Ignition to Gazebo migration

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:/ignitionrobotics/ign-gazebo/).
+[ign-gazebo](https:/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:/osrf/lrauv/blob/main/lrauv_ignition_plugins/proto/lrauv_init.proto)
+[lrauv_init](https:/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:/osrf/lrauv/blob/main/lrauv_ignition_plugins/plots/README.md)
+See [`lrauv_gazebo_plugins/plots/README.md`](https:/osrf/lrauv/blob/main/lrauv_gazebo_plugins/plots/README.md)
 for instructions to unserialize and scripts for plotting.
 
 ## Science data

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/

lrauv_description/models/tethys_equipped/model.sdf

@@ -19,64 +19,64 @@
  action="add"
  name="salinity_sensor"
  type="custom"
- ignition:type="salinity">
+ gz:type="salinity">
  <always_on>1</always_on>
  <update_rate>2</update_rate>
  <topic>/model/tethys/salinity</topic>
- <ignition:salinity>
+ <gz:salinity>
  <noise type="gaussian">
  <mean>0.00001</mean>
  <stddev>0.00001</stddev>
  </noise>
- </ignition:salinity>
+ </gz:salinity>
  </sensor>
  <sensor
  element_id="base_link"
  action="add"
  name="temperature_sensor"
  type="custom"
- ignition:type="temperature">
+ gz:type="temperature">
  <always_on>1</always_on>
  <update_rate>2</update_rate>
  <topic>/model/tethys/temperature</topic>
- <ignition:temperature>
+ <gz:temperature>
  <noise type="gaussian">
  <mean>0.00001</mean>
  <stddev>0.00001</stddev>
  </noise>
- </ignition:temperature>
+ </gz:temperature>
  </sensor>
  <sensor
  element_id="base_link"
  action="add"
  name="chlorophyll_sensor"
  type="custom"
- ignition:type="chlorophyll">
+ gz:type="chlorophyll">
  <always_on>1</always_on>
  <update_rate>2</update_rate>
  <topic>/model/tethys/chlorophyll</topic>
- <ignition:chlorophyll>
+ <gz:chlorophyll>
  <noise type="gaussian">
  <mean>0.00001</mean>
  <stddev>0.00001</stddev>
  </noise>
- </ignition:chlorophyll>
+ </gz:chlorophyll>
  </sensor>
  <sensor
  element_id="base_link"
  action="add"
  name="current_sensor"
  type="custom"
- ignition:type="current">
+ gz:type="current">
  <always_on>1</always_on>
  <update_rate>2</update_rate>
  <topic>/model/tethys/current</topic>
- <ignition:current>
+ <gz:current>
  <noise type="gaussian">
  <mean>0.00001</mean>
  <stddev>0.00001</stddev>
  </noise>
- </ignition:current>
+ </gz:current>
  </sensor>
  <!--
  Teledyne Pathfinder DVL
@@ -87,13 +87,13 @@
  <sensor
  element_id="base_link" action="add"
  name="teledyne_pathfinder_dvl"
- type="custom" ignition:type="dvl">
+ type="custom" gz:type="dvl">
  <!-- Account for DVL mounting position and base link rotation -->
  <pose degrees="true">-0.60 0 -0.16 0 0 180</pose>
  <always_on>1</always_on>
  <update_rate>1</update_rate>
  <topic>/tethys/dvl/velocity</topic>
- <ignition:dvl>
+ <gz:dvl>
  <arrangement degrees="true">
  <beam id="1">
  <aperture>2.1</aperture>
@@ -128,7 +128,7 @@
  <maximum_range>80.</maximum_range>
  <!-- ENU to SFM -->
  <reference_frame>0 0 0 0 0 -1.570796</reference_frame>
- </ignition:dvl>
+ </gz:dvl>
  </sensor>
  <!--
  Sparton AHRS-M2 arrangement of IMU + Magnetometer

lrauv_ignition_plugins/CMakeLists.txt → lrauv_gazebo_plugins/CMakeLists.txt

@@ -5,7 +5,7 @@
 
 cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 
-project(lrauv_ignition_plugins)
+project(lrauv_gazebo_plugins)
 
 include(CTest)
 

lrauv_gazebo_plugins/colcon.pkg

@@ -0,0 +1,6 @@
+{
+ "hooks": [
+ "share/lrauv_gazebo_plugins/hooks/hook.dsv",
+ "share/lrauv_gazebo_plugins/hooks/hook.sh"
+ ]
+}

lrauv_ignition_plugins/example/example_buoyancy.cc → lrauv_gazebo_plugins/example/example_buoyancy.cc

@@ -35,7 +35,7 @@
 
 #include <gz/msgs.hh>
 #include <gz/transport.hh>
-#include "lrauv_ignition_plugins/lrauv_command.pb.h"
+#include "lrauv_gazebo_plugins/lrauv_command.pb.h"
 
 int main(int _argc, char **_argv)
 {
@@ -54,15 +54,15 @@ int main(int _argc, char **_argv)
  gz::transport::Node node;
  auto commandTopic = "/" + vehicleName + "/command_topic";
  auto commandPub =
- node.Advertise<lrauv_ignition_plugins::msgs::LRAUVCommand>(commandTopic);
+ node.Advertise<lrauv_gazebo_plugins::msgs::LRAUVCommand>(commandTopic);
 
  while (!commandPub.HasConnections())
  {
  std::cout << "Command publisher waiting for connections..." << std::endl;
  std::this_thread::sleep_for(std::chrono::milliseconds(1000));
  }
 
- lrauv_ignition_plugins::msgs::LRAUVCommand cmdMsg;
+ lrauv_gazebo_plugins::msgs::LRAUVCommand cmdMsg;
  cmdMsg.set_buoyancyaction_(volume);
 
  // Don't release drop-weight

lrauv_ignition_plugins/example/example_comms_client.cc → lrauv_gazebo_plugins/example/example_comms_client.cc

@@ -29,10 +29,10 @@
  * $ ./LRAUV_example_comms_client
  */
 
-#include <lrauv_ignition_plugins/comms/CommsClient.hh>
+#include <lrauv_gazebo_plugins/comms/CommsClient.hh>
 
 using namespace tethys;
-using AcousticMsg = lrauv_ignition_plugins::msgs::LRAUVAcousticMessage;
+using AcousticMsg = lrauv_gazebo_plugins::msgs::LRAUVAcousticMessage;
 
 using namespace std::literals::chrono_literals;
 

lrauv_ignition_plugins/example/example_comms_echo.cc → lrauv_gazebo_plugins/example/example_comms_echo.cc

@@ -32,19 +32,19 @@
 #include <sstream>
 #include <unistd.h>
 #include <gz/transport/Node.hh>
-#include "lrauv_ignition_plugins/lrauv_acoustic_message.pb.h"
+#include "lrauv_gazebo_plugins/lrauv_acoustic_message.pb.h"
 
 int address = 1;
 gz::transport::Node::Publisher transmitter;
-using AcousticMsg = lrauv_ignition_plugins::msgs::LRAUVAcousticMessage;
+using AcousticMsg = lrauv_gazebo_plugins::msgs::LRAUVAcousticMessage;
 
 //////////////////////////////////////////////////
 /// \brief Function called each time a message is recieved by the comms subsystem.
-void cb(const lrauv_ignition_plugins::msgs::LRAUVAcousticMessage &_msg)
+void cb(const AcousticMsg &_msg)
 {
  std::cout << _msg.from() << ": " << _msg.data();
 
- lrauv_ignition_plugins::msgs::LRAUVAcousticMessage returnMsg;
+ AcousticMsg returnMsg;
  // Who to send to
  returnMsg.set_to(_msg.from());
 
@@ -83,7 +83,7 @@ int main(int argc, char** argv)
  }
  }
 
- transmitter = node.Advertise<lrauv_ignition_plugins::msgs::LRAUVAcousticMessage>(
+ transmitter = node.Advertise<AcousticMsg>(
  "/comms/external/" + std::to_string(address) + "/tx");
 
  node.Subscribe(

lrauv_ignition_plugins/example/example_controller.cc → lrauv_gazebo_plugins/example/example_controller.cc

@@ -34,7 +34,7 @@
 
 #include <gz/msgs.hh>
 #include <gz/transport.hh>
-#include "lrauv_ignition_plugins/lrauv_command.pb.h"
+#include "lrauv_gazebo_plugins/lrauv_command.pb.h"
 
 int main(int _argc, char **_argv)
 {
@@ -47,15 +47,15 @@ int main(int _argc, char **_argv)
  gz::transport::Node node;
  auto commandTopic = "/" + vehicleName + "/command_topic";
  auto commandPub =
- node.Advertise<lrauv_ignition_plugins::msgs::LRAUVCommand>(commandTopic);
+ node.Advertise<lrauv_gazebo_plugins::msgs::LRAUVCommand>(commandTopic);
 
  double angle = 0.17;
 
  // Wiggle rudder
  for (int i = 0; i < 10; i++)
  {
  std::this_thread::sleep_for(std::chrono::milliseconds(1000));
- lrauv_ignition_plugins::msgs::LRAUVCommand rudderMsg;
+ lrauv_gazebo_plugins::msgs::LRAUVCommand rudderMsg;
  angle *= -1;
  rudderMsg.set_buoyancyaction_(0.0005); // Keep it stable
  rudderMsg.set_dropweightstate_(1);
@@ -65,7 +65,7 @@ int main(int _argc, char **_argv)
  }
 
  std::this_thread::sleep_for(std::chrono::milliseconds(1000));
- lrauv_ignition_plugins::msgs::LRAUVCommand rudderStopMsg;
+ lrauv_gazebo_plugins::msgs::LRAUVCommand rudderStopMsg;
  rudderStopMsg.set_buoyancyaction_(0.0005);
  rudderStopMsg.set_rudderangleaction_(0);
  rudderStopMsg.set_dropweightstate_(1);
@@ -76,7 +76,7 @@ int main(int _argc, char **_argv)
  for (int i = 0; i < 10; i++)
  {
  std::this_thread::sleep_for(std::chrono::milliseconds(1000));
- lrauv_ignition_plugins::msgs::LRAUVCommand elevatorMsg;
+ lrauv_gazebo_plugins::msgs::LRAUVCommand elevatorMsg;
  angle *= -1;
  elevatorMsg.set_buoyancyaction_(0.0005);
  elevatorMsg.set_elevatorangleaction_(angle);
@@ -86,23 +86,23 @@ int main(int _argc, char **_argv)
  }
 
  std::this_thread::sleep_for(std::chrono::milliseconds(1000));
- lrauv_ignition_plugins::msgs::LRAUVCommand elevatorStopMsg;
+ lrauv_gazebo_plugins::msgs::LRAUVCommand elevatorStopMsg;
  elevatorStopMsg.set_buoyancyaction_(0.0005);
  elevatorStopMsg.set_elevatorangleaction_(0);
  elevatorStopMsg.set_dropweightstate_(1);
  commandPub.Publish(elevatorStopMsg);
  std::cout << "moving elevator to " << angle << "\n";
 
  // Charge forward
- lrauv_ignition_plugins::msgs::LRAUVCommand thrustMsg;
+ lrauv_gazebo_plugins::msgs::LRAUVCommand thrustMsg;
  thrustMsg.set_buoyancyaction_(0.0005);
  thrustMsg.set_propomegaaction_(30);
  thrustMsg.set_dropweightstate_(1);
  commandPub.Publish(thrustMsg);
  std::cout << "charging forward!\n";
 
  std::this_thread::sleep_for(std::chrono::milliseconds(10000));
- lrauv_ignition_plugins::msgs::LRAUVCommand stopMsg;
+ lrauv_gazebo_plugins::msgs::LRAUVCommand stopMsg;
  stopMsg.set_buoyancyaction_(0.0005);
  stopMsg.set_propomegaaction_(0);
  stopMsg.set_dropweightstate_(1);

lrauv_ignition_plugins/example/example_dvl_velocity.cc → lrauv_gazebo_plugins/example/example_dvl_velocity.cc

@@ -23,7 +23,7 @@
 /**
  * Subscribe to DVL velocity tracking estimates.
  *
- * An ``ign topic -e`` command equivalent that can subscribe
+ * An ``gz topic -e`` command equivalent that can subscribe
  * and print DVL velocity tracking messages to console.
  *
  * Usage:
@@ -36,9 +36,9 @@
 #include <gz/msgs.hh>
 #include <gz/transport.hh>
 
-#include "lrauv_ignition_plugins/dvl_velocity_tracking.pb.h"
+#include "lrauv_gazebo_plugins/dvl_velocity_tracking.pb.h"
 
-void callback(const lrauv_ignition_plugins::msgs::DVLVelocityTracking &_msg)
+void callback(const lrauv_gazebo_plugins::msgs::DVLVelocityTracking &_msg)
 {
  std::cout << "---" << std::endl << _msg.DebugString();
 }

lrauv_ignition_plugins/example/example_elevator.cc → lrauv_gazebo_plugins/example/example_elevator.cc

@@ -30,7 +30,7 @@
 
 #include <gz/msgs.hh>
 #include <gz/transport.hh>
-#include "lrauv_ignition_plugins/lrauv_command.pb.h"
+#include "lrauv_gazebo_plugins/lrauv_command.pb.h"
 
 int main(int _argc, char **_argv)
 {
@@ -49,15 +49,15 @@ int main(int _argc, char **_argv)
  gz::transport::Node node;
  auto commandTopic = "/" + vehicleName + "/command_topic";
  auto commandPub =
- node.Advertise<lrauv_ignition_plugins::msgs::LRAUVCommand>(commandTopic);
+ node.Advertise<lrauv_gazebo_plugins::msgs::LRAUVCommand>(commandTopic);
 
  while (!commandPub.HasConnections())
  {
  std::cout << "Command publisher waiting for connections..." << std::endl;
  std::this_thread::sleep_for(std::chrono::milliseconds(1000));
  }
 
- lrauv_ignition_plugins::msgs::LRAUVCommand cmdMsg;
+ lrauv_gazebo_plugins::msgs::LRAUVCommand cmdMsg;
  cmdMsg.set_elevatorangleaction_(angle);
 
  // Keep it stable

lrauv_ignition_plugins/example/example_mass_shifter.cc → lrauv_gazebo_plugins/example/example_mass_shifter.cc

@@ -36,7 +36,7 @@
 
 #include <gz/msgs.hh>
 #include <gz/transport.hh>
-#include "lrauv_ignition_plugins/lrauv_command.pb.h"
+#include "lrauv_gazebo_plugins/lrauv_command.pb.h"
 
 int main(int _argc, char **_argv)
 {
@@ -55,15 +55,15 @@ int main(int _argc, char **_argv)
  gz::transport::Node node;
  auto commandTopic = "/" + vehicleName + "/command_topic";
  auto commandPub =
- node.Advertise<lrauv_ignition_plugins::msgs::LRAUVCommand>(commandTopic);
+ node.Advertise<lrauv_gazebo_plugins::msgs::LRAUVCommand>(commandTopic);
 
  while (!commandPub.HasConnections())
  {
  std::cout << "Command publisher waiting for connections..." << std::endl;
  std::this_thread::sleep_for(std::chrono::milliseconds(1000));
  }
 
- lrauv_ignition_plugins::msgs::LRAUVCommand batteryMsg;
+ lrauv_gazebo_plugins::msgs::LRAUVCommand batteryMsg;
  batteryMsg.set_masspositionaction_(pos);
 
  // Keep it stable