From 4760537ad620ecd4b588a089a251adac1727881f Mon Sep 17 00:00:00 2001 From: Steve Peters Date: Fri, 16 May 2025 22:04:05 +0000 Subject: [PATCH 01/12] Bump gz-cmake and others in jetty Bumping gz-cmake and others except gz-tools. Signed-off-by: Steve Peters --- .github/ci/packages.apt | 26 ++++++++-------- CMakeLists.txt | 31 +++++++------------ docker/Dockerfile.nightly | 18 +++++------ docker/scripts/build_gz.sh | 2 +- docker/scripts/upload_json_benchmark.sh | 2 +- examples/plugin/command_actor/CMakeLists.txt | 7 ++--- .../plugin/custom_component/CMakeLists.txt | 7 ++--- .../custom_sensor_system/CMakeLists.txt | 7 ++--- examples/plugin/hello_world/CMakeLists.txt | 7 ++--- .../priority_printer_plugin/CMakeLists.txt | 7 ++--- .../plugin/rendering_plugins/CMakeLists.txt | 10 +++--- examples/plugin/reset_plugin/CMakeLists.txt | 5 ++- examples/plugin/system_plugin/CMakeLists.txt | 7 ++--- .../scripts/python_api/systems/test_system.py | 2 +- examples/scripts/python_api/testFixture.py | 4 +-- .../standalone/joy_to_twist/CMakeLists.txt | 5 ++- examples/standalone/joystick/CMakeLists.txt | 5 ++- examples/standalone/keyboard/CMakeLists.txt | 15 ++++----- .../standalone/lrauv_control/lrauv_control.py | 6 ++-- examples/standalone/marker/CMakeLists.txt | 10 +++--- .../multi_lrauv_race/multi_lrauv_race.py | 2 +- package.xml | 20 ++++++------ python/CMakeLists.txt | 6 ++-- python/test/gz_test_deps/common.py | 2 +- python/test/gz_test_deps/math.py | 2 +- python/test/gz_test_deps/msgs.py | 4 +-- python/test/gz_test_deps/sdformat.py | 2 +- src/CMakeLists.txt | 30 +++++++++--------- src/cmd/CMakeLists.txt | 8 ++--- src/gui/CMakeLists.txt | 6 ++-- src/gui/plugins/CMakeLists.txt | 2 +- src/gui/plugins/align_tool/CMakeLists.txt | 2 +- .../plugins/banana_for_scale/CMakeLists.txt | 2 +- .../component_inspector_editor/CMakeLists.txt | 2 +- src/gui/plugins/entity_tree/CMakeLists.txt | 2 +- .../plugins/environment_loader/CMakeLists.txt | 6 ++-- .../environment_visualization/CMakeLists.txt | 6 ++-- .../plugins/resource_spawner/CMakeLists.txt | 2 +- src/gui/plugins/scene_manager/CMakeLists.txt | 2 +- .../plugins/select_entities/CMakeLists.txt | 2 +- src/gui/plugins/shapes/CMakeLists.txt | 2 +- .../plugins/transform_control/CMakeLists.txt | 4 +-- src/gui/plugins/video_recorder/CMakeLists.txt | 2 +- .../plugins/visualize_contacts/CMakeLists.txt | 2 +- .../plugins/visualize_frustum/CMakeLists.txt | 2 +- .../plugins/visualize_lidar/CMakeLists.txt | 2 +- src/rendering/CMakeLists.txt | 4 +-- src/systems/CMakeLists.txt | 2 +- src/systems/ackermann_steering/CMakeLists.txt | 2 +- src/systems/acoustic_comms/CMakeLists.txt | 2 +- src/systems/air_pressure/CMakeLists.txt | 2 +- src/systems/air_speed/CMakeLists.txt | 2 +- src/systems/altimeter/CMakeLists.txt | 2 +- src/systems/apply_joint_force/CMakeLists.txt | 2 +- src/systems/battery_plugin/CMakeLists.txt | 2 +- src/systems/breadcrumbs/CMakeLists.txt | 2 +- src/systems/buoyancy/CMakeLists.txt | 4 +-- src/systems/buoyancy_engine/CMakeLists.txt | 2 +- .../camera_video_recorder/CMakeLists.txt | 4 +-- .../collada_world_exporter/CMakeLists.txt | 2 +- src/systems/comms_endpoint/CMakeLists.txt | 2 +- src/systems/contact/CMakeLists.txt | 2 +- src/systems/detachable_joint/CMakeLists.txt | 2 +- src/systems/diff_drive/CMakeLists.txt | 2 +- .../drive_to_pose_controller/CMakeLists.txt | 2 +- src/systems/dvl/CMakeLists.txt | 4 +-- src/systems/elevator/CMakeLists.txt | 2 +- .../environment_preload/CMakeLists.txt | 6 ++-- .../CMakeLists.txt | 6 ++-- src/systems/force_torque/CMakeLists.txt | 2 +- src/systems/hydrodynamics/CMakeLists.txt | 4 +-- src/systems/imu/CMakeLists.txt | 2 +- src/systems/joint_controller/CMakeLists.txt | 2 +- .../joint_position_controller/CMakeLists.txt | 2 +- .../joint_state_publisher/CMakeLists.txt | 2 +- src/systems/joint_traj_control/CMakeLists.txt | 2 +- src/systems/lens_flare/CMakeLists.txt | 4 +-- .../lighter_than_air_dynamics/CMakeLists.txt | 4 +-- src/systems/log_video_recorder/CMakeLists.txt | 2 +- .../CMakeLists.txt | 6 ++-- src/systems/logical_camera/CMakeLists.txt | 2 +- src/systems/magnetometer/CMakeLists.txt | 2 +- src/systems/mecanum_drive/CMakeLists.txt | 2 +- src/systems/model_photo_shoot/CMakeLists.txt | 4 +-- .../multicopter_control/CMakeLists.txt | 2 +- .../multicopter_motor_model/CMakeLists.txt | 2 +- src/systems/navsat/CMakeLists.txt | 2 +- src/systems/odometry_publisher/CMakeLists.txt | 2 +- .../optical_tactile_plugin/CMakeLists.txt | 2 +- src/systems/particle_emitter/CMakeLists.txt | 6 ++-- src/systems/perfect_comms/CMakeLists.txt | 2 +- src/systems/performer_detector/CMakeLists.txt | 2 +- src/systems/physics/CMakeLists.txt | 14 ++++----- src/systems/pose_publisher/CMakeLists.txt | 2 +- src/systems/rf_comms/CMakeLists.txt | 2 +- src/systems/scene_broadcaster/CMakeLists.txt | 2 +- src/systems/sensors/CMakeLists.txt | 4 +-- src/systems/shader_param/CMakeLists.txt | 4 +-- .../spacecraft_thruster_model/CMakeLists.txt | 2 +- src/systems/thermal/CMakeLists.txt | 4 +-- src/systems/thruster/CMakeLists.txt | 2 +- src/systems/touch_plugin/CMakeLists.txt | 2 +- src/systems/track_controller/CMakeLists.txt | 10 +++--- src/systems/tracked_vehicle/CMakeLists.txt | 4 +-- .../trajectory_follower/CMakeLists.txt | 2 +- .../triggered_publisher/CMakeLists.txt | 2 +- src/systems/user_commands/CMakeLists.txt | 2 +- src/systems/velocity_control/CMakeLists.txt | 2 +- src/systems/wheel_slip/CMakeLists.txt | 2 +- test/integration/CMakeLists.txt | 18 +++++------ test/performance/CMakeLists.txt | 4 +-- test/plugins/CMakeLists.txt | 2 +- tutorials/create_system_plugins.md | 5 ++- tutorials/migrating_ardupilot_plugin.md | 10 +++--- tutorials/python_interfaces.md | 2 +- 115 files changed, 255 insertions(+), 279 deletions(-) diff --git a/.github/ci/packages.apt b/.github/ci/packages.apt index d606dcad74..aee9566b49 100644 --- a/.github/ci/packages.apt +++ b/.github/ci/packages.apt @@ -2,34 +2,34 @@ freeglut3-dev libbenchmark-dev libfreeimage-dev libglew-dev -libgz-cmake4-dev -libgz-common6-dev -libgz-fuel-tools10-dev +libgz-cmake5-dev +libgz-common7-dev +libgz-fuel-tools11-dev libgz-gui10-dev -libgz-math8-eigen3-dev -libgz-msgs11-dev -libgz-physics8-dev -libgz-plugin3-dev -libgz-rendering9-dev +libgz-math9-eigen3-dev +libgz-msgs12-dev +libgz-physics9-dev +libgz-plugin4-dev +libgz-rendering10-dev libgz-sensors10-dev libgz-tools2-dev libgz-transport15-dev -libgz-utils3-cli-dev +libgz-utils4-cli-dev libogre-1.9-dev libogre-next-2.3-dev libprotobuf-dev libprotoc-dev -libsdformat15-dev +libsdformat16-dev libtinyxml2-dev libxi-dev libxmu-dev libpython3-dev -python3-gz-math8 -python3-gz-msgs11 +python3-gz-math9 +python3-gz-msgs12 python3-gz-transport15 python3-pybind11 python3-pytest -python3-sdformat15 +python3-sdformat16 qml6-module-qt-labs-folderlistmodel qml6-module-qt-labs-settings qml6-module-qt5compat-graphicaleffects diff --git a/CMakeLists.txt b/CMakeLists.txt index eff9da0555..67f775b6fe 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -10,7 +10,7 @@ set (GZ_DISTRIBUTION "Jetty") # Find gz-cmake #============================================================================ # If you get an error at this line, you need to install gz-cmake -find_package(gz-cmake4 REQUIRED) +find_package(gz-cmake REQUIRED) #============================================================================ # Configure the project @@ -74,13 +74,11 @@ set(CMAKE_POLICY_DEFAULT_CMP0077 NEW) # as protobuf could be find transitively by any dependency set(protobuf_MODULE_COMPATIBLE TRUE) -gz_find_package(sdformat15 REQUIRED) -set(SDF_VER ${sdformat15_VERSION_MAJOR}) +gz_find_package(sdformat REQUIRED) #-------------------------------------- # Find gz-plugin -gz_find_package(gz-plugin3 REQUIRED COMPONENTS loader register) -set(GZ_PLUGIN_VER ${gz-plugin3_VERSION_MAJOR}) +gz_find_package(gz-plugin REQUIRED COMPONENTS loader register) #-------------------------------------- # Find gz-transport @@ -88,13 +86,12 @@ gz_find_package(gz-transport REQUIRED COMPONENTS log parameters) #-------------------------------------- # Find gz-msgs -gz_find_package(gz-msgs11 REQUIRED) -set(GZ_MSGS_VER ${gz-msgs11_VERSION_MAJOR}) +gz_find_package(gz-msgs REQUIRED) #-------------------------------------- # Find gz-common # Always use the profiler component to get the headers, regardless of status. -gz_find_package(gz-common6 +gz_find_package(gz-common COMPONENTS av events @@ -103,12 +100,10 @@ gz_find_package(gz-common6 profiler REQUIRED ) -set(GZ_COMMON_VER ${gz-common6_VERSION_MAJOR}) #-------------------------------------- # Find gz-fuel_tools -gz_find_package(gz-fuel_tools10 REQUIRED) -set(GZ_FUEL_TOOLS_VER ${gz-fuel_tools10_VERSION_MAJOR}) +gz_find_package(gz-fuel_tools REQUIRED) # Option to build gz-sim with GUI support option(ENABLE_GUI "Build gz-sim with GUI enabled" ON) @@ -137,14 +132,13 @@ endif() #-------------------------------------- # Find gz-physics -gz_find_package(gz-physics8 +gz_find_package(gz-physics COMPONENTS heightmap mesh sdf REQUIRED ) -set(GZ_PHYSICS_VER ${gz-physics8_VERSION_MAJOR}) #-------------------------------------- # Find gz-sensors @@ -179,13 +173,11 @@ gz_find_package(gz-sensors REQUIRED #-------------------------------------- # Find gz-rendering -gz_find_package(gz-rendering9 REQUIRED) -set(GZ_RENDERING_VER ${gz-rendering9_VERSION_MAJOR}) +gz_find_package(gz-rendering REQUIRED) #-------------------------------------- # Find gz-math -gz_find_package(gz-math8 REQUIRED COMPONENTS eigen3) -set(GZ_MATH_VER ${gz-math8_VERSION_MAJOR}) +gz_find_package(gz-math REQUIRED COMPONENTS eigen3) #-------------------------------------- # Find if gz command is available @@ -201,8 +193,7 @@ set(GZ_TOOLS_VER 2) #-------------------------------------- # Find gz-utils -gz_find_package(gz-utils3 REQUIRED COMPONENTS cli) -set(GZ_UTILS_VER ${gz-utils3_VERSION_MAJOR}) +gz_find_package(gz-utils REQUIRED COMPONENTS cli) #-------------------------------------- # Find protobuf @@ -210,7 +201,7 @@ gz_find_package(GzProtobuf REQUIRED COMPONENTS all PRETTY Protobuf) -set(Protobuf_IMPORT_DIRS ${gz-msgs11_INCLUDE_DIRS}) +set(Protobuf_IMPORT_DIRS ${gz-msgs12_INCLUDE_DIRS}) #-------------------------------------- # Find python diff --git a/docker/Dockerfile.nightly b/docker/Dockerfile.nightly index ea82c0cb0b..01d2cfb1f7 100644 --- a/docker/Dockerfile.nightly +++ b/docker/Dockerfile.nightly @@ -11,19 +11,19 @@ RUN scripts/enable_nightly.sh RUN apt-get update \ && apt-get install -y \ - libgz-cmake4-dev \ - libgz-common6-dev \ - libgz-fuel-tools10-dev \ - libgz-math8-eigen3-dev \ - libgz-plugin3-dev \ - libgz-physics8-dev \ - libgz-rendering9-dev \ + libgz-cmake5-dev \ + libgz-common7-dev \ + libgz-fuel-tools11-dev \ + libgz-math9-eigen3-dev \ + libgz-plugin4-dev \ + libgz-physics9-dev \ + libgz-rendering10-dev \ libgz-tools2-dev \ libgz-transport15-dev \ libgz-gui10-dev \ - libgz-msgs11-dev \ + libgz-msgs12-dev \ libgz-sensors10-dev \ - libsdformat15-dev \ + libsdformat16-dev \ && apt-get clean \ && rm -rf /var/lib/apt/lists/* diff --git a/docker/scripts/build_gz.sh b/docker/scripts/build_gz.sh index d1ed98317e..45be6c1eb3 100755 --- a/docker/scripts/build_gz.sh +++ b/docker/scripts/build_gz.sh @@ -2,7 +2,7 @@ # Command line parameters: # 1 - github organization name. For example gazebosim or osrf. # 2 - the name of the Gazebo repository. For example gz-math. -# 3 - the name of the branch. For example gz-math8 +# 3 - the name of the branch. For example gz-math9 set -o errexit set -o verbose diff --git a/docker/scripts/upload_json_benchmark.sh b/docker/scripts/upload_json_benchmark.sh index 10fb0a4349..2fd5e04052 100755 --- a/docker/scripts/upload_json_benchmark.sh +++ b/docker/scripts/upload_json_benchmark.sh @@ -2,7 +2,7 @@ # Command line parameters: # 1 - github organization name. For example gazebosim or osrf. # 2 - the name of the Gazebo repository. For example gz-math. -# 3 - the name of the branch. For example gz-math8 +# 3 - the name of the branch. For example gz-math9 set -o errexit set -o verbose diff --git a/examples/plugin/command_actor/CMakeLists.txt b/examples/plugin/command_actor/CMakeLists.txt index fb14428437..e1950d5c64 100644 --- a/examples/plugin/command_actor/CMakeLists.txt +++ b/examples/plugin/command_actor/CMakeLists.txt @@ -1,15 +1,14 @@ cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR) -find_package(gz-cmake4 REQUIRED) +find_package(gz-cmake REQUIRED) project(CommandActor) -find_package(gz-plugin3 REQUIRED COMPONENTS register) -set(GZ_PLUGIN_VER ${gz-plugin3_VERSION_MAJOR}) +find_package(gz-plugin REQUIRED COMPONENTS register) find_package(gz-sim REQUIRED) add_library(CommandActor SHARED CommandActor.cc) set_property(TARGET CommandActor PROPERTY CXX_STANDARD 17) target_link_libraries(CommandActor - PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER} + PRIVATE gz-plugin::gz-plugin PRIVATE gz-sim::gz-sim) diff --git a/examples/plugin/custom_component/CMakeLists.txt b/examples/plugin/custom_component/CMakeLists.txt index f19607af3b..6a61e4014c 100644 --- a/examples/plugin/custom_component/CMakeLists.txt +++ b/examples/plugin/custom_component/CMakeLists.txt @@ -1,11 +1,10 @@ cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR) -find_package(gz-cmake4 REQUIRED) +find_package(gz-cmake REQUIRED) project(CustomComponentPlugin) -find_package(gz-plugin3 REQUIRED COMPONENTS register) -set(GZ_PLUGIN_VER ${gz-plugin3_VERSION_MAJOR}) +find_package(gz-plugin REQUIRED COMPONENTS register) find_package(gz-sim REQUIRED) add_library(CustomComponentPlugin SHARED @@ -13,5 +12,5 @@ add_library(CustomComponentPlugin SHARED ) set_property(TARGET CustomComponentPlugin PROPERTY CXX_STANDARD 17) target_link_libraries(CustomComponentPlugin - PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER} + PRIVATE gz-plugin::gz-plugin PRIVATE gz-sim::gz-sim) diff --git a/examples/plugin/custom_sensor_system/CMakeLists.txt b/examples/plugin/custom_sensor_system/CMakeLists.txt index 60f92ce1be..ebadb0e74d 100644 --- a/examples/plugin/custom_sensor_system/CMakeLists.txt +++ b/examples/plugin/custom_sensor_system/CMakeLists.txt @@ -1,11 +1,10 @@ cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR) -find_package(gz-cmake4 REQUIRED) +find_package(gz-cmake REQUIRED) project(OdometerSystem) -gz_find_package(gz-plugin3 REQUIRED COMPONENTS register) -set(GZ_PLUGIN_VER ${gz-plugin3_VERSION_MAJOR}) +gz_find_package(gz-plugin REQUIRED COMPONENTS register) gz_find_package(gz-sim REQUIRED) @@ -26,7 +25,7 @@ add_subdirectory(${sensors_clone_SOURCE_DIR}/examples/custom_sensor ${sensors_cl add_library(${PROJECT_NAME} SHARED ${PROJECT_NAME}.cc) target_link_libraries(${PROJECT_NAME} PRIVATE - gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER} + gz-plugin::gz-plugin gz-sim::gz-sim gz-sensors::gz-sensors odometer diff --git a/examples/plugin/hello_world/CMakeLists.txt b/examples/plugin/hello_world/CMakeLists.txt index 7953d2d19b..cfbeea8bd6 100644 --- a/examples/plugin/hello_world/CMakeLists.txt +++ b/examples/plugin/hello_world/CMakeLists.txt @@ -1,16 +1,15 @@ cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR) -find_package(gz-cmake4 REQUIRED) +find_package(gz-cmake REQUIRED) project(Hello_world) -gz_find_package(gz-plugin3 REQUIRED COMPONENTS register) -set(GZ_PLUGIN_VER ${gz-plugin3_VERSION_MAJOR}) +gz_find_package(gz-plugin REQUIRED COMPONENTS register) gz_find_package(gz-sim REQUIRED) add_library(HelloWorld SHARED HelloWorld.cc) set_property(TARGET HelloWorld PROPERTY CXX_STANDARD 17) target_link_libraries(HelloWorld - PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER} + PRIVATE gz-plugin::gz-plugin PRIVATE gz-sim::gz-sim) diff --git a/examples/plugin/priority_printer_plugin/CMakeLists.txt b/examples/plugin/priority_printer_plugin/CMakeLists.txt index ab211a54a7..e3f092f096 100644 --- a/examples/plugin/priority_printer_plugin/CMakeLists.txt +++ b/examples/plugin/priority_printer_plugin/CMakeLists.txt @@ -1,16 +1,15 @@ cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR) -find_package(gz-cmake4 REQUIRED) +find_package(gz-cmake REQUIRED) project(Priority_printer) -gz_find_package(gz-plugin3 REQUIRED COMPONENTS register) -set(GZ_PLUGIN_VER ${gz-plugin3_VERSION_MAJOR}) +gz_find_package(gz-plugin REQUIRED COMPONENTS register) gz_find_package(gz-sim REQUIRED) add_library(PriorityPrinter SHARED PriorityPrinter.cc) set_property(TARGET PriorityPrinter PROPERTY CXX_STANDARD 17) target_link_libraries(PriorityPrinter - PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER} + PRIVATE gz-plugin::gz-plugin PRIVATE gz-sim::gz-sim) diff --git a/examples/plugin/rendering_plugins/CMakeLists.txt b/examples/plugin/rendering_plugins/CMakeLists.txt index 5e5ebe5e54..4c13910629 100644 --- a/examples/plugin/rendering_plugins/CMakeLists.txt +++ b/examples/plugin/rendering_plugins/CMakeLists.txt @@ -7,7 +7,7 @@ endif() project(RenderingPlugins) # Common to both plugins -find_package(gz-rendering9 REQUIRED) +find_package(gz-rendering REQUIRED) # GUI plugin set(GUI_PLUGIN RenderingGuiPlugin) @@ -25,20 +25,20 @@ add_library(${GUI_PLUGIN} SHARED target_link_libraries(${GUI_PLUGIN} PRIVATE gz-gui::gz-gui - gz-rendering9::gz-rendering9 + gz-rendering::gz-rendering ) # Server plugin set(SERVER_PLUGIN RenderingServerPlugin) -find_package(gz-plugin3 REQUIRED COMPONENTS register) +find_package(gz-plugin REQUIRED COMPONENTS register) find_package(gz-sim REQUIRED) add_library(${SERVER_PLUGIN} SHARED ${SERVER_PLUGIN}.cc) set_property(TARGET ${SERVER_PLUGIN} PROPERTY CXX_STANDARD 17) target_link_libraries(${SERVER_PLUGIN} PRIVATE - gz-plugin3::gz-plugin3 + gz-plugin::gz-plugin gz-sim::gz-sim - gz-rendering9::gz-rendering9 + gz-rendering::gz-rendering ) diff --git a/examples/plugin/reset_plugin/CMakeLists.txt b/examples/plugin/reset_plugin/CMakeLists.txt index 59759a413a..fb570df4d6 100644 --- a/examples/plugin/reset_plugin/CMakeLists.txt +++ b/examples/plugin/reset_plugin/CMakeLists.txt @@ -2,12 +2,11 @@ cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR) project(ResetPlugins) -find_package(gz-plugin3 REQUIRED COMPONENTS register) -set(GZ_PLUGIN_VER ${gz-plugin3_VERSION_MAJOR}) +find_package(gz-plugin REQUIRED COMPONENTS register) find_package(gz-sim REQUIRED) add_library(JointPositionRandomizer SHARED JointPositionRandomizer.cc) target_link_libraries(JointPositionRandomizer - PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER} + PRIVATE gz-plugin::gz-plugin PRIVATE gz-sim::core) diff --git a/examples/plugin/system_plugin/CMakeLists.txt b/examples/plugin/system_plugin/CMakeLists.txt index 89086b1b89..49a7df464b 100644 --- a/examples/plugin/system_plugin/CMakeLists.txt +++ b/examples/plugin/system_plugin/CMakeLists.txt @@ -1,15 +1,14 @@ cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR) -find_package(gz-cmake4 REQUIRED) +find_package(gz-cmake REQUIRED) project(SampleSystem) -find_package(gz-plugin3 REQUIRED COMPONENTS register) -set(GZ_PLUGIN_VER ${gz-plugin3_VERSION_MAJOR}) +find_package(gz-plugin REQUIRED COMPONENTS register) find_package(gz-sim REQUIRED) add_library(SampleSystem SHARED SampleSystem.cc SampleSystem2.cc) set_property(TARGET SampleSystem PROPERTY CXX_STANDARD 17) target_link_libraries(SampleSystem - PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER} + PRIVATE gz-plugin::gz-plugin PRIVATE gz-sim::gz-sim) diff --git a/examples/scripts/python_api/systems/test_system.py b/examples/scripts/python_api/systems/test_system.py index 7a7f033397..0b6dfd8fa0 100644 --- a/examples/scripts/python_api/systems/test_system.py +++ b/examples/scripts/python_api/systems/test_system.py @@ -12,7 +12,7 @@ # See the License for the specific language governing permissions and # limitations under the License. -from gz.math8 import Vector3d +from gz.math import Vector3d from gz.sim import Model, Link import random diff --git a/examples/scripts/python_api/testFixture.py b/examples/scripts/python_api/testFixture.py index 33146f7b9a..1c47917ded 100755 --- a/examples/scripts/python_api/testFixture.py +++ b/examples/scripts/python_api/testFixture.py @@ -24,9 +24,9 @@ import os -from gz.common6 import set_verbosity +from gz.common import set_verbosity from gz.sim import TestFixture, World, world_entity -from gz.math8 import Vector3d +from gz.math import Vector3d set_verbosity(4) diff --git a/examples/standalone/joy_to_twist/CMakeLists.txt b/examples/standalone/joy_to_twist/CMakeLists.txt index 637b263c78..8c984ac9ed 100644 --- a/examples/standalone/joy_to_twist/CMakeLists.txt +++ b/examples/standalone/joy_to_twist/CMakeLists.txt @@ -4,11 +4,10 @@ project(gz-sim-joy-to-twist) find_package(gz-transport QUIET REQUIRED OPTIONAL_COMPONENTS log) -find_package(sdformat15 REQUIRED) -set(SDF_VER ${sdformat15_VERSION_MAJOR}) +find_package(sdformat REQUIRED) add_executable(joy_to_twist joy_to_twist.cc) target_link_libraries(joy_to_twist gz-transport::core - sdformat${SDF_VER}::sdformat${SDF_VER} + sdformat::sdformat ) diff --git a/examples/standalone/joystick/CMakeLists.txt b/examples/standalone/joystick/CMakeLists.txt index d46d2c3f42..046efff5f5 100644 --- a/examples/standalone/joystick/CMakeLists.txt +++ b/examples/standalone/joystick/CMakeLists.txt @@ -6,12 +6,11 @@ project(gz-sim-joystick) if(${CMAKE_SYSTEM_NAME} STREQUAL "Linux") find_package(gz-transport QUIET REQUIRED OPTIONAL_COMPONENTS log) - find_package(sdformat15 REQUIRED) - set(SDF_VER ${sdformat15_VERSION_MAJOR}) + find_package(sdformat REQUIRED) add_executable(joystick joystick.cc) target_link_libraries(joystick gz-transport::core - sdformat${SDF_VER}::sdformat${SDF_VER} + sdformat::sdformat ) endif() diff --git a/examples/standalone/keyboard/CMakeLists.txt b/examples/standalone/keyboard/CMakeLists.txt index fb80a1d074..3a7805c9e6 100644 --- a/examples/standalone/keyboard/CMakeLists.txt +++ b/examples/standalone/keyboard/CMakeLists.txt @@ -5,21 +5,18 @@ project(gz-sim-keyboard) if(${CMAKE_SYSTEM_NAME} STREQUAL "Linux") find_package(gz-transport QUIET REQUIRED OPTIONAL_COMPONENTS log) - find_package(sdformat15 REQUIRED) - set(SDF_VER ${sdformat15_VERSION_MAJOR}) + find_package(sdformat REQUIRED) - find_package(gz-msgs11 REQUIRED) - set(GZ_MSGS_VER ${gz-msgs11_VERSION_MAJOR}) + find_package(gz-msgs REQUIRED) - find_package(gz-common6 REQUIRED) - set(GZ_COMMON_VER ${gz-common6_VERSION_MAJOR}) + find_package(gz-common REQUIRED) add_executable(keyboard keyboard.cc) target_link_libraries(keyboard gz-transport::core - sdformat${SDF_VER}::sdformat${SDF_VER} - gz-msgs${GZ_MSGS_VER} - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + sdformat::sdformat + gz-msgs + gz-common::gz-common stdc++fs ) endif() diff --git a/examples/standalone/lrauv_control/lrauv_control.py b/examples/standalone/lrauv_control/lrauv_control.py index 8ee5f297e2..f108e21fd5 100644 --- a/examples/standalone/lrauv_control/lrauv_control.py +++ b/examples/standalone/lrauv_control/lrauv_control.py @@ -26,9 +26,9 @@ # $ python3 lrauv_control.py 0.5 0.78 0.174 # -from gz.msgs11.double_pb2 import Double -from gz.msgs11.odometry_pb2 import Odometry -from gz.math8 import Quaterniond, Vector3d +from gz.msgs.double_pb2 import Double +from gz.msgs.odometry_pb2 import Odometry +from gz.math import Quaterniond, Vector3d from gz.transport import Node from threading import Lock diff --git a/examples/standalone/marker/CMakeLists.txt b/examples/standalone/marker/CMakeLists.txt index 88db592107..3bcacecd1c 100644 --- a/examples/standalone/marker/CMakeLists.txt +++ b/examples/standalone/marker/CMakeLists.txt @@ -5,16 +5,14 @@ project(gz-sim-marker) if(${CMAKE_SYSTEM_NAME} STREQUAL "Linux") find_package(gz-transport QUIET REQUIRED) - find_package(gz-common6 REQUIRED) - set(GZ_COMMON_VER ${gz-common6_VERSION_MAJOR}) + find_package(gz-common REQUIRED) - find_package(gz-msgs11 REQUIRED) - set(GZ_MSGS_VER ${gz-msgs11_VERSION_MAJOR}) + find_package(gz-msgs REQUIRED) add_executable(marker marker.cc) target_link_libraries(marker gz-transport::core - gz-msgs${GZ_MSGS_VER} - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-msgs + gz-common::gz-common ) endif() diff --git a/examples/standalone/multi_lrauv_race/multi_lrauv_race.py b/examples/standalone/multi_lrauv_race/multi_lrauv_race.py index fe559a950e..e3dabe17c4 100644 --- a/examples/standalone/multi_lrauv_race/multi_lrauv_race.py +++ b/examples/standalone/multi_lrauv_race/multi_lrauv_race.py @@ -26,7 +26,7 @@ # before for other python examples. You can use then following: # $ export PYTHONPATH=$PYTHONPATH:/install/lib/python -from gz.msgs11.double_pb2 import Double +from gz.msgs.double_pb2 import Double from gz.transport import Node import random diff --git a/package.xml b/package.xml index 2e0c086961..9cf4610241 100644 --- a/package.xml +++ b/package.xml @@ -12,19 +12,19 @@ benchmark glut - gz-cmake4 - gz-common6 - gz-fuel_tools10 + gz-cmake + gz-common + gz-fuel_tools gz-gui - gz-math8 - gz-msgs11 - gz-physics8 - gz-plugin3 - gz-rendering9 + gz-math + gz-msgs + gz-physics + gz-plugin + gz-rendering gz-sensors gz-tools2 gz-transport - gz-utils3 + gz-utils libfreeimage-dev libglew-dev libxi-dev @@ -41,7 +41,7 @@ qml-module-qtquick2 qtbase5-dev qtdeclarative5-dev - sdformat15 + sdformat tinyxml2 uuid diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt index 1f7c9e3fe9..6200b1843a 100644 --- a/python/CMakeLists.txt +++ b/python/CMakeLists.txt @@ -46,7 +46,7 @@ pybind11_add_module(${BINDINGS_MODULE_NAME} MODULE target_link_libraries(${BINDINGS_MODULE_NAME} PRIVATE ${PROJECT_LIBRARY_TARGET_NAME} - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common ) set_target_properties(${BINDINGS_MODULE_NAME} PROPERTIES CXX_VISIBILITY_PRESET "hidden") @@ -56,7 +56,7 @@ target_compile_definitions(${BINDINGS_MODULE_NAME} PRIVATE # TODO(ahcorde): Move this module to gz-common -set(GZ_COMMON_BINDINGS_MODULE_NAME "common${GZ_COMMON_VER}") +set(GZ_COMMON_BINDINGS_MODULE_NAME "common") pybind11_add_module(${GZ_COMMON_BINDINGS_MODULE_NAME} MODULE src/gz/common/_gz_common_pybind11.cc src/gz/common/Console.cc @@ -66,7 +66,7 @@ target_compile_definitions(${GZ_COMMON_BINDINGS_MODULE_NAME} PRIVATE BINDINGS_MODULE_NAME=${GZ_COMMON_BINDINGS_MODULE_NAME}) target_link_libraries(${GZ_COMMON_BINDINGS_MODULE_NAME} PRIVATE - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common ) configure_build_install_location(${BINDINGS_MODULE_NAME}) diff --git a/python/test/gz_test_deps/common.py b/python/test/gz_test_deps/common.py index 60f802749d..af7d092d72 100644 --- a/python/test/gz_test_deps/common.py +++ b/python/test/gz_test_deps/common.py @@ -1 +1 @@ -from gz.common6 import * +from gz.common import * diff --git a/python/test/gz_test_deps/math.py b/python/test/gz_test_deps/math.py index d84d0a4777..bf3cd7884a 100644 --- a/python/test/gz_test_deps/math.py +++ b/python/test/gz_test_deps/math.py @@ -1 +1 @@ -from gz.math8 import * +from gz.math import * diff --git a/python/test/gz_test_deps/msgs.py b/python/test/gz_test_deps/msgs.py index c28bb81ef3..0e4654f7c5 100644 --- a/python/test/gz_test_deps/msgs.py +++ b/python/test/gz_test_deps/msgs.py @@ -1,3 +1,3 @@ import sys -import gz.msgs11 -sys.modules["gz_test_deps.msgs"] = gz.msgs11 +import gz.msgs +sys.modules["gz_test_deps.msgs"] = gz.msgs12 diff --git a/python/test/gz_test_deps/sdformat.py b/python/test/gz_test_deps/sdformat.py index 5d34df703e..acdbbe5ac9 100644 --- a/python/test/gz_test_deps/sdformat.py +++ b/python/test/gz_test_deps/sdformat.py @@ -1 +1 @@ -from sdformat15 import * +from sdformat import * diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt index e115731e22..54345d0b5d 100644 --- a/src/CMakeLists.txt +++ b/src/CMakeLists.txt @@ -12,15 +12,15 @@ file(GLOB gz_msgs_proto_files ) get_target_property(msgs_desc_file - gz-msgs${GZ_MSGS_VER}::gz-msgs${GZ_MSGS_VER} GZ_MSGS_DESC_FILE) + gz-msgs::gz-msgs GZ_MSGS_DESC_FILE) gz_msgs_generate_messages_impl( MSGS_GEN_SCRIPT - ${gz-msgs11_PROTO_GENERATOR_SCRIPT} + ${gz-msgs_PROTO_GENERATOR_SCRIPT} FACTORY_GEN_SCRIPT - ${gz-msgs11_FACTORY_GENERATOR_SCRIPT} + ${gz-msgs_FACTORY_GENERATOR_SCRIPT} GZ_PROTOC_PLUGIN - ${gz-msgs11_PROTO_GENERATOR_PLUGIN} + ${gz-msgs_PROTO_GENERATOR_PLUGIN} INPUT_PROTOS ${gz_msgs_proto_files} PROTO_PACKAGE @@ -185,20 +185,20 @@ install(FILES "rendering/MaterialParser/gazebo.material" DESTINATION ${GZ_DATA_I target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME} PUBLIC - gz-math${GZ_MATH_VER} - gz-plugin${GZ_PLUGIN_VER}::core - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} - gz-common${GZ_COMMON_VER}::graphics - gz-common${GZ_COMMON_VER}::profiler - gz-fuel_tools${GZ_FUEL_TOOLS_VER}::gz-fuel_tools${GZ_FUEL_TOOLS_VER} - gz-physics${GZ_PHYSICS_VER}::core - gz-rendering${GZ_RENDERING_VER}::core + gz-math + gz-plugin::core + gz-common::gz-common + gz-common::graphics + gz-common::profiler + gz-fuel_tools::gz-fuel_tools + gz-physics::core + gz-rendering::core gz-transport::gz-transport gz-transport::parameters - sdformat${SDF_VER}::sdformat${SDF_VER} + sdformat::sdformat protobuf::libprotobuf PRIVATE - gz-plugin${GZ_PLUGIN_VER}::loader + gz-plugin::loader ) if(ENABLE_GUI) @@ -241,7 +241,7 @@ gz_build_tests(TYPE UNIT # Some server unit tests require rendering. if (TARGET UNIT_Server_Rendering_TEST) target_link_libraries(UNIT_Server_Rendering_TEST - gz-rendering${GZ_RENDERING_VER}::gz-rendering${GZ_RENDERING_VER} + gz-rendering::gz-rendering ) endif() diff --git a/src/cmd/CMakeLists.txt b/src/cmd/CMakeLists.txt index 6198827dd5..cb2d37bb8c 100644 --- a/src/cmd/CMakeLists.txt +++ b/src/cmd/CMakeLists.txt @@ -2,7 +2,7 @@ set(model_executable gz-sim-model) add_executable(${model_executable} model_main.cc ModelCommandAPI.cc) target_link_libraries(${model_executable} - gz-utils${GZ_UTILS_VER}::cli + gz-utils::cli ${PROJECT_LIBRARY_TARGET_NAME} ) @@ -15,8 +15,8 @@ install( add_library(gz STATIC gz.cc) target_link_libraries(gz ${PROJECT_LIBRARY_TARGET_NAME} - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} - gz-utils${GZ_UTILS_VER}::cli + gz-common::gz-common + gz-utils::cli gz-sim ) @@ -69,7 +69,7 @@ if(BUILD_TESTING AND GZ_TOOLS_PROGRAM) SOURCES ${test_sources} LIB_DEPS - gz-utils${GZ_UTILS_VER}::gz-utils${GZ_UTILS_VER} + gz-utils::gz-utils ${PROJECT_LIBRARY_TARGET_NAME} ENVIRONMENT GZ_SIM_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} diff --git a/src/gui/CMakeLists.txt b/src/gui/CMakeLists.txt index b8c9157948..762d01b60a 100644 --- a/src/gui/CMakeLists.txt +++ b/src/gui/CMakeLists.txt @@ -47,10 +47,10 @@ gz_add_component(gui target_link_libraries(${gui_target} PUBLIC ${PROJECT_LIBRARY_TARGET_NAME} - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common gz-gui::gz-gui gz-transport::gz-transport - gz-utils${GZ_UTILS_VER}::gz-utils${GZ_UTILS_VER} + gz-utils::gz-utils Qt::Core Qt::Qml Qt::Quick @@ -76,7 +76,7 @@ gz_build_tests(TYPE UNIT ${gui_target} ${EXTRA_TEST_LIB_DEPS} gz-sim - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common gz-transport::gz-transport ENVIRONMENT GZ_SIM_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} diff --git a/src/gui/plugins/CMakeLists.txt b/src/gui/plugins/CMakeLists.txt index c4f48cd5ce..27603e74e2 100644 --- a/src/gui/plugins/CMakeLists.txt +++ b/src/gui/plugins/CMakeLists.txt @@ -99,7 +99,7 @@ function(gz_add_gui_plugin plugin_name) SOURCES ${gz_add_gui_plugin_SOURCES} QT_HEADERS ${gz_add_gui_plugin_QT_HEADERS} PUBLIC_LINK_LIBS ${gz_add_gui_plugin_PUBLIC_LINK_LIBS} - PRIVATE_LINK_LIBS ${gz_add_gui_plugin_PRIVATE_LINK_LIBS} gz-plugin${GZ_PLUGIN_VER}::register + PRIVATE_LINK_LIBS ${gz_add_gui_plugin_PRIVATE_LINK_LIBS} gz-plugin::register ) if(gz_add_gui_plugin_TEST_SOURCES) diff --git a/src/gui/plugins/align_tool/CMakeLists.txt b/src/gui/plugins/align_tool/CMakeLists.txt index 33bce74483..8bbba82459 100644 --- a/src/gui/plugins/align_tool/CMakeLists.txt +++ b/src/gui/plugins/align_tool/CMakeLists.txt @@ -2,5 +2,5 @@ gz_add_gui_plugin(AlignTool SOURCES AlignTool.cc QT_HEADERS AlignTool.hh PUBLIC_LINK_LIBS - gz-rendering${GZ_RENDERING_VER}::core + gz-rendering::core ) diff --git a/src/gui/plugins/banana_for_scale/CMakeLists.txt b/src/gui/plugins/banana_for_scale/CMakeLists.txt index 5455155a38..9f4810495f 100644 --- a/src/gui/plugins/banana_for_scale/CMakeLists.txt +++ b/src/gui/plugins/banana_for_scale/CMakeLists.txt @@ -2,5 +2,5 @@ gz_add_gui_plugin(BananaForScale SOURCES BananaForScale.cc QT_HEADERS BananaForScale.hh PRIVATE_LINK_LIBS - gz-utils${GZ_UTILS_VER}::gz-utils${GZ_UTILS_VER} + gz-utils::gz-utils ) diff --git a/src/gui/plugins/component_inspector_editor/CMakeLists.txt b/src/gui/plugins/component_inspector_editor/CMakeLists.txt index b0fe7c2e6c..291509f9c1 100644 --- a/src/gui/plugins/component_inspector_editor/CMakeLists.txt +++ b/src/gui/plugins/component_inspector_editor/CMakeLists.txt @@ -21,5 +21,5 @@ gz_add_gui_plugin(ComponentInspectorEditor ModelEditor.hh Pose3d.hh PRIVATE_LINK_LIBS - gz-common${GZ_COMMON_VER}::graphics + gz-common::graphics ) diff --git a/src/gui/plugins/entity_tree/CMakeLists.txt b/src/gui/plugins/entity_tree/CMakeLists.txt index bd7788cd65..30ae4b713b 100644 --- a/src/gui/plugins/entity_tree/CMakeLists.txt +++ b/src/gui/plugins/entity_tree/CMakeLists.txt @@ -2,5 +2,5 @@ gz_add_gui_plugin(EntityTree SOURCES EntityTree.cc QT_HEADERS EntityTree.hh PRIVATE_LINK_LIBS - gz-common${GZ_COMMON_VER}::graphics + gz-common::graphics ) diff --git a/src/gui/plugins/environment_loader/CMakeLists.txt b/src/gui/plugins/environment_loader/CMakeLists.txt index dbd24887ce..1f624ba7da 100644 --- a/src/gui/plugins/environment_loader/CMakeLists.txt +++ b/src/gui/plugins/environment_loader/CMakeLists.txt @@ -2,7 +2,7 @@ gz_add_gui_plugin(EnvironmentLoader SOURCES EnvironmentLoader.cc QT_HEADERS EnvironmentLoader.hh PRIVATE_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} - gz-common${GZ_COMMON_VER}::io - gz-math${GZ_MATH_VER}::gz-math${GZ_MATH_VER} + gz-common::gz-common + gz-common::io + gz-math::gz-math ) diff --git a/src/gui/plugins/environment_visualization/CMakeLists.txt b/src/gui/plugins/environment_visualization/CMakeLists.txt index 893365700d..64e7810135 100644 --- a/src/gui/plugins/environment_visualization/CMakeLists.txt +++ b/src/gui/plugins/environment_visualization/CMakeLists.txt @@ -2,7 +2,7 @@ gz_add_gui_plugin(EnvironmentVisualization SOURCES EnvironmentVisualization.cc QT_HEADERS EnvironmentVisualization.hh PRIVATE_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} - gz-common${GZ_COMMON_VER}::io - gz-math${GZ_MATH_VER}::gz-math${GZ_MATH_VER} + gz-common::gz-common + gz-common::io + gz-math::gz-math ) diff --git a/src/gui/plugins/resource_spawner/CMakeLists.txt b/src/gui/plugins/resource_spawner/CMakeLists.txt index 20020ea078..6102b6fbaf 100644 --- a/src/gui/plugins/resource_spawner/CMakeLists.txt +++ b/src/gui/plugins/resource_spawner/CMakeLists.txt @@ -2,5 +2,5 @@ gz_add_gui_plugin(ResourceSpawner SOURCES ResourceSpawner.cc QT_HEADERS ResourceSpawner.hh PRIVATE_LINK_LIBS - gz-utils${GZ_UTILS_VER}::gz-utils${GZ_UTILS_VER} + gz-utils::gz-utils ) diff --git a/src/gui/plugins/scene_manager/CMakeLists.txt b/src/gui/plugins/scene_manager/CMakeLists.txt index 4e03954cf0..e3c09450b2 100644 --- a/src/gui/plugins/scene_manager/CMakeLists.txt +++ b/src/gui/plugins/scene_manager/CMakeLists.txt @@ -3,5 +3,5 @@ gz_add_gui_plugin(GzSceneManager QT_HEADERS GzSceneManager.hh PRIVATE_LINK_LIBS ${PROJECT_LIBRARY_TARGET_NAME}-rendering - gz-utils${GZ_UTILS_VER}::gz-utils${GZ_UTILS_VER} + gz-utils::gz-utils ) diff --git a/src/gui/plugins/select_entities/CMakeLists.txt b/src/gui/plugins/select_entities/CMakeLists.txt index 936331eb2d..2e1c8276be 100644 --- a/src/gui/plugins/select_entities/CMakeLists.txt +++ b/src/gui/plugins/select_entities/CMakeLists.txt @@ -6,6 +6,6 @@ gz_add_gui_plugin(SelectEntities TEST_SOURCES # CameraControllerManager_TEST.cc PUBLIC_LINK_LIBS - gz-rendering${GZ_RENDERING_VER}::gz-rendering${GZ_RENDERING_VER} + gz-rendering::gz-rendering ${PROJECT_LIBRARY_TARGET_NAME}-rendering ) diff --git a/src/gui/plugins/shapes/CMakeLists.txt b/src/gui/plugins/shapes/CMakeLists.txt index 2be735d3c5..389ef84405 100644 --- a/src/gui/plugins/shapes/CMakeLists.txt +++ b/src/gui/plugins/shapes/CMakeLists.txt @@ -2,5 +2,5 @@ gz_add_gui_plugin(Shapes SOURCES Shapes.cc QT_HEADERS Shapes.hh PRIVATE_LINK_LIBS - gz-utils${GZ_UTILS_VER}::gz-utils${GZ_UTILS_VER} + gz-utils::gz-utils ) diff --git a/src/gui/plugins/transform_control/CMakeLists.txt b/src/gui/plugins/transform_control/CMakeLists.txt index 69a578fb60..1002d33ac0 100644 --- a/src/gui/plugins/transform_control/CMakeLists.txt +++ b/src/gui/plugins/transform_control/CMakeLists.txt @@ -2,6 +2,6 @@ gz_add_gui_plugin(TransformControl SOURCES TransformControl.cc QT_HEADERS TransformControl.hh PRIVATE_LINK_LIBS - gz-rendering${GZ_RENDERING_VER}::gz-rendering${GZ_RENDERING_VER} - gz-utils${GZ_UTILS_VER}::gz-utils${GZ_UTILS_VER} + gz-rendering::gz-rendering + gz-utils::gz-utils ) diff --git a/src/gui/plugins/video_recorder/CMakeLists.txt b/src/gui/plugins/video_recorder/CMakeLists.txt index b8a01e0ea6..4e675a9b47 100644 --- a/src/gui/plugins/video_recorder/CMakeLists.txt +++ b/src/gui/plugins/video_recorder/CMakeLists.txt @@ -4,5 +4,5 @@ gz_add_gui_plugin(VideoRecorder QT_HEADERS VideoRecorder.hh PUBLIC_LINK_LIBS - gz-rendering${GZ_RENDERING_VER}::gz-rendering${GZ_RENDERING_VER} + gz-rendering::gz-rendering ) diff --git a/src/gui/plugins/visualize_contacts/CMakeLists.txt b/src/gui/plugins/visualize_contacts/CMakeLists.txt index d31ba45311..e8f646c2f5 100644 --- a/src/gui/plugins/visualize_contacts/CMakeLists.txt +++ b/src/gui/plugins/visualize_contacts/CMakeLists.txt @@ -4,5 +4,5 @@ gz_add_gui_plugin(VisualizeContacts QT_HEADERS VisualizeContacts.hh PUBLIC_LINK_LIBS - gz-rendering${GZ_RENDERING_VER}::core + gz-rendering::core ) diff --git a/src/gui/plugins/visualize_frustum/CMakeLists.txt b/src/gui/plugins/visualize_frustum/CMakeLists.txt index d2cf3a4b9a..67c0800efe 100644 --- a/src/gui/plugins/visualize_frustum/CMakeLists.txt +++ b/src/gui/plugins/visualize_frustum/CMakeLists.txt @@ -2,5 +2,5 @@ gz_add_gui_plugin(VisualizeFrustum SOURCES VisualizeFrustum.cc QT_HEADERS VisualizeFrustum.hh PRIVATE_LINK_LIBS - gz-rendering${GZ_RENDERING_VER}::core + gz-rendering::core ) diff --git a/src/gui/plugins/visualize_lidar/CMakeLists.txt b/src/gui/plugins/visualize_lidar/CMakeLists.txt index d3ae2bcb95..6b600b0169 100644 --- a/src/gui/plugins/visualize_lidar/CMakeLists.txt +++ b/src/gui/plugins/visualize_lidar/CMakeLists.txt @@ -2,5 +2,5 @@ gz_add_gui_plugin(VisualizeLidar SOURCES VisualizeLidar.cc QT_HEADERS VisualizeLidar.hh PRIVATE_LINK_LIBS - gz-rendering${GZ_RENDERING_VER}::core + gz-rendering::core ) diff --git a/src/rendering/CMakeLists.txt b/src/rendering/CMakeLists.txt index 2b551f9da2..8a6df65b43 100644 --- a/src/rendering/CMakeLists.txt +++ b/src/rendering/CMakeLists.txt @@ -21,9 +21,9 @@ gz_add_component(rendering target_link_libraries(${rendering_target} PUBLIC - gz-rendering${GZ_RENDERING_VER}::gz-rendering${GZ_RENDERING_VER} + gz-rendering::gz-rendering PRIVATE - gz-plugin${GZ_PLUGIN_VER}::register + gz-plugin::register ) install(TARGETS ${rendering_target} DESTINATION ${GZ_LIB_INSTALL_DIR}) diff --git a/src/systems/CMakeLists.txt b/src/systems/CMakeLists.txt index e5b6a4aedf..1914a53f1c 100644 --- a/src/systems/CMakeLists.txt +++ b/src/systems/CMakeLists.txt @@ -54,7 +54,7 @@ function(gz_add_system system_name) ${PROJECT_LIBRARY_TARGET_NAME} PRIVATE ${gz_add_system_PRIVATE_LINK_LIBS} - gz-plugin${GZ_PLUGIN_VER}::register + gz-plugin::register ) if(gz_add_system_PRIVATE_INCLUDE_DIRS) diff --git a/src/systems/ackermann_steering/CMakeLists.txt b/src/systems/ackermann_steering/CMakeLists.txt index 69a71298f2..d44d1cbe96 100644 --- a/src/systems/ackermann_steering/CMakeLists.txt +++ b/src/systems/ackermann_steering/CMakeLists.txt @@ -2,5 +2,5 @@ gz_add_system(ackermann-steering SOURCES AckermannSteering.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common ) diff --git a/src/systems/acoustic_comms/CMakeLists.txt b/src/systems/acoustic_comms/CMakeLists.txt index 537f4e2551..9514d96c60 100644 --- a/src/systems/acoustic_comms/CMakeLists.txt +++ b/src/systems/acoustic_comms/CMakeLists.txt @@ -2,5 +2,5 @@ gz_add_system(acoustic-comms SOURCES AcousticComms.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common ) diff --git a/src/systems/air_pressure/CMakeLists.txt b/src/systems/air_pressure/CMakeLists.txt index 8888378a51..0a04fb2937 100644 --- a/src/systems/air_pressure/CMakeLists.txt +++ b/src/systems/air_pressure/CMakeLists.txt @@ -2,7 +2,7 @@ gz_add_system(air-pressure SOURCES AirPressure.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common PRIVATE_LINK_LIBS gz-sensors::air_pressure ) diff --git a/src/systems/air_speed/CMakeLists.txt b/src/systems/air_speed/CMakeLists.txt index fab62f2d4c..d24b585156 100644 --- a/src/systems/air_speed/CMakeLists.txt +++ b/src/systems/air_speed/CMakeLists.txt @@ -2,7 +2,7 @@ gz_add_system(air-speed SOURCES AirSpeed.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common PRIVATE_LINK_LIBS gz-sensors::air_speed ) diff --git a/src/systems/altimeter/CMakeLists.txt b/src/systems/altimeter/CMakeLists.txt index 4448af620d..1fd62d8ad3 100644 --- a/src/systems/altimeter/CMakeLists.txt +++ b/src/systems/altimeter/CMakeLists.txt @@ -2,7 +2,7 @@ gz_add_system(altimeter SOURCES Altimeter.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common PRIVATE_LINK_LIBS gz-sensors::altimeter ) diff --git a/src/systems/apply_joint_force/CMakeLists.txt b/src/systems/apply_joint_force/CMakeLists.txt index b6dc8fc16a..4b4c2baa0b 100644 --- a/src/systems/apply_joint_force/CMakeLists.txt +++ b/src/systems/apply_joint_force/CMakeLists.txt @@ -2,6 +2,6 @@ gz_add_system(apply-joint-force SOURCES ApplyJointForce.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common gz-transport::gz-transport ) diff --git a/src/systems/battery_plugin/CMakeLists.txt b/src/systems/battery_plugin/CMakeLists.txt index 0bbb7c79ad..02e402af9c 100644 --- a/src/systems/battery_plugin/CMakeLists.txt +++ b/src/systems/battery_plugin/CMakeLists.txt @@ -2,5 +2,5 @@ gz_add_system(linearbatteryplugin SOURCES LinearBatteryPlugin.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common ) diff --git a/src/systems/breadcrumbs/CMakeLists.txt b/src/systems/breadcrumbs/CMakeLists.txt index 397626147b..5d7155a747 100644 --- a/src/systems/breadcrumbs/CMakeLists.txt +++ b/src/systems/breadcrumbs/CMakeLists.txt @@ -2,6 +2,6 @@ gz_add_system(breadcrumbs SOURCES Breadcrumbs.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common gz-transport::gz-transport ) diff --git a/src/systems/buoyancy/CMakeLists.txt b/src/systems/buoyancy/CMakeLists.txt index 6cb712afc3..287bfb7a0e 100644 --- a/src/systems/buoyancy/CMakeLists.txt +++ b/src/systems/buoyancy/CMakeLists.txt @@ -2,6 +2,6 @@ gz_add_system(buoyancy SOURCES Buoyancy.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::graphics - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::graphics + gz-common::gz-common ) diff --git a/src/systems/buoyancy_engine/CMakeLists.txt b/src/systems/buoyancy_engine/CMakeLists.txt index 4f43613aca..f646397685 100644 --- a/src/systems/buoyancy_engine/CMakeLists.txt +++ b/src/systems/buoyancy_engine/CMakeLists.txt @@ -2,6 +2,6 @@ gz_add_system(buoyancy-engine SOURCES BuoyancyEngine.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common gz-transport::gz-transport ) diff --git a/src/systems/camera_video_recorder/CMakeLists.txt b/src/systems/camera_video_recorder/CMakeLists.txt index 7eaaf91e03..b5a3f9977c 100644 --- a/src/systems/camera_video_recorder/CMakeLists.txt +++ b/src/systems/camera_video_recorder/CMakeLists.txt @@ -2,7 +2,7 @@ gz_add_system(camera-video-recorder SOURCES CameraVideoRecorder.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} - gz-rendering${GZ_RENDERING_VER}::gz-rendering${GZ_RENDERING_VER} + gz-common::gz-common + gz-rendering::gz-rendering gz-sim-rendering ) diff --git a/src/systems/collada_world_exporter/CMakeLists.txt b/src/systems/collada_world_exporter/CMakeLists.txt index e181bf2972..230eca60d3 100644 --- a/src/systems/collada_world_exporter/CMakeLists.txt +++ b/src/systems/collada_world_exporter/CMakeLists.txt @@ -2,5 +2,5 @@ gz_add_system(collada-world-exporter SOURCES ColladaWorldExporter.cc PRIVATE_LINK_LIBS - gz-common${GZ_COMMON_VER}::graphics + gz-common::graphics ) diff --git a/src/systems/comms_endpoint/CMakeLists.txt b/src/systems/comms_endpoint/CMakeLists.txt index dac94e4b14..2016d30f5b 100644 --- a/src/systems/comms_endpoint/CMakeLists.txt +++ b/src/systems/comms_endpoint/CMakeLists.txt @@ -2,5 +2,5 @@ gz_add_system(comms-endpoint SOURCES CommsEndpoint.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common ) diff --git a/src/systems/contact/CMakeLists.txt b/src/systems/contact/CMakeLists.txt index 60db388ce7..e9f00d02b1 100644 --- a/src/systems/contact/CMakeLists.txt +++ b/src/systems/contact/CMakeLists.txt @@ -2,5 +2,5 @@ gz_add_system(contact SOURCES Contact.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common ) diff --git a/src/systems/detachable_joint/CMakeLists.txt b/src/systems/detachable_joint/CMakeLists.txt index 8a7ebac9c6..8de5820994 100644 --- a/src/systems/detachable_joint/CMakeLists.txt +++ b/src/systems/detachable_joint/CMakeLists.txt @@ -2,5 +2,5 @@ gz_add_system(detachable-joint SOURCES DetachableJoint.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common ) diff --git a/src/systems/diff_drive/CMakeLists.txt b/src/systems/diff_drive/CMakeLists.txt index 24d76c8811..664c84a655 100644 --- a/src/systems/diff_drive/CMakeLists.txt +++ b/src/systems/diff_drive/CMakeLists.txt @@ -2,5 +2,5 @@ gz_add_system(diff-drive SOURCES DiffDrive.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common ) diff --git a/src/systems/drive_to_pose_controller/CMakeLists.txt b/src/systems/drive_to_pose_controller/CMakeLists.txt index 8840e3102d..2db02be2e4 100644 --- a/src/systems/drive_to_pose_controller/CMakeLists.txt +++ b/src/systems/drive_to_pose_controller/CMakeLists.txt @@ -2,5 +2,5 @@ gz_add_system(drive-to-pose-controller SOURCES DriveToPoseController.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common ) diff --git a/src/systems/dvl/CMakeLists.txt b/src/systems/dvl/CMakeLists.txt index 7e232b6542..a0eafb4c5f 100644 --- a/src/systems/dvl/CMakeLists.txt +++ b/src/systems/dvl/CMakeLists.txt @@ -2,8 +2,8 @@ gz_add_system(dvl SOURCES DopplerVelocityLogSystem.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} - gz-rendering${GZ_RENDERING_VER}::gz-rendering${GZ_RENDERING_VER} + gz-common::gz-common + gz-rendering::gz-rendering PRIVATE_LINK_LIBS gz-sensors::dvl gz-sensors::rendering diff --git a/src/systems/elevator/CMakeLists.txt b/src/systems/elevator/CMakeLists.txt index 3683b26f68..8b8f4bf79c 100644 --- a/src/systems/elevator/CMakeLists.txt +++ b/src/systems/elevator/CMakeLists.txt @@ -4,7 +4,7 @@ gz_add_system(elevator utils/DoorTimer.cc utils/JointMonitor.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common gz-transport::gz-transport PRIVATE_INCLUDE_DIRS vender/afsm/include diff --git a/src/systems/environment_preload/CMakeLists.txt b/src/systems/environment_preload/CMakeLists.txt index ed6a4b8efe..8aff785e89 100644 --- a/src/systems/environment_preload/CMakeLists.txt +++ b/src/systems/environment_preload/CMakeLists.txt @@ -3,7 +3,7 @@ gz_add_system(environment-preload EnvironmentPreload.cc VisualizationTool.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} - gz-common${GZ_COMMON_VER}::io - gz-math${GZ_MATH_VER}::gz-math${GZ_MATH_VER} + gz-common::gz-common + gz-common::io + gz-math::gz-math ) diff --git a/src/systems/environmental_sensor_system/CMakeLists.txt b/src/systems/environmental_sensor_system/CMakeLists.txt index 6d30757fca..291d67b866 100644 --- a/src/systems/environmental_sensor_system/CMakeLists.txt +++ b/src/systems/environmental_sensor_system/CMakeLists.txt @@ -3,15 +3,15 @@ gz_add_system(environmental-sensor EnvironmentalSensorSystem.cc PUBLIC_LINK_LIBS gz-sensors::gz-sensors - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} - gz-math${GZ_MATH_VER}::eigen3 + gz-common::gz-common + gz-math::eigen3 ) gz_build_tests(TYPE UNIT SOURCES TransformTypes_TEST.cc LIB_DEPS - gz-math${GZ_MATH_VER}::gz-math${GZ_MATH_VER} + gz-math::gz-math ENVIRONMENT GZ_SIM_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} ) diff --git a/src/systems/force_torque/CMakeLists.txt b/src/systems/force_torque/CMakeLists.txt index 185c935843..2bb5a3125d 100644 --- a/src/systems/force_torque/CMakeLists.txt +++ b/src/systems/force_torque/CMakeLists.txt @@ -2,7 +2,7 @@ gz_add_system(forcetorque SOURCES ForceTorque.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common PRIVATE_LINK_LIBS gz-sensors::force_torque ) diff --git a/src/systems/hydrodynamics/CMakeLists.txt b/src/systems/hydrodynamics/CMakeLists.txt index 9bed916bde..2c61c492fe 100644 --- a/src/systems/hydrodynamics/CMakeLists.txt +++ b/src/systems/hydrodynamics/CMakeLists.txt @@ -2,6 +2,6 @@ gz_add_system(hydrodynamics SOURCES Hydrodynamics.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} - gz-math${GZ_MATH_VER}::eigen3 + gz-common::gz-common + gz-math::eigen3 ) diff --git a/src/systems/imu/CMakeLists.txt b/src/systems/imu/CMakeLists.txt index e4b80015b9..b49ca7f185 100644 --- a/src/systems/imu/CMakeLists.txt +++ b/src/systems/imu/CMakeLists.txt @@ -2,7 +2,7 @@ gz_add_system(imu SOURCES Imu.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common PRIVATE_LINK_LIBS gz-sensors::imu ) diff --git a/src/systems/joint_controller/CMakeLists.txt b/src/systems/joint_controller/CMakeLists.txt index ce0e8f947e..394b891307 100644 --- a/src/systems/joint_controller/CMakeLists.txt +++ b/src/systems/joint_controller/CMakeLists.txt @@ -2,6 +2,6 @@ gz_add_system(joint-controller SOURCES JointController.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common gz-transport::gz-transport ) diff --git a/src/systems/joint_position_controller/CMakeLists.txt b/src/systems/joint_position_controller/CMakeLists.txt index f3d13f3b6f..55461e0c7c 100644 --- a/src/systems/joint_position_controller/CMakeLists.txt +++ b/src/systems/joint_position_controller/CMakeLists.txt @@ -2,6 +2,6 @@ gz_add_system(joint-position-controller SOURCES JointPositionController.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common gz-transport::gz-transport ) diff --git a/src/systems/joint_state_publisher/CMakeLists.txt b/src/systems/joint_state_publisher/CMakeLists.txt index 695c5bc92a..a6b2b1272c 100644 --- a/src/systems/joint_state_publisher/CMakeLists.txt +++ b/src/systems/joint_state_publisher/CMakeLists.txt @@ -2,6 +2,6 @@ gz_add_system(joint-state-publisher SOURCES JointStatePublisher.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common gz-transport::gz-transport ) diff --git a/src/systems/joint_traj_control/CMakeLists.txt b/src/systems/joint_traj_control/CMakeLists.txt index 78cfeeb7f6..4c5cfd3273 100644 --- a/src/systems/joint_traj_control/CMakeLists.txt +++ b/src/systems/joint_traj_control/CMakeLists.txt @@ -2,6 +2,6 @@ gz_add_system(joint-trajectory-controller SOURCES JointTrajectoryController.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common gz-transport::gz-transport ) diff --git a/src/systems/lens_flare/CMakeLists.txt b/src/systems/lens_flare/CMakeLists.txt index 7e3f6b71be..4c4555fd90 100644 --- a/src/systems/lens_flare/CMakeLists.txt +++ b/src/systems/lens_flare/CMakeLists.txt @@ -2,7 +2,7 @@ gz_add_system(lens-flare SOURCES LensFlare.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} - gz-rendering${GZ_RENDERING_VER}::gz-rendering${GZ_RENDERING_VER} + gz-common::gz-common + gz-rendering::gz-rendering gz-sim-rendering ) diff --git a/src/systems/lighter_than_air_dynamics/CMakeLists.txt b/src/systems/lighter_than_air_dynamics/CMakeLists.txt index 71e42f7f36..211212a6c2 100644 --- a/src/systems/lighter_than_air_dynamics/CMakeLists.txt +++ b/src/systems/lighter_than_air_dynamics/CMakeLists.txt @@ -2,6 +2,6 @@ gz_add_system(lighter_than_air_dynamics SOURCES LighterThanAirDynamics.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} - gz-math${GZ_MATH_VER}::eigen3 + gz-common::gz-common + gz-math::eigen3 ) diff --git a/src/systems/log_video_recorder/CMakeLists.txt b/src/systems/log_video_recorder/CMakeLists.txt index ff89182b74..fbe47142d0 100644 --- a/src/systems/log_video_recorder/CMakeLists.txt +++ b/src/systems/log_video_recorder/CMakeLists.txt @@ -2,5 +2,5 @@ gz_add_system(log-video-recorder SOURCES LogVideoRecorder.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common ) diff --git a/src/systems/logical_audio_sensor_plugin/CMakeLists.txt b/src/systems/logical_audio_sensor_plugin/CMakeLists.txt index b2488a03ca..349a294984 100644 --- a/src/systems/logical_audio_sensor_plugin/CMakeLists.txt +++ b/src/systems/logical_audio_sensor_plugin/CMakeLists.txt @@ -3,9 +3,9 @@ gz_add_system(logicalaudiosensorplugin LogicalAudioSensorPlugin.cc LogicalAudio.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} - gz-math${GZ_MATH_VER}::gz-math${GZ_MATH_VER} - gz-msgs${GZ_MSGS_VER}::gz-msgs${GZ_MSGS_VER} + gz-common::gz-common + gz-math::gz-math + gz-msgs::gz-msgs gz-transport::gz-transport ) diff --git a/src/systems/logical_camera/CMakeLists.txt b/src/systems/logical_camera/CMakeLists.txt index a2c02d245e..75cbf9fcfd 100644 --- a/src/systems/logical_camera/CMakeLists.txt +++ b/src/systems/logical_camera/CMakeLists.txt @@ -2,7 +2,7 @@ gz_add_system(logical-camera SOURCES LogicalCamera.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common gz-sensors::gz-sensors gz-sensors::logical_camera ) diff --git a/src/systems/magnetometer/CMakeLists.txt b/src/systems/magnetometer/CMakeLists.txt index 3addf9c6c1..bb609782ae 100644 --- a/src/systems/magnetometer/CMakeLists.txt +++ b/src/systems/magnetometer/CMakeLists.txt @@ -2,7 +2,7 @@ gz_add_system(magnetometer SOURCES Magnetometer.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common PRIVATE_LINK_LIBS gz-sensors::magnetometer ) diff --git a/src/systems/mecanum_drive/CMakeLists.txt b/src/systems/mecanum_drive/CMakeLists.txt index 89eb7049cd..5572ac55bb 100644 --- a/src/systems/mecanum_drive/CMakeLists.txt +++ b/src/systems/mecanum_drive/CMakeLists.txt @@ -2,5 +2,5 @@ gz_add_system(mecanum-drive SOURCES MecanumDrive.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common ) diff --git a/src/systems/model_photo_shoot/CMakeLists.txt b/src/systems/model_photo_shoot/CMakeLists.txt index 770be13efa..fa4f5c3197 100644 --- a/src/systems/model_photo_shoot/CMakeLists.txt +++ b/src/systems/model_photo_shoot/CMakeLists.txt @@ -2,7 +2,7 @@ gz_add_system(model-photo-shoot SOURCES ModelPhotoShoot.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} - gz-rendering${GZ_RENDERING_VER}::gz-rendering${GZ_RENDERING_VER} + gz-common::gz-common + gz-rendering::gz-rendering gz-transport::gz-transport ) diff --git a/src/systems/multicopter_control/CMakeLists.txt b/src/systems/multicopter_control/CMakeLists.txt index c8a64761fb..062b84ca22 100644 --- a/src/systems/multicopter_control/CMakeLists.txt +++ b/src/systems/multicopter_control/CMakeLists.txt @@ -4,7 +4,7 @@ gz_add_system(multicopter-control Common.cc LeeVelocityController.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common gz-transport::gz-transport Eigen3::Eigen ) diff --git a/src/systems/multicopter_motor_model/CMakeLists.txt b/src/systems/multicopter_motor_model/CMakeLists.txt index 0ecb1ca2f6..a019a4f713 100644 --- a/src/systems/multicopter_motor_model/CMakeLists.txt +++ b/src/systems/multicopter_motor_model/CMakeLists.txt @@ -2,6 +2,6 @@ gz_add_system(multicopter-motor-model SOURCES MulticopterMotorModel.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common gz-transport::gz-transport ) diff --git a/src/systems/navsat/CMakeLists.txt b/src/systems/navsat/CMakeLists.txt index 8b7d0fbb42..d5999c7ca0 100644 --- a/src/systems/navsat/CMakeLists.txt +++ b/src/systems/navsat/CMakeLists.txt @@ -2,7 +2,7 @@ gz_add_system(navsat SOURCES NavSat.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common PRIVATE_LINK_LIBS gz-sensors::navsat ) diff --git a/src/systems/odometry_publisher/CMakeLists.txt b/src/systems/odometry_publisher/CMakeLists.txt index be8a91c94a..840c281719 100644 --- a/src/systems/odometry_publisher/CMakeLists.txt +++ b/src/systems/odometry_publisher/CMakeLists.txt @@ -2,5 +2,5 @@ gz_add_system(odometry-publisher SOURCES OdometryPublisher.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common ) diff --git a/src/systems/optical_tactile_plugin/CMakeLists.txt b/src/systems/optical_tactile_plugin/CMakeLists.txt index 1d74f0a721..715e0ffe45 100644 --- a/src/systems/optical_tactile_plugin/CMakeLists.txt +++ b/src/systems/optical_tactile_plugin/CMakeLists.txt @@ -3,5 +3,5 @@ gz_add_system(opticaltactileplugin OpticalTactilePlugin.cc Visualization.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common ) diff --git a/src/systems/particle_emitter/CMakeLists.txt b/src/systems/particle_emitter/CMakeLists.txt index 17bc259bd1..de5d92cbbf 100644 --- a/src/systems/particle_emitter/CMakeLists.txt +++ b/src/systems/particle_emitter/CMakeLists.txt @@ -2,8 +2,8 @@ gz_add_system(particle-emitter SOURCES ParticleEmitter.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} - gz-msgs${GZ_MSGS_VER}::gz-msgs${GZ_MSGS_VER} - gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER} + gz-common::gz-common + gz-msgs::gz-msgs + gz-plugin::gz-plugin gz-transport::gz-transport ) diff --git a/src/systems/perfect_comms/CMakeLists.txt b/src/systems/perfect_comms/CMakeLists.txt index f0c50b8ee5..4fb17252fe 100644 --- a/src/systems/perfect_comms/CMakeLists.txt +++ b/src/systems/perfect_comms/CMakeLists.txt @@ -2,5 +2,5 @@ gz_add_system(perfect-comms SOURCES PerfectComms.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common ) diff --git a/src/systems/performer_detector/CMakeLists.txt b/src/systems/performer_detector/CMakeLists.txt index 6f7b315120..8c858b9168 100644 --- a/src/systems/performer_detector/CMakeLists.txt +++ b/src/systems/performer_detector/CMakeLists.txt @@ -2,5 +2,5 @@ gz_add_system(performer-detector SOURCES PerformerDetector.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common ) diff --git a/src/systems/physics/CMakeLists.txt b/src/systems/physics/CMakeLists.txt index 78b16f2dad..668bbec509 100644 --- a/src/systems/physics/CMakeLists.txt +++ b/src/systems/physics/CMakeLists.txt @@ -2,11 +2,11 @@ gz_add_system(physics SOURCES Physics.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} - gz-common${GZ_COMMON_VER}::geospatial - gz-common${GZ_COMMON_VER}::graphics - gz-common${GZ_COMMON_VER}::profiler - gz-physics${GZ_PHYSICS_VER}::gz-physics${GZ_PHYSICS_VER} + gz-common::gz-common + gz-common::geospatial + gz-common::graphics + gz-common::profiler + gz-physics::gz-physics ) set (gtest_sources @@ -26,8 +26,8 @@ gz_build_tests(TYPE UNIT SOURCES ${gtest_sources} LIB_DEPS - gz-physics${GZ_PHYSICS_VER}::core - gz-plugin${GZ_PLUGIN_VER}::loader + gz-physics::core + gz-plugin::loader ENVIRONMENT GZ_SIM_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX} ) diff --git a/src/systems/pose_publisher/CMakeLists.txt b/src/systems/pose_publisher/CMakeLists.txt index 57bf1d86aa..73d392c017 100644 --- a/src/systems/pose_publisher/CMakeLists.txt +++ b/src/systems/pose_publisher/CMakeLists.txt @@ -2,5 +2,5 @@ gz_add_system(pose-publisher SOURCES PosePublisher.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common ) diff --git a/src/systems/rf_comms/CMakeLists.txt b/src/systems/rf_comms/CMakeLists.txt index 18e20eb8fb..1b3624958d 100644 --- a/src/systems/rf_comms/CMakeLists.txt +++ b/src/systems/rf_comms/CMakeLists.txt @@ -2,5 +2,5 @@ gz_add_system(rf-comms SOURCES RFComms.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common ) diff --git a/src/systems/scene_broadcaster/CMakeLists.txt b/src/systems/scene_broadcaster/CMakeLists.txt index 33b0ad0e93..c2f02b1229 100644 --- a/src/systems/scene_broadcaster/CMakeLists.txt +++ b/src/systems/scene_broadcaster/CMakeLists.txt @@ -2,5 +2,5 @@ gz_add_system(scene-broadcaster SOURCES SceneBroadcaster.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common ) diff --git a/src/systems/sensors/CMakeLists.txt b/src/systems/sensors/CMakeLists.txt index f93b88b85b..3c3cbff0f2 100644 --- a/src/systems/sensors/CMakeLists.txt +++ b/src/systems/sensors/CMakeLists.txt @@ -3,8 +3,8 @@ gz_add_system(sensors Sensors.cc PUBLIC_LINK_LIBS ${rendering_target} - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} - gz-rendering${GZ_RENDERING_VER}::gz-rendering${GZ_RENDERING_VER} + gz-common::gz-common + gz-rendering::gz-rendering gz-sensors::boundingbox_camera gz-sensors::camera gz-sensors::depth_camera diff --git a/src/systems/shader_param/CMakeLists.txt b/src/systems/shader_param/CMakeLists.txt index a7ac038c3c..f64d866e7d 100644 --- a/src/systems/shader_param/CMakeLists.txt +++ b/src/systems/shader_param/CMakeLists.txt @@ -3,6 +3,6 @@ gz_add_system(shader-param ShaderParam.cc PUBLIC_LINK_LIBS ${rendering_target} - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} - gz-rendering${GZ_RENDERING_VER}::gz-rendering${GZ_RENDERING_VER} + gz-common::gz-common + gz-rendering::gz-rendering ) diff --git a/src/systems/spacecraft_thruster_model/CMakeLists.txt b/src/systems/spacecraft_thruster_model/CMakeLists.txt index 9554f52dd1..9cae3e93cb 100644 --- a/src/systems/spacecraft_thruster_model/CMakeLists.txt +++ b/src/systems/spacecraft_thruster_model/CMakeLists.txt @@ -2,5 +2,5 @@ gz_add_system(spacecraft-thruster-model SOURCES SpacecraftThrusterModel.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common ) diff --git a/src/systems/thermal/CMakeLists.txt b/src/systems/thermal/CMakeLists.txt index c994053ae3..21ec0ed8d7 100644 --- a/src/systems/thermal/CMakeLists.txt +++ b/src/systems/thermal/CMakeLists.txt @@ -2,12 +2,12 @@ gz_add_system(thermal SOURCES Thermal.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common ) gz_add_system(thermal-sensor SOURCES ThermalSensor.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common ) diff --git a/src/systems/thruster/CMakeLists.txt b/src/systems/thruster/CMakeLists.txt index e340d2d157..650186073b 100644 --- a/src/systems/thruster/CMakeLists.txt +++ b/src/systems/thruster/CMakeLists.txt @@ -2,5 +2,5 @@ gz_add_system(thruster SOURCES Thruster.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common ) diff --git a/src/systems/touch_plugin/CMakeLists.txt b/src/systems/touch_plugin/CMakeLists.txt index 1be0636380..1ad9ddb2fc 100644 --- a/src/systems/touch_plugin/CMakeLists.txt +++ b/src/systems/touch_plugin/CMakeLists.txt @@ -2,5 +2,5 @@ gz_add_system(touchplugin SOURCES TouchPlugin.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common ) diff --git a/src/systems/track_controller/CMakeLists.txt b/src/systems/track_controller/CMakeLists.txt index 19eff3413f..87c9e04c3a 100644 --- a/src/systems/track_controller/CMakeLists.txt +++ b/src/systems/track_controller/CMakeLists.txt @@ -2,10 +2,10 @@ gz_add_system(track-controller SOURCES TrackController.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} - gz-physics${GZ_PHYSICS_VER}::gz-physics${GZ_PHYSICS_VER} - gz-msgs${GZ_MSGS_VER}::gz-msgs${GZ_MSGS_VER} - gz-math${GZ_MATH_VER}::gz-math${GZ_MATH_VER} - gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER} + gz-common::gz-common + gz-physics::gz-physics + gz-msgs::gz-msgs + gz-math::gz-math + gz-plugin::gz-plugin gz-transport::gz-transport ) diff --git a/src/systems/tracked_vehicle/CMakeLists.txt b/src/systems/tracked_vehicle/CMakeLists.txt index 288939709b..1875ac4b55 100644 --- a/src/systems/tracked_vehicle/CMakeLists.txt +++ b/src/systems/tracked_vehicle/CMakeLists.txt @@ -2,7 +2,7 @@ gz_add_system(tracked-vehicle SOURCES TrackedVehicle.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} - gz-math${GZ_MATH_VER}::gz-math${GZ_MATH_VER} + gz-common::gz-common + gz-math::gz-math gz-transport::gz-transport ) diff --git a/src/systems/trajectory_follower/CMakeLists.txt b/src/systems/trajectory_follower/CMakeLists.txt index 722495c357..5a3885de92 100644 --- a/src/systems/trajectory_follower/CMakeLists.txt +++ b/src/systems/trajectory_follower/CMakeLists.txt @@ -2,5 +2,5 @@ gz_add_system(trajectory-follower SOURCES TrajectoryFollower.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common ) diff --git a/src/systems/triggered_publisher/CMakeLists.txt b/src/systems/triggered_publisher/CMakeLists.txt index 64533d5b7b..b7e209a69b 100644 --- a/src/systems/triggered_publisher/CMakeLists.txt +++ b/src/systems/triggered_publisher/CMakeLists.txt @@ -2,6 +2,6 @@ gz_add_system(triggered-publisher SOURCES TriggeredPublisher.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common gz-transport::gz-transport ) diff --git a/src/systems/user_commands/CMakeLists.txt b/src/systems/user_commands/CMakeLists.txt index 4b4b5a27ab..169d8e32a6 100644 --- a/src/systems/user_commands/CMakeLists.txt +++ b/src/systems/user_commands/CMakeLists.txt @@ -2,5 +2,5 @@ gz_add_system(user-commands SOURCES UserCommands.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common ) diff --git a/src/systems/velocity_control/CMakeLists.txt b/src/systems/velocity_control/CMakeLists.txt index b61ef218d9..3f92f1e338 100644 --- a/src/systems/velocity_control/CMakeLists.txt +++ b/src/systems/velocity_control/CMakeLists.txt @@ -2,5 +2,5 @@ gz_add_system(velocity-control SOURCES VelocityControl.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common ) diff --git a/src/systems/wheel_slip/CMakeLists.txt b/src/systems/wheel_slip/CMakeLists.txt index e2d7242e32..2f3fa91656 100644 --- a/src/systems/wheel_slip/CMakeLists.txt +++ b/src/systems/wheel_slip/CMakeLists.txt @@ -2,5 +2,5 @@ gz_add_system(wheel-slip SOURCES WheelSlip.cc PUBLIC_LINK_LIBS - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common ) diff --git a/test/integration/CMakeLists.txt b/test/integration/CMakeLists.txt index 891b9f96a9..ce76e08c6d 100644 --- a/test/integration/CMakeLists.txt +++ b/test/integration/CMakeLists.txt @@ -186,26 +186,26 @@ if (DART_FOUND AND TARGET INTEGRATION_physics_system) target_compile_definitions(INTEGRATION_physics_system PRIVATE HAVE_DART) target_link_libraries(INTEGRATION_physics_system - gz-math${GZ_MATH_VER}::eigen3 + gz-math::eigen3 ) endif() if (TARGET INTEGRATION_tracked_vehicle_system) target_link_libraries(INTEGRATION_tracked_vehicle_system - gz-physics${GZ_PHYSICS_VER}::core - gz-plugin${GZ_PLUGIN_VER}::loader + gz-physics::core + gz-plugin::loader ) endif() if (TARGET INTEGRATION_model_photo_shoot_default_joints) target_link_libraries(INTEGRATION_model_photo_shoot_default_joints - gz-rendering${GZ_RENDERING_VER}::gz-rendering${GZ_RENDERING_VER} + gz-rendering::gz-rendering ) endif() if (TARGET INTEGRATION_model_photo_shoot_random_joints) target_link_libraries(INTEGRATION_model_photo_shoot_random_joints - gz-rendering${GZ_RENDERING_VER}::gz-rendering${GZ_RENDERING_VER} + gz-rendering::gz-rendering ) endif() @@ -217,13 +217,13 @@ endif() if (TARGET INTEGRATION_collada_world_exporter) target_link_libraries(INTEGRATION_collada_world_exporter - gz-common${GZ_COMMON_VER}::graphics + gz-common::graphics ) endif() if(TARGET INTEGRATION_reset_sensors) target_link_libraries(INTEGRATION_reset_sensors - gz-common${GZ_COMMON_VER}::graphics + gz-common::graphics ) endif() @@ -238,10 +238,10 @@ endif() if(VALID_DISPLAY AND VALID_DRI_DISPLAY AND TARGET INTEGRATION_sensors_system) target_link_libraries(INTEGRATION_sensors_system - gz-rendering${GZ_RENDERING_VER}::gz-rendering${GZ_RENDERING_VER} + gz-rendering::gz-rendering ) target_link_libraries(INTEGRATION_actor_trajectory - gz-rendering${GZ_RENDERING_VER}::gz-rendering${GZ_RENDERING_VER} + gz-rendering::gz-rendering ) endif() diff --git a/test/performance/CMakeLists.txt b/test/performance/CMakeLists.txt index 666cc60997..6bc2ec0448 100644 --- a/test/performance/CMakeLists.txt +++ b/test/performance/CMakeLists.txt @@ -52,12 +52,12 @@ add_executable( target_link_libraries( PERFORMANCE_${exec} - gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} + gz-common::gz-common gz-sim ) if(VALID_DISPLAY AND VALID_DRI_DISPLAY AND TARGET PERFORMANCE_sensors_system) target_link_libraries(PERFORMANCE_sensors_system - gz-rendering${GZ_RENDERING_VER}::gz-rendering${GZ_RENDERING_VER} + gz-rendering::gz-rendering ) endif() diff --git a/test/plugins/CMakeLists.txt b/test/plugins/CMakeLists.txt index 9b033411e3..620c6100bf 100644 --- a/test/plugins/CMakeLists.txt +++ b/test/plugins/CMakeLists.txt @@ -30,7 +30,7 @@ if(BUILD_TESTING) add_library(${src} MODULE ${src}.cc) target_link_libraries(${src} PRIVATE - gz-plugin${GZ_PLUGIN_VER}::register + gz-plugin::register gz-transport::gz-transport gz-sim ) diff --git a/tutorials/create_system_plugins.md b/tutorials/create_system_plugins.md index 7932f4a9b0..fc658ec423 100644 --- a/tutorials/create_system_plugins.md +++ b/tutorials/create_system_plugins.md @@ -85,14 +85,13 @@ Implement the system class as usual, for example: In your `CMakeLists.txt` add the following ``` -find_package(gz-plugin3 REQUIRED COMPONENTS register) -set(GZ_PLUGIN_VER ${gz-plugin3_VERSION_MAJOR}) +find_package(gz-plugin REQUIRED COMPONENTS register) # Add sources for each plugin to be registered. add_library(SampleSystem SHARED SampleSystem.cc SampleSystem2.cc) set_property(TARGET SampleSystem PROPERTY CXX_STANDARD 17) target_link_libraries(SampleSystem - PRIVATE gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER} + PRIVATE gz-plugin::gz-plugin PRIVATE gz-sim::gz-sim) ``` diff --git a/tutorials/migrating_ardupilot_plugin.md b/tutorials/migrating_ardupilot_plugin.md index 99dc5500e3..8f762777a0 100644 --- a/tutorials/migrating_ardupilot_plugin.md +++ b/tutorials/migrating_ardupilot_plugin.md @@ -727,12 +727,12 @@ In the new code we explicitly reference each Gazebo package that we use: ``` # NEW -find_package(sdformat15 REQUIRED) -find_package(gz-common6-all REQUIRED) +find_package(sdformat REQUIRED) +find_package(gz-common-all REQUIRED) find_package(gz-sim-all REQUIRED) -find_package(gz-math8-all REQUIRED) -find_package(gz-msgs11-all REQUIRED) -find_package(gz-physics8-all REQUIRED) +find_package(gz-math-all REQUIRED) +find_package(gz-msgs-all REQUIRED) +find_package(gz-physics-all REQUIRED) find_package(gz-sensors-all REQUIRED) find_package(gz-transport-all REQUIRED) ``` diff --git a/tutorials/python_interfaces.md b/tutorials/python_interfaces.md index 8f809a0b6b..9985cee22d 100644 --- a/tutorials/python_interfaces.md +++ b/tutorials/python_interfaces.md @@ -96,7 +96,7 @@ Example python system: ```python -from gz.math8 import Vector3d +from gz.math import Vector3d from gz.sim import Model, Link import random From 91cf5b81d7a02d53e86c1b1f640dae621cdc68f8 Mon Sep 17 00:00:00 2001 From: Steve Peters Date: Sun, 18 May 2025 03:14:28 +0000 Subject: [PATCH 02/12] Migrate from deprecated fields * image_format -> pixel_format * gps -> navsat Signed-off-by: Steve Peters --- src/Conversions.cc | 26 +++++++++---------- .../scene_broadcaster/SceneBroadcaster.cc | 2 +- 2 files changed, 14 insertions(+), 14 deletions(-) diff --git a/src/Conversions.cc b/src/Conversions.cc index d5c054ada9..1f3c6da9b3 100644 --- a/src/Conversions.cc +++ b/src/Conversions.cc @@ -25,13 +25,13 @@ #include #include #include -#include #include #include #include #include #include #include +#include #include #include #include @@ -1124,7 +1124,7 @@ msgs::Sensor gz::sim::convert(const sdf::Sensor &_in) sensor->set_far_clip(sdfCam->FarClip()); sensor->set_save_enabled(sdfCam->SaveFrames()); sensor->set_save_path(sdfCam->SaveFramesPath()); - sensor->set_image_format(sdfCam->PixelFormatStr()); + sensor->set_pixel_format(sdfCam->PixelFormatStr()); msgs::Distortion *dist = sensor->mutable_distortion(); msgs::Set(dist->mutable_center(), sdfCam->DistortionCenter()); dist->set_k1(sdfCam->DistortionK1()); @@ -1147,7 +1147,7 @@ msgs::Sensor gz::sim::convert(const sdf::Sensor &_in) auto sdfSensor = _in.NavSatSensor(); // \TODO(chapulina) Update to navsat on Garden - auto sensor = out.mutable_gps(); + auto sensor = out.mutable_navsat(); if (sdfSensor->HorizontalPositionNoise().Type() != sdf::NoiseType::NONE) { @@ -1397,7 +1397,7 @@ sdf::Sensor gz::sim::convert(const msgs::Sensor &_in) sensor.SetHorizontalFov(_in.camera().horizontal_fov()); sensor.SetImageWidth(static_cast(_in.camera().image_size().x())); sensor.SetImageHeight(static_cast(_in.camera().image_size().y())); - sensor.SetPixelFormatStr(_in.camera().image_format()); + sensor.SetPixelFormatStr(_in.camera().pixel_format()); sensor.SetNearClip(_in.camera().near_clip()); sensor.SetFarClip(_in.camera().far_clip()); sensor.SetSaveFrames(_in.camera().save_enabled()); @@ -1425,27 +1425,27 @@ sdf::Sensor gz::sim::convert(const msgs::Sensor &_in) out.Type() == sdf::SensorType::NAVSAT) { sdf::NavSat sensor; - if (_in.has_gps()) + if (_in.has_navsat()) { - if (_in.gps().position().has_horizontal_noise()) + if (_in.navsat().position().has_horizontal_noise()) { sensor.SetHorizontalPositionNoise(sim::convert( - _in.gps().position().horizontal_noise())); + _in.navsat().position().horizontal_noise())); } - if (_in.gps().position().has_vertical_noise()) + if (_in.navsat().position().has_vertical_noise()) { sensor.SetVerticalPositionNoise(sim::convert( - _in.gps().position().vertical_noise())); + _in.navsat().position().vertical_noise())); } - if (_in.gps().velocity().has_horizontal_noise()) + if (_in.navsat().velocity().has_horizontal_noise()) { sensor.SetHorizontalVelocityNoise(sim::convert( - _in.gps().velocity().horizontal_noise())); + _in.navsat().velocity().horizontal_noise())); } - if (_in.gps().velocity().has_vertical_noise()) + if (_in.navsat().velocity().has_vertical_noise()) { sensor.SetVerticalVelocityNoise(sim::convert( - _in.gps().velocity().vertical_noise())); + _in.navsat().velocity().vertical_noise())); } } else diff --git a/src/systems/scene_broadcaster/SceneBroadcaster.cc b/src/systems/scene_broadcaster/SceneBroadcaster.cc index 3fe1e5941f..60fdacb8be 100644 --- a/src/systems/scene_broadcaster/SceneBroadcaster.cc +++ b/src/systems/scene_broadcaster/SceneBroadcaster.cc @@ -949,7 +949,7 @@ void SceneBroadcasterPrivate::SceneGraphAddEntities( camera->HorizontalFov().Radian()); cameraSensorMsg->mutable_image_size()->set_x(camera->ImageWidth()); cameraSensorMsg->mutable_image_size()->set_y(camera->ImageHeight()); - cameraSensorMsg->set_image_format(camera->PixelFormatStr()); + cameraSensorMsg->set_pixel_format(camera->PixelFormatStr()); cameraSensorMsg->set_near_clip(camera->NearClip()); cameraSensorMsg->set_far_clip(camera->FarClip()); msgs::Distortion *distortionMsg = From 833ae6a9c990a7fdc50cd931d4d0141ea36f09f8 Mon Sep 17 00:00:00 2001 From: Steve Peters Date: Sun, 18 May 2025 04:21:54 +0000 Subject: [PATCH 03/12] Revert "Migrate from deprecated fields" This reverts commit 91cf5b81d7a02d53e86c1b1f640dae621cdc68f8. Signed-off-by: Steve Peters --- src/Conversions.cc | 26 +++++++++---------- .../scene_broadcaster/SceneBroadcaster.cc | 2 +- 2 files changed, 14 insertions(+), 14 deletions(-) diff --git a/src/Conversions.cc b/src/Conversions.cc index 1f3c6da9b3..d5c054ada9 100644 --- a/src/Conversions.cc +++ b/src/Conversions.cc @@ -25,13 +25,13 @@ #include #include #include +#include #include #include #include #include #include #include -#include #include #include #include @@ -1124,7 +1124,7 @@ msgs::Sensor gz::sim::convert(const sdf::Sensor &_in) sensor->set_far_clip(sdfCam->FarClip()); sensor->set_save_enabled(sdfCam->SaveFrames()); sensor->set_save_path(sdfCam->SaveFramesPath()); - sensor->set_pixel_format(sdfCam->PixelFormatStr()); + sensor->set_image_format(sdfCam->PixelFormatStr()); msgs::Distortion *dist = sensor->mutable_distortion(); msgs::Set(dist->mutable_center(), sdfCam->DistortionCenter()); dist->set_k1(sdfCam->DistortionK1()); @@ -1147,7 +1147,7 @@ msgs::Sensor gz::sim::convert(const sdf::Sensor &_in) auto sdfSensor = _in.NavSatSensor(); // \TODO(chapulina) Update to navsat on Garden - auto sensor = out.mutable_navsat(); + auto sensor = out.mutable_gps(); if (sdfSensor->HorizontalPositionNoise().Type() != sdf::NoiseType::NONE) { @@ -1397,7 +1397,7 @@ sdf::Sensor gz::sim::convert(const msgs::Sensor &_in) sensor.SetHorizontalFov(_in.camera().horizontal_fov()); sensor.SetImageWidth(static_cast(_in.camera().image_size().x())); sensor.SetImageHeight(static_cast(_in.camera().image_size().y())); - sensor.SetPixelFormatStr(_in.camera().pixel_format()); + sensor.SetPixelFormatStr(_in.camera().image_format()); sensor.SetNearClip(_in.camera().near_clip()); sensor.SetFarClip(_in.camera().far_clip()); sensor.SetSaveFrames(_in.camera().save_enabled()); @@ -1425,27 +1425,27 @@ sdf::Sensor gz::sim::convert(const msgs::Sensor &_in) out.Type() == sdf::SensorType::NAVSAT) { sdf::NavSat sensor; - if (_in.has_navsat()) + if (_in.has_gps()) { - if (_in.navsat().position().has_horizontal_noise()) + if (_in.gps().position().has_horizontal_noise()) { sensor.SetHorizontalPositionNoise(sim::convert( - _in.navsat().position().horizontal_noise())); + _in.gps().position().horizontal_noise())); } - if (_in.navsat().position().has_vertical_noise()) + if (_in.gps().position().has_vertical_noise()) { sensor.SetVerticalPositionNoise(sim::convert( - _in.navsat().position().vertical_noise())); + _in.gps().position().vertical_noise())); } - if (_in.navsat().velocity().has_horizontal_noise()) + if (_in.gps().velocity().has_horizontal_noise()) { sensor.SetHorizontalVelocityNoise(sim::convert( - _in.navsat().velocity().horizontal_noise())); + _in.gps().velocity().horizontal_noise())); } - if (_in.navsat().velocity().has_vertical_noise()) + if (_in.gps().velocity().has_vertical_noise()) { sensor.SetVerticalVelocityNoise(sim::convert( - _in.navsat().velocity().vertical_noise())); + _in.gps().velocity().vertical_noise())); } } else diff --git a/src/systems/scene_broadcaster/SceneBroadcaster.cc b/src/systems/scene_broadcaster/SceneBroadcaster.cc index 60fdacb8be..3fe1e5941f 100644 --- a/src/systems/scene_broadcaster/SceneBroadcaster.cc +++ b/src/systems/scene_broadcaster/SceneBroadcaster.cc @@ -949,7 +949,7 @@ void SceneBroadcasterPrivate::SceneGraphAddEntities( camera->HorizontalFov().Radian()); cameraSensorMsg->mutable_image_size()->set_x(camera->ImageWidth()); cameraSensorMsg->mutable_image_size()->set_y(camera->ImageHeight()); - cameraSensorMsg->set_pixel_format(camera->PixelFormatStr()); + cameraSensorMsg->set_image_format(camera->PixelFormatStr()); cameraSensorMsg->set_near_clip(camera->NearClip()); cameraSensorMsg->set_far_clip(camera->FarClip()); msgs::Distortion *distortionMsg = From ede686b1f700e850208a1f1c860b5ee21d27fd53 Mon Sep 17 00:00:00 2001 From: Steve Peters Date: Mon, 19 May 2025 16:06:41 -0700 Subject: [PATCH 04/12] Conversions: use pixel_format Signed-off-by: Steve Peters --- src/Conversions.cc | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/src/Conversions.cc b/src/Conversions.cc index d5c054ada9..a27c4b6509 100644 --- a/src/Conversions.cc +++ b/src/Conversions.cc @@ -21,6 +21,7 @@ #include #include #include +#include #include #include #include @@ -1124,7 +1125,8 @@ msgs::Sensor gz::sim::convert(const sdf::Sensor &_in) sensor->set_far_clip(sdfCam->FarClip()); sensor->set_save_enabled(sdfCam->SaveFrames()); sensor->set_save_path(sdfCam->SaveFramesPath()); - sensor->set_image_format(sdfCam->PixelFormatStr()); + sensor->set_pixel_format( + msgs::ConvertPixelFormatType(sdfCam->PixelFormatStr())); msgs::Distortion *dist = sensor->mutable_distortion(); msgs::Set(dist->mutable_center(), sdfCam->DistortionCenter()); dist->set_k1(sdfCam->DistortionK1()); @@ -1397,7 +1399,8 @@ sdf::Sensor gz::sim::convert(const msgs::Sensor &_in) sensor.SetHorizontalFov(_in.camera().horizontal_fov()); sensor.SetImageWidth(static_cast(_in.camera().image_size().x())); sensor.SetImageHeight(static_cast(_in.camera().image_size().y())); - sensor.SetPixelFormatStr(_in.camera().image_format()); + sensor.SetPixelFormatStr( + msgs::ConvertPixelFormatType(_in.camera().pixel_format())); sensor.SetNearClip(_in.camera().near_clip()); sensor.SetFarClip(_in.camera().far_clip()); sensor.SetSaveFrames(_in.camera().save_enabled()); From cd247de824efe99576c62cddacab7543671b2f0e Mon Sep 17 00:00:00 2001 From: Steve Peters Date: Mon, 19 May 2025 17:26:05 -0700 Subject: [PATCH 05/12] python_system_loader: import sdformat Signed-off-by: Steve Peters --- src/systems/python_system_loader/PythonSystemLoader.cc | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/systems/python_system_loader/PythonSystemLoader.cc b/src/systems/python_system_loader/PythonSystemLoader.cc index 1e089f49a4..48402bac31 100644 --- a/src/systems/python_system_loader/PythonSystemLoader.cc +++ b/src/systems/python_system_loader/PythonSystemLoader.cc @@ -67,8 +67,7 @@ void PythonSystemLoader::Configure( // Load the `gz.sim` and sdformat modules to register all pybind bindings // necessary for System interface functions const std::string gzSimModule = "gz.sim"; - const auto sdformatModule = - std::string("sdformat") + std::to_string(SDF_MAJOR_VERSION); + const auto sdformatModule = std::string("sdformat"); py::module_ sysModule; try { From 9171f8c837234e81a382b0fa3aa367f92104bf03 Mon Sep 17 00:00:00 2001 From: Steve Peters Date: Tue, 20 May 2025 07:39:44 -0700 Subject: [PATCH 06/12] Conversions: use navsat instead of gps Signed-off-by: Steve Peters --- src/Conversions.cc | 22 +++++++++++----------- 1 file changed, 11 insertions(+), 11 deletions(-) diff --git a/src/Conversions.cc b/src/Conversions.cc index a27c4b6509..16d5983707 100644 --- a/src/Conversions.cc +++ b/src/Conversions.cc @@ -26,13 +26,13 @@ #include #include #include -#include #include #include #include #include #include #include +#include #include #include #include @@ -1149,7 +1149,7 @@ msgs::Sensor gz::sim::convert(const sdf::Sensor &_in) auto sdfSensor = _in.NavSatSensor(); // \TODO(chapulina) Update to navsat on Garden - auto sensor = out.mutable_gps(); + auto sensor = out.mutable_navsat(); if (sdfSensor->HorizontalPositionNoise().Type() != sdf::NoiseType::NONE) { @@ -1428,27 +1428,27 @@ sdf::Sensor gz::sim::convert(const msgs::Sensor &_in) out.Type() == sdf::SensorType::NAVSAT) { sdf::NavSat sensor; - if (_in.has_gps()) + if (_in.has_navsat()) { - if (_in.gps().position().has_horizontal_noise()) + if (_in.navsat().position().has_horizontal_noise()) { sensor.SetHorizontalPositionNoise(sim::convert( - _in.gps().position().horizontal_noise())); + _in.navsat().position().horizontal_noise())); } - if (_in.gps().position().has_vertical_noise()) + if (_in.navsat().position().has_vertical_noise()) { sensor.SetVerticalPositionNoise(sim::convert( - _in.gps().position().vertical_noise())); + _in.navsat().position().vertical_noise())); } - if (_in.gps().velocity().has_horizontal_noise()) + if (_in.navsat().velocity().has_horizontal_noise()) { sensor.SetHorizontalVelocityNoise(sim::convert( - _in.gps().velocity().horizontal_noise())); + _in.navsat().velocity().horizontal_noise())); } - if (_in.gps().velocity().has_vertical_noise()) + if (_in.navsat().velocity().has_vertical_noise()) { sensor.SetVerticalVelocityNoise(sim::convert( - _in.gps().velocity().vertical_noise())); + _in.navsat().velocity().vertical_noise())); } } else From 43ab5a27d84fd5e444ef0b3960ebcda62a676204 Mon Sep 17 00:00:00 2001 From: Steve Peters Date: Tue, 20 May 2025 07:40:00 -0700 Subject: [PATCH 07/12] SceneBroadcaster: use pixel_format Signed-off-by: Steve Peters --- src/systems/scene_broadcaster/SceneBroadcaster.cc | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/systems/scene_broadcaster/SceneBroadcaster.cc b/src/systems/scene_broadcaster/SceneBroadcaster.cc index 3fe1e5941f..32cdec2ec6 100644 --- a/src/systems/scene_broadcaster/SceneBroadcaster.cc +++ b/src/systems/scene_broadcaster/SceneBroadcaster.cc @@ -949,7 +949,8 @@ void SceneBroadcasterPrivate::SceneGraphAddEntities( camera->HorizontalFov().Radian()); cameraSensorMsg->mutable_image_size()->set_x(camera->ImageWidth()); cameraSensorMsg->mutable_image_size()->set_y(camera->ImageHeight()); - cameraSensorMsg->set_image_format(camera->PixelFormatStr()); + cameraSensorMsg->set_pixel_format( + msgs::ConvertPixelFormatType(camera->PixelFormatStr())); cameraSensorMsg->set_near_clip(camera->NearClip()); cameraSensorMsg->set_far_clip(camera->FarClip()); msgs::Distortion *distortionMsg = From 982dbed861f3200e96d2440a15044d8c359dc725 Mon Sep 17 00:00:00 2001 From: Steve Peters Date: Tue, 20 May 2025 16:17:38 +0000 Subject: [PATCH 08/12] Stop using gz_test_deps Signed-off-by: Steve Peters --- python/test/actor_TEST.py | 4 ++-- python/test/joint_TEST.py | 6 +++--- python/test/light_TEST.py | 4 ++-- python/test/link_TEST.py | 4 ++-- python/test/model_TEST.py | 2 +- python/test/plugins/test_model_system.py | 9 +++------ python/test/sensor_TEST.py | 4 ++-- python/test/testFixture_TEST.py | 4 ++-- python/test/world_TEST.py | 6 +++--- 9 files changed, 20 insertions(+), 23 deletions(-) diff --git a/python/test/actor_TEST.py b/python/test/actor_TEST.py index 9e375ed9be..55c8e3772f 100755 --- a/python/test/actor_TEST.py +++ b/python/test/actor_TEST.py @@ -17,10 +17,10 @@ import datetime import unittest -from gz_test_deps.common import set_verbosity +from gz.common import set_verbosity from gz.sim import (Actor, K_NULL_ENTITY, TestFixture, World, world_entity) -from gz_test_deps.math import Pose3d +from gz.math import Pose3d class TestActor(unittest.TestCase): diff --git a/python/test/joint_TEST.py b/python/test/joint_TEST.py index 6967f66cdc..7a60b8a835 100755 --- a/python/test/joint_TEST.py +++ b/python/test/joint_TEST.py @@ -16,11 +16,11 @@ import os import unittest -from gz_test_deps.common import set_verbosity +from gz.common import set_verbosity from gz.sim import (K_NULL_ENTITY, TestFixture, Joint, Model, World, world_entity) -from gz_test_deps.math import Pose3d -from gz_test_deps.sdformat import JointAxis, JointType +from gz.math import Pose3d +from gz.sdformat import JointAxis, JointType class TestJoint(unittest.TestCase): diff --git a/python/test/light_TEST.py b/python/test/light_TEST.py index 77928265b7..595d2d3e04 100755 --- a/python/test/light_TEST.py +++ b/python/test/light_TEST.py @@ -16,10 +16,10 @@ import os import unittest -from gz_test_deps.common import set_verbosity +from gz.common import set_verbosity from gz.sim import (K_NULL_ENTITY, Light, TestFixture, World, world_entity) -from gz_test_deps.math import Angle, Color, Pose3d, Vector3d +from gz.math import Angle, Color, Pose3d, Vector3d # This class test the Light class API created with pybind11. Since the setters diff --git a/python/test/link_TEST.py b/python/test/link_TEST.py index 001a51c9c0..858386f13e 100755 --- a/python/test/link_TEST.py +++ b/python/test/link_TEST.py @@ -16,9 +16,9 @@ import os import unittest -from gz_test_deps.common import set_verbosity +from gz.common import set_verbosity from gz.sim import K_NULL_ENTITY, TestFixture, Link, Model, World, world_entity -from gz_test_deps.math import Inertiald, Matrix3d, Vector3d, Pose3d +from gz.math import Inertiald, Matrix3d, Vector3d, Pose3d class TestModel(unittest.TestCase): post_iterations = 0 diff --git a/python/test/model_TEST.py b/python/test/model_TEST.py index af15c39145..f40aafa09f 100755 --- a/python/test/model_TEST.py +++ b/python/test/model_TEST.py @@ -16,7 +16,7 @@ import os import unittest -from gz_test_deps.common import set_verbosity +from gz.common import set_verbosity from gz.sim import K_NULL_ENTITY, TestFixture, Model, World, world_entity class TestModel(unittest.TestCase): diff --git a/python/test/plugins/test_model_system.py b/python/test/plugins/test_model_system.py index 2ae307887d..56e0118250 100644 --- a/python/test/plugins/test_model_system.py +++ b/python/test/plugins/test_model_system.py @@ -16,13 +16,10 @@ from os.path import dirname, realpath import threading -# Add "../__file__" to sys.path to get gz_test_deps -sys.path.append(dirname(dirname(realpath(__file__)))) - from gz.sim import Model -from gz_test_deps.transport import Node -from gz_test_deps.msgs.pose_pb2 import Pose -from gz_test_deps.msgs.clock_pb2 import Clock +from gz.transport import Node +from gz.msgs.pose_pb2 import Pose +from gz.msgs.clock_pb2 import Clock # Test system to be used with test/integration/python_system_loader.cc diff --git a/python/test/sensor_TEST.py b/python/test/sensor_TEST.py index 32354450d6..db76b719eb 100755 --- a/python/test/sensor_TEST.py +++ b/python/test/sensor_TEST.py @@ -16,10 +16,10 @@ import os import unittest -from gz_test_deps.common import set_verbosity +from gz.common import set_verbosity from gz.sim import (K_NULL_ENTITY, TestFixture, Joint, Model, Sensor, World, world_entity) -from gz_test_deps.math import Pose3d +from gz.math import Pose3d class TestSensor(unittest.TestCase): diff --git a/python/test/testFixture_TEST.py b/python/test/testFixture_TEST.py index 934b58b2b6..ca5808c114 100755 --- a/python/test/testFixture_TEST.py +++ b/python/test/testFixture_TEST.py @@ -16,9 +16,9 @@ import os import unittest -from gz_test_deps.common import set_verbosity +from gz.common import set_verbosity from gz.sim import TestFixture, World, world_entity -from gz_test_deps.math import Vector3d +from gz.math import Vector3d post_iterations = 0 iterations = 0 diff --git a/python/test/world_TEST.py b/python/test/world_TEST.py index f0ddba9c1b..49b734a08d 100755 --- a/python/test/world_TEST.py +++ b/python/test/world_TEST.py @@ -16,10 +16,10 @@ import os import unittest -from gz_test_deps.common import set_verbosity +from gz.common import set_verbosity from gz.sim import K_NULL_ENTITY, TestFixture, World, world_entity -from gz_test_deps.math import SphericalCoordinates, Vector3d -from gz_test_deps.sdformat import Atmosphere +from gz.math import SphericalCoordinates, Vector3d +from gz.sdformat import Atmosphere class TestWorld(unittest.TestCase): post_iterations = 0 From b4a9633c6e81abd86fc47fcf10cef0688fcc6315 Mon Sep 17 00:00:00 2001 From: Steve Peters Date: Tue, 20 May 2025 16:19:00 +0000 Subject: [PATCH 09/12] Remove gz_test_deps Signed-off-by: Steve Peters --- python/test/gz_test_deps/__init__.py | 0 python/test/gz_test_deps/common.py | 1 - python/test/gz_test_deps/math.py | 1 - python/test/gz_test_deps/msgs.py | 3 --- python/test/gz_test_deps/sdformat.py | 1 - python/test/gz_test_deps/transport.py | 1 - 6 files changed, 7 deletions(-) delete mode 100644 python/test/gz_test_deps/__init__.py delete mode 100644 python/test/gz_test_deps/common.py delete mode 100644 python/test/gz_test_deps/math.py delete mode 100644 python/test/gz_test_deps/msgs.py delete mode 100644 python/test/gz_test_deps/sdformat.py delete mode 100644 python/test/gz_test_deps/transport.py diff --git a/python/test/gz_test_deps/__init__.py b/python/test/gz_test_deps/__init__.py deleted file mode 100644 index e69de29bb2..0000000000 diff --git a/python/test/gz_test_deps/common.py b/python/test/gz_test_deps/common.py deleted file mode 100644 index af7d092d72..0000000000 --- a/python/test/gz_test_deps/common.py +++ /dev/null @@ -1 +0,0 @@ -from gz.common import * diff --git a/python/test/gz_test_deps/math.py b/python/test/gz_test_deps/math.py deleted file mode 100644 index bf3cd7884a..0000000000 --- a/python/test/gz_test_deps/math.py +++ /dev/null @@ -1 +0,0 @@ -from gz.math import * diff --git a/python/test/gz_test_deps/msgs.py b/python/test/gz_test_deps/msgs.py deleted file mode 100644 index 0e4654f7c5..0000000000 --- a/python/test/gz_test_deps/msgs.py +++ /dev/null @@ -1,3 +0,0 @@ -import sys -import gz.msgs -sys.modules["gz_test_deps.msgs"] = gz.msgs12 diff --git a/python/test/gz_test_deps/sdformat.py b/python/test/gz_test_deps/sdformat.py deleted file mode 100644 index acdbbe5ac9..0000000000 --- a/python/test/gz_test_deps/sdformat.py +++ /dev/null @@ -1 +0,0 @@ -from sdformat import * diff --git a/python/test/gz_test_deps/transport.py b/python/test/gz_test_deps/transport.py deleted file mode 100644 index 131f16ef50..0000000000 --- a/python/test/gz_test_deps/transport.py +++ /dev/null @@ -1 +0,0 @@ -from gz.transport import * From b31d3b919c72dee4836d5c6a8ab82bb5179ee21c Mon Sep 17 00:00:00 2001 From: Steve Peters Date: Tue, 20 May 2025 17:06:32 +0000 Subject: [PATCH 10/12] Fix sdformat imports Signed-off-by: Steve Peters --- python/test/joint_TEST.py | 2 +- python/test/world_TEST.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/python/test/joint_TEST.py b/python/test/joint_TEST.py index 7a60b8a835..ce55f49840 100755 --- a/python/test/joint_TEST.py +++ b/python/test/joint_TEST.py @@ -20,7 +20,7 @@ from gz.sim import (K_NULL_ENTITY, TestFixture, Joint, Model, World, world_entity) from gz.math import Pose3d -from gz.sdformat import JointAxis, JointType +from sdformat import JointAxis, JointType class TestJoint(unittest.TestCase): diff --git a/python/test/world_TEST.py b/python/test/world_TEST.py index 49b734a08d..e9a27099ec 100755 --- a/python/test/world_TEST.py +++ b/python/test/world_TEST.py @@ -19,7 +19,7 @@ from gz.common import set_verbosity from gz.sim import K_NULL_ENTITY, TestFixture, World, world_entity from gz.math import SphericalCoordinates, Vector3d -from gz.sdformat import Atmosphere +from sdformat import Atmosphere class TestWorld(unittest.TestCase): post_iterations = 0 From af0f30930d449552918aa36a43b53701bc91dcd2 Mon Sep 17 00:00:00 2001 From: Jose Luis Rivero Date: Wed, 21 May 2025 14:26:50 +0200 Subject: [PATCH 11/12] Workaround for problems with Ubuntu CLI11 2.4.2 Signed-off-by: Jose Luis Rivero --- src/cmd/model_main.cc | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/cmd/model_main.cc b/src/cmd/model_main.cc index 4d1cabda52..c194ea2721 100644 --- a/src/cmd/model_main.cc +++ b/src/cmd/model_main.cc @@ -146,8 +146,9 @@ void addModelFlags(CLI::App &_app) ->default_val(""); command->add_flag("-p,--pose", opt->pose, - "Print the pose of the model.") - ->needs(modelCmd); + "Print the pose of the model. (only useful with --model)"); + // ->needs(modelCmd) -- CLI11 < 2.5.0 does not support this + // see https://github.com/gazebosim/gz-sim/issues/2918 _app.callback([opt](){ runModelCommand(*opt); }); } From a967ca78a23a7eec6269a9ebe98a97c939d2694f Mon Sep 17 00:00:00 2001 From: Jose Luis Rivero Date: Wed, 21 May 2025 18:20:48 +0200 Subject: [PATCH 12/12] Revert "Workaround for problems with Ubuntu CLI11 2.4.2" This reverts commit af0f30930d449552918aa36a43b53701bc91dcd2. --- src/cmd/model_main.cc | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/src/cmd/model_main.cc b/src/cmd/model_main.cc index c194ea2721..4d1cabda52 100644 --- a/src/cmd/model_main.cc +++ b/src/cmd/model_main.cc @@ -146,9 +146,8 @@ void addModelFlags(CLI::App &_app) ->default_val(""); command->add_flag("-p,--pose", opt->pose, - "Print the pose of the model. (only useful with --model)"); - // ->needs(modelCmd) -- CLI11 < 2.5.0 does not support this - // see https://github.com/gazebosim/gz-sim/issues/2918 + "Print the pose of the model.") + ->needs(modelCmd); _app.callback([opt](){ runModelCommand(*opt); }); }