Rename CMake project to gz

Signed-off-by: Louise Poubel <[email protected]>
gazebosim · Jun 20, 2022 · 487915e · 487915e
1 parent a950315
commit 487915e
Show file tree

Hide file tree

Showing 21 changed files with 85 additions and 85 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -3,12 +3,12 @@ cmake_minimum_required(VERSION 3.5.1 FATAL_ERROR)
 #============================================================================
 # Initialize the project
 #============================================================================
-project(ignition-physics6 VERSION 6.0.0)
+project(gz-physics6 VERSION 6.0.0)
 
 #============================================================================
-# Find ignition-cmake
+# Find gz-cmake
 #============================================================================
-find_package(ignition-cmake3 REQUIRED)
+find_package(gz-cmake3 REQUIRED)
 
 #============================================================================
 # Configure the project
@@ -35,26 +35,26 @@ endif()
 message(STATUS "\n\n-- ====== Finding Dependencies ======")
 
 #--------------------------------------
-# Find ignition-common
-gz_find_package(ignition-common5
+# Find gz-common
+gz_find_package(gz-common5
   COMPONENTS geospatial graphics profiler
   REQUIRED_BY heightmap mesh dartsim tpe tpelib bullet)
-set(IGN_COMMON_VER ${ignition-common5_VERSION_MAJOR})
+set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR})
 
 #--------------------------------------
-# Find ignition-math
-gz_find_package(ignition-math7 REQUIRED COMPONENTS eigen3)
-set(IGN_MATH_VER ${ignition-math7_VERSION_MAJOR})
+# Find gz-math
+gz_find_package(gz-math7 REQUIRED COMPONENTS eigen3)
+set(GZ_MATH_VER ${gz-math7_VERSION_MAJOR})
 
 #--------------------------------------
-# Find ignition-plugin
-gz_find_package(ignition-plugin2 REQUIRED COMPONENTS all)
-set(IGN_PLUGIN_VER ${ignition-plugin2_VERSION_MAJOR})
+# Find gz-plugin
+gz_find_package(gz-plugin2 REQUIRED COMPONENTS all)
+set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
 
 #--------------------------------------
-# Find ignition-utils
-gz_find_package(ignition-utils2 REQUIRED COMPONENTS cli)
-set(IGN_UTILS_VER ${ignition-utils2_VERSION_MAJOR})
+# Find gz-utils
+gz_find_package(gz-utils2 REQUIRED COMPONENTS cli)
+set(GZ_UTILS_VER ${gz-utils2_VERSION_MAJOR})
 
 #--------------------------------------
 # Find Eigen

diff --git a/Changelog.md b/Changelog.md
@@ -283,7 +283,7 @@
 1. Ignore invalid joint commands
     * [Pull request #137](https://github.com/gazebosim/gz-physics/pull/137)
 
-1. Fix CONFIG arg in ign_find_package(DART) call
+1. Fix CONFIG arg in gz_find_package(DART) call
     * [Pull request #119](https://github.com/gazebosim/gz-physics/pull/119)
 
 ### Gazebo Physics 3.1.0 (2020-10-18)
@@ -297,7 +297,7 @@
 1. Support nested models in TPE
     * [Pull request 86](https://github.com/gazebosim/gz-physics/pull/86)
 
-1. Fix CONFIG arg in ign_find_package(DART) call
+1. Fix CONFIG arg in gz_find_package(DART) call
     * [Pull request 119](https://github.com/gazebosim/gz-physics/pull/119)
 
 1. Fix getting model bounding box in world frame in TPE
@@ -388,7 +388,7 @@
 1. Support getting shape AABB in world frame
     * [Pull request #127](https://github.com/gazebosim/gz-physics/pull/127)
 
-1. Fix CONFIG arg in `ign_find_package(DART)` call
+1. Fix CONFIG arg in `gz_find_package(DART)` call
     * [Pull request #119](https://github.com/gazebosim/gz-physics/pull/119)
 
 ### Gazebo Physics 2.3.0 (2020-09-29)
@@ -512,7 +512,7 @@
 1. Ignore invalid joint commands in the dartsim-plugin
     * [Pull request 137](https://github.com/gazebosim/gz-physics/pull/137)
 
-1.  Fix CONFIG arg in ign_find_package(DART) call
+1.  Fix CONFIG arg in gz_find_package(DART) call
     * [Pull request 119](https://github.com/gazebosim/gz-physics/pull/119)
 
 ### Gazebo Physics 1.9.0 (2020-09-17)

diff --git a/bullet/CMakeLists.txt b/bullet/CMakeLists.txt
@@ -21,8 +21,8 @@ target_link_libraries(${bullet_plugin}
     ${features}
     ${PROJECT_LIBRARY_TARGET_NAME}-sdf
     ${PROJECT_LIBRARY_TARGET_NAME}-mesh
-    ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER}
-    ignition-math${IGN_MATH_VER}::eigen3)
+    gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER}
+    gz-math${GZ_MATH_VER}::eigen3)
 
 # Note that plugins are currently being installed in 2 places: /lib and the engine-plugins dir
 install(TARGETS ${bullet_plugin} DESTINATION ${GZ_PHYSICS_ENGINE_INSTALL_DIR})
@@ -33,7 +33,7 @@ install(
   DESTINATION "${IGN_INCLUDE_INSTALL_DIR_FULL}")
 
 # The library created by `gz_add_component` includes the ign-physics version
-# (i.e. libignition-physics1-name-plugin.so), but for portability,
+# (i.e. libgz-physics1-name-plugin.so), but for portability,
 # we also install an unversioned symlink into the same versioned folder.
 set(versioned ${CMAKE_SHARED_LIBRARY_PREFIX}${bullet_plugin}${CMAKE_SHARED_LIBRARY_SUFFIX})
 set(unversioned ${CMAKE_SHARED_LIBRARY_PREFIX}${PROJECT_NAME_NO_VERSION_LOWER}-${engine_name}${CMAKE_SHARED_LIBRARY_SUFFIX})
@@ -56,8 +56,8 @@ gz_build_tests(
   SOURCES ${test_sources}
   LIB_DEPS
     ${features}
-    ignition-plugin${IGN_PLUGIN_VER}::loader
-    ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER}
+    gz-plugin${GZ_PLUGIN_VER}::loader
+    gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER}
     ${PROJECT_LIBRARY_TARGET_NAME}-sdf
     ${PROJECT_LIBRARY_TARGET_NAME}-mesh
   TEST_LIST tests)

diff --git a/dartsim/CMakeLists.txt b/dartsim/CMakeLists.txt
@@ -30,15 +30,15 @@ target_link_libraries(${dartsim_plugin}
     ${PROJECT_LIBRARY_TARGET_NAME}-sdf
     ${PROJECT_LIBRARY_TARGET_NAME}-heightmap
     ${PROJECT_LIBRARY_TARGET_NAME}-mesh
-    ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER}
-    ignition-common${IGN_COMMON_VER}::geospatial
-    ignition-math${IGN_MATH_VER}::eigen3
+    gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER}
+    gz-common${GZ_COMMON_VER}::geospatial
+    gz-math${GZ_MATH_VER}::eigen3
   PRIVATE
     # We need to link this, even when the profiler isn't used to get headers.
-    ignition-common${IGN_COMMON_VER}::profiler
+    gz-common${GZ_COMMON_VER}::profiler
 )
 
-# The ignition fork of DART contains additional code that allows customizing
+# The Gazebo fork of DART contains additional code that allows customizing
 # contact constraints. We check for the presence of "ContactSurface.hpp", which
 # was added to enable these customizations, to detect if the feature is
 # available.
@@ -62,7 +62,7 @@ endif()
 install(TARGETS ${dartsim_plugin} DESTINATION ${GZ_PHYSICS_ENGINE_INSTALL_DIR})
 
 # The library created by `gz_add_component` includes the ign-physics version
-# (i.e. libignition-physics1-name-plugin.so), but for portability,
+# (i.e. libgz-physics1-name-plugin.so), but for portability,
 # we also install an unversioned symlink into the same versioned folder.
 set(versioned ${CMAKE_SHARED_LIBRARY_PREFIX}${dartsim_plugin}${CMAKE_SHARED_LIBRARY_SUFFIX})
 set(unversioned ${CMAKE_SHARED_LIBRARY_PREFIX}${PROJECT_NAME_NO_VERSION_LOWER}-${engine_name}${CMAKE_SHARED_LIBRARY_SUFFIX})
@@ -83,9 +83,9 @@ gz_build_tests(
   SOURCES ${test_sources}
   LIB_DEPS
     ${features}
-    ignition-plugin${IGN_PLUGIN_VER}::loader
-    ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER}
-    ignition-common${IGN_COMMON_VER}::geospatial
+    gz-plugin${GZ_PLUGIN_VER}::loader
+    gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER}
+    gz-common${GZ_COMMON_VER}::geospatial
     ${PROJECT_LIBRARY_TARGET_NAME}-sdf
     ${PROJECT_LIBRARY_TARGET_NAME}-heightmap
     ${PROJECT_LIBRARY_TARGET_NAME}-mesh

diff --git a/examples/hello_world_loader/CMakeLists.txt b/examples/hello_world_loader/CMakeLists.txt
@@ -2,13 +2,13 @@ cmake_minimum_required(VERSION 3.5 FATAL_ERROR)
 
 project(ign-physics-hello-world-loader)
 
-find_package(ignition-plugin2 REQUIRED COMPONENTS all)
-set(IGN_PLUGIN_VER ${ignition-plugin2_VERSION_MAJOR})
+find_package(gz-plugin2 REQUIRED COMPONENTS all)
+set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
 
-find_package(ignition-physics6 REQUIRED)
-set(IGN_PHYSICS_VER ${ignition-physics6_VERSION_MAJOR})
+find_package(gz-physics6 REQUIRED)
+set(GZ_PHYSICS_VER ${gz-physics6_VERSION_MAJOR})
 
 add_executable(hello_world_loader hello_world_loader.cc)
 target_link_libraries(hello_world_loader
-  ignition-plugin${IGN_PLUGIN_VER}::loader
-  ignition-physics${IGN_PHYSICS_VER}::ignition-physics${IGN_PHYSICS_VER})
+  gz-plugin${GZ_PLUGIN_VER}::loader
+  gz-physics${GZ_PHYSICS_VER}::gz-physics${GZ_PHYSICS_VER})
diff --git a/examples/hello_world_loader/README.md b/examples/hello_world_loader/README.md
@@ -41,15 +41,15 @@ For example, if you have the Gazebo Physics plugin for DART compiled, find
 where it's installed with:
 
 ~~~
-find / | grep libignition-physics-dartsim-plugin.so
+find / | grep libgz-physics-dartsim-plugin.so
 ~~~
 
 You may find more than one file. Choose one of them, and load it with
 the example loader like this:
 
 ~~~
 cd examples/hello_world_loader/build
-./hello_world_loader <path_to>/libignition-physics-dartsim-plugin.so
+./hello_world_loader <path_to>/libgz-physics-dartsim-plugin.so
 ~~~
 
 And you'll see the engine info:

diff --git a/examples/hello_world_plugin/CMakeLists.txt b/examples/hello_world_plugin/CMakeLists.txt
@@ -2,13 +2,13 @@ cmake_minimum_required(VERSION 3.5 FATAL_ERROR)
 
 project(ign-physics-hello-world-plugin)
 
-find_package(ignition-plugin2 REQUIRED COMPONENTS all)
-set(IGN_PLUGIN_VER ${ignition-plugin2_VERSION_MAJOR})
+find_package(gz-plugin2 REQUIRED COMPONENTS all)
+set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
 
-find_package(ignition-physics6 REQUIRED)
-set(IGN_PHYSICS_VER ${ignition-physics6_VERSION_MAJOR})
+find_package(gz-physics6 REQUIRED)
+set(GZ_PHYSICS_VER ${gz-physics6_VERSION_MAJOR})
 
 add_library(HelloWorldPlugin SHARED HelloWorldPlugin.cc)
 target_link_libraries(HelloWorldPlugin
   PRIVATE
-    ignition-physics${IGN_PHYSICS_VER}::ignition-physics${IGN_PHYSICS_VER})
+    gz-physics${GZ_PHYSICS_VER}::gz-physics${GZ_PHYSICS_VER})
diff --git a/examples/simple_plugin/CMakeLists.txt b/examples/simple_plugin/CMakeLists.txt
@@ -2,21 +2,21 @@ cmake_minimum_required(VERSION 3.5 FATAL_ERROR)
 
 project(ign-physics-simple-plugin)
 
-find_package(ignition-plugin2 REQUIRED COMPONENTS all)
-set(IGN_PLUGIN_VER ${ignition-plugin2_VERSION_MAJOR})
+find_package(gz-plugin2 REQUIRED COMPONENTS all)
+set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
 
-find_package(ignition-physics6 REQUIRED)
-set(IGN_PHYSICS_VER ${ignition-physics6_VERSION_MAJOR})
+find_package(gz-physics6 REQUIRED)
+set(GZ_PHYSICS_VER ${gz-physics6_VERSION_MAJOR})
 
 add_library(SimplePlugin SHARED plugin.cc EntityManagementFeatures.cc)
 target_link_libraries(SimplePlugin
   PRIVATE
-    ignition-physics${IGN_PHYSICS_VER}::ignition-physics${IGN_PHYSICS_VER})
+    gz-physics${GZ_PHYSICS_VER}::gz-physics${GZ_PHYSICS_VER})
 
 add_executable(PluginTest EntityManagementFeatures_TEST.cc)
 target_link_libraries(PluginTest
-  ignition-plugin${IGN_PLUGIN_VER}::loader
-  ignition-physics${IGN_PHYSICS_VER}::ignition-physics${IGN_PHYSICS_VER})
+  gz-plugin${GZ_PLUGIN_VER}::loader
+  gz-physics${GZ_PHYSICS_VER}::gz-physics${GZ_PHYSICS_VER})
 
 target_compile_definitions(PluginTest PRIVATE
   "simple_plugin_LIB=\"$<TARGET_FILE:SimplePlugin>\"")
diff --git a/heightmap/CMakeLists.txt b/heightmap/CMakeLists.txt
@@ -3,7 +3,7 @@ gz_add_component(heightmap INTERFACE
 
 target_link_libraries(${heightmap}
   INTERFACE
-    ignition-common${IGN_COMMON_VER}::geospatial)
+    gz-common${GZ_COMMON_VER}::geospatial)
 
 install(
   DIRECTORY include/

diff --git a/mesh/CMakeLists.txt b/mesh/CMakeLists.txt
@@ -3,7 +3,7 @@ gz_add_component(mesh INTERFACE
 
 target_link_libraries(${mesh}
   INTERFACE
-    ignition-common${IGN_COMMON_VER}::graphics)
+    gz-common${GZ_COMMON_VER}::graphics)
 
 install(
   DIRECTORY include/

diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -4,9 +4,9 @@ gz_create_core_library(SOURCES ${sources} CXX_STANDARD 17)
 
 target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
   PUBLIC
-    ${ignition-math${IGN_MATH_VER}_LIBRARIES}
-    ignition-utils${IGN_UTILS_VER}::ignition-utils${IGN_UTILS_VER}
-    ignition-plugin${IGN_PLUGIN_VER}::register
+    ${gz-math${GZ_MATH_VER}_LIBRARIES}
+    gz-utils${GZ_UTILS_VER}::gz-utils${GZ_UTILS_VER}
+    gz-plugin${GZ_PLUGIN_VER}::register
     Eigen3::Eigen)
 
 gz_build_tests(
@@ -15,5 +15,5 @@ gz_build_tests(
 
 if(TARGET UNIT_FindFeatures_TEST)
   target_link_libraries(UNIT_FindFeatures_TEST
-    ignition-plugin${IGN_PLUGIN_VER}::loader)
+    gz-plugin${GZ_PLUGIN_VER}::loader)
 endif()
diff --git a/test/integration/CMakeLists.txt b/test/integration/CMakeLists.txt
@@ -11,7 +11,7 @@ gz_build_tests(
   SOURCES ${tests}
   LIB_DEPS
     Eigen3::Eigen
-    ignition-plugin${IGN_PLUGIN_VER}::loader
+    gz-plugin${GZ_PLUGIN_VER}::loader
   TEST_LIST list)
 
 if (BUILD_TESTING)

diff --git a/test/plugins/CMakeLists.txt b/test/plugins/CMakeLists.txt
@@ -1,6 +1,6 @@
 if (DART_FOUND)
   add_library(MockDoublePendulum SHARED DARTDoublePendulum.cc)
-  target_link_libraries(MockDoublePendulum PRIVATE ignition-common${IGN_COMMON_VER}::core)
+  target_link_libraries(MockDoublePendulum PRIVATE gz-common${GZ_COMMON_VER}::core)
 endif()
 add_library(MockEntities SHARED MockEntities.cc)
 add_library(MockFrames SHARED frames.cc)

diff --git a/tpe/lib/CMakeLists.txt b/tpe/lib/CMakeLists.txt
@@ -13,16 +13,16 @@ gz_add_component(tpelib
 target_link_libraries(${tpelib_target}
   PUBLIC
   PRIVATE
-    ignition-common${IGN_COMMON_VER}::requested
-    ignition-math${IGN_MATH_VER}::eigen3
+    gz-common${GZ_COMMON_VER}::requested
+    gz-math${GZ_MATH_VER}::eigen3
 )
 
 gz_build_tests(
   TYPE UNIT_tpelib
   SOURCES ${test_sources}
   LIB_DEPS
-    ignition-plugin${IGN_PLUGIN_VER}::loader
-    ignition-common${IGN_COMMON_VER}::requested
+    gz-plugin${GZ_PLUGIN_VER}::loader
+    gz-common${GZ_COMMON_VER}::requested
     ${PROJECT_LIBRARY_TARGET_NAME}-sdf
     ${PROJECT_LIBRARY_TARGET_NAME}-mesh
     ${tpelib_target}

diff --git a/tpe/plugin/CMakeLists.txt b/tpe/plugin/CMakeLists.txt
@@ -24,18 +24,18 @@ target_link_libraries(${tpe_plugin}
     ${features}
     ${PROJECT_LIBRARY_TARGET_NAME}-sdf
     ${PROJECT_LIBRARY_TARGET_NAME}-mesh
-    ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER}
-    ignition-math${IGN_MATH_VER}::eigen3
+    gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER}
+    gz-math${GZ_MATH_VER}::eigen3
   PRIVATE
     # We need to link this, even when the profiler isn't used to get headers.
-    ignition-common${IGN_COMMON_VER}::profiler
+    gz-common${GZ_COMMON_VER}::profiler
 )
 
 # Note that plugins are currently being installed in 2 places: /lib and the engine-plugins dir
 install(TARGETS ${tpe_plugin} DESTINATION ${GZ_PHYSICS_ENGINE_INSTALL_DIR})
 
 # The library created by `gz_add_component` includes the ign-physics version
-# (i.e. libignition-physics1-name-plugin.so), but for portability,
+# (i.e. libgz-physics1-name-plugin.so), but for portability,
 # we also install an unversioned symlink into the same versioned folder.
 set(versioned ${CMAKE_SHARED_LIBRARY_PREFIX}${tpe_plugin}${CMAKE_SHARED_LIBRARY_SUFFIX})
 set(unversioned ${CMAKE_SHARED_LIBRARY_PREFIX}${PROJECT_NAME_NO_VERSION_LOWER}-${engine_name}${CMAKE_SHARED_LIBRARY_SUFFIX})
@@ -55,8 +55,8 @@ gz_build_tests(
   SOURCES ${test_sources}
   LIB_DEPS
     ${features}
-    ignition-plugin${IGN_PLUGIN_VER}::loader
-    ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER}
+    gz-plugin${GZ_PLUGIN_VER}::loader
+    gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER}
     ${PROJECT_LIBRARY_TARGET_NAME}-sdf
     ${PROJECT_LIBRARY_TARGET_NAME}-mesh
   TEST_LIST tests)

diff --git a/tutorials/04-switching-physics-engines.md b/tutorials/04-switching-physics-engines.md
@@ -18,8 +18,8 @@ Gazebo automatically looks for all physics engine plugins that are
 installed with Gazebo Physics.
 At the time of writing, there are two physics engines available (more detail
 in \ref physicsplugin "Physics plugin tutorial"):
-- **DART**: `ignition-physics-dartsim-plugin`.
-- **TPE**: `ignition-physics-tpe-plugin`.
+- **DART**: `gz-physics-dartsim-plugin`.
+- **TPE**: `gz-physics-tpe-plugin`.
 
 If you've created a custom engine plugin, you can tell Gazebo where to
 find it by setting the `GZ_SIM_PHYSICS_ENGINE_PATH` environment variable to
@@ -66,8 +66,8 @@ For the example above, you can load it like this:
 
 ```{.xml}
 <plugin
-  filename="ignition-gazebo-physics-system"
-  name="gz::gazebo::systems::Physics">
+  filename="gz-sim-physics-system"
+  name="gz::sim::systems::Physics">
   <engine>
     <filename>CustomEngine</filename>
   </engine>
@@ -91,10 +91,10 @@ When instantiating a server programmatically, a physics engine can be passed to
 the constructor, for example:
 
 ```
-gz::gazebo::ServerConfig serverConfig;
+gz::sim::ServerConfig serverConfig;
 serverConfig.SetPhysicsEngine("CustomEngine");
 
-gz::gazebo::Server server(serverConfig);
+gz::sim::Server server(serverConfig);
 ```
 
 ## Troubleshooting