lrauv_ignition_plugins/src/SpawnPanelPlugin.qml +++ b/lrauv_gazebo_plugins/src/SpawnPanelPlugin.qml @@ -25,7 +25,7 @@ import QtQuick 2.9 import QtQuick.Controls 2.1 import QtQuick.Controls.Material 2.1 import QtQuick.Layouts 1.3 -import ignition.gui 1.0 +import gz.gui 1.0 GridLayout { id: mainLayout diff --git a/lrauv_ignition_plugins/src/SpawnPanelPlugin.qrc b/lrauv_gazebo_plugins/src/SpawnPanelPlugin.qrc similarity index 100% rename from lrauv_ignition_plugins/src/SpawnPanelPlugin.qrc rename to lrauv_gazebo_plugins/src/SpawnPanelPlugin.qrc diff --git a/lrauv_ignition_plugins/src/TethysCommPlugin.cc b/lrauv_gazebo_plugins/src/TethysCommPlugin.cc similarity index 92% rename from lrauv_ignition_plugins/src/TethysCommPlugin.cc rename to lrauv_gazebo_plugins/src/TethysCommPlugin.cc index a1bc4612..2c0f8850 100644 --- a/lrauv_ignition_plugins/src/TethysCommPlugin.cc +++ b/lrauv_gazebo_plugins/src/TethysCommPlugin.cc @@ -37,8 +37,8 @@ #include #include -#include "lrauv_ignition_plugins/lrauv_command.pb.h" -#include "lrauv_ignition_plugins/lrauv_state.pb.h" +#include "lrauv_gazebo_plugins/lrauv_command.pb.h" +#include "lrauv_gazebo_plugins/lrauv_state.pb.h" #include "TethysCommPlugin.hh" @@ -63,7 +63,7 @@ double pressureFromDepthLatitude(double _depth, double _lat) } if (_lat < -90 || _lat > 90) { - ignerr << "Latitude range is [-90, 90]. Received [" << _lat << "]" + gzerr << "Latitude range is [-90, 90]. Received [" << _lat << "]" << std::endl; return -1.0; } @@ -232,17 +232,17 @@ void TethysCommPlugin::Configure( if (!this->node.Subscribe(this->commandTopic, &TethysCommPlugin::CommandCallback, this)) { - ignerr << "Error subscribing to topic " << "[" << this->commandTopic + gzerr << "Error subscribing to topic " << "[" << this->commandTopic << "]. " << std::endl; return; } this->statePub = - this->node.Advertise( + this->node.Advertise( this->stateTopic); if (!this->statePub) { - ignerr << "Error advertising topic [" << this->stateTopic << "]" + gzerr << "Error advertising topic [" << this->stateTopic << "]" << std::endl; } @@ -251,7 +251,7 @@ void TethysCommPlugin::Configure( this->node.Advertise(navSatTopic); if (!this->navSatPub) { - ignerr << "Error advertising topic [" << navSatTopic << "]" << std::endl; + gzerr << "Error advertising topic [" << navSatTopic << "]" << std::endl; } SetupControlTopics(ns); @@ -266,7 +266,7 @@ void TethysCommPlugin::SetupControlTopics(const std::string &_ns) this->node.Advertise(this->thrusterTopic); if (!this->thrusterPub) { - ignerr << "Error advertising topic [" << this->thrusterTopic << "]" + gzerr << "Error advertising topic [" << this->thrusterTopic << "]" << std::endl; } @@ -276,7 +276,7 @@ void TethysCommPlugin::SetupControlTopics(const std::string &_ns) this->node.Advertise(this->rudderTopic); if (!this->rudderPub) { - ignerr << "Error advertising topic [" << this->rudderTopic << "]" + gzerr << "Error advertising topic [" << this->rudderTopic << "]" << std::endl; } @@ -286,7 +286,7 @@ void TethysCommPlugin::SetupControlTopics(const std::string &_ns) this->node.Advertise(this->elevatorTopic); if (!this->elevatorPub) { - ignerr << "Error advertising topic [" << this->elevatorTopic << "]" + gzerr << "Error advertising topic [" << this->elevatorTopic << "]" << std::endl; } @@ -296,7 +296,7 @@ void TethysCommPlugin::SetupControlTopics(const std::string &_ns) this->node.Advertise(this->massShifterTopic); if (!this->massShifterPub) { - ignerr << "Error advertising topic [" << this->massShifterTopic << "]" + gzerr << "Error advertising topic [" << this->massShifterTopic << "]" << std::endl; } @@ -307,7 +307,7 @@ void TethysCommPlugin::SetupControlTopics(const std::string &_ns) this->node.Advertise(this->buoyancyEngineCmdTopic); if (!this->buoyancyEnginePub) { - ignerr << "Error advertising topic [" << this->buoyancyEngineCmdTopic << "]" + gzerr << "Error advertising topic [" << this->buoyancyEngineCmdTopic << "]" << std::endl; } @@ -317,7 +317,7 @@ void TethysCommPlugin::SetupControlTopics(const std::string &_ns) if (!this->node.Subscribe(this->buoyancyEngineStateTopic, &TethysCommPlugin::BuoyancyStateCallback, this)) { - ignerr << "Error subscribing to topic " << "[" + gzerr << "Error subscribing to topic " << "[" << this->buoyancyEngineStateTopic << "]. " << std::endl; } @@ -327,7 +327,7 @@ void TethysCommPlugin::SetupControlTopics(const std::string &_ns) this->node.Advertise(this->dropWeightTopic); if(!this->dropWeightPub) { - ignerr << "Error advertising topic [" << this->dropWeightTopic << "]" + gzerr << "Error advertising topic [" << this->dropWeightTopic << "]" << std::endl; } @@ -337,7 +337,7 @@ void TethysCommPlugin::SetupControlTopics(const std::string &_ns) if (!this->node.Subscribe(this->salinityTopic, &TethysCommPlugin::SalinityCallback, this)) { - ignerr << "Error subscribing to topic " << "[" + gzerr << "Error subscribing to topic " << "[" << this->salinityTopic << "]. " << std::endl; } @@ -346,7 +346,7 @@ void TethysCommPlugin::SetupControlTopics(const std::string &_ns) if (!this->node.Subscribe(this->temperatureTopic, &TethysCommPlugin::TemperatureCallback, this)) { - ignerr << "Error subscribing to topic " << "[" + gzerr << "Error subscribing to topic " << "[" << this->temperatureTopic << "]. " << std::endl; } @@ -355,7 +355,7 @@ void TethysCommPlugin::SetupControlTopics(const std::string &_ns) if (!this->node.Subscribe(this->batteryTopic, &TethysCommPlugin::BatteryCallback, this)) { - ignerr << "Error subscribing to topic " << "[" + gzerr << "Error subscribing to topic " << "[" << this->batteryTopic << "]. " << std::endl; } @@ -364,7 +364,7 @@ void TethysCommPlugin::SetupControlTopics(const std::string &_ns) if (!this->node.Subscribe(this->chlorophyllTopic, &TethysCommPlugin::ChlorophyllCallback, this)) { - ignerr << "Error subscribing to topic " << "[" + gzerr << "Error subscribing to topic " << "[" << this->chlorophyllTopic << "]. " << std::endl; } @@ -373,7 +373,7 @@ void TethysCommPlugin::SetupControlTopics(const std::string &_ns) if (!this->node.Subscribe(this->currentTopic, &TethysCommPlugin::CurrentCallback, this)) { - ignerr << "Error subscribing to topic " << "[" + gzerr << "Error subscribing to topic " << "[" << this->currentTopic << "]. " << std::endl; } } @@ -436,11 +436,11 @@ void TethysCommPlugin::SetupEntities( } void TethysCommPlugin::CommandCallback( - const lrauv_ignition_plugins::msgs::LRAUVCommand &_msg) + const lrauv_gazebo_plugins::msgs::LRAUVCommand &_msg) { if (this->debugPrintout) { - igndbg << "[" << this->ns << "] Received command: " << std::endl + gzdbg << "[" << this->ns << "] Received command: " << std::endl << _msg.DebugString() << std::endl; } @@ -527,7 +527,7 @@ void TethysCommPlugin::PostUpdate( return; // Publish state - lrauv_ignition_plugins::msgs::LRAUVState stateMsg; + lrauv_gazebo_plugins::msgs::LRAUVState stateMsg; /////////////////////////////////// // Header @@ -543,7 +543,7 @@ void TethysCommPlugin::PostUpdate( _ecm.Component(thrusterJoint); if (propAngVelComp->Data().size() != 1) { - ignerr << "Propeller joint has wrong size\n"; + gzerr << "Propeller joint has wrong size\n"; return; } stateMsg.set_propomega_(propAngVelComp->Data()[0]); @@ -553,7 +553,7 @@ void TethysCommPlugin::PostUpdate( _ecm.Component(rudderJoint); if (rudderPosComp->Data().size() != 1) { - ignerr << "Rudder joint has wrong size\n"; + gzerr << "Rudder joint has wrong size\n"; return; } stateMsg.set_rudderangle_(rudderPosComp->Data()[0]); @@ -563,7 +563,7 @@ void TethysCommPlugin::PostUpdate( _ecm.Component(elevatorJoint); if (elevatorPosComp->Data().size() != 1) { - ignerr << "Elavator joint has wrong size\n"; + gzerr << "Elavator joint has wrong size\n"; return; } stateMsg.set_elevatorangle_(elevatorPosComp->Data()[0]); @@ -574,7 +574,7 @@ void TethysCommPlugin::PostUpdate( massShifterJoint); if (massShifterPosComp->Data().size() != 1) { - ignerr << "Mass shifter joint component has the wrong size (" + gzerr << "Mass shifter joint component has the wrong size (" << massShifterPosComp->Data().size() << "), expected 1\n"; return; } @@ -680,7 +680,7 @@ void TethysCommPlugin::PostUpdate( if (this->debugPrintout && _info.simTime - this->prevPubPrintTime > std::chrono::milliseconds(1000)) { - igndbg << "[" << this->ns << "] Published state to " << this->stateTopic + gzdbg << "[" << this->ns << "] Published state to " << this->stateTopic << " at time: " << stateMsg.header().stamp().sec() << "." << stateMsg.header().stamp().nsec() << std::endl << "\tLat / lon (deg): " << stateMsg.latitudedeg_() << " / " diff --git a/lrauv_ignition_plugins/src/TethysCommPlugin.hh b/lrauv_gazebo_plugins/src/TethysCommPlugin.hh similarity index 98% rename from lrauv_ignition_plugins/src/TethysCommPlugin.hh rename to lrauv_gazebo_plugins/src/TethysCommPlugin.hh index 54863c3e..50c464e2 100644 --- a/lrauv_ignition_plugins/src/TethysCommPlugin.hh +++ b/lrauv_gazebo_plugins/src/TethysCommPlugin.hh @@ -30,7 +30,7 @@ #include #include -#include "lrauv_ignition_plugins/lrauv_command.pb.h" +#include "lrauv_gazebo_plugins/lrauv_command.pb.h" namespace tethys { @@ -54,7 +54,7 @@ namespace tethys /// Callback function for command from LRAUV Main Vehicle Application /// \param[in] _msg Command message public: void CommandCallback( - const lrauv_ignition_plugins::msgs::LRAUVCommand &_msg); + const lrauv_gazebo_plugins::msgs::LRAUVCommand &_msg); /// Callback function for buoyancy bladder state /// \param[in] _msg Bladder volume diff --git a/lrauv_ignition_plugins/src/TimeAnalysisPlugin.cc b/lrauv_gazebo_plugins/src/TimeAnalysisPlugin.cc similarity index 89% rename from lrauv_ignition_plugins/src/TimeAnalysisPlugin.cc rename to lrauv_gazebo_plugins/src/TimeAnalysisPlugin.cc index b5b765cb..74447290 100644 --- a/lrauv_ignition_plugins/src/TimeAnalysisPlugin.cc +++ b/lrauv_gazebo_plugins/src/TimeAnalysisPlugin.cc @@ -43,13 +43,13 @@ void TimeAnalysisPlugin::Configure( gz::sim::EntityComponentManager &_ecm, gz::sim::EventManager &) { - ignmsg << "TimeAnalysisPlugin::Configure" << std::endl; + gzmsg << "TimeAnalysisPlugin::Configure" << std::endl; // Subscribe to world stats for actual real time factor if (!this->node.Subscribe("/stats", &TimeAnalysisPlugin::RTFCallback, this)) { - ignerr << "Error subscribing to topic " << "[" << "/stats" << "]. " + gzerr << "Error subscribing to topic " << "[" << "/stats" << "]. " << std::endl; return; } @@ -58,7 +58,7 @@ void TimeAnalysisPlugin::Configure( gz::sim::World world(_entity); if (!world.Valid(_ecm)) { - ignerr << "Time analysis plugin must be attached to the world." + gzerr << "Time analysis plugin must be attached to the world." << std::endl; return; } @@ -70,7 +70,7 @@ void TimeAnalysisPlugin::Configure( this->physicsCmdService); if (this->physicsCmdService.empty()) { - ignerr << "Invalid physics command service topic provided" << std::endl; + gzerr << "Invalid physics command service topic provided" << std::endl; return; } @@ -106,20 +106,20 @@ void TimeAnalysisPlugin::PostUpdate( // Go to next step size. Use == to only print once. if (nextStepSizeIdx == std::size(this->stepSizes)) { - ignmsg << "Data collection complete." << std::endl; + gzmsg << "Data collection complete." << std::endl; // Increment again so it would not come into function to keep printing nextStepSizeIdx++; return; } double nextStepSize = this->stepSizes[nextStepSizeIdx]; nextStepSizeIdx++; - ignmsg << "Setting new max_step_size (dt) to " << nextStepSize << std::endl; + gzmsg << "Setting new max_step_size (dt) to " << nextStepSize << std::endl; std::function physCb = [](const gz::msgs::Boolean &/*_rep*/, const bool _result) { if (!_result) - ignerr << "Error setting physics parameters" << std::endl; + gzerr << "Error setting physics parameters" << std::endl; }; // Set physics parameters dynamically diff --git a/lrauv_ignition_plugins/src/TimeAnalysisPlugin.hh b/lrauv_gazebo_plugins/src/TimeAnalysisPlugin.hh similarity index 100% rename from lrauv_ignition_plugins/src/TimeAnalysisPlugin.hh rename to lrauv_gazebo_plugins/src/TimeAnalysisPlugin.hh diff --git a/lrauv_ignition_plugins/src/WorldCommPlugin.cc b/lrauv_gazebo_plugins/src/WorldCommPlugin.cc similarity index 89% rename from lrauv_ignition_plugins/src/WorldCommPlugin.cc rename to lrauv_gazebo_plugins/src/WorldCommPlugin.cc index 4f7d1d6a..b8ac0208 100644 --- a/lrauv_ignition_plugins/src/WorldCommPlugin.cc +++ b/lrauv_gazebo_plugins/src/WorldCommPlugin.cc @@ -34,7 +34,7 @@ #include #include -#include "lrauv_ignition_plugins/lrauv_init.pb.h" +#include "lrauv_gazebo_plugins/lrauv_init.pb.h" #include "WorldCommPlugin.hh" @@ -57,11 +57,11 @@ void WorldCommPlugin::Configure( if (!this->node.Subscribe(this->spawnTopic, &WorldCommPlugin::SpawnCallback, this)) { - ignerr << "Error subscribing to topic " << "[" << this->spawnTopic << "]. " + gzerr << "Error subscribing to topic " << "[" << this->spawnTopic << "]. " << std::endl; return; } - ignmsg << "Listening to spawn messages on [" << this->spawnTopic << "]" + gzmsg << "Listening to spawn messages on [" << this->spawnTopic << "]" << std::endl; std::string worldName; @@ -76,18 +76,18 @@ void WorldCommPlugin::Configure( } else { - ignerr << "Failed to get name for world entity [" << worldEntity + gzerr << "Failed to get name for world entity [" << worldEntity << "]" << std::endl; } } else { - ignerr << "Failed to get world entity" << std::endl; + gzerr << "Failed to get world entity" << std::endl; } if (worldName.empty()) { - ignerr << "Failed to initialize plugin." << std::endl; + gzerr << "Failed to initialize plugin." << std::endl; return; } @@ -96,7 +96,7 @@ void WorldCommPlugin::Configure( gz::transport::TopicUtils::AsValidTopic(worldName); if (topicWorldName.empty()) { - ignerr << "Invalid world name [" + gzerr << "Invalid world name [" << worldName << "]" << std::endl; return; } @@ -119,19 +119,19 @@ void WorldCommPlugin::ServiceResponse(const gz::msgs::Boolean &_rep, const bool _result) { if (!_result || !_rep.data()) - ignerr << "Error requesting some service." << std::endl; + gzerr << "Error requesting some service." << std::endl; } ///////////////////////////////////////////////// void WorldCommPlugin::SpawnCallback( - const lrauv_ignition_plugins::msgs::LRAUVInit &_msg) + const lrauv_gazebo_plugins::msgs::LRAUVInit &_msg) { - igndbg << "Received spawn message: " << std::endl + gzdbg << "Received spawn message: " << std::endl << _msg.DebugString() << std::endl; if (!_msg.has_id_()) { - ignerr << "Received empty ID, can't initialize vehicle." << std::endl; + gzerr << "Received empty ID, can't initialize vehicle." << std::endl; return; } @@ -142,7 +142,7 @@ void WorldCommPlugin::SpawnCallback( // Center the world around the first vehicle spawned if (!this->hasWorldLatLon) { - igndbg << "Setting world origin coordinates to latitude [" << lat + gzdbg << "Setting world origin coordinates to latitude [" << lat << "], longitude [" << lon << "], elevation [" << ele << "]" << std::endl; @@ -160,7 +160,7 @@ void WorldCommPlugin::SpawnCallback( if (!this->node.Request(this->setSphericalCoordsService, scReq, &WorldCommPlugin::ServiceResponse, this)) { - ignerr << "Failed to request service [" << this->setSphericalCoordsService + gzerr << "Failed to request service [" << this->setSphericalCoordsService << "]" << std::endl; } else @@ -211,7 +211,7 @@ void WorldCommPlugin::SpawnCallback( if (!this->node.Request(this->createService, factoryReq, &WorldCommPlugin::ServiceResponse, this)) { - ignerr << "Failed to request service [" << this->createService + gzerr << "Failed to request service [" << this->createService << "]" << std::endl; } else @@ -222,14 +222,14 @@ void WorldCommPlugin::SpawnCallback( if (!this->node.Request(this->performerService, performerReq, &WorldCommPlugin::ServiceResponse, this)) { - ignerr << "Failed to request service [" << this->performerService + gzerr << "Failed to request service [" << this->performerService << "]" << std::endl; } } } ///////////////////////////////////////////////// -std::string WorldCommPlugin::TethysSdfString(const lrauv_ignition_plugins::msgs::LRAUVInit &_msg) +std::string WorldCommPlugin::TethysSdfString(const lrauv_gazebo_plugins::msgs::LRAUVInit &_msg) { const std::string _id = _msg.id_().data(); const std::string _acommsAddress = std::to_string(_msg.acommsaddress_()); diff --git a/lrauv_ignition_plugins/src/WorldCommPlugin.hh b/lrauv_gazebo_plugins/src/WorldCommPlugin.hh similarity index 93% rename from lrauv_ignition_plugins/src/WorldCommPlugin.hh rename to lrauv_gazebo_plugins/src/WorldCommPlugin.hh index ef02819c..f6db0f8e 100644 --- a/lrauv_ignition_plugins/src/WorldCommPlugin.hh +++ b/lrauv_gazebo_plugins/src/WorldCommPlugin.hh @@ -30,7 +30,7 @@ #include #include -#include "lrauv_ignition_plugins/lrauv_init.pb.h" +#include "lrauv_gazebo_plugins/lrauv_init.pb.h" namespace tethys { @@ -54,13 +54,13 @@ namespace tethys /// Application /// \param[in] _msg Spawn message public: void SpawnCallback( - const lrauv_ignition_plugins::msgs::LRAUVInit &_msg); + const lrauv_gazebo_plugins::msgs::LRAUVInit &_msg); /// Get the SDF string for a Tethys model with given ID and acoustic modem address. /// \param[in] _msg LRAUV init message containing ID and acoustic modem address. /// \return SDF string public: std::string TethysSdfString( - const lrauv_ignition_plugins::msgs::LRAUVInit &_msg); + const lrauv_gazebo_plugins::msgs::LRAUVInit &_msg); /// Generic callback to handle service responses. /// \param[in] _rep Response diff --git a/lrauv_ignition_plugins/src/WorldConfigPlugin.cc b/lrauv_gazebo_plugins/src/WorldConfigPlugin.cc similarity index 95% rename from lrauv_ignition_plugins/src/WorldConfigPlugin.cc rename to lrauv_gazebo_plugins/src/WorldConfigPlugin.cc index 4987f975..d4fb45f3 100644 --- a/lrauv_ignition_plugins/src/WorldConfigPlugin.cc +++ b/lrauv_gazebo_plugins/src/WorldConfigPlugin.cc @@ -58,7 +58,7 @@ void WorldConfig::LoadConfig(const tinyxml2::XMLElement *_pluginElem) void WorldConfig::SetFilePath(QUrl _filePath) { - igndbg << "setting file path " << _filePath.path().toStdString() << std::endl; + gzdbg << "setting file path " << _filePath.path().toStdString() << std::endl; gz::msgs::StringMsg msg; msg.set_data(_filePath.path().toStdString()); diff --git a/lrauv_ignition_plugins/src/WorldConfigPlugin.hh b/lrauv_gazebo_plugins/src/WorldConfigPlugin.hh similarity index 100% rename from lrauv_ignition_plugins/src/WorldConfigPlugin.hh rename to lrauv_gazebo_plugins/src/WorldConfigPlugin.hh diff --git a/lrauv_ignition_plugins/src/WorldConfigPlugin.qml b/lrauv_gazebo_plugins/src/WorldConfigPlugin.qml similarity index 100% rename from lrauv_ignition_plugins/src/WorldConfigPlugin.qml rename to lrauv_gazebo_plugins/src/WorldConfigPlugin.qml diff --git a/lrauv_ignition_plugins/src/WorldConfigPlugin.qrc b/lrauv_gazebo_plugins/src/WorldConfigPlugin.qrc similarity index 100% rename from lrauv_ignition_plugins/src/WorldConfigPlugin.qrc rename to lrauv_gazebo_plugins/src/WorldConfigPlugin.qrc diff --git a/lrauv_ignition_plugins/src/comms/CMakeLists.txt b/lrauv_gazebo_plugins/src/comms/CMakeLists.txt similarity index 100% rename from lrauv_ignition_plugins/src/comms/CMakeLists.txt rename to lrauv_gazebo_plugins/src/comms/CMakeLists.txt diff --git a/lrauv_ignition_plugins/src/comms/CommsPacket.cc b/lrauv_gazebo_plugins/src/comms/CommsPacket.cc similarity index 90% rename from lrauv_ignition_plugins/src/comms/CommsPacket.cc rename to lrauv_gazebo_plugins/src/comms/CommsPacket.cc index 3619c297..2a1b773d 100644 --- a/lrauv_ignition_plugins/src/comms/CommsPacket.cc +++ b/lrauv_gazebo_plugins/src/comms/CommsPacket.cc @@ -20,7 +20,7 @@ * Research Institute (MBARI) and the David and Lucile Packard Foundation */ -#include +#include using namespace tethys; @@ -85,16 +85,16 @@ std::string CommsPacket::Data() const } ////////////////////////////////////////////////// -lrauv_ignition_plugins::msgs::LRAUVAcousticMessage +lrauv_gazebo_plugins::msgs::LRAUVAcousticMessage CommsPacket::ToExternalMsg() const { - lrauv_ignition_plugins::msgs::LRAUVAcousticMessage msg; + lrauv_gazebo_plugins::msgs::LRAUVAcousticMessage msg; msg.set_data(this->dataPtr->data); msg.set_from(this->dataPtr->from); msg.set_to(this->dataPtr->to); using MsgType - = lrauv_ignition_plugins::msgs::LRAUVAcousticMessage::MessageType; + = lrauv_gazebo_plugins::msgs::LRAUVAcousticMessage::MessageType; if (this->Type() == CommsPacket::MsgType::RANGE_REQUEST) { @@ -113,10 +113,10 @@ lrauv_ignition_plugins::msgs::LRAUVAcousticMessage } ////////////////////////////////////////////////// -lrauv_ignition_plugins::msgs::LRAUVInternalComms +lrauv_gazebo_plugins::msgs::LRAUVInternalComms CommsPacket::ToInternalMsg() const { - lrauv_ignition_plugins::msgs::LRAUVInternalComms msg; + lrauv_gazebo_plugins::msgs::LRAUVInternalComms msg; msg.set_data(this->dataPtr->data); msg.set_from(this->dataPtr->from); msg.set_to(this->dataPtr->to); @@ -143,7 +143,7 @@ lrauv_ignition_plugins::msgs::LRAUVInternalComms msg.set_allocated_header(header); using MsgType - = lrauv_ignition_plugins::msgs::LRAUVInternalComms::MessageType; + = lrauv_gazebo_plugins::msgs::LRAUVInternalComms::MessageType; if (this->Type() == CommsPacket::MsgType::RANGE_REQUEST) { @@ -163,7 +163,7 @@ lrauv_ignition_plugins::msgs::LRAUVInternalComms ////////////////////////////////////////////////// CommsPacket CommsPacket::make( - const lrauv_ignition_plugins::msgs::LRAUVAcousticMessage& datapayload, + const lrauv_gazebo_plugins::msgs::LRAUVAcousticMessage& datapayload, const gz::math::Vector3d position, const std::chrono::steady_clock::time_point timeOfTx) { @@ -176,7 +176,7 @@ CommsPacket CommsPacket::make( packet.dataPtr->timeOfTx = timeOfTx; using MsgType - = lrauv_ignition_plugins::msgs::LRAUVAcousticMessage::MessageType; + = lrauv_gazebo_plugins::msgs::LRAUVAcousticMessage::MessageType; if (datapayload.type() == MsgType::LRAUVAcousticMessage_MessageType_RangeRequest) @@ -201,7 +201,7 @@ CommsPacket CommsPacket::make( ////////////////////////////////////////////////// CommsPacket CommsPacket::make( - const lrauv_ignition_plugins::msgs::LRAUVInternalComms& datapayload) + const lrauv_gazebo_plugins::msgs::LRAUVInternalComms& datapayload) { CommsPacket packet; packet.dataPtr->to = datapayload.to(); @@ -220,7 +220,7 @@ CommsPacket CommsPacket::make( packet.dataPtr->timeOfTx = timeOfTx; using MsgType - = lrauv_ignition_plugins::msgs::LRAUVInternalComms::MessageType; + = lrauv_gazebo_plugins::msgs::LRAUVInternalComms::MessageType; if (datapayload.type() == MsgType::LRAUVInternalComms_MessageType_RangeRequest) diff --git a/lrauv_ignition_plugins/worlds/buoyant_tethys.sdf b/lrauv_gazebo_plugins/worlds/buoyant_tethys.sdf similarity index 88% rename from lrauv_ignition_plugins/worlds/buoyant_tethys.sdf rename to lrauv_gazebo_plugins/worlds/buoyant_tethys.sdf index 4eae89ec..74e2fe91 100644 --- a/lrauv_ignition_plugins/worlds/buoyant_tethys.sdf +++ b/lrauv_gazebo_plugins/worlds/buoyant_tethys.sdf @@ -20,28 +20,28 @@ 0 @@ -54,11 +54,11 @@ - + @@ -88,7 +88,7 @@ 0 0 - + 5.5645e-6 22.8758e-6 -42.3884e-6 - + 3D View false docked - + ogre2 scene @@ -128,15 +128,15 @@ - + floating 5 5 false - + - + @@ -146,10 +146,10 @@ 5 floating false - + - + @@ -159,10 +159,10 @@ 5 floating false - + - + @@ -172,10 +172,10 @@ 5 floating false - + - + @@ -185,11 +185,11 @@ 5 floating false - + false - + @@ -199,10 +199,10 @@ 5 floating false - + - + @@ -212,12 +212,12 @@ 5 floating false - + - + World control false false @@ -230,7 +230,7 @@ - + true true @@ -239,7 +239,7 @@ - + World stats false false @@ -252,7 +252,7 @@ - + true true @@ -261,37 +261,37 @@ - + Plot Tethys 3D path docked_collapsed - + tethys 0 0 1 10000 0.5 - + Inspector docked_collapsed - + - + Visualize science data docked_collapsed - + - + Camera controls docked_collapsed - + - + docked_collapsed - + 6 @@ -312,35 +312,35 @@ - + Tethys controls docked_collapsed - + - + Reference axis docked_collapsed - + tethys - + NavSat Map docked_collapsed - + /tethys/navsat true - + Environmental Configuration docked_collapsed - + @@ -377,9 +377,9 @@ + Requires ParticleEmitter2 in gz-sim 4.8.0, which will be copied + to ParticleEmitter in Gazebo G. + See https://github.com/gazebosim/gz-sim/pull/730 --> @@ -59,11 +59,11 @@ - + @@ -105,11 +105,11 @@ - + 3D View false docked - + ogre2 scene @@ -130,15 +130,15 @@ - + floating 5 5 false - + - + @@ -148,10 +148,10 @@ 5 floating false - + - + @@ -161,10 +161,10 @@ 5 floating false - + - + @@ -174,10 +174,10 @@ 5 floating false - + - + @@ -187,11 +187,11 @@ 5 floating false - + false - + @@ -201,10 +201,10 @@ 5 floating false - + - + @@ -214,12 +214,12 @@ 5 floating false - + - + World control false false @@ -232,7 +232,7 @@ - + true true @@ -241,7 +241,7 @@ - + World stats false false @@ -254,7 +254,7 @@ - + true true @@ -263,37 +263,37 @@ - + Plot Tethys 3D path docked_collapsed - + tethys 0 0 1 10000 0.5 - + Inspector docked_collapsed - + - + Visualize science data docked_collapsed - + - + Camera controls docked_collapsed - + - + docked_collapsed - + 6 @@ -314,25 +314,25 @@ - + Tethys controls docked_collapsed - + - + Reference axis docked_collapsed - + tethys - + NavSat Map docked_collapsed - + /tethys/navsat true @@ -371,9 +371,9 @@ + Requires ParticleEmitter2 in gz-sim 4.8.0, which will be copied + to ParticleEmitter in Gazebo G. + See https://github.com/gazebosim/gz-sim/pull/730 --> + 5.5645e-6 22.8758e-6 -42.3884e-6 @@ -92,36 +92,36 @@ for tile in tiles: 0 + filename="gz-sim-physics-system" + name="gz::sim::systems::Physics"> + filename="gz-sim-user-commands-system" + name="gz::sim::systems::UserCommands"> + filename="gz-sim-scene-broadcaster-system" + name="gz::sim::systems::SceneBroadcaster"> + filename="gz-sim-sensors-system" + name="gz::sim::systems::Sensors"> + filename="gz-sim-imu-system" + name="gz::sim::systems::Imu"> + filename="gz-sim-magnetometer-system" + name="gz::sim::systems::Magnetometer"> + filename="gz-sim-buoyancy-system" + name="gz::sim::systems::Buoyancy"> 1025 @@ -137,7 +137,7 @@ for tile in tiles: /lrauv/init - + @[for tile in tiles]@ @@ -156,11 +156,11 @@ for tile in tiles: - + 3D View false docked - + ogre2 scene @@ -181,15 +181,15 @@ for tile in tiles: - + floating 5 5 false - + - + @@ -199,10 +199,10 @@ for tile in tiles: 5 floating false - + - + @@ -212,10 +212,10 @@ for tile in tiles: 5 floating false - + - + @@ -225,10 +225,10 @@ for tile in tiles: 5 floating false - + - + @@ -238,11 +238,11 @@ for tile in tiles: 5 floating false - + false - + @@ -252,10 +252,10 @@ for tile in tiles: 5 floating false - + - + @@ -265,12 +265,12 @@ for tile in tiles: 5 floating false - + - + World control false false @@ -283,7 +283,7 @@ for tile in tiles: - + true true @@ -292,7 +292,7 @@ for tile in tiles: - + World stats false false @@ -305,7 +305,7 @@ for tile in tiles: - + true true @@ -314,37 +314,37 @@ for tile in tiles: - + Plot Tethys 3D path docked_collapsed - + tethys 0 0 1 10000 0.5 - + Inspector docked_collapsed - + - + Visualize science data docked_collapsed - + - + Camera controls docked_collapsed - + - + docked_collapsed - + 6 @@ -365,22 +365,22 @@ for tile in tiles: - + Tethys controls docked_collapsed - + - + Spawn LRAUVs docked_collapsed - + - + Reference axis docked_collapsed - + tethys diff --git a/lrauv_ignition_plugins/worlds/empty_environment.sdf b/lrauv_gazebo_plugins/worlds/empty_environment.sdf similarity index 87% rename from lrauv_ignition_plugins/worlds/empty_environment.sdf rename to lrauv_gazebo_plugins/worlds/empty_environment.sdf index eb06498f..6ef6ef7a 100644 --- a/lrauv_ignition_plugins/worlds/empty_environment.sdf +++ b/lrauv_gazebo_plugins/worlds/empty_environment.sdf @@ -24,28 +24,28 @@ 0 1025 @@ -56,11 +56,11 @@ - + @@ -87,11 +87,11 @@ - + 3D View false docked - + ogre2 scene @@ -112,15 +112,15 @@ - + floating 5 5 false - + - + @@ -130,10 +130,10 @@ 5 floating false - + - + @@ -143,10 +143,10 @@ 5 floating false - + - + @@ -156,10 +156,10 @@ 5 floating false - + - + @@ -169,11 +169,11 @@ 5 floating false - + false - + @@ -183,10 +183,10 @@ 5 floating false - + - + @@ -196,12 +196,12 @@ 5 floating false - + - + World control false false @@ -214,7 +214,7 @@ - + true true @@ -223,7 +223,7 @@ - + World stats false false @@ -236,7 +236,7 @@ - + true true @@ -245,37 +245,37 @@ - + Plot Tethys 3D path docked_collapsed - + tethys 0 0 1 10000 0.5 - + Inspector docked_collapsed - + - + Visualize science data docked_collapsed - + - + Camera controls docked_collapsed - + - + docked_collapsed - + 6 @@ -296,41 +296,41 @@ - + Tethys controls docked_collapsed - + - + Spawn LRAUVs docked_collapsed - + - + Reference axis docked_collapsed - + tethys - + NavSat Map docked_collapsed - + /tethys/navsat true - + Environmental Configuration docked_collapsed - + @@ -367,9 +367,9 @@ + Requires ParticleEmitter2 in gz-sim 4.8.0, which will be copied + to ParticleEmitter in Gazebo G. + See https://github.com/gazebosim/gz-sim/pull/730 --> + @@ -175,11 +175,11 @@ for tile in tiles: - + 3D View false docked - + ogre2 scene @@ -200,15 +200,15 @@ for tile in tiles: - + floating 5 5 false - + - + @@ -218,10 +218,10 @@ for tile in tiles: 5 floating false - + - + @@ -231,10 +231,10 @@ for tile in tiles: 5 floating false - + - + @@ -244,10 +244,10 @@ for tile in tiles: 5 floating false - + - + @@ -257,11 +257,11 @@ for tile in tiles: 5 floating false - + false - + @@ -271,10 +271,10 @@ for tile in tiles: 5 floating false - + - + @@ -284,12 +284,12 @@ for tile in tiles: 5 floating false - + - + World control false false @@ -302,7 +302,7 @@ for tile in tiles: - + true true @@ -311,7 +311,7 @@ for tile in tiles: - + World stats false false @@ -324,7 +324,7 @@ for tile in tiles: - + true true @@ -333,37 +333,37 @@ for tile in tiles: - + Plot Tethys 3D path docked_collapsed - + tethys 0 0 1 10000 0.5 - + Inspector docked_collapsed - + - + Visualize science data docked_collapsed - + - + Camera controls docked_collapsed - + - + docked_collapsed - + 6 @@ -384,41 +384,41 @@ for tile in tiles: - + Tethys controls docked_collapsed - + - + Spawn LRAUVs docked_collapsed - + - + Reference axis docked_collapsed - + tethys - + NavSat Map docked_collapsed - + /tethys/navsat true - + Environmental Configuration docked_collapsed - + @@ -488,9 +488,9 @@ for tile in tiles: + Requires ParticleEmitter2 in gz-sim 4.8.0, which will be copied + to ParticleEmitter in Gazebo G. + See https://github.com/gazebosim/gz-sim/pull/730 --> + @@ -106,9 +106,9 @@ --> + Requires ParticleEmitter2 in gz-sim 4.8.0, which will be copied + to ParticleEmitter in Gazebo G. + See https://github.com/gazebosim/gz-sim/pull/730 --> -5 0 0 0 0 0 turbidity_generator diff --git a/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf.em b/lrauv_gazebo_plugins/worlds/portuguese_ledge.sdf.em similarity index 91% rename from lrauv_ignition_plugins/worlds/portuguese_ledge.sdf.em rename to lrauv_gazebo_plugins/worlds/portuguese_ledge.sdf.em index d9b86732..659d2d25 100644 --- a/lrauv_ignition_plugins/worlds/portuguese_ledge.sdf.em +++ b/lrauv_gazebo_plugins/worlds/portuguese_ledge.sdf.em @@ -22,9 +22,9 @@ import math from dataclasses import dataclass -from ignition.math import SphericalCoordinates, Vector3d, Angle +from gz.math import SphericalCoordinates, Vector3d, Angle -fuel_model_url = "https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Portuguese Ledge" +fuel_model_url = "https://fuel.gazebosim.org/1.0/OpenRobotics/models/Portuguese Ledge" @dataclass class Tile: @@ -97,26 +97,26 @@ for tile in tiles: 0 1025 @@ -145,11 +145,11 @@ for tile in tiles: - + 3D View false docked - + ogre2 scene @@ -170,15 +170,15 @@ for tile in tiles: - + floating 5 5 false - + - + @@ -188,10 +188,10 @@ for tile in tiles: 5 floating false - + - + @@ -201,10 +201,10 @@ for tile in tiles: 5 floating false - + - + @@ -214,10 +214,10 @@ for tile in tiles: 5 floating false - + - + @@ -227,11 +227,11 @@ for tile in tiles: 5 floating false - + false - + @@ -241,10 +241,10 @@ for tile in tiles: 5 floating false - + - + @@ -254,12 +254,12 @@ for tile in tiles: 5 floating false - + - + World control false false @@ -272,7 +272,7 @@ for tile in tiles: - + true true @@ -281,7 +281,7 @@ for tile in tiles: - + World stats false false @@ -294,7 +294,7 @@ for tile in tiles: - + true true @@ -303,37 +303,37 @@ for tile in tiles: - + Plot Tethys 3D path docked_collapsed - + tethys 0 0 1 10000 0.5 - + Inspector docked_collapsed - + - + Visualize science data docked_collapsed - + - + Camera controls docked_collapsed - + - + docked_collapsed - + 6 @@ -354,29 +354,29 @@ for tile in tiles: - + Tethys controls docked_collapsed - + - + Environmental Configuration docked_collapsed - + - + Spawn LRAUVs docked_collapsed - + - + Reference axis docked_collapsed - + tethys diff --git a/lrauv_ignition_plugins/worlds/star_world.sdf b/lrauv_gazebo_plugins/worlds/star_world.sdf similarity index 92% rename from lrauv_ignition_plugins/worlds/star_world.sdf rename to lrauv_gazebo_plugins/worlds/star_world.sdf index 060e2c6f..7683a8b1 100644 --- a/lrauv_ignition_plugins/worlds/star_world.sdf +++ b/lrauv_gazebo_plugins/worlds/star_world.sdf @@ -18,28 +18,28 @@ 1.0 1025 @@ -50,11 +50,11 @@ 1500 - + diff --git a/lrauv_ignition_plugins/worlds/windy_world.sdf b/lrauv_gazebo_plugins/worlds/windy_world.sdf similarity index 90% rename from lrauv_ignition_plugins/worlds/windy_world.sdf rename to lrauv_gazebo_plugins/worlds/windy_world.sdf index f9fe8cae..e8818f0e 100644 --- a/lrauv_ignition_plugins/worlds/windy_world.sdf +++ b/lrauv_gazebo_plugins/worlds/windy_world.sdf @@ -20,28 +20,28 @@ 0 1025 @@ -72,11 +72,11 @@ 0 0 - + 5.5645e-6 22.8758e-6 -42.3884e-6 @@ -112,11 +112,11 @@ - + 3D View false docked - + ogre2 scene @@ -137,15 +137,15 @@ - + floating 5 5 false - + - + @@ -155,10 +155,10 @@ 5 floating false - + - + @@ -168,10 +168,10 @@ 5 floating false - + - + @@ -181,10 +181,10 @@ 5 floating false - + - + @@ -194,11 +194,11 @@ 5 floating false - + false - + @@ -208,10 +208,10 @@ 5 floating false - + - + @@ -221,12 +221,12 @@ 5 floating false - + - + World control false false @@ -239,7 +239,7 @@ - + true true @@ -248,7 +248,7 @@ - + World stats false false @@ -261,7 +261,7 @@ - + true true @@ -270,37 +270,37 @@ - + Plot Tethys 3D path docked_collapsed - + tethys 0 0 1 10000 0.5 - + Inspector docked_collapsed - + - + Visualize science data docked_collapsed - + - + Camera controls docked_collapsed - + - + docked_collapsed - + 6 @@ -321,16 +321,16 @@ - + Tethys controls docked_collapsed - + - + Reference axis docked_collapsed - + tethys diff --git a/lrauv_ignition_plugins/worlds/windy_world_at_depth.sdf b/lrauv_gazebo_plugins/worlds/windy_world_at_depth.sdf similarity index 91% rename from lrauv_ignition_plugins/worlds/windy_world_at_depth.sdf rename to lrauv_gazebo_plugins/worlds/windy_world_at_depth.sdf index 5a5c8f1a..61b5a739 100644 --- a/lrauv_ignition_plugins/worlds/windy_world_at_depth.sdf +++ b/lrauv_gazebo_plugins/worlds/windy_world_at_depth.sdf @@ -26,28 +26,28 @@ 0 1025 @@ -80,7 +80,7 @@ @@ -116,11 +116,11 @@ - + 3D View false docked - + ogre2 scene @@ -141,15 +141,15 @@ - + floating 5 5 false - + - + @@ -159,10 +159,10 @@ 5 floating false - + - + @@ -172,10 +172,10 @@ 5 floating false - + - + @@ -185,10 +185,10 @@ 5 floating false - + - + @@ -198,11 +198,11 @@ 5 floating false - + false - + @@ -212,10 +212,10 @@ 5 floating false - + - + @@ -225,12 +225,12 @@ 5 floating false - + - + World control false false @@ -243,7 +243,7 @@ - + true true @@ -252,7 +252,7 @@ - + World stats false false @@ -265,7 +265,7 @@ - + true true @@ -274,37 +274,37 @@ - + Plot Tethys 3D path docked_collapsed - + tethys 0 0 1 10000 0.5 - + Inspector docked_collapsed - + - + Visualize science data docked_collapsed - + - + Camera controls docked_collapsed - + - + docked_collapsed - + 6 @@ -325,16 +325,16 @@ - + Tethys controls docked_collapsed - + - + Reference axis docked_collapsed - + tethys diff --git a/lrauv_ignition_plugins/colcon.pkg b/lrauv_ignition_plugins/colcon.pkg deleted file mode 100644 index 1cd9f8c6..00000000 --- a/lrauv_ignition_plugins/colcon.pkg +++ /dev/null @@ -1,6 +0,0 @@ -{ - "hooks": [ - "share/lrauv_ignition_plugins/hooks/hook.dsv", - "share/lrauv_ignition_plugins/hooks/hook.sh" - ] -} diff --git a/lrauv_system_tests/CMakeLists.txt b/lrauv_system_tests/CMakeLists.txt index f075baa4..efa2f550 100644 --- a/lrauv_system_tests/CMakeLists.txt +++ b/lrauv_system_tests/CMakeLists.txt @@ -10,7 +10,7 @@ project(lrauv_system_tests) find_package(gz-sim7 REQUIRED) find_package(gz-math7 REQUIRED) find_package(gz-transport12 REQUIRED) -find_package(lrauv_ignition_plugins REQUIRED) +find_package(lrauv_gazebo_plugins REQUIRED) # Add option to build without LRAUV integration option(ENABLE_MISSION_TESTS @@ -45,8 +45,8 @@ target_link_libraries(${PROJECT_NAME}_support PUBLIC gz-sim7::gz-sim7 gz-math7::gz-math7 gz-transport12::gz-transport12 - lrauv_ignition_plugins::lrauv_command - lrauv_ignition_plugins::lrauv_state + lrauv_gazebo_plugins::lrauv_command + lrauv_gazebo_plugins::lrauv_state gtest) target_compile_features(${PROJECT_NAME}_support PUBLIC cxx_std_17) #============================================================================ diff --git a/lrauv_system_tests/colcon.pkg b/lrauv_system_tests/colcon.pkg index ac057473..199b5ce1 100644 --- a/lrauv_system_tests/colcon.pkg +++ b/lrauv_system_tests/colcon.pkg @@ -1,3 +1,3 @@ { - "dependencies": ["lrauv_description", "lrauv_ignition_plugins"] + "dependencies": ["lrauv_description", "lrauv_gazebo_plugins"] } diff --git a/lrauv_system_tests/include/lrauv_system_tests/Client.hh b/lrauv_system_tests/include/lrauv_system_tests/Client.hh index ea1962e7..8ec6bf41 100644 --- a/lrauv_system_tests/include/lrauv_system_tests/Client.hh +++ b/lrauv_system_tests/include/lrauv_system_tests/Client.hh @@ -70,18 +70,18 @@ class Client this->responsePromises[request_id] = std::move(promise); } this->requestsPublisher.Publish(_request); - igndbg << "Published request" << "\n"; + gzdbg << "Published request" << "\n"; return future; } private: void OnResponse(const ResponseMessageT& response) { - igndbg << "Received response\n"; + gzdbg << "Received response\n"; std::lock_guard lock(this->mutex); auto it = this->responsePromises.find(response.req_id()); if (it == this->responsePromises.end()) { - ignwarn << "Received response with unknown request id: " + gzwarn << "Received response with unknown request id: " << response.req_id() << std::endl; return; } diff --git a/lrauv_system_tests/include/lrauv_system_tests/RangeBearingClient.hh b/lrauv_system_tests/include/lrauv_system_tests/RangeBearingClient.hh index bf998404..280da400 100644 --- a/lrauv_system_tests/include/lrauv_system_tests/RangeBearingClient.hh +++ b/lrauv_system_tests/include/lrauv_system_tests/RangeBearingClient.hh @@ -28,8 +28,8 @@ #include #include -#include -#include +#include +#include #include "lrauv_system_tests/Client.hh" @@ -39,12 +39,12 @@ namespace lrauv_system_tests /// Client to ease range bearing requests /// over acoustic communication channels. class RangeBearingClient : public Client< - lrauv_ignition_plugins::msgs::LRAUVRangeBearingRequest, - lrauv_ignition_plugins::msgs::LRAUVRangeBearingResponse> + lrauv_gazebo_plugins::msgs::LRAUVRangeBearingRequest, + lrauv_gazebo_plugins::msgs::LRAUVRangeBearingResponse> { public: using Base = Client< - lrauv_ignition_plugins::msgs::LRAUVRangeBearingRequest, - lrauv_ignition_plugins::msgs::LRAUVRangeBearingResponse>; + lrauv_gazebo_plugins::msgs::LRAUVRangeBearingRequest, + lrauv_gazebo_plugins::msgs::LRAUVRangeBearingResponse>; /// Constructor. /// \param[in] _node Node to be used for topic advertisement and subscription. @@ -62,7 +62,7 @@ class RangeBearingClient : public Client< /// \return a future response public: auto RequestRange(uint32_t _address) { - lrauv_ignition_plugins::msgs::LRAUVRangeBearingRequest request; + lrauv_gazebo_plugins::msgs::LRAUVRangeBearingRequest request; request.set_to(_address); return Base::Request(std::move(request)); } diff --git a/lrauv_system_tests/include/lrauv_system_tests/TestFixture.hh b/lrauv_system_tests/include/lrauv_system_tests/TestFixture.hh index 946c9edb..ed838aa8 100644 --- a/lrauv_system_tests/include/lrauv_system_tests/TestFixture.hh +++ b/lrauv_system_tests/include/lrauv_system_tests/TestFixture.hh @@ -34,8 +34,8 @@ #include #include -#include -#include +#include +#include #include "lrauv_system_tests/ModelManipulator.hh" #include "lrauv_system_tests/ModelObserver.hh" @@ -253,7 +253,7 @@ class VehicleCommandTestFixture : public TestFixtureWithVehicle const std::string &_vehicleName) : TestFixtureWithVehicle(_worldName, _vehicleName) { - using lrauv_ignition_plugins::msgs::LRAUVCommand; + using lrauv_gazebo_plugins::msgs::LRAUVCommand; const std::string topicName = "/" + _vehicleName + "/command_topic"; this->commandPublisher = this->node.Advertise(topicName); } @@ -274,7 +274,7 @@ class VehicleCommandTestFixture : public TestFixtureWithVehicle /// A test fixture with a single vehicle for vehicle state testing. class VehicleStateTestFixture : public VehicleCommandTestFixture { - using LRAUVState = lrauv_ignition_plugins::msgs::LRAUVState; + using LRAUVState = lrauv_gazebo_plugins::msgs::LRAUVState; /// Constructor. /// \param[in] _worldName Base name of the world SDF, diff --git a/lrauv_system_tests/src/LRAUVController.cc b/lrauv_system_tests/src/LRAUVController.cc index beb7b46e..6e3cca6b 100644 --- a/lrauv_system_tests/src/LRAUVController.cc +++ b/lrauv_system_tests/src/LRAUVController.cc @@ -107,7 +107,7 @@ LRAUVController::Execute(const std::vector &_commands) cmd.push_back(command); } const std::string cmd_string = gz::common::Join(cmd, " "); - igndbg << "Running command [" << cmd_string << "]" << std::endl; + gzdbg << "Running command [" << cmd_string << "]" << std::endl; FILE * stdout = nullptr; std::vector argv = BorrowAsArgv(cmd); int pid = detail::popen( @@ -128,11 +128,11 @@ LRAUVController::LRAUVController(int _pid, FILE *_stdout) : pid(_pid) char buffer[512]; while (fgets(buffer, 512, _stdout)) { - igndbg << "CMD OUTPUT: " << buffer; + gzdbg << "CMD OUTPUT: " << buffer; if (strstr(buffer, "FAULT") || strstr(buffer, "CRITICAL")) { - ignerr << buffer; + gzerr << buffer; } } fclose(_stdout); @@ -150,7 +150,7 @@ LRAUVController::~LRAUVController() } catch(const std::system_error &e) { - ignerr << e.what() << std::endl; + gzerr << e.what() << std::endl; } } diff --git a/lrauv_system_tests/test/simulation/CMakeLists.txt b/lrauv_system_tests/test/simulation/CMakeLists.txt index 9f6308ca..d9c1d893 100644 --- a/lrauv_system_tests/test/simulation/CMakeLists.txt +++ b/lrauv_system_tests/test/simulation/CMakeLists.txt @@ -4,7 +4,7 @@ target_include_directories(test_spawn target_link_libraries(test_spawn PUBLIC gtest_main PRIVATE - lrauv_ignition_plugins::lrauv_init + lrauv_gazebo_plugins::lrauv_init ${PROJECT_NAME}_support ) gtest_discover_tests(test_spawn) @@ -15,8 +15,8 @@ target_include_directories(test_state target_link_libraries(test_state PUBLIC gtest_main PRIVATE - lrauv_ignition_plugins::lrauv_command - lrauv_ignition_plugins::lrauv_state + lrauv_gazebo_plugins::lrauv_command + lrauv_gazebo_plugins::lrauv_state ${PROJECT_NAME}_support ) gtest_discover_tests(test_state) diff --git a/lrauv_system_tests/test/simulation/test_spawn.cc b/lrauv_system_tests/test/simulation/test_spawn.cc index 5130ef39..32bfff79 100644 --- a/lrauv_system_tests/test/simulation/test_spawn.cc +++ b/lrauv_system_tests/test/simulation/test_spawn.cc @@ -33,7 +33,7 @@ #include #include -#include +#include #include "lrauv_system_tests/Publisher.hh" #include "lrauv_system_tests/TestFixture.hh" @@ -87,7 +87,7 @@ TEST(VehicleSpawnTest, Spawn) // Spawn first vehicle gz::transport::Node node; - using lrauv_ignition_plugins::msgs::LRAUVInit; + using lrauv_gazebo_plugins::msgs::LRAUVInit; gz::transport::Node::Publisher spawnPublisher = node.Advertise("/lrauv/init"); ASSERT_TRUE(WaitForConnections(spawnPublisher, 5s)); @@ -96,7 +96,7 @@ TEST(VehicleSpawnTest, Spawn) const gz::math::Angle lat1 = GZ_DTOR(20.0); const gz::math::Angle lon1 = GZ_DTOR(20.0); { - lrauv_ignition_plugins::msgs::LRAUVInit spawnMessage; + lrauv_gazebo_plugins::msgs::LRAUVInit spawnMessage; spawnMessage.mutable_id_()->set_data("vehicle1"); spawnMessage.set_initlat_(lat1.Degree()); spawnMessage.set_initlon_(lon1.Degree()); @@ -123,7 +123,7 @@ TEST(VehicleSpawnTest, Spawn) const gz::math::Angle yaw2 = GZ_DTOR(180); const double depth2 = 10.0; { - lrauv_ignition_plugins::msgs::LRAUVInit spawnMessage; + lrauv_gazebo_plugins::msgs::LRAUVInit spawnMessage; spawnMessage.mutable_id_()->set_data("vehicle2"); spawnMessage.set_initlat_(lat2.Degree()); spawnMessage.set_initlon_(lon2.Degree()); diff --git a/lrauv_system_tests/test/simulation/test_state.cc b/lrauv_system_tests/test/simulation/test_state.cc index 718f9821..c117e359 100644 --- a/lrauv_system_tests/test/simulation/test_state.cc +++ b/lrauv_system_tests/test/simulation/test_state.cc @@ -26,8 +26,8 @@ #include -#include -#include +#include +#include #include "lrauv_system_tests/TestFixture.hh" @@ -52,7 +52,7 @@ class VehicleStateTest : public ::testing::Test }; // Checks that don't change throughout the test -void CheckInvariants(const lrauv_ignition_plugins::msgs::LRAUVState &_msg) +void CheckInvariants(const lrauv_gazebo_plugins::msgs::LRAUVState &_msg) { // Check actuators that don't change throughout the test EXPECT_NEAR(0.0, _msg.elevatorangle_(), 1e-4); @@ -119,7 +119,7 @@ TEST_F(VehicleStateTest, InitialState) ////////////////////////////////////////////////// TEST_F(VehicleStateTest, ThrustState) { - lrauv_ignition_plugins::msgs::LRAUVCommand command; + lrauv_gazebo_plugins::msgs::LRAUVCommand command; // Propel vehicle forward by giving the propeller a positive // angular velocity. Vehicle is supposed to move at around @@ -191,7 +191,7 @@ TEST_F(VehicleStateTest, ThrustState) ////////////////////////////////////////////////// TEST_F(VehicleStateTest, ThrustAndTurnState) { - lrauv_ignition_plugins::msgs::LRAUVCommand command; + lrauv_gazebo_plugins::msgs::LRAUVCommand command; // Propel vehicle forward by giving the propeller a positive // angular velocity. Vehicle is supposed to move at around @@ -274,7 +274,7 @@ TEST_F(VehicleStateTest, ThrustAndTurnState) ////////////////////////////////////////////////// TEST_F(VehicleStateTest, SinkState) { - lrauv_ignition_plugins::msgs::LRAUVCommand command; + lrauv_gazebo_plugins::msgs::LRAUVCommand command; // Volume below neutral for vehicle to sink command.set_buoyancyaction_(0.0002); command.set_dropweightstate_(true); diff --git a/lrauv_system_tests/test/vehicle/CMakeLists.txt b/lrauv_system_tests/test/vehicle/CMakeLists.txt index a90554ed..b6b80544 100644 --- a/lrauv_system_tests/test/vehicle/CMakeLists.txt +++ b/lrauv_system_tests/test/vehicle/CMakeLists.txt @@ -4,9 +4,9 @@ target_include_directories(test_acoustic_comms target_link_libraries(test_acoustic_comms PUBLIC gtest_main PRIVATE - ${PROJECT_NAME}_support ${IGN_GAZEBO_TARGET} - lrauv_ignition_plugins::acoustic_comms_support - lrauv_ignition_plugins::lrauv_acoustic_message + ${PROJECT_NAME}_support + lrauv_gazebo_plugins::acoustic_comms_support + lrauv_gazebo_plugins::lrauv_acoustic_message ) gtest_discover_tests(test_acoustic_comms) @@ -16,16 +16,16 @@ target_include_directories(test_acoustic_comms_multi_vehicle target_link_libraries(test_acoustic_comms_multi_vehicle PUBLIC gtest_main PRIVATE - ${PROJECT_NAME}_support ${IGN_GAZEBO_TARGET} - lrauv_ignition_plugins::acoustic_comms_support - lrauv_ignition_plugins::lrauv_acoustic_message + ${PROJECT_NAME}_support + lrauv_gazebo_plugins::acoustic_comms_support + lrauv_gazebo_plugins::lrauv_acoustic_message ) gtest_discover_tests(test_acoustic_comms_multi_vehicle) add_executable(test_ahrs test_ahrs.cc) target_link_libraries(test_ahrs PUBLIC gtest_main - PRIVATE ${PROJECT_NAME}_support ${IGN_GAZEBO_TARGET} + PRIVATE ${PROJECT_NAME}_support ) gtest_discover_tests(test_ahrs) @@ -33,8 +33,8 @@ add_executable(test_dvl test_dvl.cc) target_link_libraries(test_dvl PUBLIC gtest_main PRIVATE - ${PROJECT_NAME}_support ${IGN_GAZEBO_TARGET} - lrauv_ignition_plugins::dvl_velocity_tracking) + ${PROJECT_NAME}_support + lrauv_gazebo_plugins::dvl_velocity_tracking) gtest_discover_tests(test_dvl) foreach(_test @@ -53,9 +53,9 @@ foreach(_test target_link_libraries(${_test} PUBLIC gtest_main PRIVATE - ${PROJECT_NAME}_support ${IGN_GAZEBO_TARGET} - lrauv_ignition_plugins::lrauv_command - lrauv_ignition_plugins::lrauv_init) + ${PROJECT_NAME}_support + lrauv_gazebo_plugins::lrauv_command + lrauv_gazebo_plugins::lrauv_init) gtest_discover_tests(${_test}) endforeach() @@ -63,7 +63,7 @@ add_executable(test_range_bearing test_range_bearing.cc) target_link_libraries(test_range_bearing PUBLIC gtest_main PRIVATE - ${PROJECT_NAME}_support ${IGN_GAZEBO_TARGET} - lrauv_ignition_plugins::lrauv_range_bearing_request - lrauv_ignition_plugins::lrauv_range_bearing_response) + ${PROJECT_NAME}_support + lrauv_gazebo_plugins::lrauv_range_bearing_request + lrauv_gazebo_plugins::lrauv_range_bearing_response) gtest_discover_tests(test_range_bearing) diff --git a/lrauv_system_tests/test/vehicle/test_acoustic_comms.cc b/lrauv_system_tests/test/vehicle/test_acoustic_comms.cc index 3eba7b28..599a9b32 100644 --- a/lrauv_system_tests/test/vehicle/test_acoustic_comms.cc +++ b/lrauv_system_tests/test/vehicle/test_acoustic_comms.cc @@ -26,10 +26,10 @@ #include #include -#include +#include -#include -#include +#include +#include #include diff --git a/lrauv_system_tests/test/vehicle/test_acoustic_comms_multi_vehicle.cc b/lrauv_system_tests/test/vehicle/test_acoustic_comms_multi_vehicle.cc index ce255036..62d1df50 100644 --- a/lrauv_system_tests/test/vehicle/test_acoustic_comms_multi_vehicle.cc +++ b/lrauv_system_tests/test/vehicle/test_acoustic_comms_multi_vehicle.cc @@ -26,10 +26,10 @@ #include #include -#include +#include -#include -#include +#include +#include #include diff --git a/lrauv_system_tests/test/vehicle/test_battery_low_charge.cc b/lrauv_system_tests/test/vehicle/test_battery_low_charge.cc index 3834eb54..f4270ecf 100644 --- a/lrauv_system_tests/test/vehicle/test_battery_low_charge.cc +++ b/lrauv_system_tests/test/vehicle/test_battery_low_charge.cc @@ -26,7 +26,7 @@ #include -#include +#include #include "lrauv_system_tests/TestFixture.hh" diff --git a/lrauv_system_tests/test/vehicle/test_buoyancy_action.cc b/lrauv_system_tests/test/vehicle/test_buoyancy_action.cc index 69d24e17..38694f71 100644 --- a/lrauv_system_tests/test/vehicle/test_buoyancy_action.cc +++ b/lrauv_system_tests/test/vehicle/test_buoyancy_action.cc @@ -24,7 +24,7 @@ #include -#include +#include #include "lrauv_system_tests/TestFixture.hh" using namespace lrauv_system_tests; @@ -40,7 +40,7 @@ TEST(BuoyancyActionTest, Sink) EXPECT_NEAR(-0.5, poses.back().Pos().Z(), 0.05); // Command the vehicle to sink - lrauv_ignition_plugins::msgs::LRAUVCommand command; + lrauv_gazebo_plugins::msgs::LRAUVCommand command; command.set_dropweightstate_(true); command.set_buoyancyaction_(0.0); diff --git a/lrauv_system_tests/test/vehicle/test_drop_weight.cc b/lrauv_system_tests/test/vehicle/test_drop_weight.cc index 155ebb2b..90b3a108 100644 --- a/lrauv_system_tests/test/vehicle/test_drop_weight.cc +++ b/lrauv_system_tests/test/vehicle/test_drop_weight.cc @@ -24,7 +24,7 @@ #include -#include +#include #include "lrauv_system_tests/TestFixture.hh" using namespace lrauv_system_tests; @@ -44,7 +44,7 @@ TEST(DropWeightTest, ReleaseWeight) EXPECT_NEAR(startZ, poses.back().Pos().Z(), 0.05); // Tell the vehicle to release the weight - lrauv_ignition_plugins::msgs::LRAUVCommand command; + lrauv_gazebo_plugins::msgs::LRAUVCommand command; command.set_dropweightstate_(false); // Neutral buoyancy diff --git a/lrauv_system_tests/test/vehicle/test_dvl.cc b/lrauv_system_tests/test/vehicle/test_dvl.cc index 4e41439d..fb1b8efb 100644 --- a/lrauv_system_tests/test/vehicle/test_dvl.cc +++ b/lrauv_system_tests/test/vehicle/test_dvl.cc @@ -31,8 +31,8 @@ #include #include -#include -#include +#include +#include #include "lrauv_system_tests/TestFixture.hh" #include "lrauv_system_tests/Util.hh" @@ -48,7 +48,7 @@ TEST(DVLTest, NoTracking) VehicleCommandTestFixture fixture("bottomless_pit.sdf", "tethys"); using DVLVelocityTracking = - lrauv_ignition_plugins::msgs::DVLVelocityTracking; + lrauv_gazebo_plugins::msgs::DVLVelocityTracking; Subscription velocitySubscription; velocitySubscription.Subscribe(fixture.Node(), "/tethys/dvl/velocity", 1); @@ -73,7 +73,7 @@ TEST(DVLTest, BottomTracking) constexpr gz::math::Vector3d sensorPositionInSFMFrame{0., 0.6, -0.16}; using DVLVelocityTracking = - lrauv_ignition_plugins::msgs::DVLVelocityTracking; + lrauv_gazebo_plugins::msgs::DVLVelocityTracking; Subscription velocitySubscription; velocitySubscription.Subscribe(fixture.Node(), "/tethys/dvl/velocity", 1); @@ -84,7 +84,7 @@ TEST(DVLTest, BottomTracking) // Propel vehicle forward by giving the propeller a positive // angular velocity. Vehicle is supposed to move at around // 1 m/s with 300 RPM. 300 RPM = 300 * 2 pi / 60 = 10 pi rad/s - lrauv_ignition_plugins::msgs::LRAUVCommand command; + lrauv_gazebo_plugins::msgs::LRAUVCommand command; command.set_propomegaaction_(10. * GZ_PI); // Rotate rudder clockwise when looking from the top, @@ -104,7 +104,7 @@ TEST(DVLTest, BottomTracking) } ASSERT_TRUE(velocitySubscription.WaitForMessages(50, 10s)); - using DVLTrackingTarget = lrauv_ignition_plugins::msgs::DVLTrackingTarget; + using DVLTrackingTarget = lrauv_gazebo_plugins::msgs::DVLTrackingTarget; const DVLVelocityTracking message = velocitySubscription.ReadLastMessage(); // Account for slight roll and limited resolution constexpr double kRangeTolerance{0.2}; diff --git a/lrauv_system_tests/test/vehicle/test_elevator_action.cc b/lrauv_system_tests/test/vehicle/test_elevator_action.cc index d06e2b0f..e183554d 100644 --- a/lrauv_system_tests/test/vehicle/test_elevator_action.cc +++ b/lrauv_system_tests/test/vehicle/test_elevator_action.cc @@ -19,7 +19,7 @@ #include -#include +#include #include "lrauv_system_tests/TestFixture.hh" using namespace lrauv_system_tests; @@ -38,7 +38,7 @@ TEST(ElevatorActionTest, Sink) EXPECT_NEAR(-0.5, poses.back().Pos().Z(), 2e-2); // Propel vehicle - lrauv_ignition_plugins::msgs::LRAUVCommand command; + lrauv_gazebo_plugins::msgs::LRAUVCommand command; // Move forward command.set_propomegaaction_(30); diff --git a/lrauv_system_tests/test/vehicle/test_mass_shifter.cc b/lrauv_system_tests/test/vehicle/test_mass_shifter.cc index e04ad459..4848aec1 100644 --- a/lrauv_system_tests/test/vehicle/test_mass_shifter.cc +++ b/lrauv_system_tests/test/vehicle/test_mass_shifter.cc @@ -24,7 +24,7 @@ #include -#include +#include #include "lrauv_system_tests/TestFixture.hh" using namespace lrauv_system_tests; @@ -46,7 +46,7 @@ TEST(MassShifterTest, DownwardTilt) // Tell the vehicle to tilt downward by moving // the mass forward (positive command) - lrauv_ignition_plugins::msgs::LRAUVCommand command; + lrauv_gazebo_plugins::msgs::LRAUVCommand command; command.set_masspositionaction_(0.01); command.set_buoyancyaction_(0.0005); diff --git a/lrauv_system_tests/test/vehicle/test_propeller_action.cc b/lrauv_system_tests/test/vehicle/test_propeller_action.cc index 8aee4844..4dafde27 100644 --- a/lrauv_system_tests/test/vehicle/test_propeller_action.cc +++ b/lrauv_system_tests/test/vehicle/test_propeller_action.cc @@ -24,7 +24,7 @@ #include -#include +#include #include "lrauv_system_tests/TestFixture.hh" using namespace lrauv_system_tests; @@ -43,7 +43,7 @@ TEST(PropellerActionTest, ForwardThrust) // Propel vehicle forward by giving the propeller a positive // angular velocity. Vehicle is supposed to move at around // 1 m/s with 300 RPM. 300 RPM = 300 * 2 pi / 60 = 10 pi rad/s - lrauv_ignition_plugins::msgs::LRAUVCommand command; + lrauv_gazebo_plugins::msgs::LRAUVCommand command; command.set_propomegaaction_(10. * GZ_PI); // Neutral buoyancy diff --git a/lrauv_system_tests/test/vehicle/test_range_bearing.cc b/lrauv_system_tests/test/vehicle/test_range_bearing.cc index 09421a7a..460c1985 100644 --- a/lrauv_system_tests/test/vehicle/test_range_bearing.cc +++ b/lrauv_system_tests/test/vehicle/test_range_bearing.cc @@ -25,7 +25,7 @@ #include #include -#include +#include #include "lrauv_system_tests/RangeBearingClient.hh" #include "lrauv_system_tests/TestFixture.hh" diff --git a/lrauv_system_tests/test/vehicle/test_rudder_action.cc b/lrauv_system_tests/test/vehicle/test_rudder_action.cc index 08ce2960..8f194a14 100644 --- a/lrauv_system_tests/test/vehicle/test_rudder_action.cc +++ b/lrauv_system_tests/test/vehicle/test_rudder_action.cc @@ -24,7 +24,7 @@ #include -#include +#include #include "lrauv_system_tests/TestFixture.hh" @@ -42,7 +42,7 @@ TEST(RudderActionTest, LeftTurn) EXPECT_NEAR(0.0, poses.back().Pos().Y(), 1e-6); // Propel vehicle - lrauv_ignition_plugins::msgs::LRAUVCommand command; + lrauv_gazebo_plugins::msgs::LRAUVCommand command; // Move forward command.set_propomegaaction_(30); diff --git a/lrauv_system_tests/test/vehicle/test_sensor.cc b/lrauv_system_tests/test/vehicle/test_sensor.cc index 35a0bfec..6635b244 100644 --- a/lrauv_system_tests/test/vehicle/test_sensor.cc +++ b/lrauv_system_tests/test/vehicle/test_sensor.cc @@ -31,7 +31,7 @@ #include #include -#include +#include #include "TestConstants.hh" @@ -88,7 +88,7 @@ void SpawnVehicle( gz::math::Angle lat1 = GZ_DTOR(_lat); gz::math::Angle lon1 = GZ_DTOR(_lon); - lrauv_ignition_plugins::msgs::LRAUVInit spawnMsg; + lrauv_gazebo_plugins::msgs::LRAUVInit spawnMsg; spawnMsg.mutable_id_()->set_data(_modelName); spawnMsg.set_initlat_(lat1.Degree()); spawnMsg.set_initlon_(lon1.Degree()); @@ -142,7 +142,7 @@ TEST(SensorTest, PositionInterpolation) EXPECT_EQ(1, iterations); // Spawn first vehicle gz::transport::Node node; - auto spawnPub = node.Advertise( + auto spawnPub = node.Advertise( "/lrauv/init"); int sleep{0}; @@ -183,7 +183,7 @@ TEST(SensorTest, PositionInterpolation) // Run paused so we avoid the physics moving the vehicles fixture->Server()->RunOnce(true); expectedIterations++; - igndbg << "Waiting for vehicles to spawn" << std::endl; + gzdbg << "Waiting for vehicles to spawn" << std::endl; } EXPECT_TRUE(spawnedAllVehicles); diff --git a/lrauv_system_tests/test/vehicle/test_sensor_timeinterpolation.cc b/lrauv_system_tests/test/vehicle/test_sensor_timeinterpolation.cc index 33e06995..530fec8b 100644 --- a/lrauv_system_tests/test/vehicle/test_sensor_timeinterpolation.cc +++ b/lrauv_system_tests/test/vehicle/test_sensor_timeinterpolation.cc @@ -31,7 +31,7 @@ #include #include -#include +#include #include "TestConstants.hh" @@ -70,7 +70,7 @@ void SpawnVehicle( gz::math::Angle lat1 = GZ_DTOR(_lat); gz::math::Angle lon1 = GZ_DTOR(_lon); - lrauv_ignition_plugins::msgs::LRAUVInit spawnMsg; + lrauv_gazebo_plugins::msgs::LRAUVInit spawnMsg; spawnMsg.mutable_id_()->set_data(_modelName); spawnMsg.set_initlat_(lat1.Degree()); spawnMsg.set_initlon_(lon1.Degree()); @@ -127,7 +127,7 @@ TEST(SensorTest, TimeInterpolation) int maxSleep{30}; // Change the dataconfig - igndbg << "Switching file" <( "/world/science_sensor/environment_data_path"); @@ -141,7 +141,7 @@ TEST(SensorTest, TimeInterpolation) configPub.Publish(configMsg); // Spawn first vehicle - auto spawnPub = node.Advertise( + auto spawnPub = node.Advertise( "/lrauv/init"); for (; !spawnPub.HasConnections() && sleep < maxSleep; ++sleep) { @@ -164,7 +164,7 @@ TEST(SensorTest, TimeInterpolation) // Run paused so we avoid the physics moving the vehicles fixture->Server()->RunOnce(true); expectedIterations++; - igndbg << "Waiting for vehicles to spawn" << std::endl; + gzdbg << "Waiting for vehicles to spawn" << std::endl; } EXPECT_TRUE(spawnedAllVehicles); diff --git a/lrauv_system_tests/worlds/acoustic_comms_fixture.sdf b/lrauv_system_tests/worlds/acoustic_comms_fixture.sdf index ab91bf24..9c2434f2 100644 --- a/lrauv_system_tests/worlds/acoustic_comms_fixture.sdf +++ b/lrauv_system_tests/worlds/acoustic_comms_fixture.sdf @@ -26,20 +26,20 @@ 0 @@ -58,11 +58,11 @@ 1500 - + @@ -104,11 +104,11 @@ - + 3D View false docked - + ogre2 scene @@ -129,15 +129,15 @@ - + floating 5 5 false - + - + @@ -147,10 +147,10 @@ 5 floating false - + - + @@ -160,10 +160,10 @@ 5 floating false - + - + @@ -173,10 +173,10 @@ 5 floating false - + - + @@ -186,11 +186,11 @@ 5 floating false - + false - + @@ -200,10 +200,10 @@ 5 floating false - + - + @@ -213,12 +213,12 @@ 5 floating false - + - + World control false false @@ -231,7 +231,7 @@ - + true true @@ -240,7 +240,7 @@ - + World stats false false @@ -253,7 +253,7 @@ - + true true @@ -262,37 +262,37 @@ - + Plot Tethys 3D path docked_collapsed - + tethys 0 0 1 10000 0.5 - + Inspector docked_collapsed - + - + Visualize science data docked_collapsed - + - + Camera controls docked_collapsed - + - + docked_collapsed - + 6 @@ -313,16 +313,16 @@ - + Tethys controls docked_collapsed - + - + Reference axis docked_collapsed - + tethys @@ -360,9 +360,9 @@ + See https://github.com/gazebosim/gz-sim/pull/730 --> - + 3D View false docked - + ogre2 scene @@ -93,15 +93,15 @@ - + floating 5 5 false - + - + @@ -111,10 +111,10 @@ 5 floating false - + - + @@ -124,10 +124,10 @@ 5 floating false - + - + @@ -137,10 +137,10 @@ 5 floating false - + - + @@ -150,11 +150,11 @@ 5 floating false - + false - + @@ -164,10 +164,10 @@ 5 floating false - + - + @@ -177,12 +177,12 @@ 5 floating false - + - + World control false false @@ -195,7 +195,7 @@ - + true true @@ -204,7 +204,7 @@ - + World stats false false @@ -217,7 +217,7 @@ - + true true @@ -226,31 +226,31 @@ - + Plot Tethys 3D path docked_collapsed - + tethys 0 0 1 10000 0.5 - + Inspector docked_collapsed - + - + Camera controls docked_collapsed - + - + docked_collapsed - + 6 diff --git a/lrauv_system_tests/worlds/buoyant_tethys.sdf b/lrauv_system_tests/worlds/buoyant_tethys.sdf index 0d1c539c..b0fcfb7d 100644 --- a/lrauv_system_tests/worlds/buoyant_tethys.sdf +++ b/lrauv_system_tests/worlds/buoyant_tethys.sdf @@ -20,35 +20,35 @@ 0 + filename="gz-sim-sensors-system" + name="gz::sim::systems::Sensors"> 1025 @@ -59,11 +59,11 @@ - + @@ -93,7 +93,7 @@ 0 0 - + 5.5645e-6 22.8758e-6 -42.3884e-6 @@ -109,11 +109,11 @@ - + 3D View false docked - + ogre2 scene @@ -134,15 +134,15 @@ - + floating 5 5 false - + - + @@ -152,10 +152,10 @@ 5 floating false - + - + @@ -165,10 +165,10 @@ 5 floating false - + - + @@ -178,10 +178,10 @@ 5 floating false - + - + @@ -191,11 +191,11 @@ 5 floating false - + false - + @@ -205,10 +205,10 @@ 5 floating false - + - + @@ -218,12 +218,12 @@ 5 floating false - + - + World control false false @@ -236,7 +236,7 @@ - + true true @@ -245,7 +245,7 @@ - + World stats false false @@ -258,7 +258,7 @@ - + true true @@ -267,37 +267,37 @@ - + Plot Tethys 3D path docked_collapsed - + tethys 0 0 1 10000 0.5 - + Inspector docked_collapsed - + - + Visualize science data docked_collapsed - + - + Camera controls docked_collapsed - + - + docked_collapsed - + 6 @@ -318,16 +318,16 @@ - + Tethys controls docked_collapsed - + - + Reference axis docked_collapsed - + tethys @@ -365,9 +365,9 @@ + Requires ParticleEmitter2 in gz-sim 4.8.0, which will be copied + to ParticleEmitter in Gazebo G. + See https://github.com/gazebosim/gz-sim/pull/730 --> @@ -66,11 +66,11 @@ - + @@ -114,11 +114,11 @@ - + 3D View false docked - + ogre2 scene @@ -139,15 +139,15 @@ - + floating 5 5 false - + - + @@ -157,10 +157,10 @@ 5 floating false - + - + @@ -170,10 +170,10 @@ 5 floating false - + - + @@ -183,10 +183,10 @@ 5 floating false - + - + @@ -196,11 +196,11 @@ 5 floating false - + false - + @@ -210,10 +210,10 @@ 5 floating false - + - + @@ -223,12 +223,12 @@ 5 floating false - + - + World control false false @@ -241,7 +241,7 @@ - + true true @@ -250,7 +250,7 @@ - + World stats false false @@ -263,7 +263,7 @@ - + true true @@ -272,37 +272,37 @@ - + Plot Tethys 3D path docked_collapsed - + tethys 0 0 1 10000 0.5 - + Inspector docked_collapsed - + - + Visualize science data docked_collapsed - + - + Camera controls docked_collapsed - + - + docked_collapsed - + 6 @@ -323,16 +323,16 @@ - + Tethys controls docked_collapsed - + - + Reference axis docked_collapsed - + tethys @@ -370,9 +370,9 @@ + Requires ParticleEmitter2 in gz-sim 4.8.0, which will be copied + to ParticleEmitter in Gazebo G. + See https://github.com/gazebosim/gz-sim/pull/730 --> + See https://github.com/gazebosim/gz-sim/pull/730 --> @@ -86,7 +86,7 @@ 0 0 - + 5.5645e-6 22.8758e-6 -42.3884e-6 @@ -102,11 +102,11 @@ - + 3D View false docked - + ogre2 scene @@ -127,15 +127,15 @@ - + floating 5 5 false - + - + @@ -145,10 +145,10 @@ 5 floating false - + - + @@ -158,10 +158,10 @@ 5 floating false - + - + @@ -171,10 +171,10 @@ 5 floating false - + - + @@ -184,11 +184,11 @@ 5 floating false - + false - + @@ -198,10 +198,10 @@ 5 floating false - + - + @@ -211,12 +211,12 @@ 5 floating false - + - + World control false false @@ -229,7 +229,7 @@ - + true true @@ -238,7 +238,7 @@ - + World stats false false @@ -251,7 +251,7 @@ - + true true @@ -260,37 +260,37 @@ - + Plot Tethys 3D path docked_collapsed - + tethys 0 0 1 10000 0.5 - + Inspector docked_collapsed - + - + Visualize science data docked_collapsed - + - + Camera controls docked_collapsed - + - + docked_collapsed - + 6 @@ -311,16 +311,16 @@ - + Tethys controls docked_collapsed - + - + Reference axis docked_collapsed - + tethys @@ -358,9 +358,9 @@ + See https://github.com/gazebosim/gz-sim/pull/730 --> + See https://github.com/gazebosim/gz-sim/pull/730 --> @@ -86,7 +86,7 @@ 0 0 - + 5.5645e-6 22.8758e-6 -42.3884e-6 @@ -102,11 +102,11 @@ - + 3D View false docked - + ogre2 scene @@ -127,15 +127,15 @@ - + floating 5 5 false - + - + @@ -145,10 +145,10 @@ 5 floating false - + - + @@ -158,10 +158,10 @@ 5 floating false - + - + @@ -171,10 +171,10 @@ 5 floating false - + - + @@ -184,11 +184,11 @@ 5 floating false - + false - + @@ -198,10 +198,10 @@ 5 floating false - + - + @@ -211,12 +211,12 @@ 5 floating false - + - + World control false false @@ -229,7 +229,7 @@ - + true true @@ -238,7 +238,7 @@ - + World stats false false @@ -251,7 +251,7 @@ - + true true @@ -260,37 +260,37 @@ - + Plot Tethys 3D path docked_collapsed - + tethys 0 0 1 10000 0.5 - + Inspector docked_collapsed - + - + Visualize science data docked_collapsed - + - + Camera controls docked_collapsed - + - + docked_collapsed - + 6 @@ -311,16 +311,16 @@ - + Tethys controls docked_collapsed - + - + Reference axis docked_collapsed - + tethys @@ -358,9 +358,9 @@ + See https://github.com/gazebosim/gz-sim/pull/730 --> + See https://github.com/gazebosim/gz-sim/pull/730 --> @@ -87,11 +87,11 @@ - + 3D View false docked - + ogre2 scene @@ -112,15 +112,15 @@ - + floating 5 5 false - + - + @@ -130,10 +130,10 @@ 5 floating false - + - + @@ -143,10 +143,10 @@ 5 floating false - + - + @@ -156,10 +156,10 @@ 5 floating false - + - + @@ -169,11 +169,11 @@ 5 floating false - + false - + @@ -183,10 +183,10 @@ 5 floating false - + - + @@ -196,12 +196,12 @@ 5 floating false - + - + World control false false @@ -214,7 +214,7 @@ - + true true @@ -223,7 +223,7 @@ - + World stats false false @@ -236,7 +236,7 @@ - + true true @@ -245,37 +245,37 @@ - + Plot Tethys 3D path docked_collapsed - + tethys 0 0 1 10000 0.5 - + Inspector docked_collapsed - + - + Visualize science data docked_collapsed - + - + Camera controls docked_collapsed - + - + docked_collapsed - + 6 @@ -296,16 +296,16 @@ - + Tethys controls docked_collapsed - + - + Reference axis docked_collapsed - + tethys @@ -343,9 +343,9 @@ + See https://github.com/gazebosim/gz-sim/pull/730 --> - + 3D View false docked - + ogre2 scene @@ -93,15 +93,15 @@ - + floating 5 5 false - + - + @@ -111,10 +111,10 @@ 5 floating false - + - + @@ -124,10 +124,10 @@ 5 floating false - + - + @@ -137,10 +137,10 @@ 5 floating false - + - + @@ -150,11 +150,11 @@ 5 floating false - + false - + @@ -164,10 +164,10 @@ 5 floating false - + - + @@ -177,12 +177,12 @@ 5 floating false - + - + World control false false @@ -195,7 +195,7 @@ - + true true @@ -204,7 +204,7 @@ - + World stats false false @@ -217,7 +217,7 @@ - + true true @@ -226,31 +226,31 @@ - + Plot Tethys 3D path docked_collapsed - + tethys 0 0 1 10000 0.5 - + Inspector docked_collapsed - + - + Camera controls docked_collapsed - + - + docked_collapsed - + 6 diff --git a/lrauv_system_tests/worlds/flat_tethys_no_damping.sdf b/lrauv_system_tests/worlds/flat_tethys_no_damping.sdf index e4341798..a2f34f30 100644 --- a/lrauv_system_tests/worlds/flat_tethys_no_damping.sdf +++ b/lrauv_system_tests/worlds/flat_tethys_no_damping.sdf @@ -19,20 +19,20 @@ 0 1025 @@ -41,7 +41,7 @@ 0 0 0 0 0 0 tethys base_link __model__ @@ -49,7 +49,7 @@ /model/tethys/drop_weight battery_joint true diff --git a/lrauv_system_tests/worlds/star_world.sdf b/lrauv_system_tests/worlds/star_world.sdf index 3d4cce7a..6e3d7ead 100644 --- a/lrauv_system_tests/worlds/star_world.sdf +++ b/lrauv_system_tests/worlds/star_world.sdf @@ -18,28 +18,28 @@ 0 1025 @@ -50,11 +50,11 @@ 1500 - + See https://github.com/gazebosim/gz-sim/pull/730 --> diff --git a/lrauv_system_tests/worlds/tilted_tethys_no_damping.sdf b/lrauv_system_tests/worlds/tilted_tethys_no_damping.sdf index 04ed13a5..9d3053ad 100644 --- a/lrauv_system_tests/worlds/tilted_tethys_no_damping.sdf +++ b/lrauv_system_tests/worlds/tilted_tethys_no_damping.sdf @@ -19,20 +19,20 @@ 0 1025 @@ -41,7 +41,7 @@ 0 0 0 0 0.08 0 tethys base_link __model__ @@ -49,7 +49,7 @@ /model/tethys/drop_weight battery_joint true diff --git a/lrauv_system_tests/worlds/windy_tethys.sdf b/lrauv_system_tests/worlds/windy_tethys.sdf index 11cb3630..d4a94d82 100644 --- a/lrauv_system_tests/worlds/windy_tethys.sdf +++ b/lrauv_system_tests/worlds/windy_tethys.sdf @@ -20,20 +20,20 @@ 0 1025 @@ -66,7 +66,7 @@ @@ -102,11 +102,11 @@ - + 3D View false docked - + ogre2 scene @@ -127,15 +127,15 @@ - + floating 5 5 false - + - + @@ -145,10 +145,10 @@ 5 floating false - + - + @@ -158,10 +158,10 @@ 5 floating false - + - + @@ -171,10 +171,10 @@ 5 floating false - + - + @@ -184,11 +184,11 @@ 5 floating false - + false - + @@ -198,10 +198,10 @@ 5 floating false - + - + @@ -211,12 +211,12 @@ 5 floating false - + - + World control false false @@ -229,7 +229,7 @@ - + true true @@ -238,7 +238,7 @@ - + World stats false false @@ -251,7 +251,7 @@ - + true true @@ -260,37 +260,37 @@ - + Plot Tethys 3D path docked_collapsed - + tethys 0 0 1 10000 0.5 - + Inspector docked_collapsed - + - + Visualize science data docked_collapsed - + - + Camera controls docked_collapsed - + - + docked_collapsed - + 6 @@ -311,16 +311,16 @@ - + Tethys controls docked_collapsed - + - + Reference axis docked_collapsed - + tethys diff --git a/lrauv_system_tests/worlds/windy_tethys_at_depth.sdf b/lrauv_system_tests/worlds/windy_tethys_at_depth.sdf index e14dd3aa..3c218eb4 100644 --- a/lrauv_system_tests/worlds/windy_tethys_at_depth.sdf +++ b/lrauv_system_tests/worlds/windy_tethys_at_depth.sdf @@ -26,20 +26,20 @@ 0 1025 @@ -72,7 +72,7 @@ @@ -108,11 +108,11 @@ - + 3D View false docked - + ogre2 scene @@ -133,15 +133,15 @@ - + floating 5 5 false - + - + @@ -151,10 +151,10 @@ 5 floating false - + - + @@ -164,10 +164,10 @@ 5 floating false - + - + @@ -177,10 +177,10 @@ 5 floating false - + - + @@ -190,11 +190,11 @@ 5 floating false - + false - + @@ -204,10 +204,10 @@ 5 floating false - + - + @@ -217,12 +217,12 @@ 5 floating false - + - + World control false false @@ -235,7 +235,7 @@ - + true true @@ -244,7 +244,7 @@ - + World stats false false @@ -257,7 +257,7 @@ - + true true @@ -266,37 +266,37 @@ - + Plot Tethys 3D path docked_collapsed - + tethys 0 0 1 10000 0.5 - + Inspector docked_collapsed - + - + Visualize science data docked_collapsed - + - + Camera controls docked_collapsed - + - + docked_collapsed - + 6 @@ -317,16 +317,16 @@ - + Tethys controls docked_collapsed - + - + Reference axis docked_collapsed - + tethys diff --git a/tools/code_check.sh b/tools/code_check.sh index c89fb83a..196b960d 100755 --- a/tools/code_check.sh +++ b/tools/code_check.sh @@ -45,7 +45,7 @@ then CPPLINT_FILES="$CHECK_FILES" QUICK_TMP=`mktemp -t asdfXXXXXXXXXX` else - CHECK_DIRS="lrauv_ignition_plugins/src" + CHECK_DIRS="lrauv_gazebo_plugins/src" if [ $CPPCHECK_LT_157 -eq 1 ]; then # cppcheck is older than 1.57, so don't check header files (issue #907) CPPCHECK_FILES=`find $CHECK_DIRS -name "*.cc"` @@ -62,7 +62,7 @@ if [ $CPPCHECK_LT_157 -eq 0 ]; then # use --language argument if 1.57 or greater (issue #907) CPPCHECK_BASE="$CPPCHECK_BASE --language=c++" fi -CPPCHECK_INCLUDES="-I lrauv_ignition_plugins/src" # -I $builddir" +CPPCHECK_INCLUDES="-I lrauv_gazebo_plugins/src" # -I $builddir" CPPCHECK_RULES="-UM_PI"\ " --rule-file=./tools/cppcheck_rules/header_guard.rule"\ " --rule-file=./tools/cppcheck_rules/namespace_AZ.rule"