Update Ignition to Gz

README.md

@@ -2,7 +2,7 @@
 
 [![Format Status](https://github.com/MarqRazz/realsense2_gz_description/actions/workflows/format.yaml/badge.svg)](https://github.com/MarqRazz/realsense2_gz_description/actions/workflows/format.yaml)
 
-Description: This ROS 2 package is designed to be used in unison with [realsense2_description](https://github.com/IntelRealSense/realsense-ros/tree/ros2-master/realsense2_description) and allows for easy definition of Realsense cameras that can be simulated in Gazebo Fortress and newer. It may support other versions of Ignition Gazebo but this has not been tested.
+Description: This ROS 2 package is designed to be used in unison with [realsense2_description](https://github.com/IntelRealSense/realsense-ros/tree/ros2-master/realsense2_description) and allows for easy definition of Realsense cameras that can be simulated in Gazebo Fortress and newer. It may support other versions of Gazebo but this has not been tested.
 
 ## Running Example Launch
 
@@ -42,7 +42,7 @@ Then call the xacros and specify the same `name` and other optional arguments.
 This plugin can be started from your URDF or world.sdf file.
 ```xml
 <gazebo>
-  <plugin filename="libignition-gazebo-sensors-system.so" name="ignition::gazebo::systems::Sensors">
+  <plugin filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors">
     <render_engine>ogre2</render_engine>
   </plugin>
 </gazebo>

launch/example_realsense_gazebo.launch.py

@@ -95,7 +95,7 @@ def generate_launch_description():
         condition=IfCondition(launch_rviz),
     )
 
-    ignition_spawn_entity = Node(
+    gz_spawn_entity = Node(
         package="ros_gz_sim",
         executable="create",
         output="screen",
@@ -122,17 +122,17 @@ def generate_launch_description():
     )
 
     # Bridge the camera data to ROS and match the default topics that the real camera would publish
-    # Note the gz_topic_name comes from _realsense_model.gazebo.xacro defaults which defaults to `camera` here.
+    # Note the gz_topic_name comes from <realsense_model>.gazebo.xacro which is defaulting to `camera` in this example.
     gazebo_bridge = Node(
         package="ros_gz_bridge",
         executable="parameter_bridge",
         parameters=[{"use_sim_time": True}],
         arguments=[
-            "/camera/image@sensor_msgs/msg/Image[ignition.msgs.Image",
-            "/camera/depth_image@sensor_msgs/msg/Image[ignition.msgs.Image",
-            "/camera/points@sensor_msgs/msg/PointCloud2[ignition.msgs.PointCloudPacked",
-            "/camera/camera_info@sensor_msgs/msg/CameraInfo[ignition.msgs.CameraInfo",
-            "/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock",
+            "/camera/image@sensor_msgs/msg/Image[gz.msgs.Image",
+            "/camera/depth_image@sensor_msgs/msg/Image[gz.msgs.Image",
+            "/camera/points@sensor_msgs/msg/PointCloud2[gz.msgs.PointCloudPacked",
+            "/camera/camera_info@sensor_msgs/msg/CameraInfo[gz.msgs.CameraInfo",
+            "/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock",
         ],
         remappings=[
             (
@@ -163,7 +163,7 @@ def generate_launch_description():
         robot_state_publisher_node,
         rviz_node,
         OpaqueFunction(function=launch_gz),
-        ignition_spawn_entity,
+        gz_spawn_entity,
         gazebo_bridge,
     ]
 

urdf/_d405.gazebo.xacro

@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<robot name="gazebo_d405" xmlns:xacro="http://www.ros.org/wiki/xacro" xmlns:ignition="http://gazebosim.org/schema">
+<robot name="gazebo_d405" xmlns:xacro="http://www.ros.org/wiki/xacro" xmlns:gz="http://gazebosim.org/schema">
 
 <xacro:include filename="$(find realsense2_gz_description)/urdf/rgb_camera.gazebo.xacro" />
 <xacro:include filename="$(find realsense2_gz_description)/urdf/rgbd_camera.gazebo.xacro" />

urdf/_d415.gazebo.xacro

@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<robot name="gazebo_d415" xmlns:xacro="http://www.ros.org/wiki/xacro" xmlns:ignition="http://gazebosim.org/schema">
+<robot name="gazebo_d415" xmlns:xacro="http://www.ros.org/wiki/xacro" xmlns:gz="http://gazebosim.org/schema">
 
 <xacro:include filename="$(find realsense2_gz_description)/urdf/rgb_camera.gazebo.xacro" />
 <xacro:include filename="$(find realsense2_gz_description)/urdf/rgbd_camera.gazebo.xacro" />

urdf/_d435.gazebo.xacro

@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<robot name="gazebo_d435" xmlns:xacro="http://www.ros.org/wiki/xacro" xmlns:ignition="http://gazebosim.org/schema">
+<robot name="gazebo_d435" xmlns:xacro="http://www.ros.org/wiki/xacro" xmlns:gz="http://gazebosim.org/schema">
 
 <xacro:include filename="$(find realsense2_gz_description)/urdf/rgb_camera.gazebo.xacro" />
 <xacro:include filename="$(find realsense2_gz_description)/urdf/rgbd_camera.gazebo.xacro" />

urdf/_d455.gazebo.xacro

@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<robot name="gazebo_d455" xmlns:xacro="http://www.ros.org/wiki/xacro" xmlns:ignition="http://gazebosim.org/schema">
+<robot name="gazebo_d455" xmlns:xacro="http://www.ros.org/wiki/xacro" xmlns:gz="http://gazebosim.org/schema">
 
 <xacro:include filename="$(find realsense2_gz_description)/urdf/rgb_camera.gazebo.xacro" />
 <xacro:include filename="$(find realsense2_gz_description)/urdf/rgbd_camera.gazebo.xacro" />

urdf/example_d415_gazebo.urdf.xacro

@@ -22,7 +22,7 @@
   Starting this plugin in the top level allows developers to define multiple cameras in their robot and only include the plugin once.
   If you don't want to start the Sensors plugin in your URDF you can move starting this plugin to the world.sdf file you are working with. -->
   <gazebo>
-    <plugin filename="libignition-gazebo-sensors-system.so" name="ignition::gazebo::systems::Sensors">
+    <plugin filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors">
       <render_engine>ogre2</render_engine>
     </plugin>
   </gazebo>

urdf/rgb_camera.gazebo.xacro

@@ -1,15 +1,15 @@
 <?xml version="1.0"?>
-<robot name="gazebo_rgb" xmlns:xacro="http://www.ros.org/wiki/xacro" xmlns:ignition="http://gazebosim.org/schema">
+<robot name="gazebo_rgb" xmlns:xacro="http://www.ros.org/wiki/xacro" xmlns:gz="http://gazebosim.org/schema">
 
 <!--
 Gazebo plugins can only be included once so this xacro assumes that a parent will include and configure them.
 This xacro requires Gazebo plugin:
-  - ignition::gazebo::systems::Sensors
+  - gz::sim::systems::Sensors
   to publish simulated RGB camera data
 
 For example:
 <gazebo>
-  <plugin filename="libignition-gazebo-sensors-system.so" name="ignition::gazebo::systems::Sensors">
+  <plugin filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors">
     <render_engine>ogre2</render_engine>
   </plugin>
 </gazebo>
@@ -60,7 +60,7 @@ For example:
                 <triggered>${triggered}</triggered>
                 <trigger_topic>${name}/trigger</trigger_topic>
             </camera>
-            <ignition_frame_id>${name}_color_frame</ignition_frame_id>
+            <gz_frame_id>${name}_color_frame</gz_frame_id>
             <always_on>1</always_on>
             <update_rate>${fps}</update_rate>
             <topic>${gz_topic_name}/image</topic>

urdf/rgbd_camera.gazebo.xacro

@@ -1,15 +1,15 @@
 <?xml version="1.0"?>
-<robot name="gazebo_rgbd" xmlns:xacro="http://www.ros.org/wiki/xacro" xmlns:ignition="http://gazebosim.org/schema">
+<robot name="gazebo_rgbd" xmlns:xacro="http://www.ros.org/wiki/xacro" xmlns:gz="http://gazebosim.org/schema">
 
 <!--
 Gazebo plugins can only be included once so this xacro assumes that a parent will include and configure them.
 This xacro requires Gazebo plugin:
-  - ignition::gazebo::systems::Sensors
+  - gz::sim::systems::Sensors
   to publish simulated RGBD camera data
 
 For example:
 <gazebo>
-  <plugin filename="libignition-gazebo-sensors-system.so" name="ignition::gazebo::systems::Sensors">
+  <plugin filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors">
     <render_engine>ogre2</render_engine>
   </plugin>
 </gazebo>
@@ -89,7 +89,7 @@ For example:
                 </depth_camera>
                 <optical_frame_id>${name}_color_optical_frame</optical_frame_id>
             </camera>
-            <ignition_frame_id>${name}_color_frame</ignition_frame_id>
+            <gz_frame_id>${name}_color_frame</gz_frame_id>
             <always_on>1</always_on>
             <update_rate>${fps}</update_rate>
             <visualize>false</visualize>

world/example.sdf

@@ -9,16 +9,16 @@
       <real_time_factor>1.0</real_time_factor>
     </physics>
     <plugin
-      filename="ignition-gazebo-physics-system"
-      name="ignition::gazebo::systems::Physics">
+      filename="gz-sim-physics-system"
+      name="gz::sim::systems::Physics">
     </plugin>
     <plugin
-      filename="ignition-gazebo-user-commands-system"
-      name="ignition::gazebo::systems::UserCommands">
+      filename="gz-sim-user-commands-system"
+      name="gz::sim::systems::UserCommands">
     </plugin>
     <plugin
-      filename="ignition-gazebo-scene-broadcaster-system"
-      name="ignition::gazebo::systems::SceneBroadcaster">
+      filename="gz-sim-scene-broadcaster-system"
+      name="gz::sim::systems::SceneBroadcaster">
     </plugin>
 
     <light type="directional" name="sun">
@@ -65,19 +65,19 @@
     <include>
         <pose>1.2 0.0 0.0 0.0 0.0 1.57</pose>
         <uri>
-        https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Construction Cone
+          https://fuel.gazebosim.org/1.0/OpenRobotics/models/Construction Cone
         </uri>
     </include>
     <include>
         <pose>1.2 0.5 0.0 0.0 0.0 1.57</pose>
         <uri>
-        https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Suitcase2H
+          https://fuel.gazebosim.org/1.0/OpenRobotics/models/Suitcase2H
         </uri>
     </include>
     <include>
         <pose>1.2 -0.5 0.0 0.0 0.0 1.57</pose>
         <uri>
-        https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Suitcase1H
+          https://fuel.gazebosim.org/1.0/OpenRobotics/models/Suitcase1H
         </uri>
     </include>
   </world>