ign -> gz Partial Docs Migration and Project Name Followups : gz-phys…

…ics (#368)

Changelog.md

@@ -180,7 +180,7 @@
     * [Pull request #133](https://github.com/gazebosim/gz-physics/pull/133)
     * [Pull request #116](https://github.com/gazebosim/gz-physics/pull/116)
 
-1. Bump in edifice: ign-common4
+1. Bump in edifice: gz-common4
     * [Pull request #205](https://github.com/gazebosim/gz-physics/pull/205)
 
 1. Constructing nested models for dartsim
@@ -560,7 +560,7 @@
 1. Add SetJointVelocityCommand feature.
     * [BitBucket pull request 100](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-physics/pull-requests/100)
 
-1. Add `IGN_PROFILER_ENABLE` cmake option for enabling the ign-common profiler.
+1. Add `IGN_PROFILER_ENABLE` cmake option for enabling the gz-common profiler.
     * [BitBucket pull request 96](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-physics/pull-requests/96)
 
 ### Gazebo Physics 1.3.1 (2019-07-19)

Migration.md

@@ -7,7 +7,7 @@ release will remove the deprecated code.
 
 ## Gazebo Physics 5.X to 6.X
 
-### Deprecation
+### Deprecations
 
 1. The `ignition` namespace is deprecated and will be removed in future versions.  Use `gz` instead.
 
@@ -27,6 +27,14 @@ release will remove the deprecated code.
    1. `IGNITION_UNITTEST_EXPECTDATA_ACCESS` (hard-tocked, inside test and detail headers)
    1. `IGNITION_PHYSICS_DEFINE_COORDINATE_SPACE` (hard-tocked, inside detail header)
 
+### Breaking Changes
+
+* The project name has been changed to use the `gz-` prefix, you **must** use the `gz` prefix!
+  * This also means that any generated code that use the project name (e.g. CMake variables, in-source macros) would have to be migrated.
+  * Some non-exhaustive examples of this include:
+    * `GZ_<PROJECT>_<VISIBLE/HIDDEN>`
+    * CMake `-config` files
+    * Paths that depend on the project name
 
 ## Gazebo Physics 4.X to 5.X
 

README.md

@@ -14,8 +14,7 @@ Ubuntu Focal | [![Build Status](https://build.osrfoundation.org/buildStatus/icon
 Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_physics-ci-ign-physics6-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_physics-ci-ign-physics6-homebrew-amd64)
 Windows       | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ign_physics-ci-win)](https://build.osrfoundation.org/job/ign_physics-ci-win)
 
-Gazebo Physics, a component of [Ignition
-Robotics](https://gazebosim.org), provides an abstract physics interface
+Gazebo Physics, a component of [Gazebo](https://gazebosim.org), provides an abstract physics interface
 designed to support simulation and rapid development of robot applications.
 
 # Table of Contents
@@ -97,7 +96,7 @@ You can also generate the documentation from a clone of this repository by follo
 3. Configure and build the documentation.
 
     ```
-    cd ign-physics; mkdir build; cd build; cmake ../; make doc
+    cd gz-physics; mkdir build; cd build; cmake ../; make doc
     ```
 
 4. View the documentation by running the following command from the build directory.

api.md.in

@@ -1,6 +1,6 @@
-## Ignition @IGN_DESIGNATION_CAP@
+## Gazebo @IGN_DESIGNATION_CAP@
 
-Ignition @IGN_DESIGNATION_CAP@ is a component in Gazebo, a set of libraries
+Gazebo @IGN_DESIGNATION_CAP@ is a component in Gazebo, a set of libraries
 designed to rapidly develop robot and simulation applications.
 
 ## License

dartsim/src/SDFFeatures.cc

@@ -702,7 +702,7 @@ Identity SDFFeatures::ConstructSdfJoint(
   //    constructed by the user instead of one obtained from an sdf::Model
   //    object. In this case, the joint does not have a valid frame graph and it
   //    cannot be used to resolve for the parent link name. However, this can
-  //    still be a valid use case for ign-gazebo that sends DOM objects
+  //    still be a valid use case for gz-sim that sends DOM objects
   //    piecemeal with all links and poses resolved.
   // Since (1) is an error that should be reported and (2) might be a valid use
   // case, the solution is, when an error is encountered, we first assume (2)

dartsim/src/SDFFeatures_TEST.cc

@@ -142,7 +142,7 @@ static sdf::JointAxis ResolveJointAxis(const sdf::JointAxis &_unresolvedAxis)
 }
 
 /////////////////////////////////////////////////
-/// Downstream applications, like ign-gazebo, use this way of world construction
+/// Downstream applications, like gz-sim, use this way of world construction
 WorldPtr LoadWorldPiecemeal(const std::string &_world)
 {
   auto engine = LoadEngine();

examples/hello_world_loader/CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.5 FATAL_ERROR)
 
-project(ign-physics-hello-world-loader)
+project(gz-physics-hello-world-loader)
 
 find_package(gz-plugin2 REQUIRED COMPONENTS all)
 set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})

examples/hello_world_loader/README.md

@@ -5,7 +5,7 @@ plugins, according to a desired feature list.
 
 ## Build
 
-From the root of the `ign-physics` repository, do the following to build the example:
+From the root of the `gz-physics` repository, do the following to build the example:
 
 ```bash
 cd examples/hello_world_loader

examples/hello_world_plugin/CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.5 FATAL_ERROR)
 
-project(ign-physics-hello-world-plugin)
+project(gz-physics-hello-world-plugin)
 
 find_package(gz-plugin2 REQUIRED COMPONENTS all)
 set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})

examples/hello_world_plugin/README.md

@@ -5,7 +5,7 @@ Gazebo Physics.
 
 ## Build
 
-From the root of the `ign-physics` repository, do the following to build the example:
+From the root of the `gz-physics` repository, do the following to build the example:
 
 ```bash
 cd examples/hello_world_plugin

examples/simple_plugin/CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.5 FATAL_ERROR)
 
-project(ign-physics-simple-plugin)
+project(gz-physics-simple-plugin)
 
 find_package(gz-plugin2 REQUIRED COMPONENTS all)
 set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})

tpe/plugin/src/FreeGroupFeatures.cc

@@ -66,7 +66,7 @@ static tpelib::Link *FindModelRootLink(tpelib::Model *_model)
   {
     // assume canonical link is the first link in model
     // note the canonical link of a free group is renamed to root link in
-    // ign-physics4. The canonical link / root link of a free group can be
+    // gz-physics4. The canonical link / root link of a free group can be
     // different from the canonical link of a model.
     // Here we treat them the same and return the model's canonical link
     return static_cast<tpelib::Link *>(&_model->GetCanonicalLink());

tutorials.md.in

@@ -1,8 +1,8 @@
 \page tutorials Tutorials
 
-Welcome to the Ignition @IGN_DESIGNATION_CAP@ tutorials. These tutorials
+Welcome to the Gazebo @IGN_DESIGNATION_CAP@ tutorials. These tutorials
 will guide you through the process of understanding the capabilities of the
-Ignition @IGN_DESIGNATION_CAP@ library and how to use the library effectively.
+Gazebo @IGN_DESIGNATION_CAP@ library and how to use the library effectively.
 
 
 **Contents**

tutorials/01_intro.md

@@ -4,7 +4,7 @@ Next Tutorial: \ref installation
 
 ## Motivation
 
-Gazebo Physics (`ign-physics`) is a library component in Ignition, a set of
+Gazebo Physics (`gz-physics`) is a library component in Gazebo, a set of
 libraries designed to rapidly develop robot and simulation applications.
 The main goal of the library is to provide an abstraction layer to various
 physics engines, which gives end-users the ability to use multiple
@@ -17,18 +17,18 @@ Gazebo Physics extensibility and modularity.
 
 ## Overview
 
-For a big picture of the Gazebo Physics operation in Ignition ecosystem, see
+For a big picture of the Gazebo Physics operation in Gazebo ecosystem, see
 the abstract diagram below:
 
 @image html img/ign-libraries.png
 
-In general, `ign-gazebo` is the main simulation library, in which its
+In general, `gz-sim` is the main simulation library, in which its
 functionalities are powered by many component libraries.
-For example, its graphical drawing is supported by `ign-rendering` or simulated
-sensors that are defined and implemented in `ign-sensors`.
-In particular, this library `ign-physics` provides an abstract interface to
+For example, its graphical drawing is supported by `gz-rendering` or simulated
+sensors that are defined and implemented in `gz-sensors`.
+In particular, this library `gz-physics` provides an abstract interface to
 physics engines, which simulates dynamic transformations and interactions of
-objects in `ign-gazebo`. The libraries are connected by C++ code.
+objects in `gz-sim`. The libraries are connected by C++ code.
 
 Gazebo Physics uses a plugin architecture where each physics engine is
 implemented as a plugin that can be loaded at runtime.
@@ -82,5 +82,5 @@ to \ref physicsplugin
 
 ### Future roadmap
 
-Gazebo Physics evolves closely with the Ignition ecosystem.
+Gazebo Physics evolves closely with the Gazebo ecosystem.
 For a broader overview, please visit [Gazebo's roadmap](https://gazebosim.org/about).

tutorials/02_installation.md

@@ -1,7 +1,7 @@
 \page installation Installation
 
 These instructions are for installing only Gazebo Physics.
-If you're interested in using all the Ignition libraries, check out this [Ignition installation](https://gazebosim.org/docs/dome/install).
+If you're interested in using all the Gazebo libraries, check out this [Gazebo installation](https://gazebosim.org/docs/dome/install).
 
 We recommend following the Binary Installation instructions to get up and running as quickly and painlessly as possible.
 
@@ -32,7 +32,7 @@ wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
 
 ## Binary Installation
 
-On Ubuntu systems, `apt-get` can be used to install `ignition-plugin`:
+On Ubuntu systems, `apt-get` can be used to install `gz-plugin`:
 ```
 sudo apt-get update
 sudo apt-get install libignition-physics<#>-dev
@@ -56,7 +56,7 @@ Be sure to replace `<#>` with a number value, such as `1` or `2`, depending on w
 
 3. Configure and build
   ```
-  cd ign-physics
+  cd gz-physics
   mkdir build
   cd build
   cmake ..
@@ -110,7 +110,7 @@ Be sure to replace `<#>` with a number value, such as `1` or `2`, depending on w
 
 3. Configure and build
   ```
-  cd ign-physics
+  cd gz-physics
   mkdir build
   cd build
   cmake ..
@@ -129,14 +129,14 @@ Only [Trivial Physics Engine (TPE)](https://community.gazebosim.org/t/announcing
 
 ## Prerequisites
 
-First, follow the [ign-cmake](https://github.com/gazebosim/gz-cmake) tutorial for installing Conda, Visual Studio, CMake, and other prerequisites, and also for creating a Conda environment.
+First, follow the [gz-cmake](https://github.com/gazebosim/gz-cmake) tutorial for installing Conda, Visual Studio, CMake, and other prerequisites, and also for creating a Conda environment.
 
 Navigate to ``condabin`` if necessary to use the ``conda`` command (i.e., if Conda is not in your `PATH` environment variable. You can find the location of ``condabin`` in Anaconda Prompt, ``where conda``).
 
 Create if necessary, and activate a Conda environment:
 ```
-conda create -n ign-ws
-conda activate ign-ws
+conda create -n gz-ws
+conda activate gz-ws
 ```
 
 ## Binary Installation
@@ -152,7 +152,7 @@ which version you need.
 
 This assumes you have created and activated a Conda environment while installing the Prerequisites.
 
-1. Install Ignition dependencies:
+1. Install Gazebo dependencies:
 
   You can view available versions and their dependencies:
   ```
@@ -172,7 +172,7 @@ This assumes you have created and activated a Conda environment while installing
 
 3. Configure and build
   ```
-  cd ign-physics
+  cd gz-physics
   mkdir build
   cd build
   cmake .. -DBUILD_TESTING=OFF  # Optionally, -DCMAKE_INSTALL_PREFIX=path\to\install
@@ -202,7 +202,7 @@ You can also generate the documentation from a clone of this repository by follo
 
 3. Configure and build the documentation.
   ```
-  cd ign-physics
+  cd gz-physics
   mkdir build
   cd build
   cmake ..

tutorials/03_physics_plugins.md

@@ -9,7 +9,7 @@ It allows users to select from multiple supported physics engines based on their
 Its plugin interface loads physics engines with requested features at runtime.
 It is also possible to integrate your own selected physics engine by writing a compatible plugin interface.
 
-To get a more in-depth understanding of how the physics plugin works in Ignition, we will start with some high level concepts and definitions.
+To get a more in-depth understanding of how the physics plugin works in Gazebo, we will start with some high level concepts and definitions.
 
 <!-- TODO: add tutorial on how to write your own physics plugin -->
 
@@ -19,7 +19,7 @@ Conceptually, the physics plugin can be viewed from two sides of its interface:
 
 Each physics engine provides access to different features implemented by the Gazebo Physics engine.
 The interface is made possible through the \ref gz::plugin "Gazebo Plugin" library, which instantiates \ref gz::physics::Feature "Features" in \ref gz::physics::FeatureList "FeatureLists" and supplies pointers to the selected engine.
-This "user side interface" makes the Gazebo Physics library "callable" from other Ignition libraries.
+This "user side interface" makes the Gazebo Physics library "callable" from other Gazebo libraries.
 
 The implementation side interface handles specific implementations of each `Feature`.
 Depending on what external physics engine we are using (DART, TPE etc.), the interface might be different.
@@ -44,7 +44,7 @@ The implementation of the physics plugin revolves around four key elements.
 
     This class defines the concept of a `Feature`, examples like `GetWorldFromEngine`, \ref gz::physics::GetEngineInfo "GetEngineInfo" etc.
     There is a pre-defined list of features in Gazebo Physics.
-    They are implemented by using external physics engines' APIs to fulfill simulation needs requested by Ignition.
+    They are implemented by using external physics engines' APIs to fulfill simulation needs requested by Gazebo.
 
 4. \ref gz::physics::FeatureList "FeatureList"
 
@@ -82,7 +82,7 @@ The source code for Dartsim plugin can be found in [Gazebo Physics repository](h
 
 TPE ([Trivial Physics Engine](https://github.com/gazebosim/gz-physics/tree/ign-physics6/tpe)) is an open source library created by Open Robotics that enables fast, inexpensive kinematics simulation for entities at large scale.
 It supports higher-order fleet dynamics without real physics (eg. gravity, force, constraint etc.) and multi-machine synchronization.
-Ignition support for TPE targets [Citadel](https://gazebosim.org/docs/citadel) and onward releases.
+Gazebo support for TPE targets [Citadel](https://gazebosim.org/docs/citadel) and onward releases.
 The source code for TPE plugin can be found in [Gazebo Physics repository](https://github.com/gazebosim/gz-physics/tree/ign-physics6) under the `tpe/plugin` directory.
 
 The following is a list of features supported by each physics engine to help users select one that fits their needs.

tutorials/04-switching-physics-engines.md

@@ -46,7 +46,7 @@ For additional environment variables that Gazebo finds other plugins
 or resources, you can see them by:
 
 ```bash
-ign gazebo -h
+gz sim -h
 ```
 
 ## Pointing Gazebo to physics engines
@@ -80,7 +80,7 @@ Alternatively, you can choose a plugin from the command line using the
 `--physics-engine` option, for example:
 
 ```bash
-ign gazebo --physics-engine CustomEngine
+gz sim --physics-engine CustomEngine
 ```
 
 ### From C++ API

tutorials/05_plugin_loading.md

@@ -17,7 +17,7 @@ plugin using \ref gz::physics "Gazebo Physics" API.
 
 ## Write a simple loader
 
-We will use a simplified physics plugin example for this tutorial. Source code can be found at [ign-physics/examples](https://github.com/gazebosim/gz-physics/tree/main/examples/hello_world_loader) folder.
+We will use a simplified physics plugin example for this tutorial. Source code can be found at [gz-physics/examples](https://github.com/gazebosim/gz-physics/tree/main/examples/hello_world_loader) folder.
 
 First, create a workspace for the example plugin loader.
 
@@ -62,7 +62,7 @@ engine implementing a \ref gz::physics::FeaturePolicy "FeaturePolicy" (3D
 ### Setup CMakeLists.txt for CMake build
 
 Now create a file named `CMakeLists.txt` with your favorite editor and add these
-lines for finding `ign-plugin` and `ign-physics` dependencies in Citadel release.
+lines for finding `gz-plugin` and `gz-physics` dependencies in Citadel release.
 After that, add the executable pointing to our file and add linking library so
 that `cmake` can compile it.