From d33ef1931d24b51ffbdc76e4d2535494d12de94b Mon Sep 17 00:00:00 2001 From: methylDragon Date: Tue, 9 Aug 2022 10:30:26 -0700 Subject: [PATCH 1/9] Remove redundant namespace references (#190) Signed-off-by: methylDragon --- plugins/gazebo_factory/GazeboFactory.cc | 4 ++-- plugins/gazebo_gui/GazeboGui.cc | 14 ++++++------- plugins/gazebo_server/GazeboServer.cc | 28 ++++++++++++------------- plugins/joy_to_twist/JoyToTwist.cc | 2 +- plugins/joystick/Joystick.cc | 2 +- 5 files changed, 25 insertions(+), 25 deletions(-) diff --git a/plugins/gazebo_factory/GazeboFactory.cc b/plugins/gazebo_factory/GazeboFactory.cc index 8790ac79..ee4cd98a 100644 --- a/plugins/gazebo_factory/GazeboFactory.cc +++ b/plugins/gazebo_factory/GazeboFactory.cc @@ -27,7 +27,7 @@ using namespace ignition::launch; ///////////////////////////////////////////////// GazeboFactory::GazeboFactory() - : ignition::launch::Plugin() + : launch::Plugin() { } @@ -123,7 +123,7 @@ void GazeboFactory::ProcessSpawn(const tinyxml2::XMLElement *_elem) elem = _elem->FirstChildElement("pose"); if (elem) { - ignition::math::Pose3d pose; + math::Pose3d pose; std::stringstream stream; stream << elem->GetText(); stream >> pose; diff --git a/plugins/gazebo_gui/GazeboGui.cc b/plugins/gazebo_gui/GazeboGui.cc index e0efc5e8..1951d6a2 100644 --- a/plugins/gazebo_gui/GazeboGui.cc +++ b/plugins/gazebo_gui/GazeboGui.cc @@ -32,7 +32,7 @@ using namespace ignition::launch; ///////////////////////////////////////////////// GazeboGui::GazeboGui() - : ignition::launch::Plugin() + : launch::Plugin() { } @@ -49,18 +49,18 @@ bool GazeboGui::Load(const tinyxml2::XMLElement *_elem) // Set default config file for Launch std::string defaultConfigPath; - ignition::common::env(IGN_HOMEDIR, defaultConfigPath); - defaultConfigPath = ignition::common::joinPaths(defaultConfigPath, + common::env(IGN_HOMEDIR, defaultConfigPath); + defaultConfigPath = common::joinPaths(defaultConfigPath, ".ignition", "launch"); - auto defaultConfigFile = ignition::common::joinPaths(defaultConfigPath, + auto defaultConfigFile = common::joinPaths(defaultConfigPath, "gui.config"); // Check if there's a default config file under // ~/.ignition/launch and use that. If there isn't, create it - if (!ignition::common::exists(defaultConfigFile)) + if (!common::exists(defaultConfigFile)) { - ignition::common::createDirectories(defaultConfigPath); + common::createDirectories(defaultConfigPath); std::ofstream configFile(defaultConfigFile); if (configFile.is_open()) @@ -100,7 +100,7 @@ bool GazeboGui::Load(const tinyxml2::XMLElement *_elem) auto app = gazebo::gui::createGui(argc, argv, defaultConfigFile.c_str(), defaultConfigFile.c_str(), false); - auto win = app->findChild()->QuickWindow(); + auto win = app->findChild()->QuickWindow(); // Customize window std::string windowTitle{"Gazebo"}; diff --git a/plugins/gazebo_server/GazeboServer.cc b/plugins/gazebo_server/GazeboServer.cc index 3a6882d1..394c8d01 100644 --- a/plugins/gazebo_server/GazeboServer.cc +++ b/plugins/gazebo_server/GazeboServer.cc @@ -52,7 +52,7 @@ void copyElement(sdf::ElementPtr _sdf, const tinyxml2::XMLElement *_xml) ///////////////////////////////////////////////// GazeboServer::GazeboServer() - : ignition::launch::Plugin() + : launch::Plugin() { } @@ -116,7 +116,7 @@ bool GazeboServer::Load(const tinyxml2::XMLElement *_elem) // Update compressed file path to name of recording directory path std::string cmpPath = std::string(recordPathMod); - if (!std::string(1, cmpPath.back()).compare(ignition::common::separator(""))) + if (!std::string(1, cmpPath.back()).compare(common::separator(""))) // Remove the separator at end of path cmpPath = cmpPath.substr(0, cmpPath.length() - 1); cmpPath += ".zip"; @@ -132,30 +132,30 @@ bool GazeboServer::Load(const tinyxml2::XMLElement *_elem) { // Update compressed file path to name of recording directory path cmpPath = std::string(recordPathMod); - if (!std::string(1, cmpPath.back()).compare(ignition::common::separator( + if (!std::string(1, cmpPath.back()).compare(common::separator( ""))) // Remove the separator at end of path cmpPath = cmpPath.substr(0, cmpPath.length() - 1); cmpPath += ".zip"; // Check if path or compressed file with same prefix exists - if (ignition::common::exists(recordPathMod) || - ignition::common::exists(cmpPath)) + if (common::exists(recordPathMod) || + common::exists(cmpPath)) { // Overwrite if flag specified if (overwrite) { bool recordMsg = false, cmpMsg = false; // Remove files before initializing console log files on top of them - if (ignition::common::exists(recordPathMod)) + if (common::exists(recordPathMod)) { recordMsg = true; - ignition::common::removeAll(recordPathMod); + common::removeAll(recordPathMod); } - if (ignition::common::exists(cmpPath)) + if (common::exists(cmpPath)) { cmpMsg = true; - ignition::common::removeFile(cmpPath); + common::removeFile(cmpPath); } // Create log file before printing any messages so they can be logged @@ -180,21 +180,21 @@ bool GazeboServer::Load(const tinyxml2::XMLElement *_elem) { // Remove the separator at end of path if (!std::string(1, recordPathMod.back()).compare( - ignition::common::separator(""))) + common::separator(""))) recordPathMod = recordPathMod.substr(0, recordPathMod.length() - 1); - recordPathMod = ignition::common::uniqueDirectoryPath(recordPathMod); + recordPathMod = common::uniqueDirectoryPath(recordPathMod); cmpPath = std::string(recordPathMod); // Remove the separator at end of path if (!std::string(1, cmpPath.back()).compare( - ignition::common::separator(""))) + common::separator(""))) cmpPath = cmpPath.substr(0, cmpPath.length() - 1); cmpPath += ".zip"; // If compressed file exists, rename again - if (ignition::common::exists(cmpPath)) + if (common::exists(cmpPath)) { - cmpPath = ignition::common::uniqueFilePath(recordPathMod, "zip"); + cmpPath = common::uniqueFilePath(recordPathMod, "zip"); size_t extIdx = cmpPath.find_last_of("."); recordPathMod = cmpPath.substr(0, extIdx); diff --git a/plugins/joy_to_twist/JoyToTwist.cc b/plugins/joy_to_twist/JoyToTwist.cc index f971a010..b262f25d 100644 --- a/plugins/joy_to_twist/JoyToTwist.cc +++ b/plugins/joy_to_twist/JoyToTwist.cc @@ -45,7 +45,7 @@ void setVectorFromString(const std::string &_str, ///////////////////////////////////////////////// JoyToTwist::JoyToTwist() - : ignition::launch::Plugin() + : Plugin() { } diff --git a/plugins/joystick/Joystick.cc b/plugins/joystick/Joystick.cc index 4e1ddd03..99f8122f 100644 --- a/plugins/joystick/Joystick.cc +++ b/plugins/joystick/Joystick.cc @@ -31,7 +31,7 @@ using namespace ignition::launch; ///////////////////////////////////////////////// Joystick::Joystick() - : ignition::launch::Plugin() + : Plugin() { } From 00b7eeba638f2d9f2ef580da757d9a3261f76c5d Mon Sep 17 00:00:00 2001 From: Louise Poubel Date: Tue, 16 Aug 2022 09:54:25 -0700 Subject: [PATCH 2/9] =?UTF-8?q?=F0=9F=8E=88=202.3.0=20(#192)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Louise Poubel Signed-off-by: Louise Poubel --- CMakeLists.txt | 2 +- Changelog.md | 20 +++++++++++++++++++- 2 files changed, 20 insertions(+), 2 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index ef6dfecd..4b287a93 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.5.1 FATAL_ERROR) #============================================================================ # Initialize the project #============================================================================ -project(ignition-launch2 VERSION 2.2.2) +project(ignition-launch2 VERSION 2.3.0) #============================================================================ # Find ignition-cmake diff --git a/Changelog.md b/Changelog.md index 4debf24f..2d70718b 100644 --- a/Changelog.md +++ b/Changelog.md @@ -1,4 +1,22 @@ -## Ignition Launch 2.x +## Gazebo Launch 2.x + +### Gazebo Launch 2.3.0 (2022-08-15) + +1. Remove redundant namespace references + * [Pull request #190](https://github.com/gazebosim/gz-launch/pull/190) + +1. Add code coverage ignore file + * [Pull request #179](https://github.com/gazebosim/gz-launch/pull/179) + +1. Change `IGN_DESIGNATION` to `GZ_DESIGNATION` + * [Pull request #181](https://github.com/gazebosim/gz-launch/pull/181) + * [Pull request #182](https://github.com/gazebosim/gz-launch/pull/182) + +1. Ignition -> Gazebo + * [Pull request #178](https://github.com/gazebosim/gz-launch/pull/178) + +1. Bash completion for flags + * [Pull request #167](https://github.com/gazebosim/gz-launch/pull/167) ### Ignition Launch 2.2.2 (2021-10-11) From cdc62707279f979839b47bbf83037d9b7bdd9c4f Mon Sep 17 00:00:00 2001 From: Nate Koenig Date: Tue, 27 Sep 2022 11:25:31 -0700 Subject: [PATCH 3/9] Return a message on asset error (#197) * Return a message on asset error Signed-off-by: Nate Koenig * cleanup Signed-off-by: Nate Koenig * remove debug Signed-off-by: Nate Koenig Signed-off-by: Nate Koenig Co-authored-by: Nate Koenig --- plugins/websocket_server/WebsocketServer.cc | 23 ++++++++++++++++++++- 1 file changed, 22 insertions(+), 1 deletion(-) diff --git a/plugins/websocket_server/WebsocketServer.cc b/plugins/websocket_server/WebsocketServer.cc index f9cbf6c8..f06855dc 100644 --- a/plugins/websocket_server/WebsocketServer.cc +++ b/plugins/websocket_server/WebsocketServer.cc @@ -1007,6 +1007,16 @@ void WebsocketServer::OnAsset(int _socketId, if (_frameParts.size() <= 1) { ignerr << "Asset requested, but asset URI is missing\n"; + + ignition::msgs::StringMsg msg; + msg.set_data("asset_uri_missing"); + std::string data = BUILD_MSG(this->operations[ASSET], "", + msg.GetTypeName(), msg.SerializeAsString()); + + // Queue the message for delivery. + this->QueueMessage(this->connections[_socketId].get(), + data.c_str(), data.length()); + return; } @@ -1047,8 +1057,19 @@ void WebsocketServer::OnAsset(int _socketId, // Construct the response message std::string data = BUILD_MSG(this->operations[ASSET], assetUri, - std::string("ignition.msgs.Bytes"), bytes.SerializeAsString()); + bytes.GetTypeName(), bytes.SerializeAsString()); + + // Queue the message for delivery. + this->QueueMessage(this->connections[_socketId].get(), + data.c_str(), data.length()); + } + else + { + ignition::msgs::StringMsg msg; + msg.set_data("asset_not_found"); + std::string data = BUILD_MSG(this->operations[ASSET], assetUri, + msg.GetTypeName(), msg.SerializeAsString()); // Queue the message for delivery. this->QueueMessage(this->connections[_socketId].get(), data.c_str(), data.length()); From f1d1ae9f36f6f24a0b75846eeb01bd500f995b16 Mon Sep 17 00:00:00 2001 From: Nate Koenig Date: Wed, 30 Nov 2022 13:54:34 -0800 Subject: [PATCH 4/9] Change more ignition names Signed-off-by: Nate Koenig --- CODE_OF_CONDUCT.md | 2 +- CONTRIBUTING.md | 2 +- Changelog.md | 110 +++++++++--------- Migration.md | 4 +- api.md.in | 4 +- examples/factory.ign | 2 +- examples/gazebo_plugins.ign | 4 +- examples/multi_factory.ign | 4 +- examples/websocket.ign | 2 +- plugins/gazebo_factory/GazeboFactory.hh | 12 +- plugins/gazebo_gui/GazeboGui.hh | 16 +-- plugins/gazebo_server/GazeboServer.cc | 4 +- plugins/gazebo_server/GazeboServer.hh | 8 +- .../websocket_server/MessageDefinitions.hh.in | 2 +- plugins/websocket_server/README.md | 2 +- plugins/websocket_server/WebsocketServer.cc | 33 +++--- plugins/websocket_server/WebsocketServer.hh | 30 ++--- plugins/websocket_server/ign.js | 32 ++--- plugins/websocket_server/index.html | 18 +-- src/Manager.cc | 37 +++--- src/Manager_TEST.cc | 54 ++++----- src/cmdlaunch.rb.in | 2 +- tutorials.md.in | 6 +- tutorials/tutorial.md | 8 +- 24 files changed, 201 insertions(+), 197 deletions(-) diff --git a/CODE_OF_CONDUCT.md b/CODE_OF_CONDUCT.md index 820e43fd..65eec816 100644 --- a/CODE_OF_CONDUCT.md +++ b/CODE_OF_CONDUCT.md @@ -56,7 +56,7 @@ further defined and clarified by project maintainers. ## Enforcement Instances of abusive, harassing, or otherwise unacceptable behavior may be -reported by contacting the project team at [https://ignitionrobotics.org/support](https://ignitionrobotics.org/support). All +reported by contacting the project team at [https://gazebosim.org/support](https://gazebosim.org/support). All complaints will be reviewed and investigated and will result in a response that is deemed necessary and appropriate to the circumstances. The project team is obligated to maintain confidentiality with regard to the reporter of an incident. diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md index 147239ce..a1c121ea 100644 --- a/CONTRIBUTING.md +++ b/CONTRIBUTING.md @@ -1 +1 @@ -See the [Ignition Robotics contributing guide](https://ignitionrobotics.org/docs/all/contributing). +See the [Gazebo contributing guide](https://gazebosim.org/docs/all/contributing). diff --git a/Changelog.md b/Changelog.md index 2d70718b..fa425871 100644 --- a/Changelog.md +++ b/Changelog.md @@ -18,44 +18,44 @@ 1. Bash completion for flags * [Pull request #167](https://github.com/gazebosim/gz-launch/pull/167) -### Ignition Launch 2.2.2 (2021-10-11) +### Gazebo Launch 2.2.2 (2021-10-11) 1. Master branch updates. - * [Pull request 98](https://github.com/ignitionrobotics/ign-launch/pull/98) + * [Pull request 98](https://github.com/gazebosim/gz-launch/pull/98) 1. Treat `IGN_LAUNCH_CONFIG_PATH` as a path list. - * [Pull request 93](https://github.com/ignitionrobotics/ign-launch/pull/93) + * [Pull request 93](https://github.com/gazebosim/gz-launch/pull/93) 1. Remove tools/code_check and update codecov. - * [Pull request 115](https://github.com/ignitionrobotics/ign-launch/pull/115) + * [Pull request 115](https://github.com/gazebosim/gz-launch/pull/115) 1. Update gtest for Windows compilation. - * [Pull request 122](https://github.com/ignitionrobotics/ign-launch/pull/122) + * [Pull request 122](https://github.com/gazebosim/gz-launch/pull/122) 1. Remove bitbucket-pipelines.yml. - * [Pull request 128](https://github.com/ignitionrobotics/ign-launch/pull/128) + * [Pull request 128](https://github.com/gazebosim/gz-launch/pull/128) -### Ignition Launch 2.2.1 (2021-01-08) +### Gazebo Launch 2.2.1 (2021-01-08) 1. Fix env parsing by placing it before executable parsing. - * [Pull request 81](https://github.com/ignitionrobotics/ign-launch/pull/81) - * [Pull request 82](https://github.com/ignitionrobotics/ign-launch/pull/82) + * [Pull request 81](https://github.com/gazebosim/gz-launch/pull/81) + * [Pull request 82](https://github.com/gazebosim/gz-launch/pull/82) -### Ignition Launch 2.2.0 (2020-10-14) +### Gazebo Launch 2.2.0 (2020-10-14) * All changes up to and including those in version 1.10.0 * Added a tutorial. - * [Pull request 48](https://github.com/ignitionrobotics/ign-launch/pull/48) + * [Pull request 48](https://github.com/gazebosim/gz-launch/pull/48) -### Ignition Launch 2.1.0 (2020-05-21) +### Gazebo Launch 2.1.0 (2020-05-21) 1. Merged ign-launch1 forward. - * [Pull request 41](https://github.com/ignitionrobotics/ign-launch/pull/31) + * [Pull request 41](https://github.com/gazebosim/gz-launch/pull/31) -### Ignition Launch 2.0.0 +### Gazebo Launch 2.0.0 -1. Use Ignition Citadel dependencies. +1. Use Gazebo Citadel dependencies. * [BitBucket pull request 47](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-launch/pull-requests/47) * [BitBucket pull request 50](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-launch/pull-requests/50) * [BitBucket pull request 53](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-launch/pull-requests/53) @@ -66,88 +66,88 @@ 1. Unversioned lib name for cmds * [BitBucket pull request 55](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-launch/pull-requests/55) -## Ignition Launch 1.x +## Gazebo Launch 1.x -### Ignition Launch 1.10.1 (2020-12-23) +### Gazebo Launch 1.10.1 (2020-12-23) 1. Fix codecheck - * [Pull Request 67](https://github.com/ignitionrobotics/ign-launch/pull/67) - * [Pull Request 70](https://github.com/ignitionrobotics/ign-launch/pull/70) + * [Pull Request 67](https://github.com/gazebosim/gz-launch/pull/67) + * [Pull Request 70](https://github.com/gazebosim/gz-launch/pull/70) 1. Fix race condition in websocket server - * [Pull Request 68](https://github.com/ignitionrobotics/ign-launch/pull/68) + * [Pull Request 68](https://github.com/gazebosim/gz-launch/pull/68) -### Ignition Launch 1.10.0 (2020-09-25) +### Gazebo Launch 1.10.0 (2020-09-25) * Modernize Github Actions CI. - * [Pull request 42](https://github.com/ignitionrobotics/ign-launch/pull/42) + * [Pull request 42](https://github.com/gazebosim/gz-launch/pull/42) 1. Add PKGCONFIG information to ignition-tools ign_find_package - * [Pull Request 44](https://github.com/ignitionrobotics/ign-launch/pull/44) + * [Pull Request 44](https://github.com/gazebosim/gz-launch/pull/44) 1. Fix factory.ign launch file - * [Pull Request 55](https://github.com/ignitionrobotics/ign-launch/pull/55) + * [Pull Request 55](https://github.com/gazebosim/gz-launch/pull/55) 1. Use random name for manager semaphore - * [Pull Request 57](https://github.com/ignitionrobotics/ign-launch/pull/57) + * [Pull Request 57](https://github.com/gazebosim/gz-launch/pull/57) 1. Add support for specifying topics to record - * [Pull Request 54](https://github.com/ignitionrobotics/ign-launch/pull/54) + * [Pull Request 54](https://github.com/gazebosim/gz-launch/pull/54) -### Ignition Launch 1.9.0 (2020-08-13) +### Gazebo Launch 1.9.0 (2020-08-13) 1. Added HTTP handling support to websocket server and a metrics HTTP endpoint to monitor websocket server status. - * [Pull Request 49](https://github.com/ignitionrobotics/ign-launch/pull/49) + * [Pull Request 49](https://github.com/gazebosim/gz-launch/pull/49) -### Ignition Launch 1.8.0 (2020-07-28) +### Gazebo Launch 1.8.0 (2020-07-28) 1. Added `` to the websocket server that supports specifying the maximum allowed websocket connections. - * [Pull Request 40](https://github.com/ignitionrobotics/ign-launch/pull/40) + * [Pull Request 40](https://github.com/gazebosim/gz-launch/pull/40) -### Ignition Launch 1.7.1 (2020-06-23) +### Gazebo Launch 1.7.1 (2020-06-23) 1. Improve websocket performance by throttling the busy loop, and fix empty SSL XML elements. - * [Pull Request 37](https://github.com/ignitionrobotics/ign-launch/pull/37) + * [Pull Request 37](https://github.com/gazebosim/gz-launch/pull/37) -### Ignition Launch 1.7.0 (2020-06-16) +### Gazebo Launch 1.7.0 (2020-06-16) 1. Added SSL to websocket server. - * [Pull Request 34](https://github.com/ignitionrobotics/ign-launch/pull/34) + * [Pull Request 34](https://github.com/gazebosim/gz-launch/pull/34) -### Ignition Launch 1.6.0 (2020-06-11) +### Gazebo Launch 1.6.0 (2020-06-11) 1. Improved websockets by: adding simple authentication, access to protobuf message definitions, access to scene and world information, and definition of custom message framing. - * [Pull Request 22](https://github.com/ignitionrobotics/ign-launch/pull/22) - * [Pull Request 21](https://github.com/ignitionrobotics/ign-launch/pull/21) - * [Pull Request 17](https://github.com/ignitionrobotics/ign-launch/pull/17) - * [Pull Request 33](https://github.com/ignitionrobotics/ign-launch/pull/33) + * [Pull Request 22](https://github.com/gazebosim/gz-launch/pull/22) + * [Pull Request 21](https://github.com/gazebosim/gz-launch/pull/21) + * [Pull Request 17](https://github.com/gazebosim/gz-launch/pull/17) + * [Pull Request 33](https://github.com/gazebosim/gz-launch/pull/33) -### Ignition Launch 1.5.0 (2020-05-20) +### Gazebo Launch 1.5.0 (2020-05-20) 1. Added support for spawning multiple entities in the same simulation step. - * [Pull Request 30](https://github.com/ignitionrobotics/ign-launch/pull/30) + * [Pull Request 30](https://github.com/gazebosim/gz-launch/pull/30) -### Ignition Launch 1.4.2 (2020-05-18) +### Gazebo Launch 1.4.2 (2020-05-18) 1. Use the new GUI API of ign-gazebo. This adds support for saving worlds to SDFormat from the GUI. - * [Pull Request 19](https://github.com/ignitionrobotics/ign-launch/pull/19) + * [Pull Request 19](https://github.com/gazebosim/gz-launch/pull/19) -### Ignition Launch 1.4.1 (2019-12-05) +### Gazebo Launch 1.4.1 (2019-12-05) 1. Unversioned lib name for cmds * [BitBucket pull request 56](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-launch/pull-requests/56) -### Ignition Launch 1.4.0 (2019-11-26) +### Gazebo Launch 1.4.0 (2019-11-26) 1. Default GUI config for Launch * [BitBucket pull request 51](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-launch/pull-requests/51) -### Ignition Launch 1.3.0 (2019-11-13) +### Gazebo Launch 1.3.0 (2019-11-13) 1. Add filepath to ERB so that constants like `__FILE__` in `.ign` files work as expected * [BitBucket pull request 48](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-launch/pull-requests/48) @@ -155,12 +155,12 @@ 1. Add backward support to ign-launch to capture backtraces. * [BitBucket pull request 41](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-launch/pull-requests/41) -### Ignition Launch 1.2.3 (2019-09-09) +### Gazebo Launch 1.2.3 (2019-09-09) 1. Add QML import path to IgnGazebo modules. * [BitBucket pull request 42](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-launch/pull-requests/42) -### Ignition Launch 1.2.2 +### Gazebo Launch 1.2.2 1. Add support for console logging. * [BitBucket pull request 40](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-launch/pull-requests/40) @@ -168,12 +168,12 @@ 1. Support setting custom window icons. * [BitBucket pull request 39](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-launch/pull-requests/39) -### Ignition Launch 1.2.1 +### Gazebo Launch 1.2.1 1. Eliminate potential deadlock from SIGCHLD signal handler * [BitBucket pull request 36](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-launch/pull-requests/36) -### Ignition Launch 1.2.0 +### Gazebo Launch 1.2.0 1. Support for custom random seed in the GazeboServer plugin. * [BitBucket pull request 33](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-launch/pull-requests/33) @@ -181,17 +181,17 @@ 1. Allow specifying a custom window title * [BitBucket pull request 32](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-launch/pull-requests/32) -### Ignition Launch 1.1.0 (2019-06-11) +### Gazebo Launch 1.1.0 (2019-06-11) 1. Added command line parameters of the form :=. These parameters are passed to ERB. * [BitBucket pull request 27](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-launch/pull-requests/27) -### Ignition Launch 1.0.1 (2019-05-22) +### Gazebo Launch 1.0.1 (2019-05-22) 1. Fix GazeboFactory set performer topic * [BitBucket pull request 26](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-launch/pull-requests/26) -### Ignition Launch 1.0.0 (2019-05-21) +### Gazebo Launch 1.0.0 (2019-05-21) 1. Enable logging with `` tag in ign launch file. * [BitBucket pull request 23](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-launch/pull-requests/23) @@ -215,9 +215,9 @@ * [BitBucket pull request 15](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-launch/pull-requests/15) * [BitBucket pull request 18](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-launch/pull-requests/18) -## Ignition Launch 0.x +## Gazebo Launch 0.x 1. Install examples folder. * [BitBucket pull request 14](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-launch/pull-requests/14) -### Ignition Launch 0.2.0 +### Gazebo Launch 0.2.0 diff --git a/Migration.md b/Migration.md index 7d5de6f4..5b4a63e0 100644 --- a/Migration.md +++ b/Migration.md @@ -5,11 +5,11 @@ Deprecated code produces compile-time warnings. These warning serve as notification to users that their code should be upgraded. The next major release will remove the deprecated code. -## Ignition Launch 2.2.2 +## Gazebo Launch 2.2.2 - Environment variable `IGN_LAUNCH_CONFIG_PATH` started to be treated as a path list (colon-separated on Linux, semicolon-separated on Windows). Before, only a single path could be set here, and setting a path list would break the whole launch file lookup functionality. -## Ignition Launch 0.X to N.M +## Gazebo Launch 0.X to N.M diff --git a/api.md.in b/api.md.in index 31af8657..bb345ae1 100644 --- a/api.md.in +++ b/api.md.in @@ -1,6 +1,6 @@ -## Ignition @GZ_DESIGNATION_CAP@ +## Gazebo @GZ_DESIGNATION_CAP@ -Ignition @GZ_DESIGNATION_CAP@ is a component in Ignition Robotics, a set of libraries +Gazebo @GZ_DESIGNATION_CAP@ is a component in Gazebo, a set of libraries designed to rapidly develop robot and simulation applications. ## License diff --git a/examples/factory.ign b/examples/factory.ign index cfb978a2..e84b4b44 100644 --- a/examples/factory.ign +++ b/examples/factory.ign @@ -9,7 +9,7 @@ - https://fuel.ignitionrobotics.org/1.0/openrobotics/models/X2 UGV/1 + https://fuel.gazebosim.org/1.0/openrobotics/models/X2 UGV/1 front_left_wheel_joint diff --git a/examples/gazebo_plugins.ign b/examples/gazebo_plugins.ign index 477eb21d..c54815b7 100644 --- a/examples/gazebo_plugins.ign +++ b/examples/gazebo_plugins.ign @@ -115,10 +115,10 @@ filename="ignition-launch-gazebogui"> - Ignition Launch + Gazebo Launch + In this example, setting to a resource file shipped with Gazebo GUI --> :/qml/images/drawer.png diff --git a/examples/multi_factory.ign b/examples/multi_factory.ign index 1f338232..8a03bef0 100644 --- a/examples/multi_factory.ign +++ b/examples/multi_factory.ign @@ -9,7 +9,7 @@ - https://fuel.ignitionrobotics.org/1.0/openrobotics/models/X3 UAV Config 1 + https://fuel.gazebosim.org/1.0/openrobotics/models/X3 UAV Config 1 @@ -20,7 +20,7 @@ - https://fuel.ignitionrobotics.org/1.0/openrobotics/models/X1 Config 1 + https://fuel.gazebosim.org/1.0/openrobotics/models/X1 Config 1 diff --git a/examples/websocket.ign b/examples/websocket.ign index 2e696bac..80164389 100644 --- a/examples/websocket.ign +++ b/examples/websocket.ign @@ -1,7 +1,7 @@ - diff --git a/plugins/gazebo_factory/GazeboFactory.hh b/plugins/gazebo_factory/GazeboFactory.hh index 1f9b56dd..b63e82a1 100644 --- a/plugins/gazebo_factory/GazeboFactory.hh +++ b/plugins/gazebo_factory/GazeboFactory.hh @@ -18,9 +18,9 @@ #define IGNITION_LAUNCH_GAZEBOFACTORY_HH_ #include -#include -#include -#include "ignition/launch/Plugin.hh" +#include +#include +#include "gz/launch/Plugin.hh" namespace ignition { @@ -47,7 +47,7 @@ namespace ignition /// spawned --> /// /// - /// https://fuel.ignitionrobotics.org/1.0/openrobotics/models/X2 UGV/1 + /// https://fuel.gazebosim.org/1.0/openrobotics/models/X2 UGV/1 /// /// @@ -59,7 +59,7 @@ namespace ignition /// ... /// /// - class GazeboFactory : public ignition::launch::Plugin + class GazeboFactory : public launch::Plugin { /// \brief Constructor. public: GazeboFactory(); @@ -90,6 +90,6 @@ namespace ignition } // Register the plugin -IGNITION_ADD_PLUGIN(ignition::launch::GazeboFactory, ignition::launch::Plugin) +IGNITION_ADD_PLUGIN(launch::GazeboFactory, launch::Plugin) #endif diff --git a/plugins/gazebo_gui/GazeboGui.hh b/plugins/gazebo_gui/GazeboGui.hh index 0956ad5d..e4af8723 100644 --- a/plugins/gazebo_gui/GazeboGui.hh +++ b/plugins/gazebo_gui/GazeboGui.hh @@ -18,15 +18,15 @@ #define IGNITION_LAUNCH_GAZEBOGUI_HH_ #include -#include -#include -#include +#include +#include +#include namespace ignition { namespace launch { - /// \brief Runs the Ignition Gazebo GUI. + /// \brief Runs the Gazebo Sim GUI. /// /// The plugin ignores GUI configuration coming from the SDF /// world file or saved in ~/.ignition/gazebo/gui.config. Instead, @@ -49,14 +49,14 @@ namespace ignition /// + /// Defaults to the Gazebo logo. --> /// full/path/to/window/icon.png /// - /// + /// /// /// /// - class GazeboGui : public ignition::launch::Plugin + class GazeboGui : public launch::Plugin { /// \brief Constructor. public: GazeboGui(); @@ -72,6 +72,6 @@ namespace ignition } // Register the plugin -IGNITION_ADD_PLUGIN(ignition::launch::GazeboGui, ignition::launch::Plugin) +IGNITION_ADD_PLUGIN(launch::GazeboGui, launch::Plugin) #endif diff --git a/plugins/gazebo_server/GazeboServer.cc b/plugins/gazebo_server/GazeboServer.cc index 394c8d01..bbef9050 100644 --- a/plugins/gazebo_server/GazeboServer.cc +++ b/plugins/gazebo_server/GazeboServer.cc @@ -15,7 +15,7 @@ * */ -#include +#include #include #include "GazeboServer.hh" @@ -211,7 +211,7 @@ bool GazeboServer::Load(const tinyxml2::XMLElement *_elem) { ignLogInit(recordPathMod, "server_console.log"); } - // TODO(anyone) In Ignition-D, to be moved to outside and after this + // TODO(anyone) In Gazebo-D, to be moved to outside and after this // if-else statement, after all ignLogInit() calls have been finalized, // so that in SDF will always be ignored in favor of logging both // console logs and LogRecord recordings to common::ignLogDirectory(). diff --git a/plugins/gazebo_server/GazeboServer.hh b/plugins/gazebo_server/GazeboServer.hh index 2ba46fba..4a2a34d1 100644 --- a/plugins/gazebo_server/GazeboServer.hh +++ b/plugins/gazebo_server/GazeboServer.hh @@ -18,15 +18,15 @@ #define IGNITION_LAUNCH_GAZEBOSERVER_HH_ #include -#include -#include -#include "ignition/launch/Plugin.hh" +#include +#include +#include "gz/launch/Plugin.hh" namespace ignition { namespace launch { - /// \brief Runs the Ignition Gazebo server. + /// \brief Runs the Gazebo Sim server. /// /// # Example usage /// diff --git a/plugins/websocket_server/MessageDefinitions.hh.in b/plugins/websocket_server/MessageDefinitions.hh.in index c6038d00..4703fbe7 100644 --- a/plugins/websocket_server/MessageDefinitions.hh.in +++ b/plugins/websocket_server/MessageDefinitions.hh.in @@ -25,7 +25,7 @@ namespace ignition /// server. /// /// \todo Get this information from a running simulation. The problem - /// right now is that Ignition Transport does not show subscribers. + /// right now is that Gazebo Transport does not show subscribers. static const std::string kWebSocketServerMessageDefinitions = R"protos(@WEBSOCKETSERVER_MESSAGE_DEFINITIONS@)protos"; } diff --git a/plugins/websocket_server/README.md b/plugins/websocket_server/README.md index 3f1f8c0d..093ebf44 100644 --- a/plugins/websocket_server/README.md +++ b/plugins/websocket_server/README.md @@ -1,6 +1,6 @@ # Get Started -1. [Install ignition-acropolis](https://ignitionrobotics.org/docs/acropolis/install). +1. [Install gazebo-acropolis](https://gazebosim.org/docs/acropolis/install). 2. Compile and install ign-launch from source. You will have to `sudo make install` so that `ign-tools` find the launch.yaml files. diff --git a/plugins/websocket_server/WebsocketServer.cc b/plugins/websocket_server/WebsocketServer.cc index 6b535543..0420f7da 100644 --- a/plugins/websocket_server/WebsocketServer.cc +++ b/plugins/websocket_server/WebsocketServer.cc @@ -16,14 +16,15 @@ */ #include -#include -#include -#include +#include +#include +#include #include "MessageDefinitions.hh" #include "WebsocketServer.hh" -using namespace ignition::launch; +using namespace ignition; +using namespace launch; /// \brief Construct a websocket frame header. /// \param[in] _op The operation string. @@ -310,7 +311,7 @@ int rootCallback(struct lws *_wsi, ///////////////////////////////////////////////// WebsocketServer::WebsocketServer() - : ignition::launch::Plugin() + : launch::Plugin() { } @@ -465,7 +466,7 @@ bool WebsocketServer::Load(const tinyxml2::XMLElement *_elem) if (!sslCertFile.empty() && !sslPrivateKeyFile.empty()) { // Fail if the certificate file cannot be opened. - if (!ignition::common::exists(sslCertFile)) + if (!common::exists(sslCertFile)) { ignerr << "SSL certificate file[" << sslCertFile << "] does not exist. Quitting.\n"; @@ -473,7 +474,7 @@ bool WebsocketServer::Load(const tinyxml2::XMLElement *_elem) } // Fail if the private key file cannot be opened. - if (!ignition::common::exists(sslPrivateKeyFile)) + if (!common::exists(sslPrivateKeyFile)) { ignerr << "SSL private key file[" << sslPrivateKeyFile << "] does not exist. Quitting.\n"; @@ -585,7 +586,7 @@ void WebsocketServer::OnDisconnect(int _socketId) { iter->second.erase(_socketId); - // Unsubscribe from the Ignition Transport topic if there are no more + // Unsubscribe from the Gazebo Transport topic if there are no more // websocket connections. if (iter->second.empty()) this->node.Unsubscribe(iter->first); @@ -653,12 +654,12 @@ void WebsocketServer::OnMessage(int _socketId, const std::string &_msg) allProtos += "package ignition.msgs;\n"; std::vector types; - ignition::msgs::Factory::Types(types); + msgs::Factory::Types(types); // Get all the messages, and build a single proto to send to the client. for (auto const &type : types) { - auto msg = ignition::msgs::Factory::New(type); + auto msg = msgs::Factory::New(type); if (msg) { auto descriptor = msg->GetDescriptor(); @@ -682,7 +683,7 @@ void WebsocketServer::OnMessage(int _socketId, const std::string &_msg) else if (frameParts[0] == "topics") { igndbg << "Topic list request recieved\n"; - ignition::msgs::StringMsg_V msg; + msgs::StringMsg_V msg; std::vector topics; @@ -703,10 +704,10 @@ void WebsocketServer::OnMessage(int _socketId, const std::string &_msg) else if (frameParts[0] == "worlds") { igndbg << "World info request recieved\n"; - ignition::msgs::Empty req; + msgs::Empty req; req.set_unused(true); - ignition::msgs::StringMsg_V rep; + msgs::StringMsg_V rep; bool result; unsigned int timeout = 2000; @@ -724,10 +725,10 @@ void WebsocketServer::OnMessage(int _socketId, const std::string &_msg) { igndbg << "Scene info request recieved for world[" << frameParts[1] << "]\n"; - ignition::msgs::Empty req; + msgs::Empty req; req.set_unused(true); - ignition::msgs::Scene rep; + msgs::Scene rep; bool result; unsigned int timeout = 2000; @@ -766,7 +767,7 @@ void WebsocketServer::OnMessage(int _socketId, const std::string &_msg) ////////////////////////////////////////////////// void WebsocketServer::OnWebsocketSubscribedMessage( const char *_data, const size_t _size, - const ignition::transport::MessageInfo &_info) + const transport::MessageInfo &_info) { std::map>::const_iterator iter = this->topicConnections.find(_info.Topic()); diff --git a/plugins/websocket_server/WebsocketServer.hh b/plugins/websocket_server/WebsocketServer.hh index 23bc50ea..f7e57933 100644 --- a/plugins/websocket_server/WebsocketServer.hh +++ b/plugins/websocket_server/WebsocketServer.hh @@ -21,11 +21,11 @@ #include #include #include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include #include namespace ignition @@ -33,7 +33,7 @@ namespace ignition namespace launch { /// \brief Reads from a USB joystick device and outputs - /// ignition::msgs::WebsocketServer messages. + /// msgs::WebsocketServer messages. /// /// # Plugin parameters /// @@ -83,22 +83,22 @@ namespace ignition /// /// The `operation` component is mandatory and must be one of: /// 1. "sub": Subscribe to the topic in the `topic_name` component, - /// 2. "pub": Publish a message from the Ignition Transport topic in + /// 2. "pub": Publish a message from the Gazebo Transport topic in /// the `topic_name` component, /// 3. "topics": Get the list of available topics, and /// 4. "protos": Get a string containing all the protobuf /// definitions. /// /// The `topic_name` component is mandatory for the "sub" and "pub" - /// operations. If present, it must be the name of an Ignition Transport + /// operations. If present, it must be the name of an Gazebo Transport /// topic. /// /// The `message_type` component is mandatory for the "pub" operation. If - /// present it names the Ignition Message type, such as + /// present it names the Gazebo Message type, such as /// "ignition.msgs.Clock". /// /// The `payload` component is mandatory for the "pub" operation. If - /// present, it contains a serialized string of an Ignition Message. + /// present, it contains a serialized string of an Gazebo Message. /// /// ## Example frames /// @@ -130,7 +130,7 @@ namespace ignition /// /// `ign launch -v 4 websocket.ign` /// - /// 3. Open the [index.html](https://github.com/ignitionrobotics/ign-launch/blob/ign-launch2/plugins/websocket_server/index.html) webpage. + /// 3. Open the [index.html](https://github.com/gazebosim/gz-launch/blob/ign-launch2/plugins/websocket_server/index.html) webpage. /// class WebsocketServer : public ignition::launch::Plugin { @@ -148,7 +148,7 @@ namespace ignition private: void OnWebsocketSubscribedMessage(const char *_data, const size_t _size, - const ignition::transport::MessageInfo &_info); + const transport::MessageInfo &_info); /// \brief Callback that is triggered when a new connection is /// established. @@ -163,7 +163,7 @@ namespace ignition public: void OnRequestMessage(int _socketId, const std::string &_msg); - private: ignition::transport::Node node; + private: transport::Node node; private: bool run = true; private: std::thread *thread = nullptr; @@ -192,7 +192,7 @@ namespace ignition /// \brief All of the websocket connections. public: std::map> connections; - /// \brief All of the subscribed Ignition topics. + /// \brief All of the subscribed Gazebo topics. /// The key is the topic name, and the value is the set of websocket /// connections that have subscribed to the topic. public: std::map> topicConnections; @@ -261,6 +261,6 @@ namespace ignition } // Register the plugin -IGNITION_ADD_PLUGIN(ignition::launch::WebsocketServer, ignition::launch::Plugin) +IGNITION_ADD_PLUGIN(launch::WebsocketServer, launch::Plugin) #endif diff --git a/plugins/websocket_server/ign.js b/plugins/websocket_server/ign.js index 9cb622d6..86c0aca1 100644 --- a/plugins/websocket_server/ign.js +++ b/plugins/websocket_server/ign.js @@ -25,9 +25,9 @@ function buildMsg(_frameParts) { return _frameParts.join(','); } -/// \brief The main interface to the Ignition websocket server and -/// data on Ignition Transport. -function Ignition(options) { +/// \brief The main interface to the Gazebo websocket server and +/// data on Gazebo Transport. +function Gazebo(options) { options = options || {}; this.socket = null; @@ -43,11 +43,11 @@ function Ignition(options) { this.connect(options.url, options.key); } } -Ignition.prototype.__proto__ = EventEmitter2.prototype; +Gazebo.prototype.__proto__ = EventEmitter2.prototype; /// \brief Connect to the specified WebSocket. -/// \param url - WebSocket URL for Ignition HTTPServer -Ignition.prototype.connect = function(url, key) { +/// \param url - WebSocket URL for Gazebo HTTPServer +Gazebo.prototype.connect = function(url, key) { var that = this; /// \brief Emits a 'connection' event on WebSocket connection. @@ -69,9 +69,9 @@ Ignition.prototype.connect = function(url, key) { that.emit('error', event); } - /// \brief Parses message responses from ignition and sends to the + /// \brief Parses message responses from gazebo and sends to the /// appropriate topic. - // \param message - the JSON message from the Ignition + // \param message - the JSON message from the Gazebo // httpserver. function onMessage(_message) { if (that.root === undefined || that.root === null) { @@ -95,7 +95,7 @@ Ignition.prototype.connect = function(url, key) { // Request the list of worlds on start. // \todo Switch this to a service call when this issue is // resolved: - // https://github.com/ignitionrobotics/ign-transport/issues/135 + // https://github.com/gazebosim/gz-transport/issues/135 that.socket.send(buildMsg(['worlds','','',''])); } }; @@ -148,7 +148,7 @@ Ignition.prototype.connect = function(url, key) { /// \brief Send a message to the websocket server /// \param[in] _msg Message to send -Ignition.prototype.sendMsg = function(_msg) { +Gazebo.prototype.sendMsg = function(_msg) { var that = this; var emitter = function(msg){ @@ -165,10 +165,10 @@ Ignition.prototype.sendMsg = function(_msg) { } }; -/// \brief Interface to Ignition Transport topics. +/// \brief Interface to Gazebo Transport topics. function Topic(options) { options = options || {}; - this.ign = options.ign; + this.gz = options.gz; this.name = options.name; this.messageType = options.messageType; this.isAdvertised = false; @@ -189,14 +189,14 @@ Topic.prototype.subscribe = function(_callback) { var emitter = function(_cb) { // Register the callback with the topic name - that.ign.on(that.name, _cb); + that.gz.on(that.name, _cb); // Send the subscription message over the websocket. - that.ign.sendMsg(buildMsg(['sub', that.name, '', ''])); + that.gz.sendMsg(buildMsg(['sub', that.name, '', ''])); } - if (!this.ign.isConnected) { - this.ign.on('connection', function() { + if (!this.gz.isConnected) { + this.gz.on('connection', function() { emitter(_callback); }); } else { diff --git a/plugins/websocket_server/index.html b/plugins/websocket_server/index.html index 52e5fcf8..d8599e6f 100644 --- a/plugins/websocket_server/index.html +++ b/plugins/websocket_server/index.html @@ -9,39 +9,39 @@