Removed Ignition

Migration.md

@@ -5,6 +5,12 @@ 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.
 
+## Gazebo Launch 6.X to 7.X
+
+- Removed Ignition
+    - Removed the ignition include directory.
+    - Launch scripts must use the `<gz>` element.
+
 ## Gazebo Launch 5.X to 6.X
 
 - The `ignition` namespace is deprecated and will be removed in future versions.

examples/factory.gzlaunch

@@ -9,7 +9,7 @@
 
       <sdf version='1.6'>
         <include>
-          <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/X2 UGV/1</uri>
+          <uri>https://fuel.gazeosim.org/1.0/openrobotics/models/X2 UGV/1</uri>
           <plugin filename="gz-sim-diff-drive-system"
                   name="gz::sim::systems::DiffDrive">
             <left_joint>front_left_wheel_joint</left_joint>

examples/multi_factory.gzlaunch

@@ -9,7 +9,7 @@
 
       <sdf version='1.6'>
         <include>
-          <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/X3 UAV Config 1</uri>
+          <uri>https://fuel.gazebosim.org/1.0/openrobotics/models/X3 UAV Config 1</uri>
         </include>
       </sdf>
     </spawn>
@@ -20,7 +20,7 @@
 
       <sdf version='1.6'>
         <include>
-          <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/X1 Config 1</uri>
+          <uri>https://fuel.gazebosim.org/1.0/openrobotics/models/X1 Config 1</uri>
         </include>
       </sdf>
     </spawn>

include/CMakeLists.txt

@@ -1,2 +1 @@
 add_subdirectory(gz)
-install(DIRECTORY ignition DESTINATION ${GZ_INCLUDE_INSTALL_DIR_FULL})

plugins/sim_factory/SimFactory.hh

@@ -47,7 +47,7 @@ namespace gz
     ///          spawned -->
     ///     <sdf version='1.6'>
     ///       <include>
-    ///         <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/X2 UGV/1</uri>
+    ///         <uri>https://fuel.gazebosim.org/1.0/openrobotics/models/X2 UGV/1</uri>
     ///         <!-- Publish robot state information -->
     ///         <plugin filename="gz-sim-state-publisher-system"
     ///              name="gz::sim::systems::StatePublisher"></plugin>

src/Manager.cc

@@ -679,14 +679,8 @@ bool ManagerPrivate::ParseConfig(const std::string &_config)
   tinyxml2::XMLElement *root = xmlDoc.FirstChildElement("gz");
   if (!root)
   {
-    root = xmlDoc.FirstChildElement("ignition");
-    if (!root)
-    {
-      gzerr << "Invalid config file, missing `<gz>` element\n";
-      return false;
-    }
-    gzwarn << "The `<ignition>` element is deprecated and will be removed. "
-           << "Please use `<gz>` instead." << std::endl;
+    gzerr << "Invalid config file, missing `<gz>` element\n";
+    return false;
   }
   // Keep the environment variables in memory. See manpage for putenv.
   this->envs = this->ParseEnvs(root);
@@ -1111,26 +1105,6 @@ void ManagerPrivate::LoadPlugin(const tinyxml2::XMLElement *_elem)
   else
     pathToLib = systemPaths.FindSharedLibrary(file);
 
-  if (pathToLib.empty())
-  {
-    // TODO(CH3): Deprecated. Remove on ticktock.
-    // This tries to find one more time with IGN_LAUNCH_PLUGIN_PATH instead of
-    // GZ_LAUNCH_PLUGIN_PATH
-    systemPaths.SetPluginPathEnv("IGN_LAUNCH_PLUGIN_PATH");
-
-    systemPaths.AddPluginPaths(
-      gz::common::joinPaths(homePath, ".ignition", "gazebo", "plugins"));
-
-    pathToLib = systemPaths.FindSharedLibrary(file);
-
-    if (!pathToLib.empty())
-    {
-      gzwarn << "Found plugin [" << pathToLib
-      << "] using deprecated environment variable [IGN_LAUNCH_PLUGIN_PATH]."
-         " Please use [GZ_LAUNCH_PLUGIN_PATH] instead." << std::endl;
-    }
-  }
-
   if (pathToLib.empty())
   {
     gzerr << "Failed to find the path to library[" << file << "]. "

src/Manager_TEST.cc

@@ -84,7 +84,7 @@ TEST_F(ManagerTest, RunEmptyConfig)
 }
 
 /////////////////////////////////////////////////
-TEST_F(ManagerTest, MissingIgnition)
+TEST_F(ManagerTest, MissingGz)
 {
   std::string config =
     "<executable name='sim'>"

tutorials/install.md

@@ -62,7 +62,7 @@ necessary prerequisites followed by building from source.
 
     ```
     sudo apt -y install \
-      $(sort -u $(find . -iname 'packages-'`lsb_release -cs`'.apt' -o -iname 'packages.apt' | grep -v '/\.git/') | sed '/ignition\|sdf/d' | tr '\n' ' ')
+      $(sort -u $(find . -iname 'packages-'`lsb_release -cs`'.apt' -o -iname 'packages.apt' | grep -v '/\.git/') | sed '/gz\|sdf/d' | tr '\n' ' ')
     ```
 
 1. Install required Gazebo libraries
@@ -105,7 +105,7 @@ necessary prerequisites followed by building from source.
 
 2. Install dependencies
   ```
-  brew install --only-dependencies ignition-launch<#>
+  brew install --only-dependencies gz-launch<#>
   ```
   Be sure to replace `<#>` with a number value, such as 5 or 6, depending on
   which version you need.