Bump gz-cmake and others in jetty

.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

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
@@ -74,27 +74,24 @@ 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
 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
@@ -201,16 +193,15 @@ 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
 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

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/*
 

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

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

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)

examples/plugin/custom_component/CMakeLists.txt

@@ -1,17 +1,16 @@
 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
   CustomComponentPlugin.cc
 )
 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)

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

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)

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)

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
 )

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)

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)

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
 

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)